| 摘要 |
PROBLEM TO BE SOLVED: To automatically take out and convey a workpiece such as a crankshaft, in an entangled state due to loads out of shape, without need for other worker's help. SOLUTION: A conveyance fixture 2 is mounted on a front end 11 of a robot arm. In addition, the central portion of the conveyance fixture 2 is supported on the arm front end 11. On one end thereof, a camera 42 for recognizing a three-dimensional position is mounted, and on the other end thereof, a cylindrical retainer 3 fitted onto a shaft portion W1 of the crankshaft W to be conveyed is mounted. After a posture and a position of the shaft portion W1 are identified from images of the camera 42, and the shaft portion W1 is relatively made to enter the retainer, the retainer 3 is positioned so that an opening thereof is directed upward to lift up the crankshaft W1 for conveyance. COPYRIGHT: (C)2010,JPO&INPIT
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