| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a bin picking apparatus capable of carrying workpieces in a pallet without wasting them and carrying the workpiece by securely holding it with a holding device even at any attitude. Ž<P>SOLUTION: In the bin picking apparatus, the position and attitude of the pallet 3 storing the workpieces 4 in an unaligned state is three-dimensionally measured by a measuring device using an imaging device 5, and the workpieces are conveyed by a conveyance device 1 connected with the holding device 2 for holding the workpiece in the pallet using a control device for transmitting a command to the conveyance device based on the result of the measurement by a detection device. The bottom surface of the pallet and the wall surfaces in four directions of the pallet are divided, a drive device in which the bottom surface of the pallet and the wall surfaces of the pallet are relatively and vertically moved is arranged, and the height of the wall surfaces of the pallet is varied corresponding to the height of the workpieces in the pallet. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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