| 摘要 |
PROBLEM TO BE SOLVED: To inexpensively provide a bin picking device having a device constitution to effectively utilize a movable range of a carrying device of a multi-shaft type robot, etc., and to convey all workpieces in a pallet without being left. SOLUTION: In this bin picking device, an imaging device 5 to detect the workpieces in the pallet 3 is arranged in a fixed state to an upper side of the pallet 3, the carrying device of an articulated robot 1 is arranged on a wall surface 7 provided around the pallet 3, the articulated robot 1 can be saved when the imaging device 5 takes a photograph, and an operation range 10 of a holding device 2 at a tip of the articulated robot 1 is between the pallet 3 and the imaging device 5. In this device constitution, the operation range of the carrying device and the imaging device part of a detection device are prevented from interfering with each other. COPYRIGHT: (C)2009,JPO&INPIT
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