| 摘要 |
PROBLEM TO BE SOLVED: To continue the bending work without stopping a machine in a bending work system using a robot, and to reduce defects and to shorten the time for loading a workpiece by putting the workpiece on a blank stand without worrying about its positional shift. SOLUTION: The workpiece positioning device comprises a workpiece loading means 1 for loading the workpiece thereon, a workpiece image pickup means 2 attached to the workpiece loading means 1, a workpiece image detecting means 30D for detecting the image of the workpiece input from the workpiece image pickup means 2, a workpiece reference image calculating/storing means 30E for calculating the reference image of the workpiece based on the information inputted beforehand, or for storing the workpiece image at a normal position picked up by means of the workpiece image pickup means 2 as the reference image, a shift calculating means 30F for calculating the required shift based on the difference between the detected image and the reference image, and a robot control means 30G for gripping an appropriate position of the workpiece by positioning the workpiece by correctingly controlling the attitude of the robot 3 based on the shift such that the detected image coincides with the reference image. COPYRIGHT: (C)2004,JPO
|
