| 摘要 |
A group of bolts are supplied onto a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot to which a picking-up operation is taught which making a correction of the shift. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and an isolated bolt newly produced is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts by using a three-dimensional visual sensor. Also, the piled-up bolts may be loosened or disentangled by using a robot equipped with a tool for levelling the pile of bolts or by using a gas jet. <IMAGE> |
