Workpiece unloading apparatus and method

摘要

A workpiece is gripped and unloaded by moving workpiece unloading means in the form of a robot (40), based on the results of measuring the workpiece position and/or orientation with a visual sensor (10). When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and/or orientation of the workpiece which is to be unloaded next change for each unloading. However, since the visual sensor (10) is moved when necessary to the position appropriate for measuring the workpiece position and/or orientation, measurements of the workpieces with the visual sensor (10) are conducted accurately. Therefore, the workpiece unloading is conducted reliably.