| 摘要 |
PROBLEM TO BE SOLVED: To provide a work picking device high in a picking successful rate of a work, capable of reducing required time of work picking, requiring no particular detection equipment and simple in constitution. SOLUTION: The work picking device is furnished with a gripping head 2 to pick the work W by gripping it and a head moving means 4 to move this gripping head 2 in the vertical direction and in the horizontal direction. Its control system is furnished with a head control means 40 and a height memory means 41. The head control means 40 controls the gripping head 2 to work by the head moving means 4 in a work picking region R in which a plural number of the works W are stored. The height memory means 41 memorizes picking height positions for several times in the past corresponding to each of flat surface positions in the work picking region R. Additionally, the head control means 40 controls the gripping head 2 to move to the highest flat surface position of the picking height position to be found from a memory value of the height memory means 41 and to pick the work W.
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