Workpiece picking device
AssigneeFanuc Corporation
InventorsKazunori BAN, Fumikazu WARASHINA, Keisuke WATANABE
Life of this patent
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Abstract
A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.
Claims5
A workpiece picking device for picking a workpiece by means of a robot, using an image including the same kind of workpieces, comprising:
- an imaging means for imaging a plurality of workpieces;
- a detecting part for detecting one or more workpieces in the image, based on the feature of the workpiece predetermined using the imaging means;
- a selecting part for selecting one workpiece to be picked from the workpieces detected by the detecting part;
- a robot for picking the workpiece selected by the selecting part;
- a detection result storing part for storing a detection result by detecting part in relation to the workpiece picked by the robot;
- and
- a condition setting part for setting a condition in relation to the next detection by the detecting part, using the detection result stored in the detection result storing part.
Dependencies are inferred from the claim text.