Work picking system

A workpiece picking system comprising:

• a dual-arm robot which includes a trunk portion, on which a first multi-axis robot and a second multi-axis robot are provided as double arms and which includes a pivot approximately parallel to a vertical direction;
• a hand that is provided on a terminal movable unit of the first multi-axis robot and includes a mechanism that changes a distance between gripping claws and a mechanism that changes a tip end direction of the gripping claws;
• a three-dimensional measuring unit that is fixed separately from the dual-arm robot, and that measures from above a three-dimensional shape of a workpiece that is placed in a vessel gripped by the second multi-axis robot;
• a calculating unit that calculates an attitude of the workpiece based on the three-dimensional shape measured by the three-dimensional measuring unit;
• a determining unit that determines a tip end direction of the gripping claws based on the attitude of the workpiece calculated by the calculating unit and a direction of a rotation axis of the terminal movable unit;
• and
• an instructing unit, when measurement by the three-dimensional measuring unit is completed in a state that a distance between the three-dimensional measuring unit and the vessel is smaller than a distance that ensures workspace of the first multi-axis robot, instructs the dual-arm robot to perform an operation of positioning the vessel at a position, at which the workspace of the first multi-axis robot is ensured, by turning the trunk portion around the pivot, and then instructs, before next measurement of the three-dimensional measuring unit, the dual-arm robot to perform an operation of gripping the workpiece by the first multi-axis robot while maintaining the direction of the rotation axis of the terminal movable unit and the tip end direction of the gripping claws determined by the determining unit.