Patent ID: 9643796
Date: 2017-05-09
CPC Classifications: B25J,B65G,G05B,Y02P

Claim:
1. An article arraying device configured to array a plurality of articles so as to rearrange the articles from a random arrangement to a regular arrangement, comprising: a robot configured to hold an article; a vision sensor configured to obtain position information of each of a plurality of articles placed in a random arrangement; an arrangement pattern generating section configured to generate an arrangement pattern with use of the position information, the arrangement pattern including a plurality of pattern elements in a predetermined regular arrangement, each pattern element representing a position of an article, in such a manner that a first pattern element that is any one of the plurality of pattern elements coincides with a position of a reference article that is any one of the plurality of articles placed in the random arrangement; a picking motion generating section configured to generate a picking motion of the robot with use of the position information, the robot being configured to pick up, by the picking motion, an article other than the reference article; an arraying motion generating section configured to generate an arraying motion of the robot, the robot being configured to place, by the arraying motion, the article picked up by the picking motion in a position juxtaposed to the reference article in accordance with the arrangement pattern; and a robot controlling section configured to control the picking motion and the arraying motion of the robot.