Patent ID: 6665588
Filing Date: 2003-12-16
Classification: B23Q,B25J,B65G,G05B

Abstract:
A workpiece unloading apparatus for unloading, at least one by one, a plurality of workpieces which are stacked vertically or horizontally, in a regular order starting from the topmost or frontmost workpiece, comprising:a visual sensor for measuring the position and/or orientation of the topmost or frontmost workpiece; sensor measurement position determination means for determining the position for workpiece measurement with said visual sensor; sensor movement means for moving said visual sensor to the position determined by said sensor measurement position determination means; and workpiece unloading means for unloading the topmost or frontmost workpiece, wherein after said visual sensor has been moved by said sensor movement means to the position determined by said sensor measurement position determination means, information relating to the position and/or orientation of said workpieces is obtained by said visual sensor and said workpiece unloading means is caused to unload said workpiece based on this information.