Patent ID: 9089966
Filing Date: 2015-07-28
Classification: B25J,G05B

Abstract:
1. A workpiece pick-up apparatus, comprising: a hand for gripping a single workpiece from an object containing a plurality of bulked workpieces in a random manner; a robot for bringing the hand into a gripping position or posture that is desired; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot to grip the workpiece based on the gripping position or posture calculated by the information processing unit, wherein the information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data, wherein a line-of-sight direction of the sensor is aligned with an entrance direction at a time when the hand approaches the workpiece to pick up the single workpiece from the object containing the plurality of bulked workpieces, and wherein the optimum gripping candidate creating section uses a two-dimensional hand model as the hand profile data and uses a distance image as the workpiece measurement data, to thereby calculate a gripping position or posture at which a segment of the workpiece extracted in the distance image is present within an opening width of the hand and the hand avoids interfering with a segment on a periphery of the workpiece.