Picking device for scattered parts and method for replacing part holder

摘要

PROBLEM TO BE SOLVED: To hold parts having various postures by a holder. SOLUTION: A component support portion that supports a plurality of parts in a scattered state, and a work head that selectively holds one type of holder from a plurality of types of holders that hold the plurality of parts one by one. A picking device including a moving device for moving the work head onto the component support portion and a control device, wherein the control device moves a plurality of components supported on the upper surface of the component support portion to the vertical axis. The positions of a plurality of parts are acquired based on the imaging data taken from above along the line, and based on the acquired position information of the plurality of parts, a plurality of holders of one type held by the work head by operating the moving device are used. When holding one of the parts, it is judged whether or not one type of holder interferes with something other than one part, and if it is judged that it interferes, the holding of the part is performed. A device for picking scattered parts, characterized by automatic replacement with another possible type of retainer. [Selection diagram] Fig. 11