WORKPIECE FEEDING DEVICE AND METHOD FOR CALCULATING WORKPIECE HOLDING POSTURE

摘要

PROBLEM TO BE SOLVED: To improve the probability of holding bulk workpiece without large-sizing a device to enhance the success rate of operation in a post-process.;SOLUTION: A workpiece feeding device comprises: a workpiece recognition part 43 collating measured data of a sensor 1 and previously accumulated shape data of a workpiece 5 to calculate a position and attitude of the workpiece 5; a workpiece gripping attitude calculation part 44 deciding a gripping attitude of the workpiece 5 by selecting the workpiece 5 to be gripped on the basis of the calculated position of the workpiece 5 and by bringing the position and attitude of the selected workpiece 5 into correspondence with plural gripping attitudes showing a position relationship of the workpiece 5 and a gripping mechanism 3 calculated to enable feeding the workpiece 5 to an assembling object 100; and a control part 45 controlling the gripping mechanism 3 and a moving mechanism 2 based on the gripping attitude decided by the workpiece gripping attitude calculation part 44.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2016,JPO&INPIT