Gripping device for thin plate-shaped small workpieces, method for gripping thin plate-shaped small workpieces

摘要

PROBLEM TO BE SOLVED: To provide a thin plate-shaped small work gripping device and a thin plate-shaped small work gripping method capable of gripping a thin plate-shaped small work in a predetermined direction with one hand. SOLUTION: The gripping device 1 of the embodiment is a tray 9 in which a plurality of recesses 13 for making a work 6 stand upright are formed and vibrated, and a work 6 placed on the tray 9 is provided. The camera 3 as a detector for detecting the arrangement, the robot 4 to which the hand 11 for gripping the work 6 is attached, the robot 4, and the control device 5 for controlling the vibration mechanism 10 are provided, and the work 6 is provided by vibrating the tray 9. The process of moving and inserting the work 6 into the recess 13, the process of identifying the work 6 in the upright state by imaging the tray 9 with the camera 3, and the process of grasping the specified work 6 with the hand 11 in a predetermined direction. The process of controlling the robot 4 is executed. [Selection diagram] Fig. 1