PICKUP DEVICE

PROBLEM TO BE SOLVED: To provide a pickup device capable of accurately taking out work-pieces placed in bulk in a short period of time, and aligning them in predetermined positions.SOLUTION: A pickup device comprises: a first imaging part 4 capable of imaging substantially whole area of a take-out part S1; a second imaging part 5 disposed in a handling part 3; first position/attitude information determination means 20 for determining approximate position information and approximate attitude information of a work-piece WA on the basis of a first image G1 acquired from the first imaging part 4; driving means 15 for driving a robot arm 2 and/or the handling part 3 on the basis of the approximate position information and approximate attitude information so that the second imaging part 5 can approach the work-piece to face it; and second position/attitude information determination means 23 for determining precise position information and precise attitude information of the work-piece WA on the basis of a second image G2 acquired from the second imaging part 5.SELECTED DRAWING: Figure 1 【課題】バラ積みされたワークを短時間で且つ正確に取り出して所定の場所に整列させることができるピックアップ装置を提案する。【解決手段】本発明のピックアップ装置は、取り出し部Ｓ１の略全域を撮像可能な第一撮像部４と、ハンドリング部３に設けられる第二撮像部５とを備え、第一撮像部４から得られる第一画像Ｇ１からワークＷＡの概略位置情報及び概略姿勢情報を算出する第一位置姿勢算出手段２０と、概略位置情報及び概略姿勢情報に基づいてロボットアーム２及び／又はハンドリング部３を駆動させて第二撮像部５をワークに正対させるように近づける駆動手段１５と、第二撮像部５から得られる第二画像Ｇ２からワークＷＡの詳細位置情報及び詳細姿勢情報を算出する第二位置姿勢算出手段２３とを備える。【選択図】図１