To provide a depalletizing apparatus and a depalletizing method adapted to simultaneously and collectively transport a plurality of workpieces in a first position even if the positions and attitudes of the plurality of workpieces are irregular, and also align the directions of the workpieces and efficiently transfer the workpieces in a second position even if the workpieces have a portion that is difficult to suck.
The depalletizing apparatus 10 transfers the plurality of identical workpieces irregularly lying in one or more than one first positions 2 to one or more than one second positions 4. The depalletizing apparatus 10 includes an imaging device 12 for taking images of the plurality of workpieces from above in the first position; an image processing device 14 for detecting the upper surface positions and orientations of the individual workpieces from the taken images; a transport robot 16 having a robot hand 20 for hoistably sucking the upper surfaces of the workpieces; and a control device 18 for controlling the transport robot. The robot hand 20 has on its lower surface a plurality of suction parts 21 simultaneously sucking the plurality of workpieces and individually and independently control suction power.
SHIMA TERUYUKI
INOUE TOMOHIRO
| JPH06305551A | 1994-11-01 |
Yasuharu Nakasone
Toshihiro Nomura