To provide a picking device capable of preventing a picking failure of a long cylindrical chemical container such as an ampoule or a vial.
A picking device includes a main suction pad 20 for sucking a returned chemical A, a plurality of auxiliary suction pads 21 arranged on a straight line around the main suction pad 20, and a servo motor 23 for rotating the main suction pad 20 and the plurality of auxiliary suction pads 21 around the main suction pad 20, on the basis of a picking position and a picking direction detected by position direction detection means, the main suction pad 20 and the plurality of auxiliary suction pads 21 are rotated by the servo motor 23 to suck the returned chemical A. The picking position of the returned chemical A is sucked by the main suction pad 20, and the returned chemical A is sucked by the plurality of auxiliary suction pads 21. When the returned chemical A is sucked by at least one of the plurality of auxiliary suction pads 21, the detection of the position direction detection means is determined to be correct.
MUKU HIROTAKA
TOMOKIYO HIROKI
| JPH07171780A | 1995-07-11 | |||
| JP2005271149A | 2005-10-06 | |||
| JPH0727584U | 1995-05-23 | |||
| JP2008087074A | 2008-04-17 | |||
| JP2010069542A | 2010-04-02 | |||
| JP2000127071A | 2000-05-09 | |||
| JP2011248757A | 2011-12-08 |
| US20140195053A1 | 2014-07-10 |
Takashi Kuboyama