Title:
PARTS SUPPLY DEVICE AND PARTS TRANSFER SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/117734
Kind Code:
A1
Abstract:
This parts transfer system comprises: a stage having a loading surface on which a plurality of parts are loaded; a transfer device for picking and transferring the parts; a moving head that moves parallel to the loading surface of the stage; a line light irradiating device mounted on the moving head for emitting line light at a first acute angle relative to the loading surface of the stage; a line light imaging device mounted on the moving head for capturing an image of the line light on the loading surface of the stage at a second acute angle relative to the loading surface of the stage; a height distribution calculating unit for calculating height distribution on the loading surface of the stage on the basis of the shape of the line light in each of a plurality of images captured by the line light imaging device while the moving head is moving; and a parts detection unit for detecting positions and orientations of the parts on the loading surface on the basis of the calculated height distribution.
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Inventors:
IMAI YUTA (JP)
HIGASHI HIROAKI (JP)
HIGASHI HIROAKI (JP)
Application Number:
PCT/JP2020/045716
Publication Date:
June 17, 2021
Filing Date:
December 08, 2020
Export Citation:
Assignee:
KYOTO SEISAKUSHO (JP)
International Classes:
B07C5/10; B65G47/14; G01B11/00; G01B11/26
Foreign References:
| JPH06298335A | 1994-10-25 | |||
| JPH082655A | 1996-01-09 | |||
| JPH0640545A | 1994-02-15 | |||
| JPH09166426A | 1997-06-24 | |||
| JPH04283052A | 1992-10-08 |
Attorney, Agent or Firm:
YAMAO, Norihito et al. (JP)
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