公开(公告)号：US20230182289A1

公开(公告)日：2023-06-15

申请号：US18054306

申请日：2022-11-10

Applicant: KONICA MINOLTA, INC.

Inventor： Yasuyuki KAMAI ,  Yusuke MURAKAMI ,  Daichi SUZUKI ,  Akihiro NAKAMURA ,  Tomoyoshi YUKIMOTO

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J9/1635 ,  B25J13/081

Abstract: A picking device includes: a workpiece holder in which a plurality of workpieces is stacked; a light receiver that receives reflected light from a workpiece stacked in the workpiece holder; a mover that relatively moves the light receiver with respect to the workpiece in such a manner that a distance between the light receiver and the workpiece is adjustable; an arm that picks the workpiece; a first hardware processor that calculates a distance between the light receiver and at least one workpiece among the plurality of workpieces; a second hardware processor that specifies a workpiece as a picking target among the plurality of workpieces or a region where the workpiece exists; and a third hardware processor that adjusts a distance between the light receiver and the workpiece calculated by the first hardware processor by controlling the mover in the region specified by the second hardware processor.