JP6725355B2 - Work processing system - Google Patents

Description

The present invention relates to a work processing system that supplies a work mounted on a work mounting table to a work processing apparatus such as a machine tool while holding the work by a transfer robot.

Conventionally, it is difficult to automate the operation of taking out the articles of the same shape that are randomly scattered in the stocker, and it has been performed manually. However, in recent years, there has been proposed an article take-out device capable of taking out the articles piled up in bulk by a robot (for example, refer to Patent Document 1).

The article takeout device of Patent Document 1 includes a coordinate measuring machine arranged above a container in which articles are stacked in bulk. This coordinate measuring machine measures the surface of an exposed article and acquires position information of a plurality of coordinate points. It is said that a non-contact type three-dimensional measuring machine can be used. Various types of non-contact methods are known in the related art. For example, a stereo method using two cameras, a method of scanning a laser slit light, a method of scanning a laser spot light, and a pattern light using a projector. And a method of utilizing the time until the light emitted from the projector reaches the light receiver after being reflected by the surface of the article. The coordinate measuring machine as described above expresses the acquired three-dimensional information in the form of a distance image or a three-dimensional map. The distance image represents three-dimensional information in an image format, and represents the height of the position on the image or the distance from the coordinate measuring machine depending on the brightness and color of each pixel of the image. Further, the above-mentioned three-dimensional map represents three-dimensional information as an aggregate of measured three-dimensional coordinate values.

After the article is taken out of the container based on the three-dimensional information of the articles stacked in the container by the robot provided in the article take-out apparatus, the article is taken from an NC machine tool, a measuring device, a deburring device, or the like. It may be temporarily placed on the article placement table before being supplied to the article processing apparatus. Above the article placing table, a posture detecting device for detecting the posture of the article placed on the article placing table in the three-dimensional space is provided. The posture detection device has an image pickup camera for picking up an image of the article on the article placement table, and detects the posture of the article based on the image generated by the image pickup camera. Although a plurality of articles may be placed on the article placement table, they are placed in a dispersed state to some extent rather than in a piled state, so that the articles can be taken out with a simple configuration using one imaging camera. it can. Then, according to the posture of the article detected by the posture detection apparatus, the robot holds the article on the article placement table and supplies the article to the article processing apparatus.

JP, 2005-089589, A

By the way, there are cases where the posture of the article placed on the article placing table cannot be detected by the posture detecting device due to a defect of the image pickup camera or the like. However, in the conventional configuration, when the posture of the article cannot be detected, the flow of the entire system for processing the article is stopped, or the operator takes out the article on the article placement table. It was Therefore, it is difficult to say that the processing efficiency of the entire system for processing the article is good.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work processing system that does not reduce the processing efficiency even when the posture of the article cannot be detected by the posture detection device. And

A work processing system according to the present invention includes a work processing device that processes a work,
A work placement device having a work placement table on which the work is placed;
A posture detection device that detects a posture of the work placed on the work placement table in a three-dimensional space;
A hand for gripping the work, and grips the work placed on the work placement table of the work placement device by the hand according to the posture of the work detected by the posture detection device. A transfer robot that supplies the work processing apparatus,
The work placement device includes an ejection mechanism having a first ejection path, and the ejection mechanism places the work placement table on the work placement table when the posture detection device cannot detect the posture of the work. It is configured to perform a first discharging operation of discharging the processed work from the work mounting table via the first discharge path.

In the present invention, the work is processed in the work processing device. Examples of the work processing device include an NC machine tool, a measuring device, a deburring device, and the like. A work placement device is provided on the upstream side of the conveyance with respect to the work processing device. The work placement device has a work placement table, and the posture of the work placed on the work placement table in the three-dimensional space is detected by the posture detection device. The posture information of the work detected by the posture detection device is transmitted to the robot controller that controls the transfer robot, and the robot controller causes the hand of the transfer robot to grip the work according to the posture information and supply it to the work processing device. It is configured.

The work placement device is provided with a discharge mechanism that discharges the work placed on the work placement table from the work placement table via the first discharge path. The discharging mechanism may have a structure in which the work mounting table is tilted and the work on the work mounting table is slid to discharge the work from the first discharging path, or the first discharging is performed. A conveyor may be provided as a path, and the workpiece may be discharged by being conveyed by the conveyor.

Here, there are cases where the posture detection device cannot detect the posture of the work due to a problem or the like that occurs in the posture detection device (for example, an imaging camera included in the posture detection device). In such a case, the work on the work placement table is discharged by the first discharge operation of the discharge mechanism. As a result, even when the posture of the work cannot be detected by the posture detection device, it is not necessary to stop the flow of the entire system as in the conventional case, and the worker needs to take out the work on the work placement table. Nor. Therefore, according to the present invention, even when the posture of the workpiece cannot be detected by the posture detection device, the processing efficiency of the workpiece processing system is not reduced.

In the present invention, the work processing system further includes a stock unit in which a plurality of the works are stored, and the transfer robot transfers the work from the stock unit to the work placement table of the work placement device. When the posture detection device cannot detect the posture of the work, the discharging mechanism of the work mounting device causes the work to be discharged onto the work mounting table by the first discharge. It is preferably configured to discharge to the stock portion via a passage.

According to the above aspect, the work is stored in the stock section before being transferred to the work placement table. Then, the work is carried from the stock section onto the work placement table by the carrying robot. When the posture of the work placed on the work placing table cannot be detected by the posture detecting device, the work on the work placing table is discharged to the stock portion by the first discharging operation of the discharging mechanism. In this way, when the posture of the work cannot be detected due to a problem of the posture detection device, etc., by returning the work on the work placement table to the stock part, the returned work, that is, in the work processing device. A work that has not been processed can be again subjected to posture detection. This eliminates the need for the operator to return the work that has not been processed by the work processing apparatus to the stock section.

In the present invention, the posture detection device stores a storage unit that stores in advance three-dimensional information of the work, three-dimensional information of the work related to the detected posture, and three-dimensional information of the work of the storage unit. A foreign matter determination unit that determines whether or not the work is a foreign matter by comparison, and the discharge mechanism has a second discharge path different from the first discharge path. The apparatus is configured to perform a second discharging operation of discharging the work, which is determined to be the foreign matter, through the second discharge path when the foreign matter determination unit determines that the work is the foreign matter. Is preferably provided.

According to the above aspect, the three-dimensional information of the work is stored in the storage unit of the posture detection device in advance. Then, the foreign substance determination unit compares the three-dimensional information of the work whose posture is detected by the posture detection device and the three-dimensional information of the work in the storage unit, thereby determining whether or not the work is a foreign substance. It When the foreign matter determination unit determines that the work is a foreign matter, the second discharge operation of the discharge mechanism causes the work determined to be the foreign matter to be discharged through the second discharge path. As a result, it is possible to prevent the workpiece, which has been determined to be a foreign matter, from being erroneously processed by the workpiece processing apparatus.

In the present invention, the work placement table is formed in a rectangular shape or a square shape in a plan view, and is configured to rotate about a shaft provided with a hinge provided at one end thereof, The mechanism includes a cylinder having a piston rod connected to a lower surface portion of the work placement table, and a chute that is connected to the stock portion and forms the first discharge path, and the posture detection device has a posture of the work. When it is not possible to detect that the work placement table is rotated downward by pulling the piston rod by the cylinder, the discharge mechanism rotates the work placement table downward as the first discharge operation. It is preferable that the other end of the table is connected to the chute.

According to the above aspect, the work placement table is configured to rotate about the axis around the hinge provided at one end thereof. The piston rod of the cylinder is connected to the lower surface of the work placement table. When the piston rod is pulled in by the cylinder, the work mounting table is configured to rotate downward about the hinge as a result. A chute is connected to the stock section. In such a configuration, when the posture of the work cannot be detected by the posture detection device, when the piston rod is pulled in by the cylinder, the work placement table rotates downward and the other end of the work placement table shoots. Connected to. As a result, the work on the work mounting table in the inclined state slides down on the chute and is returned to the stock section. As a result, the work can be returned to the stock section with a simple configuration.

As described above, according to the present invention, it is possible to provide the work processing system that does not reduce the processing efficiency even when the posture of the article cannot be detected by the posture detection device.

It is a schematic plan view of the work processing system which concerns on one Embodiment of this invention. (A) It is the front view which looked at the work processing system of Drawing 1 from the direction of arrow D1, and (b) is a side view of the work processing system of (a). It is a block diagram of a control system of a work processing system concerning one embodiment of the present invention. FIG. 3 is a plan view of a work placement device and a recovery unit of FIG. It is a schematic plan view which shows the modification of the discharge mechanism of a workpiece.

Hereinafter, a work processing system according to an embodiment of the present invention will be described with reference to the drawings.

The work processing system 1 according to the present embodiment includes a stock unit 2, a work placement device 3, a collection unit 4, a work processing device 5, a transfer robot 6, and a three-dimensional information acquisition device 7 (see FIG. )) and a posture detection device 8 (see FIG. 2A). In the present embodiment, various robots such as an articulated robot and an orthogonal three-axis robot can be used as the transfer robot 6. FIG. 1 illustrates a multi-joint robot as the transfer robot 6. The transfer robot 6 can rotate clockwise and counterclockwise in FIG. The transport robot 6 has an arm 6a and a hand 6b provided at the tip of the arm 6a and holding a work W (see FIG. 4). The structure of the hand 6b is not particularly limited, and may be a structure for holding the work W or a structure for holding the work W by fluid pressure suction or magnetic suction. The transport robot 6 takes out the work W from the stock unit 2 by the hand 6b and places the taken-out work W on a work placement table 9 (see FIG. 2A) of the work placement device 3 described later. Further, the transport robot 6 holds the work W placed on the work placement table 9 by the hand 6b and supplies the work W to the work processing device 5 according to the work posture detected by the posture detection device 8.

The stock part 2 is formed with its upper part open. In the stock section 2, a plurality of works W are randomly stacked in advance. Although the work W having the same shape is usually stored in the stock unit 2, a work having a different shape from the work (hereinafter, sometimes referred to as a foreign matter) may be erroneously mixed. .. As shown in FIGS. 2A and 2B, the stock portion 2 is supported by the support legs 2a. Note that, in FIG. 2B, the work placement device 3 and the recovery unit 4 are not illustrated for easy understanding.

As shown in FIG. 2( a ), the work placement device 3 includes a support leg 3 a, a work placement table 9, an outer frame 10 for a table, and a piston rod 11 a provided so as to be reciprocally movable. The cylinder 11, the chute 12 that slides the work W from the work placement device 3 toward the stock unit 2, the recovery cylinder 13, the recovery bar 14, and the cylinder control unit 15 including the CPU (see FIG. 3). And The return cylinder 11 and the recovery cylinder 13 are hydraulic cylinders or air cylinders. As shown in FIG. 4, the work mounting table 9 is formed in a rectangular shape in a plan view. The table outer frame 10 is arranged so as to surround the outer peripheral edge portion of the work placement table 9. A fixed space is formed below the work placement table 9. A hinge (not shown) that connects the one end and the table outer frame 10 is connected to one end (the left end in FIG. 2A) of the work placement table 9. As a result, the work placement table 9 is configured to rotate around the hinge about the axis. The outer frame 10 for the table is supported by the support legs 3a.

One end of the return cylinder 11 is connected to the support leg 3a (the left support leg 3a in FIG. 2(a)), and the other end of the return cylinder 11, that is, the tip of the piston rod 11a has a joint 11b. It is connected to the lower surface of the work placement table 9 via the. In such a structure, when the piston rod 11a is pulled in by the return cylinder 11, the work mounting table 9 is rotated and tilted downward with the hinge as an axis. As a result, the other end (the right end in FIG. 2A) of the work placing table 9 that faces the one end is connected to the chute 12. With such a configuration, the work W on the work placement table 9 can be returned to the stock unit 2. When the piston rod 11a is pulled out by the return cylinder 11, the work placing table 9 is rotated upward with the hinge as an axis and returns to the original position.

As shown in FIG. 2( a ), the recovery unit 4 includes an upper member 16 having a hole 16 a that penetrates vertically and a hole 17 a that has a bottomed cylindrical shape and that communicates with the hole 16 a. And a main body 17 having the same. The recovery cylinder 13 is arranged at one end of the upper member 16 of the recovery unit 4. The recovery cylinder 13 includes a reciprocating piston rod 13a and a recovery bar 14 connected to the tip of the piston rod 13a.

As shown in FIG. 4, the piston rod 13a is reciprocally movable in the direction of arrow D2. The recovery bar 14 is connected to the piston rod 13a so that its length direction is orthogonal to the direction of arrow D2. The movable range of the recovery bar 4 is a region between the left end of the work mounting table 9 and the position of the hole 16 a of the upper member 16 in FIG. 4. In such a configuration, when the piston rod 13a is pulled in by the recovery cylinder 13, the work on the work placement table 9 is moved while the recovery bar 14 moves toward the hole 16a of the upper member 16 accordingly. Scrape W. As a result, the work (work that has been determined to be a foreign substance described later) W can be recovered from the hole 16a into the main body 17. The hole 17a of the main body 17 is provided with a cushion material 17b that reduces the impact on the work W.

Returning to FIG. 1, the work processing device 5 is a device that processes the work W. In the present embodiment, work processing system 5 is N C machine tool, for example. The work W transported from the work placement table 9 (see FIG. 2A, etc.) by the transport robot 6 is supplied to the work processing apparatus 5 and processed in the work processing apparatus 5.

As shown in FIGS. 2A and 2B, the three-dimensional information acquisition device 7 includes a projector 20, two imaging cameras 21, and a plurality of LED lights 22. The projector 20, the imaging camera 21, and the LED light 22 are arranged above the stock unit 2. As shown in FIG. 2B, the projector 20 is arranged between the two imaging cameras 21. Although the LED light 22 is provided independently of the projector 20 in the present embodiment, the present invention is not limited to this, and the projector 20 may be configured to include a light source.

The image pickup camera 21 is a digital camera including an image pickup device such as a CCD or a CMOS, and picks up an image of the surface of the work W. The two imaging cameras 21 are arranged in different directions so that their imaging fields of view at least partially overlap each other. The projector 20 is arranged such that the projection range thereof at least partially overlaps the imaging field of view of each imaging camera 21. The projector 20 is configured to project predetermined pattern light such as spot light or slit light onto the surface of the work W in the stock unit 2. In the three-dimensional information acquisition device 7, a plurality of measurement points are set on the surface of the work W based on the pattern light projected by the projector 20, and the imaging camera 21 acquires the three-dimensional information of the measurement points. The three-dimensional information is position information of a specific part of the work W, and includes, for example, information about the position of the apex, the position and orientation of a plane that is part of the work W, and the like. The form of the three-dimensional information may be, for example, a range image or a three-dimensional map. The distance image is an image in which the distance from the three-dimensional information acquisition device 7 to the work W in the measurement area is represented by the brightness or color of each pixel. The three-dimensional map represents the three-dimensional position of the work W in the measurement area as a set of three-dimensional coordinate values of points on the surface of the work W.

The three-dimensional information of the work W acquired by the three-dimensional information acquisition device 7 is transmitted to the robot controller 23, as shown in FIG. The robot controller 23 controls the position and posture of the transfer robot 6 based on the above-mentioned three-dimensional information to perform the holding operation of the work W in the stock unit 2 by the hand 6b and place the held work W on the work placement. It is configured to execute the operation of mounting on the table 9.

The posture detection device 8 is configured to detect the posture of the work W placed on the work placement table 9 in the three-dimensional space. As shown in FIG. 3, such an attitude detection device 8 includes an imaging camera 24, an attitude detection unit 25, a foreign matter determination unit 26, and a storage unit 27 including various memories. The posture detection unit 25 and the foreign matter discrimination unit 26 are functionally realized by the CPU executing a predetermined program stored in the memory.

As shown in FIG. 2A, the image pickup camera 24 of the posture detection device 8 is arranged above the work placement table 9. The imaging field of view of the imaging camera 24 is set larger than the area of the work placement table 9. As illustrated in FIG. 3, the imaging camera 24 images the work W on the work placement table 9 to generate imaging data, and transmits the imaging data to the posture detection unit 25. The posture detection unit 25 detects the posture of the work W based on the image pickup data generated by the image pickup camera 24, and transmits the posture information which is the detection result to the robot controller 23. The robot controller 23 controls the position and attitude of the transfer robot 6 based on the above attitude information to perform the holding operation of the work W on the work placement table 9 by the hand 6b, and at the same time process the held work W. It is arranged to perform the operation of supplying the device 5.

Here, there are cases where the posture detection unit 25 cannot detect the posture of the work W due to a defect of the imaging camera 24 or the like. In this case, the posture detection unit 25 transmits a signal indicating that the posture of the work W cannot be detected to the cylinder control unit 15 of the work placement device 3. The cylinder controller 15 operates the return cylinder 11 to pull in the piston rod 11a. As a result, the work placing table 9 is inclined downward with the hinge as the axis, and the right end portion of the work placing table 9 is connected to the chute 12 serving as the first discharge path. As a result, the work W on the work placement table 9 slides down on the chute 12 and is returned to the stock section 2. After the work W is returned to the stock section 2, the work placement table 9 is rotated upward and returned to its original position.

On the other hand, as described above, if the foreign matter is mixed in the stock unit 2 and the foreign matter is placed on the work placement table 9, the foreign matter determination is performed based on the image pickup data by the image pickup camera 24. The unit 26 determines that the work W on the work placement table 9 is a foreign matter. In this case, the foreign matter determination unit 26 transmits a signal indicating that the work W on the work placement table 9 is a foreign matter to the cylinder control unit 15 of the work placement device 3. The cylinder controller 15 operates the recovery cylinder 13 to pull in the piston rod 13a. As a result, the recovery bar 14 moves in a direction approaching the hole 16a of the upper member 16, so that the work W on the work placement table 9 is scraped. As a result, the work (that is, the work determined to be the foreign matter) W is collected in the main body 17 from the hole 16a of the upper member 16 serving as the second discharge path. After the work W is collected, the collection bar 14 is returned to the original position.

As described above, according to the work processing system 1 of the present embodiment, when the posture of the work W cannot be detected by the posture detection device 8 due to a problem or the like occurring in the posture detection device 8, As one discharging operation, the work placing table 9 is inclined downward by the operation of the return cylinder 11, and one end of the work placing table 9 is connected to the chute 12. As a result, the work W on the work placement table 9 slides down on the chute 12 and is returned to the stock section 2. The work W can be returned to the stock unit 2 with such a simple configuration. As described above, even when the posture detection device 8 cannot detect the posture of the work W, it is not necessary to stop the flow of the entire system as in the conventional case, and the worker takes out the work W on the work placement table 9. There is no need to do the work. Therefore, the work efficiency is not reduced in the work processing system 1.

Further, according to the present embodiment, when the posture of the work W placed on the work placing table 9 cannot be detected by the posture detecting device 8, the work W on the work placing table 9 is stored in the stock unit. It is discharged to 2. In this way, when the posture of the work W cannot be detected, the work W on the work placement table 9 is returned to the stock unit 2 so that the returned work W, that is, the work processing device 5 still performs the processing. The work W that has not been rotated can be again subjected to posture detection. This eliminates the need for the operator to return the work W, which has not been processed by the work processing apparatus 5, to the stock unit 2.

Further, according to the present embodiment, the three-dimensional information of the work W is stored in the storage unit 27 of the posture detection device 8 in advance. Then, the foreign substance determination unit 26 compares the three-dimensional information of the work W whose posture has been detected by the posture detection device 8 with the three-dimensional information of the work W in the storage unit 27 to determine whether the work W is a foreign substance. It is determined whether or not. When the foreign matter determination unit 26 determines that the work W is a foreign matter, the work W determined to be a foreign matter is recovered by the recovery unit 4 by the operation of the recovery cylinder 13 of the work placement device 3 as the second discharging operation. It is supposed to be done. As a result, it is possible to prevent the work W that has been determined to be a foreign object from being erroneously processed by the work processing apparatus 5.

Although the work processing system 1 according to the embodiment of the present invention has been described above, the modes that the work processing system 1 can adopt are not limited to the modes described above, and the following modifications are applied. May be.

In the above-described embodiment, the work placing table 9 is tilted downward by the operation of the return cylinder 11, and the work W is returned to the stock unit 2 in a state where one end of the work placing table 9 is connected to the chute 12. The configuration in which the recovery bar 14 is moved by the recovery cylinder 13 to recover the work W in the recovery unit 4 has been described. However, the configuration in which the work W is returned to the stock unit 2 and the work W is recovered in the recovery unit 4 is described. The configuration is not limited to the above. The following configuration may be adopted.

FIG. 5 is a schematic plan view showing a modified example of the work discharge mechanism. As shown in FIG. 5, you may provide the chute 12a provided with the side walls 28a and 29a, the center wall 30, and the distribution bar 31. The side wall 28a and the central wall 30 define a first discharge path 28 for returning the work W to the stock section 2, and the side wall 29a and the central wall 30 form a first discharge path 28 for collecting the work W in the collecting section 4. The two discharge paths 29 are sectioned. Further, the distribution bar 31 is provided in the vicinity of one end of the central wall 30 so as to be rotatable clockwise and counterclockwise. The stock portion 2 is arranged so as to be connected to the downstream end of the first discharge passage 28, and the collecting portion 4 is arranged so as to be connected to the downstream end of the second discharge passage 29. The chute 12a of this example is also arranged to be inclined like the chute 12 of FIG. In such a configuration, when the posture of the work W placed on the work placing table 9 cannot be detected by the posture detecting device 8, the work placing table 9 is inclined downward and the sorting bar is arranged. 31 rotates in the direction of blocking the second discharge path 29 (that is, the counterclockwise direction in FIG. 5). As a result, the first discharge path 28 is opened, so that the work W on the work mounting table 9 slides down from the work mounting table 9 on the first discharge path 28 of the chute 12a and returns to the stock section 2. On the other hand, when the foreign matter determination unit 26 determines that the work W is a foreign matter, the work placing table 9 is inclined downward and the sorting bar 31 blocks the first discharge path 28 ( That is, it rotates in the clockwise direction in FIG. As a result, the second discharge passage 29 is opened, so that the work W on the work placing table 9 slides down from the work placing table 9 on the second discharge passage 29 of the chute 12a and is collected by the collecting unit 4. It

Alternatively, a motor and a conveyor that can rotate forward and backward may be used. Specifically, when returning the work W to the stock unit 2, the motor is rotated in the forward direction to move the conveyor in one direction to convey the work W. In the case of discharging the workpiece W, the motor may be rotated in the reverse direction to move the conveyor in the direction opposite to the one direction to convey the work W.

In the above embodiment, when the posture of the work W is not detected by the posture detection device 8, the work placing table 9 on which the work W is placed is tilted downward to shoot the work W. Although the configuration is such that the workpiece W is returned to the stock unit 2 via 12, the configuration for returning the work W to the stock unit 2 is not limited to this. For example, a member such as a cylinder that is movable in one direction on the work placement table 9 is provided, and the work W on the work placement table 9 is collected by the member and dropped toward the stock unit 2. A configuration can also be adopted.

Further, although the recovery cylinder 13 and the recovery bar 14 are adopted in the above-described embodiment, the invention is not limited to this. For example, a suction type pickup robot or the like is provided, and the work W is collected by the pickup robot. May be.

Further, in the above-described embodiment, the work W in the stock unit 2 is configured to be placed on the work placement table 9 by the transfer robot 6, but the present invention is not limited to this, and the work in the stock unit 2 is not limited to this. Another transfer robot for mounting W on the work mounting table 9 may be provided.

In the above-described embodiment, the shape of the work placement table 9 of the work placement device 3 is rectangular in plan view, but the shape is not limited to this, and the shape of the work placement table 9 is square in plan view. Alternatively, another shape such as a circular shape may be used.

Further, in the above embodiment, the NC machine tool is illustrated as an example of the work processing device 5, but the work processing device 5 is not limited to this, and the work processing device 5 may be, for example, a measuring device, an air blow device, or a deburring device. The device may be.

1 Work processing system 2 Stock part 3 Work placement device 4 Collection part 5 Work processing device 6 Transfer robot 7 Three-dimensional information acquisition device 8 Posture detection device 9 Work placement table 11 Return cylinder (discharging mechanism)
11a Piston rod (discharging mechanism)
12 chute (first discharge path)
13 Recovery cylinder (discharging mechanism)
14 Recovery bar (discharging mechanism)
24 Imaging Camera 25 Attitude Detection Section 26 Foreign Material Discrimination Section 27 Storage Section 28 First Discharge Path 29 Second Discharge Path 31 Sorting Bar (Discharge Mechanism)
W work

Claims (3)

A work processing device for processing a work,
A work placement device having a work placement table on which the work is placed;
A posture detection device including a posture detection unit that detects a posture of the work placed on the work placement table in a three-dimensional space;
A hand for gripping the work, and grips the work placed on the work placement table of the work placement device by the hand according to the posture of the work detected by the posture detection device. , and a transfer robot to be supplied to the work processing system,
The posture detection device further includes a storage unit that stores in advance three-dimensional information of the work, and the three-dimensional information of the work related to the posture detected by the posture detection unit and the three-dimensional information of the work of the storage unit. And a foreign matter determination unit that determines whether or not the workpiece is a foreign matter by comparing
The work placement device further includes a discharge mechanism having a first discharge path and a second discharge path ,
Said discharge mechanism when said attitude detection unit could not detect an attitude of the workpiece, the workpiece placed on the workpiece placement table, the first discharge path from the workpiece placement table When performing the first discharging operation of discharging the workpiece through the second discharging path, when the foreign matter determination unit determines that the workpiece is the foreign matter, the workpiece determined to be the foreign matter is discharged through the second discharge path. A work processing system, which is configured to perform a second discharging operation for discharging . Further comprising a stock section for storing a plurality of the works,
The transfer robot is configured to transfer the work from the stock unit onto the work placement table of the work placement device,
When the posture detection section could not be detected attitude of the workpiece, before Symbol discharge mechanism discharging the workpiece on the workpiece placement table, the stock portion through the first discharge path The work processing system according to claim 1, wherein the work processing system is configured to: The work placing table is formed in a rectangular shape or a square shape in a plan view, and is configured to rotate about the axis around a hinge provided at one end of the work placing table. A cylinder having a piston rod connected to the lower surface of the work placement table, and a chute connected to the stock portion to form the first discharge passage,
When the posture detection device cannot detect the posture of the work, the discharging mechanism moves the work mounting table downward by pulling the piston rod by the cylinder as the first discharging operation. The work processing system according to claim 2, wherein the work processing system is configured to be rotated to connect the other end of the work mounting table to the chute.

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