Control device for workpiece sampling system

Abstract

The present invention provides a control device for a workpiece sampling system that enables the separation of the workpiece W with relatively little force. [Solution] The system includes a movement control unit that moves the detection device to the side of the workpiece and performs a movement process to move the detection device within a range of movement in which a first workpiece and a second workpiece can be detected among a plurality of workpieces; a recognition unit that detects the first workpiece and the second workpiece and performs a recognition process to recognize the vertical positions of the first workpiece and the second workpiece; an insertion control unit that performs insertion control to insert a wedge between the vertical positions of the first workpiece and the second workpiece; a rotation control unit that performs rotation control to rotate the wedge in the vertical direction; and a sampling control unit that moves the sampling device to the sampling position and samples the first workpiece.

Description

Technical Field

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[0001] This disclosure relates to a control device for a work picking system.

Background Art

[0002] <{\displaystyle 0000009}>Conventionally, a work picking system that picks up work after separating stacked work is known (see, for example, Patent Document 1). Patent Document 1 discloses a work picking system that inserts a wedge between stacked workpieces, clamps the workpieces with a clamp, and separates the workpieces by raising the clamp.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the work picking system of Patent Document 1 raises the clamp in a state where the workpieces are clamped after inserting a wedge between the workpieces. Therefore, the work picking system of Patent Document 1 requires a relatively large force to separate the workpieces.

[0005] An object of this disclosure is to provide a control device for a work picking system that can separate work with a relatively small force.

Means for Solving the Problems

[0006] The control device for a workpiece sampling system according to this disclosure comprises: a wedge inserted between a first workpiece placed on top of a plurality of stacked workpieces and a second workpiece placed below the first workpiece; a detection device for detecting the workpieces; a sampling device for sampling the workpieces; and a moving device for individually rotating or moving at least one of the wedge, the detection device, and the sampling device, or for rotating or moving all of the wedge, the detection device, and the sampling device, wherein the control device moves the detection device to the side of the workpieces, and a plurality of the workpieces The system includes: a movement control unit that causes the detection device to move within a range of motion in which the first workpiece and the second workpiece can be detected; a recognition unit that detects the first workpiece and the second workpiece and performs a recognition process to recognize the vertical positions of the first workpiece and the second workpiece; an insertion control unit that performs insertion control to insert the wedge between the vertical positions of the first workpiece and the second workpiece; a rotation control unit that performs rotation control to rotate the wedge in the vertical direction; and a sampling control unit that moves the sampling device to the sampling position and samples the first workpiece. [Effects of the Invention]

[0007] According to this disclosure, the rotation control unit rotates a wedge in a direction that separates the first workpiece from the second workpiece, thereby separating the first workpiece and the second workpiece using the principle of leverage. This allows the first workpiece and the second workpiece to be separated with a relatively small force. [Brief explanation of the drawing]

[0008] [Figure 1] A system diagram of a workpiece sampling system according to one embodiment of the present disclosure. [Figure 2] Front view of stacked workpieces according to one embodiment of the present disclosure. [Figure 3] A side view of stacked workpieces according to one embodiment of the present disclosure. [Figure 4] An enlarged view of the tip of a workpiece sampling system according to one embodiment of the present disclosure. [Figure 5] A figure showing a control device according to one embodiment of the present disclosure. [Figure 6] A diagram showing the movement state of a detection device according to one embodiment of the present disclosure. [Figure 7] A diagram showing the insertion state of a wedge according to one embodiment of the present disclosure. [Figure 8] A diagram showing the workpiece sampling state according to one embodiment of the present disclosure. [Figure 9] A flowchart illustrating a control procedure performed by a control device according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In the following specification, with reference to the state in which the workpiece W is placed, the side opposite to where the moving device 2 is placed in the short direction of the workpiece W will be referred to as the front side, and the side where the moving device 2 is placed will be referred to as the rear side. In the specification, when looking from the rear side to the front side, the right side will be referred to as the right side, the left side as the left side, the top side as the upper side, and the bottom side as the lower side. In the drawings, the front side will be referred to as FS, the rear side as BS, the right side as RS, the left side as LS, the upper side as US, and the lower side as DS.

[0010] As shown in Figure 1, the workpiece sampling system 1 comprises a moving device 2, a tip section 4, and a control device 6. The moving device 2 in this embodiment is a 6-axis robot arm that can move the tip section 4 in the forward / backward, up / down, and left / right directions, and can also rotate the tip section 4.

[0011] The workpiece sampling system 1 of this embodiment is a system for sampling multiple workpieces W stacked on a base D. As shown in Figures 2 and 3, the workpieces W of this embodiment have a hat shape. The multiple workpieces W are stacked flat, with a first workpiece W1 placed on top of the multiple workpieces W, and a second workpiece W2 adjacent to the first workpiece W1 and placed below the first workpiece W1. The first workpiece W1 is the workpiece W that the sampling device 12 will sample. The second workpiece W2 is the next workpiece W that the sampling device 12 will sample. When stacked flat in this manner, the inner surface of the first workpiece W1 may rub against the outer surface of the second workpiece W2, making it difficult to separate the first workpiece W1 from the second workpiece W2.

[0012] As shown in Figure 4, the tip section 4 includes a wedge 8, a detection device 10, a sampling device 12, and a camera 14. The tip section 4 holds the wedge 8, the detection device 10, and the sampling device 12.

[0013] The wedge 8 is inserted between adjacent workpieces among a stack of workpieces W. In this embodiment, the wedge 8 is a metal rod-shaped member with a pyramidal or conical tip. The wedge 8 is fixed to one of the tip portions 4.

[0014] The detection device 10 is a device for detecting the workpiece W. The detection device 10 in this embodiment has an irradiation unit 10a that emits infrared rays, and by irradiating the workpiece W with infrared rays, it detects the horizontal distance between the detection device 10 and the workpiece W. The detection device 10 is fixed to the side of the tip 4 opposite to the wedge 8.

[0015] The sampling device 12 is a device for sampling the workpiece W. The sampling device 12 in this embodiment has a plurality of electromagnets 12a. When the electromagnets 12a come into contact with the workpiece W, they generate an electromagnetic force and attract the workpiece W. The sampling device 12 is positioned below the wedge 8 of the tip portion 4 and the detection device 10.

[0016] The camera 14 is an imaging device that captures a color image or a monochrome image of the workpiece W. The camera 14 in this embodiment is a vision sensor capable of image processing for the captured image. The camera 14 is attached to the lower surface of the tip portion 4.

[0017] The control device 6 is a device that controls the workpiece collection system 1. In this embodiment, the control device 6 controls the moving device 2 to move and rotate the tip portion 4. Further, the control device 6 controls the operation of the detection device 10 and the operation of the collection device 12.

[0018] As shown in FIG. 5, the control device 6 includes a movement control unit 6a, a recognition unit 6b, an insertion control unit 6c, a rotation control unit 6d, an attitude detection unit 6e, a collection control unit 6f, a storage unit 6g, a setting unit 6h, and an acquisition unit 6i. The control device 6 is actually constituted by a microcomputer including an arithmetic device, a memory (ROM, RAM, nonvolatile RAM, etc.), an input / output buffer, etc. The movement control unit 6a, the recognition unit 6b, the insertion control unit 6c, the rotation control unit 6d, the attitude detection unit 6e, the collection control unit 6f, the setting unit 6h, and the acquisition unit 6i, and the attitude detection unit 6e are functional configurations realized by software recorded in the storage unit 6g (memory).

[0019] The movement control unit 6a causes the moving device 2 to execute a movement process. In the movement process, the movement control unit 6a first moves the detection device 10 to the side of the workpiece W. Then, the movement control unit 6a moves the tip portion 4 within a movement range in which at least the position and shape of the first workpiece W1 (see FIGS. 2 and 3), the position and shape of the second workpiece W2 (see FIGS. 2 and 3), and the insertion position for inserting the wedge 8 can be detected. As shown in FIG. 6, in this embodiment, the movement control unit 6a rotates the tip portion 4 in the vertical direction so that the longitudinal direction of the detection device 10 is in the vertical direction, and makes the collection device 12 face the rear side. In this state, the movement control unit 6a positions the irradiation unit 10a of the detection device 10 on the left side of the workpiece W. Then, the movement control unit 6a moves the irradiation unit 10a from top to bottom.

[0020] The recognition unit 6b performs recognition processing. The recognition processing involves detecting the position and shape of the first workpiece W1 and the second workpiece W2 from the distance between the detected workpiece W and the detection device 10, and recognizing the vertical position of the first workpiece W1 and the second workpiece W2.

[0021] The insertion control unit 6c performs insertion control. Insertion control involves moving the tip 4 to the insertion position detected by the detection device 10 and inserting the wedge 8 between the first workpiece W1 and the second workpiece W2. As shown in Figure 7, the insertion control unit 6c controls the moving device 2 to rotate the tip 4 in the left-right direction so that the wedge 8 faces the workpiece W. The insertion control unit 6c controls the moving device 2 to move the wedge 8 to the insertion position and insert the tip of the wedge 8 between the first workpiece W1 and the second workpiece W2.

[0022] The rotation control unit 6d performs rotation control. The rotation control is a control that rotates the wedge 8 by rotating the tip 4 in a direction that moves the first workpiece W1 away from the second workpiece W2. In this way, by rotating the wedge 8 in the vertical direction, the first workpiece W1 can be separated from the second workpiece W2 using the principle of leverage. As shown in an enlarged view in Figure 7, in this embodiment, the rotation control unit 6d controls the moving device 2 to rotate the wedge 8 in the vertical direction (see arrow CC in Figure 7) so that the tip of the wedge 8 becomes the fulcrum (see O in the enlarged view of Figure 7). That is, the rotation control unit 6d moves the tip 4 upward and tilts the right side downward. As a result, the wedge 8 rotates counterclockwise around the fulcrum.

[0023] By rotating the wedge 8 with its tip as the fulcrum, the distance from the point of application to the fulcrum increases. As a result, the first workpiece W1 can be separated from the second workpiece W2 with a sufficiently small force.

[0024] The insertion position is preferably the position where the force required to separate the workpiece W using the lever principle is minimized. For example, the insertion position is the position where the gap between the first workpiece W1 and the second workpiece W2 is largest. Such an insertion position differs for each shape (type) of workpiece W. In this embodiment, the gap is largest between the upper surface of the left first workpiece W1 and the upper surface of the second workpiece W2. The same applies to the gaps between the workpieces W placed below the second workpiece W2. Therefore, in this embodiment, the insertion position is preferably between the upper surface of the left or right first workpiece W1 and the upper surface of the second workpiece W2. In this embodiment, the storage unit 6g stores such insertion positions for each type of workpiece W.

[0025] The posture detection unit 6e recognizes the posture of the first workpiece W1 after the wedge 8 has been rotated. More specifically, after the wedge 8 has been rotated, the posture detection unit 6e has the camera 14 capture an image of the top surface of the first workpiece W1, and then processes the acquired image of the first workpiece W1 to recognize its posture.

[0026] The sampling control unit 6f executes the sampling process. The sampling process involves determining the sampling position according to the position and orientation of the first workpiece W1, and sampling the first workpiece W1 at the sampling position. In this embodiment, the sampling control unit 6f obtains the orientation of the first workpiece W1 after the wedge 8 has rotated from the orientation detection unit 6e, and determines the sampling position according to the orientation of the first workpiece W1. As shown in Figure 8, for example, after the wedge 8 has rotated, the orientation of the first workpiece W1 changes to an orientation in which the left side of the first workpiece W1 is tilted upward. In such a case, it is easier to sample the first workpiece W1 if the left side of the sampling device 12 is tilted upward. The sampling control unit 6f obtains this orientation of the first workpiece W1 from the recognition unit 6b and determines the sampling position. The sampling control unit 6f controls the moving device 2 to press the electromagnet 12a against the first workpiece W1 at the sampling position, controls the sampling device 12 to attract the first workpiece W1 with the electromagnet 12a, and lifts it upward (see the upward arrow in Figure 8). This allows the first workpiece W1, after being separated from the second workpiece W2, to be collected at an appropriate position without any loss or damage during collection.

[0027] The memory unit 6g stores the remaining number of workpieces W, the insertion position for each type of workpiece W, and whether movement control, recognition processing, insertion control, and rotation control are required for each type of workpiece W.

[0028] The setting unit 6h sets the upper surface position of the first workpiece W1 according to the remaining number of workpieces W, and sets the upper surface position of the first workpiece W1 as the upper limit position of the movement range. The setting unit 6h sets the upper surface position of the first workpiece W1 (workpiece W to be collected by the sampling device 12) according to the remaining number of workpieces W. For example, the setting unit 6h may set the upper limit position to a value obtained by multiplying the remaining number of workpieces W by the height of each workpiece W. This reduces the movement range of the detection device 10. That is, the distance the detection device 10 moves from top to bottom is shortened. As a result, the movement range of the detection device 10 is smaller compared to when the detection device 10 is always moved within a constant range. As a result, the time required to detect the position and shape of the first workpiece W1 and the second workpiece W2 can be shortened.

[0029] The acquisition unit 6i acquires the type of workpiece W from the storage unit 6g and determines whether movement control, recognition processing, insertion control, and rotation control are necessary according to the acquired type of workpiece W. If the type of workpiece W does not require movement control, recognition processing, insertion control, and rotation control, the acquisition unit 6i will not execute movement control, recognition processing, insertion control, and rotation control. Depending on the type of workpiece W, the acquisition unit 6i may determine that at least one of the movement control, recognition processing, insertion control, and rotation control is unnecessary. In this case, the acquisition unit 6i may only not execute the control or process that it has determined to be unnecessary. This allows for efficient collection of workpiece W by eliminating unnecessary controls.

[0030] Next, the control procedure executed by the control device 6 will be explained using the flowchart in Figure 9.

[0031] In step S1, the control device 6 causes the acquisition unit 6i to acquire the type of workpiece W from the storage unit 6g. The control device 6 may also acquire the shape of the workpiece W using the detection device 10, compare the acquired shape with the shapes of workpiece W for each type stored in the storage unit 6g, and cause the acquisition unit 6i to acquire the type of workpiece W. Alternatively, the control device 6 may, for example, display a screen on which the user can input the type of workpiece W, and cause the acquisition unit 6i to acquire the type of workpiece W based on the input type of workpiece W. Once the control device 6 has acquired the type of workpiece W, it proceeds to step S2.

[0032] In step S2, the control device 6 instructs the acquisition unit 6i to determine whether or not it is necessary to separate the acquired type of workpiece W. If the control device 6 determines that separation of the workpiece W is necessary (step S2 YES), it proceeds to step S3. On the other hand, if the control device 6 determines that separation of the workpiece W is not necessary (step S2 NO), it proceeds to step S15.

[0033] In step S3, the control device 6 instructs the acquisition unit 6i to determine whether or not movement control of the acquired type of workpiece W is necessary. If the control device 6 determines that movement control is necessary (step S3 YES), it proceeds to step S7. On the other hand, if the control device 6 determines that movement control is not necessary (step S3 NO), it proceeds to step S4.

[0034] In step S4, the control device 6 instructs the acquisition unit 6i to determine whether or not recognition processing is required for the acquired type of workpiece W. If the control device 6 determines that recognition processing is required (step S4 YES), it proceeds to step S7. On the other hand, if the control device 6 determines that recognition processing is not required (step S4 NO), it proceeds to step S5.

[0035] In step S5, the control device 6 instructs the acquisition unit 6i to determine whether insertion control is necessary for the acquired type of workpiece W. If the control device 6 determines that insertion control is necessary (step S5 YES), it proceeds to step S7. On the other hand, if the control device 6 determines that movement control is unnecessary (step S5 NO), it proceeds to step S6.

[0036] In step S6, the control device 6 instructs the acquisition unit 6i to determine whether rotational control is necessary for the acquired type of workpiece W. If the control device 6 determines that rotational control is necessary (step S6 YES), it proceeds to step S7. On the other hand, if the control device 6 determines that rotational control is not necessary (step S6 NO), it proceeds to step S15.

[0037] In step S7, the control device 6 instructs the setting unit 6h to obtain the remaining number of workpieces W from the storage unit 6g. The control device 6 instructs the setting unit 6h to set the movement range of the detection device 10 according to the remaining number of workpieces W. Once the control device 6 obtains the remaining number of workpieces W, it proceeds to step S8.

[0038] In step S8, the control device 6 instructs the insertion control unit 6c to obtain the insertion position corresponding to the type of workpiece W from the storage unit 6g. Once the control device 6 obtains the insertion position, it proceeds to step S9.

[0039] In step S9, the control device 6 instructs the movement control unit 6a to acquire the movement range from the setting unit 6h. Once the control device 6 acquires the movement range, it proceeds to step S10 and executes movement control to move the tip 4 and the detection device 10. Once the detection device 10 has been moved, the control device 6 proceeds to step S11.

[0040] In step S11, the control device 6 instructs the recognition unit 6b to perform a recognition process that recognizes the position and shape of the first workpiece W1 and the second workpiece W2 from the workpiece W detected by the detection device 10, as well as the vertical position of the first workpiece W1 and the second workpiece W2. The control device 6 transmits this information from the recognition unit 6b to the insertion control unit 6c. The insertion control unit 6c compares the positions of the first workpiece W1 and the second workpiece W2 with the insertion positions determined for each type of workpiece W stored in the storage unit 6g, and determines the actual insertion position between the first workpiece W1 and the second workpiece W2. Once the insertion control unit 6c has determined the insertion position, the control device 6 proceeds to step S12.

[0041] In step S12, the control device 6 moves the wedge 8 toward the insertion position determined by the insertion control unit 6c and performs insertion control to insert the wedge 8 between the first workpiece W1 and the second workpiece W2. Once the control device 6 has instructed the insertion control unit 6c to insert the wedge 8, it proceeds to step S13.

[0042] In step S13, the control device 6 causes the rotation control unit 6d to acquire the vertical positions of the first workpiece W1 and the second workpiece W2 recognized by the recognition unit 6b, and executes rotation control to rotate the wedge 8 in the vertical direction. In this embodiment, as described above, the control device 6 rotates the wedge 8 counterclockwise with the tip of the wedge 8 as the pivot point. After rotating the wedge 8, the control device 6 removes the wedge 8 and proceeds to step S14.

[0043] In step S14, the control device 6 moves the camera 14 above the first workpiece W1 using the attitude detection unit 6e. Next, the attitude detection unit 6e captures an image of the top surface of the first workpiece W1. Then, the attitude detection unit 6e performs image processing, such as edge detection, on the image to recognize the attitude of the first workpiece W1. Once the control device 6 recognizes the attitude of the first workpiece W1, it proceeds to step S15.

[0044] In step S15, the control device 6 causes the sampling control unit 6f to determine the sampling position according to the orientation of the first workpiece W1 and executes a sampling process to sample the first workpiece W1. After executing the sampling process, the control device 6 proceeds back to step S1.

[0045] When the first workpiece W1 is taken, the second workpiece W2 becomes the top workpiece W. Therefore, in the second routine, the control device 6 treats the second workpiece W2 as the first workpiece W1 and repeats the process from step S1 to step S15. In the second step S7, the control device 6 reduces the remaining number by the amount that the first workpiece W1 has been removed by one piece. In the second step S9, the control device 6 reduces the movement range by the thickness of the first workpiece, the amount that the first workpiece W1 has been removed by. The other steps are the same as the control procedure described above. In this embodiment, the control device 6 repeats the control procedure described above until the remaining number becomes zero.

[0046] As described above, this disclosure provides a control device 6 for a workpiece sampling system 1 that can separate the workpiece W with relatively little force.

[0047] <Other Embodiments> Although embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. In particular, the various modifications described herein can be combined as needed.

[0048] In the above embodiment, the moving device 2 was described using a 6-axis robot arm as an example, but this disclosure is not limited thereto. The moving device 2 can be any device that can move the wedge 8, the detection device 10, and the sampling device 12. At least the device for moving and rotating the wedge 8 may be a separate device from the devices for moving the detection device 10 and the sampling device 12. Furthermore, the device for moving and rotating the wedge 8, the device for moving the detection device 10, and the device for moving the sampling device 12 may each be separate devices. Furthermore, the device for moving the wedge 8 and the device for rotating the wedge 8 may also each be separate devices.

[0049] Furthermore, although the above embodiment described the detection device 10 as an infrared device, this disclosure is not limited thereto. The detection device 10 can be any device capable of detecting the workpiece W. For example, the detection device 10 may acquire an image of the workpiece W using a camera or the like and detect the workpiece W through image processing.

[0050] Furthermore, although the above embodiment was described using an example in which the orientation of the first workpiece W1 is detected using a camera 14, this disclosure is not limited thereto. The camera 14 is not necessarily required to detect the orientation of the first workpiece W1. The orientation of the first workpiece W1 may be determined, for example, by detecting the first workpiece W1 with a detection device 10 and detecting the upper surface of the first workpiece W1 with a recognition unit 6b.

[0051] Furthermore, although the above embodiment described the sampling device 12 as using an electromagnet as an example, this disclosure is not limited thereto. The sampling device 12 can be any device that can collect the first workpiece W1. The sampling device 12 may be, for example, a mechanical chuck or a suction nozzle.

[0052] Furthermore, although the above embodiment was described using an example in which the wedge 8 is rotated vertically so that its tip acts as a fulcrum, this disclosure is not limited to this. For example, the first workpiece W1 and the second workpiece W2 may be separated using the principle of leverage, with the end of the second workpiece W2 as the pivot point.

[0053] Furthermore, although the above embodiment was described using an example in which the setting unit 6h sets the upper limit position as a value obtained by multiplying the remaining number of workpieces W by the height of each workpiece W, this disclosure is not limited to this. The setting unit 6h may also set the upper limit position as a value obtained by subtracting the value obtained by multiplying the number of workpieces W taken (an example of a number corresponding to the remaining number of workpieces W) by the height of each workpiece W from the initial height of the stacked workpieces W. In any case, the setting unit 6h may use any calculation method as long as it can set the upper limit position according to the remaining number of workpieces W. [Explanation of Symbols]

[0054] 1: Workpiece sampling system, 2: Mobile device 6: Control device 6a: Movement control unit, 6b: Recognition unit, 6c: Insertion control unit, 6d: Rotation control unit 6e: Posture detection unit, 6f: Sampling control unit, 6g: Memory unit, 6h: Setting unit, 6i: Acquisition unit 8: Wedge, 10: Detection device, 12: Sampling device W: Work, W1: First Work, W2: Second Work

Claims

1. A wedge is inserted between a first workpiece, which is placed on top of a stack of workpieces, and a second workpiece, which is placed below the first workpiece. A detection device for detecting the workpiece, A sampling device for sampling the aforementioned workpiece, A moving device that rotates or moves at least one of the wedge, the detection device, and the sampling device individually, or rotates or moves all of the wedge, the detection device, and the sampling device, A control device for a workpiece sampling system having, A movement control unit is provided with a movement process that moves the detection device to the side of the workpiece and moves the detection device within a range where it can detect the first workpiece and the second workpiece among a plurality of workpieces. A recognition unit that detects the first workpiece and the second workpiece and performs a recognition process to recognize the vertical position of the first workpiece and the second workpiece, An insertion control unit that performs insertion control to insert the wedge between the vertical positions of the first workpiece and the second workpiece, A rotation control unit that performs rotational control to rotate the wedge in the vertical direction, A sampling control unit moves the sampling device to the sampling position and samples the first workpiece, Equipped with, Control device for a workpiece sampling system.

2. The system includes a posture detection unit that detects the posture of the first workpiece after the wedge has been inserted, The sampling control unit determines the sampling position according to the position and orientation of the first workpiece, and samples the first workpiece at the sampling position. A control device for a workpiece sampling system according to claim 1.

3. The aforementioned work sample collection system has a camera, When the posture detection unit recognizes the posture of the first workpiece, it rotates the wedge, then acquires an image of the upper surface of the first workpiece using the camera, and estimates the posture of the first workpiece. A control device for a workpiece sampling system according to claim 2.

4. The rotation control unit rotates the wedge such that the tip of the wedge acts as a pivot point. A control device for a workpiece sampling system according to claim 1 or 2.

5. It includes a memory unit that stores the insertion position of the wedge, The aforementioned range of movement includes the aforementioned insertion position, The detection device detects the insertion position, The insertion control unit moves the wedge to the insertion position and inserts it. A control device for a workpiece sampling system according to claim 1 or 2.

6. The insertion position is the position where the force required to separate the workpiece using the principle of leverage is minimized. A control device for a workpiece sampling system according to claim 5.

7. A storage unit that stores the remaining number of the aforementioned workpieces, A setting unit sets the upper surface position of the first workpiece according to the remaining number, and sets the upper surface position as the upper limit position of the movement range, Equipped with, A control device for a workpiece sampling system according to claim 1 or 2.

8. A storage unit that stores whether the aforementioned movement control, recognition processing, insertion control, and rotation control are necessary for each type of workpiece, An acquisition unit that acquires the type of work from the storage unit, Equipped with, If the type of the acquired workpiece is such that at least one of the movement control, recognition processing, insertion control, and rotation control is unnecessary, then at least one of the unnecessary movement control, recognition processing, insertion control, and rotation control is not performed. A control device for a workpiece sampling system according to claim 1 or 2.

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