Work picking apparatus and work picking method for improving work picking operation

摘要

A workpiece picking device includes a sensor measuring a plurality of workpieces randomly piled in a three-dimensional space; a robot folding the workpieces; a hand mounted to the robot and hold the workpieces; a holding position posture calculation unit calculating holding position posture data of a position and a posture to hold the workpieces by the robot based on an output of the sensor; a loading state improvement operation generation unit generating loading state improvement operation data of improving a loading state of the workpieces by the robot based on an output of the sensor; and a robot control unit controlling the robot and the hand. The robot control unit controls the robot and the hand based on an output of the holding position posture calculation unit and the loading state improvement operation generation unit to pick the workpieces or perform a loading state improvement operation.