WORKPIECE TAKE-OUT DEVICE AND WORKPIECE TAKE-OUT METHOD FOR IMPROVING TAKE-OUT OPERATION OF WORKPIECE

摘要

PROBLEM TO BE SOLVED: To provide a workpiece take-out device and workpiece take-out method which can reduce the number of workpieces which are difficult to take out.SOLUTION: A workpiece take-out device includes: a sensor 2 for measuring a plurality of workpieces (4, 4a-4d) bulked in a three-dimensional space; a robot 1 for holding the workpiece; a hand 10 which can hold the workpiece mounted on the robot; a holding position posture calculation part 31 which calculates holding position posture data of a position and posture for holding the workpiece by the robot; a loading state improving operation generation part 32 which generates loading state improving operation data of operation for improving a loading state of the workpiece by the robot based on an output of the sensor; and a robot control part 30 for controlling the robot and hand. The robot control part takes out the workpiece or performs the loading state improving operation by controlling the robot and hand based on outputs of the holding position posture calculation part and the loading state improving operation generation part.SELECTED DRAWING: Figure 3