WORKPIECE REMOVAL DEVICE, WORKPIECE REMOVAL METHOD, AND CONTROL DEVICE

原文（中国語）

Provided are a workpiece removal device, a removal method, and a control device for efficiently removing workpieces in a container. The workpiece removal device is provided with: a robot equipped with a hand for removing a workpiece in a container; a shape setting unit for setting the shape of each of the hand, the container, and the workpiece; a sensor configured so as to detect the container and the workpiece in the container; a removal position/attitude determination unit for determining a removal position and a removal attitude for the hand for when the detected workpiece is removed with the hand; a relay position determination unit for determining a relay position at which the hand is above and inside the container and at which the attitude of the hand becomes the removal attitude when the operation of removing the detected workpiece is performed; and an operation control unit for causing the hand to move only by translational movement from the relay position to the removal position.