Carrying device, robot system, production system and control method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKatsuhiko Yoshino, Naoyuki Ohtsubo
Life of this patent
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Abstract
A carrying device includes a swivel that swivels around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area for a workpiece to be worked on by a robot, multiple workpiece holders positioned on the swivel such that when a first one of the workpiece holders is positioned in the workpiece transfer area, a second one of the workpiece holders is positioned in the workpiece work area, a revolution driver that causes the swivel to swivel around the central axis line of the revolution orbit, and a tilting driver that tilts each of the workpiece holders with respect to the central axis line of the revolution orbit.
Claims20
A carrying device, comprising:
- a swivel configured to swivel around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area;
- a revolution driver configured to cause the swivel to swivel around the central axis line of the revolution orbit;
- a plurality of workpiece holders positioned on the swivel such that when one of the workpiece holders is positioned in the workpiece transfer area, another one of the workpiece holders is positioned in the workpiece work area;
- and
- a tilting driver configured to tilt each of the workpiece holders with respect to the central axis line of the revolution orbit and around an axis line perpendicular to the central axis line of the revolution orbit,
- wherein each of the workpiece holders is configured to hold a support jig comprising a support post and configured to hold a workpiece such that the support post of the support jig protrudes from a respective one of the workpiece holders and that a robot works on the workpiece held by the support jig held by the respective one of the workpiece holders in the workpiece work area.
A control method for controlling a workpiece, comprising:
- causing a revolution driver to swivel a swivel configured to swivel around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area such that when one of a plurality of workpiece holders positioned on the swivel is positioned in the workpiece transfer area and another one of the workpiece holders is positioned in the workpiece work area;
- and
- causing a robot to perform work on a workpiece held by the second one of the workpiece holders in the workpiece work area while causing a tilting driver to tilt the second one of the workpiece holders with respect to the central axis line of the revolution orbit and around an axis line perpendicular to the central axis line of the revolution orbit,
- wherein the revolution driver of a carrying device is configured to cause the swivel to swivel around the central axis line of the revolution orbit, the plurality of workpiece holders of the carrying device is positioned on the swivel such that when one of the workpiece holders is positioned in the workpiece transfer area, another one of the workpiece holders is positioned in the workpiece work area, the tilting driver of the carrying device is configured to tilt each of the workpiece holders with respect to the central axis line of the revolution orbit and tilt each of the workpiece holders around the axis line perpendicular to the central axis line of the revolution orbit, and each of the workpiece holders is configured to hold a support jig comprising a support post and configured to hold a workpiece such that the support post of the support jig protrudes from a respective one of the workpiece holders and that a robot works on the workpiece held by the support jig held by the respective one of the workpiece holders in the workpiece work area.
Dependencies are inferred from the claim text.