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.
Claims18
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 for a workpiece to be worked on by a robot;
- a plurality of 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 configured to cause the swivel to swivel around the central axis line of the revolution orbit;
- and
- a tilting driver configured to tilt each of the workpiece holders with respect to the central axis line of the revolution orbit.
A control method implemented by 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 for a workpiece to be worked on by a robot, and a plurality of 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, the control method comprising:
- causing a revolution driver to swivel the swivel such that the workpiece holders move between the workpiece transfer area and the workpiece work area;
- causing the robot to perform work with respect to the workpiece held by one of the workpiece holders in the workpiece work area;
- and
- during a time period when the robot performs the work with respect to the workpiece held by the one of the workpiece holders, causing a tilting driver to tilt the one of the workpiece holders with respect to the central axis line of the revolution orbit.
Dependencies are inferred from the claim text.