Stacking apparatus of sheet-shaped workpiece and stacking method thereof
AssigneeIHI Corporation
InventorShotaro SUZUKI
Life of this patent
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Abstract
A stacking apparatus of a sheet-shaped workpiece includes a pick-and-place machine that holds and picks up a sheet-shaped workpiece cut out from a sheet material and places the workpiece onto a stacking position to stack sequentially, a detector that is provided in the pick-and-place machine and detects a position of the workpiece in a lifted state by the pick-and-place machine and a controller that controls the pick-and-place machine. The controller calculates a position shift of the workpiece based on the position of the workpiece detected by the detector and adjusts, based on the calculated position shift, a holding position of a workpiece by the pick-and-place machine in a future operation.
Claims9
A stacking apparatus of a sheet-shaped workpiece, the apparatus comprising:
- a pick-and-place machine that holds and picks up a sheet-shaped workpiece cut out from a sheet material and places the workpiece onto a stacking position to stack sequentially;
- a detector that is provided in the pick-and-place machine and detects a position of the workpiece in a lifted state by the pick-and-place machine;
- and
- a controller that calculates a position shift of the workpiece based on the position of the workpiece detected by the detector and controls the pick-and-place machine to adjust, based on the calculated position shift, a holding position of a workpiece by the pick-and-place machine in a future operation.
A stacking method of a sheet-shaped workpiece, the method comprising sequentially stacking workpieces by repeating the following first to fourth steps:
- the first step for picking up a sheet-shaped workpiece cut out from a sheet material;
- the second step for detecting a position of the workpiece in a lifted state;
- the third step for calculating a position shift of the workpiece based on the detected position of the workpiece;
- and
- the fourth step for placing down the workpiece onto a stacking position while compensating a placing position of the workpiece based on the calculated position shift,
- wherein a holding position of a workpiece in the first step in a future operation is adjusted based on the position shift calculated in the third step.
Dependencies are inferred from the claim text.