Loading and unloading apparatus and method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorShigeki Masutomi
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Abstract
There is provided a loading and unloading apparatus for performing loading and unloading of workpieces with respect to access positions on a pallet, including a plurality of hands which sequentially access the access positions on the pallet, the plurality of hands including a first and a second hand. Further, the loading and unloading apparatus includes a managing unit which maintains an access position of the first hand, and a determining unit which determines a movement path of the second hand based on the access position of the first hand.
Claims17
A loading/unloading apparatus for performing loading/unloading of workpieces with respect to access positions on a pallet, comprising:
- a plurality of hands including a first and a second hand which alternately access the access positions on the pallet, the access positions comprising access positions of each of the first and the second hand;
- a managing unit which manages the access positions of each of the first and the second hand, wherein an access order of the first hand is set to the access positions of the first hand and an access order of the second hand is set to the access positions of the second hand;
- and
- a determining unit which determines a movement path of the second hand based on one of the access positions of the first hand,
- wherein the access positions and the access order of one of the first and the second hand are determined based on the access positions and the access order of the other one of the first and the second hand.
A loading/unloading method which is carried out in a loading/unloading apparatus for performing loading/unloading of workpieces with respect to access positions on a pallet, the loading/unloading apparatus including hands which alternately access the access positions on the pallet, the access positions comprising access positions of each of the first and the second hand, the hands having a first and a second hand, the method comprising:
- managing access positions of each of the first hand and the second hand, wherein an access order of the first hand is set to the access positions of the first hand and an access order of the second hand is set to the access positions of the second hand;
- and
- determining a movement path of the second hand based on one of the access positions of the first hand,
- wherein the access positions and the access order of one of the first and the second hand are determined based on the access positions and the access order of the other one of the first and the second hand.
Dependencies are inferred from the claim text.