Workpiece processing apparatus

Patent metadata

Field	Value
Publication number	US-12583117-B2
Application number	US-202018249399-A
Country	US
Kind code	B2
Filing date	Dec 18, 2020
Priority date	Dec 18, 2020
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A workpiece processing apparatus includes two workpiece conveyance robots capable of traveling on the same traveling table and capable of carrying a workpiece into and out of a processing section, and a control device for performing movement control of the workpiece conveyance robot. The two workpiece conveyance robots include a first robot and a second robot. The control device includes a first determination section configured to determine, from a first difference between a first robot next instruction value which is an instruction value related to a movement control instruction issued to the first robot immediately after a time when a determination as to whether the first robot starts the traveling starts and indicates a movement destination position of the first robot and a second robot movement destination position which is a value related to a movement control instruction executed by the second robot at the time when the determination starts and indicates a movement destination position of the second robot, movability of the first robot by the movement control instruction.

First claim

The invention claimed is:

1 . A workpiece processing apparatus comprising:
two workpiece conveyance robots configured to travel on the same traveling table and carry a workpiece into and out of a processing section; and a control device configured to perform movement control of the workpiece conveyance robot, wherein the two workpiece conveyance robots include a first robot and a second robot, and the control device includes a first determination section configured to:
determine, prior to executing a movement control instruction for the first robot, whether the first robot is permitted to move, based on a first difference between:
a first robot next instruction value, which is an instruction value indicating a movement destination position of the first robot associated with a movement control instruction issued to the first robot immediately after a determination start time, and
a second robot movement destination position, which is a value associated with a movement control instruction already being executed by the second robot at the determination start time and indicating a movement destination position of the second robot,

determine a movability of the first robot by the movement control instruction based on whether the first difference is greater than a predetermined threshold distance, and
when the movability is determined to be permitted, control the first robot to move to the movement destination position based on the movement control instruction,
wherein the predetermined threshold distance is set based on a difference between a current position of the first robot and the first robot next instruction value.

2 . The workpiece processing apparatus according to claim 1 , wherein the first determination section further considers a second difference between the first robot next instruction value and the current position of the first robot at the time when the determination starts to determine the movability of the first robot by the movement control instruction.

3 . The workpiece processing apparatus according to claim 1 , wherein the first determination section further considers a third difference between the first robot next instruction value and the current position of the second robot at the time when the determination starts to determine the movability of the first robot by the movement control instruction.

4 . The workpiece processing apparatus according to claim 3 , wherein the first determination section further considers a fourth difference between the current position of the first robot at the time when the determination starts and the current position of the second robot at the time when the determination starts to determine the movability of the first robot by the movement control instruction.

5 . The workpiece processing apparatus according to claim 1 , wherein the control device includes a second determination section configured to determine whether the determination by the first determination section is continued or stopped depending on whether the determination as to the movability of the first robot is prioritized over determination as to movability of the second robot.

Assignees

• Fuji Corp

Inventors

• Noguchi Shuhei
• Fukunaga Toshitaka
• FUTAMURA Yosuke

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1628

  characterised by the control loop · CPC title

• B25J9/026

  Gantry-type · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• G05B2219/40252

  Robot on track, rail moves only back and forth · CPC title