Positioning equipment and systems

Abstract

A positioning device (14) comprises: a base structure (18); a first workpiece support (20); a second workpiece support (22); a support member (44) supporting the first workpiece support (20) and the second workpiece support (22); and a drive device (42) configured to drive the support member (44) relative to the base structure (18) from a first position (38) to a second position (40) in which the first workpiece support (20) is positioned on a processing side (32) of the base structure (18) and the second workpiece support (22) is positioned on the base structure. The invention relates to a method for manufacturing a support member (44) for processing a workpiece. The method comprises: manufacturing the support member (44) for processing a workpiece on an opposite loading side (34) of the support member (18), wherein in the second position, the first workpiece support (20) is positioned on the loading side (34) and the second workpiece support (22) is positioned on the processing side (32); wherein the drive device (42) is configured to drive the first workpiece support (20) along a first path (74) and drive the second workpiece support (22) along a second path (76) when driving the support member (44) from the first position (38) to the second position (40), and the first and second paths (74, 76) are non-circular.

Description

Technical Field

[0001] The present disclosure generally relates to a positioning device. In particular, a positioning device for positioning a workpiece relative to an industrial robot and a system including the industrial robot and the positioning device are provided. Background Art

[0002] Workpiece positioners with a horizontal exchange axis for positioning a workpiece relative to an industrial robot are currently widely used in industry. Fig.12 The industrial robot 12 and the workpiece positioner 80 are shown. The workpiece positioner 80 includes a horizontal exchange axis 78, a processing side 32 where a first workpiece 24 can be processed by the industrial robot 12, and a loading side 34 for loading / unloading a second workpiece 26 while processing the first workpiece 24. Such a workpiece positioner 80 has many advantages over a workpiece positioner having a vertical exchange axis.

[0003] One advantage is that long workpieces 24 and 26 can be accommodated and still maintain a relatively compact footprint. Another advantage is that the industrial robot 12 has good access to the workpiece 24 because the industrial robot 12 can be positioned close to the workpiece 24. In contrast to a workpiece positioner with a vertical exchange axis, with the workpiece positioner 80 having a horizontal exchange axis 78, the positioning of the industrial robot 12 is not dependent on the length of the workpieces 24 and 26. Another advantage is that a short distance of the safety light curtain on the loading side 34 can be achieved.

[0004] However, one major disadvantage of a workpiece positioner 80 having only one horizontal interchange axis 78 is that the workpiece axis 28 at the processing side 32 becomes positioned high above the floor 16. This high positioning makes programming, repair and maintenance activities difficult, unsafe and expensive.

[0005] For ergonomic reasons, the height of the workpiece axis 30 above the floor 16 at the loading side 34 is usually set lower. Therefore, the height of the workpiece axis 28 above the floor 16 at the processing side 32 becomes higher. The larger the workpieces 24 and 26 (e.g., their diameters), the greater the height of the workpiece axis 28 above the floor at the processing side 32 needs to be. The processing side 32 of the workpiece positioner 80 is not only where the industrial robot 12 operates, but also often manual work is required at the processing side 32, such as robot programmers and maintenance personnel. For example, in arc welding applications, touch-up (or lead-in) programming during production is common.

[0006] The robot programmer is usually unable to properly perform programming and tinkering with the robot trajectory if the robot programmer is not in close proximity to the workpiece 24 and in an ergonomic and safe working environment. For larger workpieces 24, additional platforms and / or ladders may be used to allow the programmer to be closer to the workpiece 24. Such additional platforms may add significant cost due to the motion requirements of the platform and the workpiece positioner 80. In the case of using a ladder, health and safety are compromised. For such a workpiece positioner 80, the industrial robot 80 is also often placed on a high base 82 in order to reach the workpiece 24 at the processing side 32, which increases cost and height.

[0007] US 6264418B1 discloses a workpiece positioner adapted to move a workpiece from a loading / unloading area to a working area spaced apart from the loading / unloading area. The workpiece positioner comprises a first fixed frame, a second frame, a first drive device and a first workpiece holder, the second frame being coupled to the first frame so as to be rotatable about a first axis relative to the first frame, the first drive device being used to rotate the second frame about the first axis, and the first workpiece holder being adapted to releasably receive the workpiece. Summary of the invention

[0008] It is an object of the present disclosure to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device is cost-effective and / or enables cost-effective operation.

[0009] Another object of the present disclosure is to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device is safe and / or can be operated safely.

[0010] Another object of the present disclosure is to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device has a compact design.

[0011] It is a further object of the present disclosure to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device has a simple design.

[0012] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device is ergonomic and / or enables ergonomic operation.

[0013] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece relative to an industrial robot, which positioning device achieves several or all of the above-mentioned objects in combination.

[0014] Another object of the present disclosure is to provide a system including an industrial robot and a positioning device, which achieves one, several or all of the above objects.

[0015] According to one aspect, a positioning device for positioning a workpiece relative to an industrial robot is provided, the positioning device comprising: a base structure; a first workpiece holder for supporting a first workpiece; a second workpiece holder for supporting a second workpiece; a support member supporting the first workpiece holder and the second workpiece holder; and a drive device arranged to drive the support member from a first position to a second position relative to the base structure, wherein the first workpiece holder is positioned on a processing side of the base structure and the second workpiece holder is positioned on an opposite loading side of the base structure, and wherein the first workpiece holder is positioned on the loading side and the second workpiece holder is positioned on the processing side; wherein the drive device is arranged to drive the first workpiece holder along a first path and the second workpiece holder along a second path when driving the support member from the first position to the second position, the first path and the second path being non-circular.

[0016] When the drive device drives the support member from the first position to the second position, the support member can be moved along two axes relative to the base structure. One axis can be a rotation axis and the other axis can be a rotation axis or a translation axis. Due to the non-circular first path and the second path, the support member is configured for a compound movement between the first position and the second position. In this way, the positioning device can be made more compact and the first workpiece on the processing side can be positioned at a low height and the second workpiece on the loading side can be positioned at a low height. This in turn improves ergonomics and safety and reduces costs.

[0017] When the first workpiece is supported by the first workpiece support on the processing side, the industrial robot can perform operations such as welding on the first workpiece. At the same time, the second workpiece can be loaded onto (or unloaded from) the second workpiece support on the loading side. Therefore, the positioning device is capable of processing and loading / unloading workpieces at the same time.

[0018] The base structure is arranged between the processing side and the loading side. The base structure can be fixed to the ground. The base structure can also be called a positioner base.

[0019] The first workpiece support may be configured to rotate the first workpiece around a first workpiece axis. The second workpiece support may be configured to rotate the second workpiece around a second workpiece axis. Each of the first workpiece axis and the second workpiece axis may be substantially horizontal, or just horizontal. In addition, each of the first workpiece support and the second workpiece support may be configured to releasably hold the workpiece.

[0020] The first workpiece support may include two first workpiece support members, and the two first workpiece support members are configured to hold the workpiece therebetween. One of the first workpiece support members may be supported by a bearing for rotating around the first workpiece axis relative to the support member. The first workpiece support may also include a servo motor and a reduction gear box at another first workpiece support member for driving the workpiece rotationally around the first workpiece axis.

[0021] The second workpiece support may include two second workpiece support members, and the two second workpiece support members are configured to hold the workpiece therebetween. One of the second workpiece support members may be supported by a bearing for rotating around the second workpiece axis relative to the support member. The second workpiece support may also include a servo motor and a reduction gearbox at the other second workpiece support member for driving the workpiece rotationally around the second workpiece axis.

[0022] When the support member is in the first position or the second position, the positioning device can also be said to be in the first position or the second position respectively. The positioning device can also be called a workpiece positioner. The support member can include a rigid frame.

[0023] In each of the first position and the second position, the first workpiece support and the second workpiece support can be positioned at substantially the same or identical geodetic height. Thus, the processing height on the processing side of the positioning device and the loading height on the loading side can be the same. For example, in each of the first position and the second position, the first workpiece axis and the second workpiece axis can be positioned at substantially the same or identical geodetic height. This enables the workpiece to be positioned at an ergonomic height on the processing side and the loading side, for example, for an operator, a programmer and / or a maintenance person.

[0024] The positioning device according to this variant thus comprises a kinematic solution that allows equal loading and processing heights of the workpiece axes above the ground. Due to the low processing height, costs are reduced and safety is increased. For example, costs associated with devices for programming industrial robots at large heights such as platforms can be avoided. Furthermore, safety issues related to large heights on the processing side, such as the use of ladders, can be avoided.

[0025] The path above the other path in the first and second paths may have a first vertical height, and the path below the other path may have a second vertical height, and the first vertical height may be greater than the second vertical height. For example, the first vertical height may be at least two times greater than the second vertical height, such as at least three times greater, such as at least four times greater, such as at least five times greater.

[0026] The first workpiece support can move from the processing side to the loading side below the second workpiece support along a relatively short generally double arc path. Simultaneously, the second workpiece support can move from the loading side to the processing side above the first workpiece support along a relatively long generally arc path or an elliptical path.

[0027] The drive means may comprise a motor. In this case, the drive means may be arranged to drive the support member from the first position to the second position using the motor as the sole power source. Thus, the drive means may drive the support member to perform a compound movement by only one motor. Thus, in contrast to some prior art horizontal workpiece positioners, the drive means does not necessarily require an additional driven shaft.

[0028] The positioning device may comprise or constitute a kinematic chain, wherein the motor is the input and the support member is the output. The position of the support member may be a function of the rotational position of the motor. The motor may be, for example, an electric motor, such as an electric servomotor. The drive device may further comprise a reduction gearbox connected to the output shaft of the motor.

[0029] The drive means may comprise an intermediate member between the base structure and the support member, and a substantially horizontal or horizontal main axis of rotation between the base structure and the intermediate member. In this case, the positioning device may be referred to as a horizontal positioner. The intermediate member is then arranged to rotate relative to the base structure about the main axis of rotation.

[0030] The main rotation axis may be referred to as an exchange axis.The intermediate member may be an arm.The positioning device may comprise one or more bearings for rotatably supporting the intermediate member relative to the base structure about the main rotation axis.

[0031] The drive means may be arranged to rotate the intermediate member about 360°, such as 340° to 380°, such as 360°, around the main rotation axis when the support member is driven from the first position to the second position. The intermediate member may be driven to rotate by a motor. For example, the intermediate member may be connected to an output shaft of a reduction gearbox between the motor and the intermediate member.

[0032] The drive means may be arranged to drive the support member from the first position to the second position such that the distance between the first workpiece support and the main rotation axis and / or the distance between the second workpiece support and the main rotation axis changes. In other words, the drive means may be arranged such that when the support member is driven by the drive means from the first position to the second position, the distance between the first workpiece support and the main rotation axis and / or the distance between the second workpiece support and the main rotation axis changes.

[0033] The drive means may comprise a motor arranged to drive the intermediate member about the primary rotation axis. The drive means may further comprise a reduction gearbox between the motor and the drive means.

[0034] The drive means may comprise a substantially horizontal or horizontal secondary rotation axis between the intermediate member and the support member, the secondary rotation axis being parallel to the primary rotation axis. In this case, the support member may be arranged to rotate about the secondary rotation axis relative to the base structure. Thus, the intermediate member may rotate about the primary rotation axis relative to the base structure and may rotate about the secondary rotation axis relative to the support member.

[0035] The secondary rotation axis, the first workpiece axis and the second workpiece axis may be positioned at substantially the same or the same geodetic height in each of the first position and the second position. The positioning device may include one or more bearings for rotatably supporting the support member about the secondary rotation axis relative to the intermediate member. The secondary rotation axis may be centered between the first workpiece axis and the second workpiece axis.

[0036] Although the present disclosure mainly describes solutions comprising two axes of rotation, alternative solutions are also possible. For example, instead of a secondary axis of rotation, the intermediate member may comprise a linear actuator, such as a telescopic member. Also in this way, the drive device may drive the first and second workpiece supports along first and second non-circular paths, and a compound motion may be performed.

[0037] As another possible alternative solution, instead of the secondary axis of rotation, the base structure may comprise a linear actuator. Also in this way, the drive means may drive the first and second workpiece supports along first and second non-circular paths and a compound movement may be performed.

[0038] The drive means may be arranged to rotate the support member about the secondary rotation axis by approximately 180°, such as 170° to 190°, for example 180°, when driving the support member from the first position to the second position.

[0039] The drive device may include a transmission mechanism having an input wheel fixed relative to the base structure and an output wheel fixed relative to the support member. In this case, the transmission ratio between the input wheel and the output wheel may be 2:1.

[0040] The drive device may include a first fixed gear concentric with the primary rotation axis, a second gear meshing with the first gear and rotatably connected to the intermediate member, and a third gear meshing with the second gear, the third gear being fixed relative to the support member and concentric with the secondary rotation axis. In this case, the first gear may constitute an input wheel as described herein, and the third gear may constitute an output wheel as described herein.

[0041] The first gear is thus fixed relative to the base structure. When the intermediate member is rotationally driven relative to the base structure by the motor about the primary rotation axis, the rotation of the intermediate member is transmitted to the rotation of the second gear on the intermediate member about the second gear axis. The rotation of the second gear in turn causes the support member to be rotationally driven relative to the intermediate member about the secondary rotation axis.

[0042] Each of the first gear, the second gear, and the third gear may be a spur gear. The transmission ratio between the first gear and the third gear may be 2:1. As an alternative to the gear train, the transmission mechanism may include a belt drive.

[0043] As a possible alternative to a gear train comprising three gears or other transmission mechanisms, the drive means may comprise an additional motor, and optionally an additional reduction gearbox, for driving the support member relative to the intermediate member about the secondary rotation axis.

[0044] The positioning device may also include a passive device. The passive device may be arranged together with the drive device to kinematically define the position of the support member relative to the base structure. In this case, the support member may be supported between the drive device and the passive device.

[0045] The passive device may include a passive kinematic configuration corresponding to the kinematic configuration of the drive device. The passive device and the drive device may have corresponding geometric shapes. Each of the drive device and the passive device may include an intermediate member, such as an arm.

[0046] According to another aspect, a system including an industrial robot and a positioning device according to the present disclosure is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Further details, advantages and aspects of the present disclosure will become apparent from the following embodiments in conjunction with the accompanying drawings, in which:

[0048] Figure 1 : schematically shows a side view of a system including an industrial robot and a positioning device in a first position;

[0049] Figure 2 : schematically illustrates the system when the positioning device is in the second position;

[0050] Figure 3 : A perspective view schematically showing a positioning device in a first position;

[0051] Figure 4 : another perspective view schematically showing the positioning device;

[0052] Figure 5 : A partial perspective view schematically showing a positioning device;

[0053] Figure 6 : schematically shows a partial side view of the positioning device in a first position;

[0054] Figure 7 : schematically shows a partial side view of the positioning device during movement from a first position to a second position;

[0055] Figure 8 : schematically shows a partial side view of the positioning device during further movement from the first position to the second position;

[0056] Fig. 9 : schematically shows a partial side view of the positioning device during further movement from the first position to the second position;

[0057] Fig.10 : schematically shows a partial side view of the positioning device in the second position;

[0058] Fig.11 : schematically represents the paths of the first workpiece support and the second workpiece support; and

[0059] Fig.12 : Schematically shows a side view of a system including an industrial robot and a workpiece positioner according to the prior art. DETAILED DESCRIPTION

[0060] In the following, a positioning device for positioning a workpiece relative to an industrial robot, and a system including an industrial robot and a positioning device will be described. The same or similar reference numerals will be used to denote the same or similar structural features.

[0061] Figure 1 Schematically represented is a side view of a system 10 comprising an industrial robot 12 and a positioning device 14. In this example, both the industrial robot 12 and the positioning device 14 are positioned directly on a floor 16. The industrial robot 12 of this example is an arc welding robot comprising six axes, but other types of robots may also be used.

[0062] The positioning device 14 includes a base structure 18, a first workpiece support 20 and a second workpiece support 22. The first workpiece support 20 releasably supports a first workpiece 24. The second workpiece support 22 releasably supports a second workpiece 26. In this example, each of the workpieces 24 and 26 has a cylindrical shape. However, alternative types of workpieces can be supported by the first workpiece support 20 and the second workpiece support 22.

[0063] The first workpiece support 20 is configured to rotate a first workpiece 24 about a horizontal first workpiece axis 28. The second workpiece support 22 is configured to rotate a second workpiece 26 about a horizontal second workpiece axis 30 that is parallel to the first workpiece axis 28. The first workpiece 24 is clamped between two first workpiece support members (not shown) of the first workpiece support 20, and the second workpiece 26 is clamped between two second workpiece support members (not shown) of the second workpiece support 22.

[0064] The positioning apparatus 14 includes a processing side 32 and a loading side 34. The base structure 18 is disposed between the processing side 32 and the loading side 34 and is secured to the floor 16. The positioning apparatus 14 also includes a wall 36 that separates the processing side 32 and the loading side 34.

[0065] exist Figure 1 , the positioning device 14 is in the first position 38, so that the first workpiece support 20 supporting the first workpiece 24 is located at the processing side 32, and the second workpiece support 22 supporting the second workpiece 26 is located at the loading side 34. When the positioning device 14 adopts the first position 38, the industrial robot 12 can perform an operation, here an arc welding operation, on the first workpiece 24 at the processing side 32. At the same time, the second workpiece 26 has been added to the second workpiece support 22 at the loading side 34. Figure 1 As shown, the first workpiece support 20 and the second workpiece support 22 are positioned at the same low ground height in the first position 38 of the positioning device 14 .

[0066] Figure 2 The system 10 is schematically illustrated when the positioning device 14 is in the second position 40. In the second position 40, the second workpiece support 22 supporting the second workpiece 26 is now located at the processing side 32, and the first workpiece support 20 supporting the first workpiece 24 is located at the loading side 34. Figure 2 As shown, the first workpiece support 20 and the second workpiece support 22 are also positioned at the same low ground height in the second position 40 of the positioning device 14 .

[0067] The first workpiece 24 that has been processed by the industrial robot 12 may now be removed from the first workpiece support 20 and a third workpiece (not shown) may be added to the first workpiece support 20 while the second workpiece 26 is being processed by the industrial robot 12 at the processing side 32 .

[0068] like Figure 1 and 2 As shown, each workpiece 24 and 26 is positioned at a low ground height in each of the first position 38 and the second position 40 of the positioning device 14. Thus, ergonomics are improved, a base for the industrial robot 12 may be avoided or its height may be reduced, and a ladder or programming platform for maintenance personnel or programmers may be avoided.

[0069] Figure 3 A perspective view of the positioning device 14 is schematically shown. Figure 4 Another perspective view of the positioning device 14 is schematically shown. Figure 4 In FIG. 1 , workpieces 24 and 26 and wall 36 are removed to increase visibility. Figure 3 and Figure 4 In each of the embodiments, the positioning device 14 is located in the first position 38 .

[0070] Common Reference Figure 3 and 4 , the positioning device 14 further includes a driving device 42 and a support member 44. The support member 44 supports the first workpiece support 20 and the second workpiece support 22. The support member 44 is exemplified as a rigid frame in this example.

[0071] The drive device 42 comprises an intermediate member 46 , here exemplified as an arm, which is arranged between the base structure 18 and the support member 44 .

[0072] Figure 3 and 4 Also shown are a horizontal primary rotation axis 48 and a horizontal secondary rotation axis 50. The primary rotation axis 48 and the horizontal secondary rotation axis 50 are parallel. The primary rotation axis 48 is arranged between the base structure 18 and the intermediate member 46. The secondary rotation axis 50 is provided between the intermediate member 46 and the support member 44.

[0073] The drive device 42 is configured to drive the intermediate member 46 relative to the base structure 18 to rotate about a primary rotation axis 48. The drive device 42 is also configured to drive the support member 44 relative to the intermediate member 46 to rotate about a secondary rotation axis 50.

[0074] The drive device 42 is arranged to drive the support member 44 from the first position 38 to the second position 40 relative to the base structure 18, i.e. so that the positioning device 14 also adopts the first position 38 and the second position 40, respectively. To this end, the drive device 42 is arranged to drive the intermediate member 46 in rotation relative to the base structure 18 about the primary rotation axis 48 and to drive the support member 44 in rotation relative to the intermediate member 46 about the secondary rotation axis 50 during the movement of the support member 44 from the first position 38 to the second position 40.

[0075] The drive device 42 of this example includes a single motor (not shown) for driving the intermediate member 46 about the primary rotation axis 48 relative to the base structure 18 and driving the support member 44 about the secondary rotation axis 50 relative to the intermediate member 46 during driving the support member 44 between the first position 38 and the second position 40.

[0076] The positioning device 14 further comprises a passive device 52. The passive device 52 is arranged together with the drive device 42 to kinematically define the position of the support member 44 relative to the base structure 18. Figure 4 As shown, the support member 44 is disposed between the driving device 42 and the passive device 52. In addition, the passive device 52 and the driving device 42 have corresponding kinematic configurations and identical geometries.

[0077] The passive device 52 comprises an intermediate passive member 54, in this example an arm, which is arranged to rotate relative to the base structure 18 about the primary rotation axis 48 via a bearing (not shown). The support member 44 is arranged to rotate relative to the intermediate passive member 54 about the secondary rotation axis 50 via a bearing (not shown).

[0078] like Figure 4 As shown, the first workpiece support 20 includes two first workpiece support members (not shown) configured to hold the first workpiece 24 therebetween, and the second workpiece support 22 includes two second workpiece support members (not shown) configured to hold the second workpiece 26 therebetween. However, the first workpiece support 20 and the second workpiece support 22 may be configured to support the workpieces 24 and 26 in an alternative manner.

[0079] The first workpiece support 20 includes a motor and a reduction gearbox (not shown) on the active side, i.e., adjacent to the driving device 42, for driving the first workpiece 24 to rotate around the first workpiece axis 28. The second workpiece support 22 includes a motor and a reduction gearbox (not shown) on the active side, for driving the second workpiece 26 to rotate around the second workpiece axis 30. For each of the first workpiece support 20 and the second workpiece support 22, the corresponding motor and reduction gearbox may alternatively be arranged on the passive side, i.e., adjacent to the passive device 52.

[0080] Figure 5 A partial perspective view of the positioning device 14 is schematically shown. Figure 5 In order to improve visibility, the support member 44 has been removed.

[0081] like Figure 5 As shown, the drive device 42 comprises a motor 56, in this example an electric servomotor. The drive device 42 also comprises a reduction gearbox 58. The gearbox 58 is arranged between the motor 56 and the intermediate member 46. The motor 56 is arranged to drive the intermediate member 46 to rotate relative to the base structure 18 around the main rotation axis 48.

[0082] The motor 56 and the gearbox 58 are arranged in the base structure 18. In this example, the drive device 42 is arranged to drive the support member 44 from the first position 38 to the second position 40 by rotating the intermediate member 46 relative to the base structure 18 about the primary rotation axis 48 and by rotating the support member 44 relative to the intermediate member 46 about the secondary rotation axis 50, with the motor 56 as the only power source.

[0083] like Figure 5 As shown, the drive device 42 includes a transmission mechanism 60. The transmission mechanism 60 of this example includes a first gear 62, a second gear 64 meshing with the first gear 62, and a third gear 66 meshing with the second gear 64. In this example, each of the first gear 62, the second gear 64, and the third gear 66 is a spur gear.

[0084] The first gear 62 is concentric with the primary rotation axis 48 and is fixed to the base structure 18. The second gear 64 is rotatably connected to the intermediate member 46 to rotate about a second gear axis 68 relative to the intermediate member 46. The third gear 66 is concentric with the secondary rotation axis 50 and is fixed to the support member 44. The first gear 62 constitutes an input gear and the third gear 66 constitutes an output gear.

[0085] In this example, the transmission ratio between the first gear 62 and the third gear 66 is 2:1. The first gear 62 and the second gear 64 have the same size and the same number of teeth. The third gear 66 is larger and has twice the number of teeth as the first gear 62 and the second gear 64.

[0086] The system 10 may include a control system (not shown), such as a robot controller. In addition to controlling the motion of the various axes of the industrial robot 12, the control unit of this example also controls the drive of the motor 56 and the motors associated with each of the first and second workpiece supports 20 and 22.

[0087] Hereinafter, movement of the support member 44 relative to the base structure 18 from the first position 38 to the second position 40 will be described.

[0088] Figure 6 Schematically shows a partial side view of the positioning device 14 in a first position 38. Figure 6 As shown, the secondary rotation axis 50 , the first workpiece axis 28 , and the second workpiece axis 30 are located at the same geodetic height in the first position 38 .

[0089] When the intermediate member 46 is rotationally driven counterclockwise about the primary rotation axis 48 relative to the base structure 18 by the motor 56, the rotation of the intermediate member 46 is transmitted to the counterclockwise rotation of the second gear 64 about the second gear axis 68. The rotation of the second gear 64 about the second gear axis 68 causes the support member 44 to be rotationally driven clockwise about the secondary rotation axis 50 relative to the intermediate member 46. However, the angular rotation speed of the intermediate member 46 about the primary rotation axis 48 is twice as fast as the angular rotation speed of the support member 44 about the secondary rotation axis 50.

[0090] When the drive device 42 drives the support member 44 from the first position 38 toward the second position 40 , movement occurs in each of the primary and secondary axes of rotation 48 , 50 .

[0091] Figure 7 Schematically shows a partial side view of the positioning device 14 during movement from the first position 38 to the second position 40. Figure 7 , the intermediate member 46 has been rotated 90° counterclockwise about the primary rotation axis 48 relative to the base structure 18, and the support member 44 has been rotated 45° clockwise about the secondary rotation axis 50 relative to the intermediate member 46. The movement of the first workpiece support 20 is indicated by arrow 70, and the movement of the second workpiece support 22 is indicated by arrow 72.

[0092] like Figure 7 As shown, the first workpiece support 20 is Figure 6 The second workpiece support 22 is closer to the main rotation axis 48 than Figure 6 Thus, during movement of the support member 44 from the first position 38 to the second position 40, the distance between the first workpiece support 20 and the main rotation axis 48 and the distance between the second workpiece support 22 and the main rotation axis 48 change.

[0093] Figure 8 Schematically shows a partial side view of the positioning device 14 during further movement from the first position 38 to the second position 40. Figure 8 , the intermediate member 46 has been rotated 180° counterclockwise about the primary rotation axis 48 relative to the base structure 18, and the support member 44 has been rotated 90° clockwise about the secondary rotation axis 50 relative to the intermediate member 46. Figure 8 In the process, the first workpiece support 20 is temporarily in a stopped state.

[0094] Fig. 9 Schematically shows a partial side view of the positioning device 14 during further movement from the first position 38 to the second position 40. Fig. 9, the intermediate member 46 has been rotated 270° counterclockwise about the primary rotation axis 48 relative to the base structure 18 , and the support member 44 has been rotated 135° clockwise about the secondary rotation axis 50 relative to the intermediate member 46 .

[0095] Fig.10 Schematically shows a partial side view of the positioning device 14 when the support member 44 has reached the second position 40. Fig.10 As shown, the secondary axis of rotation 50 , the first workpiece axis 28 and the second workpiece axis 30 are again positioned at the same geodetic height in the second position 40 .

[0096] exist Fig.10 In the second position 40 in FIG. 1 , the intermediate member 46 has been rotated 360° counterclockwise from the first position 38 about the primary rotation axis 48 relative to the base structure 18, and the support member 44 has been rotated 180° clockwise from the first position 38 about the secondary rotation axis 50 relative to the intermediate member 46. The support member 44 thus performs a compound motion between the first position 38 and the second position 40.

[0097] like Fig.11 As shown, when driving the support member 44 from the first position 38 to the second position 40, the drive device 42 drives the first workpiece support 20 and the second workpiece support 22 along corresponding non-circular paths. The first workpiece support 20 has moved from the processing side 32 in the first position 38 below the second workpiece support 22 to the loading side 34 in the second position 40 along a relatively short generally double arc path 74. At the same time, the second workpiece support 22 has moved from the loading side 34 in the first position 38 above the first workpiece support 20 to the processing side 32 in the second position 40 along a relatively long elliptical or generally arc path 76. Fig.11 As shown, the vertical height h1 of the path 76 is greater than five times the vertical height h2 of the path 74 .

[0098] If the support member 44 could only rotate about the main rotation axis 48 relative to the base structure 18, the main rotation axis 48 would have to be located at a greater height in order to allow the support member 44 to rotate. Therefore, the base structure 18 would have to be made taller. However, due to the non-circular paths 74, 76, the positioning device 14 is made relatively compact and at the same time allows each workpiece 24 and 26 to be positioned at a low geodetic height in each of the first position 38 and the second position 40. In addition to the non-circular paths 74, 76, the positioning device 14 is also provided with a plurality of non-circular paths 74, 76. Figure 8 The height of the positioning device 14 is relatively low except for the central vertical position of the support member 44. That is, the positioning device 14 only requires a relatively small height at the processing side 32 and the loading side 34.

[0099] To move the support member 44 from the second position 40 back to the first position 38 relative to the base structure 18, the above process may be reversed. That is, the intermediate member 46 may be driven clockwise about the primary rotation axis 48 during movement from the second position to the first position 38. Alternatively, the intermediate member 46 may be repeatedly rotationally driven about the primary rotation axis 48 in only one direction in order to move the support member 44 from the first position 38 to the second position 40 and to the first position 38 again.

[0100] Although the present disclosure has been described with reference to exemplary embodiments, it should be understood that the present invention is not limited to the above. For example, it is understood that the size of the components can be changed as needed. Therefore, it is intended that the present invention is limited only by the scope of the appended claims.

Claims

1. A positioning device (14) for positioning a workpiece (24, 26) relative to an industrial robot (12), the positioning device (14) comprising: - a base structure (18); - a first workpiece support (20) for supporting a first workpiece (24); - a second workpiece support (22) for supporting a second workpiece (26); - a support member (44) supporting the first workpiece support (20) and the second workpiece support (22); as well as a drive device (42) arranged to drive the support member (44) relative to the base structure (18) from a first position (38) in which the first workpiece support (20) is positioned on a processing side (32) of the base structure (18) and the second workpiece support (22) is positioned on an opposite loading side (34) of the base structure (18) to a second position (40) in which the first workpiece support (20) is positioned on the loading side (34) and the second workpiece support (22) is positioned on the processing side (32); The invention is characterized in that the drive device (42) is arranged to drive the first workpiece support (20) along a first path (74) and drive the second workpiece support (22) along a second path (76) when driving the support member (44) from the first position (38) to the second position (40), and the first and second paths (74, 76) are non-circular. wherein the drive device (42) comprises an intermediate member (46) between the base structure (18) and the support member (44), and a horizontal main axis of rotation (48) between the base structure (18) and the intermediate member (46), The drive means (42) is arranged to rotate the intermediate member (46) 360° about the main rotation axis (48) when the support member (44) is driven from the first position (38) to the second position (40).

2. The positioning apparatus (14) of claim 1, wherein in each of the first position (38) and the second position (40), the first workpiece support (20) and the second workpiece support (22) are positioned at the same geodetic height.

3. A positioning device (14) according to claim 1 or 2, wherein the path above the other path (74, 76) in the first and second paths (74, 76) has a first vertical height (h1), and the path below has a second vertical height (h2), and the first vertical height (h1) is greater than the second vertical height (h2).

4. A positioning device (14) according to claim 1 or 2, wherein the drive device (42) includes a motor (56), and wherein the drive device (42) is configured to use the motor (56) as the only power source to drive the support member (44) from the first position (38) to the second position (40).

5. A positioning device (14) according to claim 1, wherein the drive device (42) is arranged to drive the support member (44) from the first position (38) to the second position (40) so that the distance between the first workpiece support (20) and the main rotation axis (48) and / or the distance between the second workpiece support (22) and the main rotation axis (48) changes.

6. Positioning device (14) according to claim 1, wherein the drive means (42) comprises a motor (56) arranged to drive the intermediate member (46) about the main rotation axis (48).

7. A positioning device (14) according to claim 1, wherein the drive device (42) includes a horizontal secondary rotation axis (50) between the intermediate member (46) and the support member (44), the secondary rotation axis (50) being parallel to the main rotation axis (48), and wherein the support member (44) is arranged to rotate relative to the base structure (18) around the secondary rotation axis (50).

8. A positioning device (14) according to claim 7, wherein the drive device (42) is arranged to rotate the support member (44) 180° around the secondary rotation axis (50) when driving the support member (44) from the first position (38) to the second position (40).

9. A positioning device (14) according to claim 7 or 8, wherein the drive device (42) includes a transmission mechanism (60), the transmission mechanism having an input wheel fixed relative to the base structure (18) and an output wheel fixed relative to the support member (44), and wherein the transmission ratio between the input wheel and the output wheel is 2:

1.

10. A positioning device (14) according to claim 7 or 8, wherein the drive device (42) includes a fixed first gear (62) concentric with the main rotation axis (48), a second gear (64) meshing with the first gear (62) and rotatably connected to the intermediate member (46), and a third gear (66) meshing with the second gear (64), the third gear being fixed relative to the support member (44) and concentric with the secondary rotation axis (50).

11. The positioning device (14) according to claim 1 or 2, further comprising a passive device (52), wherein the passive device (52) is arranged together with the drive device (42) to kinematically define the position of the support member (44) relative to the base structure (18).

12. The positioning device (14) according to claim 11, wherein the passive device (52) includes a passive motion configuration corresponding to the motion configuration of the drive device (42).

13. The positioning device (14) according to claim 3, wherein the first vertical height (hi) is at least two, three, four or five times greater than the second vertical height (h2).

14. A robot system (10) comprising an industrial robot (12) and a positioning device (14) according to any one of claims 1 to 13.

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