Positioning devices and systems

Abstract

A positioning device (14) for positioning a workpiece (58, 60) associated with at least one industrial robot (16a-16d), the positioning device (14) comprising: a fixed base structure (20) having a support surface (36) for supporting one or more of the at least one industrial robot (16a-16d) and a base surface (38) for mounting to a mounting surface (12); a first workpiece support (22) for supporting the first workpiece (58); a second workpiece support (24) for supporting the second workpiece (60); a support member (26) for supporting the first workpiece support (22) and the second workpiece support (24), the support member (26) being arranged to move between a first position (30) and a second position (32); and a motor (28) being arranged to drive the support member (26) between the first position (30) and the second position (32), wherein the support surface (36) is arranged between the motor (28) and the base surface (38).

Description

Technical Field

[0001] The present disclosure generally relates to a positioning device. Specifically, a positioning device for positioning a workpiece associated with at least one industrial robot and a system including the industrial robot and the positioning device are provided. Background Art

[0002] Some positioning devices for positioning workpieces in relation to one or more industrial robots include a vertical interchange axis, a processing side where a first workpiece can be processed by the one or more industrial robots, and a loading side for loading / unloading a second workpiece while the first workpiece is being processed.

[0003] By using a plurality of industrial robots, the processing time on the processing side can be reduced. However, in the case where all industrial robots are provided outside the positioning device, usually only a maximum of two industrial robots can be used on the processing side. The width of the workpiece limits the number of industrial robots that can be provided for processing the workpiece. Some prior art systems use one or more industrial robots above the positioning device. With these systems, the processing time can be further reduced.

[0004] EP 1604788 B1 discloses a robot which is positioned on top of a horizontal element of a carrying frame having three vertical columns. The worktables carrying the workpieces can be rotated individually in a frame having two transverse elements, each accommodating a drive unit. The third column is positioned between the worktables and can be combined with a base of a positioning device. Summary of the invention

[0005] It is an object of the present disclosure to provide a positioning device for positioning a workpiece in connection with at least one industrial robot, the positioning device having a compact design.

[0006] Another object of the present disclosure is to provide a positioning device for positioning a workpiece associated with at least one industrial robot, the positioning device being capable of reducing the height of a system including the positioning device and one or more industrial robots supported on the positioning device.

[0007] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece associated with at least one industrial robot, the positioning device simplifying the routing of cables to one or more industrial robots supported on the positioning device.

[0008] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece in connection with at least one industrial robot, which positioning device enables positioning of the workpiece on a loading side close to a mounting surface, such as a low positioning of the workpiece on the loading side.

[0009] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece in connection with at least one industrial robot, which positioning device has a less complex design.

[0010] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece associated with at least one industrial robot, the positioning device being capable of efficiently processing the workpiece.

[0011] Yet another object of the present disclosure is to provide a positioning device for positioning a workpiece associated with at least one industrial robot, the positioning device solving several or all of the aforementioned objects in combination.

[0012] Yet another object of the present disclosure is to provide a system, comprising at least one industrial robot and a positioning device, which solves one, more than one or all of the aforementioned objects.

[0013] According to one aspect, a positioning device is provided for positioning a workpiece associated with at least one industrial robot, the positioning device comprising: a fixed base structure having a support surface for supporting one or more of the at least one industrial robot and a base surface for mounting to the mounting surface; a first workpiece support for supporting the first workpiece; a second workpiece support for supporting the second workpiece; a support member supporting the first workpiece support and the second workpiece support, the support member being arranged to move between a first position and a second position, in the first position, the first workpiece support is positioned on a processing side of the base structure and the second workpiece support is positioned on an opposite loading side of the base structure, in the second position, the first workpiece support is positioned on the loading side and the second workpiece support is positioned on the processing side; and a motor arranged to drive the support member between the first position and the second position, wherein the support surface is arranged between the motor and the base surface.

[0014] When a first workpiece is supported by a first workpiece support on the processing side, one or more industrial robots can perform an operation on the first workpiece, such as welding. At the same time, a second workpiece can be loaded (or unloaded) to (or from) a second workpiece support on the loading side. Thus, the positioning device is capable of processing and loading / unloading workpieces simultaneously.

[0015] By arranging the support surface between the motor and the base surface, one or more industrial robots on the support surface can be positioned closer to the mounting surface. That is, the height of the system including the positioning device and the one or more industrial robots on the support surface can be reduced. By lowering the support surface in this way, the access of the one or more industrial robots on the support surface to the workpiece on the processing side is also improved. Therefore, the processing of the workpiece becomes more efficient. Moreover, by lowering the support surface, the first workpiece support and the second workpiece support can also be lowered, thereby facilitating access to the workpiece on the loading side.

[0016] The support surface and the base surface may be substantially planar or planar. In this case, the support surface and the base surface may be substantially parallel or parallel. Alternatively or in addition, the support surface and the base surface may be aligned so that the normal to the base surface passes through the support surface. However, the normal to the base surface does not necessarily need to pass through the motor. For example, in the case where the base surface is horizontal, the motor may be positioned horizontally outside the base surface. The motor may, for example, be an electric motor, such as an electric servo motor.

[0017] The mounting surface may be, for example, a floor or a wall. The base structure may be fixed to the mounting surface. The support member may be movable between a first position and a second position relative to the base structure. The support surface may be configured to support two industrial robots.

[0018] 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. Alternatively, the positioning device can be referred to as a workpiece positioner.

[0019] The support member may be arranged to rotate about an interchange rotation axis between a first position and a second position. The support surface and the base surface may be substantially perpendicular to or perpendicular to the interchange rotation axis. Alternatively or in addition, the interchange rotation axis may pass through the support surface and the base surface. When moving between the first position and the second position, the support member may move about the base structure.

[0020] The interchange rotation axis may be oriented vertically.The positioning means may comprise one or more bearings for rotatably supporting the support member relative to the base structure about the interchange rotation axis.

[0021] The support member can be arranged to rotate about 180 degrees in a first direction from the first position to the second position about the interchange rotation axis, and to rotate about 180 degrees in a second direction opposite to the first direction from the second position to the first position about the interchange rotation axis. In this regard, about 180 degrees can be 135 degrees to 225 degrees, such as 170 degrees to 190 degrees.

[0022] The support member may not be able to continuously rotate from the first position to the second position and back to the first position in the same direction about the interchange rotation axis. Instead, the support member may have to rotate in the first direction to move from the first position to the second position, and may have to rotate in the second direction to move from the second position back to the first position. Thus, when moving alternately between the first position and the second position, the support member may move alternately in a clockwise direction and a counterclockwise direction about the interchange rotation axis.

[0023] The positioning device may also include a free space for guiding one or more cables from outside the positioning device to the base structure. In this case, the positioning device may be configured so that the free space is not disturbed by the support member when moving between the first position and the second position. In this way, discontinuous rotation of the support member between the first position and the second position (i.e., rotating alternately in the first direction and the second direction) is used to provide simplified cable routing.

[0024] The cables may, for example, include power cables and welding cables for one or more industrial robots provided on the support surface and power cables for the first and second workpiece supports.

[0025] The base structure may include a first opening and a second opening for guiding one or more cables from the outside to the support surface. The first opening may be located between the outside and the second opening. The second opening may be provided in the support surface. The first opening may be located in a plane parallel to the interchange rotation axis. The base structure may also include a passage between the first opening and the second opening. The passage may open vertically upwards between the first opening and the second opening.

[0026] The support member may be asymmetric about a plane perpendicular to the direction of separation between the first workpiece support and the second workpiece support and centered between the first workpiece support and the second workpiece support.The plane may include an interchange axis of rotation.

[0027] The support member may include a first arm, a second arm, and a bridging arm interconnecting the first arm and the second arm. In this case, the bridging arm may be substantially perpendicular to or perpendicular to each of the first arm and the second arm. The bridging arm may deviate from a plane that is perpendicular to the separation direction between the first workpiece support and the second workpiece support and centered between the first workpiece support and the second workpiece support. The bridging arm may be provided between a support surface and a base surface. In the case where the base surface cooperates with a horizontal floor, when the support member moves between the first position and the second position, the bridging arm may move below the support surface.

[0028] When the support member adopts the first position, a free space may be provided between the second arm and the mounting surface, and when the support member adopts the second position, the free space may be provided between the first arm and the mounting surface.

[0029] Furthermore, the bridging arm may be provided on one side of the free space when the support member adopts the first position and on the opposite side of the free space when the support member adopts the second position. The bridging arm may move around the base structure when the support member moves between the first and second positions.

[0030] The support surface may be symmetrical about a plane parallel to the direction of separation between the first workpiece support and the second workpiece support and centered between the first arm and the second arm. And the plane may include an interchange rotation axis. Alternatively or in addition, the base surface may be asymmetrical about a plane parallel to the direction of separation between the first workpiece support and the second workpiece support and centered between the first arm and the second arm.

[0031] The bridging arm may be offset from the interchange rotation axis.Each of the first arm, the second arm and the bridging arm may be substantially straight or straight.

[0032] The support member may be H-shaped. Alternatively, the support member may be a frame, such as a rigid frame.

[0033] The support surface can be positioned between the first workpiece support and the base surface, such as in the vertical direction between the first workpiece support and the base surface. Alternatively or in addition, the support surface can be positioned between the second workpiece support and the base surface. However, the normal line of the support surface (e.g., parallel to the interchange rotation axis) does not necessarily need to pass through the first workpiece support and / or the second workpiece support. For example, when the support surface is horizontal, the first workpiece support and the second workpiece support can be positioned horizontally outside the support surface.

[0034] The first workpiece support can be arranged to rotate the first workpiece around the first workpiece rotation axis. In this case, the support surface can be positioned between the first workpiece rotation axis and the base surface, such as in the vertical direction between the first workpiece rotation axis and the base surface. The second workpiece support can be arranged to rotate the second workpiece around the second workpiece rotation axis. In this case, the support surface can be positioned between the second workpiece rotation axis and the base surface. Each workpiece rotation axis in the first workpiece rotation axis and the second workpiece rotation axis can be substantially perpendicular to or perpendicular to the interchange rotation axis. Alternatively or in addition, each workpiece rotation axis in the first workpiece rotation axis and the second workpiece rotation axis can be substantially horizontal or horizontal. Alternatively or in addition, each workpiece rotation axis in the first workpiece rotation axis and the second workpiece rotation axis can be provided at the same height from the mounting surface. Each workpiece support in the first workpiece support and the second workpiece support can be configured to releasably hold the workpiece.

[0035] The support surface may be elongated. In this case, the longitudinal axis of the support surface may be substantially parallel or parallel to the first workpiece rotation axis and / or the second workpiece rotation axis.

[0036] Alternatively or additionally, the base surface may be elongated.In this case, the longitudinal axis of the base surface may be substantially parallel or parallel to the first workpiece rotation axis and / or the second workpiece rotation axis.

[0037] The first workpiece support may include two first workpiece support elements arranged to hold the workpiece between them. One of the first workpiece support elements may be supported by a bearing to rotate relative to the support member around the first workpiece rotation axis. The first workpiece support may further include a servo motor and a reduction gearbox located at the other first workpiece support element for rotationally driving the workpiece around the first workpiece rotation axis.

[0038] The second workpiece support may include two second workpiece support elements arranged to hold the workpiece between them. One of the second workpiece support elements may be supported by a bearing to rotate relative to the support member around the second workpiece rotation axis. The second workpiece support may further include a servo motor and a reduction gearbox located at the other second workpiece support element for rotationally driving the workpiece around the second workpiece rotation axis.

[0039] The positioning device may also include a transmission device, which is arranged to transmit the driving movement of the motor to the movement of the support member. In this case, the support surface can be arranged between the transmission device and the base surface. The transmission device can be a gearbox, such as a reduction gearbox connected to the output shaft of the motor.

[0040] By arranging the support surface between the transmission device and the base surface, one or more industrial robots on the support surface can be positioned closer to the installation surface. That is, the height of the system including the positioning device and one or more industrial robots on the support surface can be further reduced.

[0041] According to another aspect, a system comprising at least one industrial robot and a positioning device according to the present disclosure is provided. The system may include one or more industrial robots provided at a processing side outside the positioning device and one or more industrial robots supported on a supporting surface.

[0042] The system may include two industrial robots supported on a support surface. In this case, the motor may be positioned between the two industrial robots, such as in a horizontal direction between the two industrial robots.

[0043] The system may be a welding system for welding workpieces. In this case, each industrial robot may be a welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other details, advantages and aspects of the present disclosure will become apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0045] Figure 1 : schematically shows a three-dimensional top view of a system including an industrial robot and a positioning device;

[0046] Figure 2 : schematically represents a three-dimensional bottom view of the system;

[0047] Figure 3 : Schematically showing the top view of the positioning device and two workpieces;

[0048] Figure 4 : schematically shows a three-dimensional top view of the positioning device in a first position;

[0049] Figure 5 : schematically shows a three-dimensional side view of the positioning device in a first position;

[0050] Figure 6 : schematically illustrates a perspective top view of the positioning device during movement from a first position to a second position;

[0051] Figure 7 : schematically shows a three-dimensional side view of the positioning device during movement from a first position to a second position;

[0052] Figure 8 : schematically showing a three-dimensional top view of the positioning device in the second position; and

[0053] Fig. 9 : Schematically shows a three-dimensional side view of the positioning device in the second position. DETAILED DESCRIPTION

[0054] In the following, a positioning device for positioning a workpiece in relation to at least one industrial robot and a system comprising 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.

[0055] Figure 1 schematically shows a perspective top view of the system 10, and Figure 2 A perspective bottom view of the system 10 is schematically shown. Figure 1 and 2 , the system 10 of this example is provided on a horizontal floor 12. The floor 12 is an example of a mounting surface according to the present disclosure.

[0056] The system 10 includes a positioning device 14. The system 10 of this example also includes a first industrial robot 16a, a second industrial robot 16b, a third industrial robot 16c, and a fourth industrial robot 16d. In this example, the third industrial robot 16c, the fourth industrial robot 16d, and the positioning device 14 are positioned on the floor 12. The first industrial robot 16a and the second industrial robot 16b are positioned on the positioning device 14. The industrial robots 16a, 16b, 16c, and 16d of this example are arc welding robots.

[0057] Figure 1 A Cartesian coordinate system is further shown for reference purposes. However, the positioning device 14 may be arbitrarily oriented in space. Figure 1 The outer side 18 of the positioning device 14 is also shown.

[0058] The positioning device 14 is configured to position a workpiece (not shown) associated with the industrial robots 16a, 16b, 16c and 16d. The positioning device 14 includes a fixed base structure 20, a first workpiece support 22, a second workpiece support 24, a support member 26 and a motor 28. The first workpiece support 22 and the second workpiece support 24 are supported on the support member 26.

[0059] The support member 26 is in a first position 30 relative to the base structure 20 (see Figures 1 to 5 ) and the second position 32 (see Figure 8 and 9 ) can be moved between. Figure 1 and 2 , the support member 26 is in a first position 30. In this example, the support member 26 is rotatable between the first position 30 and the second position 32 about an interchange rotation axis 34. The interchange rotation axis 34 of this example is perpendicular to the floor 12, ie, vertical.

[0060] The base structure 20 includes a support surface 36 ( Figure 1 and 2 The upper surface in the middle) and the base surface 38 ( Figure 1 and 2 The base of each of the first industrial robot 16a and the second industrial robot 16b is mounted to the support surface 36. Thus, the first industrial robot 16a and the second industrial robot 16b are supported on the support surface 36. The support surface 36 is larger than the base surface 38, for example, at least 30% larger. Figure 1 and 2 As shown, the motor 28 is provided between the first industrial robot 16 a and the second industrial robot 16 b in the horizontal direction.

[0061] The base surface 38 cooperates with the floor 12. The base of each of the third industrial robot 16c and the fourth industrial robot 16d is mounted to the floor 12 or a base (not shown). In this example, each of the support surface 36 and the base surface 38 is planar and parallel to the floor 12, i.e., perpendicular to the interchange rotation axis 34.

[0062] The first workpiece support 22 is configured to support a first workpiece. The second workpiece support 24 is configured to support a second workpiece. In this example, the first workpiece support 22 is configured to rotate the first workpiece around a first workpiece rotation axis 40, and the second workpiece support 24 is configured to rotate the second workpiece around a second workpiece rotation axis 42 that is parallel to the first workpiece rotation axis 40. The first workpiece rotation axis 40 and the second workpiece rotation axis 42 are provided at the same height above the floor 12. Each of the first workpiece rotation axis 40 and the second workpiece rotation axis 42 is horizontal and thus perpendicular to the interchange rotation axis 34. Figure 1 and 2 As shown, the support surface 36 is positioned below the first workpiece support 22 and the second workpiece support 24 .

[0063] The positioning device 14 includes a processing side 44 and a loading side 46. The base structure 20 is provided between the processing side 44 and the loading side 46 and is fixed to the floor 12. The positioning device 14 may also include a wall (not shown) dividing the processing side 44 and the loading side 46.

[0064] like Figure 1 and 2 As shown, in the first position 30 of the support member 26, the first workpiece support 22 is positioned on the processing side 44 and the second workpiece support 24 is positioned on the loading side 46. Thus, the second workpiece can be loaded to or unloaded from the loading side 46 while the first workpiece is processed, for example by an arc welding operation, on the processing side 44. Since two industrial robots 16c and 16d are provided on the floor 12 and two industrial robots 16a and 16b are provided on the positioning device 14, the processing capacity can be increased, for example, more welds can be added to the workpieces on the processing side 44 in a certain period of time.

[0065] The support member 26 can rotate 180 degrees clockwise about the interchange rotation axis 34 from the first position 30 to the second position 32 and then rotate 180 degrees counterclockwise about the interchange rotation axis 34 from the second position 32 back to the first position 30. When the welding operation and the loading operation are completed, the positioning device 14 changes the position of the workpiece.

[0066] The positioning device 14 also includes a gearbox 48. The gearbox 48 is an example of a transmission device according to the present disclosure. The motor 28 is arranged to drive the support member 26 between the first position 30 and the second position 32 via the gearbox 48. The gearbox 48 of this example is a reduction gearbox, connected to the output shaft of the motor 28 and configured to transmit the driving movement of the motor 28 to the movement of the support member 26.

[0067] In this example, the gearbox 48 is mounted on top of the support surface 36, and the motor 28 is mounted on top of the gearbox 48. Thus, the support surface 36 is provided between the gearbox 48 and the base surface 38 and between the motor 28 and the base surface 38. This enables the first industrial robot 16a and the second industrial robot 16b to be positioned low. Thus, access to the workpieces on the processing side 44 is improved, the height of the second workpiece rotation axis 42 on the loading side 46 can be reduced, and the overall height of the system 10 can be reduced.

[0068] The support member 26 of this example is a rigid H-shaped frame. The support member 26 includes a straight first arm 50, a straight second arm 52, and a straight bridging arm 54. The bridging arm 54 is connected between the first arm 50 and the second arm 52. The first arm 50 and the second arm 52 are parallel, and the bridging arm 54 is perpendicular thereto. The bridging arm 54 is offset from the interchange rotation axis 34. Therefore, the support member 26 is asymmetric in this respect. In this example, each of the first arm 50, the second arm 52, and the bridging arm 54 is horizontal.

[0069] like Figure 2 As shown, the base structure 20 also includes a first opening 56. The first opening 56 is located in a plane parallel to the interchange rotation axis 34. Figure 2 It can also be seen in FIG. 5 that a bridging arm 54 is provided between the support surface 36 and the base surface 38 in the vertical direction.

[0070] Figure 3 A top view of the positioning device 14, a first workpiece 58, and a second workpiece 60 is schematically shown. The first workpiece support 22 releasably holds the first workpiece 58, and the second workpiece support 24 releasably holds the second workpiece 60. In this example, each of the workpieces 58 and 60 has a cylindrical shape. However, alternative types of workpieces may be supported by the first workpiece support 22 and the second workpiece support 24. The first workpiece 58 is clamped between two first workpiece support elements (not shown) of the first workpiece support 22, and the second workpiece 60 is clamped between two second workpiece support elements (not shown) of the second workpiece support 24.

[0071] Figure 3Further shown are a first plane 62 and a second plane 64. Each of the first plane 62 and the second plane 64 is parallel to and includes the interchange rotation axis 34. The first plane 62 is perpendicular to a separation direction 66 between the first workpiece support 22 and the second workpiece support 24, i.e., a separation direction 66 between the first workpiece rotation axis 40 and the second workpiece rotation axis 42. Moreover, the first plane 62 is centered between the first workpiece support 22 and the second workpiece support 24. The second plane 64 is parallel to the separation direction 66. Moreover, the second plane 64 is centered between the first arm 50 and the second arm 52.

[0072] like Figure 3 As shown, the bridge arm 54 is offset from the first plane 62, so the support member 26 is asymmetrical about the first plane 62. The support surface 36 is symmetrical about the second plane 64.

[0073] from Figure 3 It can be inferred that the base surface 38 is asymmetric about the second plane 64. On one side of the second plane 64 ( Figure 3 On the opposite side of the second plane 64 ( Figure 3 ), one end of the support surface 36 is not provided above the base surface 38. Therefore, a gap is provided below the support surface 36 on that side of the second plane 64 for allowing the bridging arm 54 to pass when the support member 26 moves between the first position 30 and the second position 32.

[0074] like Figure 3 As shown, the base structure 20 also includes a second opening 68. The second opening 68 is provided in the support surface 36 and is therefore located in a plane perpendicular to the interchange rotation axis 34.

[0075] Figure 4 schematically shows a perspective top view of the positioning device 14 in a first position 30, and Figure 5 Schematically shows a perspective side view of the positioning device 14 in the first position 30. Figure 4 and 5 When moving from the first position 30 to the second position 32 , the support member 26 rotates in the first direction 70 about the interchange rotation axis 34 .

[0076] The positioning device 14 comprises a free space 72 and cables, here exemplified as a power cable 74 and a welding cable 76. A plurality of cables 74 and 76 are led from the outside 18 via the free space 72 through the first opening 56, through a passage (not visible) in the base structure 20, through the second opening 68 to the first industrial robot 16a and the second industrial robot 16b on the support surface 36. Although only two cables 74 and 76 are illustrated, a large number of cables can be led through the free space 72 in this way.

[0077] exist Figure 4 and 5 In the first position 30 of the support member 26, the free space 72 is located between the second arm 52 and the floor 12. Moreover, the bridging arm 54 is located on one side of the free space 72 ( Figure 4 and 5 on the left side of the image).

[0078] The free space 72 is not interfered with by the support member 26 when moving between the first position 30 and the second position 32. By utilizing the free space 72, routing of the cables 74 and 76 is facilitated.

[0079] Figure 4 and 5 It is further more clearly shown that each of the support surface 36 and the base surface 38 are elongated. The longitudinal axis of the support surface 36 and the longitudinal axis of the base surface 38 are parallel to the first workpiece rotation axis 40 and the second workpiece rotation axis 42, respectively.

[0080] Figure 6 schematically shows a perspective top view of the positioning device 14 during movement from the first position 30 to the second position 32, and Figure 7 Schematically shows a perspective side view of the positioning device 14 during movement from the first position 30 to the second position 32. Figure 6 and 7 , the support member 26 moves around the base structure 20 when moving from the first position 30 to the second position 32. During rotation along the first direction 70, the bridging arm 54 is positioned between the support surface 36 and the base surface 38 along the vertical direction. Therefore, when the support member 26 moves from the first position 30 to the second position 32, the bridging arm 54 moves around the base structure 20.

[0081] The support member 26 is rotated 180 degrees in a first direction 70 from the first position 30 to the second position 32 about the interchange rotation axis 34. During this rotation, the free space 72 is not disturbed.

[0082] Figure 8 schematically shows a perspective top view of the positioning device 14 in the second position 32, and Fig. 9Schematically shows a perspective side view of the positioning device 14 in the second position 32. Figure 8 and 9 , in the second position 32, the second workpiece support 24 supporting the second workpiece 60 is now positioned on the processing side 44, and the first workpiece support 22 supporting the first workpiece 58 is positioned on the loading side 46. The first workpiece 58, which has been processed by the industrial robots 16a, 16b, 16c and 16d, can now be removed from the first workpiece support 22, and a third workpiece can be added to the first workpiece support 22, while the second workpiece 60 is processed on the processing side 44 by the industrial robots 16b, 16b, 16c and 16d.

[0083] exist Figure 8 and 9 In the second position 32 of the support member 26, the free space 72 is located between the first arm 50 and the floor 12. Moreover, compared to the first position 30, the bridging arm 54 is now located on the opposite side of the free space 72 ( Figure 8 and 9 on the right side of the image).

[0084] When moving from the second position 32 to the first position 30, the support member 26 then rotates in the second direction 78 about the interchange rotation axis 34. During this movement, the support member 26 rotates 180 degrees in the second direction 78 from the second position 32 back to the first position 30 about the interchange rotation axis 34. Thus, when moving between the first position 30 and the second position 32, the support member 26 rotates alternately in the first direction 70 and the second direction 78, rather than continuously.

[0085] Although the present disclosure has been described with reference to exemplary embodiments, it is to be understood that the present invention is not limited to what has been described above. For example, it is to be understood that the size of the components can be varied as desired. Therefore, the present invention is intended to be limited only by the scope of the appended claims.

Claims

1. A positioning device (14) for positioning a workpiece (58, 60) associated with at least one industrial robot (16a-16d), the positioning device (14) comprising: - a fixed base structure (20) having a support surface (36) for supporting one or more of the at least one industrial robot (16a-16d) and a base surface (38) for mounting to a mounting surface (12); - a first workpiece support (22) for supporting a first workpiece (58); - a second workpiece support (24) for supporting a second workpiece (60); a support member (26) supporting the first workpiece support (22) and the second workpiece support (24), the support member (26) being arranged to be rotationally movable between a first position (30) in which the first workpiece support (22) is positioned on a processing side (44) of the fixed base structure (20) and the second workpiece support (24) is positioned on an opposite loading side (46) of the fixed base structure (20), and a second position (32) in which the first workpiece support (22) is positioned on the loading side (46) and the second workpiece support (24) is positioned on the processing side (44); as well as a motor (28) arranged to drive the support member (26) between the first position (30) and the second position (32), wherein the support surface (36) is arranged between the motor (28) and the base surface (38); The support member (26) is asymmetric about a plane (62) that is perpendicular to a separation direction (66) between the first workpiece support (22) and the second workpiece support (24) and is centered between the first workpiece support (22) and the second workpiece support (24).

2. The positioning device (14) according to claim 1, wherein the support member (26) is arranged to rotate between the first position (30) and the second position (32) about an interchange rotation axis (34).

3. A positioning device (14) according to claim 2, wherein the support member (26) is arranged to rotate 180 degrees around the interchange rotation axis (34) in a first direction (70) from the first position (30) to the second position (32), and to rotate 180 degrees around the interchange rotation axis (34) in a second direction (78) opposite to the first direction (70) from the second position (32) to the first position (30).

4. The positioning device (14) according to claim 2 or 3, further comprising a free space (72), wherein the free space (72) is used to guide one or more cables (74, 76) from the outside (18) of the positioning device (14) to the fixed base structure (20), wherein the positioning device (14) is configured so that the free space (72) is not interfered with by the support member (26) when moving between the first position (30) and the second position (32).

5. The positioning device (14) according to claim 4, wherein the fixed base structure (20) includes a first opening (56) and a second opening (68) for guiding the one or more cables (74, 76) from the outer side (18) to the support surface (36).

6. A positioning device (14) according to any one of claims 1 to 3, wherein the support member (26) includes a first arm (50), a second arm (52) and a bridging arm (54), wherein the bridging arm (54) interconnects the first arm (50) and the second arm (52), and the bridging arm (54) is perpendicular to each of the first arm (50) and the second arm (52).

7. The positioning device (14) according to claim 6, wherein the support member (26) is arranged to rotate between the first position (30) and the second position (32) about an interchange rotation axis (34), and wherein the bridging arm (54) is offset from the interchange rotation axis (34).

8. The positioning device (14) according to any one of claims 1 to 3, wherein the support member (26) is H-shaped.

9. The positioning device (14) according to any one of claims 1 to 3, wherein the support surface (36) is positioned between the first workpiece support (22) and the base surface (38).

10. A positioning device (14) according to any one of claims 1 to 3, wherein the first workpiece support (22) is arranged to rotate the first workpiece (58) about a first workpiece rotation axis (40), and wherein the support surface (36) is positioned between the first workpiece rotation axis (40) and the base surface (38).

11. The positioning device (14) according to any one of claims 1 to 3, further comprising a transmission device (48), wherein the transmission device (48) is arranged to transmit the driving movement of the motor (28) to the movement of the support member (26), wherein the support surface (36) is arranged between the transmission device (48) and the base surface (38).

12. A system (10) comprising at least one industrial robot (16a-16d) and a positioning device (14) according to any one of the preceding claims.

13. The system (10) of claim 12, wherein the system (10) comprises two industrial robots (16a, 16b) supported on the support surface (36).

14. The system (10) of claim 13, wherein the motor (28) is positioned between the two industrial robots (16a, 16b).

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