Kabushiki Kaisha Toshiba

Japan Tobacco Inc.

Masamichi Kato

Takatomo Izume

Yoshinobu Ishikawa

Tadashi Munakata

Hisao Suzuki

Etuo Minamihama

Kouichi Yumita

Yasuharu Ujiie

Makoto Kasahara

Kazuhiro Tokitu

Kazuhiro Tokitsu

Kiyoe Imai

A method and an apparatus for carrying a workpiece for improving efficiency in a workpiece carrying operation. In the apparatus, a moving member having a workpiece holding member is driven with a linear motion in a horizontal plane along a carrier passage, and the workpiece holding member is driven with a revolutional motion in a vertical plane around a revolution axis displaced from a center of the workpiece holding member, while the workpiece holding member maintains an orientation in which a holder holding the workpiece points downwards. The holder of the workplece holding member is controlled to sequentially carry out holding of the workpiece and releasing of the workpiece at lowest positions of the workpiece holding member in the revolutional motion, so as to realize a continuous workpiece carrying operation.

Method and apparatus for carrying workpiece by continuous workpiece

A work mounting apparatus according to the present invention comprises a rotating drum divided into upper and lower drums, a head unit arranged on the outer periphery of the rotating drum or the lower drum, a circular work head attached to the head unit, and a suction nozzle protruding from the outer peripheral surface of the work head toward a workbench. While the lower drum is rotating, the suction nozzle of the work head repeats cycloid motion along the workbench with its posture or orientation kept fixed with respect to the workbench. While repeating the cycloid motion, the nozzle receives a work from a work feeder of the workbench by suction, and mounts the work on a printed board on the workbench. The work mounting apparatus further includes a balance weight for the work head, and a friction brake for applying a frictional force to the turning shaft of the work head, to thereby stabilize the turning motion of the work head.

Cycloid motion work mounting apparatus

In a control device for controlling a servo motor driving a robot arm, a target position command signal is input to a first operation section, which generates a speed command value for the speed feedforward. The target position command signal is also input to a delay section. A target position command signal delayed by a time period is obtained by the delay section and supplied to a second operation section. A positional deviation between the target position command signal and a position feedback signal is calculated by the second operation section. The obtained positional deviation is input to a third operation section and generated as a speed compensation command signal. A speed command signal obtained by addition of the speed feedforward signal and the speed compensation command signal is supplied to a servo driver for driving the servo motor. As a result, the time lag in the response of a system of the controlled system after the servo driver can be compensated for and an error in the positional deviation or the speed command signal can be prevented from being increased.

Servo motor control device

Growing community of inventors

Mie, Japan

Masamichi Kato