Patent ID: 6246923
Filing Date: 2001-06-12
Classification: G05B,Y02P

Abstract:
In a work carrying system comprising:a work processing device having a transfer chamber to which a work carrying robot is disposed, a plurality of process chambers disposed adjacent to the transfer chamber which implement various types of processes on a work, and a plurality of gate means each being disposed between each of the process chambers and the transfer chamber, for performing closing and opening actions;the work carrying robot being adopted to transfer the work positioned at a transfer origin process chamber among the plurality of process chambers to a transfer destination process chamber along a predetermined movement path through the gate means of the transfer origin process chamber, the transfer chamber and the gate means of the transfer destination process chamber, wherein a specified time is required to open from a closed state of the gate means of the transfer origin process chamber and of the transfer destination process chamber during the transfer, characterized by:a control device for the work carrying robot, comprising:point setting means which sets a first point where the work on the movement path shifts from a moving action from the transfer origin process chamber to the transfer chamber to a moving action inside the transfer chamber and a second point where the work shifts from the moving action inside the transfer chamber to a moving action from the transfer chamber to the transfer destination process chamber;gate open and close means for terminating the opening action of the gate means at the transfer destination side at a moment when the work has reached the second point on the movement path on the basis of a transfer distance of the work and a time required to open the gate means from the closed state;moving speed pattern setting means for allowing the work carrying robot not to stop until the work reaches from the first point to the second point, and setting the transfer time of the work from the first point to the second point to be a minimum time and less than the time required to open the gate means from the closed state; andmoving speed control means for controlling the moving speed of the work carrying robot in accordance with a moving speed pattern set by the moving speed pattern setting means.