公开(公告)号：US20230381968A1

公开(公告)日：2023-11-30

申请号：US18249399

申请日：2020-12-18

申请人： FUJI CORPORATION

发明人： Shuhei NOGUCHI ,  Toshitaka FUKUNAGA ,  Yosuke FUTAMURA

IPC分类号： B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/1628 ,  B25J9/1664

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