ABSTRACT
Abstract
A holding device includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction, and the first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
Description
CROSS-REFERENCE TO RELATED APPLICATION
This application claims priority to and the benefit of Japanese Patent Application No. 2019-216154 filed on Nov. 29, 2019, the entire disclosure of which is incorporated herein by reference.
TECHNICAL FIELD
The present disclosure relates to a holding device, a control method, a control device, and a robot system.
BACKGROUND ART
Robots have been used to perform work instead of humans. For example, PTL 1 discloses a robot that packs foods in trays. The robot of PTL 1 includes: a supplying portion and a grasping portion at a right hand portion of a right arm; and another supplying portion and another grasping portion at a left hand portion of a left arm. The supplying portion includes a suction head whose direction can be changed to a lower side or a lateral side. The grasping portion includes a plate-shaped grasping member. The robot transfers the foods, sucked by the suction heads, from a conveyor belt to a temporary placing base by the arms and arranges the foods with the directions thereof aligned. Moreover, the robot sandwiches all the arranged foods from lateral sides and transfers the foods to the tray by the grasping members of the left and right arms.
CITATION LIST
Patent Literature
PTL 1: Japanese Laid-Open Patent Application Publication No. 2017-218268
SUMMARY OF INVENTION
In PTL 1, the supplying portion and the grasping portion perform works of different purposes with respect to the foods. Moreover, each of the grasping portions of the left and right hands cannot hold the foods by itself. However, in some cases, the robot is required to perform a work in which holding of a target object by suction and an action with grasping with respect to the target object are associated with each other.
An object of the present disclosure is to provide a holding device, a control method, a control device, and a robot system, each of which can perform holding of a target object by suction and the application of an action with grasping with respect to the target object.
To achieve the above object, a holding device according to one aspect of the present disclosure includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction. The first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
According to the technique of the present disclosure, the target object can be held at two positions, and the action can be applied to the target object.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a perspective view showing one example of a robot system according to an embodiment.
FIG. 2 is a side view showing one example of the configuration of a robot according to the embodiment.
FIG. 3 is a perspective view showing one example of the configuration of a first end effector according to the embodiment.
FIG. 4 is a perspective view showing one example of the configuration of a second end effector according to the embodiment.
FIG. 5 is a block diagram showing one example of the hardware configuration of a control device according to the embodiment.
FIG. 6 is a block diagram showing one example of the functional configuration of the control device according to the embodiment.
FIG. 7 is a flow chart showing one example of the operation of the robot system according to the embodiment.
FIG. 8 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 9 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 10 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 11 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 12 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 13 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 14 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 15 is a perspective view showing one example of the configuration of the first end effector according to a modified example.
FIG. 16 is a perspective view showing one example of the configuration of the first end effector according to the modified example.
DESCRIPTION OF EMBODIMENTS
First, examples of aspects of the present disclosure will be described. A holding device according to one aspect of the present disclosure includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction. The first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
According to the above aspect, the holding device can hold, by suction and grasping, the main member and the first auxiliary member located in the same direction. For example, the holding device can hold the main member and the first auxiliary member at the same time. Moreover, since the first suction structure and the first grasping structure are adjacent to each other, and the held main member and the held first auxiliary member are located in the same direction, the holding device can apply an action to the main member by using the first auxiliary member. For example, the holding device can arrange the main member by canceling the suction, and then, place the first auxiliary member on the main member by canceling the grasping. Therefore, the holding device can perform the holding by suction and the application of the action with grasping with respect to the main member that is the target object.
In the holding device according to the aspect of the present disclosure, the first suction structure and the first grasping structure may be arranged at a first robot arm. According to the above aspect, the first suction structure and the first grasping structure can be freely moved by the first robot arm.
The holding device according to the aspect of the present disclosure may further include: a first support that supports the first suction structure and the first grasping structure; a first base coupled to the first support such that the first support is turnable; and a first turning device that turns the first support. According to the above aspect, the first suction structure and the first grasping structure can be turned. For example, the first suction structure and the first grasping structure can be turned when the robot arm at which the first suction structure and the first grasping structure are arranged is in a stationary state.
The holding device according to the aspect of the present disclosure may further include: a second suction structure that sucks the main member, and a second grasping structure that is arranged adjacent to the second suction structure in a direction intersecting with the first direction and grasps a second auxiliary member. The second suction structure may be directed so as to suck the main member located in the first direction. The second grasping structure may be directed so as to grasp the second auxiliary member located in the first direction. According to the above aspect, the holding device can hold the main member by two suction structures at two holding positions. Moreover, the holding device can perform actions with respect to the main member by using the auxiliary members at positions adjacent to the holding positions. Therefore, secure holding of the main member and the application of the actions to the main member at the holding positions can be realized.
In the holding device according to the aspect of the present disclosure, the second suction structure and the second grasping structure may be arranged at a second robot arm. According to the above aspect, the second suction structure and the second grasping structure can be freely moved by the second robot arm independently from the first suction structure and the first grasping structure.
In the holding device according to the aspect of the present disclosure, the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure may be arranged at one robot arm. According to the above aspect, the holding of the main member at two holding positions and the application of the actions to the main member at the holding positions can be realized by using only one robot arm.
The holding device according to the aspect of the present disclosure may further include: a second support that supports the second suction structure and the second grasping structure; a second base coupled to the second support such that the second support is turnable; and a second turning device that turns the second support. According to the above aspect, the second suction structure and the second grasping structure can be turned. For example, the second suction structure and the second grasping structure can be turned when the robot arm at which the second suction structure and the second grasping structure are arranged is in a stationary state.
The holding device according to the aspect of the present disclosure may further include a moving device that moves the grasping structure in the first direction. According to the above aspect, the holding device can move the auxiliary member in the first direction and cancel the grasping of the auxiliary member. Therefore, w % ben canceling the grasping, the holding device can surely place the auxiliary member without dropping the auxiliary member.
In the holding device according to the aspect of the present disclosure, the suction structure may include a portion that is extensible and contractable. According to the above aspect, the holding device can press the suction structure against a placement surface located in the first direction to contract the suction structure, and with this, the holding device can move the auxiliary member, grasped by the grasping structure, close to the placement surface. When canceling the grasping, the holding device can surely place the auxiliary member without dropping the auxiliary member.
In the holding device according to the aspect of the present disclosure, the main member may be a plate-shaped member, and the auxiliary member may be a weight that presses the main member. According to the above aspect, the holding device can place the main member by canceling the suction, and then, can place the auxiliary member on the main member by canceling the grasping. Therefore, the placed main member is fixed by the auxiliary member so as not to move.
A control method according to one aspect of the present disclosure is a control method of conveying a main member by using a first robot arm and a second robot arm, the first robot arm including a first suction structure and a first grasping structure which are adjacent to each other in a direction intersecting with a first direction, the second robot arm including a second suction structure and a second grasping structure which are adjacent to each other in a direction intersecting with the first direction. The control method includes: operating the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction; with the first grasping structure and the second grasping structure respectively grasping the first auxiliary member and the second auxiliary member, operating the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction; operating the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination; and making the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
According to the above aspect, the first and second robot arms can hold the main member by using the first and second suction structures and transfer the main member to the conveyance destination while holding the first and second auxiliary members by using the first and second grasping structures. Moreover, the first and second robot arms can place the main member on the arrangement surface of the conveyance destination by canceling the suction a
CROSS-REFERENCE TO RELATED APPLICATION
This application claims priority to and the benefit of Japanese Patent Application No. 2019-216154 filed on Nov. 29, 2019, the entire disclosure of which is incorporated herein by reference.
TECHNICAL FIELD
The present disclosure relates to a holding device, a control method, a control device, and a robot system.
BACKGROUND ART
Robots have been used to perform work instead of humans. For example, PTL 1 discloses a robot that packs foods in trays. The robot of PTL 1 includes: a supplying portion and a grasping portion at a right hand portion of a right arm; and another supplying portion and another grasping portion at a left hand portion of a left arm. The supplying portion includes a suction head whose direction can be changed to a lower side or a lateral side. The grasping portion includes a plate-shaped grasping member. The robot transfers the foods, sucked by the suction heads, from a conveyor belt to a temporary placing base by the arms and arranges the foods with the directions thereof aligned. Moreover, the robot sandwiches all the arranged foods from lateral sides and transfers the foods to the tray by the grasping members of the left and right arms.
CITATION LIST
Patent Literature
PTL 1: Japanese Laid-Open Patent Application Publication No. 2017-218268
SUMMARY OF INVENTION
In PTL 1, the supplying portion and the grasping portion perform works of different purposes with respect to the foods. Moreover, each of the grasping portions of the left and right hands cannot hold the foods by itself. However, in some cases, the robot is required to perform a work in which holding of a target object by suction and an action with grasping with respect to the target object are associated with each other.
An object of the present disclosure is to provide a holding device, a control method, a control device, and a robot system, each of which can perform holding of a target object by suction and the application of an action with grasping with respect to the target object.
To achieve the above object, a holding device according to one aspect of the present disclosure includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction. The first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
According to the technique of the present disclosure, the target object can be held at two positions, and the action can be applied to the target object.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a perspective view showing one example of a robot system according to an embodiment.
FIG. 2 is a side view showing one example of the configuration of a robot according to the embodiment.
FIG. 3 is a perspective view showing one example of the configuration of a first end effector according to the embodiment.
FIG. 4 is a perspective view showing one example of the configuration of a second end effector according to the embodiment.
FIG. 5 is a block diagram showing one example of the hardware configuration of a control device according to the embodiment.
FIG. 6 is a block diagram showing one example of the functional configuration of the control device according to the embodiment.
FIG. 7 is a flow chart showing one example of the operation of the robot system according to the embodiment.
FIG. 8 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 9 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 10 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 11 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 12 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 13 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 14 is a perspective view showing one example of the state of the robot system that is operating in accordance with the flow chart of FIG. 7 .
FIG. 15 is a perspective view showing one example of the configuration of the first end effector according to a modified example.
FIG. 16 is a perspective view showing one example of the configuration of the first end effector according to the modified example.
DESCRIPTION OF EMBODIMENTS
First, examples of aspects of the present disclosure will be described. A holding device according to one aspect of the present disclosure includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction. The first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
According to the above aspect, the holding device can hold, by suction and grasping, the main member and the first auxiliary member located in the same direction. For example, the holding device can hold the main member and the first auxiliary member at the same time. Moreover, since the first suction structure and the first grasping structure are adjacent to each other, and the held main member and the held first auxiliary member are located in the same direction, the holding device can apply an action to the main member by using the first auxiliary member. For example, the holding device can arrange the main member by canceling the suction, and then, place the first auxiliary member on the main member by canceling the grasping. Therefore, the holding device can perform the holding by suction and the application of the action with grasping with respect to the main member that is the target object.
In the holding device according to the aspect of the present disclosure, the first suction structure and the first grasping structure may be arranged at a first robot arm. According to the above aspect, the first suction structure and the first grasping structure can be freely moved by the first robot arm.
The holding device according to the aspect of the present disclosure may further include: a first support that supports the first suction structure and the first grasping structure; a first base coupled to the first support such that the first support is turnable; and a first turning device that turns the first support. According to the above aspect, the first suction structure and the first grasping structure can be turned. For example, the first suction structure and the first grasping structure can be turned when the robot arm at which the first suction structure and the first grasping structure are arranged is in a stationary state.
The holding device according to the aspect of the present disclosure may further include: a second suction structure that sucks the main member, and a second grasping structure that is arranged adjacent to the second suction structure in a direction intersecting with the first direction and grasps a second auxiliary member. The second suction structure may be directed so as to suck the main member located in the first direction. The second grasping structure may be directed so as to grasp the second auxiliary member located in the first direction. According to the above aspect, the holding device can hold the main member by two suction structures at two holding positions. Moreover, the holding device can perform actions with respect to the main member by using the auxiliary members at positions adjacent to the holding positions. Therefore, secure holding of the main member and the application of the actions to the main member at the holding positions can be realized.
In the holding device according to the aspect of the present disclosure, the second suction structure and the second grasping structure may be arranged at a second robot arm. According to the above aspect, the second suction structure and the second grasping structure can be freely moved by the second robot arm independently from the first suction structure and the first grasping structure.
In the holding device according to the aspect of the present disclosure, the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure may be arranged at one robot arm. According to the above aspect, the holding of the main member at two holding positions and the application of the actions to the main member at the holding positions can be realized by using only one robot arm.
The holding device according to the aspect of the present disclosure may further include: a second support that supports the second suction structure and the second grasping structure; a second base coupled to the second support such that the second support is turnable; and a second turning device that turns the second support. According to the above aspect, the second suction structure and the second grasping structure can be turned. For example, the second suction structure and the second grasping structure can be turned when the robot arm at which the second suction structure and the second grasping structure are arranged is in a stationary state.
The holding device according to the aspect of the present disclosure may further include a moving device that moves the grasping structure in the first direction. According to the above aspect, the holding device can move the auxiliary member in the first direction and cancel the grasping of the auxiliary member. Therefore, w % ben canceling the grasping, the holding device can surely place the auxiliary member without dropping the auxiliary member.
In the holding device according to the aspect of the present disclosure, the suction structure may include a portion that is extensible and contractable. According to the above aspect, the holding device can press the suction structure against a placement surface located in the first direction to contract the suction structure, and with this, the holding device can move the auxiliary member, grasped by the grasping structure, close to the placement surface. When canceling the grasping, the holding device can surely place the auxiliary member without dropping the auxiliary member.
In the holding device according to the aspect of the present disclosure, the main member may be a plate-shaped member, and the auxiliary member may be a weight that presses the main member. According to the above aspect, the holding device can place the main member by canceling the suction, and then, can place the auxiliary member on the main member by canceling the grasping. Therefore, the placed main member is fixed by the auxiliary member so as not to move.
A control method according to one aspect of the present disclosure is a control method of conveying a main member by using a first robot arm and a second robot arm, the first robot arm including a first suction structure and a first grasping structure which are adjacent to each other in a direction intersecting with a first direction, the second robot arm including a second suction structure and a second grasping structure which are adjacent to each other in a direction intersecting with the first direction. The control method includes: operating the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction; with the first grasping structure and the second grasping structure respectively grasping the first auxiliary member and the second auxiliary member, operating the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction; operating the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination; and making the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
According to the above aspect, the first and second robot arms can hold the main member by using the first and second suction structures and transfer the main member to the conveyance destination while holding the first and second auxiliary members by using the first and second grasping structures. Moreover, the first and second robot arms can place the main member on the arrangement surface of the conveyance destination by canceling the suction and place the first and second auxiliary members on the main member by canceling the grasping. Therefore, the holding of the main member by the suction, the conveyance of the main member, and the application of the action with the grasping with respect to the main member can be performed by using two robot arms.
The control method according to the aspect of the present disclosure may further include: operating the first robot arm and the second robot arm to make a position detector, which detects a position of the main member, detect the sucked main member; and based on a detection result of the position detector, operating the first robot arm and the second robot arm to adjust an interval between the first suction structure and the second suction structure on the arrangement surface. According to the above aspect, the position of the main member relative to the first and second suction structures can be detected. With this, the positioning accuracy of the main member relative to the conveyance destination by using the first and second robot arms can be improved.
In the control method according to the aspect of the present disclosure, the first suction structure and the first grasping structure may be attached to the first robot arm through a first support and a first base. The first support may support the first suction structure and the first grasping structure. The first base may be attached to the first robot arm and be coupled to the first support such that the first support is turnable. The first support may be turned by a first turning device. The second suction structure and the second grasping structure may be attached to the second robot arm through a second support and a second base. The second support may support the second suction structure and the second grasping structure. The second base may be attached to the second robot arm and be coupled to the second support such that the second support is tunable. The second support may be turned by a second turning device. According to the above aspect, the first suction structure and the first grasping structure can turn relative to the first robot arm, and the second suction structure and the second grasping structure can turn relative to the second robot arm. Therefore, the postures of the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure can be variously changed.
The control method according to the aspect of the present disclosure may further include making a first moving device, which moves the first grasping structure in the first direction, and a second moving device, which moves the second grasping structure in the first direction, move the first grasping structure and the second grasping structure in the first direction to place on the main member the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure. According to the above aspect, when canceling the grasping, the auxiliary members can be surely placed on the main member without being dropped.
The control method according to the aspect of the present disclosure may further include operating the first robot arm and the second robot arm such that the first suction structure including a portion that is extensible and contractable and the second suction structure including a portion that is extensible and contractable are pressed against the main member to be contracted, and with this, the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure are placed on the main member. According to the above aspect, when canceling the grasping, the auxiliary members can be surely placed on the main member without being dropped.
A control device according to one aspect of the present disclosure is a control device that executes the control method according to the aspect of the present disclosure. According to the above aspect, the same effects as the control method according to the aspect of the present disclosure are obtained.
A robot system according to one aspect of the present disclosure includes: a first robot arm; a second robot arm; a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first direction at the first robot arm; a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first direction at the second robot arm; and a control device that controls operations of the first robot arm, the second robot arm, the first grasping structure, and the second grasping structure. The first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are directed so as to suck or grasp a main member and auxiliary members located in the first direction. The control device operates the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction. With the first auxiliary member and the second auxiliary member grasped, the control device operates the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction. The control device operates the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination. The control device makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member. According to the above aspect, the same effects as the holding device according to the aspect of the present disclosure are obtained.
The robot system according to one aspect of the present disclosure includes: a robot arm; a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first direction at the robot arm, a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first direction at the robot arm; and a control device that controls operations of the robot arm, the first grasping structure, and the second grasping structure. The first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are directed so as to suck or grasp a main member and auxiliary members located in the first direction. The control device operates the robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction. With the first auxiliary member and the second auxiliary member grasped, the control device operates the robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction. The control device operates the robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination. The control device makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member. According to the above aspect, the same effects as the holding device according to the aspect of the present disclosure are obtained.
The robot system according to the aspect of the present disclosure may further include a position detector that detects a position of the main member and outputs a detection result to the control device. Based on the detection result of the position detector, the control device may detect a relative position of the main member relative to the first suction structure and the second suction structure. Based on the relative position, the control device may operate the robot arm to adjust positions of the first suction structure and the second suction structure on the arrangement surface. According to the above aspect, the position of the main member relative to the first and second suction structures can be detected. With this, the positioning accuracy of the main member relative to the conveyance destination by using the robot arm can be improved.
In the robot system according to the aspect of the present disclosure, the first suction structure and the first grasping structure may be attached to the robot arm through a first support and a first base. The first support may support the first suction structure and the first grasping structure. The first base may be attached to the robot arm and be coupled to the first support such that the first support is turnable. The first support may be turned by a first turning device. The second suction structure and the second grasping structure may be attached to the robot arm through a second support and a second base. The second support may support the second suction structure and the second grasping structure. The second base may be attached to the robot arm and be coupled to the second support such that the second support is turnable. The second support may be turned by a second turning device. According to the above aspect, the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure can turn relative to the robot arm. Therefore, the postures of the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure can be variously changed.
The robot system according to the aspect of the present disclosure may further include: a first moving device that is located at the robot arm and moves the first grasping structure in the first direction; and a second moving device that is located at the robot arm and moves the second grasping structure in the first direction. The control device may make the first moving device and the second moving device move the first grasping structure and the second grasping structure in the first direction to place on the main member the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure. According to the above aspect, when canceling the grasping, the auxiliary members can be surely placed on the main member without being dropped.
In the robot system according to the aspect of the present disclosure, the suction structure may include a portion that is extensible and contractable. The control device may operate the robot arm such that the suction structure is pressed against the main member to be contracted, and with this, the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure are placed on the main member. According to the above aspect, when canceling the grasping, the auxiliary members can be surely placed on the main member without being dropped.
The robot system according to the aspect of the present disclosure may further include an arrangement base including the arrangement surface and made of a material having magnetism. The main member may be a plate-shaped member, and the auxiliary members may be magnets that press the main member. According to the above aspect, the robot system can place the main member on the arrangement base by canceling the suction, and then, place the auxiliary members on the main member by canceling the grasping. Therefore, the placed main member is surely fixed by the weight and magnetic force of the auxiliary members so as not to move.
Embodiment
Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are comprehensive or specific examples. Among components in the following embodiments, components that are not recited in independent claims which embody the broadest concept of the present disclosure will be described as optional components. The diagrams in the attached drawings are schematic diagrams and are not necessarily strictly drawn. In the diagrams, the same reference signs are used for the substantially identical components, and the repetition of the same explanation may be avoided, or such explanation may be simplified. Moreover, in the present description and the claims, a âdeviceâ may denote not only a single device but also a system including devices.
Configuration of Robot System
The configuration of a robot system 1 according to the embodiment will be described. FIG. 1 is a perspective view showing one example of the robot system 1 according to the embodiment. As shown in FIG. 1 , the robot system 1 according to the embodiment includes a robot 100 , a position detector 200 , conveying
devices
300 , 400 , and 500 , and a control device 600 . In the present embodiment, the following will describe a case where the robot 100 is arranged at a third workspace WS3 and performs one of steps of producing a substrate (also called a FPC (flexible printed substrate)) formed such that an electric circuit is formed on a workpiece W that is one example of a plate-shaped member having flexibility. In this step, the robot system 1 makes the robot 100 place a workpiece W, conveyed from a first workspace WS1 where another work step is performed, on an arrangement base 410 conveyed from a second workspace WS2 where yet another work step is performed, and transfer the arrangement base 410 to a fourth workspace WS4 where a pressure-joining step for the workpiece W is performed. A pressure-joining device (not shown) is arranged at the fourth workspace WS4. Each of the number of robots 100 , the number of position detectors 200 , the number of conveying devices 300 , the number of conveying devices 400 , and the number of conveying devices 500 in the robot system 1 is not limited to one as shown in FIG. 1 and may be any number.
For example, the workpiece W of the FPC has such a configuration that a conductor having electrical conductivity is attached onto an insulation base film through an adhesive layer. The base film is made of plastic, such as polyimide or polyester. The adhesive layer is made of an adhesive such as an epoxy resin adhesive or an acrylic resin adhesive, a prepreg, or the like. The conductor is made of copper foil, silver foil, or the like. A target object handled by the robot system 1 is not limited to the workpiece W of the FPC and may be any member. The robot system 1 may arrange the target object at a predetermined position. The workpiece W is one example of a main member.
The control device 600 controls the entire robot system 1 . Specifically, the control device 600 controls the robot 100 , the position detector 200 , and the conveying devices 300 to 500 such that the operations thereof are associated with each other. For example, the control device 600 includes a computer.
FIG. 2 is a side view showing one example of the configuration of the robot 100 according to the embodiment. As shown in FIG. 2 , in the present embodiment, the robot 100 is an industrial robot but is not limited to this. The robot 100 includes end effectors
110 A and 110 B, robot arms
120 A and 120 B, and a base 130 . The end effectors
110 A and 110 B can apply actions to the workpiece W. The robot arms
120 A and 120 B can move the end effectors
110 A and 110 B such that the end effectors
110 A and 110 B execute the actions. The robot arms
120 A and 120 B are supported by the base 130 so as to be turnable. The robot 100 may include a device that moves the base 130 . The end effectors
110 A and 110 B are one example of a holding device.
The robot arms
120 A and 120 B are not especially limited as long as the robot arms
120 A and 120 B can move the end effectors
110 A and 110 B located at respective tips thereof. In the present embodiment, the robot arms
120 A and 120 B are horizontal articulated arms. The robot arms
120 A and 120 B may be vertical articulated robot arms, polar coordinate robot arms, cylindrical coordinate robot arms, rectangular coordinate robot arms, or other robot arms. The robot arms
120 A and 120 B are coaxially turnable in a horizontal plane about a first axis S1 extending in a vertical direction. The first robot arm 120 A is arranged at a lower side of the second robot arm 120 B in a direction along the first axis S1. Therefore, the robot 100 is a coaxial double-arm robot.
The first robot arm 120 A includes links 121 A to 124 A, joints JTA1 to JTA4, and arm driving devices MA1 to MA4. The second robot arm 120 B includes links 121 B to 124 B, joints JTB1 to JTB4, and arm driving devices MB1 to MB4. Each of the arm driving devices MA1 to MA4 and MB1 to MB4 includes, for example, an electric motor that uses electric power as a power source. In the present embodiment, each of the arm driving devices MA1 to MA4 and MB1 to MB4 includes a servomotor. The arm driving devices MA1 to MA4 and MB1 to MB4 respectively drive the joints JTA1 to JTA4 and JTB1 to JTB4 by control of the control device 600 . Therefore, the robot arms
120 A and 120 B operate independently. Each of the number of joints of the robot arm 120 A and the number of joints of the robot arm 120 B is not limited to four and may be five or more or three or less.
The link 121 A is connected to the base 130 through the rotary joint JTA1 so as to be turnable about the first axis S1 in a horizontal plane, and the link 121 B is connected to the base 130 through the rotary joint JTB1 so as to be turnable about the first axis S1 in a horizontal plane. The link 122 A is connected to a tip of the link 121 A through the rotary joint JTA2 so as to be turnable in a horizontal plane about a second axis S2a extending in the vertical direction, and the link 122 B is connected to a tip of the link 121 B through the rotary joint JTB2 so as to be turnable in a horizontal plane about a second axis S2b extending in the vertical direction. The link 123 A is connected to a tip of the link 122 A through the linear-motion joint JTA3 so as to be able to move up and down along a third axis S3a extending in the vertical direction, and the link 123 B is connected to a tip of the link 122 B through the linear-motion joint JTB3 so as to be able to move up and down along a third axis S3b extending in the vertical direction. The link 124 A is connected to a lower end of the link 123 A through the rotary joint JTA4 so as to be turnable about a fourth axis S4a extending in a longitudinal direction of the link 123 A, and the link 124 B is connected to a lower end of the link 123 B through the rotary joint JTB4 so as to be turnable about a fourth axis S4b extending in a longitudinal direction of the link 123 B. The fourth axes S4a and S4b are axes extending in the vertical direction. The link 124 A includes a mechanical interface to be connected to the end effector 110 A, and the link 124 B includes a mechanical interface to be connected to the end effector 110 B.
Herein, a âhorizontal directionâ denotes a horizontal direction when the robot 100 is arranged on a horizontal surface, such as a horizontal floor surface, and is also a direction parallel to the above surface. The âvertical directionâ denotes a vertical direction in the same case as above and is also a direction perpendicular to the above surface. An âupper sideâ or âupwardâ denotes a direction from a lower side toward an upper side in the same case as above, and a âlower sideâ or âdownwardâ denotes a direction from the upper side toward the lower side in the same case as above. A âlateral sideâ or âlateralâ denotes a direction along the above surface in the same case as above.
FIG. 3 is a perspective view showing one example of the configuration of the first end effector 110 A according to the embodiment. FIG. 4 is a perspective view showing one example of the configuration of the second end effector 110 B according to the embodiment. As shown in FIG. 3 , the end effector 110 A includes a suction structure 111 A, a base 112 A, a turning support 113 A, a grasping support 114 A, a <figure-callout id="115A" label="turning device" filenames="US
CLAIMS
Claims ( 21 )
1 . A holding device comprising:
a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member, wherein: the first suction structure is directed so as to suck the main member located in the first direction; and the first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
2 . The holding device according to claim 1 , wherein the first suction structure and the first grasping structure are arranged at a first robot arm.
3 . The holding device according to claim 1 , further comprising:
a first support that supports the first suction structure and the first grasping structure; a first base coupled to the first support such that the first support is turnable; and a first turner that turns the first support.
4 . The holding device according to claim 1 , further comprising:
a second suction structure that sucks the main member; and a second grasping structure that is arranged adjacent to the second suction structure in a direction intersecting with the first direction and grasps a second auxiliary member, wherein: the second suction structure is directed so as to suck the main member located in the first direction; and the second grasping structure is directed so as to grasp the second auxiliary member located in the first direction.
5 . The holding device according to claim 4 , wherein the second suction structure and the second grasping structure are arranged at a second robot arm.
6 . The holding device according to claim 4 , wherein the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are arranged at one robot arm.
7 . The holding device according to claim 4 , further comprising:
a second support that supports the second suction structure and the second grasping structure; a second base coupled to the second support such that the second support is turnable; and a second turner that turns the second support.
8 . The holding device according to claim 1 , further comprising a mover that moves the grasping structure in the first direction.
9 . The holding device according to claim 1 , wherein the suction structure includes a portion that is extensible and contractable.
10 . A control method of conveying a main member by using a first robot arm and a second robot arm, the first robot arm including a first suction structure and a first grasping structure which are adjacent to each other in a direction intersecting with a first direction, the second robot arm including a second suction structure and a second grasping structure which are adjacent to each other in a direction intersecting with the first direction,
the control method comprising: operating the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction; with the first grasping structure and the second grasping structure respectively grasping the first auxiliary member and the second auxiliary member, operating the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction; operating the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination; and making the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
11 . The control method according to claim 10 , further comprising:
operating the first robot arm and the second robot arm to make a position detector, which detects a position of the main member, detect the sucked main member; and based on a detection result of the position detector, operating the first robot arm and the second robot arm to adjust an interval between the first suction structure and the second suction structure on the arrangement surface.
12 . The control method according to claim 10 , wherein:
the first suction structure and the first grasping structure are attached to the first robot arm through a first support and a first base; the first support supports the first suction structure and the first grasping structure; the first base is attached to the first robot arm and is coupled to the first support such that the first support is turnable; the first support is turned by a first turner; the second suction structure and the second grasping structure are attached to the second robot arm through a second support and a second base; the second support supports the second suction structure and the second grasping structure; the second base is attached to the second robot arm and is coupled to the second support such that the second support is turnable; and the second support is turned by a second turner.
13 . The control method according to claim 10 , further comprising making a first mover, which moves the first grasping structure in the first direction, and a second mover, which moves the second grasping structure in the first direction, move the first grasping structure and the second grasping structure in the first direction to place on the main member the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure.
14 . The control method according to claim 10 , further comprising operating the first robot arm and the second robot arm such that the first suction structure including a portion that is extensible and contractable and the second suction structure including a portion that is extensible and contractable are pressed against the main member to be contracted, and with this, the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure are placed on the main member.
15 . A control device that executes the control method according to claim 10 .
16 . A robot system comprising:
a first robot arm; a second robot arm; a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first direction at the first robot arm; a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first direction at the second robot arm; and control circuitry that controls operations of the first robot arm, the second robot arm, the first grasping structure, and the second grasping structure, wherein: the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are directed so as to suck or grasp a main member and auxiliary members located in the first direction; the control circuitry operates the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction; with the first auxiliary member and the second auxiliary member grasped, the control circuitry operates the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction; the control circuitry operates the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination; and the control circuitry makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
17 . A robot system comprising:
a robot arm; a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first direction at the robot arm; a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first direction at the robot arm; and control circuitry that controls operations of the robot arm, the first grasping structure, and the second grasping structure, wherein: the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are directed so as to suck or grasp a main member and auxiliary members located in the first direction; the control circuitry operates the robot arm to make the first grasping structure grasp a first auxiliary member located in the first direction and make the second grasping structure grasp a second auxiliary member located in the first direction; with the first auxiliary member and the second auxiliary member grasped, the control circuitry operates the robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first direction; the control circuitry operates the robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination; and the control circuitry makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
18 . The robot system according to claim 16 , further comprising a position detector that detects a position of the main member and outputs a detection result to the control circuitry, wherein:
based on the detection result of the position detector, the control circuitry detects a relative position of the main member relative to the first suction structure and the second suction structure; and based on the relative position, the control circuitry operates the robot arm to adjust positions of the first suction structure and the second suction structure on the arrangement surface.
19 . The robot system according to claim 16 , wherein:
the first suction structure and the first grasping structure are attached to the robot arm through a first support and a first base; the first support supports the first suction structure and the first grasping structure; the first base is attached to the robot arm and is coupled to the first support such that the first support is turnable; the first support is turned by a first turner; the second suction structure and the second grasping structure are attached to the robot arm through a second support and a second base; the second support supports the second suction structure and the second grasping structure; the second base is attached to the robot arm and is coupled to the second support such that the second support is turnable; and the second support is turned by a second turner.
20 . The robot system according to claim 16 , further comprising:
a first moving device that is located at the robot arm and moves the first grasping structure in the first direction; and a second moving device that is located at the robot arm and moves the second grasping structure in the first direction, wherein the control circuitry makes the first moving device and the second moving device move the first grasping structure and the second grasping structure in the first direction to place on the main member the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure.
21 . The robot system according to claim 16 , wherein:
the suction structure includes a portion that is extensible and contractable; and the control circuitry operates the robot arm such that the suction structure is pressed against the main member to be contracted, and with this, the first auxiliary member grasped by the first grasping structure and the second auxiliary member grasped by the second grasping structure are placed on the main member.
US17/780,665
2019-11-29
2020-11-27
Holding device, control method, control device, and robot system
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2019-11-29
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Holding device, control method, control device, and robot system
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Mujin, Inc.
Robotic systems with gripping mechanisms, and related systems and methods
US20240181657A1
( en )
*
2022-12-02
2024-06-06
Mujin, Inc.
Systems and methods for object grasping
CN118164253A
( en )
*
2023-12-04
2024-06-11
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Automated production line for air conditioning box parts
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2021-06-03
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