Holding device for rotating a plate-shaped structure, as well as control method, control device and robot system

Abstract

A holding device (110A, 110B, 110C) that holds a plate-shaped, flexible element (W), the holding device (110A, 110, 110C) comprising: a first suction structure (111A, 111C) that sucks the plate-shaped element (W); a second suction structure (111B, 112C) that sucks the plate-shaped element (W) and is rotatable and movable; a rotating device (114B, 116C) that rotates the second suction structure (111B, 112C);and a moving device (120B) that moves the second suction structure (111B, 112C), wherein when the first suction structure (111A, 111C) and the second suction structure (111B, 112C) suck and hold the plate-shaped element (W), the rotating device (114B, 116C) rotates the plate-shaped element (W) by rotating the second suction structure (111B, 112C) so that the second suction structure (111B, 112C) is directed in a direction different from the first suction structure (111A, 111C), and the moving device bends the plate-shaped element (W) by moving the second suction structure so that the second suction structure (111B, 112C) retracts relative to a direction along which the first suction structure (111A, 111C) and the second suction structure (111B, 112C) are arranged.;

Claims

[1] A holding device (110A, 110B, 110C) holding a plate-shaped flexible element (W), the holding device (110A, 110, 110C) comprising: a first suction structure (111A, 111C) which sucks the plate-shaped member (W); a second suction structure (111B, 112C) which sucks the plate-shaped member (W) and is rotatable and movable; a rotating device (114B, 116C) that rotates the second suction structure (111B, 112C); and a moving device (120B) which moves the second suction structure (111B, 112C), wherein when the first suction structure (111A, 111C) and the second suction structure (111B, 112C) suck and hold the plate-shaped element (W), the rotating device (114B, 116C) twists the plate-shaped element (W) by rotating the second suction structure (111B, 112C) so that the second suction structure (111B, 112C) is directed in a direction different from the first suction structure (111A, 111C), and the moving device bends the plate-shaped element (W) by moving the second suction structure so that the second suction structure (111B, 112C) retracts relative to a direction along which the first suction structure (111A, 111C) and the second suction structure (111B, 112C) are arranged. [2] Holding device (110A, 110B, 110C) according to claim 1, wherein the moving device, when rotating the plate-shaped element (W), creates a deflection on the plate-shaped element (W) by moving the second suction structure (111B, 112C) such that the second suction structure (111B, 112C) approaches the first suction structure (111A, 111C). [3] Holding device (110A, 110B, 110C) according to claim 1 or 2, wherein the moving device moves the second suction structure (111B, 112C) to an upper side beyond the first suction structure (111A, 111C) when the plate-shaped element (W) is rotated. [4] Holding device (110A, 110B, 110C) according to one of claims 1 to 3, wherein: the first suction structure (111A, 111C) is arranged on a first robot arm (120A); the second suction structure (111B, 112C) is arranged on a second robot arm (120B); and the second robot arm (120) serves as a movement device. [5] Holding device (110A, 110B, 110C) according to one of claims 1 to 3, wherein the first suction structure (111A, 111C) and the second suction structure (111B, 112C) are arranged on a robot arm (120A, 120B). [6] Holding device (110A, 110B, 110C) according to claim 4 or 5, further comprising: a support (112B, 115B) supporting the second suction structure (111B, 112C); and a base (113B, 117C) attached to the robot arm (120A, 120B) and coupled to the carrier (112B) such that the carrier (112B, 115C) is rotatable, wherein the rotating device (114B, 116C) rotates the carrier (112B, 115C). [7] Holding device (110A, 110B, 110C) according to claim 6, wherein: the base (113B, 117C) is attached to a rotatable end member (124A, 124B) of a tip of the robot arm (120A, 120B); and a direction of a rotation axis of the carrier (112B, 115B) is a direction that intersects with a direction of a rotation axis of the end member (124A, 124B). [8] Holding device (110A, 110B, 110C) according to one of claims 1 to 7, further comprising: a second rotating device (114B, 116C) as a rotating device that rotates the second suction structure (111B, 112C); and a first rotating device (114A, 114C) which rotates the first suction structure (111A, 111C), wherein the first suction structure (111A, 111C) is rotatable. [9] A control method for conveying a plate-shaped element (W) having flexibility using a first robot arm (120A) having a first suction structure (111A, 111C) and a second robot arm (120B) having a second suction structure (111B, 112C) rotatable by a rotating device (114B, 116C), the control method comprising: Actuating the first robot arm (120A) to cause the first suction structure (111A, 111C) to suck the plate-shaped member (W); Actuating the second robot arm (120B) so that the second suction structure (111B, 112C) sucks the plate-shaped element (W); Operating the first robot arm (120A) and the second robot arm (120B) to lift and move the sucked plate-shaped member (W); Operating the second robot arm (120B) to retract the second suction structure (111B, 112C) relative to a direction along which the first suction structure (111A, 111C) and the second suction structure (111B, 112C) are arranged; Actuating the rotating device to rotate the second suction structure (111B, 112C) such that the second suction structure (111B, 112C) is directed in a different direction than the first suction structure (111A, 111C); and Operating the first robot arm (120A) and the second robot arm (120B) to move the plate-shaped member (W) that has been twisted by the rotation of the second suction structure (111B, 112C) and to bring a part of the plate-shaped member (W) to a conveyance destination, wherein the part of the plate-shaped member (W) is a part that has been sucked by the first suction structure (111A, 111C). [10] A control method according to claim 9, further comprising: Actuating the first robot arm (120A) and the second robot arm (120B) so that a sensor (200) detecting a position of the plate-shaped element (W) detects the sucked plate-shaped element (W); and Operating the first robot arm (120A) and the second robot arm (120B) based on a detection result of the sensor (200) to adjust the position of the plate-shaped member (W) with respect to the conveyance target. [11] A control method according to claim 9 or 10, wherein: the second suction structure (111B, 112C) is attached to the second robot arm (120B) via a support (112B, 115B) and a base (113B, 117C); the carrier (112B, 115B) carries the second suction structure (111B, 112C); the base (113B, 117C) is attached to the second robot arm (120B) and coupled to the carrier (112B, 115B) so that the carrier (112B, 115B) is rotatable; and the rotating device (114B, 116C) rotates the carrier (112B, 115B). [12] A control method according to claim 11, wherein: the base (113B, 117C) is attached to a rotatable end member (124A, 124B) of a tip of the second robot arm (120B); and a direction of a rotation axis of the carrier (112B, 115B) is a direction that intersects with a direction of a rotation axis of the end member (124A, 124B). [13] Control method according to one of claims 9 to 12, wherein: the second suction structure (111B, 112C) is rotated by a second rotating device (114B, 116C) as a rotating device (114B, 116C); and the first suction structure (111A, 111C) is rotatable and is rotated by a first rotating device (114A, 114C). [14] Control device (600) which carries out the control method according to one of claims 9 to 13. [15] Robot system (1), comprising: a first robot arm (120A); a second robot arm (120B); a first suction structure (111A, 111C) arranged on the first robot arm (120A); a second suction structure (111B, 112C) arranged on the second robot arm (120B) and rotatable; a rotating device (114B, 116C) that rotates the second suction structure (111B, 112C); and a control device (600) that controls the operation of the first robot arm (120A), the second robot arm (120B) and the rotating device (114B, 116C), wherein: the control device (600) operates the first robot arm (120A) and the second robot arm (120) to suck and hold a plate-shaped member (W) having flexibility through the first suction structure (111A, 111C) and the second suction structure (111B, 112C); when the plate-shaped element (W) is held, the control device (600) actuates the second robot arm (120B) to bend the plate-shaped element (W) by retracting the second suction structure (111B, 112C) relative to a direction along which the first suction structure (111A, 111C) and the second suction structure (111B, 112C) are arranged, and the control device (600) rotates the plate-shaped element (W) by causing the rotating device (114B, 116C) to rotate the second suction structure (111B, 112C) such that the second suction structure (111B, 112C) is directed in a direction different from the first suction structure (111A, 111C); and the control device (600) operates the first robot arm (120A) and the second robot arm (120B) to move the twisted plate-shaped member (W) and to introduce a part of the plate-shaped member (W) to a conveyance destination, wherein the part of the plate-shaped member (W) is a part that is sucked by the first suction structure (111A, 111C). [16] The robot system according to claim 15, further comprising a sensor (200) that detects a position of the plate-shaped member (W) and outputs a detection result to the control device (600), wherein the control device (600) detects a relative position of the plate-shaped member (W) with respect to the first suction structure (111A, 111C) and the second suction structure (111B, 112C) based on the detection result of the sensor (200) and controls a position of the plate-shaped member (W) with respect to the conveyance destination based on the relative position. [17] Robot system according to claim 15 or 16, wherein: the second suction structure (111B, 112C) is attached to the robot arm (120A, 120B) via a support (112B, 115B) and a base (113B, 117C); the carrier (112B, 115B) carries the second suction structure (111B, 112C); the base (113B, 117C) is attached to the robot arm (120A, 120B) and coupled to the carrier (112B, 115B) such that the carrier (112B, 115B) is rotatable; and the rotating device rotates the carrier (112B, 115B). [18] Robot system according to claim 17, wherein: the base (113B, 117C) is attached to a rotatable end member (124A, 124B) of a tip of the robot arm; and a direction of a rotation axis of the carrier (112B, 115B) is a direction that intersects with a direction of a rotation axis of the end member (124A, 124B). [19] Robot system according to one of claims 15 to 18, further comprising: a second rotating device (114B, 116C) as a rotating device (114B, 116C) which rotates the second suction structure (111B, 112C); and a first rotating device (114A, 114C) which rotates the first suction structure (111A, 111C), wherein the first suction structure (111A, 111C) is rotatable.

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