CONTROL METHOD FOR CONVEYING AN OBJECT BY SUCTION AND GRIP, AS WELL AS A CORRESPONDING CONTROL DEVICE AND A MULTI-ARMED ROBOT SYSTEM

Abstract

Control method for conveying a main element using a first robot arm (120A) and a second robot arm (120B), wherein the first robot arm (120A) has a first suction structure (111A) and a first gripping structure (116A) adjacent to each other in a direction intersecting with a first direction, and the second robot arm (120B) has a second suction structure (111B) and a second gripping structure (116B) adjacent to each other in a direction intersecting with the first direction, wherein the control method comprises: Actuating the first robot arm (120A) and the second robot arm (120B) to cause the first gripping structure (116A) to grasp a first auxiliary element (420) located in the first direction, and to cause the second gripping structure (116B) to grasp a second auxiliary element (420) located in the first direction; wherein the first gripping structure (116A) and the second gripping structure (116B) grip the first auxiliary element (420) and the second auxiliary element (420) respectively, actuation of the first robot arm (120A) and the second robot arm (120B) to cause the first suction structure and the second suction structure (111B) to suction and hold the main element located in the first direction; Actuating the first robot arm (120A) and the second robot arm (120B) to move the suctioned main element and to place the main element on an arrangement surface of a conveying target; and Releasing the grip by the first gripping structure (116A) and the second gripping structure (116B) and placing the first auxiliary element (420) and the second auxiliary element (420) onto the main element.

Description

[0001] This application claims priority and benefit from Japanese patent application No. 2019-216154, which was filed on November 29, 2019, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to a control method, a control device and a robot system.

[0003] Robots have been used to perform tasks in place of humans. For example, PTL 1 (JP 2017-218 268 A) describes a robot that packages food into trays. The PTL 1 robot includes: a feeder and a gripper on a right-hand part of a right arm; and another feeder and gripper on a left-hand part of a left arm. The feeder includes a suction head whose direction can be changed to point downwards or sideways. The gripper includes a plate-shaped gripping element. The robot transports the food items picked up by the suction heads from a conveyor belt to a temporary storage area and arranges the food items so that their orientations align. Furthermore, the robot stacks all the arranged food items from the sides and transfers them to the tray using the gripping elements of the left and right arms.The publications CN 1 08 927 822 A, CN 2 09 289 302 U, JP 2019- 136 834 A, JP 2004- 306 213 A, WO 2015 / 033 465 A1 and JP 2020-168 700 A each describe robot systems with holding devices.

[0004] In PTL 1, the feeding section and the gripping section perform different tasks with regard to the food. Furthermore, the grippers of the left and right hands cannot hold the food themselves. In some cases, however, it is necessary for the robot to perform a task that combines holding a target object by suction with a grasping action.

[0005] One objective of the present disclosure is to provide a control method, a control device and a single-armed or multi-armed robot system, each of which can perform holding a target object by suction and applying a grasping action with respect to the target object.

[0006] To achieve the above objective, a control method, a control device, and a multi-armed robot system and a single-armed robot system with the features of the independent claims are proposed. A holding device can be used, comprising a first suction structure that attracts a main element; and a first gripping structure arranged adjacent to the first suction structure in a direction intersecting with a first direction, and gripping a first auxiliary element. The first suction structure is oriented such that it attracts the main element located in the first direction. The first gripping structure is oriented such that it grips the first auxiliary element located in the first direction.

[0007] According to the technique of the present disclosure, the target object can be held in two positions, and the action can be applied to the target object.

[0008] The drawings are briefly described below. Fig. Figure 1 is a perspective view showing an example of a robot system according to one embodiment. Fig. Figure 2 is a side view showing an example of the configuration of a robot according to the embodiment. Fig. Figure 3 is a perspective view showing an example of the configuration of a first end effector according to the embodiment. Fig. Figure 4 is a perspective view showing an example of the configuration of a second end effector according to the embodiment. Fig. Figure 5 is a block diagram showing an example of the hardware configuration of a control unit according to the embodiment. Fig. Figure 6 is a block diagram showing an example of the functional configuration of the control unit according to the embodiment. Fig. Figure 7 is a flowchart showing an example of the operation of the robot system according to the embodiment. Fig. Figure 8 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 9 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 10 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 11 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 12 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 13 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 14 is a perspective view showing an example of the state of the robot system according to the flowchart of Fig. 7 is operated. Fig. Figure 15 is a perspective view showing an example of the configuration of the first end effector according to a modified example. Fig. Figure 16 is a perspective view showing an example of the configuration of the first end effector according to the modified example.

[0009] First, examples of aspects of the present disclosure are described. A holding device that can be used in control methods, control devices, and robotic systems according to aspects of the present disclosure comprises: a first suction structure that attracts a main element; and a first gripping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and that grips a first auxiliary element. The first suction structure is oriented such that it attracts the main element located in the first direction. The first gripping structure is oriented such that it grips the first auxiliary element located in the first direction.

[0010] The holding device can hold the main element and the first auxiliary element, which are arranged in the same direction, by suction and gripping. For example, the holding device can hold the main element and the first auxiliary element simultaneously. Since the first suction structure and the first gripping structure are adjacent to each other, and the held main element and the held first auxiliary element are arranged in the same direction, the holding device can also exert an action on the main element by using the first auxiliary element. For example, the holding device can position the main element by releasing the suction and then place the first auxiliary element onto the main element by releasing the grip. Therefore, the holding device can perform holding by suction and applying the action of gripping with respect to the main element, which is the target object.

[0011] The first suction structure and the first gripping structure can be arranged on a first robot arm within the holding device. According to the above, the first suction structure and the first gripping structure can be freely moved by the first robot arm.

[0012] The holding device may further comprise: a first support (or bracket) that carries the first suction structure and the first gripping structure; a first base connected to the first support such that the first support is rotatable; and a first rotator that rotates the first support. The first suction structure and the first gripping structure can be rotated. For example, the first suction structure and the first gripping structure can be rotated when the robot arm on which the first suction structure and the first gripping structure are mounted is in a stationary state.

[0013] The holding device can further comprise: a second suction structure that draws in the main element; and a second gripping structure arranged adjacent to the second suction structure in a direction intersecting with the first direction, and which grips a second auxiliary element. The second suction structure can be oriented to draw in the main element located in the first direction. The second gripping structure can be oriented to grip the second auxiliary element located in the first direction. The holding device can hold the main element at two holding positions using the two suction structures. Furthermore, the holding device can perform actions on the main element by using the auxiliary elements at positions adjacent to the holding positions. Therefore, secure holding of the main element and the application of actions to the main element at the holding positions can be achieved.

[0014] In the holding device, the second suction structure and the second gripping structure can be arranged on a second robot arm. The second suction structure and the second gripping structure on the second robot arm can move freely, independently of the first suction structure and the first gripping structure.

[0015] In the holding device, the first suction structure, the first gripping structure, the second suction structure, and the second gripping structure can be arranged on a single robot arm. Based on the above, holding the main element in two holding positions and applying actions to the main element in these holding positions can be achieved using only one robot arm.

[0016] The holding device may further comprise: a second support (or bracket) that carries the second suction structure and the second gripping structure; a second base connected to the second support in such a way that the second support is rotatable; and a second rotating device that rotates the second support. The second suction structure and the second gripping structure can be rotated. For example, the second suction structure and the second gripping structure can be rotated when the robot arm on which the second suction structure and the second gripping structure are mounted is in a stationary state.

[0017] The holding device can further include a movement device that moves the gripping structure in the first direction. The holding device can move the auxiliary element in the first direction and release the grip on the auxiliary element. Therefore, when releasing the grip, the holding device can securely position the auxiliary element without dropping it.

[0018] In the holding device, the suction structure can include a section that is both expandable and contractible. As described above, the holding device can press the suction structure against a placement surface located in the first direction to contract the suction structure, thereby moving the auxiliary element grasped by the gripping structure close to the placement surface. When the grip is released, the holding device can securely place the auxiliary element without dropping it.

[0019] In the holding device, the main element can be a plate-shaped component, and the auxiliary element can be a weight that presses down on the main element. The holding device can position the main element by releasing the suction, and then the auxiliary element can be placed on the main element by releasing the grip. Therefore, the auxiliary element secures the positioned main element so that it does not move.

[0020] A control method according to one aspect of the present disclosure is a control method for conveying a principal element using a first robot arm and a second robot arm, wherein the first robot arm has a first suction structure and a first gripping structure located side by side in a direction intersecting with a first direction, and the second robot arm has a second suction structure and a second gripping structure located side by side in a direction intersecting with the first direction. The control method comprises: actuating the first robot arm and the second robot arm to cause the first gripping structure to grasp a first auxiliary element located in the first direction, and to cause the second gripping structure to grasp a second auxiliary element located in the first direction;wherein the first gripping structure and the second gripping structure each grip the first auxiliary element and the second auxiliary element, actuate the first robot arm and the second robot arm to cause the first suction structure and the second suction structure to suction and hold the main element located in the first direction; actuate the first robot arm and the second robot arm to move the suctioned main element and place the main element on an arrangement surface of a conveying target; and cause the first gripping structure and the second gripping structure to release their grip and place the first auxiliary element and the second auxiliary element on the main element.

[0021] According to the above, the first and second robot arms can hold the main element using the first and second suction structures and transfer the main element to the conveying target, while simultaneously holding the first and second auxiliary elements using the first and second gripping structures. Furthermore, the first and second robot arms can place the main element on the conveying target's surface by releasing the suction, and place the first and second auxiliary elements on top of the main element by releasing the grip. Therefore, holding the main element using suction, conveying the main element, and applying the gripping action to the main element can all be accomplished using two robot arms.

[0022] The control method according to the aspect of the present disclosure can further comprise: operating the first robot arm and the second robot arm to cause a position detector, which detects a position of the main element, to detect the suctioned main element; and, based on a detection result of the position detector, operating the first robot arm and the second robot arm to set a distance between the first suction structure and the second suction structure on the assembly surface. According to the above aspect, the position of the main element relative to the first and second suction structures can be detected. Thus, the positioning accuracy of the main element relative to the conveying target can be improved by using the first and second robot arms.

[0023] In the control method according to the aspect of the present disclosure, the first suction structure and the first gripping structure can be attached to the first robot arm via a first support and a first base. The first support can carry the first suction structure and the first gripping structure. The first base can be attached to the first robot arm and coupled to the first support so that the first support is rotatable. The first support can be rotated by a first rotary device. The second suction structure and the second gripping structure can be attached to the second robot arm via a second support and a second base. The second support can carry the second suction structure and the second gripping structure. The second base can be attached to the second robot arm and coupled to the second support so that the second support is rotatable. The second support can be rotated by a second rotary device.According to the above, the first suction structure and the first gripping structure can rotate relative to the first robot arm, and the second suction structure and the second gripping structure can rotate relative to the second robot arm. Therefore, the positions of the first suction structure, the first gripping structure, the second suction structure, and the second gripping structure can be changed in various ways.

[0024] The control method according to the aspect of the present disclosure can further include a first moving device that moves the first gripping structure in the first direction, and a second moving device that moves the second gripping structure in the first direction, moving the first gripping structure and the second gripping structure in the first direction to place the first auxiliary element, which is grasped by the first gripping structure, and the second auxiliary element, which is grasped by the second gripping structure, on the main element. According to the aspect above, when the grip is released, the auxiliary elements can be safely placed on the main element without being dropped.

[0025] The control method according to the aspect of the present disclosure can further include operating the first robot arm and the second robot arm such that the first suction structure, which contains an extendable and retractable section, and the second suction structure, which contains an extendable and retractable section, are pressed against the main element to be contracted, thereby placing the first auxiliary element, which is grasped by the first gripping structure, and the second auxiliary element, which is grasped by the second gripping structure, onto the main element. According to the above aspect, the auxiliary elements can be safely placed onto the main element when the grip is released, without being dropped.

[0026] A control device according to one aspect of the present disclosure is a control device that performs the control method according to that aspect of the present disclosure. According to the above aspect, the same effects are achieved as with the control method according to that aspect of the present disclosure.

[0027] A robotic system according to one aspect of the present disclosure comprises: a first robot arm; a second robot arm; a first suction structure and a first gripping structure arranged adjacent to each other in a direction that intersects with a first direction on the first robot arm; a second suction structure and a second gripping structure arranged adjacent to each other in a direction that intersects with the first direction on the second robot arm; and a control device that controls the operation of the first robot arm, the second robot arm, the first gripping structure, and the second gripping structure. The first suction structure, the first gripping structure, the second suction structure, and the second gripping structure are oriented such that they suction or grip a main element and auxiliary elements located in the first direction.The control device actuates the first robot arm and the second robot arm to cause the first gripper structure to grasp a first auxiliary element located in the first direction, and to cause the second gripper structure to grasp a second auxiliary element located in the first direction. Once the first and second auxiliary elements are grasped, the control device actuates the first robot arm and the second robot arm to cause the first suction structure and the second suction structure to suction and hold the main element located in the first direction. The control device then actuates the first robot arm and the second robot arm to move the suctioned main element and place it onto a mounting surface of a conveying target.The control device causes the first gripping structure and the second gripping structure to release their grip and to place the first auxiliary element and the second auxiliary element onto the main element. According to the above aspect, the same effects are achieved as with the holding device according to the aspect of this disclosure.

[0028] The robot system according to the aspect of the present disclosure can further include a position detector that detects the position of the main element and outputs a detection result to the control device. Based on the detection result of the position detector, the control device can detect a relative position of the main element relative to the first suction structure and the second suction structure. Based on the relative position, the control device can actuate the robot arm to adjust the positions of the first suction structure and the second suction structure on the assembly surface. According to the above aspect, the position of the main element relative to the first and second suction structures can be detected. This allows the positioning accuracy of the main element relative to the conveying target to be improved by using the robot arm.

[0029] In the robot system according to the aspect of the present disclosure, the first suction structure and the first gripping structure can be attached to the robot arm via a first support and a first base. The first support can carry the first suction structure and the first gripping structure. The first base can be attached to the robot arm and coupled to the first support so that the first support is rotatable. The first support can be rotated by a first rotary device. The second suction structure and the second gripping structure can be attached to the robot arm via a second support and a second base. The second support can carry the second suction structure and the second gripping structure. The second base can be attached to the robot arm and coupled to the second support so that the second support is rotatable. The second support can be rotated by a second rotary device.According to the above, the first suction structure, the first gripping structure, the second suction structure, and the second gripping structure can be rotated relative to the robot arm. Therefore, the positions of the first suction structure, the first gripping structure, the second suction structure, and the second gripping structure can be changed in various ways.

[0030] The robot system according to the aspect of the present disclosure may further comprise: a first motion device arranged on the robot arm that moves the first gripping structure in the first direction; and a second motion device arranged on the robot arm that moves the second gripping structure in the first direction. The control device may cause the first motion device and the second motion device to move the first gripping structure and the second gripping structure in the first direction to place the first auxiliary element, which is grasped by the first gripping structure, and the second auxiliary element, which is grasped by the second gripping structure, onto the main element. According to the aspect above, when the grip is released, the auxiliary elements can be safely placed on the main element without being dropped.

[0031] In the robot system according to the aspect of the present disclosure, the suction structure can include a part that is extendable and retractable. The control device can actuate the robot arm such that the suction structure is pressed against the main element to be contracted, thereby placing the first auxiliary element, which is grasped by the first gripping structure, and the second auxiliary element, which is grasped by the second gripping structure, onto the main element. According to the aspect above, when the grip is released, the auxiliary elements can be securely placed on the main element without being dropped.

[0032] The robotic system according to the aspect of the present disclosure can further comprise an arrangement base containing the arrangement surface and made of a magnetic material. The main element can be a plate-shaped element, and the auxiliary elements can be magnets that press against the main element. According to the aspect above, the robotic system can place the main element on the arrangement base by releasing the suction, and then place the auxiliary elements on the main element by releasing the grip. Therefore, the placed main element is securely fixed by the weight and magnetic force of the auxiliary elements, so that it does not move.

[0033] Embodiments of the present disclosure are described below with reference to the drawings. The embodiments described below are comprehensive or specific examples. Among the components in the following embodiments, components not included in independent claims that embody the broadest concept of the present disclosure are described as optional components. The diagrams in the accompanying drawings are schematic representations and are not necessarily drawn strictly. The same reference numerals are used in the diagrams for substantially identical components, and repetition of the same explanation may be avoided, or such an explanation may be simplified. Furthermore, in the present description and the claims, a “device” may refer not only to a single device but also to a system of devices.

[0034] The following describes the configuration of a robot system 1 according to the embodiment. Fig. Figure 1 is a perspective view showing an example of the robot system 1 according to the embodiment. As in Fig. As shown in Figure 1, the robot system 1 according to the embodiment comprises a robot 100, a position detector 200, conveyors 300, 400 and 500, and a control device 600. In the present embodiment, a case is described below in which the robot 100 is arranged at a third work area WS3 and performs one of the steps for manufacturing a substrate (also referred to as FPC (flexible printed substrate)) shaped such that an electrical circuit is formed on a workpiece W, which is an example of a plate-shaped element with flexibility.In this step, robot system 1 causes robot 100 to place a workpiece W, which is conveyed from a first work area WS1 where a further work step is performed, onto a base 410, which is conveyed from a second work area WS2 where a further work step is performed, and to transfer the base 410 to a fourth work area WS4 where a pressure joining step for the workpiece W is performed. A pressure joining device (not shown) is arranged at the fourth work area WS4. 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 robot system 1 are not to be limited to those shown in the figure. Fig. The number shown is not limited, but can be arbitrary.

[0035] The workpiece W of the FPC, for example, is designed such that an electrically conductive conductor is attached to an insulating base film via an adhesive layer. The base film is made of plastic, e.g., polyimide or polyester. The adhesive layer consists of an adhesive, such as an epoxy or acrylic resin adhesive, a prepreg, or the like. The conductor consists of a copper foil, silver foil, or similar material. A target object handled by robot system 1 is not limited to the workpiece W of the FPC and can be any element. Robot system 1 can position the target object in a predefined location. Workpiece W is an example of a main element.

[0036] The control device 600 controls the entire robot system 1. In particular, the control device 600 controls the robot 100, the position detector 200, and the conveyor devices 300 to 500 in such a way that their functions are interconnected. The control device 600 includes, for example, a computer.

[0037] Fig. Figure 2 is a side view showing an example of the configuration of robot 100 according to the embodiment. As in Fig. As shown in Figure 2, the robot 100 in the present embodiment is an industrial robot, but is not limited to this. The robot 100 comprises end effectors 110A and 110B, robot arms 120A and 120B, and a base 130. The end effectors 110A and 110B can perform actions on the workpiece W. The robot arms 120A and 120B can move the end effectors 110A and 110B so that the end effectors 110A and 110B perform the actions. The robot arms 120A and 120B are supported by the base 130 so that they are rotatable. The robot 100 may include a device that moves the base 130. The end effectors 110A and 110B are an example of a holding device.

[0038] The robot arms 120A and 120B are not particularly limited, as long as the robot arms 120A and 120B control the end effectors 110A and 110B, which are located at their respective tips. The robot arms 120A and 120B are horizontal articulated arms. They can be vertical articulated robot arms, polar coordinate robot arms, cylindrical coordinate robot arms, rectangular coordinate robot arms, or other types of robot arms. The robot arms 120A and 120B are rotatable coaxially in a horizontal plane about a first axis S1 extending vertically. The first robot arm 120A is attached to the underside of the second robot arm 120B in a direction along the first axis S1. Therefore, the robot 100 is a coaxial dual-arm robot.

[0039] The first robot arm 120A comprises links 121A to 124A, joints JTA1 to JTA4, and arm drive devices MA1 to MA4. The second robot arm 120B comprises links 121B to 124B, joints JTB1 to JTB4, and arm drive devices MB1 to MB4. Each of the arm drive devices MA1 to MA4 and MB1 to MB4 includes, for example, an electric motor that uses electrical energy as its power source. In the present embodiment, each of the arm drive devices MA1 to MA4 and MB1 to MB4 includes a servo motor. The arm drive devices MA1 to MA4 and MB1 to MB4 each drive the joints JTA1 to JTA4 and JTB1 to JTB4, respectively, via the control device 600. Therefore, the robot arms 120A and 120B operate independently of each other. The number of joints of the robot arm 120A and the number of joints of the robot arm 120B is not limited to four and can be five or more or three or less.

[0040] Link 121A is connected to base 130 via pivot joint JTA1 such that it is rotatable about the first axis S1 in a horizontal plane, and link 121B is connected to base 130 via pivot joint JTB1 such that it is rotatable about the first axis S1 in a horizontal plane. Connecting link 122A is connected to a tip of connecting link 121A via pivot joint JTA2 such that it is rotatable in a horizontal plane about a second axis S2a extending in the vertical direction, and connecting link 122B is connected to a tip of connecting link 121B via pivot joint JTB2 such that it is rotatable in a horizontal plane about a second axis S2b extending in the vertical direction.Connecting member 123A is connected to a tip of connecting member 122A via the linear motion joint JTA3 such that it can move up and down along a third vertical axis S3a, and connecting member 123B is connected to a tip of connecting member 122B via the linear motion joint JTB3 such that it can move up and down along a third vertical axis S3b. Connecting member 124A is connected to a lower end of connecting member 123A via the pivot joint JTA4 so that it can rotate about a fourth axis S4a extending in a longitudinal direction along connecting member 123A, and connecting member 124B is connected to a lower end of connecting member 123B via the pivot joint JTB4 so that it can rotate about a fourth axis S4b extending in a longitudinal direction along connecting member 123B.The fourth axes S4a and S4b are axes that extend in a vertical direction. The joint 124A includes a mechanical interface that can be connected to the end effector 110A, and the joint 124B includes a mechanical interface that can be connected to the end effector 110B.

[0041] Herein, a "horizontal direction" refers to a horizontal direction when the robot 100 is positioned on a horizontal surface, such as a horizontal floor, and is also a direction parallel to the aforementioned surface. A "vertical direction" refers to a vertical direction in the same case and is also a direction perpendicular to the aforementioned surface. A "top side" or "upward" refers to a direction from a bottom side to a top side in the same case, and a "bottom side" or "downward" refers to a direction from a top side to a bottom side in the same case. A "side side" or "lateral" refers to a direction along the aforementioned surface in the same case.

[0042] Fig. Figure 3 is a perspective view showing an example of the configuration of the first end effector 110A according to the embodiment. Fig. Figure 4 is a perspective view showing an example of the configuration of the second end effector 110B according to the embodiment. As shown in Fig. As shown in Figure 3, the end effector 110A comprises a suction structure 111A, a base 112A, a rotary support 113A, a gripping support 114A, a rotary device 115A, a gripping structure 116A, and a force sensor 117A. Fig. As shown in Figure 4, the end effector 110B comprises a suction structure 111B, a base 112B, a rotary support 113B, a gripping support 114B, a rotary device 115B, a gripping structure 116B, and a force sensor 117B. In the present embodiment, the end effectors 110A and 110B are identical except for the positions of the gripping structures 116A and 116B.

[0043] Each of the suction structures 111A and 111B is not particularly limited, but has, for example, a hollow nozzle shape and is equipped with a vacuum generator 700 (see Fig. 5) connected by pipes. An open end of the suction structure 111A draws in the target object, such as the workpiece W, by means of a vacuum generated within the suction structure 111A by the vacuum generator 700, and an open end of the suction structure 111B draws in the target object, such as the workpiece W, by means of a vacuum generated within the suction structure 111B by the vacuum generator 700. In the present embodiment, the open end and its surroundings of each of the suction structures 111A and 111B are made of a material with flexibility or elasticity and / or have a hollow bellows shape and are expandable and contractible. However, the present embodiment is not limited to this. For example, the open ends of the suction structures 111A and 111B and their surroundings can include elements, such as springs, with elasticity.For example, the open end of suction structure 111A and its surroundings are expandable and contractible in the direction in which suction structure 111A extends, and the open end of suction structure 111B and its surroundings are expandable and contractible in the direction in which suction structure 111B extends. The expandable and contractible suction structures 111A and 111B improve the airtight seal with respect to the workpiece W and ensure reliable suction. Furthermore, even when suction structures 111A and 111B are pressed against the workpiece W, damage to the workpiece W is prevented.

[0044] The configuration of the vacuum generator 700 is not particularly limited and can be any existing configuration as long as the vacuum can be generated within the suction structures 111A and 111B. For example, the vacuum generator 700 can take the form of a vacuum pump or a pneumatic cylinder that draws in air to generate a vacuum, or it can take the form of an ejector supplied with compressed air to generate a vacuum. The drive of the vacuum generator 700 is controlled by the control device 600.

[0045] Each of the bases 112A and 112B comprises a plate-shaped element with an L-shaped cross-section. Each of the bases 112A and 112B comprises a longer section 1121 and a shorter section 1122, which are substantially perpendicular to each other. The longer section 1121 of base 112A is detachably connected to the mechanical interface of link 124A via the force sensor 117A, and the longer section 1121 of base 112B is detachably connected to the mechanical interface of link 124B via the force sensor 117B. The force sensor 117A is arranged between base 112A and link 124A, and the force sensor 117B is arranged between base 112B and link 124B. The shorter section 1122 of the base 112A is connected to the rotary support 113A in such a way that it can be rotated about a fifth axis S5a, and the shorter section 1122 of the base 112B is connected to the rotary support 113B in such a way that it can be rotated about a fifth axis S5b.A direction along the fifth axis S5a is essentially perpendicular to the shorter section 1122 of the base 112A, and a direction along the fifth axis S5b is essentially perpendicular to the shorter section 1122 of the base 112B. The direction along the fifth axis S5a is orthogonal to a direction along the fourth axis S4a, but may be a direction that intersects with the direction along the fourth axis S4a. The direction along the fifth axis S5b is orthogonal to a direction along the fourth axis S4b, but may be a direction that intersects with the direction along the fourth axis S4b. The shorter section 1122 of the base 112A lies at a distance from the fourth axis S4a, and the shorter section 1122 of the base 112B lies at a distance from the fourth axis S4b.

[0046] Each of the rotary supports 113A and 113B comprises: two opposing parts 1131 and 1133; and an intermediate part 1132 connecting the opposing parts 1131 and 1133. For example, each of the rotary supports 113A and 113B comprises a plate-shaped element with a U-shaped cross-section. The suction structure 111A is attached to the opposing section 1131 of the rotary support 113A and extends in a direction D1A that is substantially perpendicular to the opposing section 1131 and opposite to a direction towards the opposing section 1133. The suction structure 111B is attached to the opposing section 1131 of the rotary support 113B and extends in a direction D1B that is substantially perpendicular to the opposing section 1131 and opposite to a direction towards the opposing section 1133.The intermediate section 1132 of the rotary support 113A is rotatably connected to the base 112A, and the intermediate section 1132 of the rotary support 113B is rotatably connected to the base 112B. The opposing parts 1131 and 1133 of the rotary support 113A are arranged at a distance from the fourth axis S4a and the fifth axis S5a, and the opposing parts 1131 and 1133 of the rotary support 113B are arranged at a distance from the fourth axis S4b and the fifth axis S5b.

[0047] Each of the gripping supports 114A and 114B comprises a plate-shaped element with an L-shaped cross-section. Each of the gripping supports 114A and 114B comprises plate-shaped parts 1141 and 1142, which are substantially perpendicular to each other. The first plate-shaped section 1141 is detachably connected to the opposite section 1133. In the present embodiment, the connection is made by means of a screw, but can also be made by any method, such as joining, gluing, or welding. The second plate-shaped section 1142 is arranged on the side of the intermediate section 1132, runs substantially parallel to the fifth axis S5a or S5b, and is positioned at a distance from the fifth axis S5a or S5b.

[0048] The rotary device 115A is attached to the shorter section 1122 of the base 112A. The rotary device 115B is arranged on the shorter section 1122 of the base 112B, is connected to the rotary support 113B, and rotates the rotary support 113B. Each of the rotary devices 115A and 115B includes, for example, an electric motor that uses electrical energy as its power source. In the present embodiment, each of the rotary devices 115A and 115B includes a servo motor. The drive of the rotary devices 115A and 115B is controlled by the control device 600.

[0049] The gripping structure 116A is attached to the second plate-shaped section 1142 of the Gripping support 114A is attached to the side of the second plate-shaped section 1142 opposite the rotary support 113A. The gripping structure 116B is attached to the second plate-shaped section 1142 of the gripping support 114B on the side of the second plate-shaped section 1142 opposite the rotary support 113B. Each of the gripping structures 116A and 116B comprises a pair of gripping claws 1161 and 1162 and a gripping drive device 1163. The gripping claws 1161 and 1162 of the gripping structure 116A extend in the first direction D1A as in the suction structure 111A and are aligned in a second direction D2Aa, which is a horizontal direction essentially perpendicular to the first direction D1A. The gripping claws 1161 and 1162 of the gripping structure 116B extend in the first direction D1B as in the suction structure 111B and are arranged in a second direction D2Ba, which is a horizontal direction that is essentially perpendicular to the first direction D1B.The gripping claws 1161 and 1162 of the first gripping structure 116A are movable in the second directions D2Aa and D2Ab, allowing them to approach or separate from each other. The gripping claws 1161 and 1162 of the second gripping structure 116B are movable in the second directions D2Ba and D2Bb, allowing them to approach or separate from each other. The second directions D2Aa and D2Ab are opposite directions and run essentially parallel to the fifth axis S5a. The second directions D2Ba and D2Bb are opposite directions and run essentially parallel to the fifth axis S5b.

[0050] The first gripping structure 116A and the first suction structure 111A are arranged side by side in a direction that intersects the first direction D1A. In the present embodiment, the first gripping structure 116A and the first suction structure 111A are arranged side by side in a direction that is substantially perpendicular to the first direction D1A, and are arranged side by side in a horizontal direction that is substantially perpendicular to the fifth axis S5a and to the second directions D2Aa and D2Ab. However, the present embodiment is not limited to this. The second gripping structure 116B and the second suction structure 111B are arranged side by side in a direction that intersects the first direction D1B.In the present embodiment, the second gripping structure 116B and the second suction structure 111B are arranged side by side in a direction that is substantially perpendicular to the first direction D1B, and are arranged side by side in a horizontal direction that is substantially perpendicular to the fifth axis S5b and to the second directions D2Ba and D2Bb. However, the present embodiment is not limited to this.

[0051] Furthermore, the tips of the gripping claws 1161 and 1162 of the first gripping structure 116A are located at positions set back from a tip of the first suction structure 111A in the first direction D1A, and the tips of the gripping claws 1161 and 1162 of the second gripping structure 116B are located at positions set back from a tip of the second suction structure 111B in the first direction D1B. Therefore, when the end effectors 110A and 110B with the suction structures 111A and 111B are lowered, the suction structures 111A and 111B are brought into contact with a horizontal surface located on the underside before the gripping claws 1161 and 1162 are brought into contact with the horizontal surface.

[0052] The gripping drive device 1163 moves the gripping claws 1161 and 1162 such that they approach or separate from each other. The gripping drive device 1163 includes, for example, an electric motor that uses electrical energy as its power source. In the present embodiment, the gripping drive device 1163 includes a servo motor. The drive of the gripping drive device 1163 is controlled by the control device 600. The gripping drive device 1163 is not limited to a motor and can drive the gripping claws 1161 and 1162 using pneumatic or fluid pressure.

[0053] Force sensor 117A detects the reaction force acting on link 124A from the first end effector 110A and outputs it to the control device 600. Force sensor 117B detects the reaction force acting on link 124B from the second end effector 110B and outputs it to the control device 600. The reaction force is the force received by end effectors 110A and 110B from the target object and the force exerted by end effectors 110A and 110B on the target object. In the present embodiment, each force sensor 117A and 117B detects six axial forces, i.e., forces in directions along three mutually orthogonal axes, as well as rotational forces (also called "moments") about the three axes. However, the present embodiment is not limited to this, and each of the force sensors 117A and 117B can detect at least one axial force.

[0054] According to the configuration above, the suction structure 111A and the gripping claws 1161 and 1162 of the gripping structure 116A can assume different positions relative to the connection 123A and orient their tips in different directions by rotating about the fourth axis S4a and the fifth axis S5a. The suction structure 111B and the gripping claws 1161 and 1162 of the gripping structure 116B can assume different positions relative to the connection 123B and orient their tips in different directions by rotating about the fourth axis S4b and the fifth axis S5b.Furthermore, the suction structure 111A and the gripping claws 1161 and 1162 of the gripping structure 116A can change their positions by moving along the circumference of a circle around the fourth axis S4a and the circumference of a circle around the fifth axis S5a, and the suction structure 111B and the gripping claws 1161 and 1162 of the gripping structure 116B can change their positions by moving along the circumference of a circle around the fourth axis S4b and the circumference of a circle around the fifth axis S5b.

[0055] As in Fig. As shown in Figure 1, the first conveying device 300 is a device that transports the workpiece W from the first work area WS1 to the third work area WS3. A step performed in the first work area WS1 is a step performed before a step performed in the third work area WS3 and is, for example, a step of preparing the workpiece W. The first conveying device 300 comprises a transfer device 310, a robot 320, a temporary storage area 330, and a conveying sensor 340. The transfer device 310 conveys a plate WP, on which the workpieces W are placed, from the first work area WS1 to a position in front of the robot 320. The transfer device 310 is, for example, a conveyor belt type.Robot 320 transports the workpiece W, located on the platform WP, to a predetermined position on the temporary storage area 330 and places the workpiece W at that position. Robot 320 has the same basic design as robot 100, but its functionality is not limited to that of robot 100. The conveyor sensor 340 detects the workpiece W at the predetermined position on the temporary storage area 330 and sends a detection signal to the control unit 600, indicating this detection. The control unit 600 controls the drive of components such as the transfer unit 310, the robot 320, and the first conveyor unit 300.

[0056] The second conveying device 400 is a device that transports the arrangement base 410 from the second working area WS2 to the third working area WS3. A step performed at the second working area WS2 is a step performed prior to the step at the third working area WS3 and is, for example, a step of arranging magnets 420 at predetermined positions on an arrangement surface 410a, which is an upper surface of the arrangement base 410. The second conveying device 400 comprises the arrangement base 410, a transfer device 430, and the conveying sensors 440 and 450. The arrangement base 410 is made of a magnetic material, so that the magnets 420 can attract the arrangement base 410 by magnetic force. The magnets 420 are permanent magnets.

[0057] The transfer device 430 transports a transfer base 431, on which the arrangement base 410 with the magnets 420 is placed, from the second work area WS2 to a position in front of the robot 100. The transfer device 430 is, for example, a device that transports the transfer base 431 by means of a conveyor belt system. The transfer base 431 can perform a transfer operation of the arrangement base 410 in front of the robot 100 to a transfer device 510 of the third conveyor device 500. The conveyor sensor 440 detects the arrangement base 410 located in front of the robot 100 at a predetermined position and outputs a detection signal to the control device 600 indicating this detection. The conveyor sensor 450 detects the workpiece W located on the arrangement base 410 at the predetermined position and outputs a detection signal to the control device 600 indicating this detection. The drive of the components, such asThe transfer device 430 and the second conveying device 400 are controlled by the control device 600.

[0058] The 420 magnet is an example of an auxiliary element.

[0059] The third conveying device 500 is a device that transports the assembly base 410 from the third work area WS3 to the fourth work area WS4. A step performed at the fourth work area WS4 is a step that is carried out after the step performed at the third work area WS3 and is, for example, a step of pressure joining electronic components, such as connectors, plugs, tabs, and converters, to the workpiece W on the assembly base 410. The third conveying device 500 comprises the transfer device 510 and a conveying sensor 520. The transfer device 510 conveys a transfer base 511, on which the assembly base 410 with the workpiece W is located, from the position in front of the robot 100 to a pressure joining device (not shown) located at the fourth work area WS4. The transfer device 510 is, for example, a device that transfers the transfer base 511 by means of a conveyor belt system.The conveying sensor 520 detects the arrangement base 410 located at a predetermined position on the transfer device 510 and outputs a detection signal indicating this detection to the control device 600. The drive of the components, such as the transfer device 510 and the third conveying device 500, is controlled by the control device 600.

[0060] The configurations of the conveying devices 300 to 500 are not limited to the configurations above, and the conveying devices 300 to 500 can transport the target object between work areas. For example, each of the conveying devices 300 to 500 can include a conveyor belt, a carrier, a rail device, a ball screw conveyor, a rack and pinion conveyor, a robot, and / or similar. The conveying sensors 340, 440, 450, and 520 can be sensors capable of detecting the presence of the target object, such as the workpiece W or the assembly base 410. For example, each of the conveying sensors 340, 440, 450, and 520 can be a photoelectric sensor (also called a "beam sensor"), a laser sensor, a limit switch, a contact sensor, or similar.

[0061] The position detector 200 is arranged in a working area of ​​the robot 100. The position detector 200 detects the position of the workpiece W, which is held by the end effectors 110A and 110B, and outputs a detection result to the control device 600. The position detector 200 comprises sensors that detect the workpiece W. In the present embodiment, the position detector 200 comprises three sensors 201a to 201c. The sensors 201a to 201c are arranged at respective height positions that are equal in the vertical direction. The sensors 201a to 201c are arranged such that they form the sides of a right-angled triangle, with the sides extending in the horizontal direction. Sensors 201a and 201b are arranged on a long side of the right-angled triangle such that they are spaced apart from each other. Sensor 201c is arranged on a short side of the right-angled triangle.

[0062] Each of the sensors 201a to 201c can detect the position of the workpiece W relative to the sensor and can be a photoelectronic sensor, a laser sensor, or the like. For example, each of the sensors 201a to 201c comprises a light emitter and a light receiver arranged so that they are vertically opposite each other and detects the workpiece W located between the light emitter and the light receiver.

[0063] The following describes the hardware configuration of the control device 600. Fig. Figure 5 is a block diagram showing an example of the hardware configuration of the control device 600 according to the embodiment. As shown in Fig. As shown in Figure 5, the control device 600 comprises a CPU (Central Processing Unit) 601, a ROM (Read Only Memory) 602, a RAM (Random Access Memory) 603, a memory 604, an arm drive circuit 605, a gripper drive circuit 606, a vacuum drive circuit 607, a rotary drive circuit 608, and input / output interfaces 609 to 612 as components. The components mentioned above are interconnected via buses, wired communication, or wireless communication. Not all components are strictly necessary. For example, some of the components mentioned above may be located outside the control device 600 and connected to it.

[0064] The CPU 601, for example, is a processor and controls the overall operation of the control device 600. The ROM 602, for example, comprises non-volatile semiconductor memory and stores programs, data, and the like, which allow the CPU 601 to control its operation. The RAM 603, for example, comprises volatile semiconductor memory and temporarily stores programs executed by the CPU 601, data during processing by the CPU 601, data after processing by the CPU 601, and the like. The memory 604 comprises a storage device such as semiconductor memory (e.g., volatile or non-volatile memory), a hard disk drive (HDD), or an SSD (solid-state drive), and stores various types of information.

[0065] For example, the programs that the CPU 601 uses are pre-stored in ROM 602 or memory 604. The CPU 601 reads and expands the program from ROM 602 or memory 604 into RAM 603. The CPU 601 then executes the coded instructions in the program expanded in RAM 603.

[0066] The functions of the control device 600 can be implemented by a computer system with the CPU 601, the ROM 602, the RAM 603 and the like, they can be implemented by a separate hardware circuit, such as an electronic circuit or an integrated circuit, or they can be implemented by a combination of the computer system and the hardware circuit.

[0067] In accordance with the command from CPU 601, the arm drive circuit 605 supplies electrical energy to the servo motors of the arm drive devices MA1 to MA4 and MB1 to MB4 of the robot arms 120A and 120B to control the drive of the servo motors. In accordance with the command from CPU 601, the gripper drive circuit 606 supplies electrical energy to the servo motors of the gripper drive devices 1163 of the gripper structures 116A and 116B to control the drive of the servo motors. According to the instruction of the CPU 601, the vacuum control circuit 607 controls the drive of the vacuum generator 700 and the drive of an on / off valve (not shown) arranged on a line connecting the vacuum generator 700 and the suction structure 111A, and an on / off valve (not shown) arranged on a line connecting the vacuum generator 700 and the suction structure 111B, to control the vacuum generated at the suction structures 111A and 111B.In accordance with the instruction of the CPU 601, the rotary drive circuit 608 supplies electrical energy to the servomotors of the rotary devices 115A and 115B of the end effectors 110A and 110B to control the drive of the servomotors.

[0068] The first input / output interface 609 is connected to components such as the transfer device 310, the robot 320, and the feed sensor 340 of the first conveyor 300, and receives or sends information, data, commands, and the like to or from these components. The second input / output interface 610 is connected to components such as the transfer device 430 and the feed sensors 440 and 450 of the second conveyor, and receives or sends information, data, commands, and the like to or from these components. The third input / output interface 611 is connected to components such as the transfer device 510 and the feed sensor 520 of the third conveyor 500, and receives or sends information, data, commands, and the like to or from these components.The fourth input / output interface 612 is connected to the sensors 201a to 201c of the position detector 200 and receives or sends commands, detection signals and the like from or to the sensors 201a to 201c.

[0069] The following describes the functional configuration of the control device 600. Fig. Figure 6 is a block diagram showing an example of the functional configuration of the control device 600 according to the embodiment. As shown in Fig. As shown in Figure 6, the control device 600 comprises a first arm control unit 6001, a second arm control unit 6002, a first gripping control unit 6003, a second gripping control unit 6004, a suction control unit 6005, a first rotary control unit 6006, a second rotary control unit 6007, a holding position detection unit 6008, a first conveying control unit 6009, a second conveying control unit 6010, a third conveying control unit 6011, and a memory unit 6012 as functional components. Not all functional components are essential. The functions of the functional components, with the exception of the memory unit 6012, are implemented by the CPU 601 or similar, and the functions of the memory unit 6012 are implemented by the memory 604, the ROM 602, and / or the RAM 603.

[0070] The memory unit 6012 stores various types of information and allows the stored information to be read out. For example, programs that control the operation of the control device 600 can be stored in the memory unit 6012. The memory unit 6012 can store information about the shape, size, and other characteristics of the workpiece, which is a conveying target for the robot 100. Position information can also be stored in the memory unit 6012, such as the three-dimensional positions of sensors 201a to 201c of the position detector 200. These three-dimensional positions are positions in a three-dimensional space in which the robot system 1 is located.

[0071] The first arm control unit 6001 instructs the first robot arm 120A to autonomously perform a predetermined task in accordance with the program. The first arm control unit 6001 issues commands to the arm drive units MA1 to MA4 for operation. This drives the arm drive units MA1 to MA4 so that the first robot arm 120A moves the first end effector 110A based on the position, posture, position movement speed, posture movement speed, and applied force, according to the predetermined task.

[0072] The second arm control unit 6002 instructs the second robot arm 120B to autonomously perform a predetermined task in accordance with the program. The second arm control unit 6002 issues commands to the arm drive units MB1 to MB4 to operate these units. As a result, the arm drive units MB1 to MB4 move such that the second robot arm 120B moves the second end effector 110B based on the position, posture, position movement speed, posture movement speed, and applied force, according to the predetermined task.

[0073] Each of the arm drive devices MA1 to MA4 and MB1 to MB4 comprises: a rotation sensor (not shown), such as an encoder, which detects the amount of rotation of a servo motor rotor; and a current sensor (not shown) which detects the drive current of the servo motor. The arm control unit 6001 controls the drive, such as rotation start, rotation stop, rotation speed, and rotation torque, of the servo motors by using as feedback information the rotation amounts and drive current values ​​output by the rotation and current sensors of the servo motors, as well as the magnitudes and directions of the forces output by the force sensor 117A. The arm control unit 6002 controls the drive, such as...The rotation start, rotation stop, rotation speed, and rotation torque of the servomotors are controlled by using as feedback information the rotation magnitudes and drive current values ​​output by the servomotors' rotation and current sensors, as well as the magnitudes and directions of the forces output by force sensor 117B. Each of the arm control units 6001 and 6002 can use as feedback a command value of the drive current output by the arm drive circuit 605 to each servomotor.

[0074] The first gripper control unit 6003 causes the first gripper structure 116A to autonomously execute a predetermined operation in accordance with the program. The first gripper control unit 6003 issues a command to the gripper drive device 1163 of the first gripper structure 116A to operate it. As a result, the gripper drive device 1163 drives the gripping claws 1161 and 1162 of the first gripper structure 116A to move them according to the predetermined operation.

[0075] The second gripper control unit 6004 causes the second gripper structure 116B to autonomously execute the predetermined operation in accordance with the program. The second gripper control unit 6004 issues a command to the gripper drive device 1163 of the second gripper structure 116B to operate it. This causes the gripper drive device 1163 to actuate the gripping claws 1161 and 1162 of the second gripper structure 116B, moving them according to the predetermined operation.

[0076] The gripper control unit 6003 controls the drive of the servo motor contained in the gripper drive device 1163 of the gripper structure 116A by using as feedback information the rotational speed and drive current value output by the servo motor's rotation sensor (not shown) and current sensor (not shown). The gripper control unit 6004 controls the drive of the servo motor contained in the gripper drive device 1163 of the gripper structure 116B by using as feedback information the rotational speed and drive current value output by the servo motor's rotation sensor (not shown) and current sensor (not shown). Each of the gripper control units 6003 and 6004 can use as feedback information the command value of the drive current output by the gripper drive circuit 606 to each servo motor.

[0077] The intake control unit 6005 generates the vacuum at the intake structures 111A and 111B according to the program. The intake control unit 6005 controls the operation of the vacuum generator 700 by issuing a command to the vacuum generator 700 to operate it. The intake control unit 6005 controls the vacuum generated at the first intake structure 111A by issuing a command to actuate the on / off valve (not shown) of the line connecting the first intake structure 111A to the vacuum generator 700. The intake control unit 6005 controls the vacuum generated at the second intake structure 111B by issuing a command to actuate the on / off valve (not shown) of the line connecting the second intake structure 111B to the vacuum generator 700.

[0078] The first rotary control unit 6006 causes the first rotary device 115A of the first end effector 110A to independently execute a predetermined operation in accordance with the program. The first rotary control unit 6006 issues a command to operate the first rotary device 115A. The first rotary device 115A then drives the first rotary support 113A to move it according to the predetermined operation, based on its position and the speed of its movement.

[0079] The second rotary control unit 6007 causes the second rotary device 115B of the second end effector 110B to autonomously perform a predetermined operation in accordance with the program. The second rotary control unit 6007 issues a command to operate the second rotary device 115B. The second rotary device 115B then drives the second rotary support 113B to move it according to the predetermined operation, based on its position and the speed of its movement.

[0080] The 6006 rotary control unit controls the drive of the servo motor contained in the 115A rotary device by using as feedback the rotational speed and drive current values ​​output by the servo motor's rotation sensor (not shown) and current sensor (not shown). The 6007 rotary control unit controls the drive of the servo motor contained in the 115B rotary device by using as feedback the rotational speed and drive current values ​​output by the servo motor's rotation sensor (not shown) and current sensor (not shown). Each of the 6006 and 6007 rotary control units can use as feedback the drive current command value output by the 608 rotary drive circuit to each servo motor.

[0081] The holding position detection unit 6008 detects a relative position relationship between the end effectors 110A and 110B and the workpiece W held by the end effectors 110A and 110B. In particular, the holding position detection unit 6008 detects a relative position relationship between the suction structures 111A and 111B and the workpiece W. The control device 600 performs the positioning of the workpiece W during the operation of the robot 100 based on the above position relationship.

[0082] In particular, when the control device 600 instructs the robot 100 to hold the workpiece W, the control device 600 instructs the suction structures 111A and 111B to suction the workpiece W at positions near both ends of the workpiece W in a longitudinal direction DW1. When the control device 600 instructs the position detector 200 to detect the held workpiece W, the control device 600 moves the workpiece W to the sensors 201a and 201b and instructs the sensors 201a and 201b to detect an edge W1 of the workpiece W in the longitudinal direction DW1, and also moves the workpiece W to the sensor 201c and instructs the sensor 201c to detect an edge W2 of the workpiece W in a transverse direction DW2. The transverse direction DW2 is a direction orthogonal to the longitudinal direction DW1.

[0083] The holding position detection unit 6008 detects the positions and postures of the suction structures 111A and 111B at the respective times when the sensors 201a to 201c detect the workpiece W. The positions and postures of the suction structures 111A and 111B can be three-dimensional positions and three-dimensional postures. A three-dimensional posture is a posture in a three-dimensional space in which the robot system 1 is arranged. For example, a three-dimensional posture can be an angular position about three mutually orthogonal axes.

[0084] Furthermore, the holding position detection unit 6008 reads the workpiece information of workpiece W and the position information of sensors 201a to 201c from the storage unit 6012. The holding position detection unit 6008 detects the relative positions and orientations of the edges W1 and W2 of workpiece W with respect to the suction structures 111A and 111B based on the shape and size of workpiece W, the three-dimensional positions of sensors 201a and 201b, and the positions and orientations of the suction structures 111A and 111B at corresponding times.

[0085] As above, the holding position detection unit 6008 detects a relative position relationship between the workpiece W and the suction structures 111A and 111B by detecting the relative positions and orientations of the edges W1 and W2 of the workpiece W in relation to the suction structures 111A and 111B.

[0086] The holding position detection unit 6008 can detect the positions and attitudes of the suction structures 111A and 111B as described below. The holding position detection unit 6008 detects the position and attitude of the first end effector 110A based on the values ​​detected by the rotation sensors of the arm drive devices MA1 to MA4. For example, the position and attitude of the first end effector 110A can be the three-dimensional position of a connecting section between the first end effector 110A and the connecting link 124A at a position on the fourth axis S4a, and the three-dimensional attitude of the connecting section at a position on the fourth axis S4a. Furthermore, the holding position detection unit 6008 detects the position and attitude of the first suction structure 111A based on the position and attitude of the first end effector 110A and the value detected by the rotation sensor of the first rotary device 115A.

[0087] Similarly, the holding position detection unit 6008 detects the position and attitude of the second end effector 110B based on the detected values ​​from the rotation sensors of the arm drive devices MB1 to MB4. Furthermore, the holding position detection unit 6008 detects the position and attitude of the second suction structure 111B based on the position and attitude of the second end effector 110B and the detected value from the rotation sensor of the second rotary device 115B.

[0088] The first conveyor control unit 6009 instructs the transfer device 310 and the robot 320 of the first conveyor 300 to autonomously convey the workpiece W according to the program. For example, when the workpiece W is removed from the temporary storage area 330 by the robot 100, and therefore the conveyor sensor 340 stops outputting the detection signal of the workpiece W, the first conveyor control unit 6009 issues a command to the robot 320 to convey the workpiece W to the temporary storage area 330. More precisely, the first conveyor control unit 6009 controls the drive of the robot 320 so that each time the workpiece W is removed from the temporary storage area 330, the next workpiece W is conveyed to the temporary storage area 330.When all workpieces W on the plate WP, which is conveyed by the transfer device 310, have been conveyed by the robot 320, and the plate WP is removed from the transfer device 310 by the robot 320, the first conveying control unit 6009 issues a command to convey the next plate WP to the transfer device 310. Instead of the detection signal from the conveying sensor 340, the first conveying control unit 6009 can receive information from the arm control unit 6001, 6002, or the like, indicating that the workpiece W is being removed from the temporary storage area 330, and can issue the above command based on this information.

[0089] The second conveyor control unit 6010 causes the transfer device 430 of the second conveyor 400 to convey the assembly base 410 automatically under program control. For example, when the workpiece W is positioned by the robot 100 on the assembly surface 410a of the assembly base 410, which is located in front of the robot 100, and the conveyor sensor 450 therefore outputs the detection signal of the workpiece W, the second conveyor control unit 6010 issues a command to move the assembly base 410 to the transfer device 510, to the transfer device 430. When the assembly base 410 is moved in front of the robot 100 to the transfer device 510, the second conveyor control unit 6010 also issues a command to transport the next assembly base 410 to a position in front of the robot 100 to the transfer device 430.When the conveying sensor 440 outputs the detection signal from the arrangement base 410, the second conveying control unit 6010 stops the conveying of the transfer device 430. Instead of the detection signal from the conveying sensor 450, the second conveying control unit 6010 can receive information from the arm control unit 6001, 6002 or the like, indicating that the workpiece W is positioned at the arrangement base 410, and can issue the above command based on this information.

[0090] The third conveying control unit 6011 ensures that the transfer device 510 of the third conveying device 500 automatically conveys the assembly base 410 in accordance with the program. For example, when the assembly base 410 is moved by the transfer device 430 to the transfer device 510, and therefore the transport sensor 520 outputs the detection signal of the assembly base 410, the third conveying control unit 6011 issues a command to the transfer device 510 to transport the assembly base 410 to the fourth work area WS4. Instead of the detection signal from the conveying sensor 520, the third conveying control unit 6011 can receive information from the second conveying control unit 6010 or the like indicating that the assembly base 410 is being moved to the transfer device 510, and can issue the above command based on this information.

[0091] The operation of the robot system 1 according to the embodiment is described with reference to Fig. 7 described. Fig. Figure 7 is a flowchart showing an example of the operation of the robot system 1 according to the embodiment. Fig. Figures 8 to 14 are perspective views, each showing an example of the state of robot system 1, as shown in the flowchart of Fig. 7 is operated.

[0092] As in Fig. As shown in Figure 1, in step S101, the control device 600 causes the transfer device 310 of the first conveying device 300 to convey the plate WP, on which the workpieces W are placed, from the first work area WS1 to a position in front of the robot 320. Furthermore, the control device 600 causes the robot 320 to convey the workpiece W from the plate WP to a predetermined position on the temporary storage surface 330, wherein the predetermined position is a target position of the second work area WS2.

[0093] Next, in step S102, as in Fig. As shown in Figure 8, the control device 600 detects the presence of the workpiece W on the temporary storage surface 330 based on the detection signal from the conveyor sensor 340. After detection, the control device 600 causes the robot arms 120A and 120B of the robot 100, and the end effectors 110A and 110B, to move to the top of the arrangement base 410 of the second conveyor device 400. The arrangement base 410 is located at a predetermined position in front of the robot 100, and the control device 600 detects the presence of the arrangement base 410 based on the detection signal from the conveyor sensor 440. Furthermore, the control device 600 causes the robot arms 120A and 120B to lower the end effectors 110A and 110B, and causes the gripping structures 116A and 116B to grasp the two magnets 420 on the arrangement base 410 using the gripping claws 1161 and 1162 (see Fig. 3 and Fig. 4). In step S102 and the following steps, the gripping claws 1161 and 1162 of the gripping structures 116A and 116B and the suction structures 111A and 111B are directed towards the underside.

[0094] Next, in step S103, the control device 600 initiates, as shown in Fig. Figure 9 shows the robot arms 120A and 120B, the end effectors 110A and 110B, which grasp the magnets 420, moving towards the top of both ends of the workpiece W in the longitudinal direction DW1 on the temporary storage surface 330, and causes the end effectors 110A and 110B to hold the workpiece W. In particular, the control device 600 drives the vacuum generator 700 (see Figure 9). Fig. 5) in advance. The control device 600 lowers the end effectors 110A and 110B, which are located on the top of the workpiece W, and opens the on / off valves (not shown) at a time when the suction structures 111A and 111B approach or touch both ends of the workpiece W.

[0095] Next, in step S104, the control device 600 initiates, as shown in Fig. Figure 10 shows the robot arms 120A and 120B moving the workpiece W towards the position detector 200 and causing the position detector 200 to detect the workpiece W. For example, the control device 600 moves the workpiece W so that edge W1 approaches sensors 201a and 201b, and thus edge W1 is detected by sensors 201a and 201b. Furthermore, the control device 600 moves the workpiece W so that edge W2 approaches sensor 201c, and thus edge W2 is detected by sensor 201c.

[0096] Next, in step S105, the control device 600, based on the detection results of sensors 201a to 201c and the like, detects a relative position relationship between the suction structures 111A and 111B and the workpiece W, i.e. a relative position relationship between the end effectors 110A and 110B and the workpiece W.

[0097] Next, in step S106, the control device 600 causes the robot arms 120A and 120B, the end effectors 110A and 110B, which hold the workpiece W, to move to the top of the assembly base 410. The assembly base 410 is an assembly base from which the magnets 420 are removed in step S102. Furthermore, as in Fig. Figure 11 shows the robot arms 120A and 120B lowering the end effectors 110A and 110B and placing the workpiece W at a predetermined position on the mounting surface 410a of the mounting base 410. The control device 600 can detect the contact between the workpiece W and the mounting base 410 based on the detection signals from the force sensors 117A and 117B. At this point, the control device 600 performs the positioning of the workpiece W relative to the mounting base 410 based on the position relationship detected in step S105.

[0098] Next, in step S107, the control device 600 initiates, as shown in Fig. Figure 12 shows the first robot arm 120A moving the first end effector 110A to the second end effector 110B. Specifically, the control device 600 moves the first suction structure 111A towards the second suction structure 111B in the longitudinal direction DW1 of the workpiece W. At this point, based on the positional relationship acquired in step S105, the control device 600 sets the position of an edge W3 of the workpiece W in accordance with a predetermined position on the arrangement base 410. The edge W3 is an edge of the workpiece W and is located on a side of the workpiece W opposite edge W2.

[0099] Next, in step S108, the control device 600 initiates, as shown in Fig. Figure 13 shows the second robot arm 120B moving the second end effector 110B towards the first end effector 110A. Specifically, the control device 600 moves the second suction structure 111B towards the first suction structure 111A in the longitudinal direction DW1. At this point, based on the position relationship acquired in step S105, the control device 600 aligns the position of the edge W2 of the workpiece W with a predetermined position on the arrangement base 410. This causes the workpiece W to bend so that it expands in the middle.

[0100] Next, in step S109, the control device 600 causes the robot arms 120A and 120B to lower the end effectors 110A and 110B and to move the gripping structures 116A and 116B close to the assembly base 410, while simultaneously squeezing the tip sections of the suction structures 111A and 111B together. Furthermore, the control device 600 causes the gripping structures 116A and 116B to release their grip and place the magnets 420 onto the workpiece W. The workpiece W is fixed to the assembly base 410 by the weight and magnetic forces of the magnets 420, with the workpiece W being pressed by the suction structures 111A and 111B and held in a predetermined position. Moving the gripping structures 116A and 116B close to the assembly base 410 allows the magnets 420 to be positioned stably.

[0101] There may be a dimensional tolerance of the workpiece W in the longitudinal direction DW1. However, by arranging the workpiece W in a bent state, the edges W2 and W3 of the workpiece W can be positioned at the predetermined positions of the arrangement base 410, regardless of the dimensional tolerance. This allows the pressure connection to be carried out at a precise position with respect to the edges W2 and W3 of the workpiece W.

[0102] Next, in step S110, the control device 600 causes the robot arms 120A and 120B to raise the end effectors 110A and 110B. Furthermore, the control device 600 detects, as shown in Fig. Figure 14 shows that the presence of the workpiece W on the mounting base 410 is detected by the transport sensor 450 and causes the transfer base 431 of the transfer device 430 to move the mounting base 410 to the transfer base 511 of the transfer device 510. Furthermore, the control device 600 detects the mounting base 410 on the transfer base 511 by the conveying sensor 520 and causes the transfer device 510 to convey the mounting base 410 to the fourth work area WS4. When the control device 600 detects the mounting base 410 on the transfer base 511, it also causes the transfer device 430 to convey the next mounting base 410 to a predetermined position in front of the robot 100.

[0103] Through steps S101 to S110 described above, the robot system 1 arranges the workpiece W, conveyed from the first workspace WS1 to the third workspace WS3, on the arrangement base 410, which is conveyed from the second workspace WS2 to the third workspace WS3, and conveys the arrangement base 410, on which the workpiece W is placed, to the fourth workspace WS4. Furthermore, the control device 600 can continuously convey the workpieces W on the plate WP to the fourth workspace WS4, such that after completion of step S103, step S101 and the subsequent steps are executed simultaneously with step S104; and after completion of step S110, step S102 is executed.

[0104] The following describes the construction of the end effector according to the modified example. The end effector according to this modified example comprises a structure that raises or lowers the gripping claws 1161 and 1162. The following mainly describes the differences between this modified example and the embodiment, and the same explanations as in the embodiment are omitted.

[0105] Fig. 15 and Fig. Figure 16 are perspective views, each showing an example of the configuration of a first end effector 110A1 according to the modified example. Fig. Figure 15 shows that the gripping claws 1161 and 1162 are raised, and Fig. Figure 16 shows that the gripping claws 1161 and 1162 are lowered. As with the end effectors 110A and 110B according to the embodiment, the configuration of the first end effector 110A1 according to the present modified example and the configuration of the second end effector according to the present modified example are symmetrical to each other. Therefore, only the first end effector 110A1 will be described below, and the explanation of the second end effector will be omitted.

[0106] As in the Fig. 15 and Fig. As shown in Figure 16, the first end effector 110A1 comprises the suction structure 111A, the base 112A, the rotary support 113A, the rotary device 115A, the gripping structure 116A, the force sensor 117A (not shown), a lifting support 118A, a gripping support 114A1, and a lifting device 119A. The suction structure 111A, the base 112A, the rotary support 113A, the rotary device 115A, the gripping structure 116A, and the force sensor 117A have the same configuration as in the embodiment.

[0107] The lifting support 118A comprises a plate-shaped element with an L-shaped cross-section. The lifting support 118A includes plate-shaped sections 1181 and 1182, which are substantially perpendicular to each other. The first plate-shaped section 1181 is detachably connected to the opposite section 1133 of the rotary support 113A. The second plate-shaped section 1182 extends in a direction opposite to the first direction D1A, such that it separates from the opposite section 1133 at the side of the intermediate section 1132. The second plate-shaped section 1182 is substantially parallel to the fifth axis S5a.

[0108] The lifting device 119A is attached to the second plate-shaped section 1182 of the lifting carrier 118A on a side of the second plate-shaped section 1182 opposite the first plate-shaped section 1181. The lifting device 119A moves its lifting shafts 119Aa in an axial direction, i.e., in the first direction D1A and its opposite direction. The lifting device 119A includes, for example, an electric motor that uses electrical energy as a power source. In the present embodiment, the lifting device 119A includes a servo motor. Furthermore, the lifting device 119A includes a transmission structure (not shown) that converts the rotational driving force of the servo motor into a linear driving force and transmits the linear driving force to the lifting shafts 119Aa. The lifting device 119A may include a drive device, such as a linear actuator or a solenoid.The lifting device 119A is an example of a movable device.

[0109] The gripping support 114A1 comprises a plate-shaped element with an L-shaped cross-section. The gripping support 114A1 includes plate-shaped sections 1143 and 1144, which are substantially perpendicular to each other. The first plate-shaped section 1143 is attached to the end sections of the lifting shafts 119Aa in the first direction D1A. The gripping support 114A1 moves in the first direction D1A and in the opposite direction together with the lifting shafts 119Aa. The second plate-shaped section 1144 extends from the first plate-shaped section 1143 in the opposite direction to the first direction D1A on one side of the lifting support 118A opposite the lifting device 119A. The second plate-shaped section 1144 lies opposite the second plate-shaped section 1182 of the lifting support 118A through the lifting device 119A.

[0110] The gripping structure 116A is attached to the second plate-shaped section 1144 of the gripping support 114A1 on one side of the second plate-shaped section 1144 opposite the lifting device 119A. The gripping claws 1161 and 1162 of the gripping structure 116A extend in the first direction D1A and are arranged in the second directions D2Aa and D2Ba. The gripping structure 116A and the first suction structure 111A are arranged in a horizontal direction substantially perpendicular to the fifth axis S5a and to the second directions D2Aa and D2Ab.

[0111] In the first end effector 110A1 above, the lifting device 119A can move the gripping structure 116A in the first direction D1A and its opposite direction. For example, as in Fig. As shown in Figure 15, with respect to height positions along the first direction D1A, when the lifting device 119A lifts the gripping structure 116A in the direction opposite to the first direction D1A, the height positions of the tips of the gripping claws 1161 and 1162 can be set to height positions on the upper side of the tip of the suction structure 111A in the direction opposite to the first direction D1A. Furthermore, as shown in Fig. Figure 16 shows that when the lifting device 119A lowers the gripping structure 116A in the first direction D1A, the height positions of the tips of the gripping claws 1161 and 1162 are set to height positions on the lower side of the tip of the suction structure 111A in the first direction D1A or to height positions that are equal to the height position of the tip of the suction structure 111A.

[0112] Therefore, the first end effector 110A1, in a state where the workpiece W held by the suction structure 111A is placed on the arrangement base 410, can actuate the lifting device 119A to place the magnets 420, grasped by the gripping claws 1161 and 1162, onto the workpiece W. At this point, unlike in the embodiment, it is not necessary to lower the first end effector 110A1 and squeeze the tip section of the suction structure 111A.

[0113] Furthermore, according to the present modified example, the end effector includes, but is not limited to, a structure that raises or lowers the gripping claws 1161 and 1162 and may include a structure that raises or lowers the suction structures 111A and 111B. In this case, the end effector may have a lifting device similar to the lifting device 119A and raise or lower the suction structures 111A and 111B by means of this lifting device. Alternatively, the end effector may include a structure that raises or lowers the gripping claws 1161 and 1162 and a structure that raises or lowers the suction structures 111A and 111B.

[0114] The foregoing has described examples of embodiments of the present disclosure. However, the present disclosure is not limited to the embodiment and the modified example above. In fact, various modifications and improvements can be made within the claims.

[0115] In the embodiment and the modified example, robot 100 is, for instance, a two-armed robot with robot arms 120A and 120B. However, the embodiment and the modified example are not limited to this. Robot 100 can, for example, have only one arm or three or more arms. For instance, robot arms 120A and 120B can be mounted on corresponding robots.

[0116] In the embodiment and the modified example, the first and second end effectors are arranged separately on the first robot arm 120A and the second robot arm 120B, respectively. However, the embodiment and the modified example are not limited to this. For example, the first and second end effectors can be integrated. More specifically, an end effector can comprise first and second suction structures, first and second gripping structures, first and second rotary devices, and first and second lifting devices. In this case, the bases 112A and 112B can be connected to each other by a coupling element or similar device, or integrated into one another. In the previous case, the coupling element can be provided with an expansion device that expands or contracts the coupling element to change the distance between the bases 112A and 112B.The expansion device may, for example, include: an expansion structure comprising a ball screw, a rack and pinion structure, or the like; and a drive device, such as an electric motor, to drive the expansion structure.

[0117] In the embodiment and the modified example, the suction structures 111A and 111B of the end effectors 110A, 110B, and 110A1 each attract an object by generating a vacuum. However, the embodiment and the modified example are not limited to this. For example, the suction structure can adhere to an object by adhesive force. Or the suction structure can include a suction cup made of rubber, resin, or a similar material, which is flexible and can attract an object by pressing the suction cup against it. To increase the suction force, a structure can also be provided that draws air away from the suction surface of the suction cup.

[0118] In the embodiment and the modified example, the number of suction structures 111A and the number of suction structures 111B in each of the end effectors 110A, 110B and 110A1 is one. However, the embodiment and the modified example are not limited to this, and the number of suction structures 111A and the number of suction structures 111B can each be two or more.

[0119] In the embodiment and the modified example, the robot 100, which is an industrial robot, is described as an example of a mechanical device to which the technology of the present disclosure is applicable. However, the mechanical device to which the technology of the present disclosure is applicable can also be a mechanical device other than the industrial robot. For example, the mechanical device could be a service robot, a construction machine, a tunnel boring machine, a crane, a load carrier, a humanoid, or the like. The service robot is a robot used in various service industries, such as nursing, medical care, cleaning, security, guiding, rescue, cooking, and product delivery.

[0120] The technology of the present disclosure can be a control method. For example, a control method according to one aspect of the present disclosure is a control method for conveying a principal element using a first robot arm and a second robot arm, wherein the first robot arm has a first suction structure and a first gripping structure arranged side by side in a direction intersecting with a first direction, and the second robot arm has a second suction structure and a second gripping structure arranged side by side in a direction intersecting with a first direction.The control method comprises: actuating the first robot arm and the second robot arm to cause the first gripper structure to grasp a first auxiliary element located in the first direction, and to cause the second gripper structure to grasp a second auxiliary element located in the first direction; wherein the first gripper structure and the second gripper structure grasp the first auxiliary element and the second auxiliary element, respectively.The first robot arm and the second robot arm then actuate the first and second suction structures to grasp and hold the main element located in the first direction. The first and second robot arms then actuate the grasped main element, moving it onto a mounting surface of a conveying target. Finally, the first and second gripping structures release their grip and place the first and second auxiliary elements onto the main element. This control method can be implemented by a CPU, a circuit (such as an LSI), an IC card, a single module, or similar device.

[0121] The technology described in this disclosure can be a program for executing the above control method or a non-transitory, computer-readable recording medium in which the above program is stored. Furthermore, the above program can, of course, be distributed via a transmission medium such as the Internet.

[0122] All digits, such as ordinal numbers and numerals, are examples used to specifically describe the technology of the present disclosure, and the present disclosure is not limited to these digits. Furthermore, the interconnections between the components are examples used to describe the technology of the present disclosure, and the interconnections that realize the functions of the present disclosure are not limited to these.

[0123] The block structure in the function block diagram is one example. Multiple blocks can be implemented as a single block, a single block can be divided into multiple blocks, and / or some functions can be delegated to other blocks. The functions of multiple blocks with similar features can be processed in parallel or in a time-divided manner by a single piece of hardware or software. Reference symbol list 1 robot system 100 robots 110A, 110A1, 110B End effector (holding device) 111A, 111B Suction structure 112A, 112B socket (basic) 113A, 113B Swivel support 114A, 114A1, 114B Gripping support 115A, 115B Rotary device 116A, 116B Gripping structure 119A Lifting device (movable device) 120A, 120B robot arm 200 Position Detector 410 Arrangement basis 410a Arrangement area 420 Magnet (auxiliary element) 600 Control device (control unit) W workpiece (main element)

Claims

[1] Control method for conveying a main element using a first robot arm (120A) and a second robot arm (120B), wherein the first robot arm (120A) has a first suction structure (111A) and a first gripping structure (116A) adjacent to each other in a direction intersecting with a first direction, and the second robot arm (120B) has a second suction structure (111B) and a second gripping structure (116B) adjacent to each other in a direction intersecting with the first direction, wherein the control method comprises: Actuating the first robot arm (120A) and the second robot arm (120B) to cause the first gripping structure (116A) to grasp a first auxiliary element (420) located in the first direction, and to cause the second gripping structure (116B) to grasp a second auxiliary element (420) located in the first direction; wherein the first gripping structure (116A) and the second gripping structure (116B) grip the first auxiliary element (420) and the second auxiliary element (420) respectively, actuation of the first robot arm (120A) and the second robot arm (120B) to cause the first suction structure and the second suction structure (111B) to suction and hold the main element located in the first direction; Actuating the first robot arm (120A) and the second robot arm (120B) to move the suctioned main element and to place the main element on an arrangement surface of a conveying target; and Releasing the grip by the first gripping structure (116A) and the second gripping structure (116B) and placing the first auxiliary element (420) and the second auxiliary element (420) onto the main element. [2] Control method according to claim 1, further comprising: Actuating the first robot arm (120A) and the second robot arm (120B) to allow a position detector, which detects the position of the main element (W), to detect the suctioned main element (W); and Based on a detection result from the position detector, the first robot arm (120A) and the second robot arm (120B) are actuated to set a distance between the first suction structure (111A) and the second suction structure (111B) on the arrangement surface. [3] Control method according to claim 1 or 2, wherein: the first suction structure (111A) and the first gripping structure (116A) are attached to the first robot arm (120A) via a first holder (110A, 110A1) and a first base (112A); the first holder (110A, 110A1) carries the first suction structure (111A) and the first gripping structure (116A); the first base (112A) is attached to the first robot arm (120A) and coupled to the first holder (110A, 110A1) in such a way that the first holder (110A, 110A1) is rotatable; the first holder (110A, 110A1) is rotated by a first rotating device (115A); the second suction structure (111B) and the second gripping structure (116B) are attached to the second robot arm (120B) via a second holder (110B) and a second base (112B); the second support (110B) supports the second suction structure (111B) and the second gripping structure (116B); the second base (112B) is attached to the second robot arm (120B) and coupled to the second mount (110B) so that the second mount (110B) is rotatable; and The second holder (110B) is rotated by a second rotating device (115B). [4] Control method according to any one of claims 1 to 3, further comprising a first motion device moving the first gripping structure (116A) in the first direction and a second motion device moving the second gripping structure (116B) in the first direction, moving the first gripping structure (116A) and the second gripping structure (116B) in the first direction to place the first auxiliary element (420) gripped by the first gripping structure (116A) and the second auxiliary element (420) gripped by the second gripping structure (116B) on the main element. [5] Control method according to one of claims 1 to 4, further comprising actuating the first robot arm (120A) and the second robot arm (120B) in such a way that the first suction structure (111A), comprising an extendable and retractable part, and the second suction structure (111B), comprising an extendable and retractable part, are pressed against the main element to be retracted, and that the first auxiliary element (420), which is grasped by the first gripping structure (116A), and the second auxiliary element (420), which is grasped by the second gripping structure (116B), are placed on the main element. [6] Control device (600) that performs the control method according to any one of claims 1 to 5. [7] Robot system (1), comprising: a first robot arm (120A); a second robot arm (120B); a first suction structure (111A) and a first gripping structure (116A) arranged side by side on the first robot arm (120A) in a direction that intersects with a first direction; a second suction structure (111B) and a second gripping structure (116B) arranged side by side in a direction that intersects with the first direction on the second robot arm (120B); and a control device (600) that controls operations of the first robot arm (120A), the second robot arm (120B), the first gripping structure (116A) and the second gripping structure (116B), wherein: the first suction structure (111A), the first gripping structure (116A), the second suction structure (111B) and the second gripping structure (116B) are aligned such that they suction or grip a main element and auxiliary elements (420) located in the first direction; the control device (600) actuates the first robot arm (120A) and the second robot arm (120B) to allow the first gripping structure (116A) to grasp a first auxiliary element (420) located in the first direction, and the second gripping structure (116B) to grasp a second auxiliary element (420) located in the first direction; When the first auxiliary element (420) and the second auxiliary element (420) are grasped, the control device (600) actuates the first robot arm (120A) and the second robot arm (120B) to cause the first suction structure and the second suction structure to suction and hold the main element (W) located in the first direction; the control device (600) actuates the first robot arm (120A) and the second robot arm (120B) to move the suctioned main element (W) and to place the main element (W) on an arrangement surface of a conveying target; and The control device (600) causes the first gripping structure and the second gripping structure to release their gripping and place the first auxiliary element (420) and the second auxiliary element (420) on the main element (W). [8] Robot system (1) according to claim 7, further comprising a position detector which detects a position of the main element (W) and outputs a detection result to the control device (600), wherein: The control device (600) detects a relative position of the main element (W) with respect to the first suction structure (111A) and the second suction structure (111B) based on the detection result of the position detector; and Based on the relative position, the control device (600) actuates the robot arm (120A, 120B) to set the positions of the first suction structure (111A) and the second suction structure (111B) on the arrangement surface. [9] Robot system (1) according to claim 7 or 8, wherein: the first suction structure (111A) and the first gripping structure (116A) are attached to the robot arm (120A, 120B) via a first holder and a first base (112A); the first holder (110A, 110A1) carries the first suction structure (111A) and the first gripping structure (116A); the first base (112A) is attached to the robot arm (120A, 120B) and coupled to the first holder (110A, 110A1) in such a way that the first holder (110A, 110A1) is rotatable; the first holder (110A, 110A1) is rotated by a first rotating device (115A); the second suction structure (111B) and the second gripping structure (116B) are attached to the robot arm (120A, 120B) via a second holder (110B) and a second base (112A); the second holder (110B) carries the second suction structure (111B) and the second gripping structure (116B); the second base (112B) is attached to the robot arm (120A, 120B) and coupled to the second mount (110B) so that the second mount (110B) is rotatable; and The second holder (110B) is rotated by a second rotating device (115B). [10] Robot system (1) according to any one of claims 7 to 9, further comprising: a first motion device located on the robot arm (120A, 120B) that moves the first gripping structure (116A) in the first direction; and a second motion device located on the robot arm (120A, 120B) which moves the second gripping structure (116B) in the first direction, wherein the control device (600) causes the first motion device and the second motion device to move the first gripping structure (116A) and the second gripping structure (116B) in the first direction to place the first auxiliary element (420) gripped by the first gripping structure (116A) and the second auxiliary element (420) gripped by the second gripping structure (116B) on the main element (W). [11] Robot system (1) according to any one of claims 7 to 10, wherein: The suction structure (111A, 111B) comprises a part that is expandable and contractible; and the control device (600) actuates the robot arm (120A, 120B) in such a way that the suction structure (111A, 111B) is pressed against the main element (W) to be contracted, thereby placing the first auxiliary element (420), which is grasped by the first gripping structure (116A), and the second auxiliary element (420), which is grasped by the second gripping structure (116B), on the main element (W).

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