Peeling device, control method and program of peeling device

Abstract

To provide an adaptive peeling device capable of peeling a target regardless of a shape of the target.SOLUTION: A peeling device that peels a target includes: a plurality of adsorption means that can adsorb the target; selection means that selects the plurality of adsorption means that execute adsorption operation of the target among the plurality of adsorption means; adsorption control means that causes the plurality of adsorption means selected by the selection means to execute the adsorption operation; and rotation control means that executes rotation operation of the target for which the adsorption operation has been executed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a peeling device, a control method for a peeling device, and a program. [Background technology]

[0002] Patent Document 1 discloses a plurality of suction pads 11 attached to a frame 12 with their suction surfaces facing downward. Each suction pad 11 is configured to be able to suck and grip an object by suction force, as suction force is individually directed to each pad using an air circuit for suction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-37076 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the technology described in Patent Document 1 is used to peel off scrap materials (such as excess film), the suction is performed across multiple suction pads arranged in a grid pattern, which creates the problem that peeling may fail depending on the shape of the film at the location you want to peel off.

[0005] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an adaptive peeling device that can peel an object regardless of the shape of the object. [Means for solving the problem]

[0006] To achieve the above object, a peeling device according to one aspect of the present invention comprises: A peeling device for peeling an object, a plurality of suction means capable of suctioning the object; a selection means for selecting a plurality of suction means that perform the suction operation of the object from the plurality of suction means; suction control means for causing the plurality of suction means selected by the selection means to perform the suction operation; a rotation control means for rotating the object on which the adsorption operation has been performed; The present invention is characterized by comprising: [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an adaptive peeling device that can peel off an object regardless of the shape of the object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a delamination device according to an embodiment. [Figure 2] FIG. 2 is a side view of the suction device according to the embodiment. [Figure 3] 5A and 5B are diagrams illustrating changes in the suction position in the suction device according to the embodiment. [Figure 4] FIG. 2 is a plan view of the adsorption device according to the embodiment. [Figure 5] FIG. 2 is an explanatory diagram of vacuum suction of a suction device according to an embodiment. [Figure 6] FIG. 10 is an explanatory diagram of a suction operation using a selected portion of the suction units according to an embodiment. [Figure 7] FIG. 10 is an explanatory diagram of a rotation operation according to an embodiment. [Figure 8] FIG. 10 is a diagram showing an example of selection of an adsorption unit according to an embodiment. [Figure 9] FIG. 10 is a diagram showing an example of selection of an adsorption unit according to an embodiment. [Figure 10] FIG. 10 is a diagram showing an example of selection of an adsorption unit according to an embodiment. [Figure 11] FIG. 10 is a diagram showing an example of selection of an adsorption unit according to an embodiment. [Figure 12] FIG. 2 is a diagram showing an example of the configuration of a control device according to an embodiment. [Figure 13] 1 is a flowchart showing a procedure of a process performed by a delamination device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numerals are used to designate identical or similar components, and redundant descriptions will be omitted.

[0010] <System configuration> FIG. 1 is a diagram showing an example of the configuration of a peeling device according to one embodiment. A jig 50 is placed on a mounting table 40, and a workpiece 60 is placed on the jig 50. After a film 70 is attached to the workpiece 60 by a vacuum attachment device (not shown), a peeling device 1 adsorbs and peels off unnecessary films 70a and 70b. In this embodiment, the object to be adsorbed and peeled off is a scrap of film 70 attached to the workpiece 60, but the object may be various scraps. In other words, this embodiment can be applied to a scrap collection device that adsorbs and collects various scraps.

[0011] The peeling device 1 includes a control device 10, a plurality of arm units 11 to 13, and a suction device 20. The peeling device 1 may also include a vacuum pump 30. The control device 10 controls the rotational movement of the plurality of arm units 11 to 13, the movement of the suction device 20, and the movement of the vacuum pump 30. By controlling the control device 10, the suction device 20 can be controlled to any position and orientation in three dimensions. Then, by controlling the vacuum pump 30, the control device 10 can perform vacuum suction by the suction device 20.

[0012] <Configuration of the adsorption device> Next, a configuration example of a suction device according to an embodiment will be described with reference to FIGS. 2 to 5. FIG. 2 is a side view of a suction device according to an embodiment. As shown in FIG. 2, a suction device 20 includes a suction pad 21, a rod-shaped member 22, a support member 23, an actuator 24, a support member 25, and a rotating member 26. The actuator 24 includes a pressure sensor 27. The suction device 20 includes a plurality of suction units 201 capable of suctioning an object, and each suction unit 201 includes a suction pad 21, a rod-shaped member 22, and an actuator 24. Note that when the actuator 24 is not provided, each suction unit 201 may include a suction pad 21 and a rod-shaped member 22.

[0013] The suction pad 21 is arranged at the end of the rod-shaped member 22 and is made of a flexible member with a bellows structure having an internal space. Air is sucked in from the open end of the suction pad 21 and guided into the rod-shaped member 22, enabling suction at the open end. The bellows structure of the suction pad 21 allows it to expand and contract in the suction direction. That is, when a force is applied to the suction pad 21 in the suction direction, the suction pad 21 contracts, and when the force is released, the suction pad 21 expands. The rod-shaped member 22 supports the suction pad 21 at its end. Support members 23 and 25 support the actuator 24 between them.

[0014] The actuator 24, under the control of the control device 10, can drive the rod-shaped member 22 to change the position of the rod-shaped member 22 in the adsorption direction. The actuator 24 may be, for example, an air cylinder. FIG. 3 is a diagram showing how the adsorption unit in an adsorption device according to one embodiment changes. Reference numeral 301 denotes the adsorption unit when extended, and 302 denotes the adsorption unit when retracted. The actuator 24 can drive the rod-shaped member 22 in direction 311 to change the rod-shaped member 22 to an extended position in the adsorption direction. The actuator 24 can also drive the rod-shaped member 22 in direction 312 to change the rod-shaped member 22 to a retracted position in the adsorption direction. When in the retracted position, a portion of the rod-shaped member 22 is retracted toward the actuator 24.

[0015] The pressure sensor 27 provided in the actuator 24 detects the pressure when an object comes into contact with and presses the suction pad 21. The control device 10 acquires the detection result of the pressure sensor 27 and controls the actuator 24 based on the detection result to change the position of the rod-shaped member 22. For example, when the pressure sensor 27 detects a pressure equal to or greater than a threshold, the position of the rod-shaped member 22 is changed so that the suction pad 21 corresponding to the pressure sensor 27 moves in a direction away from the object. Note that a vision sensor or a color sensor may be used instead of the pressure sensor 27. Other types of sensors may also be used as long as they can detect that an object has come into contact with the suction pad 21.

[0016] In this way, because each suction pad 21 is expandable and contractible along the suction direction, it is possible to perform the suction operation even if the object has a three-dimensional shape. Alternatively, the suction pads 21 of the suction parts that are not being used may be retracted by moving them in a direction away from the object, regardless of the detection result of the pressure sensor 27. That is, when some of the suction parts that will perform the suction operation are selected according to the shape of the film 70, the suction pads 21 of the unselected suction parts may be retracted by moving them in a direction away from the object.

[0017] The rotating unit 26 is rotatable around a rotation axis extending in the suction direction under the control of the control device 10. This rotation allows each suction unit to rotate in a plane perpendicular to the suction direction.

[0018] Next, FIG. 4 is a plan view of a suction device according to one embodiment. In FIG. 4, eight suction units 201A to 201H are arranged on the circumference of a circle 401, with one suction unit 201I arranged at the center of the circle 401. In FIG. 4, the eight suction units 201A to 201H are arranged at predetermined intervals (equidistant intervals) along the circumference. The support members 23 and 25 have the same structure. In FIG. 4, only the support member 25 is shown, with the support member 23 being shielded by the support member 25. The support members 23 and 25 are rod-shaped members extending from the center of the circle 401 in the direction in which the suction units 201A to 201H are located. Note that, although the eight suction units 201A to 201H are arranged on the circumference of the circle 401 in FIG. 4, the number of suction units is not limited to eight. Also, a configuration in which a suction unit is not arranged at the center of the circle 401 is also possible.

[0019] Next, FIG. 5 is an explanatory diagram of vacuum suction of a suction device according to one embodiment. Each suction pad 21 is connected to a vacuum pump 30 via a corresponding flow path. In FIG. 5, air sucked from the open end of the suction pad 21 is guided into the rod-shaped member 22. An opening 511 is provided on the side of the rod-shaped member 22, and the sucked air passes through a flexible tubular member (not shown) fluidly connected to the opening 511 and flows from the opening 511 to a connection portion 512 of the vacuum pump 30. That is, during suction, air flows in a direction 501 inside the tubular member. Conversely, when suction is released or when air is sent from the vacuum pump 30 to the suction pad 21, air flows in a direction 502 inside the tubular member. The tubular member may extend toward the rotating portion 26 of the suction device 20 and further extend along the arms 11 to 13 toward the control device 10 and be connected to the vacuum pump 30. A tubular member may be provided for each adsorption unit, or a part of the flow path of several adsorption units may be shared. Note that, although an example in which the vacuum pump 30 is used will be described in this embodiment, an ejector may be used instead of the vacuum pump 30 as a vacuum generation source.

[0020] As an example, nine tubular members are provided for each of the suction units 201A to 201I, and each is individually connected to the vacuum pump 30 via nine connection parts 512. A valve 513 is provided for each connection part 512, and the control device 10 controls the opening and closing of each valve 513 to select the suction unit that will perform the suction operation. For example, consider a case in which three suction units 201A, 201G, and 201I are selected from the nine suction units 201A to 201I as the suction units that will perform the suction operation. In this case, the control device 10 controls the valves 513 corresponding to the suction units 201A, 201G, and 201I to open and close the other valves 513, thereby making it possible to perform the selection. In this way, by blocking a portion of the flow path connecting to the suction pad 21 of each suction unit 201, it is possible to select and operate the suction unit 201 that is not blocked.

[0021] 5, an example in which the valve 513 provided on the vacuum pump 30 side is opened and closed is described, but the present invention is not limited to this example. A valve may be provided near the opening 511. In this case, a drive mechanism separate from the actuator 24 may be provided for each suction unit 201, and the control device 10 may control the opening and closing of the valve by controlling the drive mechanism. Alternatively, a configuration may be adopted in which a separate drive mechanism is not provided, and a valve provided near the opening 511 is opened and closed manually.

[0022] <Example of suction and rotation operations> Next, a suction operation and a rotation operation according to one embodiment will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is an explanatory diagram of a suction operation using a selected portion of the suction units according to one embodiment. In Fig. 6, three suction units 201A, 201G, and 201I are selected. Note that although the depiction of the other suction units 201 is omitted, in reality, nine suction units 201A to 201I exist, as shown in Fig. 4.

[0023] The unnecessary film 70a has a rectangular shape, and its corners need to be sucked. Therefore, suction portion 201I at the center of the circle and suction portions 201A and 201G located at a 90-degree angle from the center of the circle are selected. These suction portions 210 are operated to suck the corners of film 701a. Suction portion 201I corresponds to the point of application when a rotational movement is performed, and suction portions 201A and 201G correspond to the fulcrums when a rotational movement is performed.

[0024] 7 is an explanatory diagram of a rotation operation according to one embodiment, and is a side view seen from direction 601 in FIG. 6. With suction units 201A and 201G, which serve as fulcrums, in a state where they are on the ground (i.e., in a state where they are in contact with film 70a), suction device 20 is rotated in direction 701. As a result, suction unit 201I, which serves as the point of action, moves in direction 701 while suctioning film 70a, thereby performing a rotation operation. As a result, film 70a is peeled off.

[0025] The suction portions 201 to be selected are not limited to the three suction portions shown in FIG. 6. For example, if the shape of the film 70a has an acute angle, suction portions 201A, 201E, and 201H may be selected to match the shape of the film 70a, as shown in FIG. 8. If the area of ​​the film 70a is small and the shape has an acute angle, suction portions 201I, 201B, and 201C may be selected to match the shape of the film 70a, as shown in FIG. 8. If the area of ​​the film 70a is large and the shape has a 90-degree corner as shown in FIG. 6, suction portions 201A, 201C, and 201E may be selected as shown in FIG. 10. The selection of suction portions is not limited to these, and an appropriate suction portion may be selected depending on the shape of the film 70a, such as suction portions 201B, 201E, and 201H as shown in FIG. 11.

[0026] Furthermore, the number of suction portions to be selected is not limited to three, and additional suction portions may be selected as long as the rotational movement of suction device 20 is not hindered. For example, a linear suction portion connecting the positions of two suction portions serving as fulcrums may be selected. Specifically, suction portion 201E may be selected as the point of application, and suction portions 201C, 201I, and 201G located in a linear fashion may be selected as fulcrums. This allows film 70a to be more firmly suctioned without hindering the rotational movement of suction device 20. Furthermore, the number of suction portions to be selected is not limited to three or more, and two suction portions may be selected. Film 70a may be peeled off by rotating the suction device around one fulcrum and the other fulcrum, with one fulcrum as the point of application.

[0027] <Control device configuration> Next, a configuration example of the control device 10 according to one embodiment will be described with reference to Fig. 12. The control device 10 includes a control unit 1201, a suction control unit 1202, a rotation control unit 1203, an actuator control unit 1204, a vacuum control unit 1205, and a selection unit 1206.

[0028] The control unit 1201 controls various operations of the control device 10. The control unit 1201 is one or more CPUs (Central Processing Units), and can control various operations of the control device 10 by reading and executing computer programs from one or more memories. The suction control unit 1202 controls the arm units 11 to 13 to move the suction device 20, and under the control of the vacuum control unit 1205, controls the selected plurality of suction units 201 to perform the suction operation. The rotation control unit 1203 performs a rotation operation of the object (e.g., film 70) on which the suction operation has been performed. This rotation operation causes the object to be peeled off.

[0029] The actuator control unit 1204 controls the actuator 24 based on the detection result of the pressure sensor 27 to change the position of the rod-shaped member 22. The actuator control unit 1204 can change the position of the rod-shaped member 22 individually for each suction unit 201. When a pressure sensor 27 detects a pressure equal to or greater than a threshold, the actuator control unit 1204 changes the position of the rod-shaped member 22 so that the suction pad 21 corresponding to that pressure sensor 27 moves in a direction away from the target object.

[0030] The vacuum control unit 1205 controls the vacuum pump 30. The vacuum control unit 1205 controls the vacuum pump 30 to suck air inside the suction pad 21 that has come into contact with the object. As a result, the suction pad 21 adheres to the object. When the vacuum control unit 1205 moves the adsorbed object and places it in a collection box for the object, the vacuum control unit 1205 releases the adsorption state by releasing the suction by the vacuum pump 30 or by sending air from the vacuum pump 30 side to the suction pad 21 side. When an ejector is used instead of the vacuum pump 30, the vacuum control unit 1205 controls the ejector to suck air inside the suction pad 21 or release the suction.

[0031] The selection unit 1206 selects a plurality of suction units 201 that perform the suction operation of the target object from the plurality of suction units 201. The selection unit 1206 selects a plurality of suction units that perform the suction operation of the target object by blocking a portion of the flow path connected to each suction pad 21. By controlling the opening and closing of each valve 513 shown in FIG. 5, it is possible to block a portion of the flow path connected to each suction pad 21.

[0032] <Processing> The procedure of the process performed by the peeling device according to one embodiment will be described with reference to the flowchart in Fig. 13. In S1301, the selection unit 1206 selects a plurality of suction units from the plurality of suction units 201A to 201I that will perform the suction operation of the film 70. Here, it is assumed that three suction units, 201A, 201I, and 201G, have been selected, as shown in Fig. 6. The three selected here may be three units designated based on an input from the user to the control device 10, or may be three suction units automatically selected according to the shape of the object (film 70) based on an image of the object captured using a camera (not shown).

[0033] In S1302, the suction control unit 1202 controls the arm units 11 to 13 to move the suction device 20 and bring it into contact with the target object (film 70). Then, under the control of the vacuum pump 30 by the vacuum control unit 1205, the suction control unit 1202 controls the three selected suction units 201A, 201I, and 201G to perform a suction operation to suction the target object (film 70).

[0034] In S1303, the rotation control unit 1203 performs a rotation operation of the object (film 70) on which the adsorption operation has been performed. For example, the adsorption device 20 is rotated as shown in FIG. 7, with the adsorption units 201A and 201G serving as the fulcrums as reference points. As a result, the adsorption unit 201I, serving as the point of action, moves in a direction away from the attachment object (platform 40) to which the object is attached, while adsorbing the object (film 70). This allows the rotation operation to be performed.

[0035] In S1304, the suction control unit 1202 controls the arm units 11-13 to move the suction device 20 and transport the peeled object (film 70) to the object recovery box. After transport, the vacuum pump 30 is controlled to release the suction, thereby placing the peeled object (film 70) into the recovery box. By repeating the above operations, the desired object can be adsorbed and peeled off. This completes the processing of FIG. 13.

[0036] As described above, in this embodiment, a suction unit to be used is selected from the plurality of suction units provided in the suction device, and the rotation operation is performed using the selected suction unit. This allows the rotation operation to be performed using the suction unit in a position suitable for peeling depending on the shape of the object, making it possible to provide an adaptive peeling device that can peel an object regardless of its shape.

[0037] <Other embodiments> Furthermore, a program for realizing one or more functions described in each embodiment can be supplied to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device can read and execute the program. The present invention can also be realized in such an embodiment.

[0038] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0039] 1: peeling device, 10: control device, 20: adsorption device, 21: suction pad, 22: rod-shaped member, 23: support member, 24: actuator, 25: support member, 26: rotating part, 27: pressure sensor, 30: vacuum pump, 40: mounting table, 50: jig, 60: workpiece, 70: film, 201: suction part

Claims

1. A peeling device for peeling an object, a plurality of suction means capable of suctioning the object; a selection means for selecting a plurality of suction means that perform the suction operation of the object from the plurality of suction means; suction control means for causing the plurality of suction means selected by the selection means to perform the suction operation; a rotation control means for rotating the object on which the adsorption operation has been performed; A peeling device comprising:

2. 2. The peeling device according to claim 1, wherein the plurality of suction means are arranged on the circumference of a circle.

3. 3. The peeling device according to claim 2, wherein the plurality of suction means are arranged at predetermined intervals on the circumference of the circle.

4. 2. The peeling device according to claim 1, wherein the plurality of suction means are arranged at a plurality of positions on the circumference of a circle and at a center position of the circle.

5. the selection means selects a first suction means, a second suction means, and a third suction means from the plurality of suction means; the first suction means corresponds to a point of action when the rotational movement is performed, 2. The peeling device according to claim 1, wherein the second suction means and the third suction means correspond to fulcrums when the rotational movement is performed.

6. Each of the plurality of adsorption means A rod-shaped member; a suction pad disposed at an end of the rod-shaped member; an actuator capable of driving the rod-shaped member to change the position of the rod-shaped member in the adsorption direction; The peeling device according to claim 1 , further comprising:

7. further comprising actuator control means for controlling each actuator; Each of the plurality of suction means further includes a sensor; 7. The peeling apparatus according to claim 6, wherein the actuator control means controls the actuator based on the detection result of the sensor to change the position of the rod-shaped member.

8. 8. The peeling device according to claim 7, wherein the actuator control means, when the sensor detects a pressure equal to or greater than a threshold value, changes the position of the rod-shaped member so that the suction pad corresponding to the sensor moves in a direction away from the object.

9. 7. The peeling device according to claim 6, wherein the actuator is an air cylinder.

10. Further comprising a vacuum control means for controlling the vacuum pump or the ejector, Each of the plurality of suction means includes a suction pad, Each suction pad is connected to the vacuum pump or the ejector via a corresponding flow path, 2. The peeling device according to claim 1, wherein the vacuum control means controls the vacuum pump or the ejector so as to suck air from inside the suction pad that is in contact with the object, thereby causing the suction pad to adhere to the object.

11. 2. The peeling apparatus according to claim 1, wherein the selection means selects a plurality of suction means for performing the suction operation of the object by blocking a part of a flow path connected to each suction pad.

12. The peeling device according to claim 1 , wherein the object is an end piece of a film attached to a workpiece.

13. A control method for a peeling device that includes a plurality of suction means capable of suctioning an object and peels off the object, comprising: a selection step of selecting a plurality of suction means that will perform a suction operation on the object from the plurality of suction means; a suction control step of causing the plurality of suction means selected in the selection step to perform the suction operation; a rotation control step of performing a rotation operation of the object on which the adsorption operation has been performed; A method for controlling a peeling device, comprising:

14. A program for causing a computer to execute the method for controlling a peeling device according to claim 13.

Images