Holding device and robotic system

Abstract

This invention provides a device for holding exterior panels, etc., which contributes to the miniaturization of work equipment used for working on the exterior panels of aircraft. [Solution] The holding device is a holding device for an aircraft exterior panel, comprising: a holding base having an arc-shaped curved portion and holding the exterior panel along the curved portion; a base supporting the holding base so that the holding base moves in the arc direction along the curved portion of the holding base; and at least one actuator for moving the holding base in the arc direction.

Description

Technical Field

[0001] The present disclosure relates to a holding device for holding an aircraft exterior panel and a robot system.

Background Art

[0002] For example, Patent Document 1 discloses a system for manufacturing an aircraft fuselage section on a mandrel. A set of robot arms and end effectors arranged on both sides of an arcuate mandrel places an object such as an outer panel layer on the mandrel.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the aircraft fuselage section manufactured on the mandrel is large, the robot arms used in the manufacturing also need to be large, and thus the system becomes large-sized.

[0005] Therefore, an aspect of the present disclosure aims to provide a holding device for an exterior panel and a robot system that contribute to miniaturization of a working device for working on an aircraft exterior panel.

[0006] A holding device according to an aspect of the present disclosure is a holding device for an aircraft exterior panel, comprising: a holding table having a curved portion curved in an arc shape and holding the exterior panel along the curved portion; a base supporting the holding table so that the holding table moves in an arc direction along the curved portion of the holding table; and at least one actuator for moving the holding table in the arc direction.

Brief Description of the Drawings

[0007] [Figure 1] Figure 1 is a perspective view showing an example of the configuration of a holding device according to an exemplary embodiment. [Figure 2] Figure 2 is a perspective view showing an example of the configuration of the holding base of the holding device shown in Figure 1. [Figure 3] Figure 3 is a perspective view showing the structure for moving the support base shown in Figure 1. [Figure 4] Figure 4 is a side view of the holding device shown in Figure 1. [Figure 5] Figure 5 is a plan view of the holding device shown in Figure 1. [Figure 6] Figure 6 is a perspective view showing an example of the configuration of the first and second gears of the holding device shown in Figure 1. [Figure 7] Figure 7 is a block diagram showing an example of the processing steps of a control circuit according to an embodiment. [Figure 8] Figure 8 is a plan view showing an example of the configuration of a robot system according to this embodiment. [Figure 9] Figure 9 is a side view of the robot system shown in Figure 1. [Figure 10] Figure 10 is a flowchart showing an example of the operation flow of a robot system according to the embodiment. [Figure 11] Figure 11 is a perspective view showing an example of the configuration of a holding device according to a modified example. [Figure 12] Figure 12 is a perspective view showing the configuration of the second gear and engaging member of the retaining device shown in Figure 11. [Figure 13] Figure 13 is a cross-sectional side view of the holding device shown in Figure 11. [Modes for carrying out the invention]

[0008] Illustrative embodiments of the present disclosure are described below with reference to the drawings. The embodiments described below are either comprehensive or specific examples. Components in the following embodiments that are not described in the independent claim representing the highest-level concept are described as optional components. The figures in the accompanying drawings are schematic and not strictly illustrative. In each figure, substantially identical components are denoted by the same reference numerals, and redundant descriptions may be omitted or simplified.

[0009] An exemplary embodiment of a holding device 100 is described. The holding device 100 has a structure for movably holding an aircraft panel. The holding device 100 is used in the processing of exterior panels in the aircraft manufacturing process. Although not limited to this, the holding device 100 is used in the process of drilling a number of holes in the exterior panel. The holes in the exterior panel are used for rivet fastening for attaching the exterior panel to the aircraft frame, joining exterior panels together, or attaching accessories to the exterior panel. The exterior panel is a plate-shaped member that is curved in an arc shape.

[0010] Figure 1 is a perspective view showing an example of the configuration of a holding device 100 according to an exemplary embodiment. As shown in Figure 1, the holding device 100 comprises a holding base 110, a base 120, and one or more actuators 130. The holding base 110 holds the arc-shaped curved exterior panel 1. The base 120 movably supports the holding base 110. One or more actuators 130 move the holding base 110 relative to the base 120.

[0011] The holding device 100 includes a drive structure 140 that transmits power from one or more actuators 130 to the holding base 110. The holding device 100 includes a position detection device 150 that detects information regarding the position of the holding base 110 relative to the base 120. The holding device 100 includes a control circuit 160 that controls the operation of one or more actuators 130 based on the detection results of the position detection device 150.

[0012] FIG. 2 is a perspective view showing an example of the configuration of the holding table 110 of the holding device 100 in FIG. 1. As shown in FIG. 2, the holding table 110 has a structure for holding the outer panel 1 curved in an arc shape. The holding table 110 has a curved portion 111 curved in an arc shape. The curved portion 111 extends along a curved surface 111a curved in an arc shape. The curved surface 111a has a shape following the outer panel 1 and is, in this embodiment, a part of a cylindrical surface or an elliptical cylindrical surface. The curved portion 111 and the curved surface 111a are curved in an arc shape along the arc direction DA. The arc direction DA is the circumferential direction of the cylindrical surface or the elliptical cylindrical surface centered on the axis of the cylindrical surface or the elliptical cylindrical surface. The arc direction DA includes a first arc direction DA1 and a second arc direction DA2 that are opposite to each other.

[0013] In this specification and the claims, when distinguishing between the two arc directions DA1 and DA2, expressions such as "first arc direction" and "second arc direction" are used, and when not distinguishing between the two arc directions DA1 and DA2, the expression "arc direction" is used.

[0014] The curved portion 111 and the curved surface 111a extend along the straight line L in a direction orthogonal to the arc direction DA. The curved portion 111 and the curved surface 111a have a shape including the straight line L on the curved portion 111 and the curved surface 111a. The straight line L is a straight line along the axis of the curved surface 111a, for example, a straight line parallel to the axis of the curved surface 111a. For example, the region where the curved portion 111 extends in the arc direction DA is preferably a region with a rotation angle of 180° or less in the rotation direction centered on the axis of the curved surface 111a, and in this embodiment, it is a region with a rotation angle of 90° or less.

[0015] The holding table 110 has end portions 112 and 113 located at both ends in the direction X along the axis of the curved surface 111a and the straight line L.

[0016] As shown in FIG. 1, the exterior panel 1 is oriented such that the curved shape of the exterior panel 1 aligns with the curved shape of the curved portion 111, is disposed on the curved portion 111, and is fixed to the holding base 110 by a fastening member such as a screw. Thus, the holding base 110 holds the exterior panel 1 along the curved portion 111.

[0017] In the present embodiment, the exterior panel 1 is drilled. When drilling, the tip of the drill penetrates the exterior panel 1 and protrudes toward the holding base 110. Therefore, as shown in FIG. 2, the holding base 110 has a number of depressions 114 in the curved portion 111. The holding base 110 includes a plate-like base portion 115 and a plurality of plate-like ribs 116. The plurality of ribs 116 protrude from the surface of the base portion 115 and extend in a lattice pattern along the surface of the base portion 115. The distal edges of the plurality of ribs 116 located distally with respect to the base portion 115 extend along the curved surface 111a. The distal edges of the plurality of ribs 116 extend so as to form the curved surface 111a. A plurality of depressions 114 are formed between the lattices of the plurality of ribs 116.

[0018] As shown in FIG. 1, the base 120 supports the holding base 110 so that the holding base 110 moves in the arc direction DA along the curved portion 111. The base 120 includes a support base 121, side walls 122 and 123, and a connecting wall 124.

[0019] The support base 121 supports the side walls 122 and 123 and the connecting wall 124 from below. In the present embodiment, the support base 121 has a structure that is placed on a support surface such as a floor surface. The support base 121 may have a structure that is movable on a support surface such as a floor surface, and for example, may be provided with one or more wheels. The side walls 122 and 123 rise from both ends of the support base 121 in the directions D1 and D2 and are fixed to the support base 121. The side walls 122 and 123 are positioned opposite to each other in the directions D1 and D2. The directions D1 and D2 are directions in which the support base 121 extends along the support surface, and are opposite to each other. The directions D3 and D4 are directions in which the support base 121 extends along the support surface, are perpendicular to the directions D1 and D2, and are opposite to each other.

[0020] The support base 110 is connected to the support base 121 such that the axes of the straight line L and curved surface 111a of the support base 110 are aligned with directions D1 and D2. The end 112 of the support base 110 is movably connected to the side wall 122. The end 113 of the support base 110 is movably connected to the side wall 123. Directions D1 and D2 are parallel to or substantially parallel to direction X. In this embodiment, the side wall 122 is located outward from the end 112 in directions D1 and D2. The side wall 123 is located outward from the end 113 in directions D1 and D2.

[0021] The connecting wall 124 is located between the side walls 122 and 123 in directions D1 and D2, connecting the side walls 122 and 123 to each other. The connecting wall 124 reinforces the side walls 122 and 123.

[0022] The base 120 includes a guide 125 that guides the movement of the support base 110 in the arc direction DA. In this embodiment, the base 120 includes two guides 125a and 125b as the guide 125. The guides 125a and 125b are fixed to the base 120 at positions corresponding to the ends 112 and 113 of the support base 110, respectively. The positions corresponding to the ends 112 and 113 of the support base 110 include, for example, positions near the ends 112 and 113. In this embodiment, the guide 125a is fixed to the side wall 122, and the guide 125b is fixed to the side wall 123. The guides 125a and 125b are positioned opposite each other in directions D1 and D2.

[0023] Figure 3 is a perspective view showing the structure for moving the holder 110 of Figure 1. As shown in Figure 3, in this embodiment, the guides 125a and 125b include arc-shaped rails extending along the arc direction DA. The guides 125a and 125b have the same shape and size as each other. Guide 125a protrudes in direction D2 from side wall 122 toward side wall 123, and guide 125b protrudes in direction D1 from side wall 123 toward side wall 122. For example, the region in which the guides 125a and 125b extend is preferably a region with a rotation angle of 180° or less in the rotational direction around the axis of the arc along which the guides 125a and 125b follow, and in this embodiment, it is a region of 90° or less. This suppresses the increase in the height of the guides 125a and 125b, thus suppressing the increase in the height of the base 120, and making it possible to miniaturize the holder device 100.

[0024] The retaining base 110 includes one or more engaging portions 117a at end 112 and one or more engaging portions 117b at end 113. In this embodiment, the retaining base 110 includes a plurality of engaging portions 117a and a plurality of engaging portions 117b. In this embodiment, the retaining base 110 includes three engaging portions 117a and 117b, respectively. In this embodiment, but not limited to, the engaging portions 117a and 117b are block members that are movable along guides 125a and 125b and are constrained by guides 125a and 125b in directions other than along guides 125a and 125b, respectively. The engaging portions 117a and 117b are fixed to the retaining base 110.

[0025] The three engaging portions 117a engage with the guide 125a so as to be slidable in the arc direction DA. In this embodiment, the three engaging portions 117a engage with the guide 125a from the downstream side in direction D1. The three engaging portions 117b engage with the guide 125b so as to be slidable in the arc direction DA. In this embodiment, the three engaging portions 117b engage with the guide 125b from the upstream side in direction D1. The engaging portions 117a may include bearings such as ball bearings and engage with the guide 125a via the bearings. This allows the engaging portions 117a to slide smoothly along the guide 125a. The engaging portions 117b may include bearings such as ball bearings and engage with the guide 125b via the bearings. This allows the engaging portions 117b to slide smoothly along the guide 125b.

[0026] The support base 110 is supported on the base 120 so as to be movable in the arc direction DA via engaging portions 117a and 117b and guides 125a and 125b. The support base 110 is supported at multiple points by multiple engaging portions 117a at end 112 and at multiple points by multiple engaging portions 117b at end 113, so that it is stable both when stationary and when sliding.

[0027] The arc length DA of the support base 110 is smaller than the arc length DA of the guides 125a and 125b. This allows the support base 110 to move along the guides 125a and 125b to change its position and orientation.

[0028] Figure 4 is a side view of the retaining device 100 of Figure 1, and shows the retaining device 100 viewed from direction D2. As shown in Figure 4, the retaining base 110 includes a first end and a second end located opposite to the first end in the arc direction DA. The first end includes a side portion 118. The second end includes a side portion 119. In this embodiment, when the retaining base 110 is moved to its maximum extent in the first arc direction DA1, the side portion 118 of the retaining base 110 is located in the first arc direction DA1 relative to plane P. Plane P extends vertically through the midpoints of both ends of guide 125a and the midpoints of both ends of guide 125b in the arc direction DA. If the curved surface 111a includes a portion of a cylindrical surface, plane P may include the axis of the cylindrical surface containing the curved surface 111a. In this embodiment, when the support base 110 is moved most far in the second arc direction DA2, the side portion 119 of the support base 110 is located in the second arc direction DA2 relative to the plane P. When the support base 110 is moved most far in the first arc direction DA1, the side portion 118 of the support base 110 may be located in the second arc direction DA2 relative to the plane P. When the support base 110 is moved most far in the second arc direction DA2, the side portion 119 of the support base 110 may be located in the first arc direction DA1 relative to the plane P.

[0029] One or more actuators 130 are connected to a drive structure 140. The power generated by the actuators 130 causes the support base 110 to move in the arc direction DA via the drive structure 140. One or more actuators 130 are positioned on the support base 110 or the base 120. In this embodiment, one or more actuators 130 are positioned on the support base 110. One or more actuators 130 may be positioned on the base 120, or on both the support base 110 and the base 120.

[0030] The actuator 130 is an electric motor that converts electrical energy into mechanical energy. In this embodiment, the actuator 130 includes an electric motor, which is a rotary motor that converts electrical energy into mechanical rotational energy. The electric motor includes a servo motor. The actuator 130 as a servo motor includes a rotation sensor that detects the rotational position of the rotation axis of the servo motor. The actuator 130 as a servo motor receives control of the rotational position of the rotation axis based on the detection result of the rotation sensor. The rotation sensor includes, for example, an encoder.

[0031] Figure 5 is a plan view of the holding device 100 of Figure 1. As shown in Figure 5, in this embodiment, the holding device 100 comprises one or more actuators 130, specifically four actuators 130a, 130b, 130c, and 130d. Actuators 130a to 130d are fixed to the holding base 110. Actuators 130a and 130b are positioned at an interval from each other in the arc direction DA at the end 112 of the holding base 110. Actuators 130c and 130d are positioned at an interval from each other in the arc direction DA at the end 113 of the holding base 110.

[0032] The drive structure 140 includes one or more first gears 141 and one or more second gears 142. The first gear 141 is located on the retaining base 110 and the second gear 142 is located on the base 120, or the first gear 141 is located on the base 120 and the second gear 142 is located on the retaining base 110. In this embodiment, the first gear 141 is located on the retaining base 110 and the second gear 142 is located on the base 120. The second gear 142 is fixed to the base 120. The first gear 141 is connected to an actuator 130 and rotated by the actuator 130. In this embodiment, but not limited to, the first gear 141 is connected to the rotation axis of the actuator 130 directly or via a power transmission such as a reduction gear. The number of first gears 141 is the same as the number of actuators 130.

[0033] The first gear 141 includes a plurality of gear teeth 143 arranged in an annular shape around the rotation axis of the actuator 130. The second gear 142 includes a plurality of gear teeth 144 arranged in an arc direction DA. The plurality of gear teeth 143 are examples of the first gear teeth, and the plurality of gear teeth 144 are examples of the second gear teeth. The plurality of gear teeth 143 can gear-engage with the plurality of gear teeth 144.

[0034] The drive structure 140 includes, as a first gear 141, a first gear 141a connected to the rotation axis of actuator 130a, a first gear 141b connected to the rotation axis of actuator 130b, a first gear 141c connected to the rotation axis of actuator 130c, and a first gear 141d connected to the rotation axis of actuator 130d. The first gears 141a and 141b are located in direction D1 from the end 112 of the retaining base 110, and the first gears 141c and 141d are located in direction D2 from the end 113 of the retaining base 110. The drive structure 140 includes, as a second gear 142, two second gears 142a and 142b. The second gear 142a is fixed to the side wall 122 of the base 120 and is located in a position corresponding to the end 112 of the retaining base 110. The second gear 142a is located, for example, near the end 112. The second gear 142b is fixed to the side wall 123 of the base 120 and is located in a position corresponding to the end 113 of the retaining base 110. The second gear 142b is located, for example, near the end 113.

[0035] The first gear 141a engages with the second gear 142a via gear teeth 143 and 144. The first gear 141b engages with the second gear 142a via gear teeth 143 and 144. The first gear 141c engages with the second gear 142b via gear teeth 143 and 144. The first gear 141d engages with the second gear 142b via gear teeth 143 and 144.

[0036] In this embodiment, both the structure including first gears 141a and 141b and second gear 142a, and the structure including first gears 141c and 141d and second gear 142b, are rack and pinion structures. The first gears 141a to 141d are each cylindrical gears having a plurality of gear teeth 143 on their outer circumference and function as pinions. The second gears 142a and 142b are each arc-shaped rod-shaped or plate-shaped members having a plurality of gear teeth 144 on their outer edge and function as racks.

[0037] The first gears 141a and 141b are located radially outward from the axis of the curved surface 111a relative to the second gear 142a, and engage with the second gear 142a from the radially outward direction. The first gears 141a and 141b are rotated by actuators 130a and 130b, respectively, and roll on the outer edge of the second gear 142a. The first gears 141c and 141d are located radially outward from the axis of the curved surface 111a relative to the second gear 142b, and engage with the second gear 142b from the radially outward direction. The first gears 141c and 141d are rotated by actuators 130c and 130d, respectively, and roll on the outer edge of the second gear 142b. As a result, the holder 110 slides in the first arc direction DA1 and the second arc direction DA2.

[0038] The length of the multiple gear teeth 144 of the second gear 142a extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 144 of the second gear 142a to maintain engagement with the gear teeth 143 of the first gears 141a and 141b even when the retaining base 110 moves across a preset range within its movable range. The length of the multiple gear teeth 144 of the second gear 142b extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 144 of the second gear 142b to maintain engagement with the gear teeth 143 of the first gears 141c and 141d even when the retaining base 110 moves across a preset range within its movable range. The movable range of the retaining base 110 is the range in which the retaining base 110 can move along the guides 125a and 125b in the arc directions DA1 and DA2. Therefore, actuators 130a to 130d can move the holding base 110 over a set range. For example, the set range may include the entire movable range.

[0039] The end 112 of the support base 110 is moved by actuators 130a and 130b, and the end 113 of the support base 110 is moved by actuators 130c and 130d. Therefore, the sliding movement of the support base 110 is stable. Furthermore, since the load for the sliding movement of the support base 110 is distributed from actuators 130a to 130d, it is possible to miniaturize and reduce the power output of actuators 130a to 130d.

[0040] As shown in Figure 3, in this embodiment, the arc-shaped axis along which the arrangement of gear teeth 144 of the second gear 142a follows and the arc-shaped axis along which the guide 125a follows are coaxial. The arc-shaped axis along which the arrangement of gear teeth 144 of the second gear 142b follows and the arc-shaped axis along which the guide 125b follows are coaxial. Therefore, the retaining base 110 moves smoothly in the first arc direction DA1 or the second arc direction DA2. Furthermore, the diameter of the arc along which the arrangement of gear teeth 144 of the second gear 142a follows is larger than the diameter of the arc along which the guide 125a follows, and the diameter of the arc along which the arrangement of gear teeth 144 of the second gear 142b follows is larger than the diameter of the arc along which the guide 125b follows. Therefore, the number of teeth on the gear teeth 144 of the second gears 142a and 142b can be increased, enabling precise movement of the retaining base 110.

[0041] Figure 6 is a perspective view showing an example of the configuration of the first gear 141a and the second gear 142a of the retaining device 100 of Figure 1. In this embodiment, the first gear 141a includes a plurality of pins 143a that function as a plurality of gear teeth 143, although this is not limited to the configuration shown in Figure 6. The structure of the first gears 141b to 141d is the same as the structure of the first gear 141a. The structure of the second gear 142b is the same as the structure of the second gear 142a. For this reason, the structure of the first gear 141a and the second gear 142a will be described, and the structure of the first gears 141b to 141d and the structure of the second gear 142b will not be described.

[0042] Each of the multiple pins 143a has a cylindrical shape. The first gear 141a includes support plates 145a and 145b that support the multiple pins 143a. The support plates 145a and 145b are positioned opposite each other. The support plate 145a rotatably supports one end of the multiple pins 143a around its axis. The support plate 145a may include multiple bearings 143b that support each end of the multiple pins 143a. The support plate 145b rotatably supports the other end of the multiple pins 143a around its axis. The support plate 145b may include multiple bearings 143b that support each end of the multiple pins 143a. The multiple pins 143a extend parallel to each other and perpendicular to the support plates 145a and 145b. The multiple pins 143a are arranged in an annular shape on the support plates 145a and 145b.

[0043] The tooth roots 144a between the gear teeth 144 of the second gear 142a are rounded so as to form part of a cylindrical surface. The tooth roots 144a have a shape and size that allows the outer surface of the pin 143a to fit.

[0044] The pin 143a of the first gear 141a engages with the second gear 142a by fitting into the tooth root 144a between the gear teeth 144 of the second gear 142a, and the tooth tips of the gear teeth 144 of the second gear 142a fit into the gap between the pins 143a.

[0045] The multiple pins 143a and multiple gear teeth 144 may be arranged such that, during gear engagement, two or more pins 143a are always in contact with one or more gear teeth 144. This reduces backlash between the first gear 141a and the second gear 142a.

[0046] Furthermore, a preload may be applied to the first gear 141a, pressing the pin 143a of the first gear 141a against the gear teeth 144 of the second gear 142a. This suppresses backlash. Even with the preload applied, when the first gear 141a rotates, the pin 143a rolls along the gear teeth 144 and tooth roots 144a around its axis. As a result, the transmission of force from the first gear 141a to the second gear 142a, and the operation of the first gear 141a and the second gear 142a are smooth.

[0047] As shown in Figure 1, the position detection device 150 includes an engaging member 151, a rotating body 152, and a rotation sensor 153. The engaging member 151 is a member extending in the arc direction DA. The rotating body 152 engages with the engaging member 151 so as to roll in the arc direction DA. The rotation sensor 153 detects the amount of rotation of the rolling rotating body 152. Examples of rotation sensors 153 may include mechanical, optical, magnetic, or electromagnetic induction encoders, electromagnetic pickup type rotation sensors, ferromagnetic magnetoresistive (AMR) rotation sensors, and Hall IC type rotation sensors. In this embodiment, the rotation sensor 153 is an encoder and detects the rotation position, which is the rotation angle of the rotating body 152. The rotation sensor 153 is electrically connected to the control circuit 160 to send a signal indicating the detection result to the control circuit 160.

[0048] In this embodiment, the rotating body 152 and the rotation sensor 153 are located on the holder 110 and the engaging member 151 is located on the base 120, or the rotating body 152 and the rotation sensor 153 are located on the base 120 and the engaging member 151 is located on the holder 110. In this embodiment, the rotating body 152 and the rotation sensor 153 are located on the holder 110 together with the actuator 130, and the engaging member 151 is located on the base 120 together with the second gear 142. The rotating body 152 and the rotation sensor 153 are located at the end 112 of the holder 110, between the actuators 130a and 103b. The rotating body 152 is mounted on the holder 110 so as to be rotatable about its axis of rotation. The engaging member 151 is fixed to the base 120.

[0049] In this embodiment, the rotating body 152 has a structure similar to that of the first gear 141, but is not limited to this embodiment, as shown in Figure 5. The rotating body 152 includes a plurality of gear teeth 152a arranged in an annular shape around the axis of rotation of the rotating body 152. The rotating body 152 may include a plurality of pins as a plurality of gear teeth 152a, similar to the plurality of pins 143a of the first gear 141. The engaging member 151, similar to the second gear 142, includes a plurality of gear teeth 151a arranged in the arc direction DA on its outer peripheral edge extending in the arc direction DA. The rotating body 152 is located radially outward from the engaging member 151, centered on the axis of the curved surface 111a, and gear-engages with the engaging member 151 from the radially outward side via the gear teeth 152a and 151a. Gear teeth 152a are an example of third gear teeth, and gear teeth 151a are an example of fourth gear teeth.

[0050] The structure, including the rotating body 152 and the engaging member 151, is a rack and pinion structure. The rotating body 152 is a cylindrical gear having a plurality of gear teeth 152a on its outer circumference and functions as a pinion. The engaging member 151 is a rod-shaped or plate-shaped member curved in an arc shape, having a plurality of gear teeth 151a on its outer edge and functions as a rack.

[0051] When the retaining base 110 slides in the first arc direction DA1, the rotating body 152 rolls along the outer edge of the engaging member 151 in the first arc direction DA1. When the retaining base 110 slides in the second arc direction DA2, the rotating body 152 rolls along the outer edge of the engaging member 151 in the second arc direction DA2. The rotation sensor 153 can detect the direction and amount of movement of the retaining base 110 based on the rotation direction and amount of rotation of the rotating body 152.

[0052] The length of the multiple gear teeth 151a of the engaging member 151 extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 151a to maintain engagement with the gear teeth 152a of the rotating body 152 even when the holder 110 moves within a set range of its movable range. As a result, the rotating body 152 can roll in accordance with the movement of the holder 110 throughout the entire set range. Therefore, the rotation sensor 153 can detect the direction and amount of movement of the holder 110 as it moves within the set range.

[0053] In this embodiment, the arc shape along which the arrangement of multiple gear teeth 151a of the engaging member 151 follows the arc shape along which the arrangement of multiple gear teeth 144 of the second gear 142a follows. The axis of the arc shape along which the arrangement of multiple gear teeth 151a follows is coaxial with the axis of the arc shape along which the arrangement of multiple gear teeth 144 follows. The size of the arc shape along which the arrangement of multiple gear teeth 151a follows is the same as the size of the arc shape along which the arrangement of multiple gear teeth 144 follows. When the holding device 100 is viewed from direction D2, the multiple gear teeth 151a, the multiple gear teeth 144, and the holding base 110 are in positions that overlap each other. Therefore, the rotation direction and amount of rotation of the rotating body 152 can indicate the direction and amount of movement of the holding base 110, and the direction and amount of movement of the holding base 110 indicated by the rotation direction and amount of rotation of the rotating body 152 are equivalent to the direction and amount of movement of the holding base 110 indicated by the rotation direction and amount of rotation of the first gears 141a and 141b.

[0054] The module of the gear teeth 144 of the second gears 142a and 142b is larger than the module of the gear teeth 151a of the engaging member 151. The module of the gear teeth 143 of the first gears 141a to 141d is the same as the module of gear teeth 144. The module of the gear teeth 152a of the rotating body 152 is the same as the module of gear teeth 151a.

[0055] The module is the value obtained by dividing the reference pitch of the gear teeth by pi. The reference pitch is the distance between gear teeth on a reference line, which is the line along which gear teeth mesh with each other. On the reference line, gear teeth that mesh with each other are in contact. Therefore, since the size and reference pitch of gear tooth 151a are smaller than those of gear tooth 144, the rotating body 152 rotates more precisely than the first gears 141a and 141b when the holder 110 moves in the arc direction DA. The rotation angle of the rotating body 152 reflects the amount of movement of the holder 110 with higher accuracy than the rotation angles of the first gears 141a and 141b. Therefore, it is possible to detect the direction and amount of movement of the holder 110 with high accuracy.

[0056] Since the module of the gear teeth 144 of the second gears 142a and 142b is larger than the module of the gear teeth 151a of the engaging member 151, the strength of the gear teeth 144 is greater than that of the gear teeth 151a. Furthermore, by setting the module of the second gears 142a and 142b to be larger, the durability of the gear teeth 144 against the loads received from actuators 130a to 130d can be improved.

[0057] The rotation sensor 153 detects the direction and amount of rotation of the rotating body 152. For example, the rotation sensor 153 detects the rotation angle of the rotating body 152. The rotation sensor 153 sends the detection result to the control circuit 160.

[0058] The control circuit 160 is configured to control actuators 130a to 130d based on the detection results of the rotation sensor 153 to move the holding base 110 to the target position. The control circuit 160 includes one or more processors P, such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and a memory M. The control circuit 160 includes one or more processing circuits, and the processors P and memory M function as components of the processing circuits.

[0059] Memory device M may include one or more memories, one or more storage devices, or both. An example of memory may include semiconductor memory. An example of storage may include semiconductor memory, hard disk drives (HDDs), and solid state drives (SSDs). An example of semiconductor memory may include volatile memory such as RAM (Random Access Memory) and non-volatile memory such as ROM (Read-Only Memory).

[0060] Some or all of the functions of the control circuit 160 may be realized by the CPU, as a processor P, executing a program recorded in ROM using RAM, as a memory M, as working memory. Some or all of the functions of the control circuit 160 may be realized by dedicated hardware circuits such as electronic circuits or integrated circuits. Some or all of the functions of the control circuit 160 may be realized by a combination of the above-mentioned software functions and hardware circuits. The multiple processes of this disclosure may be realized by one processing circuit of the control circuit 160, or by the cooperation of multiple processing circuits of the control circuit 160.

[0061] The control of actuators 130a to 130d by the control circuit 160 will be explained. The control circuit 160 controls the position of one of actuators 130a and 130b located at the end 112 of the holding base 110 and controls the torque of the other. The control circuit 160 controls the position of one of actuators 130c and 130d located at the end 113 of the holding base 110 and controls the torque of the other. In this embodiment, the control circuit 160 controls the position of actuators 130a and 130c and controls the torque of actuators 130b and 130d. Actuators 130a and 130c are located in the same arc direction as actuators 130b and 130d, i.e., in the first arc direction DA1.

[0062] Figure 7 is a block diagram showing an example of the processing steps of the control circuit 160 according to the embodiment. As shown in Figure 7, in the input step S1, the control circuit 160 receives a command for the target position of the holding base 110. Based on this command, the control circuit 160 determines a position command that commands the target position of the holding base 110 along the arc direction DA.

[0063] In the position deviation process S2, the control circuit 160 receives the detection result from the rotation sensor 153 as feedback information and detects the current position of the holding base 110 along the arc direction DA based on the detection result. The control circuit 160 calculates the position deviation obtained by subtracting the current position of the holding base 110 from the target position of the holding base 110 included in the position command.

[0064] In the position control step S3, the control circuit 160 determines a target speed to move the holding base 110 by a predetermined amount of positional deviation within a predetermined time. The target speed includes the magnitude of the target speed of the holding base 110 and the target direction of movement. The predetermined time may be set in advance and stored in the memory M, or it may be commanded in the input step S1. The control circuit 160 determines a target rotational speed that represents the magnitude of the target rotational speed and the direction of rotation of the rotation axes of the actuators 130a and 130c in order to achieve the target speed. The control circuit 160 determines a speed command that commands the target rotational speed.

[0065] In the differentiation step S4, the control circuit 160 acquires the rotational position of the rotational shafts of actuators 130a and 130c as feedback information from the rotational sensors of actuators 130a and 130c at predetermined sampling intervals. The control circuit 160 calculates a rotational speed value representing the magnitude and direction of rotational speed of the rotational shafts of actuators 130a and 130c by differentiating the rotational position at each sampling interval with respect to time. The rotational speed value corresponds to the movement speed of the holding base 110.

[0066] In the speed deviation process S5, the control circuit 160 calculates the speed deviation obtained by subtracting the current rotational speed calculated in the differentiation process S4 from the target rotational speed included in the speed command.

[0067] In the speed control process S6, the control circuit 160 determines the target torques of actuators 130a and 130c required to vary the rotational speed of the rotating shafts of actuators 130a and 130c by the speed deviation. The control circuit 160 determines the target current values ​​of actuators 130a and 130c that will achieve the target torques.

[0068] In the position control deviation process S7, the control circuit 160 receives information regarding the current values ​​applied to actuators 130a and 130c as feedback information from the electrical circuit that applies current to actuators 130a and 130c. The control circuit 160 may determine the applied current value from information representing the state of the components included in the electrical circuit, or it may obtain the applied current value from a current measuring circuit that may be included in the electrical circuit, or it may obtain the applied current value from a current sensor that may be included in the electrical circuit. The control circuit 160 calculates the current deviation obtained by subtracting the current values ​​currently applied to actuators 130a and 130c from the target current value.

[0069] In the first current control step S8, the control circuit 160 determines the voltage values ​​to be applied to actuators 130a and 130c in order to achieve the target current value, based on the current deviation obtained in the position control deviation step S7. The control circuit 160 generates the determined voltage values ​​in the electrical circuits of actuators 130a and 130c.

[0070] In the torque control deviation process S9, the control circuit 160 receives information regarding the current values ​​applied to actuators 130b and 130d as feedback information from the electrical circuit that applies current to actuators 130b and 130d. The control circuit 160 may also acquire information regarding the applied current values, similar to the electrical circuit that applies current to actuators 130a and 130c. The control circuit 160 calculates the current deviation obtained by subtracting the current values ​​currently applied to actuators 130b and 130d from the target current value.

[0071] In the second current control step S10, the control circuit 160 determines the voltage values ​​to be applied to actuators 130b and 130d in order to achieve the target current value, based on the current deviation obtained in the torque control deviation step S9. The control circuit 160 generates the determined voltage values ​​in the electrical circuits of actuators 130b and 130d.

[0072] Actuators 130a and 130c are positioned according to steps S1 to S8. In steps S1 to S8, the control circuit 160 controls the operation of actuators 130a and 130c so that the current rotational position of the rotation axis of actuators 130a and 130c reaches a target rotational position corresponding to the target position of the holding base 110.

[0073] Actuators 130b and 130d are torque-controlled by steps S9 and S10. In steps S9 and S10, the control circuit 160 controls the operation of actuators 130b and 130d to achieve a target torque determined by position control. As a result, actuators 130b and 130d generate torque that follows the operation of actuators 130a and 130c. The operation of actuators 130b and 130d does not interfere with the position control of actuators 130a and 130c.

[0074] An example of a system to which the holding device 100 according to this embodiment is applied will be described. In this embodiment, the holding device 100 is applied to a robot system 10 that performs processing work on an exterior panel 1. Figure 8 is a plan view showing an example of the configuration of the robot system 10 according to this embodiment. As shown in Figure 8, the robot system 10 comprises one or more holding devices 100, one or more robots 20, and one or more robot controllers 30. In this embodiment, the robot system 10 comprises one holding device 100, four robots 20, and one robot controller 30.

[0075] The robot controller 30 includes a control circuit 160. Some or all of the functions of the robot controller 30 may be implemented by the control circuit 160. The control circuit 160 is configured to synchronize the control of the four robots 20 and the holding device 100.

[0076] Each robot 20 is positioned to perform work on the exterior panel 1 held by the holding device 100. Two robots 20 are positioned at a distance of directional D3 relative to the holding device 100, and the other two robots 20 are positioned at a distance of directional D4 relative to the holding device 100.

[0077] Each robot 20 includes a traveling device 21, a robot arm 22, and an end effector 23. In this embodiment, the structure of the four robots 20 is the same. The traveling device 21 moves the robot 20 along a straight line L extending on the curved portion 111 of the holding base 110, i.e., in directions D1 and D2.

[0078] Figure 9 is a side view of the robot system 10 of Figure 1. As shown in Figure 9, the travel device 21 includes a plurality of wheels 21a and actuators 21b that drive the wheels 21a. The actuators 21b include electric motors that convert electrical energy into mechanical rotational energy, and in this embodiment include servo motors. The actuators 21b include a rotation sensor Ea, such as an encoder, that detects the rotational position of the rotation axis of the actuator 21b. The actuators 21b are controlled by a control circuit 160. The control circuit 160 is configured to control the position of the actuators 21b based on the detection results of the rotation sensor Ea so as to move the travel device 21 to a target position. The rotation sensor Ea is an example of a second position detection device.

[0079] The traveling device 21 moves along a rail R that extends along a straight line L using a plurality of wheels 21a. In this embodiment, two robots 20 located in direction D3 relative to the holding device 100 share one rail R located in direction D3 relative to the holding device 100, and two robots 20 located in direction D4 relative to the holding device 100 share one rail R located in direction D4 relative to the holding device 100.

[0080] The robot arm 22 is attached to the travel device 21. The robot arm 22 includes a plurality of joints JT. In this embodiment, the robot arm 22 includes six joints JT and six actuators 22a that drive the six joints JT. The six actuators 22a include electric motors and may include servo motors. Each of the six actuators 22a includes a rotation sensor, such as an encoder, that detects the rotational position of the rotation axis of the actuator 22a. The six actuators 22a are controlled by a control circuit 160. The control circuit 160 is configured to control the position of the six actuators 22a based on the detection results of the six rotation sensors so that the tip of the robot arm 22 moves to a target position and target orientation.

[0081] The end effector 23 is detachably attached to the tip of the robot arm 22. In this embodiment, the end effector 23 includes a drill 23a and an actuator 23b that drives the drill 23a. The actuator 23b includes an electric motor and may include a servo motor. The actuator 23b is controlled by a control circuit 160.

[0082] The control circuit 160 is configured to synchronize the operation of the travel device 21, robot arm 22, and end effector 23 of each robot 20 with the holding device 100. In this embodiment, the control circuit 160 is configured to perform autonomous control, operating the four robots 20 and the holding device 100 autonomously according to an automatic driving program stored in the memory M.

[0083] The autonomous driving program is a program that causes four robots 20 and a holding device 100 to autonomously perform predetermined tasks. The autonomous driving program uses target motion data for the four robots 20 and the holding device 100. The target motion data is pre-set and stored in a memory device M. The target motion data includes various target motions for performing the predetermined task, the execution order of the target motions, and the movement speed between target motions. The target motions include the target motions of the four robots 20 and the target motions of the holding device 100. The target motions of the robots 20 may include the target position and movement speed to the target position of the traveling device 21, the target position, target posture, and movement speed to the target position and target posture of the tip of the robot arm 22, and the target rotation speed of the drill 23a of the end effector 23. The target motions of the holding device 100 include the target position and movement speed to the target position of the holding base 110 along the arc direction DA. The target motion may be set as teaching points obtained through a teaching operation in which the four robots 20 and the holding device 100 are taught a task. Such target motion data is also called teaching data. Teaching points may include target position, target orientation, and speed of movement between teaching points.

[0084] An example of the operation of the robot system 10 according to the embodiment will be described. Figure 10 is a flowchart showing an example of the operation flow of the robot system 10 according to the embodiment. As shown in Figure 10, in step S101, when the control circuit 160 starts the automatic operation program, it moves the four robots 20 and the holding device 100 to their initial positions. For example, the initial position of the robot 20 may be such that the end effector 23 is located above the holding device 100 on or near the plane P shown in Figure 4, and the tip of the drill is pointing downward. The initial position of the holding device 100 may be such that the intermediate portions of the sides 118 and 119 of the holding base 110 are pointing upward. As a result, when viewed in the straight line L direction extending on the curved portion 111 of the holding base 110, the four end effectors 23 of the four robots 20 overlap in the straight line L direction.

[0085] In step S102, the control circuit 160 obtains information about the target operation to be performed from the target operation data stored in the memory M.

[0086] In step S103, the control circuit 160 proceeds to step S104 if the target operation includes the target operation of the holding base 110 in the arc direction DA, and proceeds to step S105 if the target operation does not include the target operation of the holding base 110.

[0087] In step S104, the control circuit 160 controls actuators 130a to 130d of the holding device 100 based on the target position of the holding base 110 and the speed at which it moves to the target position, thereby moving the holding base 110 to the target position. After step S104, the control circuit 160 proceeds to step S105.

[0088] In step S105, the control circuit 160 proceeds to step S106 if the target operation includes the target operation of the robot 20's travel device 21, and proceeds to step S107 if the target operation does not include the target operation of the travel device 21.

[0089] In step S106, the control circuit 160 controls the actuator 21b of the traveling device 21 based on the target position of the traveling device 21 and the speed at which it moves to the target position, thereby moving the traveling device 21 to the target position. After step S106, the control circuit 160 proceeds to step S107.

[0090] In step S107, the control circuit 160 proceeds to step S108 if the target operation includes the target operation of the robot arm 22 of the robot 20, and proceeds to step S109 if the target operation does not include the target operation of the robot arm 22.

[0091] In step S108, the control circuit 160 controls the actuator 22a of the robot arm 22 based on the target position, target orientation, and target movement speed of the tip of the robot arm 22, and moves the tip of the robot arm 22 to the target position and target orientation. In this example, the target movement of the robot arm 22 is to move the tip of the robot arm 22 downwards while maintaining the orientation of the tip of the robot arm 22 facing downwards. After step S108, the control circuit 160 proceeds to step S109.

[0092] In step S109, the control circuit 160 proceeds to step S110 if the target operation includes the target operation of the end effector 23 of the robot 20, and returns to step S102 if the target operation does not include the target operation of the end effector 23.

[0093] In step S110, the control circuit 160 controls the actuator 23b of the end effector 23 based on the target rotational speed of the drill 23a of the end effector 23, thereby rotating the drill 23a at the target rotational speed. After step S110, the control circuit 160 returns to step S102.

[0094] After performing at least part of steps S101 to S110, the control circuit 160 operates the holding device 100 and the traveling devices 21 of each robot 20 to position the end effectors 23 of each robot 20 horizontally relative to the exterior panel 1 on the holding device 100. The control circuit 160 operates the robot arms 22 of each robot 20 to position the end effectors 23 of each robot 20 vertically relative to the exterior panel 1 on the holding device 100, and the drills 23a of the end effectors 23 drill holes in the exterior panel 1 at predetermined locations.

[0095] A modified example of the embodiment will now be described. In this modified example, the arrangement of the actuator in the holding device differs from that of the embodiment. In the following, the differences between this modified example and the embodiment will be explained, and explanations of points that are the same as in the embodiment will be omitted as appropriate.

[0096] Figure 11 is a perspective view showing an example of the configuration of a modified holding device 100A. As shown in Figure 11, the modified holding device 100A has the same components as the holding device 100 according to the embodiment.

[0097] In the holding device 100A, the base 120 is provided with guides 125a and 125b on the side walls 122 and 123. The holding base 110 is provided with three engaging parts 117a and 117b on the ends 112 and 113, respectively.

[0098] The base 120 includes actuators 130a and 130b, and a rotating body 152 and a rotation sensor 153 of the position detection device 150A on its side wall 122. The actuators 130a and 130b, and the rotation sensor 153 are fixed to the side wall 122. The base 120 also includes actuators 130c and 130d on its side wall 123. The actuators 130c and 130d are fixed to the side wall 123. Each of the actuators 130a to 130d includes a first gear 141a to 141d.

[0099] Figure 12 is a perspective view showing the configuration of the second gear 142aA and the engaging member 151A of the holding device 100A in Figure 11. Figure 13 is a cross-sectional side view of the holding device 100A in Figure 11. As shown in Figures 12 and 13, the holding base 110 is equipped with the second gear 142aA and the engaging member 151A of the position detection device 150A at its end 112. The second gear 142aA and the engaging member 151A are fixed to a projection 112A that protrudes from the end 112. The holding base 110 is equipped with a second gear 142bA at its end 113. The second gear 142bA is fixed to the end 113.

[0100] The second gears 142aA and 142bA are each arc-shaped rod- or plate-shaped members, and have a plurality of gear teeth 144 on their inner circumference. The first gears 141a and 141b are located radially inward in the arc direction DA relative to the second gear 142aA and engage with the second gear 142aA from the radially inward side. The first gears 141c and 141d are located radially inward in the arc direction DA relative to the second gear 142bA and engage with the second gear 142bA from the radially inward side. This allows the first gears 141a to 141d to be positioned so as not to protrude above the retaining base 110.

[0101] As actuators 130a to 130d rotate the first gears 141a to 141d, the first gears 141a and 141b roll on the inner edge of the second gear 142aA, and the first gears 141c and 141d roll on the inner edge of the second gear 142bA. As a result, the holder 110 slides in the arc direction DA1 or DA2 together with the second gears 142aA and 142bA.

[0102] The length of the multiple gear teeth 144 of the second gear 142aA extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 144 to maintain engagement with the gear teeth 143 of the first gears 141a and 141b even when the retaining base 110 moves across a set range. The length of the multiple gear teeth 144 of the second gear 142bA extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 144 to maintain engagement with the gear teeth 143 of the first gears 141c and 141d even when the retaining base 110 moves across a set range.

[0103] The engaging member 151A, like the second gears 142aA and 142bA, includes a plurality of gear teeth 151a arranged in the arc direction DA on its inner circumferential edge extending in the arc direction DA. The rotating body 152 is positioned radially inward of the engaging member 151A in the arc direction DA and gear-engages with the engaging member 151A from the radially inward side. As the engaging member 151A moves with the retaining base 110 in the arc direction DA1 or DA2, the rotating body 152 rolls along the inner circumferential edge of the engaging member 151A in the arc direction DA2 or DA1.

[0104] The length of the multiple gear teeth 151a of the engaging member 151A extending in the arc direction DA is greater than or equal to the length that allows the gear teeth 151a to maintain engagement with the gear teeth 152a of the rotating body 152 even when the holder 110 moves across a set range.

[0105] The arc-shaped axis along which the arrangement of multiple gear teeth 151a of the engaging member 151A follows is coaxial with the arc-shaped axis along which the arrangement of multiple gear teeth 144 of the second gear 142aA follows. The engaging member 151A, the second gear 142aA, and the retaining base 110 are positioned so that they overlap each other when viewed from the retaining device 100A in direction D1. Therefore, the direction and amount of rotation of the rotating body 152 correspond to the direction and amount of movement of the retaining base 110, as well as the direction and amount of rotation of the first gears 141a and 141b.

[0106] The holding device 100A can move the holding base 110 over the entire set range by actuators 130a to 130d, and the position of the holding base 110 over the entire set range can be detected by the position detection device 150A.

[0107] [others] While exemplary embodiments and modifications of the present disclosure have been described above, the present disclosure is not limited to the above embodiments and modifications. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, various modifications applied to embodiments or modifications, and forms constructed by combining components from different embodiments and modifications, are also included within the scope of the present disclosure.

[0108] For example, in the embodiments and modifications, the side walls 122 and 123 of the base 120 are located outside the ends 112 and 113 of the support base 110 in directions D1 and D2, but are not limited thereto. For example, the side walls 122 and 123 may be located between the ends 112 and 113, or below the support base 110.

[0109] In the embodiments and modifications, the first gear 141 and the second gear 142 are positioned to engage outside the ends 112 and 113 of the retaining base 110 in directions D1 and D2, but are not limited thereto. For example, the first gear 141 and the second gear 142 may be positioned to engage inside the ends 112 and 113 of the retaining base 110 in directions D1 and D2, or they may be positioned to engage below the retaining base 110.

[0110] In the embodiments and modifications, the holding devices 100 and 100A are provided with two actuators 130 for each of the ends 112 and 113 of the holding base 110, but are not limited thereto. For example, the holding devices 100 and 100A may be provided with one or more actuators 130 for each of the ends 112 and 113 of the holding base 110. The holding devices 100 and 100A may be provided with one actuator 130 on the holding base 110.

[0111] In the embodiments and modifications, the holding devices 100 and 100A are equipped with a position detection device 150 on one of the ends 112 and 113 of the holding base 110, but the position detection device 150 may be equipped on both ends 112 and 113. The control circuit 160 may control the position of the holding base 110 using the detection results of the two position detection devices 150.

[0112] In the embodiments and modifications, the holding devices 100 and 100A include, but are not limited to, a rack and pinion structure and an actuator 130 which is a rotary motor as a structure for moving the holding base 110. For example, the holding devices 100 and 100A may include an arc-shaped linear motor.

[0113] In the embodiments and modifications, the robot 20 is equipped with a rotation sensor Ea of the actuator 21b as a position detection device for the traveling device 21, but the position detection device is not limited to this. For example, the position detection device may include the sensors exemplified for the rotation sensors 153 of the holding devices 100, 100A. The position detection device may be configured to detect the rotation position of the wheel 21a rather than the rotation position of the actuator 21b.

[0114] In the embodiments and modifications, the traveling device 21 of the robot 20 moves on a rail R by a plurality of wheels 21a, but the structure for moving the traveling device 21 is not limited to this. For example, the structure for moving the traveling device 21 may be the same as the structure for moving the support base 110. In this case, the rail R functions as a guide 125, and the traveling device 21 may include an engaging part that slidably engages with the rail R. The traveling device 21 operates by a rack and pinion structure and may include a linear rack or pinion.

[0115] Examples of each aspect of the present disclosure will now be described. A holding device according to the first aspect of the present disclosure is a holding device for an aircraft exterior panel, comprising: a holding base having an arc-shaped curved portion and holding the exterior panel along the curved portion; a base supporting the holding base such that the holding base moves in the arc direction along the curved portion of the holding base; and at least one actuator for moving the holding base in the arc direction.

[0116] According to the first embodiment, the holding device can move the holding base in the arc direction of the curved surface. The exterior panel can be placed on the holding base such that the arc direction of the exterior panel aligns with the arc direction of the curved surface. Therefore, the holding device can move the exterior panel in the arc direction of the exterior panel. For example, the working device can be positioned laterally to the holding device in the arc direction of the curved surface. In this case, even if the working range of the working device does not include the entire arc direction of the exterior panel, the holding device can move various parts of the arc direction of the exterior panel within its working range by moving the exterior panel. Therefore, the holding device can contribute to miniaturization of the working device. The holding device only needs to be able to move the arc-shaped exterior panel so that various parts of the arc direction of the exterior panel are included within the working range of the working device, and can therefore be realized with a small structure.

[0117] A holding device according to a second aspect of the present disclosure further comprises a drive structure for transmitting the driving force of the actuator to the holding base, the drive structure including a first gear which is rotated by the actuator and includes a plurality of first gear teeth which are arranged in an annular manner, and a second gear which includes a plurality of second gear teeth which are arranged in an arc direction and engage with the first gear teeth, wherein the first gear is located on the holding base and the second gear is located on the base, or the first gear is located on the base and the second gear is located on the holding base.

[0118] According to the second embodiment, the drive structure has a structure that moves the holding base in the arc direction of a curved surface by rotating a first gear that engages with a second gear using an actuator. This makes it possible to simplify the drive structure. Therefore, it is possible to miniaturize the holding device.

[0119] In a holding device according to a third aspect of the present disclosure, in the second aspect, the actuator may be located on the holding base on which the first gear is located or on the base on which the first gear is located.

[0120] According to the third embodiment, the structure connecting the actuator and the first gear can be simplified.

[0121] A holding device according to a fourth aspect of the present disclosure further comprises a position detection device for detecting information relating to the position of the holding stand relative to the base, in any one of the first to third aspects, the position detection device including an engaging member extending in the arc direction, a rotating body engaging with the engaging member so as to roll in the arc direction, and a rotation sensor for detecting the amount of rotation of the rolling rotating body, wherein the rotating body and the rotation sensor are located on the holding stand and the engaging member is located on the base, or the rotating body and the rotation sensor are located on the base and the engaging member is located on the holding stand.

[0122] According to the fourth embodiment, the amount of movement of the holder relative to the base can be detected by the amount of rotation of the rotating body, thereby enabling the detection of the arc-shaped position of the holder on the base. Since the rotating body and the rotation sensor are arranged together on the holder or base, the structure connecting the rotating body and the rotation sensor can be simplified.

[0123] A holding device according to a fifth aspect of the present disclosure further comprises a drive structure for transmitting the driving force of the actuator to the holding base, the drive structure comprising a first gear rotated by the actuator and comprising a plurality of first gear teeth arranged in an annular manner, and a second gear comprising a plurality of second gear teeth arranged in an arc direction and engaging with the first gear teeth, wherein the first gear is located on the holding base and the second gear is located on the base, or the first gear is located on the base and the second gear is located on the holding base, the rotating body comprises a plurality of third gear teeth arranged in an annular manner, the engaging member comprises a plurality of fourth gear teeth arranged in an arc direction, and the module of the plurality of second gear teeth may be larger than the module of the plurality of fourth gear teeth.

[0124] According to the fifth embodiment, the drive structure and the structure of the position detection device can be simplified. Since the modules of multiple second gear teeth are larger than the modules of multiple fourth gear teeth, the drive structure can transmit a large driving force. The third and fourth gear teeth of the position detection device are capable of fine movement, thereby enabling the position detection device to achieve high detection accuracy.

[0125] A holding device according to a sixth aspect of the present disclosure further comprises, in any one of the first to fifth aspects, a position detection device for detecting information relating to the position of the holding base relative to the base, and a control circuit for controlling the at least one actuator, wherein the control circuit may control the at least one actuator based on the detection result of the position detection device to move the holding base to a target position.

[0126] According to the sixth embodiment, the holding device can move the holding base to a target position in the arc direction of the mounting portion.

[0127] A holding device according to a seventh aspect of the present disclosure further comprises, in any one of the first to sixth aspects, a position detection device for detecting information relating to the position of the holding base relative to the base, and a control circuit for controlling the at least one actuator, wherein the at least one actuator includes a first actuator and a second actuator, and the control circuit may, based on the detection result of the position detection device, control the first actuator and the second actuator to move the holding base to a target position, and control the second actuator to generate torque following the first actuator.

[0128] According to the seventh embodiment, since the first actuator and the second actuator move the holding base, the actuators can be made smaller than when a single actuator moves the holding base. This miniaturization of the actuators allows for miniaturization of the holding device. The holding device can assist the first actuator in moving the holding base by controlling the torque of the second actuator to follow the first actuator. This reduces interference between the control of the second actuator and the control of the first actuator, allowing the holding device to move the holding base smoothly.

[0129] A robot system according to the eighth aspect of the present disclosure comprises a holding device according to any one of the first to seventh aspects, one or more robots that perform work on the exterior panel held by the holding device, and a control circuit, wherein the robot includes a traveling device that moves along a straight line extending on the curved portion, a robot arm located on the traveling device, and an end effector at the tip of the robot arm, and the control circuit synchronizes and controls the traveling device, the robot arm, the end effector, and the holding device.

[0130] According to the eighth aspect, the control circuit can control the robot and the holding device simultaneously and in synchronous manner. Therefore, work on the exterior panels can be automated and mechanized without the intervention of manual labor. Furthermore, the holding device enables miniaturization of the robot, thus enabling miniaturization of the robot system.

[0131] In a robot system according to a ninth aspect of this disclosure, in the eighth aspect, the holding device includes a first position detection device for detecting information relating to the position of the holding base relative to the base, the robot includes a second position detection device for detecting information relating to the position of the traveling device, the control circuit moves the holding base to a first target position in the arc direction by position-controlling the actuator of the holding device based on the detection result of the first position detection device, moves the traveling device to a second target position in the direction along the straight line on the curved portion by position-controlling the actuator that drives the traveling device based on the detection result of the second position detection device and the first target position, and causes the end effector to process the exterior panel by position-controlling the robot arm when the holding base is at the first target position and the traveling device is at the second target position.

[0132] According to the ninth embodiment, the robot arm processes the exterior panel while the robot arm is positioned by a traveling device and the exterior panel is positioned by a holding device. This simplifies the operation of the robot arm. Consequently, it becomes possible to simplify the processing content and reduce the processing load of the control circuit in the robot system.

[0133] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0134] All ordinal numbers, quantities, and other figures used herein are illustrative to illustrate the technology of this disclosure, and this disclosure is not limited to such illustrative figures. The connections between components are illustrative to illustrate the technology of this disclosure, and the connections that realize the functions of this disclosure are not limited to these.

[0135] This disclosure can be implemented in various ways without departing from the scope of its essential features, and the scope of this disclosure is defined more by the appended claims than by the description in the specification; therefore, exemplary embodiments and modifications are illustrative and not limiting. All modifications within the claims and their scope, or equivalents within the claims and their scope, are intended to be encompassed by the claims. [Explanation of Symbols]

[0136] 1. Exterior Panel 10 Robot Systems 20 Robots 21. Running gear 21b Actuator 22 Robot Arms 23 End Effector 100,100A holding device 110 Holding stand 111 Curved section 120 base 130a, 103c First actuator 130b, 130d Second actuator 140: Drive structure 140, 141a-141d First gear 142, 142a, 142b, 142aA, 142bA Second gear 143 Gear teeth (1st gear teeth) 143a Pin (first gear tooth) 144 gear teeth (2nd gear teeth) 150, 150A Position detection device (First position detection device) 151, 151A Engaging Member 152 Solids of Revolution 153 Rotation Sensor 160 Control circuits Ea Rotation sensor (second position detection device)

Claims

1. A retaining device for the exterior panels of an aircraft, A retaining base having an arc-shaped curved portion, which holds the exterior panel along the curved portion, A base that supports the retaining stand so that the retaining stand moves in the arc direction along the curved portion of the retaining stand, The holding base is provided with at least one actuator that moves the holding base in the arc direction. holding device.

2. The system further comprises a drive structure that transmits the driving force of the actuator to the holding base, The aforementioned drive structure is A first gear, which is rotated by the actuator and includes a plurality of first gear teeth arranged in a ring shape, The gear includes a second gear which has a plurality of second gear teeth arranged in the arc direction and which engage with the first gear teeth, The first gear is located on the retaining base and the second gear is located on the base, or The first gear is located on the base, and the second gear is located on the retaining base. The holding device according to claim 1.

3. The actuator is located on the retaining base on which the first gear is located or on the base on which the first gear is located. The holding device according to claim 2.

4. The system further includes a position detection device for detecting information regarding the position of the holding base relative to the base, The position detection device is, The engagement member extending in the arc direction, A rotating body that engages with the engaging member so as to roll in the arc direction, Includes a rotation sensor for detecting the amount of rotation of the rolling rotating body, The rotating body and the rotation sensor are located on the holding base, and the engaging member is located on the base, or The rotating body and the rotation sensor are located on the base, and the engaging member is located on the holding base. The holding device according to claim 1.

5. The system further comprises a drive structure that transmits the driving force of the actuator to the holding base, The aforementioned drive structure is A first gear, which is rotated by the actuator and includes a plurality of first gear teeth arranged in a ring shape, The gear includes a second gear which has a plurality of second gear teeth arranged in the arc direction and which engage with the first gear teeth, The first gear is located on the retaining base and the second gear is located on the base, or The first gear is located on the base, and the second gear is located on the retaining base. The rotating body includes a plurality of third gear teeth arranged in a ring shape, The engaging member includes a plurality of fourth gear teeth arranged in the arc direction, The module of the plurality of second gear teeth is larger than the module of the plurality of fourth gear teeth. The holding device according to claim 4.

6. A position detection device for detecting information regarding the position of the holding base relative to the base, The system further comprises a control circuit for controlling at least one actuator, The control circuit controls at least one actuator based on the detection result of the position detection device to move the holding base to the target position. The holding device according to claim 1.

7. A position detection device for detecting information regarding the position of the holding base relative to the base, The system further comprises a control circuit for controlling at least one actuator, The at least one actuator includes a first actuator and a second actuator, The aforementioned control circuit is When controlling the first actuator and the second actuator to move the holding base to the target position based on the detection result of the position detection device, the second actuator is controlled to generate torque in accordance with the first actuator. The holding device according to claim 1.

8. A holding device according to any one of claims 1 to 7, One or more robots that perform work on the exterior panel held by the holding device, Equipped with a control circuit, The robot includes a traveling device that moves along a straight line extending on the curved portion, a robot arm positioned on the traveling device, and an end effector at the tip of the robot arm. The control circuit synchronizes and controls the traveling device, the robot arm, the end effector, and the holding device. Robot system.

9. The holding device includes a first position detection device that detects information regarding the position of the holding base relative to the base, The robot includes a second position detection device that detects information regarding the position of the traveling device, The aforementioned control circuit is Based on the detection result of the first position detection device, the actuator of the holding device is controlled to move the holding base to the first target position in the arc direction. Based on the detection result of the second position detection device and the first target position, the actuator that drives the traveling device is controlled to move the traveling device to the second target position in a direction along the straight line on the curved section. With the holding base in the first target position and the traveling device in the second target position, the robot arm is controlled to process the exterior panel by the end effector. The robot system according to claim 8.

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