Peeling device, control method for peeling device, and program

Abstract

Provided is an adaptive peeling device that can peel an object regardless of the shape of the object. 【Solution means】A peeling device for peeling an object, comprising: a plurality of suction means capable of sucking the object; a selection means for selecting a plurality of suction means for performing a suction operation of the object among the plurality of suction means; a suction control means for causing the plurality of suction means selected by the selection means to perform the suction operation; and a rotation control means for performing a rotation operation of the object on which the suction operation has been performed.

Description

Technical Field

[0001] The present invention relates to a peeling device, a control method of the peeling device, and a program.

Background Art

[0002] Patent Document 1 discloses a plurality of suction pads 11 attached to a frame 12 such that the suction surface faces downward. Each suction pad 11 is configured to be able to adsorb and grip an object by suction force by individually guiding the suction force using a suction air circuit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the technique described in Patent Document 1 is used for peeling an end material (extra film, etc.), since suction is performed by the entire plurality of suction pads arranged in a grid pattern, there is a problem that peeling may fail depending on the shape of the film at the position to be peeled.

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

Means for Solving the Problems

[0006] A peeling device according to an aspect of the present invention that achieves the above object is a peeling device for peeling an object, a plurality of suction means capable of adsorbing the object, According to the shape of the objectSelection means for selecting a plurality of adsorption means for performing the adsorption operation of the object among the plurality of adsorption means; Adsorption control means for causing the plurality of adsorption means selected by the selection means to perform the adsorption operation; The above-mentioned a plurality of suction means Rotation control means for performing the rotation operation of , and Comprising 、 The selection means selects a first suction means corresponding to the action point when performing the rotation operation, a second suction means corresponding to the fulcrum when performing the rotation operation, and a third suction means It is characterized by the following.

Effect of the Invention

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

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of the features described in the embodiments are essential for the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Also, the same or similar configurations are assigned the same reference numerals, and duplicate descriptions are omitted.

[0010] <System Configuration> FIG. 1 is a diagram showing a configuration example of a peeling device according to an embodiment. After a film 70 is attached to a workpiece 60 by a vacuum attaching device (not shown) with a jig 50 placed on a mounting table 40 and the workpiece 60 placed on the jig 50, the peeling device 1 adsorbs unnecessary films 70a and 70b and peels them off. In this embodiment, the object to be adsorbed and peeled is the end material of the film 70 attached to the workpiece 60, but the object may be various end materials. That is, this embodiment can be applied to an end material recovery device that adsorbs and recovers various end materials.

[0011] The peeling device 1 includes a control device 10, a plurality of arm parts 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 rotation operations of the plurality of arm parts 11 to 13, the operation of the suction device 20, and the operation of the vacuum pump 30. By the control of the control device 10, the suction device 20 can be controlled three-dimensionally to an arbitrary position and orientation. Then, by the control device 10 controlling the vacuum pump 30, vacuum suction by the suction device 20 becomes possible.

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

[0013] The adsorption pad 21 is disposed at the end of the rod-shaped member 22 and is composed of a flexible member having a bellows structure with a space inside. By guiding the air sucked from the open end of the adsorption pad 21 into the inside of the rod-shaped member 22, adsorption can be achieved at the open end. The adsorption pad 21 can expand and contract along the adsorption direction due to the bellows structure. That is, when a force is applied to the adsorption pad 21 along the adsorption direction, the adsorption pad 21 contracts, and when the force is released, the adsorption pad 21 expands. The rod-shaped member 22 supports the adsorption pad 21 at the end. The support member 23 and the support member 25 support the actuator 24 therebetween.

[0014] The actuator 24 can drive the rod-shaped member 22 under the control of the control device 10 to change the position of the rod-shaped member 22 in the adsorption direction. The actuator 24 may be, for example, an air cylinder. Here, FIG. 3 is a diagram showing the state of change of the adsorption portion in the adsorption device according to an embodiment. 301 is the adsorption portion during extension, and 302 is the adsorption portion during contraction. The actuator 24 can drive the rod-shaped member 22 in the direction 311 to change the rod-shaped member 22 in the adsorption direction to the extended position. Further, the actuator 24 can drive the rod-shaped member 22 in the direction 312 to change the rod-shaped member 22 in the adsorption direction to the contracted position. In the case of the contracted position, a part of the rod-shaped member 22 is housed on the actuator 24 side.

[0015] The pressure sensor 27 provided in the actuator 24 detects the pressure when an object contacts and presses the suction pad 21. The control device 10 acquires the detection result of the pressure sensor 27, controls the actuator 24 based on the detection result, and changes the position of the rod-shaped member 22. For example, when the pressure sensor 27 detects a pressure equal to or higher than the threshold value, 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 instead of the pressure sensor 27, a vision sensor or a color sensor may be used. As long as it can be detected that the object has contacted the suction pad 21, other types of sensors other than these may be used.

[0016] In this way, since each suction pad 21 is stretchable along the suction direction, even when the object has a three-dimensional shape, it is possible to execute the suction operation. Alternatively, regardless of the detection result of the pressure sensor 27, the suction pad 21 of the suction part not in use may be retracted by moving it in a direction away from the object. That is, in a case where some suction parts that execute the suction operation are selected according to the shape of the film 70, the suction pad 21 of the suction part not selected may be moved in a direction away from the object to be in a retracted state.

[0017] The rotating part 26 is rotatable around a rotation axis extending in a direction along the suction direction under the control of the control device 10. By this rotation, each suction part can be rotated within a plane perpendicular to the suction direction.

[0018] Next, FIG. 4 is a plan view of the suction device according to one embodiment. In FIG. 4, eight suction portions 201A to 201H are arranged on the circumference of a circle 401, and one suction portion 201I is arranged at the center position of the circle 401. In FIG. 4, the eight suction portions 201A to 201H are arranged at predetermined intervals (equal intervals) along the circumference. The support member 23 and the support member 25 have the same structure. Only the support member 25 is shown in FIG. 4, and the support member 23 is in a state of being shielded by the support member 25. The support member 23 and the support member 25 are rod-shaped members extending from the center of the circle 401 in the direction where each of the suction portions 201A to H exists. In FIG. 4, although the eight suction portions 201A to 201H are arranged on the circumference of the circle 401, the number of suction portions is not limited to eight. Also, a configuration in which no suction portion is arranged at the center position of the circle 401 may be adopted.

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

[0020] As an example, nine tubular members are provided for each of the suction portions 201A to 201I, and each is individually connected to the vacuum pump 30 via nine connection portions 512. A valve 513 is arranged for each connection portion 512, and the control device 10 can select a suction portion that performs a suction operation by controlling the opening and closing of each valve 513. For example, consider the case where three of the nine suction portions 201A to 201I, namely the suction portions 201A, 201G, and 201I, are selected as the suction portions to perform the suction operation. In that case, the control device 10 can make the selection by controlling to open the valves 513 corresponding to the suction portions 201A, 201G, and 201I and close the other valves 513. In this way, by shielding a part of the flow path leading to the suction pad 21 of each suction portion 201, it becomes possible to select and operate the unshielded suction portions 201.

[0021] Note that in FIG. 5, an example of opening and closing the valve 513 provided on the vacuum pump 30 side has been described, but the present invention is not limited to this example. A valve may be provided in the vicinity of the opening 511. In that case, for each suction portion 201, a drive mechanism different from the actuator 24 may be provided, and the control device 10 may control the opening and closing of the valve by controlling the drive mechanism. Alternatively, without providing another drive mechanism, the valve provided in the vicinity of the opening 511 may be manually opened and closed.

[0022] <An example of the suction operation and the rotation operation> Subsequently, with reference to FIGS. 6 and 7, the suction operation and the rotation operation according to an embodiment will be described. FIG. 6 is an explanatory diagram of a suction operation using some selected suction portions according to an embodiment. In FIG. 6, three suction portions 201A, 201G, and 201I are selected. Although the description of the other suction portions 201 is omitted, actually, as shown in FIG. 4, nine suction portions 201A to 201I are present.

[0023] The unnecessary film 70a has a rectangular shape and its corners need to be adsorbed. Therefore, the adsorption part 201I at the center position of the circle and the adsorption parts 201A and 201G located in the angular direction of 90 degrees when viewed from the center of the circle are selected. These adsorption parts 210 are operated to adsorb the corners of the film 7 0a The adsorption part 201I corresponds to the acting point when performing the rotation operation, and the adsorption parts 201A and 201G correspond to the fulcrums when performing the rotation operation.

[0024] FIG. 7 is an explanatory diagram of the rotation operation according to an embodiment and is a side view seen from the direction 601 in FIG. 6. With the adsorption parts 201A and 201G, which are the fulcrums, grounded (that is, in contact with the film 70a), the adsorption device 20 is rotated in the direction 701. As a result, the adsorption part 201I, which is the acting point, moves in the direction 701 while adsorbing the film 70a, thereby performing the rotation operation. Thereby, the film 70a is peeled off.

[0025] Note that the selected adsorption part 201 is not limited to the three adsorption parts shown in FIG. 6. For example, when the shape of the film 70a has an acute angle, the adsorption parts 201A, 201E, and 201H may be selected as shown in FIG. 8 according to the shape of the film 70a. Also, when the area of the film 70a is small and the shape has an acute angle, the adsorption parts 201I, 201B, and 201C may be selected as shown in FIG. 8 according to the shape of the film 70a. Also, when the area of the film 70a is large and has a 90-degree corner as shown in FIG. 6, the adsorption parts 201A, 201C, and 201E may be selected as shown in FIG. 10. The selection of the adsorption part is not limited to these. For example, appropriate adsorption parts may be selected according to the shape of the film 70a, such as selecting the adsorption parts 201B, 201E, and 201H as shown in FIG. 11.

[0026] Also, the number of suction parts to be selected is not limited to three, and additional suction parts may be selected as long as the rotation operation of the suction device 20 is not hindered. For example, a linear suction part connecting the positions of the suction parts serving as two fulcrums may be further selected. Specifically, while selecting the suction part 201E as the point of action, the suction parts 201C, 201I, and 201G located linearly may be selected as the fulcrums. Thereby, the film 70a can be adsorbed more strongly without hindering the rotation operation of the suction device 20. Furthermore, the number of suction parts to be selected is not limited to three or more, and two suction parts may be selected. By rotating the suction device around the fulcrum with one as the fulcrum and the other as the point of action, the film 70a may be peeled off.

[0027] <Configuration of the control device> Next, with reference to FIG. 12, a configuration example of the control device 10 according to an embodiment will be described. 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 a computer program 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 parts 201 to execute a suction operation. The rotation control unit 1203 executes a rotation operation of an object (for example, the film 70) on which the suction operation has been performed. By this rotation operation, the object is peeled off.

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

[0030] The vacuum control unit 1205 controls the vacuum pump 30. The vacuum control unit 1205 controls the vacuum pump 30 to suck the air inside the suction pad 21 that has come into contact with the object. As a result, the suction pad 21 adsorbs to the object. Also, when moving the adsorbed object and putting it into the collection box of the object, the vacuum control unit 1205 releases the suction 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. Also, when using an ejector instead of the vacuum pump 30, the vacuum control unit 1205 controls the ejector to suck or release the suction of the air inside the suction pad 21.

[0031] The selection unit 1206 selects a plurality of suction units that perform the suction operation of the object from among the plurality of suction units 201. The selection unit 1206 selects a plurality of suction units that perform the suction operation of the object by shielding a part of the flow path connected to each suction pad 21. By controlling the opening and closing of each valve 513 shown in FIG. 5, a part of the flow path connected to each suction pad 21 can be shielded.

[0032] <Process> Referring to the flowchart of FIG. 13, the procedure of the process performed by the peeling device according to an embodiment will be described. In S1301, the selection unit 1206 selects a plurality of suction units that perform the suction operation of the film 70 among the plurality of suction units 201A to 201I. Here, as shown in FIG. 6, it is assumed that three suction units, i.e., the suction units 201A, 201I, and 201G, are selected. The three selected here may be the three designated based on the input from the user to the control device 10, or may be the three automatically selected suction units according to the shape of the object (film 70) based on the image obtained by photographing the object (film 70) 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 object (film 70). Then, the suction control unit 1202 controls the three selected suction units 201A, 201I, and 201G under the control of the vacuum pump 30 by the vacuum control unit 1205 to perform a suction operation for sucking the object (film 70).

[0034] In S1303, the rotation control unit 1203 performs a rotation operation of the object (film 70) for which the suction operation has been performed. For example, with the suction units 201A and 201G, which are the fulcrums, as the reference, the suction device 20 is rotated as shown in FIG. 7. As a result, with the suction unit 201I, which is the point of action, sucking the object (film 70), the suction unit 201I moves in a direction away from the object to be attached (mounting table 40) to which the object is attached. Thereby, the rotation operation can be performed.

[0035] In S1304, the suction control unit 1202 controls the arm units 11 to 13 to move the suction device 20 and convey the peeled object (film 70) to the object collection box. After the conveyance, the vacuum pump 30 is controlled to release the suction, thereby dropping the peeled object (film 70) into the collection box. By repeating the above operations, a desired object can be sucked and peeled. Thus, the process of FIG. 13 is completed.

[0036] As described above, in the present embodiment, the suction unit to be used is selected from a plurality of suction units provided in the suction device, and the selected suction unit is used to perform a rotation operation. As a result, depending on the shape of the object, it is possible to perform the rotation operation using the suction unit at a position suitable for peeling, so that it is possible to provide an adaptable peeling device that can peel the object regardless of the shape of the object.

[0037] <Other Embodiments> In addition, a program that realizes one or more functions described in each embodiment is 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 this program. The present invention can also be realized in such a manner.

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

Description of Reference Numerals

[0039] 1: Peeling device, 10: Control device, 20: Suction 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 unit

Claims

1. A peeling device for peeling an object, comprising: a plurality of suction means capable of sucking the object; selection means for selecting a plurality of suction means for performing a suction operation of the object from among the plurality of suction means according to the shape of the object; suction control means for causing the plurality of suction means selected by the selection means to perform the suction operation; rotation control means for performing a rotation operation of the plurality of suction means on which the suction operation has been performed, and the selection means is characterized in that it selects a first suction means corresponding to a point of action when performing the rotation operation, a second suction means and a third suction means corresponding to a fulcrum when performing the rotation operation. Peeling device.

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

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. 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 the center position of the circle.

5. Each of the plurality of suction means includes: 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 suction direction, and The peeling device according to claim 1, characterized by comprising.

6. Further comprising actuator control means for controlling each actuator, each of the plurality of suction means further includes a sensor, The peeling device according to claim 5, wherein the actuator control means controls the actuator based on a detection result of the sensor to change the position of the rod-shaped member.

7. The peeling device according to claim 6, wherein the actuator control means 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 when a pressure equal to or higher than a threshold value is detected by the sensor.

8. The peeling device according to claim 5, wherein the actuator is an air cylinder.

9. Further comprising vacuum control means for controlling a vacuum pump or an 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 each flow path, The peeling device according to claim 1, wherein the vacuum control means controls the vacuum pump or the ejector so as to suck the air inside the suction pad that has come into contact with the object, whereby the suction pad sucks the object.

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

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

12. A control method for a peeling device including a plurality of suction means capable of sucking an object, for peeling the object, comprising: a selection step of selecting a plurality of suction means for performing the suction operation of the object from among the plurality of suction means according to the shape of the object; 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 plurality of suction means on which the suction operation has been performed, and in the selection step, a first suction means corresponding to a point of action when performing the rotation operation, and a second suction means and a third suction means corresponding to a fulcrum when performing the rotation operation are selected. A control method for a peeling device.

13. A program for causing a computer to execute the control method for the peeling device according to claim 12.

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