Holding device and robot system

Abstract

A holding device (100) for an exterior panel (1) of an aircraft comprises: a holding stand (110) that has a curved part (111) curved in an arc shape and holds the exterior panel (1) along the curved part (111); a base (120) that supports the holding stand (110) such that the holding stand (110) moves in an arc direction following the curved part (111) of the holding stand (10); and at least one actuator (130a-130d) that moves the holding stand (110) in the arc direction.

Description

Holding Device and Robot System

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

[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.

[0003] Japanese Patent Application Laid-Open No. 2022-80868

[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] 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 performing work on an exterior panel of an aircraft.

[0006] A holding device according to an aspect of the present disclosure is a holding device for an exterior panel of an aircraft, 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.

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

[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 embodiments described below 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 necessarily exact. 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 result of the position detection device 150.

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

[0013] In this specification and claims, when distinguishing between 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 a straight line L in a direction perpendicular to the arc direction DA. The curved portion 111 and the curved surface 111a have a shape that includes 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 in which 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 around 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 support base 110 has ends 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 Figure 1, the exterior panel 1 is positioned on the curved portion 111, with its curved shape aligned with the curved shape of the curved portion 111, and is fixed to the holder base 110 by fasteners such as screws. In this way, the holder base 110 holds the exterior panel 1 along the curved portion 111.

[0017] In this embodiment, the exterior panel 1 is drilled. During drilling, the cutting edge of the drill penetrates the exterior panel 1 and protrudes toward the holder 110. Therefore, as shown in Figure 2, the holder 110 has a number of recesses 114 in the curved portion 111. The holder 110 includes a plate-shaped base 115 and a plurality of plate-shaped ribs 116. The plurality of ribs 116 protrude from the surface of the base 115 and extend in a grid pattern along the surface of the base 115. The distal edges of the plurality of ribs 116 located distal to the base 115 extend along the curved surface 111a. The distal edges of the plurality of ribs 116 extend to form the curved surface 111a. A plurality of recesses 114 are formed between the grid of the plurality of ribs 116.

[0018] As shown in Figure 1, the base 120 supports the support base 110 so that the support 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 this embodiment, the support base 121 has a structure that is placed on a support surface such as a floor. The support base 121 may have a structure that is movable on a support surface such as a floor, and may be equipped with one or more wheels, for example. The side walls 122 and 123 rise from both ends of the support base 121 in 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 directions D1 and D2. Directions D1 and D2 are the directions in which the support base 121 extends along the support surface and are opposite to each other. Directions D3 and D4 are the directions in which the support base 121 extends along the support surface and are perpendicular to 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. The guide 125a protrudes in direction D2 from the side wall 122 toward the side wall 123, and the guide 125b protrudes in direction D1 from the side wall 123 toward the 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. As a result, the increase in the height of the guides 125a and 125b is suppressed, so the increase in the height of the base 120 is suppressed, and the holding device 100 can be miniaturized.

[0024] The retaining base 110 includes one or more engaging portions 117a at its end 112 and one or more engaging portions 117b at its 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, however, 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 holder 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 holder 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 holding device 100 of Figure 1, and shows the holding device 100 in direction D2. As shown in Figure 4, the holding 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 holding base 110 is moved to its maximum extent in the first arc direction DA1, the side portion 118 of the holding base 110 is located in the first arc direction DA1 relative to the plane P. The plane P extends vertically through the midpoints of both ends of the guide 125a and the midpoints of both ends of the guide 125b in the arc direction DA. If the curved surface 111a includes a portion of a cylindrical surface, the plane P may include the axis of the cylindrical surface containing the curved surface 111a. In this embodiment, when the holder 110 is moved most far in the second arc direction DA2, the side portion 119 of the holder 110 is located in the second arc direction DA2 relative to the plane P. When the holder 110 is moved most far in the first arc direction DA1, the side portion 118 of the holder 110 may be located in the second arc direction DA2 relative to the plane P. When the holder 110 is moved most far in the second arc direction DA2, the side portion 119 of the holder 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 moves the holder 110 in the arc direction DA via the drive structure 140. One or more actuators 130 are positioned on the holder 110 or the base 120. In this embodiment, one or more actuators 130 are positioned on the holder 110. One or more actuators 130 may be positioned on the base 120, or on both the holder 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 holder 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 holder 110. In this embodiment, the first gear 141 is located on the holder 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 holder 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 edges 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 holder 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 first gear 141a. 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] The plurality of pins 143a each have a cylindrical shape. The first gear 141a includes support plates 145a and 145b that support the plurality of pins 143a. The support plates 145a and 145b are positioned opposite to each other. The support plate 145a rotatably supports one end of the plurality of pins 143a around its axis. The support plate 145a may include a plurality of bearings 143b that support each one end of the plurality of pins 143a. The support plate 145b rotatably supports the other end of the plurality of pins 143a around its axis. The support plate 145b may include a plurality of bearings 143b that support each other end of the plurality of pins 143a. The plurality of pins 143a extend parallel to each other and in a direction orthogonal to the support plates 145a and 145b. The plurality of pins 143a are arranged in an annular shape on the support plates 145a and 145b.

[0043] The root 144a between the gear teeth 144 of the second gear 142a is rounded so as to form a part of a cylindrical surface. The root 144a has a shape and size into which the outer peripheral surface of the pin 143a fits.

[0044] The first gear 141a is in gear engagement with the second gear 142a such that the pins 143a of the first gear 141a fit into the roots 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 gaps between the pins 143a.

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

[0046] Furthermore, a preload for pressing the pins 143a of the first gear 141a against the gear teeth 144 of the second gear 142a may be applied to the first gear 141a. Thereby, the backlash is suppressed. Even in a state where the preload is applied, when the first gear 141a rotates, the pins 143a roll around their axes along the gear teeth 144 and the roots 144a. For this reason, the transmission of force from the first gear 141a to the second gear 142a and the operations of the first gear 141a and the second gear 142a are smooth.

[0047] As shown in FIG. 1, the position detection device 150 includes an engagement member 151, a rotating body 152, and a rotation sensor 153. The engagement member 151 is a member extending in the arc direction DA. The rotating body 152 engages with the engagement member 151 so as to roll in the arc direction DA. The rotation sensor 153 detects the rotation direction and rotation amount of the rolling rotating body 152. Examples of the rotation sensor 153 may include a mechanical, optical, magnetic, or electromagnetic induction encoder, an electromagnetic pickup type rotation sensor, an anisotropic magneto - resistive (AMR) rotation sensor, and a Hall IC type rotation sensor. In the present 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 or communicably connected to the control circuit 160 so as to send a signal indicating the detection result to the control circuit 160.

[0048] The rotating body 152 and the rotation sensor 153 are located on the holding base 110 and the engagement 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 engagement member 151 is located on the holding base 110. In the present embodiment, the rotating body 152 and the rotation sensor 153 are located on the holding base 110 together with the actuator 130, and the engagement 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 between the actuators 130a and 103b at the end 112 of the holding base 110. The rotating body 152 is rotatably attached to the holding base 110 about the rotation axis of the rotating body 152. The engagement member 151 is fixed to the base 120.

[0049] Although not limited to this, as shown in Figure 5, in this embodiment, the rotating body 152 has a structure similar to that of the first gear 141. 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 the 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 tooth 152a is an example of a third gear tooth, and gear tooth 151a is an example of a fourth gear tooth.

[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 detects the rotation direction and amount of rotation of the rotating body 152, and the control circuit 160 can detect the position, direction of movement, and amount of movement of the retaining base 110 based on the detection result of the rotation sensor 153.

[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 required to maintain engagement between the gear teeth 151a and the gear teeth 152a of the rotating body 152, even when the holder 110 moves across a set range within its movable range. As a result, the rotating body 152 can roll in accordance with the movement of the holder 110 across the entire set range. Therefore, the rotation sensor 153 can detect the rotation direction and amount of rotation of the rotating body 152 that correspond to the movement direction and amount of movement of the holder 110 across the entire 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 in 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 movement direction and amount of movement of the holding base 110, and the movement 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 movement 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 the gear teeth 144. The module of the gear teeth 152a of the rotating body 152 is the same as the module of the 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 where gear teeth mesh with other gear teeth. 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 the size and reference pitch 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 load received from actuators 130a to 130d can be improved.

[0057] The control circuit 160 is configured to move the holder 110 to a target position by controlling actuators 130a to 130d based on the position, direction of movement, or amount of movement of the holder 110 detected from the rotation sensor 153. 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.

[0058] 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).

[0059] Some or all of the functions of the control circuit 160 may be realized by a 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.

[0060] 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, i.e., the first arc direction DA1, relative to actuators 130b and 130d.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] In the speed control step S6, the control circuit 160 determines the target torque 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 torque.

[0067] 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.

[0068] 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.

[0069] In the torque control deviation step 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.

[0070] 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.

[0071] 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.

[0072] 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 the 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.

[0073] 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 the 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.

[0074] 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.

[0075] Each robot 20 is positioned to perform work on the exterior panel 1 held by the holding device 100. Two robots 20 are positioned in direction D3 relative to the holding device 100 and spaced apart from each other, while the other two robots 20 are positioned in direction D4 relative to the holding device 100 and spaced apart from each other.

[0076] 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, that is, in directions D1 and D2.

[0077] Figure 9 is a side view of the robot system 10 of Figure 1. As shown in Figure 9, the traveling device 21 includes a plurality of wheels 21a and actuators 21b that drive the wheels 21a. The actuators 21b include an electric motor that converts electrical energy into mechanical rotational energy, and in this embodiment, a servo motor. 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 that the traveling device 21 moves to a target position. The rotation sensor Ea is an example of a second position detection device.

[0078] The running device 21 moves on a pair of rails R extending 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 a pair of rails 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 a pair of rails R located in direction D4 relative to the holding device 100.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] The automated driving program is a program that causes four robots 20 and a holding device 100 to autonomously perform predetermined tasks. The automated 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 a predetermined task, the execution order of the target motions, and the speed of movement 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 speed of movement to the target position of the traveling device 21, the target position, target posture, and speed of movement to the target position and target posture of the tip of the robot arm 22, and the target rotational speed of the drill 23a of the end effector 23. The target motions of the holding device 100 include the target position and speed of movement 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 the target position, target orientation, and the speed of movement between teaching points.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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 of movement 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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 operation 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.

[0091] 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.

[0092] 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.

[0093] 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 positions.

[0094] 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.

[0095] 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.

[0096] 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 portions 117a located at the end 112 and three engaging portions 117b located at the end 113.

[0097] 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.

[0098] 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 the protruding portion 112A that extends from the end 112. The holding base 110 is equipped with the second gear 142bA at its end 113. The second gear 142bA is fixed to the end 113.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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 located radially inward of the engaging member 151A in the arc direction DA and engages with the engaging member 151A from the radially inward side. When the engaging member 151A moves in the arc direction DA1 or DA2 together with the holder 110, the rotating body 152 rolls along the inner circumferential edge of the engaging member 151A in the arc direction DA2 or DA1.

[0103] 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.

[0104] 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 the retaining device 100A is viewed in direction D1. Therefore, the rotation direction and amount of rotation of the rotating body 152 correspond to the movement direction and amount of movement of the retaining base 110, as well as the rotation direction and amount of rotation of the first gears 141a and 141b.

[0105] 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.

[0106] [Other] 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.

[0107] 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 the positions of the side walls 122 and 123 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.

[0108] 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 the engagement position of the first gear 141 and the second gear 142 is 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.

[0109] 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 the arrangement of the actuators 130 is 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.

[0110] 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.

[0111] In the embodiments and modifications, the holding devices 100 and 100A include a rack and pinion structure and an actuator 130 which is a rotary motor as a structure for moving the holding base 110, but the structure for moving the holding base 110 is not limited thereto. For example, the holding devices 100 and 100A may include an arc-shaped linear motor.

[0112] 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.

[0113] 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 portion 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.

[0114] 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.

[0115] 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 work 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 work 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 work 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 work device, and can therefore be realized with a small structure.

[0116] A holding device according to a second aspect of the present disclosure is a holding device according to a first aspect, further comprising a drive structure for transmitting the driving force of the actuator to the holding base, wherein the drive structure includes a first gear which is rotated by the actuator and includes a plurality of first gear teeth which are arranged in an annular shape, 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.

[0117] 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.

[0118] A holding device according to a third aspect of the present disclosure may be configured such that, in a holding device according to a second aspect, the actuator is located on the holding base on which the first gear is located or on the base on which the first gear is located.

[0119] According to the third embodiment, the structure connecting the actuator and the first gear can be simplified.

[0120] A holding device according to a fourth aspect of the present disclosure is a holding device according to any one of the first to third aspects, comprising a position detection device for detecting information relating to the position of the holding stand with respect to the base, wherein the position detection device includes an engaging member extending in the arc direction, a rotating body that engages 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.

[0121] 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.

[0122] A holding device according to a fifth aspect of the present disclosure is a holding device according to a fourth aspect, further comprising a drive structure for transmitting the driving force of the actuator to the holding base, wherein the drive structure includes a first gear rotated by the actuator and including a plurality of first gear teeth arranged in an annular shape, and a second gear including 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 includes a plurality of third gear teeth arranged in an annular shape, the engaging member includes a plurality of fourth gear teeth arranged in an arc direction, and the module of the plurality of second gear teeth is larger than the module of the plurality of fourth gear teeth.

[0123] According to the fifth embodiment, the drive structure and the structure of the position detection device can be simplified. Since the modules of the multiple second gear teeth are larger than the modules of the 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.

[0124] A holding device according to a sixth aspect of the present disclosure may include, in a holding device according to any one of the first to fifth aspects, a position detection device for detecting information relating to the position of the holding base with respect to the base, and a control circuit for controlling the at least one actuator, wherein the control circuit is configured to 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.

[0125] 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.

[0126] A holding device according to a seventh aspect of the present disclosure is a holding device according to any one of the first to sixth aspects, comprising: a position detection device for detecting information relating to the position of the holding base with respect 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 be configured to control the second actuator to generate torque in accordance with the first actuator when controlling the first actuator and the second actuator based on the detection result of the position detection device to move the holding base to a target position.

[0127] 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.

[0128] 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 controls the traveling device, the robot arm, the end effector, and the holding device in a synchronized manner.

[0129] 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.

[0130] A robot system according to a ninth aspect of the present disclosure may be configured such that, in a robot system according to an 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 controlling the position of 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 controlling the position of an 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 controlling the position of the robot arm when the holding base is at the first target position and the traveling device is at the second target position.

[0131] 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.

[0132] The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), and / or conventional circuits. The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including a combination of general-purpose processors, special-purpose processors, integrated circuits, ASICs, FPGAs, and conventional circuits. One or more circuits or processing circuits may be programmed using one or more programs stored together or individually in one or more memories, or may be otherwise configured to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. A processor may be a programmed processor that executes programs stored in memory. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions individually or in combination with each other, or hardware programmed to perform the enumerated functions individually or in combination with each other. The hardware may be any hardware disclosed herein that is programmed or configured to perform the enumerated functions. The computer program, including computer instructions, is stored in memory. The computer instructions provide logic and routines that enable the hardware to perform the methods disclosed herein. The hardware includes, for example, processing circuits or circuits. The computer program may be implemented in a known format on computer-readable storage media, computer program products, memory devices, recording media such as CD-ROMs or DVDs, and / or in the memory of FPGAs or ASICs.

[0133] 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.

[0134] 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.

[0135] 1 Exterior panel, 10 Robot system, 20 Robot, 21 Traveling device, 21b Actuator, 22 Robot arm, 23 End effector, 100, 100A Holding device, 110 Holding base, 111 Curved section, 120 Base, 130a, 130c First actuator, 130b, 130d Second actuator, 140 Drive structure, 140, 141a-141d First gear, 142, 142a, 142b, 142aA, 142bA Second gear, 143 Gear teeth (first gear teeth), 143a Pin (first gear teeth), 144 Gear teeth (second gear teeth), 150, 150A Position detection device (first position detection device), 151, 151A Engaging member, 152 Rotating body, 153 Rotation sensor, 160 Control circuit, Ea rotation sensor (second position detection device).

Claims

1. 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.

2. A holding device according to claim 1, comprising a drive structure for transmitting the driving force of the actuator to the holding base, wherein the drive structure includes a first gear which is rotated by the actuator and includes a plurality of first gear teeth which are arranged in an annular shape, 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.

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

4. The holding device according to claim 1, comprising a position detection device for detecting information relating to the position of the holding stand relative to the base, wherein the position detection device includes 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.

5. A holding device according to claim 4, comprising 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 including a plurality of first gear teeth arranged in an annular shape; and a second gear including 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 includes a plurality of third gear teeth arranged in an annular shape, the engaging member includes a plurality of fourth gear teeth arranged in an arc direction, and the module of the plurality of second gear teeth is larger than the module of the plurality of fourth gear teeth.

6. The holding device according to claim 1, comprising: a position detection device for detecting information relating to the position of the holding base with respect to the base; and a control circuit for controlling the at least one actuator, wherein the control circuit controls the at least one actuator based on the detection result of the position detection device to move the holding base to a target position.

7. The holding device according to claim 1, comprising: a position detection device for detecting information relating to the position of the holding base with respect 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 controls the second actuator to generate torque in accordance with the first actuator when controlling the first actuator and the second actuator based on the detection result of the position detection device to move the holding base to a target position.

8. A robot system comprising: 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; 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 positioned on the traveling device; and an end effector at the tip of the robot arm, and the control circuit synchronizes the traveling device, the robot arm, the end effector, and the holding device.

9. The robot system according to claim 8, wherein 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 controlling the position of 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 controlling the position of 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 controlling the position of the robot arm when the holding base is at the first target position and the traveling device is at the second target position.

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