Holding device, control method, control device, and robot system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsSatoshi Ouchi, Yuna Takahashi, Kazunori Hirata
Life of this patent
Estimating the term…
Abstract
A holding device includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction, and the first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.
Claims20
A control method of conveying a main member by using a first robot arm and a second robot arm, the first robot arm including a first suction structure and a first grasping structure which are adjacent to each other in a direction intersecting with a first operational direction, the second robot arm including a second suction structure and a second grasping structure which are adjacent to each other in a direction intersecting with the first operational direction,
- the control method comprising:
- operating the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first operational direction and make the second grasping structure grasp a second auxiliary member located in the first operational direction;
- with the first grasping structure and the second grasping structure respectively grasping the first auxiliary member and the second auxiliary member, operating the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first operational direction;
- operating the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination;
- and
- making the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
A robot system comprising:
- a first robot arm;
- a second robot arm;
- a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first operational direction at the first robot arm;
- a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first operational direction at the second robot arm;
- and
- control circuitry that controls operations of the first robot arm, the second robot arm, the first grasping structure, and the second grasping structure, wherein:
- the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are oriented so as to suck or grasp a main member and auxiliary members located in the first operational direction;
- the control circuitry operates the first robot arm and the second robot arm to make the first grasping structure grasp a first auxiliary member located in the first operational direction and make the second grasping structure grasp a second auxiliary member located in the first operational direction;
- with the first auxiliary member and the second auxiliary member grasped, the control circuitry operates the first robot arm and the second robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first operational direction;
- the control circuitry operates the first robot arm and the second robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination;
- and
- the control circuitry makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
A robot system comprising:
- a robot arm;
- a first suction structure and a first grasping structure that are arranged adjacent to each other in a direction intersecting with a first operational direction at the robot arm;
- a second suction structure and a second grasping structure that are arranged adjacent to each other in a direction intersecting with the first operational direction at the robot arm;
- and
- control circuitry that controls operations of the robot arm, the first grasping structure, and the second grasping structure, wherein:
- the first suction structure, the first grasping structure, the second suction structure, and the second grasping structure are oriented so as to suck or grasp a main member and auxiliary members located in the first operational direction;
- the control circuitry operates the robot arm to make the first grasping structure grasp a first auxiliary member located in the first operational direction and make the second grasping structure grasp a second auxiliary member located in the first operational direction;
- with the first auxiliary member and the second auxiliary member grasped, the control circuitry operates the robot arm to make the first suction structure and the second suction structure suck and hold the main member located in the first operational direction;
- the control circuitry operates the robot arm to move the sucked main member and place the main member on an arrangement surface of a conveyance destination;
- and
- the control circuitry makes the first grasping structure and the second grasping structure cancel the grasping and place the first auxiliary member and the second auxiliary member on the main member.
Dependencies are inferred from the claim text.