US 12,115,684 B2
Holding device, robot, and robot system
Satoshi Ouchi, Kobe (JP); Yuna Takahashi, Kobe (JP); and Kazunori Hirata, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/780,522
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
PCT Filed Nov. 27, 2020, PCT No. PCT/JP2020/044159
§ 371(c)(1), (2) Date May 27, 2022,
PCT Pub. No. WO2021/107077, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 2019-216145 (JP), filed on Nov. 29, 2019.
Prior Publication US 2022/0410400 A1, Dec. 29, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 9/0087 (2013.01); B25J 11/005 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A holding device that holds a workpiece having flexibility,
the holding device comprising:
a first holding mechanism that is movable by a moving mechanism and holds a first end portion of the workpiece in a length direction of the workpiece;
a second holding mechanism that is movable by the moving mechanism and holds the workpiece in cooperation with the first holding mechanism by holding a second end portion of the workpiece in the length direction of the workpiece;
a detector that detects a length of the workpiece in a held state where at least one of the first and second holding mechanisms holds the workpiece;
a storage that prestores a length of the workpiece in a reference state where the workpiece is not in a bent state; and
a controller that controls operations of the first and second holding mechanisms and the moving mechanism, wherein
the controller sets the workpiece to the reference state in such a manner that with the first and second holding mechanisms holding the workpiece, the moving mechanism moves at least one of the first and second holding mechanisms in the length direction based on the length, detected by the detector, of the workpiece in the held state and the length, prestored in the storage, of the workpiece in the reference state.