Granted Patent B2

US 12,558,798 · App. 17/573,859 · Granted Feb 24, 2026

Inventors: Kazuma Hiraguri (Yokohama, JP); Taketo Shiba (Yokohama, JP); Noriyuki Ooba (Yokohama, JP)

Assignee: Kabushiki Kaisha Toshiba

B25J15/0052B25J15/0028B25J15/0691B25J17/02

Abstract

Claims (40)

1 . A holding device comprising:

a support member;

a first holding unit configured to be rotatably supported by the support member and have a first holding portion configured to hold a holding object;

a second holding unit configured to be rotatably supported by the support member independently of the first holding unit and have a second holding portion configured to hold the holding object; and

a controller configured to control an operation of the first holding unit and the second holding unit,

wherein the controller is configured to switch which of the first holding unit and the second holding unit is used for holding the holding object, by rotating the first holding unit and the second holding unit in a state where the first holding unit and the second holding unit face different directions, and control to change an orientation with respect to the support member, by rotating at least one of the first holding unit and the second holding unit with respect to the support member.

2 . The holding device according to claim 1 , wherein

the first holding unit and the second holding unit are switched by a first rotation drive mechanism so that one of the first holding unit and the second holding unit holds the holding object, and

a first rotation axis of the first rotation drive mechanism and a second rotation axis of the holding unit when the orientation is changed is arranged on a common axis.

3 . The holding device according to claim 1 , wherein

the first holding unit and the second holding unit are rotated in a state of facing different directions and integrally with the support member, and

either the first holding unit or the second holding unit holds the holding object.

4 . The holding device according to claim 1 , further comprising:

a second rotation driving mechanism configured to correct an orientation of the second holding unit, by rotating the second holding unit with respect to the support member in a direction that cancels a change in the orientation of the second holding unit due to a change in an orientation of the first holding unit when the first holding unit is rotated when the orientation of the first holding unit is changed.

5 . The holding device according to claim 4 , wherein a distance from a first rotation axis of the first holding unit to a tip of the first holding portion is longer than a distance from a second rotation axis of the second holding unit to a tip of the second holding portion.

6 . The holding device according to claim 1 , wherein

the support member has a first surface and a second surface opposite to the first surface,

the first holding unit and the second holding unit are arranged so as to face the first surface of the support member, and

at least a part of the support member, at least a part of the first holding unit, and at least a part of the second holding unit are arranged so as to overlap each other when viewed from a normal direction of the first surface.

7 . The holding device according to claim 6 , wherein,

in a state where the first holding portion and the second holding portion are oriented 180° differently from each other in a plane parallel to the first surface, a first holding center line of the first holding unit and a second holding center line of the second holding unit are arranged on a same straight line.

8 . The holding device according to claim 7 , wherein the first holding portion and the second holding portion are located at positions symmetrical with each other.

9 . The holding device according to claim 1 , further comprising:

a third rotation drive mechanism configured to change an orientation of the second holding portion in the second holding unit by rotating the second holding portion.

10 . The holding device according to claim 1 , wherein

the first holding unit is a holding unit having a plurality of holding parts and configured to hold an article in a state of being held by the plurality of holding parts,

the second holding unit is a suction unit having a suction pad and configured to hold an article in a state of being negatively sucked by the suction pad.

11 . The holding device according to claim 10 , wherein the holding parts are holding claws.

12 . The holding device according to claim 10 , wherein

the support member has a first surface and a second surface opposite to the first surface,

the suction unit is arranged so as to face the first surface of the support member,

the holding unit is arranged on a side opposite to a side where the support member is located with respect to the suction unit, and

a negative pressure supply pipe that transports a negative pressure to the suction pad is arranged so as to face the second surface of the support member, and is connected to an opening of the suction unit that is exposed from the support member.

13 . The holding device according to claim 12 , wherein the negative pressure supply pipe is arranged so as to wind from the opening to the suction pad in a direction opposite to a direction in which the suction unit rotates.

14 . The holding device according to claim 13 , wherein

the suction unit has a suction unit base material, a pipe joint provided on the suction unit base material and communicating with the negative pressure supply pipe, and a relay pipe connecting the pipe joint and the suction pad, and

at least a part of the relay pipe is spirally arranged in a space between the pipe joint and the suction pad.

15 . A conveying system comprising:

the holding device according to claim 1 ; and

an arm configured to be controlled by a controller and move the holding device.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (33)