Delivery system and method of controlling a delivery system

Abstract

This invention provides a simple conveying system with minimal restrictions on movement on the robot device side, and a control method for the conveying system that enables good operability during cargo transport. When the conveying system (10) transports the hanging unit (70) except when the cargo (P) is lifted off the ground from the loading surface or when the cargo (P) is placed on the loading surface and touches the ground, the third control unit performs holding control to hold the hanging unit. Based on the detection result of the load change in the load detection unit (44), the first control unit performs torque control to lower the hanging unit (70) based on the increase of the load and raise the hanging unit (70) based on the decrease of the load. When the cargo (P) is lifted off the ground or when the cargo (P) is placed on the loading surface and touches the ground, the third control unit performs release control to release the holding unit (60). The first control unit performs height control, in which the winch (30) is operated to control the movement of the holding unit (60) to the target height in the vertical direction.

Description

Technical Field

[0001] This invention relates to a conveying system and a control method for the conveying system. Background Technology

[0002] As a conveying system that uses a lifting device for raising and lowering goods and a robot device, there is, for example, the system shown in Patent Document 1. Patent Document 1 discloses a conveying system (1) in which a lifting device (3) and a robot (4) cooperate to convey a workpiece (2). In Patent Document 1, the lifting device (3) includes a support mechanism (10), a lifting unit (15), and a lifting clamp (16). In such a conveying system, the load on the robot device is reduced by having the lifting device bear a larger load.

[0003] However, in the above-mentioned conveying system, if the vertical movements between the lifting unit (15) and the robot arm (21-25) are not synchronized, overload may occur in the motors (31-35) on the robot (4) side or the servo motor (15a) of the lifting unit (15), thereby damaging these motors (devices). Therefore, in the structure disclosed in Patent Document 1, a rolling ball (28) is provided on the hand (26) of the robot (4), thereby allowing relative vertical movement of the holding part (18c).

[0004] That is, in the structure disclosed in Patent Document 1, the vertical lifting movements of the hand (26) and the lifting unit (16) are basically synchronized. However, when the timing of the lifting movements is staggered between the vertical movement of the hand (26) and the vertical movement of the lifting unit (16) (mounting mechanism (18)), the deviation is absorbed by rolling the ball (28) relative to the holding part (18c).

[0005] [Existing Technical Documents]

[0006] [Patent Documents]

[0007] Patent Document 1: Japanese Patent No. 6071549 Summary of the Invention

[0008] (The problem that the invention aims to solve)

[0009] However, the conveying system disclosed in Patent Document 1 employs a structure that, in addition to the hanging clamp (16) for suspending the workpiece, also includes a rolling ball (28) on the hand (26). Therefore, due to the addition of the rolling ball (28) on the hand (26), its structure becomes more complex, thereby increasing manufacturing costs.

[0010] Furthermore, in the conveying system disclosed in Patent Document 1, since a rolling ball (28) is provided on the hand (26), it is difficult for the robot (4) to withstand the load in the vertical direction, and the workpiece (2) is not well held. On the other hand, the robot arm moves in a curved motion via joints, so the hand (26) usually changes position in the vertical direction. Moreover, on the support mechanism (10) side, the wire (17) can also swing (rotate) with the drum (15c) side as the fulcrum. Therefore, on the robot (4) side, when moving the hand (26), it is necessary to follow the swing (rotation) of the holding part (18c) suspended on the wire (17), which greatly restricts the movement of the hand (26).

[0011] Furthermore, if the hand (26) moves up and down rapidly, the holding state of the holding part (18c) may be released. Therefore, the operability of the workpiece (2) during transport is not good.

[0012] The present invention was made in view of the above circumstances, and its object is to provide a conveying system and a control method for the conveying system that are simple in structure, have few restrictions on movement on the robot device side, and enable good operability during cargo transportation.

[0013] (A solution to the problem)

[0014] To address the aforementioned issues, according to a first aspect of the present invention, a conveying system is provided that transports goods to a desired location.

[0015] The conveying system has the following characteristics.

[0016] It comprises: a winch capable of raising or lowering goods and having a load detection unit for detecting the applied load or load changes; a crane equipped with the winch and capable of moving the winch horizontally by applying an external force to the winch; a lifting unit that hangs from the winch and is capable of holding goods; a robot device having a holding unit capable of holding goods or the lifting unit and a robot arm capable of moving the holding unit to a desired position; a first control unit capable of torque control and height control of the winch, wherein in torque control, a torque corresponding to the applied load is generated on the winch, and in height control, the lifting unit is moved to a specified target height; a second control unit that controls the movement of the robot arm; a third control unit that controls the movement of the holding unit; and a main control unit that outputs specified control commands to the first control unit, the second control unit, and the third control unit.

[0017] When transporting the lifting unit, except when the goods are lifted off the ground from the loading surface or when the goods are placed on the loading surface and touch the ground, the third control unit performs holding control according to the control command from the main control unit to hold the unit using the holding unit. Furthermore, according to the control command from the main control unit and based on the detection results from the load detection unit, the first control unit performs torque control to lower the lifting unit based on an increase in load and raise the lifting unit based on a decrease in load.

[0018] When the goods are lifted off the ground from the loading surface, or when the goods are placed on the loading surface and landed, the third control unit executes release control according to the control command from the main control unit to release the holding unit. Furthermore, according to the control command from the main control unit, the first control unit executes height control, in which the winch is operated to control the holding unit to move to the target height.

[0019] Furthermore, in the above invention, it is preferable that, in torque control, the second control unit performs position control by moving the holding unit to a predetermined target position via the robot arm, including vertical movements.

[0020] Furthermore, in the above invention, it is preferable that, in torque control, the second control unit performs position control by moving the holding unit to a predetermined target position via the robot arm, including vertical movements.

[0021] Furthermore, in the above invention, it is preferable that, in height control, the second control unit controls the operation of the robot arm to stop.

[0022] Furthermore, in the above invention, it is preferable that the hanging unit is a clamping device capable of holding the cargo; the clamping device continues to hold the cargo during both the height control and torque control from the stopped state of the winch before the cargo leaves the ground to the stopped state of the winch after the cargo touches the ground.

[0023] In addition, to solve the above-mentioned problems, according to a second aspect of the present invention, a control method for a conveying system is provided, which conveys goods to a desired location.

[0024] The control method of this conveying system has the following characteristics.

[0025] The conveying system includes: a winch capable of raising or lowering goods and having a load detection unit for detecting the applied load or load changes; a crane equipped with the winch and capable of moving the winch horizontally by applying an external force; a lifting unit that hangs from the winch and is capable of holding goods; a robotic device having a holding unit capable of holding goods or the lifting unit and a robotic arm that moves the holding unit to a desired position; a first control unit capable of torque control and height control of the winch, wherein in torque control, a torque corresponding to the applied load is generated on the winch, and in height control, the lifting unit is moved to a specified target height; a second control unit that controls the movement of the robotic arm; a third control unit that controls the movement of the holding unit; and a main control unit that outputs specified control commands to the first control unit, the second control unit, and the third control unit.

[0026] The control method for this conveying system includes the following steps:

[0027] In the case of transporting the lifting unit, except when the goods are lifted off the ground from the loading surface or when the goods are placed on the loading surface and touching the ground, the third control unit performs holding control according to the control command from the main control unit to maintain the goods using the holding unit.

[0028] In the torque control step, during the holding control step, according to the control command from the main control unit and based on the detection results from the load detection unit, the first control unit executes torque control that lowers the suspension unit based on an increase in load and raises the suspension unit based on a decrease in load.

[0029] In the release control step, when the goods are lifted off the ground from the loading surface, or when the goods are placed on the loading surface and then land on the ground, the third control unit executes the release control according to the control command from the main control unit to release the holding by the holding unit.

[0030] In the height control step, during the release control step, the first control unit performs height control according to the control command from the main control unit. In this height control, the winch is operated to control the holding unit to move to the target height in the vertical direction.

[0031] (Invention Effects)

[0032] According to the present invention, a conveying system and a control method for the conveying system are provided, which have a simple structure, have few restrictions on movement on the robot device side, and enable good operability during cargo transportation. Attached Figure Description

[0033] Figure 1This is a schematic diagram showing the overall structure of a conveying system according to an embodiment of the present invention.

[0034] Figure 2 It means Figure 1 The diagram shows the control structure of the winch.

[0035] Figure 3 This indicates that it is installed at Figure 1 A top view of the structure of the robotic arm on the robotic device of the conveying system shown.

[0036] Figure 4 It means Figure 1 The side view of the clamping device structure of the conveying system shown.

[0037] Figure 5 It means Figure 1 The diagram shows a block diagram of the control structure of the conveying system.

[0038] Figure 6 It is presented in tabular form. Figure 1 The diagram shows the actions performed by each part (device) in steps S1 to S9 of the operation of the conveying system.

[0039] Figure 7 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S1.

[0040] Figure 8 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S2.

[0041] Figure 9 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S3.

[0042] Figure 10 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S4.

[0043] Figure 11 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S5.

[0044] Figure 12 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S6.

[0045] Figure 13 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S7.

[0046] Figure 14 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S8.

[0047] Figure 15 It means Figure 6 A diagram showing the state of each structural component of the conveying system in step S9. Detailed Implementation

[0048] Hereinafter, a conveying system 10 and a control method for the conveying system 10 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0049] <1. Regarding the structure of the conveying system 10>

[0050] Figure 1 This is a schematic diagram showing the overall structure of the conveying system 10. For example... Figure 1 As shown, the main structural components of the conveying system 10 include: a hand-operated crane 20, a winch 30, a robot device 50, and a chucking device 70.

[0051] The hand-operated crane 20 includes a moving guide rail 21 and a horizontal guide rail 22. The moving guide rail 21 is a long component suspended from a fixed part such as the ceiling, and it is fixed by the fixed part so that it does not move with the operator's pulling action. It should be noted that the hand-operated crane 20 is a crane. In addition, the horizontal guide rail 22 has a pulley (not shown), which allows it to move along the moving guide rail 21.

[0052] Figure 2 This is a diagram showing the control structure of the winch 30. (For example...) Figure 2 As shown, the main structural components of the winch 30 include: the winch body 31, the upper hook 32, the cylinder operating device 33, the chain bucket 34 that holds the wound load chain C1, and the lower hook 36.

[0053] The winch body 31 is suspended from the aforementioned horizontal guide rail 22 via an upper hook 32 and a pulley (not shown). Therefore, the winch body 31 (winch 30) can be moved along the horizontal guide rail 22 by the operator manually pulling the load chain C1. Various structures are housed inside the winch body 31's housing 35. Specifically, the housing 35 contains: a drive motor 40, a reduction gear 41, a braking mechanism 42, a load sheave 43 for winding the load chain C1, a load sensor 44, a winch control unit 45, and a driver 46.

[0054] Alternatively, the load chain C1 and load pulley 43 can be replaced to form a winch body consisting of a rope and drum (not shown). In this case, since the wound rope is held by the drum, the chain drum 34 is not required.

[0055] The drive motor 40 is an electric motor that outputs the driving force to drive the load pulley 43. In this embodiment, the drive motor 40 is a servo motor equipped with a detector (encoder 40a) for position (rotor rotational position not shown) detection, and preferably an AC servo motor. It should be noted that, as an AC servo motor, a synchronous motor is preferred, but an induction motor may also be used.

[0056] Additionally, the deceleration mechanism 41 is the part that reduces the rotation of the drive motor 40 and transmits it to the load pulley 43 side. Furthermore, the braking mechanism 42 is the part that, when the drive motor 40 is operating, can use electromagnetic force to release braking force, and when the drive motor 40 is not operating, also generates braking force to hold the cargo P.

[0057] The load pulley 43 is the part that winds up or unwinds the load chain C1, and has multiple chain pockets along its outer periphery for the metal rings of the load chain C1 to enter.

[0058] The load sensor 44 is a load sensor that measures the load applied to the upper hook 32. That is, the load sensor 44 is a sensor that measures or detects the total load of the winch body 31, the load of the load chain C1 (the portion not touching the ground, etc.), and the load of the cargo P. By subtracting the body's own weight, etc., from the total load measured or detected by the load sensor 44, the load applied to the load pulley 43 via the load chain C1 can be detected (calculated). The load sensor 44 is, for example, mounted on a mounting shaft used to mount the upper hook 32 to the winch body 31. It should be noted that the load sensor 44 corresponds to a load detection unit.

[0059] As the aforementioned load sensor 44, a load cell equipped with a strain gauge can be used. Regarding the placement of the load sensor 44, in addition to the positions described above, it can be placed at any location capable of detecting or measuring the load applied to the load pulley 43 by the load chain C1 suspending the cargo P. This could be between the upper hook 32 and a pulley (not shown), between the lower hook 36 and the cargo P, or between the end of the load chain C1 and the lower hook 36. Furthermore, in addition to a load sensor, a crane scale or similar device can be used as the load sensor 44, but it must possess the accuracy and sensitivity required for balance control.

[0060] Furthermore, the winch control unit 45 is a component that, based on instructions output from the main control unit 81 (described later), can control the drive 46 according to the control mode (height control mode, torque control mode), and in each control mode, outputs instruction values ​​for position (height), speed, torque, etc. This winch control unit 45 and the drive 46 correspond to the first control unit. Examples of the winch control unit 45 include a computer or integrated circuit equipped with a CPU (Central Processing Unit), memory (RAM (Random Access Memory), ROM (Read Only Memory), internal memory, external memory, etc.), input / output interfaces, etc.

[0061] In addition, the driver 46 is a part that controls the power supplied from the outside to be appropriate based on the current value of the drive motor 40, the output of the encoder 40a, and the command value for motor drive control output from the winch control unit 45, and supplies the power to the drive motor 40 to make the drive motor 40 rotate.

[0062] Furthermore, the cylindrical operating device 33 is an operating device operated by the operator holding it in their hand, and it is connected to the lower end of the load chain C1. Additionally, a lower hook 36 for hooking the cargo P is connected to the cylindrical operating device 33. It should be noted that, instead of the cylindrical operating device 33, an operating device (pendant switch) suspended by a wire rope from the winch body 31 of the winch 30 can be used, or a wireless remote control device can be used. Furthermore, when the winch 30 and the robot device 50 do not cooperate, and the winch 30 operates independently, the operation of the cylindrical operating device 33 can be performed in two ways, each of which can be switched manually. These two operations are: using the handle portion of the cylindrical operating device 33 (not shown) as a switch, allowing the operator to slide it up and down to move it vertically; and, as described later, controlling the torque of the drive motor 40 based on the load change caused by the operator's manual force (external force) (torque control).

[0063] Additionally, the chain drum 34 houses the portion of the unloaded (wound) load chain C1 that exists on the opposite side of the lower hook 36, separated by the load pulley 43.

[0064] Next, the robot device 50 will be described. The robot device 50 includes: a foot 51, multiple joints 52 and 53, multiple arms 54 and 55, a wrist 56, and motors 57a to 57f for driving these parts. Additionally, the robot device 50 includes a robot hand 60. It should be noted that the robot arm 58 is composed of the joints 52 and 53, the arms 54 and 55, the wrist 56, and the motors 57a to 57f.

[0065] The foot 51 is a part that is erected vertically upward from the ground or the like, and supports the joint 52 in a rotatable manner. In addition, a motor 57a is housed in the foot 51, and the joint 52 (designated as the first joint 52) ​​can be rotated about an axis perpendicular to the mounting surface (denoted as the S-axis) by driving the motor 57a.

[0066] Furthermore, a first joint 52 is provided at the upper end of the foot 51. An arm 54 (designated as the first arm 54) is rotatably mounted to the first joint 52, and a motor 57b is disposed within the first joint 52. The motor 57b causes the first arm 54 to rotate along an axis parallel to the mounting surface. Figure 1 The first arm 54 rotates around an axis perpendicular to the plane of the paper (denoted as the L-axis). Therefore, the first arm 54 has two rotational degrees of freedom.

[0067] It should be noted that the electric motors 57a to 57f, which include electric motors 57a and 57b, can be either electric motors or pneumatic motors.

[0068] Furthermore, a joint 53 is rotatably mounted on the front end of the first arm 54, and a motor 57c is housed therein. Driven by the motor 57c, the joint 53 (designated as the second joint 53) can be rotated along an axis parallel to the mounting surface. Figure 1 The axis perpendicular to the paper plane (denoted as the U-axis) is centered on the second joint 53. Furthermore, arm 55 (designated as the second arm 55) is rotatably mounted to the second joint 53, and motor 57d is disposed within the second joint 53. Motor 57d causes the second arm 55 to rotate relative to the aforementioned axis. Figure 1 The second arm 55 rotates around the axis perpendicular to the plane of the paper (U-axis) (denoted as R-axis). Therefore, the second arm 55 has two rotational degrees of freedom.

[0069] Furthermore, a wrist 56 is rotatably mounted on the front end of the second arm 55, and a motor 57e is housed therein. Driven by the motor 57e, the wrist 56 can rotate around an axis orthogonal to the aforementioned R and S axes (denoted as the B-axis). Additionally, a motor 57f is housed within the wrist 56, enabling the robot hand 60 to rotate around an axis perpendicular to the aforementioned B-axis (denoted as the T-axis).

[0070] Additionally, a robotic hand 60 is mounted on the front end of the wrist 56. It should be noted that the robotic hand 60 corresponds to the holding unit. Figure 3 This is a top view showing the structure of the robot hand 60. (Example) Figure 3 As shown, the robotic arm 60 includes: a mounting portion 61, a cylindrical portion 62, a retaining tube 63, and an actuator 64 (see reference). Figure 5 The mounting part 61 is the part installed on the wrist part 56. In addition, an air inlet passage for supplying air to the holding tube 63 may also be built into the mounting part 61 (not shown), but the air inlet passage may also be separate from the mounting part 61.

[0071] Furthermore, the cylindrical portion 62 is cylindrical in shape and made of a material with higher strength and less susceptibility to deformation than the retaining tube 63. The retaining tube 63 is mounted on the inner circumference of the cylindrical portion 62. The retaining tube 63 is a component that expands towards its inner diameter by introducing air through an air inlet passage. The retaining tube 63 is formed of a material such as rubber that is airtight and easily expandable. Additionally, multiple ( Figure 3 There are three expansion portions 63a in total. When these expansion portions 63a expand, they can maintain the clamping device 70. It should be noted that in Figure 3 In the diagram, the expanded portion 63a is indicated by a double-dotted line.

[0072] Alternatively, the actuator 64 can be, for example, a compressor or a pump. A retaining pipe 63 is connected directly or indirectly to the actuator 64, allowing air to be supplied to the retaining pipe 63 under pressure or under reduced pressure. Alternatively, the actuator 64 can also be configured with a pressure regulating valve or the like.

[0073] Next, the clamping device 70 will be described. It should be noted that the clamping device 70 corresponds to the suspension unit. Figure 4 This is a side view showing the structure of the clamping device 70. (Example) Figure 1 As shown, the clamping device 70 is a component that is suspended from the lower hook 36. Figure 4As shown, the clamping device 70 includes: a hook portion 71, a hand holding portion 72, a pneumatic drive portion 73, and an expansion holding portion 74. The hook portion 71 is a part that is arranged in a ring shape and hangs on the lower hook 36.

[0074] Furthermore, the hand-holding portion 72, which is the part gripped by the aforementioned robotic hand 60, is configured in a rod shape. Therefore, the robotic hand 60 can move vertically along the hand-holding portion 72. It should be noted that the length of the hand-holding portion 72 is set as follows: That is, the length of the hand-holding portion 72 is set such that, even when the expansion retaining portion 74 is inserted into or removed from the insertion hole P1 of the cargo P, the robotic hand 60 can still hold the hand-holding portion 72 even when it moves vertically.

[0075] In addition, the pneumatic drive unit 73 is the part that pressurizes and supplies air into the expansion retaining unit 74, or depressurizes it. It should be noted that by setting the pneumatic drive unit 73 to be larger than the diameter of the expansion retaining unit 74, it can also be positioned when the expansion retaining unit 74 is inserted into the insertion hole P1 of the cargo P.

[0076] Furthermore, the expansion retaining part 74, like the robotic arm 60 described above, is a part that expands by introducing air and is inserted into the insertion hole P1 of the cargo P. This expansion retaining part 74 has a rod portion 74a and an expansion retaining part 74b. The rod portion 74a is a rod-shaped portion protruding downward from the pneumatic drive unit 73 described above. It should be noted that the rod portion 74a is not limited to a rod-shaped portion; it can also be a cylindrical portion.

[0077] Furthermore, the expansion retaining portion 74b expands outwards by introducing air through an air inlet passage connected to the pneumatic drive unit 73. Like the retaining tube 63, this expansion retaining portion 74b is formed of a material capable of easy expansion, such as rubber. It should be noted that multiple ( ) are present along the length direction on the expansion retaining portion 74b. Figure 4 There are three expansion parts in total, which can stably support the cargo P.

[0078] Next, the control structure of the conveying system 10 will be explained. Figure 5 This is a block diagram representing the control structure of the conveying system 10. For example... Figure 5 As shown, the control section of the conveying system 10 includes a main control unit 81, the aforementioned winch control unit 45, a clamping control unit 82, a hand control unit 83, and a robot control unit 84.

[0079] Furthermore, the main control unit 81, clamping control unit 82, hand control unit 83, and robot control unit 84 can be, for example, computers or integrated circuits equipped with a CPU (Central Processing Unit), memory (RAM (Random Access Memory), ROM (Read Only Memory), internal memory, external memory, etc.), input / output interfaces, etc. The main control unit 81 corresponds to the main control unit. The robot control unit 84 and drivers 85a-85f correspond to the second control unit, the hand control unit 83 corresponds to the third control unit, and the clamping control unit 82 corresponds to the fourth control unit.

[0080] The main control unit 81 is responsible for the overall control of the conveying system 10. It sends signals related to control commands to each of the control units 45, 82, 83, and 84, and receives signals corresponding to the end of specified actions from each of the control units 45, 82, 83, and 84. The clamping control unit 82 controls the operation of the clamping device 70. The hand control unit 83 controls the operation of the robot hand 60. The robot control unit 84 controls the operation of the motors 57a to 57f of the robot device 50 via drivers 85a to 85f.

[0081] <2. Regarding the operation of the conveyor system 10>

[0082] The following is based on Figure 6 The operation of conveying goods P in the conveying system 10 as described above will be explained. Furthermore, Figure 6 It is a diagram in tabular form showing the actions performed by each part (device) in steps S1 to S9.

[0083] Step S1: Preparation for insertion of clamping device 70

[0084] [Winder 30 in step S1]

[0085] Figure 7 This is a diagram showing the state of each structural component of the conveying system 10 in step S1. For example... Figure 7 As shown, in step S1 before the insertion of the clamping device 70, the clamping device 70 moves toward the insertion hole P1 of the load P. At this time, torque control (balance control) is performed in the winch 30. In this control, according to the control command from the main control unit 81, the winch control unit 45 controls the application of a certain torque to the drive motor 40 based on the load detection result in the load sensor 44 (corresponding to a part of the torque control step). In the torque control of the winch 30, the specified load is detected by the load sensor 44, and the value of this load is stored in the memory 45a.

[0086] Therefore, for example, when cargo P is suspended, if cargo P is lifted by hand (robot hand 60), the load detected by load sensor 44 becomes lighter (smaller), so the winch control unit 45 applies a driving force to drive motor 40 in the lifting direction. As a result, the force in the lifting direction of cargo P is applied, and the result is that the load of cargo P acting on the hand becomes very light, or almost imperceptible.

[0087] Here, in step S1, since the state is before the cargo P is hoisted, the load detected by the load sensor 44 is very small compared to the state with the cargo P hoisted. Therefore, the winch control unit 45 controls the drive motor 40 to perform torque control (balance control) to maintain this small load.

[0088] [Clamping device 70 in step S1]

[0089] Furthermore, in the clamping device 70, according to the control command from the main control unit 81, the clamping control unit 82 controls the operation of the pneumatic drive unit 73, so that the pneumatic drive unit 73 does not apply pressure to the expansion holding part 74b. Therefore, the expansion holding part 74b of the clamping device 70 is in a non-expanded state, thereby allowing the clamping device 70 to be inserted into the insertion hole P1.

[0090] [Robot arm 60 in step S1]

[0091] Additionally, in step S1, according to the control command from the main control unit 81, the hand control unit 83 controls the movement of the actuator 64 of the robot hand 60 in a manner that holds (grips) the clamping device 70. As a result, the robot hand 60 is in the state of holding the hand holding part 72 of the clamping device 70 (corresponding to part of the holding control step).

[0092] [Robot device 50 in step S1]

[0093] In addition, in step S1, according to the control command from the main control unit 81, the robot control unit 84 performs position control of the robot hand 60 (clamping device 70). That is, the robot control unit 84 controls the operation of each motor 57a to 57f, so that the robot hand 60 (clamping device 70) reaches the target height and position along a predetermined path. In this position control, the operation of each motor 57a to 57f is controlled so that the clamping device 70 is positioned above the insertion hole P1 of the load P.

[0094] Step S2: Unwind to the clamping height

[0095] [Winder 30 in step S2]

[0096] Figure 8 This is a diagram showing the state of each structural component of the conveying system 10 in step S2. For example... Figure 8 As shown, after step S1, the robot hand 60 receives a signal from the robot control unit 84 indicating that its movement is complete. The main control unit 81 outputs a predetermined command to the hand control unit 83. According to this predetermined command, under the control of the hand control unit 83, the robot hand 60 releases the hand holding part 72 of the clamping device 70. The main control unit 81 receives the release completion signal from the hand control unit 83 and outputs a command to the winch 30 to stop torque control (balance control) and switch to height control. The winch 30 receives a command from the main control unit 81 to unwind to a target height lower than its current position and performs the unwinding operation. That is, in the winch control unit 45, according to the control command from the main control unit 81, the control mode is switched from torque control (balance control) mode to height control mode. Then, the winch control unit 45 controls the drive of the drive motor 40 to perform an unwinding operation (corresponding to a part of the height control step) to lower the clamping device 70 to a predetermined target height (clamping height) where the clamping action can begin to clamp the cargo P. It should be noted that "landing" refers to the situation where the goods change from a suspended state to a landed state (the state of being placed on the loading surface), and "landing height" refers to the height of the goods at the instant they are placed on the loading surface from a suspended state (roughly the same height as "height off the ground" mentioned later).

[0097] [Clamping device 70 in step S2]

[0098] Furthermore, in step S2 when the clamping device 70 is inserted, the non-expanded state of the expansion holding part 74b of the clamping device 70 continues, just like in step S1 above.

[0099] [Robot arm 60 in step S2]

[0100] Additionally, in step S2, according to the control command from the main control unit 81, the hand control unit 83 controls the operation of the actuator 64 of the robot hand 60 in such a way that the state of releasing the clamping device 70 continues (corresponding to part of the release control step).

[0101] [Robot device 50 in step S2]

[0102] Furthermore, in step S2, the robot device 50 is in a stopped state according to the control command from the robot control unit 84. That is, the robot control unit 84 stops the operation of each motor 57a to 57f. As a result, the robot arm 60 stops, and therefore, as the winch 30 unwinds, the clamping device 70 descends relative to the robot arm 60.

[0103] Step S3: Stop at the clamping height

[0104] [Winder 30 in step S3]

[0105] Figure 9 This is a diagram showing the state of each structural component of the conveying system 10 in step S3. For example... Figure 9 As shown, when the specified target height in the height control is reached, i.e., the clamping height, that is, when the expansion retaining part 74 is inserted into the insertion hole P1 of the cargo P and is in a state where the clamping action of holding the cargo P by the clamping device 70 can begin, the winch control part 45 stops the drive of the drive motor 40 (corresponding to a part of the height control step).

[0106] [Clamping device 70 in step S3]

[0107] Furthermore, according to the control command from the main control unit 81, at or after the moment the drive motor 40 stops, the clamping control unit 82 controls the operation of the pneumatic drive unit 73 to pressurize the expansion holding unit 74b. That is, in step S2, the clamping device 70 holds the cargo P in a certain state.

[0108] [Robot arm 60 in step S3]

[0109] In step S3, similar to step S2, the robot arm 60 continues to release the clamping device 70 (corresponding to part of the release control step).

[0110] [Robot device 50 in step S3]

[0111] In step S3, similarly to step S2, the operation of each motor 57a to 57f of the robot device 50 continues to be stopped. That is, the robot device 50 remains in a stopped state.

[0112] Step S4: Roll up to lift off the ground

[0113] [Winder 30 in step S4]

[0114] Figure 10 This is a diagram showing the state of each structural component of the conveying system 10 in step S4. For example... Figure 10As shown, a hoisting action is performed in the winch 30. That is, according to the control command from the main control unit 81, the winch control unit 45 controls the drive motor 40 to perform a hoisting action that raises the clamping device 70 to a predetermined target height (corresponding to part of the height control step). In addition, as this hoisting action is performed, the cargo P is lifted to a height higher than the ground height, and the load when the cargo P is suspended is detected by the load sensor 44 and stored in the memory 45a. It should be noted that "above ground" refers to the situation where the cargo changes from a state of being placed on the loading surface to a state of being suspended, and "height above ground" refers to the height at the moment when the cargo changes from a state of being placed on the loading surface to a state of being suspended. In addition, by positioning the clamping device 70 at the predetermined target height, the robot arm 60 is in standby mode in a state where it can maintain the hand holding part 72 of the clamping device 70 and the load caused by the robot arm 60 does not act on the load sensor 44.

[0115] [Clamping device 70 in step S4]

[0116] In step S4, similarly to step S3 above, the clamping device 70 continues to hold the cargo P in its current state. Therefore, as the winch 30 performs its winding action, the cargo P rises.

[0117] [Robot arm 60 in step S4]

[0118] In step S4, similar to steps S2 and S3, the robot arm 60 continues to release the clamping device 70 (corresponding to a part of the release control step). Therefore, as the winch 30 performs its winding action, the clamping device 70 rises relative to the robot arm 60.

[0119] [Robot device 50 in step S4]

[0120] In step S4, similarly to steps S2 and S3, the operation of each motor 57a to 57f of the robot device 50 continues to be stopped. That is, the robot device 50 remains in a stopped state.

[0121] Step S5: Cargo Transportation

[0122] [Winder 30 in step S5]

[0123] Figure 11 This is a diagram showing the state of each structural component of the conveying system 10 in step S5. For example... Figure 11As shown, in step S5, torque control (balance control) is performed in the same manner as in step S1 (corresponding to a part of the torque control step). In this torque control (balance control), based on the load value stored in memory 45a, a certain torque is applied to the drive motor 40. Therefore, during the position control process in which the robot device 50 moves the robot hand 60 along a predetermined path, if the robot hand 60 is to be moved in the direction that raises the cargo P, the load detected by the load sensor 44 becomes lighter (smaller), and therefore, according to the amount of change, the winch control unit 45 provides a driving force to the drive motor 40 in the winding direction. Conversely, if the robot device 50 is to be moved in the direction that lowers the cargo P, the load detected by the load sensor 44 becomes larger, and therefore, according to the amount of change, the winch control unit 45 provides a driving force to the drive motor 40 in the unwinding direction. In this way, without the load of the cargo P acting directly on the robot device 50, the robot arm 60 can be moved along a predetermined path to the target position (including the target height) by the control of the robot arm 58 of the robot device 50 (described later), and the cargo P is transported accordingly.

[0124] [Clamping device 70 in step S5]

[0125] In step S5, similar to steps S3 and S4 above, the clamping device 70 continues to hold the cargo P in its current state. Therefore, as the robot device 50, as described later, operates, the cargo P is moved.

[0126] [Robot arm 60 in step S5]

[0127] In step S5, according to the control command from the main control unit 81, the hand control unit 83 controls the operation of the actuator 64 of the robot hand 60 in a manner that grips the clamping device 70 (corresponding to a part of the holding control step). In this way, the robot hand 60 is in the state of holding the hand holding part 72 of the clamping device 70. As described above, the clamping device 70 holds the cargo P. Therefore, as the robot device 50 operates as described later, the cargo P is transported.

[0128] [Robot device 50 in step S5]

[0129] In step S5, according to the control instructions from the main control unit 81, the robot control unit 84 controls the movement (position control) of the robot arm 58. That is, the robot control unit 84 controls the operation of each motor 57a to 57f to make the robot hand 60 (clamping device 70) reach the target position (including the target height). In this position control, the operation of each motor 57a to 57f is controlled to move the cargo P to the target position.

[0130] Step S6: Unwind in order to land

[0131] [Winder 30 in step S6]

[0132] Figure 12 This is a diagram showing the state of each structural component of the conveying system 10 in step S6. If the robot arm 60 is detected to have reached the target position in step S5, then the same action as step S2, step S6, is performed. That is, as... Figure 6 As shown, in step S6, the winch 30 performs an unwinding operation. At this time, the main control unit 81 receives a release completion signal from the robot hand 60 from the hand control unit 83 and sends an instruction to the winch control unit 45 to switch the control mode from torque control (balance control) mode to height control mode. The winch control unit 45 switches to height control mode and stands by until it receives a target height instruction from the main control unit 81. Then, the main control unit 81 instructs the winch control unit 45 to unwind to the target height (pre-set according to the height of the mounting surface) for the lower hook 36 to bring the cargo P to the ground. The winch control unit 45 controls the drive motor 40 to perform an unwinding operation to contact the mounting surface (corresponding to a part of the height control step).

[0133] [Clamping device 70 in step S6]

[0134] In step S6, similar to steps S3 to S5 above, the clamping device 70 continues to hold the cargo P in its current state. Therefore, as the unwinding operation described above proceeds, the cargo P descends.

[0135] [Robot arm 60 in step S6]

[0136] In step S6, the robot hand 60 performs the same action as in step S2 above. That is, in the robot hand 60, according to the control command from the main control unit 81, the hand control unit 83 controls the action of the actuator 64 in a manner that releases the clamping device 70 (corresponding to part of the control release step).

[0137] [Robot device 50 in step S6]

[0138] Furthermore, in step S6, similarly to step S2 above, the robot device 50 enters a stopped state according to the control command from the robot control unit 84. That is, the robot control unit 84 stops the operation of each motor 57a to 57f. As a result, the robot arm 60 stops, and therefore, as the unwinding operation of the winch 30 proceeds, the clamping device 70 descends relative to the robot arm 60.

[0139] Step S7: Stopping during landing

[0140] [Winder 30 in step S7]

[0141] Figure 13 This is a diagram showing the state of each structural component of the conveying system 10 in step S7. For example... Figure 13 As shown, when the lower hook 36 reaches the predetermined target height in the aforementioned height control, the winch control unit 45 stops the drive of the drive motor 40 (corresponding to a part of the height control step). Alternatively, the winch control unit 45 may notify the main control unit 81 of ground contact based on detection information from the load sensor 44 installed on the winch 30. In this way, the transport of the cargo P is completed.

[0142] [Clamping device 70 in step S7]

[0143] Furthermore, at the moment the drive motor 40 stops, or at a moment thereafter, in the clamping device 70, according to the control command output from the main control unit 81 that has determined the ground contact, the clamping control unit 82 controls the operation of the pneumatic drive unit 73 to release the state in which the pneumatic drive unit 73 pressurizes the expansion holding unit 74b. That is, in step S7, the clamping device 70 switches from a state of holding the cargo P to a state of not holding it.

[0144] [Robot arm 60 in step S7]

[0145] In step S3, similar to step S6 above, the robot arm 60 continues to release the clamping device 70 (corresponding to part of the release control step).

[0146] [Robot device 50 in step S7]

[0147] In step S7, similar to step S6 above, the operation of each motor 57a to 57f of the robot device 50 continues to be stopped. That is, the robot device 50 remains in a stopped state.

[0148] Step S8: Removal of the clamping device

[0149] [Winder 30 in step S8]

[0150] Figure 14 This is a diagram showing the state of each structural component of the conveying system 10 in step S8. For example... Figure 14As shown, in step S8, as a preparation step to begin removing the clamping device 70 from the cargo P, the same rolling action as in step S4 is performed until the device is rolled up to a predetermined height where the robotic arm 60 can hold the hand holding part 72. That is, according to the control command from the main control unit 81, the winch control unit 45 controls the drive of the drive motor 40 to perform a rolling action that raises the clamping device 70 to a predetermined target height (corresponding to part of the height control step). In addition, unlike in step S4, in this rolling action, the cargo P is not lifted, but only the clamping device 70 is lifted by the lower hook 36. Therefore, compared with the state where the cargo P is suspended, the load detected by the load sensor 44 is a very small value, and the winch control unit 45 stores this load value in the memory 45a and stands by in a state where the control mode can be switched to torque control (balance control) mode.

[0151] [Clamping device 70 in step S8]

[0152] In step S8, similar to step S7 above, the clamping device 70 continues to not hold the cargo P. Therefore, as the winch 30 performs its winding action, the clamping device 70 rises relative to the cargo P.

[0153] [Robot arm 60 in step S8]

[0154] In step S8, similar to steps S6 and S7, the robot arm 60 continues to release the clamping device 70 (corresponding to a part of the release control step). Therefore, as the winch 30 performs its winding action, the clamping device 70 rises relative to the robot arm 60.

[0155] [Robot device 50 in step S8]

[0156] In step S8, similarly to steps S6 and S7, the operation of each motor 57a to 57f of the robot device 50 continues to be stopped. That is, the robot device 50 remains in a stopped state.

[0157] Step S9: Movement of the clamping device 70

[0158] [Winder 30 in step S9]

[0159] Figure 15 This is a diagram showing the state of each structural component of the conveying system 10 in step S9. For example... Figure 15As shown, in step S9, similarly to steps S1 and S5, torque control (balance control) is switched from height control. In this torque control (balance control), the drive motor 40 is controlled to operate with a certain torque based on the load value (load value in the unloaded cargo P state) stored in the memory 45a. Therefore, when the robot device 50 wants to move the clamping device 70 up and down, the winch controller 45 controls the drive of the drive motor 40 to reduce the load acting on the robot device 50 (corresponding to a part of the torque control step).

[0160] [Clamping device 70 in step S9]

[0161] In step S9, similar to steps S7 and S8 above, the clamping device 70 continues to not hold the cargo P.

[0162] [Robot arm 60 in step S9]

[0163] In step S9, based on the control command output from the main control unit 81, which confirms the switch to torque control (balance control) mode, the hand control unit 83 controls the actuator 64 of the robot hand 60 to operate in a manner that grips the clamping device 70. In this way, the robot hand 60 enters a state where it holds the hand holding part 72 of the clamping device 70 (corresponding to part of the holding control step). Therefore, as the robot device 50 operates as described later, the clamping device 70 moves.

[0164] [Robot device 50 in step S9]

[0165] In step S9, according to the control command from the main control unit 81, the robot control unit 84 controls the movement (position control) of the robot arm 58. That is, the robot control unit 84 controls the operation of each motor 57a to 57f to bring the robot hand 60 (clamping device 70) to the target position. As an example of this position control, the clamping device 70 is moved along a predetermined path to a position for lifting the next cargo P.

[0166] By executing the steps S1 to S9 as described above, the conveying system 10 can automatically complete a series of conveying processes for the goods P.

[0167] <3. Regarding the effect>

[0168] The conveying system 10, as described above, includes: a winch 30 capable of raising or lowering the cargo P and having a load sensor 44 (load detection unit) for detecting the applied load; a hand-operated crane 20 (crane) on which the winch 30 is mounted and can be moved horizontally by applying an external force to the winch 30; a clamping device 70 (suspension unit) hanging from the winch 30 and capable of holding the cargo P; and a robotic device 50 having a robotic arm 60 (holding unit) capable of holding the cargo P or the clamping device 70 (suspension unit) and a mechanism for moving the robotic arm 60 (holding unit) to a desired position. The system includes: a robotic arm 58; a winch control unit 45 (first control unit) capable of torque control of the winch 30 to generate torque corresponding to the applied load and height control of moving the clamping device 70 (suspension unit) to a specified target height; a robot control unit 84 (second control unit) controlling the operation of the robotic arm 58; a hand control unit 83 (third control unit) controlling the operation of the robot hand 60; and a main control unit 81 (main control unit) outputting specified control commands to the winch control unit 45 (first control unit), the robot control unit 84 (second control unit), and the hand control unit 83 (third control unit).

[0169] Furthermore, when the clamping device 70 (suspension unit) is moved—that is, when transporting the cargo P except during height control, when the clamping device 70 is moved toward the cargo P before height control, or when the clamping device 70 is moved away from the cargo P after height control—the hand control unit 83 (third control unit) performs holding control according to the control command from the main control unit 81 (main control unit) to hold the cargo using the robot hand 60 (holding unit). Simultaneously with this control, according to the control command from the main control unit 81 (main control unit) and based on the detection results of changes in the applied load in the load sensor 44 (load detection unit), the winch control unit 45 (first control unit) performs torque control to lower the clamping device 70 (suspension unit) based on an increase in load and raise the clamping device 70 (suspension unit) based on a decrease in load.

[0170] Furthermore, when the cargo P is lifted off the ground from the loading surface, or when the cargo is placed on the loading surface and then lands, the hand control unit 83 (third control unit) executes release control according to the control command from the main control unit 81 (main control unit) to release the holding provided by the robot hand 60 (holding unit). Simultaneously with this control, the winch control unit 45 (first control unit) executes height control according to the control command from the main control unit 81 (main control unit), in which the winch 30 is activated to move the robot hand 60 (holding unit) to the target height in the vertical direction.

[0171] With this configuration, when cargo P leaves or lands, the clamping device 70 (suspension unit) can be used to lift or lower cargo P by controlling the position of the winch 30. During this position control of the winch 30, the robot arm 60 releases its grip on the clamping device 70 (suspension unit), thus allowing the clamping device 70 (suspension unit) to move relative to the robot arm 60 in the vertical direction. Therefore, synchronization deviation between the vertical movement of the clamping device 70 (suspension unit) controlled by the winch 30 and the vertical movement of the robot arm 58 of the robot device 50 can be prevented.

[0172] Furthermore, when transporting cargo P in situations other than height control for lifting or landing (step S5), when moving the clamping device 70 (suspension unit) toward cargo P before height control of the winch 30 (step S1), or when moving the clamping device 70 (suspension unit) away from cargo P after height control (step S9), the winch 30 undergoes "torque control" (balance control). Therefore, when transporting cargo P, if the winch 30 supports (bears) the load of cargo P and the robot arm 58 is working, cargo P can be transported to the desired position through this operation.

[0173] That is, the winch 30 applies a balanced load (torque) to the cargo P when the robot arm is not working, through torque control (balance control), but does not cause the cargo P to move actively in the vertical direction. Therefore, it is possible to prevent synchronization deviation between the winch 30 and the robot arm 58 during vertical movement.

[0174] In other words, in this embodiment, the height of the winch 30 is controlled when it is off the ground or on the ground, but the robot arm 60 releases its grip on the clamping device 70 (suspension unit). On the other hand, when transporting the goods P in situations other than off the ground or on the ground (step S5), when the clamping device 70 (suspension unit) is moved toward the goods P before the height control of the winch 30 (step S1), or when the clamping device 70 (suspension unit) is moved away from the goods P after the height control (step S9), the torque control (balance control) of the winch 30 is performed, and the robot arm 60 retains the clamping device 70 (suspension unit). Because the conveying system 10 performs such sequence control, no synchronization deviation occurs between the winch 30 and the robot arm 58 during vertical movement.

[0175] Furthermore, in this embodiment, the robot arm 60 does not contain a roller ball, as disclosed in Patent Document 1, which is used to absorb synchronization deviations between the robot arm 60 and the winch 30. Therefore, since the robot arm 60 does not contain a roller ball, its structure is simplified accordingly, and manufacturing costs can be reduced compared to the structure disclosed in Patent Document 1. In addition, in the torque control (balance control) of the winch 30, by holding the hand holding part 72 of the clamping device 70 (suspension unit) with the robot arm 60, the robot arm 58 can be operated to move the cargo P to the desired position. Therefore, a state with fewer restrictions on movement on the robot device 50 side can be formed, resulting in good operability when transporting the cargo P. Furthermore, while the robot arm 60 is firmly holding the cargo, the clamping device 70 can be moved along a predetermined path while controlling its posture.

[0176] In addition, this embodiment also includes a clamping control unit 82 (fourth control unit), which controls the clamping device 70 (hanging unit) to hold and release the load P according to the control command from the main control unit 81 (main control unit).

[0177] With this configuration, the clamping device 70 (suspension unit) can reliably hold and release the cargo P according to the control commands from the main control unit 81 (main control unit) and the control of the clamping control unit 82 (fourth control unit). This enables the interchange (cargo exchange) of cargo P.

[0178] In addition, in this embodiment, in torque control (balance control), the robot control unit 84 (second control unit) performs position control to move the clamping device 70 (suspension unit) to a predetermined target position by means of the robot arm 58, including the up and down direction.

[0179] Therefore, in the torque control (balance control) of the winch 30, by operating the robot arm 58, the load P can be transported. During the transport of the load P, the winch 30 can support (bear) the load P, and the robot arm 58 can move the load P to the desired position. Furthermore, even when the load P is moved by the operation of the robot arm 58, since the winch 30 does not actively (proactively) wind and unwind the load P toward the target height position, it is possible to prevent synchronization deviation in the vertical movement between the winch 30 and the robot arm 58.

[0180] In addition, in this embodiment, the robot control unit 84 (second control unit) controls the operation of the robot arm 58 to stop during the height control of the winch 30.

[0181] Therefore, when lifting off or landing, the winch 30, through height control, can lift or lower the cargo P relative to the robot arm 58 (robot device 50) via the clamping device 70 (suspension unit). This prevents synchronization deviations between the vertical movement of the clamping device 70 (suspension unit) and the vertical movement of the robot arm 58 of the robot device 50, which is controlled by the height of the winch 30.

[0182] In addition, in this embodiment, the hanging unit is a clamping device 70 that can hold the cargo P. During the height control and torque control from the stopped state of the winch 30 before the cargo P leaves the ground to the stopped state of the winch 30 after the cargo P touches the ground, the clamping device 70 continues to hold the cargo P.

[0183] Therefore, since the goods P is held in the period from the stopped state of the winch 30 before the goods P leaves the ground to the stopped state of the winch 30 after the goods P touches the ground, the goods P can be reliably held by the clamping device 70 before the goods P is about to be transported, shortly after the goods are transported, and during the transport process.

[0184] <Variation Example>

[0185] The various embodiments of the present invention have been described above, but the present invention can be modified in various ways. These will be described below.

[0186] In the above embodiment, the clamping device 70 was described as a hanging unit. However, the hanging unit is not limited to the clamping device 70. For example, if the cargo P can be held by magnetic attraction, the hanging unit may hold the cargo P by an electromagnet or by an openable and closable support member.

[0187] In addition, the robot control unit 84 corresponding to the second control unit and the hand control unit 83 corresponding to the third control unit can also be a single control unit.

[0188] Furthermore, in the above embodiment, as a holding unit, for example... Figure 3 The robotic hand 60 shown is illustrated. However, the holding unit is not limited to... Figure 3 The robot hand 60 shown is an example. For instance, the robot hand 60 corresponding to the holding unit is not limited to the structure described above. For example, the robot hand may also be configured to have multiple fingers or grippers, which clamp the clamping device 70. Furthermore, regarding the holding unit, in addition to the robot hand, it may also be an end effector that holds the clamping device 70 by vacuum adsorption or magnetic adsorption.

[0189] Furthermore, in the above embodiment, the clamping device 70 was described as a lifting unit. However, the lifting unit is not limited to the clamping device 70. For example, the lifting unit may be a lifting magnet capable of attracting workpieces or the like by magnetic force. In addition, the lifting unit may be a hook component capable of automatically hooking or unhooking onto or release a lifting ring provided on a cargo. Alternatively, the lifting unit may be the lower hook 36 of the winch 30.

[0190] Furthermore, in the above embodiment, a hand-operated crane 20 was described as the crane. However, the crane is not limited to the hand-operated crane 20. For example, the crane may also have a structure equipped with an electric trolley, which, driven by an electric motor, enables the winch 30 or the like, which is the object to be hoisted, to move along the moving guide rail 21 and the cross guide rail 22.

[0191] In addition, in the above embodiments, the target height can also be set in other actions besides leaving the ground and landing.

[0192] (Symbol Explanation)

[0193] 10… Conveying system, 20… Hand-operated crane (corresponding to crane), 21… Moving guide rail, 22… Horizontal guide rail, 30… Winch, 31… Winch main body, 32… Upper hook, 33… Cylindrical operating device, 34… Chain drum, 35… Housing, 36… Lower hook, 40… Drive motor, 40a… Encoder, 41… Reduction mechanism, 42… Braking mechanism, 43… Load pulley, 44… Load sensor, 45… Winch control unit, 45a… Memory, 46… Driver, 50… Robot device, 51… Leg, 52… First joint, 53… Second joint, 54… First arm, 55… Second arm, 56… Wrist, 57a~57 f… motor, 60… robot hand (corresponding to the holding unit), 61… mounting part, 62… cylindrical part, 63… holding tube, 63a… expansion part, 64… actuator, 70… clamping device (corresponding to the hanging unit), 71… hook part, 72… hand holding part, 73… pneumatic drive part, 74… expansion holding part, 74a… rod part, 74b… expansion holding part, 81… main control part (corresponding to the main control unit), 82… clamping control part (corresponding to the fourth control unit), 83… hand control part (corresponding to the third control unit), 84… robot hand control part (corresponding to the second control unit), 85a~85f… driver, C1… load chain, P… cargo, P 1… insertion hole

Claims

1. A conveying system that transports goods to a desired location. The conveying system is characterized in that... have: A winch is a device that raises or lowers goods and has a load detection unit that detects the applied load or changes in load. A crane, which is equipped with the winch, and is capable of moving the winch horizontally by applying an external force to the winch. A hoisting unit, which descends from the winch and is capable of holding the cargo. The robotic device includes a holding unit capable of holding the cargo or the sling unit and a robotic arm capable of moving the holding unit to a desired position. The first control unit is capable of controlling the torque and height of the winch, wherein... In the torque control, a torque corresponding to the applied load is generated on the winch; in the height control, the hoisting unit is moved to a specified target height. The second control unit controls the movements of the robotic arm. The third control unit controls the operation of the holding unit, and The main control unit outputs prescribed control commands to the first control unit, the second control unit, and the third control unit. When transporting the lifting unit, except when the goods are lifted off the ground from the placement surface or when the goods are placed on the placement surface and touching the ground, the third control unit executes holding control according to the control command from the main control unit to hold the goods using the holding unit. Furthermore, according to the control commands from the main control unit and based on the detection results from the load detection unit, the first control unit performs torque control to lower the suspension unit based on an increase in load and raise the suspension unit based on a decrease in load. When the goods are lifted off the ground from the placement surface, or when the goods are placed on the placement surface and then landed on the ground, the third control unit executes a release control according to the control command from the main control unit to release the holding by the holding unit. Furthermore, according to the control instructions from the main control unit, the first control unit performs height control, in which the winch is activated to control the holding unit to move to the target height.

2. The conveying system according to claim 1, characterized in that, It also includes a fourth control unit, which controls the hanging unit to hold and release the cargo according to control commands from the main control unit.

3. The conveying system according to claim 1 or 2, characterized in that, In the torque control, the second control unit performs position control by moving the holding unit to a predetermined target position via the robot arm, including vertical movements.

4. The conveying system according to any one of claims 1 to 3, characterized in that, In the height control, the second control unit controls the operation of the robotic arm to stop.

5. The conveying system according to any one of claims 1 to 3, characterized in that, The hanging unit is a clamping device capable of holding the cargo; During both the height control and torque control from the moment the winch stops before the cargo leaves the ground to the moment the winch stops after the cargo touches the ground, the clamping device continues to hold the cargo.

6. A control method for a conveying system that transports goods to a desired location. The control method of the conveying system is characterized by the following: The conveying system includes: A winch is a device that raises or lowers goods and has a load detection unit that detects the applied load or changes in load. A crane, which is equipped with the winch, and is capable of moving the winch horizontally by applying an external force to the winch. A hoisting unit, which descends from the winch and is capable of holding the cargo. The robotic device includes a holding unit capable of holding the cargo or the sling unit and a robotic arm capable of moving the holding unit to a desired position. The first control unit is capable of controlling the torque and height of the winch, wherein... In the torque control, a torque corresponding to the applied load is generated on the winch; in the height control, the hoisting unit is moved to a specified target height. The second control unit controls the movements of the robotic arm. The third control unit controls the operation of the holding unit, and The main control unit outputs prescribed control commands to the first control unit, the second control unit, and the third control unit. The control method for the conveying system includes the following steps: In the holding control step, when transporting the lifting unit, except when the goods are lifted off the ground from the placement surface or when the goods are placed on the ground on the placement surface, the third control unit performs holding control according to the control command from the main control unit to hold the goods using the holding unit. In the torque control step, during the holding control step, according to the control command from the main control unit and based on the detection result of the load detection unit, the first control unit performs torque control by lowering the suspension unit based on an increase in load and raising the suspension unit based on a decrease in load. In the release control step, when the goods are lifted off the ground from the placement surface, or when the goods are placed on the placement surface and then landed, the third control unit executes release control according to the control command from the main control unit to release the holding effect of the holding unit. In the height control step, during the release control step, the first control unit performs height control according to the control command from the main control unit. In this height control, the winch is operated to control the holding unit to move to the target height in the vertical direction.

Images