Article transfer device system, control device, lifting device, and moving device

Abstract

To provide an article transfer device system that realizes smooth coordination between a robot responsible for article transfer work and a balancer that assists the robot.SOLUTION: An article transfer device system for transferring an article 30 comprises a locking member 20, a moving device 40, a lifting device 10, and a control device. The locking member 20 locks the article 30. The moving device 40 moves the locking member 20 in horizontal and vertical directions by power. The lifting device 10 assists vertical movement of the moving device 40 by power through the locking member 20. The control device executes zero-torque control for the moving device 40 and rising control for the lifting device 10 during a period from when the article 30 is in a grounded state until it is lifted off the ground, and executes zero-torque control for the moving device 40 and lowering control for the lifting device 10 during a period from when the article 30 is suspended in the air until it is landed at a target place.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an article moving device system used for manufacturing assembly, transportation, etc. in the manufacturing field. [Background technology]

[0002] Industrial robots have been used to move items such as finished products and semi-finished products in factories where industrial products are assembled or transported. In such factories, industrial robots are used on production lines, for example, consisting of a multi-joint arm with an end effector at the end of the arm. The joint mechanism of an industrial robot is composed of a servomotor such as an AC servomotor or a DC brushless servomotor, and a reducer on the output side of the servomotor to obtain high-output torque, and is connected to movable members such as arms and links.

[0003] Such industrial robots are used to move objects of different sizes and weights and to assemble parts. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-072804 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, if multiple industrial robots suitable for handling objects of different sizes and weights are installed, the footprint will be large. Therefore, if the number of industrial robots is reduced and versatility is increased in order to reduce the footprint, it becomes necessary to use industrial robots suitable for the objects and parts with the largest external dimensions and heaviest weights among the objects.

[0006] Furthermore, when an industrial robot currently installed on a production line needs to handle an object that is larger or heavier than the robot's capabilities, it must be replaced with a larger industrial robot, which not only increases the robot's footprint but also requires a change to the production line layout, resulting in significant installation and layout changes. To address this issue, it has been proposed to assist small industrial robots with a lifting balancer. However, this requires coordinated operation between the industrial robot and the balancer, and there is room for improvement in ensuring this occurs smoothly.

[0007] In view of the above problems, the present invention aims to provide an article moving device system that realizes smooth cooperation between a robot that handles the work of moving an article and a balancer that assists the robot. [Means for solving the problem]

[0008] In order to achieve the above object, the article moving device system of the present invention comprises: An article moving device system for moving an article, the system including a locking member, a moving device, a lifting device, and a control device, The locking member locks the article, The moving device moves the locking member horizontally and vertically by power, The lifting device assists the vertical movement of the moving device with power via a locking member; The control device During the period from when the item is in contact with the ground to when it is lifted off the ground, The moving device is subjected to zero torque control for controlling the torque of the power of the moving device to be zero, and the lifting device is subjected to lifting control for lifting the article, During the period from when the object is suspended in the air to when it lands at the target location, The moving device is configured to execute zero torque control, and the lifting device is configured to execute lowering control for lowering the article.

[0009] The lifting device includes a sling, a lifting operation unit, and a weight detection unit. The sling suspends the locking member, The lifting operation unit lifts or lowers the locking member by winding or unwinding the sling, The weight detection unit detects the weight applied to the lifting operation unit and outputs the weight value. The control device After the detected weight value reaches a predetermined value in response to an instruction for lifting control, balance control is executed to generate an assist to the lifting / lowering operating unit to bring the item into a balanced state, based on the predetermined value, in accordance with the vertical force applied to the lifting / lowering operating unit.

[0010] The control device also The system is configured to have a programming means for displaying on a display at least one option of characters, icons, and image display areas for executing ascent control, descent control, and balance control on the lifting device and at least zero torque control on the moving device, and for allowing a user to select and arrange the options to set an execution sequence.

[0011] In order to achieve the above object, the lifting device of the present invention comprises: A lifting device that suspends an article, has a control device, and assists a moving device that moves the article, The moving device moves a locking member that locks an article in horizontal and vertical directions by power, The lifting device assists the vertical movement of the moving device with power via a locking member; The control device During the period from when the item is in contact with the ground to when it is lifted off the ground, The moving device is subjected to zero torque control for controlling the torque of the power of the moving device to be zero, and the lifting device is subjected to lifting control for lifting the article, During the period from when the object is suspended in the air to when it lands at the target location, The moving device is configured to execute zero torque control, and the lifting device is configured to execute lowering control for lowering the article.

[0012] In order to achieve the above object, the moving device of the present invention comprises: A moving device that is assisted by a lifting device that suspends an article and has a control device to move the article, The moving device moves a locking member that locks an article in horizontal and vertical directions by power, The lifting device assists the vertical movement of the moving device with power via a locking member; The control device During the period from when the item is in contact with the ground to when it is lifted off the ground, The moving device is subjected to zero torque control for controlling the torque of the power of the moving device to be zero, and the lifting device is subjected to lifting control for lifting the article, During the period from when the object is suspended in the air to when it lands at the target location, The moving device is configured to execute zero torque control, and the lifting device is configured to execute lowering control for lowering the article.

[0013] In order to achieve the above object, the control device of the present invention comprises: A control device for an article moving device system that moves an article, the control device including a locking member, a moving device, and a lifting device, The moving device moves a locking member that locks an article in horizontal and vertical directions by power, The lifting device assists the vertical movement of the moving device with power via a locking member; During the period from when the item is in contact with the ground to when it is lifted off the ground, The moving device is subjected to zero torque control for controlling the torque of the power of the moving device to be zero, and the lifting device is subjected to lifting control for lifting the article, During the period from when the object is suspended in the air to when it lands at the target location, The moving device is configured to execute zero torque control, and the lifting device is configured to execute lowering control for lowering the article. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a perspective configuration diagram of an entire article moving device system according to an embodiment of the present invention; [Figure 2]1 is a perspective view of an article moving device system according to an embodiment of the present invention, with a portion of the lifting device omitted; [Figure 3] 1 is a control block diagram of an article moving device system according to an embodiment of the present invention. [Figure 4] 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. [Figure 5] 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. [Figure 6] 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. [Figure 7] 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. [Figure 8] 10A and 10B are image diagrams of icons on a screen for programming the operation of an article moving device system according to an embodiment of the present invention. [Figure 9] 4 is a flowchart illustrating an operation of the article moving device system according to the embodiment of the present invention. [Figure 10] 4 is a time chart showing the operation of the article moving device system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] An article moving device system according to an embodiment of the present invention will be described in detail below with reference to the drawings. Fig. 1 is a perspective view of the entire article moving device system according to an embodiment of the present invention. The article moving device system 1 includes a lifting device 10, a locking member 20, a moving device 40, and a control device.

[0016] The lifting device 10 assists the moving device 40 in moving the article 30 in the vertical direction, i.e., in raising and lowering it. The locking member 20 is connected to a loading hook 12 at the end of a sling 11 extending vertically downward from the lifting device 10, and suspends and locks the article 30. The moving device 40 has an abutment 42 at its tip that abuts against the locking member 20, and moves the article 30 by moving the abutment 42. The lifting device 10 has a lifting device hanging hook 13 provided on its top surface, and can be used by hanging it from a structure such as a beam of a building or a slide block 33 that can move horizontally on a rail 32 (see Figure 4).

[0017] The control devices include a control device (A) 111, a control device (B) 121, and a control device (C) 101. The control device (A) 111 controls the moving device 40. The control device (B) 121 controls the lifting device 10. The control device (C) 101 is connected to the control devices (A) 111 and (B) 121 to control the entire article moving device system. Note that the control device (A) 111 does not necessarily have to be located within the moving device 40. And the control device (B) 121 does not necessarily have to be located within the lifting device 10. Therefore, in this embodiment, the control device (A) 111 and the control device (B) 121 may be located in the control device (C) 101, which is installed externally away from the lifting device 10 and the moving device 40. Of course, the control device (C) 101 may be incorporated into the lifting device 10 or the moving device 40.

[0018] A control device (B) 121 is housed inside the lifting device 10. The control device (B) 121 is equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and other storage devices and input / output devices, and controls the up and down movement of the locking member 20 using the suspending rope 11.

[0019] The locking member 20 is a member that connects to the cargo hook 12 connected to one end of the sling 11 and locks the article 30. In this embodiment, the article 30 is, for example, a container with a flange on the top and a part or parts contained therein. In order to move the article 30, the locking member 20 is composed of a roughly U-shaped member that locks onto the flange of the article 30 and a hook-shaped member. In this embodiment, the locking member 20 is composed of a roughly U-shaped member. A bolt with a ring, for example, is attached to the top surface of the roughly U-shaped member so that the hook can be connected, and a bent attachment / detachment portion is provided at the lower end so as to engage the flange of the article 30. By moving this locking member 20 horizontally, the locking member 20 can be attached to and detached from the article 30.

[0020] The moving device 40 is, for example, an industrial serial link robot made up of arms arranged in series and moving device motors 41a to 41f that provide six-axis power for rotating the arms between the arms, but is not limited to this.

[0021] The abutment portion 42 is a so-called end effector provided at the tip of the moving device 40, and in this embodiment has a structure that clamps the locking member 20. The abutment portion 42 is not limited to this and can be selected appropriately depending on the shape of the locking member 20, and can be modified such as being connected to the locking member 20 via a universal joint. The abutment portion 42 is provided so as to abut against at least one of the locking member 20 and the article 30, and may have a shape and structure that abuts against both the locking member 20 and the article 30. Depending on the type and shape of the article, it is also possible to omit the locking member and directly hold the article at the abutment portion, and to connect the loading hook 12 to this abutment portion.

[0022] A force detection unit 43 is provided between the contact portion 42 and the movement device motor 41a. The force detection unit 43 detects at least the vertical component of the force applied to the contact portion 42 and outputs the applied force value. The force detection unit 43 is, for example, a multi-force meter, and the operation of the movement device 40 can be controlled based on this. The force detection unit 43 and each of the movement device motors 41a-41f are electrically connected to the control device (A) 111 by wiring passing through a hollow space within the movement device 40, and various signals are transmitted and power is supplied. Note that instead of the force detection unit 43, the control device (A) 111 may obtain torque by obtaining current from each of the movement device motors 41a-41f, and calculate the force to be applied to the contact portion 42 based on the torque and position signals from encoders provided in each of the movement device motors 41a-41f.

[0023] The control device (A) 111 is provided, for example, in the base of the movement device 40, and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other storage devices and input / output devices. The control device (A) 111 is electrically connected to the input unit 44 and the like. In addition to the control device (A) 111, drivers for each of the movement device motors 41a to 41f are also provided in the base of the movement device 40. The control device (C) 101 and the control device (A) 111 are connected by a wiring 100b, enabling communication. The wiring 100b may include multiple wirings, such as an input wiring and an output wiring. Note that in FIG. 1, the wiring 100b is shown as a single line for convenience.

[0024] The input unit 44 is used to manually move the moving device 40 using the moving device motors 41a to 41f, and to instruct the moving path and target position of the moving device 40. In this embodiment, the input unit 44 is connected to the control device (A) 111 by wire, but this is not limiting and a wireless connection is also possible. The functions of the input unit 44 may also be performed by the control device (C) 101.

[0025] The control device (C) 101 is a computer that controls the lifting device 10 and the moving device 40. The control device (C) 101 is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), storage means 103, and input / output means 104. The control device (C) 101 is connected to the control device (B) 121 in the lifting device 10 via a wiring 100a, and to the control device (A) 111 in the moving device 40 via a wiring 100b. The control device (C) 101 can set the operation of the lifting device 10 and the moving device 40, store operation programs, and the like. The control device (C) 101 may include a so-called programmable logic controller (PLC). Stable operation can be achieved by controlling the lifting device 10 and the moving device 40 with a programmable controller (PLC).

[0026] FIG. 2 shows a part of the internal structure of the lifting device 10 of the article moving device system 1 according to the embodiment of the present invention, with the cover of the lifting device 10 omitted.

[0027] A reducer is attached to the load side of the power lifting device motor 17. This lifting device motor 17 is, for example, an AC servo motor. The lifting device motor 17 may also include an electromagnetic brake.

[0028] The reducer reduces the rotational speed of the lifting device motor 17 to a predetermined speed. The reducer is, for example, a wave gear reducer. The wave gear reducer is composed of a wave generator with an elliptical outer periphery, an elastically deformable flexspline with numerous external teeth formed on its outer periphery that is fitted around the wave generator and whose position of circumferential deflection changes with the rotation of the wave generator, and a circular spline on the outer periphery of the flexspline with internal teeth that engage with the external teeth of the flexspline. Power is then extracted and transmitted to the drive shaft 15 connected to the flexspline as a rotational output. By using a reducer with minimal backlash, such as a wave gear reducer, for this device, it is possible to eliminate uncontrollable regions during switching when the lifting device motor 17 frequently switches between forward and reverse rotation to perform up and down movements, thereby achieving a smooth operational feel.

[0029] The drive shaft 15 is a rotating shaft that has been reduced in speed by a reducer, and is connected to the lifting / lowering operating unit 16 to rotate the lifting / lowering operating unit 16 continuously in forward and reverse directions.

[0030] A lifting device hanging hook 13 is fixed to the ceiling surface of the lifting device 10. The lifting device hanging hook 13 is attached to a rail 32 provided on the building structure via a slide block 33 that is horizontally movable (see FIG. 4). The lifting device hanging hook 13 is provided near the center of gravity of the lifting device 10 in the horizontal direction.

[0031] The sling 11 is, for example, a link chain. The sling 11 is made up of oval rings, each made up of a semicircular arc portion and a straight portion connected to the semicircular arc portion, which are alternately connected and crossed. One end of the sling 11 is connected to the loading hook 12, and the other end (the unloaded side) is stored in the chain bucket 14.

[0032] The lifting operation unit 16 includes a rotating member that rotates when power is transmitted from the lifting device motor 17, which is the drive source. In this embodiment, the rotating member of the lifting operation unit 16 is cylindrical and connected to the drive shaft 15. The sling 11 is wound around the rotating member, winding and unwinding the sling 11. The position at which the sling 11 is wound is approximately vertically below the lifting device hanging hook 13 and close to the center of gravity of the lifting device 10. The sling 11 is fitted into a pocket groove provided in the rotating member of the lifting operation unit 16 and wound approximately 180 degrees. In this embodiment, a link chain is used as the member connected to the locking member 20 and wound around the lifting operation unit 16, but this is not limiting and a wire rope may also be used. In this case, the lifting operation unit 16 is drum-shaped, and one end of the wire rope is fixed and wound around the rotating member.

[0033] A position detector 18 that detects the rotational angle position of the motor is connected to the non-load side of the lifting device motor 17. The position detector 18 is a so-called absolute encoder that optically detects the rotational angle position of the motor and outputs a position signal. This position detector 18 can detect the payout position of the locking member 20, i.e., the lifting position of the article 30.

[0034] The weight detection unit 19 is equipped with a strain gauge and a flexure element so that it can detect the force transmitted from the sling 11 wound around the lifting operation unit 16 as a reaction force. The strain gauge is incorporated into a Wheatstone bridge circuit that converts the strain generated in the flexure element according to the weight into an electrical signal, and this allows the weight detection unit 19 to detect the weight applied to the lifting operation unit 16 and output a weight value.

[0035] A control device (B) 121 is disposed inside the lifting device 10 near the lifting operation unit 16. The control device (B) 121 controls the lifting device motor 17 based on a position signal from the position detection unit 18 and a weight signal from the weight detection unit 19. The electrical components such as the control device (B) 121 are disposed inside a cover so that the lifting device 10 can be used in places where it is exposed to powder particles or water droplets.

[0036] In this embodiment, the position detector 18 is disposed on the anti-load side of the elevator motor 17, but this is not limitative and the position detector 18 may be provided on the drive shaft 15, which is the output of the reducer, or on the elevator operating unit 16, or may be provided on both. Furthermore, the position detector 18 is not limited to an optical type, and may be a magnetic type, a capacitance type, or the like.

[0037] Furthermore, the weight detection unit 19 only needs to be able to detect the weight applied to the locking member 20, and may be of a rotary type that detects torque from the twist of a rotating shaft provided between the reducer and the lifting operation unit 16, or of a hand-held type that detects the reaction force received by the lifting device motor 17. Furthermore, the weight detection unit 19 is not limited to the strain gauge type, and may be of a capacitance type or the like.

[0038] Fig. 3 is a control block diagram of the article moving device system 1 according to an embodiment of the present invention. Fig. 3 schematically shows the electrical equipment and control device (A) 111 of the lifting device 10, the electrical equipment and control device (B) 121 of the moving device 40, and the control device (C) 101.

[0039] The movement device 40 has a control device (A) 111, movement device motors (41a to 41f), a contact portion 42, a force detection portion 43, and an input portion 44. The control device (A) 111 has a calculation portion 112 and a storage means 113. The calculation portion 112 has a zero torque control means 114 and a position control means 115. The calculation portion 112 issues a rotation drive command to the movement device motors (41a to 41f) via a driver. The calculation portion 112 also issues an opening / closing drive command to the contact portion 42 via a driver. The calculation portion 112 receives and processes a force signal from the force detection portion 43 and a data input signal from the input portion 44. Note that instead of the force detection portion 43, a configuration may be adopted in which a current value is obtained from the movement device motors (41a to 41f), calculated, and the force applied to the contact portion 42 is detected.

[0040] The storage means 113 stores parameters and movement position information related to the operation of the movement device 40. The calculation unit 112 calculates the rotation positions of the movement device motors (41a to 41f) using the position control means 115 based on the movement position information set by the input unit 44 and stored in the storage means 113, and issues a rotation command to the driver.

[0041] On the other hand, the zero torque control means 114 calculates a torque such that the force required to move any part of the link including the abutment part 42 is zero or a very small value, and controls the movement device motors (41a to 41f).

[0042] The lifting device 10 has a control device (B) 121, a lifting device motor 17, a position detection unit 18, and a weight detection unit 19. The control device (B) 121 has a calculation unit 122 and a memory means 123. The calculation unit 122 has a balance control means 124, a hold control means 125, an ascent control means 126, and a descent control means 127. The calculation unit 122 issues a command to rotate the lifting device motor 17 via a driver. The calculation unit 122 receives a signal indicating the rotation position of the lifting device motor 17 from the position detection unit 18, and calculates the lift position of the locking member 20. The calculation unit 122 also receives a weight value signal from the weight detection unit 19, and calculates the force to be applied to the lifting operation unit 16.

[0043] The balance control means 124 controls the lifting device motor 17 so that the sum of the weights of the article 30 and the locking member 20 detected by the weight detection unit 19 becomes equal to the weight value previously registered in the storage means 123. As a result, the article 30 remains suspended and stationary. If a vertically upward external force is applied to the article 30 or the locking member 20, the tension in the sling 11 decreases, and the balance control means 124 controls the lifting device motor 17 to increase the tension in the sling 11. As a result, the article 30 and the locking member 20 will rise even with a slight force. On the other hand, if a vertically downward external force is applied to the article 30 or the locking member 20, the tension in the sling 11 increases, and the balance control means 124 controls the lifting device motor 17 to decrease the tension in the sling 11. As a result, the article 30 and the locking member 20 will descend even with a slight force.

[0044] The holding control means 125 controls the elevator motor 17 so as to hold the vertical position of the article 30 or the locking member 20 .

[0045] The rise control means 126 controls the lifting device motor 17 to wind up the sling 11 and raise the locking member 20 until the weight detected by the weight detection unit 19 reaches the weight value previously stored in the storage means 123. As a variation of the rise control means 126, the lifting device motor 17 may be controlled to wind up the sling 11 and raise the locking member 20 until the weight detected by the weight detection unit 19 remains unchanged for a certain period of time, without storing the weight in the storage means 123 in advance.

[0046] The descent control means 127 controls the lifting device motor 17 so as to pay out the sling 11 and lower the locking member 20 until the weight detected by the weight detection unit 19 reaches the weight value previously stored in the storage means 123. As a variation of the descent control means 127, the lifting device motor 17 may be controlled so as to pay out the sling 11 and lower the locking member 20 until the weight detected by the weight detection unit 19 does not change for a certain period of time, without storing the weight in the storage means 123 in advance.

[0047] The control device (C) 101 has a calculation unit 102, a storage means 103, an input / output means 104, and a programming means 105. The control device (C) 101 is connected to the control device (A) 111 and the control device (B) 121, and enables the programming of the settings for the operations of the moving device 40 and the lifting device 10 by the programming means 105, and issues commands based on the created program.

[0048] The storage means 103 stores the operation programs of the moving device 40 and the lifting device 10 determined by the user, as well as setting parameters related to the operations (such as the moving speed and set values ​​based on the weight of the article 30). The input / output means 104 includes, for example, a display of an indicator, a keyboard and mouse for input, or a touch panel, which allows the user to input and display the operation programs of the moving device 40 and the lifting device 10. The operation programming of the moving device 40 and the lifting device 10 will be described in detail later.

[0049] 4 to 7 are schematic diagrams showing the operation of the article moving device system 1 according to the embodiment of the present invention.

[0050] 4 shows the state in which the lifting device 10 is suspending only the locking member 20 and is not yet lifting the article 30 that is placed on the floor 31 and in a grounded state. The abutment portion 42 holds the locking member 20. The control device (B) 121 of the lifting device 10 performs balance control based on the weight value of the locking member 20 stored in the memory means 123, and the moving device 40 can move the locking member 20 in direction B by applying a force in the horizontal direction with almost no or a slight force in the vertical direction.

[0051] 5 shows that the contact portion 42 of the moving device 40 is moved horizontally to a position where the locking member 20 surrounds the article 30 from above, in response to a program command from the control device (C) 101. Therefore, during the period shown in FIGS. 4 and 5, the control device (A) 111 of the moving device 40 moves the locking member 20 using the position control means 115, and the control device (B) 121 of the lifting device 10 controls the balance control means 124 to keep the locking member 20 in a balanced state.

[0052] After the moving device 40 has moved the locking member 20 to a position where the article 30 can be lifted, the control device (A) 111 of the moving device 40 places the moving device 40 in a zero torque state using the zero torque control means 114 in accordance with a program command from the control device (C) 101. Next, the control device (B) 121 of the lifting device 10 performs lift control using the lift control means 126 in accordance with a program command from the control device (C) 101. The lift control lifts the locking member 20 until the weight value detected by the weight detection unit 19 reaches the registered weight value previously stored in the storage means 123, i.e., the sum of the weights of the article 30 and the locking member 20. Then, from the state shown in Figure 5, the locking member 20 gradually rises and begins to contact the flange of the article 30.

[0053] FIG. 6 shows that the control device (B) 121 has performed ascent control, resulting in the article 30 being suspended in mid-air (ground-lifted). If the article 30 has an unknown weight and is not stored in the storage means 123, the ascent control may be completed when the weight value detected by the weight detection unit 19 ceases to fluctuate for a predetermined period of time. After the control device (B) 121 has completed ascent control, the control device (A) 111 of the moving device 40 terminates the zero torque control of the moving device 40 in response to a program command from the control device (C) 101, and starts position control using the position control means 115. The control device (B) 121 of the lifting device 10 then stores the sum of the weights of the article 30 and the engaging member 20 in the storage means 123, and based on this, the balance control means 124 controls the article 30 to be in a balanced state.

[0054] 7 shows a state in which the lifting device 10 keeps the article 30 in a balanced state while the moving device 40 moves the article 30 by position control, in accordance with program commands from the control device (C) 101. The moving device 40 then moves the article 30 to the target movement position. Note that, although the above description has been given with an example in which the entire weight of the article 30 and the locking member 20 is borne by the lifting device 10, this is not limiting and variations are also possible, such as sharing the weight between the lifting device 10 and the moving device 40. In other words, the locking member 20 may be considered to be part of the moving device 40, and the weight of the locking member 20 may be borne by the moving device 40.

[0055] Next, we will explain how the moving device 40 moves the article 30 to the target position and lands it. When the moving device 40 has completed moving the article 30 vertically above the target position, the control device (C) 101, in response to a program command, places the moving device 40 in a zero torque state using the zero torque control means 114. Next, the control device (B) 121 of the lifting device 10 performs descent control using the descent control means 127 in response to a program command from the control device (C) 101. The descent control lowers the locking member 20 until the weight value detected by the weight detection unit 19 reaches the weight of the locking member 20 stored in advance in the storage means 123. In other words, when the weight value detected by the weight detection unit 19 reaches the weight of the locking member 20, the article 30 has completely landed at the target location.

[0056] After the control device (B) 121 has completed its descent control, the control device (A) 111 of the moving device 40 ends the zero torque control of the moving device 40 in response to a program command from the control device (C) 101, starts position control using the position control means 115, and moves the engaging member 20 horizontally to a position where it is released from the engaging position of the item 30, thereby completing the series of operations.

[0057] FIG. 8 shows a portion of the programming screen displayed on the input / output means 104 of the control device (C) 101. The programming screen has a selection area displaying icons of options and a program creation area where selected icons are arranged to create a program. The (A) group in FIG. 8(i) is an icon for controlling the operation of the moving device 40. The (B) group in FIG. 8(i) is an icon for controlling the operation of the lifting device 10. A user of the article moving device system 1 can easily create an operation program for the execution sequence of the article moving device system 1 by appropriately arranging these icons as options in the program creation area of ​​the programming screen by dragging and dropping them. While this embodiment uses icons, it is also possible to have at least one or more options such as text, icons, and a video display area. Alternatively, a text file can be created and commands can be arranged in the order of execution.

[0058] FIG. 8(ii) is an example of operation programming for the article moving device system 1. The user first sets the lifting device 10 to holding control. Then, the lifting device 10 is set to balance control with weight W1. This weight W1 is the weight of the locking member 20 that is preset. Next, position control is executed to move the moving device 40 from position P1 to position P2. Then, the user switches the moving device 40 to zero torque control, and executes lifting control to move the lifting device 10 to weight W2. This weight W2 is the sum of the weights of the article 30 and the locking member 20. Then, the user switches the lifting device 10 to balance control with weight W2, and ends the zero torque control of the moving device 40. After that, position control is executed to move the moving device 40 from its current position to position P3.

[0059] When the moving device 40 has completed its movement to position P3, zero torque control is initiated, and the lifting device 10 executes descent control at weight W1, and once this is complete, the zero torque control is terminated.The lifting device 10 then starts balance control at weight W1, and the moving device 40 executes position control to position P1, the stage before the locking member 20 is locked onto the article 30, completing one cycle.

[0060] This series of sequences can then be grouped and registered as group Fa in the storage means 103. If the weights of the articles 30 to be handled are different, the registered weight value W2 can be replaced with weight value W3 and registered as group Fb. Therefore, as shown in Figure 8(iii), even if the weights of the articles 30 to be handled are different, by arranging group Fa and group Fb side by side, it is possible to perform the moving work continuously without stopping the lifting device 10 or the moving device 40.

[0061] 9 is a flowchart of steps executed by the control device as an example of programming the operation of the article moving device system 1. The registered weights W1 to W3 used in the lifting device 10 and the target positions P1 to P3 used in the moving device 40 are downloaded from the control device (C) 101 to the storage means 123 and the storage means 113 when an execution command for the stored program is given.

[0062] In step S201, the control device (C) 101 reads out the weight value W1 from the storage means 123 of the control device (B) 121 and commands the calculation unit 122 to process it, and then the process proceeds to step S202. This weight value W1 is, for example, the weight of the locking member 20.

[0063] In step S202, the control device (C) 101 commands the control device (B) 121 to start balance control based on the weight value W1, and the control device (B) 121 executes balance control.

[0064] In step S203, the control device (C) 101 reads positions P1 and P2 from the storage means 113 of the control device (A) 111 and instructs the calculation unit 112 to process them, and then the process proceeds to step S204. This position P1 is, for example, the starting position from which the locking member 20 moves horizontally to lock the article 30, and position P2 is the position at which the locking member 20 locks the article 30.

[0065] In step S204, the control device (C) 101 commands the control device (A) 111 to move the locking member 20 to position P1, and the process proceeds to step S205. The control device (A) 111 then moves the locking member 20 to position P1.

[0066] If the control device (C) 101 determines in step S205 that the movement of the locking member 20 to position P1 has been completed, it proceeds to step S206, but if the movement is not completed, it continues and issues a movement command to the control device (A) 111 to move the locking member 20 to position P1.

[0067] In step S206, the control device (C) 101 commands the control device (A) 111 to move the locking member 20 to position P2, and once the movement of the locking member 20 to position P2 is complete, the process proceeds to step S207 (this is the same as step S205, so the judgment step is omitted).

[0068] In step S207, the control device (C) 101 commands the control device (A) 111 to start the zero torque control, and the control device (A) 111 executes the zero torque control.

[0069] In step S208, the control device (C) 101 reads the weight value W2 from the storage means 123 of the control device (B) 121 and commands the calculation unit 122 to process it, and then the process proceeds to step S209. This weight value W2 is, for example, the sum of the weight of the locking member 20 and the article 30.

[0070] In step S209, the control device (C) 101 commands the control device (B) 121 to execute the ascent control, and the process proceeds to step S210. Upon receiving the command for the ascent control, the control device (B) 121 raises the locking member 20 until the weighing value detected by the weight detection unit 19 reaches a predetermined value based on the weight value W2.

[0071] In step S210, the control device (C) 101 determines whether the control device (B) 121 has completed the ascent control, and if completed, proceeds to step S211, and if not completed, the control device (B) 121 continues the ascent control.

[0072] In step S211, the control device (C) 101 commands the control device (B) 121 to execute balance control, and the control device (B) 121 executes balance control based on the weight value W2.

[0073] In step S212, the control device (C) 101 commands the control device (A) 111 to end the zero torque control, and the control device (A) 111 ends the zero torque control.

[0074] In step S213, the control device (C) 101 commands the control device (A) 111 to start position control to move the locking member 20 from the current position to position P3, and the control device (A) 111 starts position control to position P3.

[0075] When the control unit (A) 111 completes the position control to position P3, the control unit (C) 101 commands the control unit (A) 111 to start zero torque control in step S214, and the control unit (A) 111 executes the zero torque control.

[0076] In step S215, the control device (C) 101 commands the control device (B) 121 to execute lowering control, and the process proceeds to step S216. Upon receiving the command for lowering control, the control device (B) 121 lowers the locking member 20 until the weighing value detected by the weight detection unit 19 reaches a predetermined value based on the weight value W1.

[0077] In step S216, the control device (C) 101 determines whether the control device (B) 121 has completed the lowering control, and if completed, proceeds to step S217, and if not completed, the control device (B) 121 continues the lowering control.

[0078] In step S217, the control device (C) 101 commands the control device (A) 111 to end the zero torque control, and the control device (A) 111 ends the zero torque control.

[0079] A signal indicating the completion of each of the above steps is sent from the control device (A) 111 and the control device (B) 121 to the control device (C) 101 each time, and the control device (C) 101 receives this completion signal and proceeds to the next step based on this.

[0080] 10 is a time chart showing the operation of the article moving device system according to the embodiment of the present invention, in which the horizontal axis represents time.

[0081] At time t0, the control device (A) 111 controls the moving device 40 in a position control mode, and the control device (B) 121 controls the lifting device 10 in a holding control mode.

[0082] At time t1, in response to a command from control section (C) 101, control device (B) 121 switches from holding control to balance control using controlled weight W1. Next, control device (A) 111 moves locking member 20 from its current position to position P1, and the arrival time is t2. Control device (A) 111 then moves locking member 20 from position P1 to position P2. If a vertical component occurs in the position control of movement device 40 during this period from time t1 to t3, the detected weight will fluctuate slightly as shown by the exaggerated dashed line, but will function to follow weight W1 due to balance control using controlled weight W1 by control device (B) 121.

[0083] At time t3, when the locking member 20 has completely arrived at the position P2, the control device (A) 111 switches the movement device 40 from position control to zero torque control.

[0084] Then, immediately at time t4, the control device (B) 121 shifts the lifting device 10 from balance control to lifting control. Here, lifting control means lifting the locking member 20 and the article 30 until the weight value detected by the weight detection unit 19 reaches W2. Note that time t4 is the time that the control unit (C) 101 can perform immediately upon receiving a signal from the control unit (A) 111 that the moving device 40 has switched to zero torque control, and the time axis scale is exaggerated in Figure 10.

[0085] At time t5, the control unit (B) 121 ends the lift control and shifts to balance control at weight value W2. At the same time, the control unit (A) 111 ends the zero torque control and shifts to position control. At this time, the height of the locking member 20 is Ha.

[0086] The control device (A) 111 moves the locking member 20 and article 30 from the current position to the target position P3 by position control. Since the target position P3 is at a height H3 in the vertical direction, the locking member 20 and article 30 are lifted by the moving device 40. Therefore, the detected weight decreases slightly as shown by the exaggerated dashed line, but the balance control by the control weight W2 of the control device (B) 121 works to follow the weight W2.

[0087] At time t6, the locking member 20 and the article 30 reach height H3, and then move horizontally toward the target position P3.

[0088] At time t7, the locking member 20 and the article 30 reach the target position P3, and the control device (A) 111 switches the movement device 40 from position control to zero torque control.

[0089] Then, immediately at time t8, the control device (B) 121 shifts the lifting device 10 from balance control to descent control. The descent control here means that the locking member 20 and the article 30 are lowered until the weight value detected by the weight detection unit 19 reaches W1.

[0090] At time t9, when the descent control of the control device (B) 121 is completed, the article 30 lands at the target location and the locking member 20 is ready to be released from the article 30, with the height of the locking member 20 at this time being Hb. The control device (B) 121 transitions the lifting device 10 to balance control with the controlled weight W1, and the control device (A) 111 causes the moving device 40 to move the locking member 20 horizontally from the current position while maintaining the height Hb, thereby releasing the locking member 20 from the article 30.

[0091] At time t10, the locking member 20 moves away from the article 30, and then the locking member 20 moves to the next target position P1 (the horizontal start position for locking the next article 30).

[0092] At time t11, the locking member 20 reaches the next target position P1, and then at time t12, it reaches position P2.

[0093] At time t12, when the locking member 20 has completely reached the position P2, the control device (A) 111 switches the movement device 40 from position control to zero torque control.

[0094] Then, immediately at time t13, the control device (B) 121 shifts the lifting device 10 from balance control to lifting control. The lifting control here means that the locking member 20 and the article 30 are raised until the weight value detected by the weight detection unit 19 reaches W3.

[0095] At time t14, the control device (B) 121 ends the lift control and shifts to balance control at weight value W3. At the same time, the control device (A) 111 ends the zero torque control and shifts to position control. At this time, the height of the locking member 20 is Ha.

[0096] The control device (A) 111 moves the locking member 20 and article 30 from the current position to the target position P3 using position control. Since the target position P3 is at a height H3 in the vertical direction, the locking member 20 and article 30 are lifted by the moving device 40. Therefore, the detected weight decreases slightly as shown by the exaggerated dashed line, but the balance control by the control weight W3 of the control device (B) 121 works to follow the weight W3. The subsequent movement is the same as described above, so a description will be omitted.

[0097] According to the present invention, the lifting device has the functions of ascent control, balance control, and descent control, and the moving device has the functions of position control and zero torque control, and by combining these, smooth article moving operations can be realized. Furthermore, this combination can also respond to changes in article weight by programming, so flexible moving operations can be realized without stopping the equipment.

[0098] The present invention has been described above based on the preferred embodiment, but the present invention is not limited to the above-described embodiment and various modifications are possible without departing from the spirit of the present invention. [Industrial Applicability]

[0099] As an example of utilization of the present invention, it can be applied to an article moving device that moves articles. [Explanation of symbols]

[0100] 1: Goods moving device system 10: Lifting device 11: Hanging line 12: Loading hook 13: Lifting device hanging hook 14: Chain bucket 15: Drive shaft 16: Lifting operation part 17: Lifting device motor 18: Position detection unit 19: Weight detection unit 20:Locking member 30: Goods 31: Floor 32: Rail 33: Slide block 40: Mobile device 41 (41a to 41f): Moving device motor 42: Contact part 43: Force detection unit 44: Input section 100a, 100b: Wiring 101:Control device (C) 102: Arithmetic section 103: Storage means 104: Input / output means 105: Programming methods 111: Control device (A) 112: Arithmetic section 113: Storage means 114: Zero torque control means 115: Position control means 121: Control device (B) 122: Arithmetic section 123: Storage means 124: Balance control means 125: Holding control means 126: Ascent control means 127: Descending control means

Claims

1. An article moving device system for moving an article, the system including a locking member, a moving device, a lifting device, and a control device, the locking member locks the article; the moving device moves the locking member horizontally and vertically by power; the lifting device assists the vertical movement of the moving device with power via the locking member; The control device During the period from when the article is in a grounded state to when it is lifted off the ground, a zero torque control for controlling the moving device so that the torque of the power of the moving device becomes zero, and an elevation control for elevating the article for the lifting device, During the period from when the article is suspended in the air to when it lands at the target location, An article moving device system that causes the moving device to execute the zero torque control and the lifting device to execute a lowering control for lowering the article.

2. The lifting device includes a sling, a lifting operation unit, and a weight detection unit, The suspending rope suspends the locking member, The lifting operation unit lifts or lowers the locking member by winding or unwinding the sling, the weight detection unit detects a weight applied to the lifting operation unit and outputs a weight value; The control device The article moving device system of claim 1, wherein after the detected weight value reaches a predetermined value in response to the command for the lifting control, balance control is executed in which the lifting / lowering operating unit generates an assist to balance the article in accordance with the vertical force applied to the lifting / lowering operating unit based on the predetermined value.

3. The control device 3. The article moving device system according to claim 2, further comprising a programming means for displaying on a display at least one option of characters, icons, or image display areas for causing the lifting device to execute the ascent control, descent control, and balance control, and for causing the moving device to execute at least the zero torque control, and for allowing a user to set an execution sequence by selecting and arranging the options.

4. A lifting device that suspends an article, has a control device, and assists a moving device that moves the article, the moving device moves a locking member that locks the article in horizontal and vertical directions by power; the lifting device assists the vertical movement of the moving device with power via the locking member; The control device During the period from when the article is in a grounded state to when it is lifted off the ground, a zero torque control for controlling the moving device so that the torque of the power of the moving device becomes zero, and an elevation control for elevating the article for the lifting device, During the period from when the article is suspended in the air to when it lands at the target location, The lifting device causes the moving device to execute the zero torque control and the lifting device to execute a lowering control for lowering the article.

5. A moving device that is assisted by a lifting device that suspends an article and has a control device to move the article, the moving device moves a locking member that locks the article in horizontal and vertical directions by power; the lifting device assists the vertical movement of the moving device with power via the locking member; The control device During the period from when the article is in a grounded state to when it is lifted off the ground, a zero torque control for controlling the moving device so that the torque of the power of the moving device becomes zero, and an elevation control for elevating the article for the lifting device, During the period from when the article is suspended in the air to when it lands at the target location, The moving device causes the moving device to execute the zero torque control, and the lifting device to execute a lowering control for lowering the article.

6. A control device for an article moving device system that moves an article, the control device including a locking member, a moving device, and a lifting device, the moving device moves the locking member that locks the article in horizontal and vertical directions by power; the lifting device assists the vertical movement of the moving device with power via the locking member; During the period from when the article is in a grounded state to when it is lifted off the ground, a zero torque control for controlling the moving device so that the torque of the power of the moving device becomes zero, and an elevation control for elevating the article for the lifting device, During the period from when the article is suspended in the air to when it lands at the target location, a control device that causes the moving device to execute the zero torque control and the lifting device to execute a descent control that lowers the article;

Images