Article moving device

Abstract

To provide an article moving device that enables efficient article-moving task while preventing an increase in the footprint and size of the device.SOLUTION: An article moving device includes: a locking member 8 that locks an article 30; a lifting / lowering operation unit that lifts / lowers the locking member 8 and a motor unit of a drive source; an abutting member 42 that abuts against at least one of the article 30 and the locking member 8; and a moving unit 40 of a robot configuration that moves the abutting member 42. The control unit 10, 43 in the article moving device generates a control value by performing computation based on the detection of a weight when the abutting member 42 is abutting against the article 30 and the locking member 8 and the detection of a component in a vertical direction, and controls the motor unit 2 based on the control value so that the article 30 is balanced.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention is used in manufacturing assembly and transportation in the manufacturing field, and when moving an object, the weight is balanced with the assistance of a motor, and the object can be moved with a small operating force. Goods moving device It is related to. [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, robots consisting of, for example, articulated arms with end effectors at the ends of the arms are used on production lines. The joint mechanism of the robot is comprised 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] There is a demand for using such robots to carry out high-mix, low-volume production of items of different sizes and weights. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 06-231867 [Patent Document 2] Japanese Patent Application Laid-Open No. 2003-266252 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, in order to handle objects of different sizes and weights, there is a known invention in which multiple robots are installed that are suited to the objects to be handled (Patent Documents 1 and 2). However, installing multiple robots in this way poses the problem of a large footprint. Therefore, if the number of robots is reduced to increase versatility in order to reduce the footprint, it becomes necessary to use a robot suited to the object with the largest outer diameter and weight among the objects to be handled, which poses the problem of the robot becoming larger.

[0006] Furthermore, if a need arises for a production line to handle an item that is larger or heavier than the size or weight that a robot already installed can handle, the robot must be replaced with a larger one. This not only increases the robot's footprint, but also requires changes to the layout of the production line, resulting in the significant amount of time required for this installation and layout change.

[0007] In view of such problems, the present invention is capable of efficiently moving items of various weights while suppressing an increase in the footprint and size of the device. Item moving device or The object is to provide an article moving device system. [Means for solving the problem]

[0008] The present invention To achieve the above objectives, a locking member for locking an article to be lifted and lowered; a lifting / lowering operating unit that lifts and lowers the locking member; a motor unit as a drive source connected to the lifting operation unit; a weight detection unit that detects a weight applied to the lifting operation unit and outputs a weight value; an abutment member provided to abut against at least one of the article and the locking member; a moving unit that moves the contact member by power; a force detection unit disposed between the contact member and the moving unit, which detects a force applied to the contact member and outputs a value of the applied force; An article moving device system for moving an article, comprising: A control unit that controls the article moving device system includes: generating a control value by performing a calculation based on the weight value and the applied force value when the abutting member is in contact with at least one of the article and the locking member; The motor unit is controlled based on the control value so that the engaging member or the article is in a balanced state. You can do this too. .

[0009] The article moving device according to the present invention is also In order to achieve the above objectives, a hanging main body having at least a lifting / lowering operating unit using a motor as a drive source, and capable of lifting / lowering an article held by a locking member suspended from the lifting / lowering operating unit based on motor control of the motor; a contact member for connecting an article to an arm that is movable in a predetermined direction including the vertical direction; a control unit that enables predetermined control based on a vertical component detected based on the applied force when the applied force is applied to move the arm connected to the article to be locked, and a weight detected based on the locking member and the article that generates a load on the lifting operation unit; Equipped with The hanging body is The locking member is configured to be attached to a slide means that can move the locking member in a horizontal direction at an upper portion of the locking member, An article moving device that can move a locking member in a horizontal or vertical direction when the arm is moved based on the control of a robot component that can output an applied force by a power supply that generates a force to move the arm, The control unit When the arm is moved vertically and the article latched by the latching member is moved up and down, and the weight reaches a predetermined value determined by a predetermined detection during the moving state, a process is performed based on the predetermined control to achieve a balanced state in which the net weight based on the latching member and the article is cancelled out, The process to achieve the above balance state is as follows: Based on the above-mentioned predetermined weight, calculations are made to control the motor so that the net weight is cancelled out and the robot can be moved with an applied force within an allowable range according to the output that can be handled by the robot component, When the arm is moved in the vertical upward direction or when the arm is moved in the vertical downward direction, the processing is made different so that the adjustment is made according to a predetermined detection, A control value corresponding to each of the up and down movements may be calculated from the above calculation, and a motor control may be performed based on the control value to enable assist in the up and down movement with an applied force within an allowable range. .

[0010] The article moving device system according to the present invention also ,In order to achieve the above objectives, a hanging main body having at least a lifting / lowering operating unit using a motor as a drive source, and capable of lifting / lowering an article held by a locking member suspended from the lifting / lowering operating unit based on motor control of the motor; a contact member for connecting an article to an arm that is movable in a predetermined direction including the vertical direction; a control unit that enables predetermined control based on a vertical component detected based on the applied force when the applied force is applied to move the arm connected to the article to be locked, and a weight detected based on the locking member and the article that generates a load on the lifting operation unit; Equipped with The hanging body is The locking member is configured to be attached to a slide means that can move the locking member in a horizontal direction at an upper portion of the locking member, An article moving device system that allows a locking member to move in a horizontal or vertical direction when the arm is moved based on the control of a robot component that can output an applied force by a power supply that generates a force to move the arm, The control unit When the arm is moved vertically and the article latched by the latching member is moved up and down, and the weight reaches a predetermined value determined by a predetermined detection during the moving state, a process is performed based on the predetermined control to achieve a balanced state in which the net weight based on the latching member and the article is cancelled out, The process to achieve the above balance state is as follows: Based on the above-mentioned predetermined weight, calculations are made to control the motor so that the net weight is cancelled out and the robot can be moved with an applied force within an allowable range according to the output that can be handled by the robot component, When the arm is moved in the vertical upward direction or when the arm is moved in the vertical downward direction, the processing is made different so that the adjustment is made according to a predetermined detection, A control value corresponding to each of the up and down movements may be calculated from the above calculation, and a motor control may be performed based on the control value to enable assist in the up and down movement with an applied force within an allowable range. .

[0011] The present invention alsoIn order to achieve the above objectives, The locking member is arm The attachment / detachment section attaches and detaches an article by moving the contact member. It may be configured .

[0012] The present invention also In order to achieve the above objectives, The lifting operation part is a link chain in which oval rings each consisting of a semicircular arc portion and a straight portion connected thereto are alternately connected, and one end of the link chain is connected to a locking member; a rotating member around which the link chain is wound and which is rotated by the drive of the motor; Prepared It may be configured . [Effects of the Invention]

[0013] The article moving device or article moving device system of the present invention According to the present invention, the control unit controls the motor unit to cancel the weight of the object based on the outputs from the weight detection unit and the force detection unit, so that the object can be moved easily. Therefore, the moving unit can be a small robot that handles small objects, so the footprint is small and the size can be suppressed. Furthermore, even if the weight of the object changes, there is no need to change the layout of the moving unit, which improves production efficiency.

[0014] The article moving device or article moving device system of the present invention According to the invention, the control unit calculates the net weight of the locking member and the item, and based on this, the motor unit controls the hanging main body to cancel out the weight of the item, allowing the item to be moved while maintaining a good balance.

[0015] The article moving device or article moving device system of the present invention According to this, the moving section can move an article with a small force even if the weight of the article exceeds the weight that the moving section can move alone.

[0016] The article moving device or article moving device system of the present invention In addition to the above-mentioned effects, the article can be easily attached to and detached from the fastening member by the moving part moving the abutting member with a slight force.

[0017] The present invention In addition to the above effects, the hanging part can hang the article from above, and it is possible to assist the moving part in moving the article, thereby suppressing the expansion of the footprint of the device. Article moving device or article moving device system can provide. [Brief explanation of the drawings]

[0018] [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 a hanging unit omitted; [Figure 3] 1 is a schematic diagram showing the operation 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. DETAILED DESCRIPTION OF THE INVENTION

[0019] 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 configuration diagram of the entire article moving device system according to an embodiment of the present invention.

[0020] The article moving device system 1 is composed of a hanging main body 11 that controls the hanging of an article 30, a locking member 8 that is located at a position extending downward from the hanging main body 11 along the link chain 6 and that suspends and locks the article 30, a contact member 42 that contacts the locking member 8, and a moving unit 40 that has the contact member 42 located at its tip and moves the contact member 42. The hanging main body 11 has a hanging hook 9 on the 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 3).

[0021] A first control unit 10 is housed inside the hanging main body 11. The first control unit 10 is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), other storage devices and input / output devices, and controls the up and down movement of the locking member 8 via the link chain 6.

[0022] An operating unit 22 electrically connected to first control unit 10 is provided at a position extending downward from suspending main body 11 along link chain 6. Operating unit 22 moves up and down together with link chain 6, which moves up and down due to suspending main body 11, and is used by an operator to operate locking member 8 up and down, etc.

[0023] The locking member 8 is a member that connects to one end of the link chain 6 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 placed inside it, and in order to move the article 30, the locking member 8 is composed of a roughly U-shaped member that locks onto the flange of the article 30 and a hook-shaped member.

[0024] The moving unit 40 is a robot that is configured with, for example, arms arranged in series and six-axis moving unit motors 40a to 40f that rotate the arms between the arms. The moving unit 40 is not limited to this, as long as it moves at least in the vertical direction.

[0025] The abutting member 42 is a so-called end effector provided at the tip of the moving section 40, and in this embodiment has a structure for clamping the locking member 8. The abutting member 42 is not limited to this, and can be selected appropriately depending on the shape of the locking member 8, and can be modified such as being connected to the locking member 8 via a universal joint. The abutting member 42 is provided so as to abut against at least one of the locking member 8 and the article 30, and may have a shape and structure that abuts against both the locking member 8 and the article 30.

[0026] The force detection unit 41 is provided between the contact member 42 and the moving unit 40, and detects at least the vertical component of the force applied to the contact member 42 and outputs the applied force value. The force detection unit 41 is, for example, a multi-force meter, and the operation of the moving unit 40 can be controlled based on this. The force detection unit 41 and each of the moving unit motors 40a to 40f are electrically connected to a second control unit 43 by wiring that passes through a hollow space within the moving unit 40, and various signals are communicated and power is supplied.

[0027] The second control unit 43 is provided, for example, in the base of the movement unit 40 and includes a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and other storage devices and input / output devices. The second control unit 43 is electrically connected to the operation unit 44 and includes drive circuits for the movement unit motors 40a-40f. The first control unit 10 and the second control unit 43 are connected by a cable 45 to enable communication. The cable 45 may include multiple wires, such as an input wire and an output wire. For convenience, the cable 45 is shown as a single line in FIG. 1. Furthermore, in this embodiment, the control of the suspension main body 11 is provided by the first control unit 10, and the control of the movement unit 40 is provided by the second control unit 43. However, they may be integrated into a single control unit on either the suspension main body 11 side or the movement unit 40 side, or may be provided separately and externally.

[0028] The operation unit 44 is used to manually move the moving unit 40 using each of the moving unit motors 40a to 40f and to teach the movement of the moving unit 40. In this embodiment, the operation of the hanging main body 11 is performed by the operation unit 22, and the operation of the moving unit 40 is performed by the operation unit 44, which are provided separately, but since the first control unit 10 and the second control unit 43 are connected by a cable 45 and are configured to be able to communicate, it is also possible to operate only by the operation unit 44 by switching the button on the operation unit 44. In this embodiment, the operation unit 44 is connected to the second control unit 43 by a wire, but this is not limiting and the connection may be wireless.

[0029] FIG. 2 shows a part of the internal structure of the hanging main body 11 of the article moving device system 1 according to the embodiment of the present invention, with the cover of the main body omitted.

[0030] A reducer is attached to the load side of the motor serving as the drive source, and together with the motor, this constitutes the motor section 2. This motor is, for example, an AC servo motor.

[0031] The reducer reduces the rotational speed of the motor to a predetermined speed. The reducer is, for example, a strain wave gear reducer. The strain wave gear reducer comprises 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 a rotation output shaft 3 connected to the flexspline as a rotational output. Using a reducer with minimal backlash, such as a strain wave gear reducer, for this device eliminates uncontrollable regions during frequent forward and reverse motor rotation switching for up and down movement, achieving a smooth operational feel.

[0032] The rotation output shaft 3 is a rotation shaft whose speed is reduced by a reducer, and is connected to the lifting / lowering operating unit 7 to rotate the lifting / lowering operating unit 7 continuously in forward and reverse directions.

[0033] A hanging hook 9 is fixed to the top surface of the hanging body 11. The hanging hook 9 is attached to a rail 32 provided on the building structure via a slide block 33 that is movable in the horizontal direction (see Figure 3). The hanging hook 9 is provided near the center of gravity of the hanging body 11 in the horizontal direction.

[0034] The link chain 6 is made up of oval rings, each consisting of a semicircular arc section and a straight section connected to it, which are intersecting and connected alternately, and one end is connected to the locking member 8, and the other end (the unloaded side) is stored in the link chain storage section 12.

[0035] The lifting operation unit 7 includes a rotating member that rotates when power is transmitted from the motor unit 2, which is the drive source, and a link chain 6 connected to a locking member 8. In this embodiment, the rotating member of the lifting operation unit 7 is cylindrical and connected to the rotation output shaft 3, and winds the link chain 6 around it to wind and unwind the link chain 6. The link chain 6 is wound approximately vertically below the hanging hook 9 and close to the center of gravity of the hanging main body 11. The link chain 6 is fitted into a pocket groove provided in the rotating member of the lifting operation unit 7 and wound approximately 180 degrees. In this embodiment, a link chain 6 is used as the link chain connected to the locking member 8 and wound around the lifting operation unit 7, but this is not limiting and a wire rope may also be used. In this case, the lifting operation unit 7 is drum-shaped, and one end of the wire rope is fixed and wound around the rotating member.

[0036] A position detector 4 that detects the rotational angle position of the motor is connected to the non-load side of the motor unit 2. The position detector 4 is a so-called absolute encoder that optically detects the rotational angle position of the motor and outputs a position signal. This position detector 4 can detect the extension position of the locking member 8, i.e., the lift position.

[0037] The weight detection unit 5 is equipped with a strain gauge attached to the strain body so that it can detect the force transmitted from the link chain 6 wound around the lifting operation unit 7 as a reaction force. The strain gauge is incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain body according to the weight into an electrical signal, and this allows the weight detection unit 5 to detect the weight applied to the lifting operation unit 7 and output a weight value.

[0038] A first control unit 10 is disposed inside the suspending body 11 near the lifting operation unit 7. The first control unit 10 controls the motor unit 2 based on the position signal from the position detection unit 4 and the weight signal from the weight detection unit 5. The electrical components including the first control unit 10 are disposed inside a cover so that the suspending body 11 can be used in places where it is exposed to powder particles or water droplets.

[0039] In this embodiment, the position detector 4 is disposed on the anti-load side of the motor unit 2, but this is not limitative and the position detector 4 may be provided on the rotation output shaft 3, which is the output of the reducer, or on the lifting operation unit 7, or may be provided on both. Furthermore, the position detector 4 is not limited to an optical type, and may be a magnetic type, a capacitance type, or the like.

[0040] Furthermore, the weight detection unit 5 only needs to be able to detect the weight applied to the locking member 8, and may be of a rotary type structure that detects torque from the twist of a rotating shaft provided between the reducer and the lifting operation unit 7, or of a hand-held type structure that detects the reaction force received by the motor unit 2. Furthermore, the weight detection unit 5 is not limited to the strain gauge type, and may be of a capacitance type or the like.

[0041] In this embodiment, the locking member 8 is composed of a hook connected to the link chain 6 and a roughly U-shaped member. A bolt with a loop, for example, is attached to the top surface of the roughly U-shaped member so that the hook can be connected, while a bent detachable part 14 is provided at the lower end so as to lock onto the flange of the article 30. The article 30 can be engaged with the detachable part 14 by moving the locking member 8 in the horizontal direction A, making it possible to attach and detach the article 30 to and from the locking member 8.

[0042] 3 to 5 are schematic diagrams showing the operation of the article moving device system 1 according to the embodiment of the present invention.

[0043] FIG. 3 shows the state before the suspending main body 11 uses the locking member 8 to lift the article 30 placed on a fixed structure 31, such as a floor. The abutting member 42 is clamping the locking member 8, and the moving unit 40 is attempting to move the locking member 8 downward. The moving unit 40 is capable of generating a force that moves the locking member 8 up and down using the abutting member 42, and the load and direction of this force can be detected by the force detection unit 41. The first control unit 10 obtains the load W1 applied to the lifting / lowering operating unit 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains that the force applied to the abutting member 42 is a vertically downward component and the component value P1 based on the output from the force detection unit 41. The first control unit 10 subtracts the vertically downward component value P1 of the force applied to the abutting member 42 from the load W1 applied to the lifting / lowering operating unit 7. The first control unit 10 registers and stores the subtracted value as the control value of the controlled object. The first control unit 10 then controls the motor unit 2 by regarding the control value as the net load of the locking member 8.

[0044] On the other hand, the second control unit 43 controls the moving unit 40 by each of the moving unit motors 40a to 40f based on the output detected by the force detection unit 41 so that the applied force generated by the abutment member 42 is below a predetermined value within the allowable range that can be handled by the moving unit 40.

[0045] Therefore, by controlling the motor unit 2 based on the control value calculated and generated by the first control unit 10, the locking member 8 is brought into a balanced state, and the moving unit 40 can move the locking member 8 with a slight force via the abutment member 42.

[0046] Figure 4 shows the state just before locking member 8 lifts article 30. That is, in Figure 3, moving unit 40 moves locking member 8 in direction B via abutting member 42, and detachable portion 14 of locking member 8 is positioned near the flange of article 30. As this movement occurs, hanging main body 11 also moves horizontally by slide block 33. In this state, as in Figure 3, article 30 is not lifted, but abutting member 42 is clamping locking member 8 and moving locking member 8 upward with moving unit 40, attempting to lock locking member 8 to article 30. At this time, load W2 is applied to lifting operating unit 7, and a component value P2 of force is applied to abutting member 42 in the vertically upward direction. The first control unit 10 obtains the load W2 applied to the lifting / lowering actuator 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains that the force applied to the contact member 42 is a vertically upward component and obtains the component value P2 based on the output from the force detection unit 41. The first control unit 10 adds the vertically upward component value P2 of the force applied to the contact member 42 to the load W2 applied to the lifting / lowering actuator 7. The first control unit 10 registers and stores this sum as the control value of the control object. The first control unit 10 then controls the motor unit 2, regarding the control value as the net load of the locking member 8. The first control unit 10 performs control to maintain the balance of the locking member 8, similar to that shown in FIG. 3. The movement of the moving unit 40 may be performed by an operator using the operation unit 44, or the moving unit 40 may execute the movement based on a pre-programmed operation.

[0047] 5 shows the state when the locking member 8 and article 30 are lifted. After this, the locking member 8 and article 30 can be moved by the moving unit 40 abutting at least one of the locking member 8 and article 30 with the abutting member 42. When the moving unit 40 and the abutting member 42 are used to move the locking member 8 and article 30 downward, the first control unit 10 obtains the load W3 applied to the lifting operation unit 7 based on the output from the weight detection unit 5, while the second control unit 43 obtains the component value P3 of the vertically downward force applied to the abutting member 42 based on the output from the force detection unit 41. The first control unit 10 then subtracts the component value P3 applied to the abutting member 42 from the load W3 applied to the lifting operation unit 7.

[0048] When the moving unit 40 and the abutting member 42 are used to move the locking member 8 and the article 30 upward, the first control unit 10 obtains the load W4 applied to the lifting operation unit 7 based on the output from the weight detection unit 5, while the second control unit 43 obtains that the force applied to the abutting member 42 is directed upward and its component value P4 based on the output from the force detection unit 41. The first control unit 10 then adds the component value P4 applied to the abutting member 42 to the load W4 applied to the lifting operation unit 7.

[0049] The first control unit 10 then registers and stores the value resulting from this subtraction or addition as the net weight of the locking member 8 and the article 30, and controls the motor unit 2. Therefore, the locking member 8 and the article 30 are always in a balanced state, and the locking member 8 and the article 30 can be raised and lowered by moving the abutting member 42 with a slight force using the moving unit 40.

[0050] Meanwhile, the second control unit 43 controls the moving unit 40 based on the output detected by the force detection unit 41 so that the applied force generated by the abutting member 42 is equal to or less than a predetermined value within the allowable range that can be handled by the moving unit 40. Therefore, even if the locking member 8 and the article 30 exceed the weight range that the moving unit 40 can handle, the moving unit 40 can move the article 30 by controlling the applied force within the allowable range of the moving unit 40.

[0051] Therefore, even if the weight exceeds the weight that the moving unit can handle, the suspending main unit will assist in lifting the item, so the moving unit can be moved without having to increase its size. Furthermore, since the suspending main unit is equipped with a weight detection unit and the moving unit is equipped with a force detection unit near the abutment member at the tip of the moving unit, the moving unit can remove the vertical component of the external force applied to the locking member and the item and detect the net weight of the locking member and the item, making it possible for the suspending main unit to control the balance of the locking member and the item.

[0052] 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]

[0053] As an example of application of the present invention, an article moving device for moving articles or an article moving device system It can be applied to. [Explanation of symbols]

[0054] 1: Goods moving device system 2: Motor section 3: Rotating output shaft 4: Position detection section 5: Weight detection unit 6: Link chain 7: Lifting operation part 8: Locking member 9: Hanging hook 10: First control unit 11: Hanging body 12: Link chain storage compartment 14: Detachable part 22:Operation section 30: Goods 31:Fixed structure 32: Rail 33: Slide block 40: Moving part 40a to 40f: Moving part motor 41: Force detection unit 42: Contact member 43: Second control unit 44:Operation unit 45: Cable

Claims

1. A hanging body part having at least a lifting / lowering operating part driven by a motor, which enables an article to be raised or lowered by a locking member suspended from the lifting / lowering operating part based on motor control of the motor; a contact member for connecting the article to an arm that is movable in a predetermined direction including the vertical direction; a control unit that enables predetermined control based on a vertical component detected based on the applied force when an applied force for moving the arm connected to the article to be locked is generated, and a weight detected based on the locking member and the article that generates a load on the lifting operation unit; Equipped with The hanging body portion is The upper portion of the locking member from which the locking member is hung is configured to be attachable to a sliding means that can move the locking member in a horizontal direction, An article moving device that allows the locking member to move in a horizontal or vertical direction when the arm is moved based on the control of a robot component that can output the applied force by a power supply that causes the arm to move, The control unit When the arm is movable in the vertical direction and the article engaged by the engaging member is in a moving state of ascending or descending, and the weight reaches a predetermined weight determined by the predetermined detection in the moving state, a process is enabled to achieve a balanced state in which the net weight based on the engaging member and the article is cancelled out based on the predetermined control, The balancing process includes: Based on the predetermined weight, calculation is performed to control the motor so that the motor can be moved with the applied force within an allowable range according to the output that can be handled by the robot component while canceling out the net weight, The calculation is made to differ in processing so that the processing is adjusted according to the predetermined detection when the arm is moved in a vertically upward direction or when the arm is moved in a vertically downward direction, A control value corresponding to each of the upward and downward movements is calculated from the calculation, and the motor control is performed based on the control value to enable the assist of the lifting and lowering movement with the applied force within the allowable range. An article moving device characterized by:

2. A hanging body part having at least a lifting / lowering operating part driven by a motor, and capable of lifting / lowering an article held by a locking member suspended from the lifting / lowering operating part based on motor control of the motor; a contact member for connecting the article to an arm that is movable in a predetermined direction including the vertical direction; a control unit that enables predetermined control based on a vertical component detected based on the applied force when an applied force for moving the arm connected to the article to be locked is generated, and a weight detected based on the locking member and the article that generates a load on the lifting operation unit; Equipped with The hanging body portion is The upper portion of the locking member from which the locking member is hung is configured to be attachable to a sliding means that can move the locking member in a horizontal direction, An article moving device system that allows the locking member to move in a horizontal or vertical direction when the arm is moved based on the control of a robot component that can output the applied force by a power supply that causes the arm to move, The control unit When the arm is movable in the vertical direction and the article engaged by the engaging member is in a moving state of ascending or descending, and the weight reaches a predetermined weight determined by the predetermined detection in the moving state, a process is enabled to achieve a balanced state in which the net weight based on the engaging member and the article is cancelled out based on the predetermined control, The balancing process includes: Based on the predetermined weight, calculation is performed to control the motor so that the motor can be moved with the applied force within an allowable range according to the output that can be handled by the robot component while canceling out the net weight, The calculation is made to differ in processing so that the processing is adjusted according to the predetermined detection when the arm is moved in a vertically upward direction or when the arm is moved in a vertically downward direction, A control value corresponding to each of the upward and downward movements is calculated from the calculation, and the motor control is performed based on the control value to enable the assist of the lifting and lowering movement with the applied force within the allowable range. An article moving device system comprising:

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