Material handling system, lifting device, moving device, control device, control method

Abstract

An item moving system that enables smooth coordination between a robot responsible for moving items and a balancer that assists the robot. [Solution] An article moving device system 1 for moving an article includes a locking member 20, a moving device 40, a lifting device 10, and a control device, wherein the locking member 20 locks the article 30, the moving device 40 moves the locking member 20 horizontally and vertically by power and has a contact member 42 that contacts the locking member 20 at a predetermined position, the lifting device 10 assists the vertical movement of the moving device 40 by power via a suspension cable 11 and the locking member 20, and the control device performs the following actions during the period when the article 30 is moved from a grounded state to a suspended state: control to move the contact member 42 away from the locking member, control to raise the locking member by the lifting device to put the article in a suspended state, and control to move the contact member to a contact position in accordance with the movement of the locking member by the moving device and then bring it into contact.

Description

Technical Field

[0001] The present invention relates to an article transfer device system used for manufacturing assembly, conveyance, etc. in the manufacturing field.

Background Art

[0002] Conventionally, in factories that assemble and transfer industrial products, industrial robots that move articles such as products and semi-finished products have been used. In such factories, in a production line, for example, an industrial robot composed of an articulated arm and having an end effector at the tip of the arm is used. The joint mechanism of the industrial robot has a servo motor such as an AC servo motor or a DC brushless servo motor, and a speed reducer on the output side of the servo motor to obtain high output torque, and is configured to be connected to movable members such as arms and links.

[0003] Using such industrial robots, handling the movement of articles with different sizes and weights and the assembly of combining parts is being carried out.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, when handling items of varying sizes and weights, installing multiple industrial robots suited to the specific items results in a large footprint. To reduce the footprint and increase versatility by reducing the number of industrial robots, it becomes necessary to use an industrial robot that matches the largest item or part in terms of external dimensions and weight among the items being handled. In recent years, an item moving system has begun to be used that assists the industrial robot with an electric balancer that performs hoisting operations, allowing it to move items exceeding the payload capacity of the industrial robot.

[0006] Currently, industrial robots include those with zero-torque control, also known as tracking control, and those without. Zero-torque control is a control method in which, when an external force is applied to the arm of an industrial robot, the arm moves in the direction of that external force, i.e., it performs a tracking motion. If a robot without zero-torque control is used, there is room for improvement in the motion control of the robot and the electric balancer assisting it in processes such as lifting an object off a mounting surface or landing an object on a target mounting surface.

[0007] In view of these problems, the present invention aims to provide an object moving device system that enables smooth coordination between a robot that is responsible for moving objects and an electric balancer that assists the robot. [Means for solving the problem]

[0008] The article moving device system of the present invention aims to achieve the above objectives, An article moving device system that moves articles, comprising 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 using power, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through suspension cables and locking members. The control device is During the period when an item is suspended from the ground, Control to separate the contact member from the locking member, Control that raises the locking member using a lifting device to suspend the item in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then makes contact with it. During the period when an item is moved from a suspended state to a state where it is placed in its intended location, Control to release the contact member from the locking member, Control that lowers a locking member to the lifting device so that the item is placed in the desired location, The device controls the movement of the contact member to the contact position in accordance with the movement of the locking member, and then brings the contact member into contact with the locking member.

[0009] The lifting device of the present invention aims to achieve the above objectives, 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 secures an article horizontally and vertically using power, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through suspension cables and locking members. The control device is During the period when an item is suspended from the ground, Control to separate the contact member from the locking member, Control that raises the locking member using a lifting device to suspend the item in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then makes contact with it. During the period when an item is moved from a suspended state to a state where it is placed in its intended location, Control to release the contact member from the locking member, Control that lowers a locking member to the lifting device so that the item is placed in the desired location, The device controls the movement of the contact member to the contact position in accordance with the movement of the locking member, and then brings the contact member into contact with the locking member.

[0010] In order to achieve the above object, the moving device of the present invention is a moving device that receives assistance from a lifting device that suspends an article and has a control device to move the article, the moving device has a locking member that locks the article and moves it horizontally and vertically by power, and a contact member that contacts the locking member at a predetermined contact position, the lifting device assists the vertical movement operation of the moving device by power via a suspension cable and a locking member, the control device during the period when the article is changed from the grounded state to the suspended state, performs control to separate the contact member from the locking member, control to raise the locking member by the lifting device to make the article in the suspended state, and control to move the contact member to the contact position in accordance with the movement of the locking member by the moving device and then contact it, during the period when the article is changed from the suspended state to the state of being placed on the target location, performs control to release the contact member from the locking member, control to lower the locking member by the lifting device to make the article in the state of being placed on the target location, and control to move the contact member to the contact position in accordance with the movement of the locking member by the moving device and then contact it.

[0011] In order to achieve the above object, the control device of the present invention is a control device for an article moving device system that includes a locking member, a moving device, and a lifting device to move an article, the locking member locks the article, the moving device has a contact member that moves the locking member horizontally and vertically by power and contacts the locking member at a predetermined contact position, <0000​​​​​Control to separate the contact member from the locking member, Control to raise the locking member by a lifting device to suspend the article in the air, Control to move the contact member to the contact position in accordance with the movement of the locking member by a moving device and then cause contact, and execute, During the period when the article is changed from the suspended state in the air to the state of being placed at the target location, Control to release the contact member from the locking member, Control to lower the locking member by the lifting device so that the article is in the state of being placed at the target location, Control to move the contact member to the contact position in accordance with the movement of the locking member by a moving device and then cause contact, and execute.

[0012] The control method of the present invention is a control method for an article moving device system that includes a locking member, a moving device, a lifting device, and a control device to move an article, and to achieve the above object, The locking member locks the article, The moving device has a contact member that moves the locking member horizontally and vertically with power and contacts the locking member at a predetermined contact position, The lifting device assists the vertical movement operation of the moving device with power via a suspension cable and the locking member, The control device, During the period when the article is changed from the grounded state to the suspended state in the air, Perform the step of separating the contact member from the locking member, The step of raising the locking member by the lifting device to suspend the article in the air, The step of moving the contact member to the contact position in accordance with the movement of the locking member by the moving device and then causing contact, and execute, During the period when the article is changed from the suspended state in the air to the state of being placed at the target location, Perform the step of releasing the contact member from the locking member, The step of lowering the locking member by the lifting device so that the article is in the state of being placed at the target location, The step of moving the contact member to the contact position in accordance with the movement of the locking member by the moving device and then causing contact, and execute. The method includes the step of moving the contact member to the contact position in accordance with the movement of the locking member using a moving device, and then bringing it into contact with the locking member. [Brief explanation of the drawing]

[0013] [Figure 1] This is a perspective view of the entire article moving device system according to an embodiment of the present invention. [Figure 2] This is a perspective view diagram showing a partial omission of the lifting device of an article moving device system according to an embodiment of the present invention. [Figure 3] This is a control block diagram of an article moving device system according to an embodiment of the present invention. [Figure 4] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 5] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 6] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 7] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 8] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 9] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 10] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 11] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 12] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 13] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 14] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 15]This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 16] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 17] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 18] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 19] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 20] This is a schematic diagram illustrating the operation of an article moving device system according to an embodiment of the present invention. [Figure 21] This flowchart shows the operation of the article moving device system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0014] The article moving device system according to an embodiment of the present invention will be described in detail below with reference to the drawings. Figure 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 is composed of a lifting device 10, a locking member 20, a moving device 40, and a control device.

[0015] The lifting device 10 assists the vertical movement of the item 30 of the moving device 40, i.e., provides vertical assistance. The locking member 20 is connected to a cargo handling hook 12 at the end of a suspension cable 11 that extends vertically downward from the lifting device 10, and suspends and locks the item 30. The moving device 40 has a contact member 42 positioned at its tip that abuts against the locking member 20, and moves the item 30 by moving the contact member 42. The lifting device 10 is provided with a lifting device suspension hook 13 on its top surface and can be used by suspending it from structures such as building beams or slide blocks 33 that can move horizontally on rails 32 (see Figure 4).

[0016] The control system includes control device (A) 111, control device (B) 121, and control device (C) 101. Control device (A) 111 controls the moving device 40. Control device (B) 121 controls the lifting device 10. Control device (C) 101 is connected to control device (A) 111 and control device (B) 121 to control the entire item moving device system. Note that control device (A) 111 does not necessarily have to be located inside the moving device 40. Similarly, control device (B) 121 does not necessarily have to be located inside the lifting device 10. Therefore, in this embodiment, control device (A) 111 and control device (B) 121 may be located in control device (C) 101, which is located outside the lifting device 10 and the moving device 40. Of course, control device (C) 101 may be incorporated into the lifting device 10 or the moving device 40, or it may be in both.

[0017] 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), ROM (Read Only Memory), RAM (Random Access Memory), other storage devices and input / output devices, and controls the vertical movement of the locking member 20 using the suspension cable 11.

[0018] The locking member 20 is a member that is connected to a cargo handling hook 12 attached to one end of the suspension rope 11 and locks the article 30. In this embodiment, the article 30 is, for example, a container with a flange on top and parts contained inside it. 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 a roughly U-shaped member that opens downwards. A bolt with a ring, for example, is attached to the top surface of the roughly U-shaped member so that a hook can be attached, while the lower tip is provided with a bent attachment / detachment part that locks onto the flange of the article 30. By moving the locking member 20 in the horizontal direction, the locking member 20 and the article 30 can be attached and detached.

[0019] The mobile device 40 is, for example, an industrial serial link robot composed of arms arranged in series and mobile device motors 41a to 41f, which are six-axis power sources that rotate the arms, but is not limited to this.

[0020] The contact member 42 is a so-called end effector provided at the tip of the moving device 40, and in this embodiment, it has a clamping arm that clamps the locking member 20. The contact member 42 has a projection on the clamping portion, while the locking member 20 has a corresponding recess, so that the connection point between the contact member 42 and the locking member 20 is predetermined as a contact position. This prevents misalignment when the article 30 is locked to the locking member 20 and moved. The contact member 42 is not limited to this and can be appropriately selected depending on the shape of the locking member 20, and can be modified such as being detachably connected to the locking member 20 via a universal joint. The contact member 42 is provided so as to contact at least one of the locking member 20 and the article 30, and may have a shape and structure that contacts both the locking member 20 and the article 30. Furthermore, the contact member 42 is not limited to clamping the locking member 20, but may also be designed to press against the locking member 20.

[0021] A force detection unit 43 is provided between the contact member 42 and the moving device motor 41a. The force detection unit 43 detects the applied force, at least the vertical component, applied to the contact member 42 and outputs the applied force value. The force detection unit 43 is, for example, a force meter, and the operation of the moving device 40 can be controlled based on this. The force detection unit 43 and each of the moving device motors 41a to 41f are electrically connected to the control device (A) 111 by wiring that passes through the hollow part of the moving device 40, and various signals are communicated and power is supplied. Alternatively, instead of the force detection unit 43, the control device (A) 111 may obtain torque by obtaining current from each of the moving device motors 41a to 41f, and calculate the applied force to the contact member 42 from the position signals and torque from encoders provided on each of the moving device motors 41a to 41f.

[0022] The control device (A) 111 is installed, for example, in the base part of the mobile device 40, and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), other storage devices, and input / output devices. The control device (A) 111 is electrically connected to the input section 44, etc. In addition to the control device (A) 111, drivers for each mobile device motor 41a to 41f are also located in the base part of the mobile device 40. The control device (C) 101 and the control device (A) 111 are connected by wiring 100b, enabling communication. Wiring 100b may have multiple wires, such as input wires and output wires. Note that in Figure 1, wiring 100b is shown as a single line for convenience.

[0023] The input unit 44 is used to manually move the mobile device 40 using each mobile device motor 41a to 41f, and to teach the mobile device 40 its movement path and target position. In this embodiment, the input unit 44 is connected to the control device (A) 111 by a wire, but it is not limited to this and may be connected wirelessly. The functions of the input unit 44 may also be performed by the control device (C) 101.

[0024] The control device (C) 101 is a computer that controls the lifting device 10 and the moving device 40. The control device (C) 101 includes 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 by wiring 100a and to the control device (A) 111 in the moving device 40 by wiring 100b. The control device (C) 101 can set the operation of the lifting device 10 and the moving device 40, and store operation programs. The control device (C) 101 may include a so-called programmable controller (PLC). By controlling the lifting device 10 and the moving device 40 with a programmable controller (PLC), stable operation can be achieved.

[0025] Figure 2 shows a partial view of the internal structure of the lifting device 10 of the article moving device system 1 according to an embodiment of the present invention, with the cover of the lifting device 10 omitted.

[0026] A reduction gear is attached to the load side of the powered 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.

[0027] The reduction gear reduces the rotational speed of the lifting device motor 17 to a predetermined speed. The reduction gear is, for example, a harmonic drive gear reducer. The harmonic drive gear reducer consists of a wave generator with an elliptical outer circumference, an elastically deformable flexspline with numerous external teeth formed on its outer circumference and fitted onto the wave generator so that the position in which it flexes in the circumferential direction changes with the rotation of the wave generator, and a circular spline on the outer circumference side of the flexspline that has internal teeth that engage with the external teeth of the flexspline. Power is taken out and transmitted to a drive shaft 15 connected to the flexspline as a rotational output. By using a reduction gear with minimal backlash, such as a harmonic drive gear reducer, in this device, when the lifting device motor 17 is frequently switched between forward and reverse rotation to perform up and down movements, the uncontrollable region during switching is eliminated, resulting in a smooth operating feel.

[0028] The drive shaft 15 is a rotating shaft whose speed has been reduced by a reduction gear, and is connected to the lifting mechanism 16, which rotates the lifting mechanism 16 continuously in forward and reverse directions.

[0029] The lifting device suspension hook 13 is fixed to the top surface of the lifting device 10. The lifting device suspension hook 13 is attached to a rail 32 provided on the building structure via a horizontally movable slide block 33 (see Figure 4). This lifting device suspension hook 13 is positioned close to the center of gravity of the lifting device 10 in the horizontal direction.

[0030] The suspension cable 11 is, for example, a link chain. The suspension cable 11 consists of oval rings, each made up of a semi-circular section and a straight section connected to it, which intersect and are linked alternately. One end is connected to the cargo handling hook 12, and the other end (the unloaded side) is stored in the chain bucket 14.

[0031] The lifting mechanism 16 includes a rotating member that rotates due to power transmission from the lifting device motor 17, which is the drive source. In this embodiment, the rotating member of the lifting mechanism 16 is cylindrical in shape, connected to the drive shaft 15, and winds the suspension cable 11 around it, winding and unwinding the suspension cable 11. The position where the suspension cable 11 is wound is approximately vertically below the lifting device suspension hook 13, and is located close to the center of gravity of the lifting device 10. The suspension cable 11 is fitted into a pocket groove provided in the rotating member of the lifting mechanism 16 and wound around approximately 180 degrees. In this embodiment, a link chain is used for the material that is connected to the locking member 20 and wound around the lifting mechanism 16, but it is not limited to this and a wire rope may also be used. In that case, the lifting mechanism 16 is drum-shaped and one end of the wire rope is fixed and wound around the rotating member.

[0032] A position detection unit 18 is connected to the non-load side of the lifting device motor 17 to detect the rotational angle position of the motor. The position detection unit 18 is a so-called absolute encoder, which optically detects the rotational angle position of the motor and outputs a position signal. This position detection unit 18 can detect the extension position of the locking member 20, that is, the lifting position of the item 30.

[0033] The weight detection unit 19 is equipped with a strain generating body and strain gauges attached to the strain generating body so as to detect the force transmitted from the suspension cable 11 wrapped around the lifting and lowering unit 16 as a reaction force. The strain gauges are incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain generating body according to the weight into an electrical signal, thereby allowing the weight detection unit 19 to detect the weight applied to the lifting and lowering unit 16 and output a weight value.

[0034] The control device (B) 121 is located inside the lifting device 10 near the lifting operation unit 16. The control device (B) 121 controls the lifting device motor 17 based on the position signal from the position detection unit 18 and the weight signal from the weight detection unit 19. The electrical components, including the control device (B) 121, are located inside a cover to enable the lifting device 10 to be used in locations where it may be exposed to powder or water droplets.

[0035] In this embodiment, the position detection unit 18 is located on the non-load side of the lifting device motor 17, but it is not limited to this, and may be provided on the drive shaft 15, which is the output of the reduction gear, or on the lifting operation unit 16, or on both. Furthermore, it is not limited to optical type, but may also be magnetic type, capacitive type, etc.

[0036] Furthermore, the weight detection unit 19 only needs to be able to detect the weight applied to the locking member 20, and may be a rotary type structure that detects torque from the twist of a rotating shaft provided between the reduction gear and the lifting operation unit 16, or a drum-shaped structure that detects the reaction force received by the lifting device motor 17. Moreover, it is not limited to strain gauge type, but may be a capacitive type or the like.

[0037] Figure 3 is a control block diagram of an article moving device system 1 according to an embodiment of the present invention. Figure 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.

[0038] The moving device 40 includes a control device (A) 111, moving device motors (41a to 41f), a contact member 42, a force detection unit 43, and an input unit 44. The control device (A) 111 includes a calculation unit 112 and a storage means 113. The calculation unit 112 includes a position control means 115. The calculation unit 112 issues rotational drive commands to the moving device motors (41a to 41f) via a driver. The calculation unit 112 also issues opening and closing drive commands to the contact member 42 via a driver. The calculation unit 112 receives force signals from the force detection unit 43 and data input signals from the input unit 44, etc., and performs calculation processing. Alternatively, instead of the force detection unit 43, the device may be configured to obtain current values ​​from the moving device motors (41a to 41f), convert them digitally, and then perform calculations to estimate the force applied to the contact member 42.

[0039] The storage means 113 stores parameters related to the operation of the mobile device 40, as well as information on its movement position. The calculation unit 112 uses the movement position information set by the input unit 44 and stored in the storage means 113 to calculate the rotational position of the mobile device motors (41a to 41f) using the position control means 115, and then issues a rotation command to the driver.

[0040] The lifting device 10 includes 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 includes a calculation unit 122 and a storage means 123. The calculation unit 122 includes a balance control means 124, a holding control means 125, an upward control means 126, and a downward control means 127. The calculation unit 122 commands the rotational drive of the lifting device motor 17 via a driver. The calculation unit 122 obtains a signal of the rotational position value of the lifting device motor 17 from the position detection unit 18 and calculates the lifting position of the locking member 20. The calculation unit 122 also obtains a signal of the weight value from the weight detection unit 19 and calculates the force applied to the lifting operation unit 16.

[0041] 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 is equal to a weight value previously registered in the storage means 123. As a result, the article 30 remains stationary in a suspended state. If an external force is applied vertically upward to the article 30 or the locking member 20, the tension of the suspension rope 11 decreases, so the balance control means 124 controls the lifting device motor 17 so that the tension of the suspension rope 11 increases. As a result, the article 30 and the locking member 20 will rise even with a small force. On the other hand, if an external force is applied vertically downward to the article 30 or the locking member 20, the tension of the suspension rope 11 increases, so the balance control means 124 controls the lifting device motor 17 so that the tension of the suspension rope 11 decreases. As a result, the article 30 and the locking member 20 will descend even with a small force.

[0042] The holding control means 125 controls the lifting device motor 17 to maintain the vertical position of the article 30 or the locking member 20.

[0043] The lifting control means 126 controls the lifting device motor 17 to rewind the suspension rope 11 and raise the locking member 20 until the weight detected by the weight detection unit 19 reaches a weight value previously stored in the storage means 123. As a variation of the control termination condition of the lifting control means 126, the lifting device motor 17 may be controlled to rewind the suspension rope 11 and raise the locking member 20 until the weight detected by the weight detection unit 19 stops changing for a certain period of time, without storing the weight in the storage means 123 beforehand. Other control methods may include raising the object by a specified distance in absolute or relative distance, or raising it to a weight value previously stored in the storage means 123 and then raising it by a further specified distance. Furthermore, a distance sensor or image sensor attached to the locking member 20 may be used to detect when the object 30 is suspended in mid-air (off the ground). There may be at least one of these detection methods, and multiple methods may be combined.

[0044] The lowering control means 127 controls the lifting device motor 17 to lower the locking member 20 by paying out the suspension rope 11 until the weight detected by the weight detection unit 19 reaches a weight value previously stored in the storage means 123. As a variation of the lowering control means 127, the lifting device motor 17 may be controlled to lower the locking member 20 by paying out the suspension rope 11 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 beforehand. Other control methods may include lowering by a specified distance in absolute or relative distance, or lifting until the weight value is previously stored in the storage means 123 and then lowering by a further specified distance. Furthermore, a distance sensor or image sensor attached to the locking member 20 may be used to detect when the item 30 has landed. There may be at least one of these detection methods, and multiple methods may be used in combination.

[0045] Control device (C) 101 includes an arithmetic unit 102, a storage means 103, an input / output means 104, and a programming means 105 included in the arithmetic unit 102. Control device (C) 101 is connected to control devices (A) 111 and control devices (B) 121, and the programming means 105 enables the setting programming of the operation of the moving device 40 and the lifting device 10, and issues commands based on the created program.

[0046] The storage means 103 stores the operation programs for the mobile device 40 and the lifting device 10 as determined by the user, as well as setting parameters related to the operation (such as the speed of movement and setting values ​​based on the weight of the item 30). The input / output means 104 includes, for example, a display of a display unit, an input keyboard and mouse, or a touch panel, which the user inputs and displays the operation programs for the mobile device 40 and the lifting device 10.

[0047] Figures 4 to 20 are schematic diagrams illustrating the operation of the article moving device system 1 according to an embodiment of the present invention. These series of operations involve moving an article 30 placed on the floor 31 to a floor 34 at a different location and height from the floor 31.

[0048] Figure 4 shows the state before the lifting device 10 lifts the item 30, which is placed on the floor 31 and in a grounded state, while only the locking member 20 is suspended. The contact member 42 is gripping 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 storage means 123. Meanwhile, the control device (A) 111 of the moving device 40 performs position control, and with the assistance of the lifting device 10, the locking member 20 can be moved in direction B by applying force horizontally with almost zero or slight force in the vertical direction. The position P1 of the contact member 42 shown in Figure 4 is the starting point of the horizontal movement to lock the locking member 20 to the item 30. This starting point position P1 is stored as position data coordinates in, for example, the storage means 103 or storage means 123.

[0049] Figure 5 shows the device after the contact member 42 of the moving device 40 has been horizontally moved to position P2, where the locking member 20 covers the article 30 from above, according to a program command from the control device (C) 101. Therefore, during the period shown in Figures 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 locking member 20 to maintain a balanced state using the balance control means 124. Figure 6 is a schematic diagram of the locking member 20, article 30, contact member 42, etc., as seen from the side in Figure 5. Since the devices overlap in the side view, the moving device motors 41 (41a~41f), control device (A) 111, etc. are shown in a simplified manner to facilitate understanding.

[0050] After the moving device 40 moves the locking member 20 to a position where the article 30 can be lifted, the control device (A) 111 of the moving device 40 holds the moving device 40 in that position according to a program command from the control device (C) 101. Then, the control device (A) 111 of the moving device 40 separates the contact member 42 from the locking member 20 according to a program command from the control device (C) 101 (see Figure 7). Next, the control device (B) 121 of the lifting device 10 performs upward control using the upward control means 126 according to a program command from the control device (C) 101. The upward control raises the locking member 20 until the weight value detected by the weight detection unit 19 reaches a registered weight value stored in advance in the storage means 123, that is, the sum of the weights of the article 30 and the locking member 20. Then, from the state shown in Figure 7, the locking member 20 gradually rises and begins to contact the flange of the article 30.

[0051] Figure 8 shows the item 30 suspended in mid-air (off the ground) after the control device (B) 121 performs upward control. If the weight of the item 30 is unknown and not stored in the storage means 123, the upward control may be considered complete when the weight value detected by the weight detection unit 19 stops fluctuating for a predetermined time. After the upward control by the control device (B) 121 is completed, the control device (A) 111 of the moving device 40 starts position control by the position control means 115 based on a program command from the control device (C) 101, raising the contact member 42 by the amount that the locking member 20 has risen (Figure 9), and causing the contact member 42 to be clamped by the locking member 20 (Figures 10 and 11). The control device (B) 121 of the lifting device 10 stores the sum of the weights of the item 30 and the locking member 20 in the storage means 123, and based on this, the balance control means 124 controls the item 30 to a balanced state.

[0052] Figures 11 and 12 show the state in which, according to a program command from the control device (C) 101, the lifting device 10 maintains the item 30 in a balanced state, while the moving device 40 moves the item 30 via the locking member 20 by position control. The moving device 40 then moves the item 30 to the target position P4 (Figure 13). In the above description, the lifting device 10 bears the entire weight of the item 30 and the locking member 20, but this is not limited to this example, and variations such as sharing the weight between the lifting device 10 and the moving device 40 are also possible. That is, the locking member 20 can also be considered as part of the moving device 40, and the weight of the locking member 20 can be borne by the moving device 40.

[0053] Next, we will explain the process by which the moving device 40 moves the item 30 to the target position and lands it. When the moving device 40 has completed moving the item 30 to the vertical position of the floor 34 at the target position (Figures 13 and 14), the control device (C) 101, by program command, puts the moving device 40 into a state where it is held at that position P4. Then, by program command, the control device (C) 101 releases the contact member 42 at the tip of the moving device 40 from the locking member 20 (Figure 15). Next, the control device (B) 121 of the lifting device 10 performs descent control by the descent control means 127 by 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 that has been previously stored in the storage means 123. In other words, when the weight detected by the weight detection unit 19 reaches the weight of the locking member 20, the article 30 has landed completely in the target location (Figure 16). As shown in Figure 16, at this time the locking member 20 is separated vertically from the flange of the article 30.

[0054] After the control device (B) 121 completes its downward control, the control device (A) 111 of the moving device 40 starts position control by the position control means 115 in response to a program command from the control device (C) 101, and moves the contact member 42 to a predetermined position on the locking member 20 vertically downward by the moving device motor 41 (41a~41f) (Figure 17). Furthermore, the control device (A) 111 of the moving device 40 grips the locking member 20 with the contact member 42 at the predetermined position on the locking member 20 in response to a program command from the control device (C) 101 (Figures 18 and 19). The control device (A) 111 of the moving device 40 moves the predetermined position of the locking member 20 horizontally in the C direction to a position where it is released from the locking position of the article 30, and the series of operations is completed (Figure 20).

[0055] Figure 21 is an example of a flowchart of the steps performed by each control device in the item moving device system 1. Steps marked with "A:" are controls performed by control device (A) 111, and steps marked with "B:" are controls performed by control device (B) 121. The registered weights W1 to W2 used in the lifting device 10 and the target positions P1 to P6 used in the moving device 40 are transmitted from control device (C) 101 to storage means 123 and storage means 113 when an execution command for a saved program is issued. When items 30 are transported sequentially by a belt conveyor and picked up by the moving device 40, target positions P1 and P2 are fixed values, and the target positions P4 to P6 of the destination of the items 30 are obtained by calculation by the calculation unit 102 of control device (C) 101 depending on the conditions of the destination and are stored in storage means 103.

[0056] In step S201, the control device (C) 101 commands the control device (A) 111 to have the contact member 42 grip the locking member 20, and the control device (A) 111 executes this command and proceeds to step S202.

[0057] In step S202, the control device (C) 101 commands the control device (B) 121 to read the weight value W1 data from its storage means 123 and to the control device (A) 111 to read the target position P1 to P6 data from its storage means 113, and then proceeds to step S203. This weight value W1 is, for example, the weight of the locking member 20.

[0058] In step S203, control device (C) 101 instructs control device (B) 121 to start balance control based on the weight value W1 (weight of locking member 20 only), control device (B) 121 performs balance control, and proceeds to step S204.

[0059] In step S204, the control device (C) 101 instructs the control device (A) 111 to read positions P1 and P2 from the storage means 113 and process them in the calculation unit 112, then proceeds to step S205. Position P1 is, for example, the starting position for the locking member 20 to move horizontally to lock the article 30, and position P2 is the position where the locking member 20 locks the article 30. In step S204, the control device (C) 101 instructs the control device (A) 111 to move the locking member 20 to position P1, then proceeds to step S205. The control device (A) 111 then executes the movement of the locking member 20 to position P1 accordingly.

[0060] In step S205, the control device (C) 101 commands the control device (A) 111 to move the locking member 20 to position P2, and proceeds to step S206. The control device (A) 111 then moves the locking member 20 to position P2 accordingly.

[0061] In step S206, the control device (C) 101 commands the control device (A) 111 to start control to maintain the current position of the moving device 40, and proceeds to step S207. The control device (A) 111 then performs control to maintain the position of the contact member 42.

[0062] In step S207, the control device (C) 101 commands the control device (A) 111 to release the contact member 42 from the locking member 20 and move them apart, and then proceeds to step S208. The control device (A) 111 executes control to release the locking member 20 from the contact member 42 accordingly.

[0063] In step S208, the control device (C) 101 instructs the control device (B) 121 to read the weight value W2 from the storage means 123 and process it in the calculation unit 122, then 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. In this case, it is a condition that the weight of the article 30 is known.

[0064] In step S209, the control device (C) 101 commands the control device (B) 121 to perform the lifting control and proceeds to step S210. Upon receiving the lifting control command, the control device (B) 121 raises the locking member 20 until the weighed value detected by the weight detection unit 19 reaches a predetermined value based on the weight value W2. The termination condition for this lifting control is at least one of the conditions described above.

[0065] In step S210, the control device (C) 101 determines whether the control device (B) 121 has completed the upward control. If it has completed the control, it proceeds to step S211. If it has not completed the control, it continues the upward control of the control device (B) 121.

[0066] In step S211, control device (C) 101 commands control device (B) 121 to perform balance control, and control device (B) 121 performs balance control based on the weight value W2.

[0067] In step S212, the control device (C) 101 commands the control device (A) 111 to move the contact member 42 to a predetermined gripping position P3 of the locking member 20, and proceeds to step S213. The control device (A) 111 drives the moving device motors 41 (41a~41f) to move the contact member 42 to the predetermined gripping position of the locking member 20. This position P3 may be predetermined, or it may be calculated from the vertical distance raised by the lifting device 10, which is obtained from the control device (B) 121. Note that step S212 does not necessarily have to be after step S211; it may be immediately after step S207, at the same time as the start of step S209, or during the execution of step S210.

[0068] In step S213, the control device (C) 101 commands the control device (A) 111 to have the contact member 42 clamp the locking member 20, and proceeds to step S214. Accordingly, the control device (A) 111 causes the contact member 42 to clamp the locking member 20.

[0069] When the contact member 42 is secured to the locking member 20, the control device (C) 101 commands the control device (A) 111 to start position control in step S214, and proceeds to step S215. Accordingly, the control device (A) 111 moves to the next target position P4. Here, the target position P4 is the vertical position of the place where the article 30 is unloaded, and is stored in advance by the storage means 103 of the control device (C) 101.

[0070] In step S215, the control device (C) 101 commands the control device (A) 111 to start control to maintain the current position of the moving device 40, and proceeds to step S216. The control device (A) 111 then performs control to maintain the position of the contact member 42.

[0071] In step S216, the control device (C) 101 commands the control device (A) 111 to release the contact member 42 from the locking member 20 and move apart, and then proceeds to step S217. The control device (A) 111 executes control to release the locking member 20 from the contact member 42 accordingly.

[0072] In step S217, the control device (C) 101 commands the control device (B) 121 to perform lowering control and proceeds to step S218. Upon receiving the lowering control command, the control device (B) 121 lowers the locking member 20 until the weighed value detected by the weight detection unit 19 reaches a predetermined value based on the weight value W1.

[0073] In step S218, the control device (C) 101 determines whether the control device (B) 121 has completed the descent control. If it has completed the descent control, it proceeds to step S219. If it has not completed the descent control, the control device (B) 121 continues the descent control.

[0074] In step S219, the control device (C) 101 commands the control device (A) 111 to move the contact member 42 to a predetermined gripping position P5 of the locking member 20, and proceeds to step S220. The control device (A) 111 drives the moving device motors 41 (41a~41f) to move the contact member 42 to a predetermined gripping position of the locking member 20. This gripping position P5 may be predetermined, or it may be calculated from the vertical distance lowered by the lifting device 10 obtained from the control device (B) 121. Note that step S219 does not necessarily have to be after step S218, it may be immediately after step S216, at the same time as the start of step S217, or even during the execution of step S218.

[0075] In step S220, the control device (C) 101 commands the control device (A) 111 to cause the contact member 42 to clamp the locking member 20, and proceeds to step S221. Accordingly, the control device (A) 111 causes the contact member 42 to clamp the locking member 20.

[0076] In step S221, the control device (C) 101 commands the control device (A) 111 to move the locking member 20 to position P6, and proceeds to step S202. The control device (A) 111 then moves the locking member 20 to position P6, completing one cycle of the movement of the article 30.

[0077] The completion signals for each of the above steps are transmitted from control devices (A) 111 and (B) 121 to control device (C) 101 each time. Control device (C) 101 receives these completion signals and proceeds to the next step based on them.

[0078] According to the present invention, smooth movement of articles can be achieved even with a moving device that does not have a zero-torque control function. Of course, it is obvious that the present invention may also be applied to a moving device that does have a zero-torque control function.

[0079] Although the present invention has been described above based on preferred embodiments, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. [Industrial applicability]

[0080] As an example of its application, this invention can be used in an article moving device that moves articles. [Explanation of Symbols]

[0081] 1: Article transfer system 10: Lifting device 11: Hanging line 12: Cargo handling hooks 13: Lifting device suspension hook 14: Chain Bucket 15: Drive shaft 16: Lifting mechanism 17: Lifting device motor 18: Position detection unit 19: Weight detection unit 20:Locking member 30: Goods 31: Floor 32: Rail 33: Slide Block 34: Floor 40: Mobile device 41 (41a~41f): Mobile device motor 42: Contact member 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 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: Lowering control means

Claims

1. An article moving device system that moves articles, comprising 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, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through the suspension cable and the locking member. The control device is During the period in which the aforementioned article is moved from a grounded state to a suspended state, Control to separate the contact member from the locking member, Control to raise the locking member using the lifting device to suspend the article in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then brings it into contact with the locking member. During the period in which the aforementioned article is moved from a suspended state to a state where it is placed in the desired location, Control to release the contact member from the locking member, Control of the lifting device to lower the locking member so that the article is placed in the desired location, An article moving device system that performs control to move the contact member to the contact position in accordance with the movement of the locking member using the moving device, and then bring it into contact with the locking member.

2. A lifting device that suspends an article, has a control device, and assists a moving device that moves the said article, The moving device moves a locking member that locks the article in the horizontal and vertical directions using power, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through the suspension cable and the locking member. The control device is During the period in which the aforementioned article is moved from a grounded state to a suspended state, Control to separate the contact member from the locking member, Control to raise the locking member using the lifting device to suspend the article in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then brings it into contact with the locking member. During the period in which the aforementioned article is moved from a suspended state to a state where it is placed in the desired location, Control to release the contact member from the locking member, Control of the lifting device to lower the locking member so that the article is placed in the desired location, A lifting device that performs control to move the contact member to the contact position in accordance with the movement of the locking member using the moving device, and then bring it into contact with the locking member.

3. A moving device that receives assistance from a lifting device that suspends an article, and has a control device to move the said article, The moving device moves a locking member that locks the article in the horizontal and vertical directions using power, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through the suspension cable and the locking member. The control device is During the period in which the aforementioned article is moved from a grounded state to a suspended state, Control to separate the contact member from the locking member, Control to raise the locking member using the lifting device to suspend the article in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then brings it into contact with the locking member. During the period in which the aforementioned article is moved from a suspended state to a state where it is placed in the desired location, Control to release the contact member from the locking member, Control of the lifting device to lower the locking member so that the article is placed in the desired location, A moving device that performs the following actions: moving the contact member to the contact position in accordance with the movement of the locking member, and then bringing it into contact with the locking member.

4. A control device for an article moving device system that moves articles, comprising a locking member, a moving device, and a lifting device, The locking member locks the article, The moving device moves the locking member horizontally and vertically by power, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through the suspension cable and the locking member. The control device is During the period in which the aforementioned article is moved from a grounded state to a suspended state, Control to separate the contact member from the locking member, Control to raise the locking member using the lifting device to suspend the article in mid-air, The following control is performed: the moving device moves the contact member to the contact position in accordance with the movement of the locking member, and then brings it into contact with the locking member. During the period in which the aforementioned article is moved from a suspended state to a state where it is placed in the desired location, Control to release the contact member from the locking member, Control of the lifting device to lower the locking member so that the article is placed in the desired location, A control device that performs the following actions: moving the contact member to the contact position in accordance with the movement of the locking member using the moving device, and then bringing the contact member into contact with the locking member.

5. A control method for an article moving device system that moves an article, comprising 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, and has a contact member that contacts the locking member at a predetermined contact position. The lifting device assists the vertical movement of the moving device via power through the suspension cable and the locking member. The control device is During the period in which the aforementioned article is moved from a grounded state to a suspended state, The steps include: separating the contact member from the locking member; The steps include raising the locking member using the lifting device to suspend the article in mid-air, The steps include: moving the contact member to the contact position in accordance with the movement of the locking member using the moving device, and then bringing it into contact with the locking member; During the period in which the aforementioned article is moved from a suspended state to a state where it is placed in the desired location, The steps include releasing the contact member from the locking member, The steps include lowering the locking member on the lifting device so that the article is placed in the desired location, A control method comprising the step of moving the contact member to the contact position in accordance with the movement of the locking member using the moving device, and then bringing the contact member into contact with the locking member.

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