Article moving device system and article moving device

Abstract

To provide an article movement device system that can perform work for moving an article efficiently while suppressing a footprint of a device from enlarging and from increasing in size.SOLUTION: An article movement device system 1 includes: a locking member 8 that locks an article 30; a lifting operation part that lifts the locking member 8 and a motor part as a driving source; a weight detecting part that outputs a weight value that is applied to the lifting operation part; a contacting member 42 that contacts at least one of the article 30 and the locking member 8; a moving part 40 that moves the contacting member 42; and a force detecting part 41, arranged between the contacting member 42 and the moving part 40, which outputs an applied force value. Control parts 10 and 43 of the article movement device system 1 generate a control value while performing calculation on the basis of the weight value and the applied force value, and control the motor part 2 so that the article 30 is balanced, on the basis of the control value, when the contacting member 42 is in contact with the article 30 and the locking member 8.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention provides an article moving device system that is used in manufacturing assembly, transportation, etc. in the manufacturing field, and that moves an article with a small operating force by balancing the weight with the assistance of a motor when moving the article; 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 aims to provide an article moving device system that can efficiently move articles of various weights without increasing the footprint or size of the device. [Means for solving the problem]

[0008] In order to achieve the above object, the present invention provides: a locking member for locking the article; Lifting operation unit, motor unit, weight detection Department a hanging body portion that raises and lowers the locking member, or raises and lowers the article and the locking member; An abutting member that abuts against at least one of the article and the locking member to establish an abutting state connected to the article. and Force detection unit The arm has a movable joint mechanism. , powered by a power supply, and moved in a predetermined direction including the vertical direction. The robot configuration to be operated A moving part and Controls the movement of items connected to the arm Control unit and, Including nothing 1. An article moving device system, comprising: the above Control unit teeth, The force applied by the force detection unit to the contact member in Applied force value including vertical component The detection is performed and output. Based on to Goods Arm that connects to of Power supply Powered by As a process in response to the control of the moving part, , the above Control unit teeth, When the motor is used as the driving source for lifting, the lifting operation part To The weight detection unit detects the applied weight and outputs a weight value, and the output enables control of a process to bring the locking member and the article into a balanced state so as to cancel the first weight of the article, The process to achieve the above balance state is as follows: Moving part control There is a change in the vertical component in arm When it moves to Lifting actuator To Based on the second weight applied, the allowable applied force that can be handled by the moving part As the item is lifted This allows for calculations that move By the above calculation, arm While moving of goods Secondary weight obtained when lifting Based on , the net first weight is calculated, and the first weight Based on While canceling the above, the moving part can handle the allowable range. Applied force maintain The lifting and lowering is performed Let us generate a control value for The item is moved up or down update Every Based on weight detection unit Processing according to output Reasonably This enables the motor unit to be controlled as a control value.

[0009] The present invention also To achieve the above objectives, A control unit for controlling an article moving device system that moves an article, the control unit including a locking member, a lifting operation unit, a motor unit, a weight detection unit, a contact member, and a moving unit, The locking member locks the article to be lifted and lowered, The lifting / lowering operating unit lifts and lowers the locking member, The motor unit is a driving source connected to the lifting operation unit, The weight detection unit detects the weight applied to the lifting operation unit and outputs the weight value. the abutting member is provided to abut against at least one of the article and the locking member, The moving unit is provided so as to be able to move the contact member by power, The control unit When the contact member is in contact with at least one of the article and the locking member, a calculation is performed based on the weight value and the vertical force value obtained by detecting the force applied to the contact member, and a control value is generated that brings the locking member or the article into a balanced state; When the moving part is brought into contact with an article or a locking member to move the article with a force applied below a predetermined value, the control value at which the locking member or article is in a balanced state is updated based on the weight value and the applied force value, and the motor part is driven.

[0010] In order to achieve the above object, the present invention provides: a locking member for locking the article; Lifting operation unit, motor unit, weight detection Department a hanging body portion that raises and lowers the locking member, or raises and lowers the article and the locking member; Controls the movement of items connected to a vertically movable arm Control unit and, Including nothing An article moving device, The control unit An abutting member that abuts against at least one of the article and the locking member to establish an abutting state connected to the article. and Force detection unit The arm has a movable joint mechanism. , powered by a power supply, and moved in a predetermined direction including the vertical direction. The robot configuration to be operated The force applied by the force detection unit to the contact member by the moving unit in Applied force value including vertical component The detection is performed and output. Based on to Goods Arm that connects to of Power supply Powered by As a process in response to the control of the moving unit, , When the motor is used as the driving source for lifting, the lifting operation part To The weight detection unit detects the applied weight and outputs a weight value, and the output enables control of a process to bring the locking member and the article into a balanced state so as to cancel the first weight of the article, The process to achieve the above balance state is as follows: Moving part control There is a change in the vertical component in arm When it moves to Lifting actuator To Based on the second weight applied, the allowable applied force that can be handled by the moving part Lifting and lowering the item This allows for calculations that move By the above calculation, arm While moving of goods Secondary weight obtained when lifting Based on , the net first weight is calculated, and the first weight Based onWhile canceling the above, the moving part can handle the allowable range. Applied force maintain The lifting and lowering is performed Let us generate a control value for The item is moved up or down update Every Based on weight detection unit Processing according to output Reasonably This enables the motor unit to be controlled as a control value.

[0011] The present invention In order to achieve the above object, the locking member is configured to have an attachment / detachment part that attaches and detaches an article by moving the abutting member with the moving part. You can also .

[0012] The present invention In order to achieve the above object, the lifting operation unit is provided with a link chain in which oval rings each consisting of a semicircular arc portion and a linear portion connected thereto are alternately connected, one end of which is connected to a locking member, and a rotating member around which the link chain is wound and which is rotated by being driven by a motor unit. You can also . [Effects of the Invention]

[0013] 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] Also 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 so that the weight of the item is canceled out, allowing the item to be moved while maintaining a good balance.

[0015] AlsoThe moving part can move an article with a small force even if the weight of the article exceeds the weight that can be moved by the moving part alone.

[0016] Also, In addition to the above 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] Also, In addition to the above 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. [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 utilization of the present invention, it can be applied to an article moving device that moves articles. [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 unit 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 locking member for locking the article; a hanging main body having a lifting operation unit, a motor unit, and a weight detection unit, and which lifts and lowers the locking member, or the article and the locking member; a robotic moving unit that receives power from a power source and moves an arm of a movable joint mechanism that includes a force detection unit and an abutment member that abuts against at least one of the article and the locking member to establish an abutment state connected to the article, in a predetermined direction including a vertical direction; a control unit that performs control to move the article connected to the arm; An article moving device system comprising: The control unit The force detection unit detects and outputs an applied force value including a vertical component of the applied force applied to the contact member, and based on this, controls the moving unit to move the arm connected to the article using power from the power supply, When the motor unit is used as a drive source for the lifting and lowering, the weight detection unit detects the weight applied to the lifting and lowering operation unit and outputs a weight value, and from the output, it is possible to control a process of bringing the locking member and the article into a balanced state so as to cancel out the first weight, The balancing process includes: When there is a change in the vertical component in the control of the moving unit and the arm connected to the article moves, a calculation is made to move the lifting and lowering operation unit to make the applied force within an allowable range that can be handled by the moving unit, based on a second weight applied to the lifting and lowering operation unit, in order to move the article; a control value is generated for performing the lifting and lowering operation while maintaining the applied force that can be handled by the moving unit, while calculating the net first weight based on the second weight obtained when the arm is moved and the article is lifted and lowered by using the first weight as a basis for canceling out the net first weight; and enabling control of the motor unit as the control value by processing according to an output based on the weight detection unit for each update in which the article is moved up or down. An article moving device system comprising:

2. a locking member for locking the article; a hanging main body having a lifting operation unit, a motor unit, and a weight detection unit, and which lifts and lowers the locking member, or the article and the locking member; a control unit that controls the movement of the article connected to the arm that can be raised and lowered; An article moving device comprising: The control unit A robotic moving unit moves the arm of a movable joint mechanism, which is provided with a force detection unit and an abutment member that abuts against at least one of the article and the engaging member to bring the arm into an abutment state connected to the article, in a predetermined direction including the vertical direction, with power from a power supply, and the force detection unit detects and outputs an applied force value including a vertical component of the force applied to the abutment member, and based on this, controls the moving unit to move the arm connected to the article using power from the power supply, When the motor unit is used as a drive source for the lifting and lowering, the weight detection unit detects the weight applied to the lifting and lowering operation unit and outputs a weight value, and from the output, it is possible to control a process of bringing the locking member and the article into a balanced state so as to cancel out the first weight, The balancing process includes: When there is a change in the vertical component in the control of the moving unit and the arm connected to the article moves, a calculation is made to move the lifting and lowering operation unit to make the applied force within an allowable range that can be handled by the moving unit, based on a second weight applied to the lifting and lowering operation unit, in order to move the article; a control value is generated for performing the lifting and lowering operation while maintaining the applied force that can be handled by the moving unit, while calculating the net first weight based on the second weight obtained when the arm is moved and the article is lifted and lowered by using the first weight as a basis for canceling out the net first weight; and enabling control of the motor unit as the control value by processing according to an output based on the weight detection unit for each update in which the article is moved up or down. An article moving device characterized by:

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