Item transfer device

Abstract

To realize a technique that can easily reduce vibrations of a holding part and an article held by the holding part that occur when the holding part moves in and out.SOLUTION: An article transfer device 1 includes: a holding part 21 that holds an article 2; a projection and retraction drive part M3 that moves the holding part 21 projecting and retracting; and a control part that controls the projection and retraction drive part M3. In a projection and retraction operation which is an operation projecting or retracting the holding part 21 by the projection and retraction drive part M3, based on a reference command pattern which is a time-varying pattern of command values for a position, a speed or a time-varying pattern of an acceleration command value such that an acceleration changes stepwise over time, a moving average of a setting period of the command value shown in the reference command pattern is set as an output command value, the control part controls the projection and retraction drive part M3 in accordance with the output command value.SELECTED DRAWING: Figure 3

Claims

1. An article transfer device comprising: a holding unit for holding articles; a retraction drive unit for extending and retracting the holding unit; and a control unit for controlling the retraction drive unit, In the retraction operation, which is the operation in which the retraction drive unit extends or retracts the holding unit, the control unit uses a reference command pattern, which is a time change pattern of the command value of position, velocity, or acceleration such that the acceleration changes in a step-like manner over time, as the output command value, and controls the retraction drive unit according to the output command value. The holding unit further comprises a determination unit that determines whether or not the holding unit is holding the article, The control unit extends the setting period when the holding unit is holding the article compared to when the holding unit is not holding the article, in an article transfer device.

2. An article transfer device comprising: a holding unit for holding articles; a retraction drive unit for extending and retracting the holding unit; and a control unit for controlling the retraction drive unit, In the retraction operation, which is the operation in which the retraction drive unit extends or retracts the holding unit, the control unit uses a reference command pattern, which is a time change pattern of the command value of position, velocity, or acceleration such that the acceleration changes in a step-like manner over time, as the output command value, and controls the retraction drive unit according to the output command value. The holding unit further comprises a determination unit that determines whether or not the holding unit is holding the article, The control unit controls the retraction drive unit according to the output command value during the retraction operation when the holding unit is holding the article, and controls the retraction drive unit according to the command value shown in the reference command pattern during the retraction operation when the holding unit is not holding the article.

3. An article transfer device comprising: a holding unit for holding articles; a retraction drive unit for extending and retracting the holding unit; and a control unit for controlling the retraction drive unit, In the retraction operation, which is the operation in which the retraction drive unit extends or retracts the holding unit, the control unit uses a reference command pattern, which is a time change pattern of the command value of position, velocity, or acceleration such that the acceleration changes in a step-like manner over time, as the output command value, and controls the retraction drive unit according to the output command value. The holding unit further comprises a weight determination unit that determines the weight of the article being held by the holding unit, The control unit changes the set period according to the weight of the article held by the holding unit, in an article transfer device.

4. The holding portion is further provided with a lifting drive unit for raising and lowering the holding portion, The direction in which the holding portion extends and retracts due to the extension / retraction drive unit is along the horizontal plane. The article transfer device according to any one of claims 1 to 3, wherein the control unit changes the set period while the holding unit is being raised or lowered by the lifting drive unit.

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