JP2018012587A - Handling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of simplifying a configuration of a system for operating an object.SOLUTION: An operation mechanism 2 comprises: a first sensor for detecting force applied to a first grip of a handle 200; a second sensor for detecting force applied to a second grip of the handle 200; and a servo motor 210. A control device 6 determines first operation force in a vertical direction DR3 applied to the handle 200 based on detection results from the first and second sensors, and torque-controls a servo motor 130 so that first assist force for assisting the first operation force is generated according to the determined first operation force. The control device 6 determines rotation operation force applied to the handle 200 around a direction vertical to the vertical direction DR3 based on detection signals from the first and second sensors, and then torque-controls the servo motor 210 so that assist rotation force for assisting the rotation operation force is generated according to the rotation operation force.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for operating an article.

  Conventionally, various techniques have been proposed for a system for operating an article. For example, Patent Documents 1 to 3 disclose a system for raising and lowering an article.

JP-A-9-175800 JP-A-11-147699 Japanese Patent No. 4155527

  Now, it is desirable to simplify the configuration of a system for operating articles.

  Therefore, the present invention has been made in view of the above points, and an object thereof is to provide a technique capable of simplifying the configuration of a system for operating an article.

  In order to solve the above problems, one aspect of a handling system according to the present invention is a handling system that operates an article, and is operated by an operator to hold the article, and the operation mechanism in a vertical direction. And a first servo motor for driving the first movement mechanism, the operation mechanism having first and second hands respectively held by one hand and the other hand of the operator. A handle for operating the article having two grips, a first sensor for detecting a force applied to the first grip, a second sensor for detecting a force applied to the second grip, and a direction perpendicular to the vertical direction And a second servo motor that rotates the attitude of the operation mechanism around a predetermined direction, and further includes a control device that controls the torque of the first and second servo motors. The apparatus obtains the first operating force in the vertical direction applied to the handle based on the detection results of the first and second sensors, and obtains the first operating force according to the obtained first operating force. The vertical direction applied to the handle based on the first torque control for controlling the torque of the first servomotor so as to generate the first assist force for assisting, and the detection signals from the first and second sensors. A second torque for obtaining a rotational operation force around a direction perpendicular to the second servomotor and controlling the torque of the second servomotor so as to generate an assist rotational force for assisting the rotational operation force in accordance with the obtained rotational operation force. Control.

  In the aspect of the handling system according to the present invention, only the first grip is attached to the free end of the first sensor, and only the second grip is attached to the free end of the second sensor. .

  Further, in one aspect of the handling system according to the present invention, the operation mechanism has a holding mechanism that holds the article. In the holding mechanism, when the holding mechanism holds the article, due to the weight of the article, A fall prevention function that prevents the article from falling from the holding mechanism is activated.

  In one aspect of the handling system according to the present invention, the operation mechanism holds a parallel link mechanism having an upper link, a lower link and two left and right links, and the article fixed to the lower link. A rotation mechanism of the second servo motor is positioned above the article held by the holding mechanism, and the handle and the upper link are integrated, The second servo motor rotates the handle and the upper link around the rotation axis of the second servo motor.

  In one aspect of the handling system according to the present invention, the operation mode of the handling system includes a torque control mode in which the control device performs the first and second torque control, and the control device in the vertical direction. A holding control mode for controlling the first and second servo motors so that the position of the operating mechanism at the position and the posture of the operating mechanism around a direction perpendicular to the vertical direction are held. And a fourth sensor that detects a gripping state in which the handle is gripped and a non-gripping state in which the handle is not gripped, and the control device is configured to detect whether the fourth sensor is in the non-gripping state. When detecting, the operation mode is set to the holding control mode, and when the fourth sensor detects the gripping state, the operation mode is set to the torque control mode. It is set to.

  Further, in one aspect of the handling system according to the present invention, the first and second servo motors may be provided with first and second brakes, respectively, and when the first servo motor is not driven, When the first brake is activated and the second servo motor is not driven, the second brake is activated, and the operation mode of the handling system includes a torque control mode in which the control device performs the first and second torque control. And a system stop state in which the control device does not drive the first and second servo motors, and a first grip state in which the handle is gripped by a grip force in a first step, and the first step A fourth sensor for detecting a second gripping state in which the handle is gripped by a second stage gripping force greater than the gripping force of the control device; When the fourth sensor detects the first gripping state, the operation mode is set to the torque control mode, and when the fourth sensor detects the second gripping state, the operation is performed. The mode is set to the system stop state.

  Further, in one aspect of the handling system according to the present invention, the first and second servo motors may be provided with first and second brakes, respectively, and when the first servo motor is not driven, When the first brake is activated and the second servo motor is not driven, the second brake is activated and the control device does not drive the first and second servo motors in the operation mode of the handling system. The fourth sensor includes a first gripping state in which the handle is gripped by a first stage gripping force and a second stage gripping force that is greater than the first stage gripping force. The control device detects the first gripping state when the fourth sensor detects the first gripping state. Set the torque control mode, when the fourth sensor detects the second gripping state, it sets the operation mode to the system stop state.

  In one aspect of the handling system according to the present invention, the first movement mechanism and the operation mechanism connected thereto are moved together by moving the first movement mechanism along a first direction along a horizontal plane. A second moving mechanism that moves along the first direction, a third servo motor that drives the second moving mechanism, and a second operating force that is applied to the handle and detects the second operating force along the first direction. 3 sensors, and the control device generates the second servo force so as to generate a second assist force that assists the second operation force according to the second operation force detected by the third sensor. Third torque control for controlling the torque of the motor is performed.

  In one aspect of the handling system according to the present invention, the operation mode of the handling system includes a torque control mode in which the control device performs the first to third torque control, and the control device in the vertical direction. The position of the operation mechanism at the position, the posture of the operation mechanism around the direction perpendicular to the vertical direction, and the position of the first movement mechanism in the first direction are maintained. A holding control mode for controlling the first to third servomotors, further comprising a fourth sensor for detecting a gripping state in which the handle is gripped and a non-gripping state in which the handle is not gripped, When the fourth sensor detects the non-gripping state, the control device sets the operation mode to the holding control mode, and the fourth sensor detects the gripping state. The sets the operation mode to the torque control mode.

  Also, in one aspect of the handling system according to the present invention, the first to third servo motors that can brake the first to third servo motors are provided, and when the first servo motor is not driven, When the first brake is activated and the second servo motor is not driven, the second brake is activated, and when the third servo motor is not driven, the third brake is activated. The control device includes a torque control mode in which the first to third torque control is performed, and a system stop state in which the control device does not drive the first to third servo motors. The handle is gripped by a first gripping state in which the handle is gripped and a second stage gripping force that is greater than the first stage gripping force. A fourth sensor that detects the second gripping state, and the control device sets the operation mode to the torque control mode when the fourth sensor detects the first gripping state; When the fourth sensor detects the second gripping state, the operation mode is set to the system stop state.

  Also, in one aspect of the handling system according to the present invention, in the operation mode, the control device includes a position of the operation mechanism in the vertical direction and the operation mechanism around the direction perpendicular to the vertical direction. And a holding control mode for controlling the first to third servo motors so that the position of the first moving mechanism in the first direction is held, and the fourth sensor includes: When the non-gripping state in which the handle is not gripped is detected, the control device sets the operation mode to the holding control mode when the fourth sensor detects the non-gripping state.

  In one aspect of the handling system according to the present invention, the operation mode of the handling system includes a first torque control mode in which the control device performs the first to third torque control, and the control device includes the Of the first to third torque controls, only the third torque control is performed, and the position of the operation mechanism in the vertical direction and the posture of the operation mechanism around the direction perpendicular to the vertical direction are maintained. A second torque control mode for controlling the first and second servo motors, and a first gripping state in which both the first and second grips are gripped; A fourth sensor for detecting a second gripping state in which only one of the second grips is gripped, and the control device detects the first gripping state when the fourth sensor detects the first gripping state; Previous It sets the operation mode to the first torque control mode, when the fourth sensor detects the second gripping state, sets the operation mode to the second torque control mode.

  In one aspect of the handling system according to the present invention, the operation mode of the handling system includes a first torque control mode in which the control device performs the first to third torque control, and the control device includes the The position of the operating mechanism in the vertical direction, the posture of the operating mechanism around the direction perpendicular to the vertical direction, and the position of the first moving mechanism in the first direction are maintained. A holding control mode for controlling the first to third servo motors, and a first holding state where both the first and second grips are held, and both the first and second grips. The control device further includes a fourth sensor that detects a non-grip state that is not gripped, and the control device changes the operation mode to the torque control mode when the fourth sensor detects the first grip state. Set, when the fourth sensor detects the non-gripping state, it sets the operation mode to the hold control mode.

  In one aspect of the handling system according to the present invention, in the operation mode, the control device performs only the third torque control among the first to third torque controls, and performs the operation in the vertical direction. A second torque control mode for controlling the first and second servo motors so that the position of the mechanism and the posture of the operation mechanism around a direction perpendicular to the vertical direction are maintained; The fourth sensor detects a second gripping state where only one of the first and second grips is gripped, and the control device detects the second gripping state when the fourth sensor detects the second gripping state. The operation mode is set to the second torque control mode.

  Also, in one aspect of the handling system according to the present invention, the first to third servo motors that can brake the first to third servo motors are provided, and when the first servo motor is not driven, When the first brake is activated and the second servo motor is not driven, the second brake is activated, and when the third servo motor is not driven, the third brake is activated. A first torque control mode in which the control device performs the first to third torque control; and a system stop state in which the control device does not drive the first to third servo motors. A first gripping state in which both of the two grips are gripped by a gripping force in a first stage, and at least one of the first and second grips is The control device further includes a fourth sensor that detects a second gripping state that is gripped by a second stage gripping force that is greater than the stage gripping force, and the control device detects the first gripping state. In this case, the operation mode is set to the first torque control mode, and when the fourth sensor detects the second gripping state, the operation mode is set to the system stop state.

  In one aspect of the handling system according to the present invention, in the operation mode, the control device performs only the third torque control among the first to third torque controls, and performs the operation in the vertical direction. A second torque control mode for controlling the first and second servo motors so that the position of the mechanism and the posture of the operating mechanism around a direction perpendicular to the vertical direction are maintained; The fourth sensor detects a third gripping state in which only one of the first and second grips is gripped by the gripping force of the first stage, and the control device detects that the fourth sensor is the third gripping. When the gripping state is detected, the operation mode is set to the second torque control mode.

  Also, in one aspect of the handling system according to the present invention, in the operation mode, the control device includes a position of the operation mechanism in the vertical direction and the operation mechanism around the direction perpendicular to the vertical direction. And a holding control mode for controlling the first to third servo motors so that the position of the first moving mechanism in the first direction is held, and the fourth sensor includes: When the non-gripping state in which neither the first grip nor the second grip is gripped is detected, the control device changes the operation mode to the holding control mode when the fourth sensor detects the non-gripping state. Set to.

  In one aspect of the handling system according to the present invention, in the operation mode, the control device performs only the third torque control among the first to third torque controls, and performs the operation in the vertical direction. A second torque control mode for controlling the first and second servo motors so that the position of the mechanism and the posture of the operating mechanism around a direction perpendicular to the vertical direction are maintained; The fourth sensor detects a third gripping state in which only one of the first and second grips is gripped by the gripping force of the first stage, and the control device detects that the fourth sensor is the third gripping. When the gripping state is detected, the operation mode is set to the second torque control mode.

  The handling system according to the aspect of the invention may further include a fifth sensor that detects that the first moving mechanism that moves along the first direction has reached a first predetermined position, and the fifth sensor includes: When detecting that the first moving mechanism moving along the first direction has reached the first predetermined position, the control device responds to an approach distance of the first moving mechanism from the first predetermined position. The third servo motor is torque-controlled so that the repulsive force is applied to the second assist force.

  Also, in one aspect of the handling system according to the present invention, the first to third servo motors that can brake the first to third servo motors are provided, and when the first servo motor is not driven, When the first brake is activated and the second servo motor is not driven, the second brake is activated, and when the third servo motor is not driven, the third brake is activated and moves along the first direction. The first moving mechanism further includes a sixth sensor that detects that the second predetermined position is ahead of the first predetermined position, and the sixth sensor moves along the first direction. When it is detected that the moving mechanism has reached the second predetermined position, the control device stops driving the first to third servo motors.

  In the aspect of the handling system according to the present invention, the first moving mechanism includes a cord-like object having one end connected to the operation mechanism, and a rotating drum that winds and unwinds the cord-like object. The first servo motor controls the rotation of the rotating drum.

  In the aspect of the handling system according to the present invention, the first moving mechanism has a ball spline, the rotating drum is attached to an outer cylinder of the ball spline, and the spline shaft of the ball spline is used as a rotating shaft. It can be rotated.

  In one aspect of the handling system according to the present invention, the first movement mechanism and the operation mechanism connected thereto are moved together by moving the first movement mechanism along a first direction along a horizontal plane. A second moving mechanism that moves the first moving mechanism along the first direction, a third servo motor that drives the second moving mechanism, and a third sensor that detects a second operating force applied to the handle in the first direction. And the control device controls the third servo motor to generate a second assist force that assists the second operation force according to the second operation force detected by the third sensor. Third torque control for torque control is performed, and the third sensor detects the second operating force by detecting displacement due to the inclination of the cord-like object.

  Further, in one aspect of the handling system according to the present invention, the first moving mechanism includes a first pulley that guides a suspended portion of the cord-like object in the vertical direction, and the vertical pulley from the opposite side to the first pulley. And a second pulley for guiding the hanging portion in a direction.

  In one aspect of the handling system according to the present invention, a timing belt for transmitting the rotational force of the first servo motor to the rotating drum, and a fourth brake capable of braking the rotation of the rotating drum, In addition, the control device determines whether or not the timing belt is broken, and operates the fourth brake when it is determined that the timing belt is broken.

  In one aspect of the handling system according to the present invention, a third moving mechanism that moves the first and second moving mechanisms together along a second direction that is different from the first direction along the horizontal plane. And a fourth servo motor that drives the third moving mechanism, and a seventh sensor that detects a third operating force applied to the handle in the second direction, wherein the control device includes the seventh sensor. The torque of the fourth servomotor is controlled so that a third assist force for assisting the third operation force is generated according to the third operation force detected in step (b).

  According to one aspect of the present invention, the first and second sensors are used to obtain both the first operating force and the rotational operating force, so that the configuration of the handling system can be simplified.

It is a figure showing roughly the whole composition of an example of a handling system. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of an operation mechanism. It is a figure which shows an example of a force sensor. It is a figure which shows a part of example of a holding mechanism. It is a figure which shows a part of example of a holding mechanism. It is a figure which shows a part of example of a holding mechanism. It is a figure which shows an example of a running cart. It is a figure which shows an example of a rotating drum. It is a figure which shows an example of a 1st horizontal motor. It is a figure which shows an example of a 2nd horizontal motor. It is a figure which shows an example of a wire guide mechanism. It is a figure for demonstrating operation | movement of an example of a displacement sensor. It is a figure for demonstrating operation | movement of an example of a displacement sensor. It is a figure which shows an example of the operation mode of a handling system. It is a figure which shows an example of the connection relationship between a control apparatus and another structure. It is a figure for explaining an example of the 1st horizontal run restriction function. It is a figure which shows an example of the sensor switch of an ON state. It is a figure which shows an example of the sensor switch of an OFF state. It is a figure for explaining an example of the 1st horizontal run restriction function. It is a figure for explaining an example of the 1st horizontal run restriction function. It is a figure for explaining an example of the 1st horizontal run restriction function. It is a figure for demonstrating an example of a 2nd horizontal travel restriction function. It is a figure for demonstrating an example of a 2nd horizontal travel restriction function. It is a figure for demonstrating an example of a 2nd horizontal travel restriction function. It is a figure for demonstrating an example of a 2nd horizontal travel restriction function. It is a figure which shows an example of a structure of the modification of a handling system.

<Overall schematic configuration of handling system>
FIG. 1 is a diagram schematically showing an overall configuration of an example of a handling system 1. The handling system 1 is a system that operates the article 10 in accordance with an instruction from the operator 100. The handling system 1 operates, for example, the posture and position of the article 10. Various things can be considered as the article 10. In the example shown in FIG. 1, the article 10 is a blower rotor. The article 10 may be other than the rotor. Hereinafter, the article 10 may be referred to as “work 10”.

  As shown in FIG. 1, the handling system 1 includes an operation mechanism 2, a first moving mechanism 3, a second moving mechanism 4, and a third moving mechanism 5. The operation mechanism 2 is operated by the operator 100 and holds the workpiece 10. The operation mechanism 2 includes a handle 200 for operating the workpiece 10. The operator 100 can operate the article 10 indirectly through the operation mechanism 2 by operating the handle 200. Further, the operation mechanism 2 includes a servo motor 210 that rotates the attitude of the operation mechanism 2 around a direction perpendicular to the vertical direction DR3. The servo motor 210 has a built-in brake that can brake the rotation. This brake is, for example, an electromagnetic mechanical brake. When the servo motor 210 is not driven, a brake built in it operates. On the other hand, when the servo motor 210 is driven, the brake built therein does not work.

  The first moving mechanism 3 can move the operating mechanism 2 along the vertical direction DR3. The second moving mechanism 4 moves the first moving mechanism 3 along the first horizontal direction DR1 along the horizontal plane perpendicular to the vertical direction DR3, whereby the first moving mechanism 3 and the operation mechanism 2 connected thereto are provided. Can be moved together along the first horizontal direction DR1. The third moving mechanism 5 can move the first moving mechanism 3 and the second moving mechanism 4 together along a second horizontal direction DR2 that is different from the first horizontal direction DR1 along the horizontal plane. The second horizontal direction DR2 is, for example, a direction perpendicular to the first horizontal direction DR1.

  The handling system 1 includes a servo motor 130 that drives the first moving mechanism 3, a servo motor 140 that drives the second moving mechanism 4, and a servo motor 150 that drives the third moving mechanism 5. The handling system 1 includes a control device 6 that controls the servo motors 130, 140, and 150 and the servo motor 210 of the operation mechanism 2. Each of the servo motors 130, 140, 150 has a built-in brake for braking the rotation. When the servo motor 130 is not driven, a brake built in it operates. On the other hand, when the servo motor 130 is driven, the brake built therein does not work. The same applies to the servo motors 140 and 150.

  The first moving mechanism 3 includes a cord-like object 300 and a rotating drum 310, for example. The cord-like object 300 is a wire rope, for example, and one end thereof is connected to the operation mechanism 2. The rotating drum 310 winds and lowers the cord-like object 300. When the cord-like object 300 is wound up by the rotary drum 310, the operation mechanism 2 is raised. On the other hand, the operation mechanism 2 descends when the cord 300 is wound down by the rotary drum 310. The rotation of the rotary drum 310 is controlled by the servo motor 130. Hereinafter, the cord-like object 300 may be referred to as a “wire 300”.

  The second moving mechanism 4 includes a traveling carriage 410 that can travel along the first horizontal direction DR1 and a guide member 400 that extends along the first horizontal direction DR1 and guides traveling of the traveling carriage 410. The traveling carriage 410 is attached to the guide member 400 so as to be able to travel along the guide member 400. A servo motor 130, a rotary drum 310, and a servo motor 140 are mounted on the traveling carriage 410. A servo motor 150 is attached to the guide member 400. A displacement sensor 7 described later is attached to the bottom surface of the traveling carriage 410. The displacement sensor 7 surrounds the wire 300 in the circumferential direction. Traveling carriage 410 is travel-controlled by servo motor 140. As the traveling carriage 410 travels along the guide member 400, the displacement sensor 7, the first moving mechanism 3, and the operating mechanism 2 connected to the wire 300 move together along the first horizontal direction DR1. To do.

  The third moving mechanism 5 includes a pair of guide members 500 that extend along the second horizontal direction DR2 and a traveling shaft 510 that extends along the guide member 400 of the second moving mechanism 4. The pair of guide members 500 face each other in parallel in the first horizontal direction DR1, and guide the traveling of the second moving mechanism 4 along the second horizontal direction DR2. The traveling shaft 510 is rotatably attached to the guide member 400 along the guide member 400. In FIG. 1, the traveling shaft 510 is hidden behind the guide member 400, and the traveling shaft 510 is indicated by a broken line.

  Traveling rollers (not shown) are attached to both ends of the traveling shaft 510 in the longitudinal direction. The two traveling rollers attached to both ends of the traveling shaft 510 are mounted on the pair of guide members 500, respectively. The travel shaft 510 is rotationally controlled by a servo motor 150. When the servomotor 150 rotates the traveling shaft 510, the two traveling rollers attached to both ends of the traveling shaft 510 rotate on the pair of guide members 500. When the two traveling rollers rotate, the guide member 400 to which the traveling shaft 510 is attached travels along the pair of guide members 500. That is, the guide member 400 travels along the second horizontal direction DR2.

  At both ends in the longitudinal direction of the guide member 400, derailment prevention members 520 for preventing the travel rollers attached to both ends of the travel shaft 510 from derailing from the guide member 500 are attached. Each derailment prevention member 520 is provided with a plurality of guide rollers. The plurality of guide rollers of the derailment prevention member 520 are engaged with the guide member 500. As a result, the traveling rollers attached to both ends of the traveling shaft 510 can be prevented from derailing from the guide member 500.

  The control device 6 is disposed on one end of the guide member 400 in the longitudinal direction. The control device 6 is fixed to one end of the guide member 400 in the longitudinal direction by a fixing member 60. In addition, the control device 6 is fixed to the derailment prevention member 520 attached to one end portion in the longitudinal direction of the guide member 400 by the fixing member 61.

  When the traveling shaft 510 is rotated by the servo motor 150, the two derailment prevention members 520, the second moving mechanism 4, the servo motor 150, the traveling shaft 510, the control device 6, and the first moving mechanism 3 are used. Then, the displacement sensor 7 and the operation mechanism 2 move along the second horizontal direction DR2 together.

  The pair of guide members 500 are connected to each other by a pair of connection members 70. The pair of connection members 70 face each other in parallel with the first horizontal direction DR1. Both ends in the longitudinal direction of the pair of guide members 500 are connected by a pair of connection members 70.

  The pair of guide members 500 and the pair of connection members 70 are supported by four leg members 71 standing on the floor or the ground. The two leg members 71 extend from the bottom surfaces of one end and the other end in the longitudinal direction of one guide member 500, and the remaining two leg members 71 are in the longitudinal direction of the other guide member 500. Each extending from the bottom surface of one end and the other end of each.

  A pair of reinforcing members 72 are provided at each corner of the quadrangle formed by the pair of guide members 500 and the pair of connection members 70. In each corner, a pair of reinforcing members 72 connect the guide member 500 and the connection member 70 that constitute the corner and the leg member 71 that supports the corner.

  At both ends in the longitudinal direction of the pair of guide members 500, stoppers 80 are provided for mechanically stopping the traveling along the second horizontal direction DR2 of the second moving mechanism 4 or the like. Thereby, it can prevent that the 2nd moving mechanism 4 grade | etc., Moves exceeding a pair of guide member 500. FIG.

  Further, stoppers 81 for mechanically stopping traveling of the traveling carriage 410 along the first horizontal direction DR1 are provided at both ends of the guide member 400 in the longitudinal direction. Thereby, it is possible to prevent the traveling carriage 410 from moving beyond the guide member 400.

  In the handling system 1 having the above-described configuration, the operator 100 can easily operate the workpiece 10 having a large mass by holding the handle 200 in his / her hand and operating the handle 200. For example, when a rotational operation force around a direction perpendicular to the vertical direction DR3 is applied to the handle 200, an assist rotational force that assists the rotational operation force is generated by the action of the servo motor 210. Accordingly, the operator 100 can easily rotate the posture of the workpiece 10 having a large mass around the direction perpendicular to the vertical direction DR3 by applying a small rotational operation force to the handle 200 held in the hand. it can. Hereinafter, simply speaking, the rotational operation force means a rotational operation force around a direction perpendicular to the vertical direction DR3.

  Further, when an operation force in the vertical direction DR3 is applied to the handle 200, a vertical assist force for assisting the operation force is generated by the action of the servo motor 130. Thus, the operator 100 can easily move the workpiece 10 having a large mass in the vertical direction DR3 by applying a small operating force in the vertical direction DR3 to the handle 200 held by the hand. Hereinafter, the operation force in the vertical direction DR3 may be referred to as “vertical operation force”.

  Further, when an operating force in the first horizontal direction DR1 is applied to the handle 200, the servo motor 140 generates a first horizontal assist force that assists the operating force. Accordingly, the operator 100 can easily move the workpiece 10 having a large mass along the first horizontal direction DR1 by applying a small operation force in the first horizontal direction DR1 to the handle 200 held by the hand. Can do. Hereinafter, the operation force in the first horizontal direction DR1 may be referred to as “first horizontal operation force”.

  Further, when an operating force in the second horizontal direction DR2 is applied to the handle 200, the servo motor 150 generates a second horizontal assist force that assists the operating force. Accordingly, the operator 100 can easily move the workpiece 10 having a large mass along the second horizontal direction DR2 by applying a small operation force in the second horizontal direction DR2 to the handle 200 held by the hand. Can do. Hereinafter, the operation force in the second horizontal direction DR2 may be referred to as “second horizontal operation force”.

  Further, an operating force is applied to the handle 200 in a horizontal direction that is not parallel to and perpendicular to the first horizontal direction DR1 and the second horizontal direction DR2 (hereinafter, sometimes referred to as “third horizontal direction”). The servo motors 140 and 150 generate an assist force that assists the horizontal operation force.

  Here, the state in which the third horizontal operation force is applied to the handle 200 is the first horizontal operation force (component force) and the second horizontal operation force (with respect to the handle 200). Component force). In this example, the servo motor 140 generates a first horizontal assist force that assists the first horizontal operation force applied to the handle 200, and the servo motor 150 assists the second horizontal operation force applied to the handle 200. By generating the second horizontal assisting force, the assisting force assisting the third horizontal operation force applied to the handle 200 is generated. Accordingly, the operator 100 can easily move the workpiece 10 having a large mass along the third horizontal direction by applying a small operation force in the third horizontal direction to the handle 200 held in the hand. it can. That is, the operator 100 can move the workpiece 10 having a large mass freely and easily along the horizontal plane by operating the handle 200. Hereinafter, the first horizontal direction DR1, the second horizontal direction DR2, and the third horizontal direction may be collectively referred to as “horizontal direction”.

  As described above, the operator 100 can easily move the workpiece 10 along the vertical direction by applying a vertical operation force to the handle 200. Further, the operator 100 can easily move the workpiece 10 along the horizontal direction by applying a horizontal operation force to the handle 200. Then, the operator 100 can rotate the posture of the workpiece 10 around a direction perpendicular to the vertical direction DR3 by applying a rotational operation force to the handle 200. Therefore, the operator 100 can simultaneously move the workpiece 10 along the vertical direction DR3 and move the workpiece 10 along the horizontal direction by operating the handle 200. Further, the operator 100 can simultaneously move the workpiece 10 and rotate the posture of the workpiece 10 by operating the handle 200.

  For example, the operator 100 can move the workpiece 10 in the horizontal direction by operating the handle 200 while moving the workpiece 10 in the vertical direction DR3. Further, the operator 100 can move the workpiece 10 along the vertical direction DR3 by operating the handle 200 while rotating the posture of the workpiece 10 around a direction perpendicular to the vertical direction DR3. In addition, the operator 100 can move the workpiece 10 along the horizontal direction by rotating the posture of the workpiece 10 around a direction perpendicular to the vertical direction DR3 by operating the handle 200. Further, the operator 100 operates the handle 200 to rotate the posture of the workpiece 10 around a direction perpendicular to the vertical direction DR3 and move the workpiece 10 along the vertical direction DR3. The workpiece 10 can be moved in the horizontal direction.

  Hereinafter, the rotation of the posture of the operation mechanism 2 and the workpiece 10 means that the posture of the operation mechanism 2 and the workpiece 10 rotates around a direction perpendicular to the vertical direction DR3. The servo motors 210, 130, 140, and 150 may be referred to as “rotary motor 210”, “vertical motor 130”, “first horizontal motor 140”, and “second horizontal motor 150”, respectively. Also, the brakes built in the servo motors 210, 130, 140, 150 are referred to as “rotary motor brake”, “vertical motor brake”, “first horizontal motor brake”, and “second horizontal motor brake”, respectively. Sometimes. Below, each structure of the handling system 1 is demonstrated in detail.

<Configuration of operation mechanism>
FIG. 2 is a perspective view showing the operation mechanism 2 in the initial posture when viewed from diagonally forward. FIG. 3 is a perspective view showing the operation mechanism 2 in the initial posture when viewed obliquely from behind. FIG. 4 is a diagram illustrating the operation mechanism 2 when the operation mechanism 2 is viewed from substantially the front in a state where the operation mechanism 2 is rotated in the direction perpendicular to the vertical direction DR3 from the initial position. . FIG. 5 is a perspective view showing the operation mechanism 2 when the operation mechanism 2 is viewed from obliquely behind in a state where the operation mechanism 2 is rotated from the initial position in a direction perpendicular to the vertical direction. . 2 shows the operation mechanism 2 holding the workpiece 10, and FIG. 3 shows the operation mechanism 2 not holding the workpiece 10.

  A first direction DR <b> 11, a second direction DR <b> 12, and a third direction DR <b> 13 shown in FIGS. The first direction DR11, the second direction DR12, and the third direction DR13 are referred to as an up-down direction DR11, a left-right direction DR12, and a front-rear direction DR13, respectively. When the posture of the operation mechanism 2 is the initial posture, the vertical direction DR11 coincides with the vertical direction DR3.

  The operation mechanism 2 is connected to the lower end of the wire 300 by a wire connection mechanism 700. As a result, the operation mechanism 2 is suspended from the traveling carriage 410 by the wire 300. The wire connection mechanism 700 is generally long in the vertical direction DR11. The wire connection mechanism 700 includes a twist suppression member 701 for suppressing the twist of the wire 300 and a plate-like connection member 702 extending downward from the twist suppression member 701 along the vertical direction DR3. The operation mechanism 2 is connected to the plate-like connection member 702. The lower end of the wire 300 is connected to a ring member 701a included in the twist suppressing member 701. The ring member 701a can rotate around the vertical direction DR3. Thereby, even if the operation mechanism 2 rotates around the vertical direction DR3, the wire 300 can be prevented from being twisted.

  As shown in FIGS. 2 to 4, the operation mechanism 2 includes a holding mechanism 220 that holds the workpiece 10, a parallel link mechanism 230, and a switch box 240 in addition to the handle 200 and the rotation motor 210 described above. Yes. Further, the operation mechanism 2 includes an operation force detection sensor 250, a gripping state detection sensor 260, and a self-weight rotation force reduction mechanism 270. Below, each structure of the operation mechanism 2 is demonstrated in detail. Hereinafter, regarding the description of the operation mechanism 2, the side on which the operator 100 exists is referred to as “front side” or “front side” of the operation mechanism 2. Further, simply saying “right side” means the right side when the operation mechanism 2 is viewed from the front side, and simply saying “left side” means the left side when the operation mechanism 2 is viewed from the front side.

<Handle>
The handle 200 has a pair of left and right grips 201. The structure of the pair of grips 201 is symmetrical. Each grip 201 is L-shaped and includes a rod-shaped first partial grip 202 extending along the vertical direction DR11 and a rod-shaped second partial grip 203 extending along the left-right direction DR12. The first partial grips 202 of the pair of grips 201 make a pair, and the second partial grips 203 of the pair of grips 201 make a pair.

  For example, as shown in FIG. 6, the operator 100 can operate the handle 200 while holding the pair of first partial grips 202 with both hands. That is, the operator 100 can operate the handle 200 while holding the left first partial grip 202 with the left hand 101L and holding the right first partial grip 202 with the right hand 101R. is there.

  Further, for example, as shown in FIG. 7, the operator 100 can operate the handle 200 while holding the pair of second partial grips 203 with both hands. That is, the operator 100 can operate the handle 200 while holding the left second partial grip 203 with the left hand 101L and holding the right second partial grip 203 with the right hand 101R. is there.

  Further, the operator 100 can operate the handle 200 while holding the left first partial grip 202 with the left hand 101L and holding the right second partial grip 203 with the right hand 101R. is there. The operator 100 can also operate the handle 200 while holding the left second partial grip 203 with the left hand 101L and holding the right first partial grip 202 with the right hand 101R. .

<About parallel link mechanism>
The parallel link mechanism 230 is located behind the handle 200. The parallel link mechanism 230 includes an upper link 231 and a lower link 232 that are parallel to each other, and two left and right links 233 that are parallel to each other. The parallel link mechanism 230 is also called a four-bar link mechanism. The upper link 231 and the lower link 232 extend along the left-right direction DR12. Although the two left and right side links 233 are bent obliquely in the middle, the whole extends along the vertical direction DR11.

  The upper link 231 is a plate-like member, and the thickness direction thereof coincides with the vertical direction DR11. The upper link 231 is provided with a through hole 231a penetrating in the thickness direction (see FIGS. 2 and 5). The through hole 231a extends along the left-right direction DR12. A plate-like connection member 702 of the wire connection mechanism 700 is inserted into the through-hole 231a (see FIGS. 3 and 5). The thickness direction of the plate-like connection member 702 coincides with the front-rear direction DR13. The plate-like connecting member 702 extends from slightly above the upper link 231 to about half the length of the parallel link mechanism 230 in the vertical direction DR11.

  A rectangular parallelepiped balance adjusting member 280 for adjusting the weight balance of the operating mechanism 2 is fixed to the upper link 231 by a plate-like fixing member 281. The balance adjusting member 280 is located behind the plate-like connecting member 702 and below the upper link 231. A plate-shaped fixing member 281 exists between the plate-shaped connecting member 702 and the balance adjusting member 280.

<Rotary motor>
The rotary motor 210 has a long shape in the front-rear direction DR13. The rotation motor 210 is located on the near side of the upper link 231 and on the lower side of the upper link 231. The output shaft 210 b (see FIG. 3) of the rotary motor 210 is connected to a lower part of the plate-like connection member 702 of the wire connection mechanism 700 than the upper link 231. A driven shaft is attached to a portion of the plate connection member 702 of the wire connection mechanism 700 that is lower than the upper link 231. The output shaft 210 b of the rotary motor 210 is connected to the driven shaft via a coupling 216.

  The main body 210 a of the rotary motor 210 is fixed to the upper link 231 by a fixing member 215. The fixing member 215 includes an L-shaped member 215a connected to the main body 210a and a plate-like member 215b extending along the vertical direction DR11. One end of the plate-like member 215b in the longitudinal direction is connected to the L-shaped member 215a, and the other end of the plate-like member 215b in the longitudinal direction is connected to the upper link 231. The plate-like member 215b is located on the near side of the plate-like connecting member 702, and the coupling 216 is located on the near side of the plate-like member 215b. The driven shaft attached to the plate-like connection member 702 passes through the plate-like member 215b and is connected to the coupling 216 so as not to be fixed to the plate-like member 215b. The main body part 210 a extends from a slightly nearer side than the handle 200 to a position directly above the lower link 232. A plurality of cables 211 extending from the main body part 210 a extends to the switch box 240. The rotation center of the rotary motor 210 is located above the workpiece 10 held by the operation mechanism 2.

<Operation force detection sensor>
The operation force detection sensor 250 detects an operation force applied to the handle 200. The operating force detection sensor 250 includes a pair of force sensors 251, for example. Each force sensor 251 is a load cell, for example. One force sensor 251 detects an operating force applied to one grip 201. Specifically, one force sensor 251 detects an operating force applied to one grip 201 along the vertical direction DR11. The other force sensor 251 detects an operation force applied to the other grip 201 along the vertical direction DR11. Each force sensor 251 is long in the front-rear direction DR13. One force sensor 251 extends rearward from the upper end of the first partial grip 202 of one grip 201. The other force sensor 251 extends rearward from the upper end of the first partial grip 202 of the other grip 201. The pair of force sensors 251 are opposed in parallel in the left-right direction DR12.

  The operation mechanism 2 includes a pair of protective cover members 255 that protect the pair of force sensors 251 respectively. The pair of protective cover members 255 are fixed to the upper link 231. Each protective cover member 255 is elongated in the front-rear direction DR13. One protective cover member 255 covers the upper surface and the outer side surface of one force sensor 251. The other protective cover member 255 covers the upper surface and the outer side surface of the other force sensor 251.

  FIG. 8 is a diagram illustrating a state in which the force sensor 251 is viewed from the inner side surface. As shown in FIG. 8, the free end 251 a of the force sensor 251 is connected to the upper surface 202 a of the first partial grip 202 of the grip 201. Only the grip 201 is attached to the free end 251 a of the force sensor 251. On the other hand, the fixed end 251 b of the force sensor 251 is fixed to a protective cover member 255 that protects the force sensor 251 via a spacer member 256. Thereby, each force sensor 251 can detect the operation force along the vertical direction DR11 applied to the grip 201 to which the force sensor 251 is connected.

  For example, as shown in FIG. 6 described above, when the operator 100 moves both hands along the vertical direction DR11 while holding the pair of first part grips 202 with both hands, the pair of first parts The operating force along the vertical direction DR11 applied to the blip 202 is detected by the pair of force sensors 251.

  Further, as shown in FIG. 7 described above, when the operator 100 moves both hands along the vertical direction DR11 while holding the pair of second partial grips 203 with both hands, the pair of first partial grips is thereby moved. The operation force along the vertical direction DR11 applied to 202 is detected by the pair of force sensors 251 respectively.

  Hereinafter, when the operator 100 holds the first partial grip 202 by hand, it may be referred to as “vertical holding”. In addition, when the operator 100 holds the second partial grip 203 by hand, it may be referred to as “horizontal holding”. In the pair of force sensors 251, the left force sensor 251 may be referred to as a “left force sensor 251” and the right force sensor 251 may be referred to as a “right force sensor 251”. In the pair of grips 201, the left side grip 201 may be referred to as a “left side grip 201”, and the right side grip 201 may be referred to as a “right side grip 201”.

<Gripping state detection sensor>
A gripping state detection sensor 260 shown in FIGS. 2 and 3 detects the gripping state of the operator 100 with respect to the handle 200. The gripping state detection sensor 260 can detect, for example, a non-grip state, a weak grip state, a weak grip state on one side, and a strong grip state.

  The non-gripping state means a state where none of the pair of grips 201 is gripped. Both weak gripping states mean a state where both of the pair of grips 201 are gripped by the gripping force in the first stage. The one-side weak gripping state means a state in which only one of the pair of grips 201 is gripped by the first stage gripping force. The strong gripping state means a state in which at least one of the pair of grips 201 is gripped by a second stage gripping force that is larger than the first stage gripping force. Both weak gripping states can be said to be a state where both of the pair of grips 201 are gripped with a certain gripping force. It can be said that the one-side weak gripping state is a state in which only one of the pair of grips 201 is gripped with a certain gripping force. It can be said that the strong gripping state is a state in which at least one of the pair of grips 201 is gripped with a large gripping force.

  The gripping state detection sensor 260 includes a first gripping state detection sensor 261 for holding vertically and a second gripping state detection sensor 262 for horizontally holding. The first gripping state detection sensor 261 can detect a non-gripping state, a weak gripping state of both, a weak gripping state of one side, and a strong gripping state when the operator 100 holds the handle 200 vertically. The second gripping state detection sensor 262 can detect a non-gripping state, a weak gripping state of both, a weak gripping state of one side, and a strong gripping state when the operator 100 holds the handle 200 sideways.

  The first gripping state detection sensor 261 includes a pair of first switches 261a. The pair of first switches 261 a is attached to the back side of the pair of first partial grips 202. Each first switch 261a is a push-type switch. As the state of each first switch 261a, there are an off state, a half-pressed state, and a fully-pressed state. When the first switch 261a is not pressed and when the pressing force on the first switch 261a is very weak, the first switch 261a is turned off. When the first switch 261a is pressed with a certain amount of force, the first switch 261a is half pressed. When the first switch 261a is pressed with a pressing force larger than the half-pressed state, the first switch 261a is fully pressed.

  The operator 100 can press one of the first switches 261a on the back side of the first partial grip 202 with the finger of the one hand while holding the first partial grip 202 with one hand ( (See FIG. 6). Further, the operator 100 can press the other first switch 261a on the back side of the first partial grip 202 with a finger of the other hand while holding the other first partial grip 202 with the other hand. Yes (see FIG. 6).

  The second gripping state detection sensor 262 includes a pair of second switches 262a. The pair of second switches 262 a is attached to the back side of the pair of second partial grips 203. Each second switch 262a operates in the same manner as the first switch 261a.

  The operator 100 can press the second switch 262a on the back side of the second partial grip 203 with the finger of the one hand while holding the one second partial grip 203 with one hand ( (See FIG. 7). Further, the operator 100 holds the second partial grip 203 of the other grip 201 with the other hand, and presses the other second switch 262a on the back side of the second partial grip 203 with the finger of the other hand. Can be pressed (see FIG. 7).

  In the gripping state detection sensor 260 having such a configuration, when both of the pair of grips 201 are not gripped, all of the pair of first switches 261a and the pair of second switches 262a are turned off. Therefore, when all of the pair of first switches 261a and the pair of second switches 262a are in the off state, it can be said that the non-gripping state is detected by the gripping state detection sensor 260.

  Further, when the operator 100 grips the pair of first partial grips 202 with a certain amount of gripping force with both hands, both of the pair of first switches 261a are half pressed. Therefore, when both of the pair of first switches 261a are half-pressed, it can be said that the weak gripping state is detected by the gripping state detection sensor 260. Similarly, when the operator 100 grips the pair of second partial grips 203 with a certain amount of gripping force with both hands, both of the pair of second switches 262a are half pressed. Therefore, when both of the pair of second switches 262a are in the half-pressed state, it can be said that the weak gripping state is detected by the gripping state detection sensor 260.

  When the operator 100 grips the left first partial grip 202 and the right second partial grip 203 with a certain amount of gripping force with both hands, the left first switch 261a and the right second switch 262a are half-pressed. It becomes a state. Similarly, when the operator 100 grips the left-side second partial grip 203 and the right-side first partial grip 202 with a certain amount of gripping force with both hands, the left-side second switch 262a and the right-side first switch 261a are halfway. Pressed state. Therefore, when the left first switch 261a and the right second switch 262a are in the half-pressed state, and when the left second switch 262a and the right first switch 261a are in the half-pressed state, both in the gripping state detection sensor 260 It can be said that a weak gripping state is detected.

  When the operator 100 grips one of the first partial grips 202 with a certain gripping force with one hand, the first switch 261a on the back side of the one first partial grip 202 is half pressed. Therefore, when only one of the pair of first switches 261a is in the half-pressed state, it can be said that the gripping state detection sensor 260 has detected the one-side weak gripping state. Similarly, when the operator 100 grips one second partial grip 203 with a certain degree of gripping force with one hand, the second switch 262a on the back side of the one second partial grip 203 is in a half-pressed state. Therefore, when only one of the pair of second switches 262a is in the half-pressed state, it can be said that the gripping state detection sensor 260 has detected the one-side weak gripping state.

  Further, when the operator 100 grips at least one of the pair of first partial grips 202 with a large gripping force, that is, grips at least one of the pair of first partial grips 202 strongly. Then, the first switch 261a on the back side of the at least one first partial grip 202 is fully pressed. Therefore, when at least one of the pair of first switches 261a is fully pressed, it can be said that the strong gripping state is detected by the gripping state detection sensor 260. Similarly, when the operator 100 grips at least one of the pair of second partial grips 203 with a large gripping force, the second switch 262a on the back side of the at least one second partial grip 203 is used. Is fully pressed. Therefore, when at least one of the pair of second switches 262a is fully pressed, it can be said that the strong gripping state is detected by the gripping state detection sensor 260.

<Holding mechanism>
The holding mechanism 220 is fixed to the lower link 232. The holding mechanism 220 includes a pair of support mechanisms 221 that support the workpiece 10 and a connection mechanism 228 that connects the pair of support mechanisms 221 to each other in the left-right direction DR12. The structure of the pair of support mechanisms 221 is symmetrical. In the holding mechanism 220, when the holding mechanism 220 holds the workpiece 10, a fall prevention function that prevents the workpiece 10 from dropping from the holding mechanism 220 due to the weight of the workpiece 10 works. Therefore, it is possible to prevent the workpiece 10 from falling without performing a special operation.

  9 and 10 are enlarged perspective views showing the support mechanism 221 when the operation mechanism 2 is viewed obliquely from behind. 9 and 10 show a support mechanism 221 on the right side when the operation mechanism 2 is viewed from the rear. FIG. 9 shows the support mechanism 221 when the work 10 is not supported, and FIG. 10 shows the support mechanism 221 when the work 10 is supported. In FIG. 10, the description of the workpiece 10 is omitted. As shown in FIGS. 9 and 10, each support mechanism 221 includes an L-shaped member 222, a link mechanism 223, a support member 224 that supports the workpiece 10, and a spring 225.

  The L-shaped member 222 includes a first portion 222a that is long along the left-right direction DR12 and a second portion 222b that is long along the vertical direction DR11. The second portion 222b extends downward from the outer end portion in the longitudinal direction of the first portion 222a.

  The support member 224 is fixed to the lower end portion of the second portion 222b. The support member 224 extends rearward along the front-rear direction DR13 from the second portion 222b. A concave support surface 224 b that supports the workpiece 10 is provided on the upper surface 224 a of the support member 224. The concave support surface 224b is located behind the second portion 222b.

  The link mechanism 223 and the spring 225 are mechanisms for causing a fall prevention function that prevents the work 10 from falling from the support mechanism 221 when the support mechanism 221 supports the work 10. The link mechanism 223 includes a first link 223a, a second link 223b, a third link 223c, and a fourth link 223d.

  The first link 223a extends along the front-rear direction DR13 along the support member 224. The first link 223a extends from the front of the second portion 222b to the rear of the second portion 222b on the inner side of the second portion 222b of the L-shaped member 222. On the upper surface 223aa of the first link 223a, a concave surface 223ab in contact with the workpiece 10 is provided. The concave surface 223ab is located behind the second portion 222b. In the state where the workpiece 10 is not supported by the support mechanism 221, the concave surface 223ab is positioned slightly above the concave support surface 224b as shown in FIG. The first link 223a includes a protruding portion 223ac that protrudes upward at the center in the longitudinal direction.

  The third link 223 c is fixed to the second portion 222 b of the L-shaped member 222. The third link 223c extends from the front to the rear of the second portion 222b. The rear end of the third link 223c is connected to the outer surface of the protrusion 223ac of the first link 223a. A connecting portion between the rear end portion of the third link 223c and the protruding portion 223ac of the first link 223a is a first rotation pair 2231 having a rotation axis along the left-right direction DR12.

  The plate-like fourth link 223d is located above the first link 223a. The fourth link 223d extends from the vicinity of the front end of the first link 223a toward the rear obliquely upward, and then extends toward the rear obliquely downward so as to be convex behind the L-shaped member 222. . In the vertical direction DR11, a gap 227 is vacant between the rear end portion of the fourth link 223d and the rear end portions of the first link 223a and the support member 224.

  The plate-like second link 223b connects the front end of the first link 223a and the front end of the fourth link 223d. The second link 223b is located inside the first link 223a and the fourth link 223d. The connection location between the second link 223b and the front end of the first link 223a is a second rotation pair 2232 whose rotation axis is in the left-right direction DR12. The connection point between the second link 223b and the front end of the fourth link 223d is a third rotation pair 2233 whose rotation axis is in the left-right direction DR12.

  The front end of the third link 223c is connected to a portion of the fourth link 223d that is slightly rearward of the connection location (the third rotation pair 2233) with the second link 223b. This connection location is a fourth rotation pair 2234 whose rotation axis is along the left-right direction DR12.

  The spring 225 is located slightly in front of the L-shaped member 222. One end of the spring 225 is positioned below the first link 223 a and is fixed to the second portion 222 b of the L-shaped member 222 by the fixing member 226. The other end of the spring 225 is fixed to the front end of the first link 223a. The fixed part of the other end of the spring 225 with respect to the first link 223a and the second rotating pair 2232 are arranged along the left-right direction DR12. One end and the other end of the spring 225 are fixed to the second portion 222b and the first link 223a so that the spring 225 extends.

  FIG. 11 is an enlarged perspective view showing the coupling mechanism 228 that couples the pair of support mechanisms 221. FIG. 11 shows the coupling mechanism 228 when the holding mechanism 220 is viewed from the front obliquely. The coupling mechanism 228 includes a square pipe member 228a having a pair of opposed surfaces opened, and a bolt 228b attached to the square pipe member 228a.

  The square pipe member 228 a is positioned below the lower link 232 of the parallel link mechanism 230 and is fixed to the lower link 232. In the square pipe member 228a, a pair of facing surfaces facing each other in the left-right direction DR12 are open. The first portion 222a of the L-shaped member 222 of the pair of support mechanisms 221 is inserted into the square pipe member 228a from the left-right direction DR12 so as to overlap in the front-rear direction DR13. A plurality of through holes 222aa into which the bolts 228b can be inserted are provided in the first portion 222a of the L-shaped member 222 of each support mechanism 221. In the first portion 222a, the plurality of through holes 222aa are arranged along the left-right direction DR12. A through hole 228aa into which the bolt 228b can be inserted is provided on the front surface of the square pipe member 228a. A pair of supports such that the through hole 228aa of the square pipe member 228a, the through hole 222aa of the first portion 222a of one support mechanism 221 and the through hole 222aa of the first portion 222a of the other support mechanism 221 overlap each other. The first portion 222a of the mechanism 221 is inserted into the square pipe member 228a. Then, the bolt 228b is inserted from the front side of the square pipe member 228a, the through hole 228aa of the square pipe member 228a, the through hole 222aa of the first portion 222a of one support mechanism 221, and the first portion of the other support mechanism 221. The pair of support mechanisms 221 are connected to each other by being inserted into the through-hole 222aa of 222a and screwed into a screw hole provided at an opposing position on the rear side of the square pipe member 228a. The bolt 228b can be removed from the through holes 222aa and 228aa by the reverse procedure.

  In this example, the distance in the left-right direction DR12 between the support members 224b of the pair of support mechanisms 221 can be changed. As described above, each of the first portions 222a of the pair of support mechanisms 221 is provided with a plurality of through holes 222aa arranged along the left-right direction DR12. In the plurality of through holes 222aa of the first portion 222a, the distance in the left-right direction DR12 between the support members 224b of the pair of support mechanisms 221 can be changed by changing the through holes 222aa through which the bolts 228b are inserted. it can. Thus, the distance can be adjusted according to the length of the workpiece 10 in the left-right direction DR12. Therefore, the holding mechanism 220 can hold a plurality of types of workpieces 10.

  In the holding mechanism 220 having the above-described configuration, when the support mechanism 221 does not support the workpiece 10, the rear ends of the first link 223a and the support member 224 are caused by the elastic force of the extending spring 225. The shape of the link mechanism 223 is maintained so that the gap 227 between the fourth link 223d and the rear end of the fourth link 223d is increased (see FIG. 9 and FIG. 3 described above).

  The workpiece 10 is scooped up from below by the support member 224 of the pair of support mechanisms 221 and supported by the concave support surface 224b of the support member 224.

  When the workpiece 10 is supported by the support mechanism 221, the concave surface 223ab positioned slightly above the concave support surface 224b moves downward to substantially the same height as the concave support surface 224b by the weight of the workpiece 10. The link mechanism 223 works. At this time, the rear end of the fourth link 223d moves downward by the function of the link mechanism 223. As a result, as shown in FIG. 10, the gap 227 between the rear ends of the first link 223a and the support member 224 and the rear end of the fourth link 223d is reduced. Therefore, it is possible to prevent the workpiece 10 from falling from the pair of support mechanisms 221. When the workpiece 10 is, for example, a rotor and the support mechanism 221 supports the rotor shaft as in the example of FIG. 2 and the like, the gap 227 is smaller than the diameter of the rotor shaft. In FIG. 10, the illustration of the workpiece 10 is omitted so that it can be understood that the gap 227 is small.

<Switch box>
As shown in FIG. 4, the switch box 240 includes a power switch 241 and two emergency stop buttons 242. The switch box 240 includes a power indicator 243a, a stop indicator 244a, a holding indicator 245a, a horizontal indicator 246a, and an omnidirectional indicator 247a. The power switch 241, the power indicator 243a, the stop indicator 244a, the holding indicator 245a, the horizontal indicator 246a, and the omnidirectional indicator 247a are provided on the front surface 240a of the switch box 240. The two emergency stop buttons 242 are respectively provided on the two side surfaces 240b of the switch box 240 in the left-right direction DR12. The switch box 240 is fixed to the upper surfaces of the pair of protective cover members 255.

  The operator 100 can operate the power switch 241 to turn the power switch 241 on or off. When the power switch 241 is on, power is supplied to the handling system 1. On the other hand, when the power switch 241 is off, the power supply to the handling system 1 is stopped. Therefore, when the power switch 241 is off, the servo motors 130, 140, 150, 210 are not driven. Hereinafter, a state where power is supplied to the handling system 1 may be referred to as a “system operation state”. In addition, a state where power supply to the handling system 1 is stopped may be referred to as a “system stopped state”.

  The operator 100 can set the emergency stop button 242 to an emergency stop state or a release state by operating the emergency stop button 242. When at least one of the two emergency stop buttons 242 is operated in the system operation state to enter the emergency stop state, the operation mode of the handling system 1 becomes the system stop state. The emergency stop button 242 in the emergency stop state emits red light.

  In the system operation state, the power indicator 243a emits light and the stop indicator 244a is turned off. On the other hand, in the system stop state, both the power indicator 243a and the stop indicator 244a emit light.

  The system operation state includes a holding control mode, a horizontal control mode, and an omnidirectional control mode, which will be described later. When the operation mode is the holding control mode, only the holding indicator 245a among the holding indicator 245a, the horizontal indicator 246a, and the omnidirectional indicator 247a emits light. When the operation mode is the horizontal control mode, only the previous horizontal indicator 246a emits light. When the operation mode is the omnidirectional control mode, only the previous omnidirectional indicator 247a emits light.

  As shown in FIGS. 3 and 5, on the back surface 240c of the switch box 240, a power indicator 243b, a stop indicator 244b, and a hold indicator that emit light in the same manner as the power indicator 243a, stop indicator 244a, hold indicator 245a, and horizontal indicator 246a, respectively. 245b and a horizontal indicator 246b are provided. Further, an omnidirectional indicator (not shown) that emits light in the same manner as the omnidirectional indicator 247a is provided on the back surface 240c of the switch box 240.

  Various electric signals output from the operation mechanism 2 to the control device 6 are transmitted to the control device 6 through the cable 710 exposed from the upper surface 240d of the switch box 240. The cable 710 extends toward the traveling carriage 410 above the operation mechanism 2.

<Rotation of the attitude of the operating mechanism>
When the operator 100 rotates the handle 200 around a direction perpendicular to the vertical direction DR3, as shown in FIGS. 4 and 5, the posture of the operation mechanism 2 is not rotated without rotating the posture of the wire connection mechanism 700. Rotate. The posture of the operation mechanism 2 can be rotated clockwise when the operation mechanism 2 is viewed from the front (see FIG. 4) or can be rotated counterclockwise.

  In the operation mechanism 2, as can be understood from the above description, the handle 200, the rotation motor 210, the upper link 231 of the parallel link mechanism 230, the switch box 240, the operation force detection sensor 250, and a pair of protective cover members. 255, the gripping state detection sensor 260, and the balance adjustment member 280 are integrated. These elements rotate together around the output shaft 210b of the rotary motor 210.

  On the other hand, the rotation center of the holding mechanism 220 fixed to the lower link 232 of the parallel link mechanism 230 is positioned below the rotation center of the rotary motor 210 due to the action of the parallel link mechanism 230. In this example, the holding mechanism 220 rotates around a rotation axis along the front-rear direction DR13 that passes through the vicinity of the center of gravity of the workpiece 10 held by the holding mechanism 220. As a result, the center of rotation of the workpiece 10 is near the center of gravity of the workpiece 10.

  On the other hand, when the holding mechanism 220 rotates around the output shaft 210b of the rotation motor 210 and the rotation center of the holding mechanism 220 and the rotation center of the rotation motor 210 coincide with each other, the holding mechanism 220 holds the rotation. The center of rotation of the workpiece 10 is far away from the center of gravity. In this case, a large torque is required to rotate the posture of the workpiece 10.

  In this example, the rotation center of the workpiece 10 can be brought close to the center of gravity by the action of the parallel link mechanism 230, so that the workpiece 10 can be rotated with a small torque.

<Self-weight rotating force reduction mechanism>
As shown in FIGS. 4 and 5, when the attitude of the operation mechanism 2 holding the workpiece 10 is rotated, due to the influence of the weight balance of the operation mechanism 2, the attitude of the operation mechanism 2 is rotated to some extent, Due to the weight of the operation mechanism 2, a rotational force that further rotates the posture of the operation mechanism 2 is generated. This rotational force is called “self-weight rotational force”.

  When the self-weight rotation force is generated, the operator 100 needs to operate the handle 200 so as not to lose the self-weight rotation force when the operator 100 wants to maintain the posture after rotating the posture of the operation mechanism 2. As a result, it becomes difficult to operate the workpiece 10.

  In this example, the operation mechanism 2 is provided with a self-weight rotational force reduction mechanism 270 that reduces the self-weight rotational force. As a result, the operator 100 can easily operate the workpiece 10.

  As shown in FIGS. 3 and 5, the self-weight rotational force reducing mechanism 270 includes a spring 271, a flat plate member 272, plate-like members 273 and 275 bent into an L shape, and attachment members 274 and 276. Yes.

  The flat plate member 272 extends rearward from the upper surface of the plate-like connection member 702 of the wire connection mechanism 700. One end of the flat plate member 272 in the front-rear direction DR13 is fixed to the upper surface of the plate-like connection member 702. A plate-like member 273 is fixed to the upper surface of the other end of the flat plate member 272 in the front-rear direction DR13. An attachment member 274 protrudes rearward from the plate-like member 273, and one end of the spring 271 is attached to the attachment member 274. A plate-like member 275 is fixed to the upper surface of the balance adjusting member 280. An attachment member 276 protrudes rearward from the plate-like member 275, and the other end of the spring 271 is attached to the attachment member 276.

  In the self-weight rotating force reduction mechanism 270 having such a configuration, one end of the spring 271 is connected to a plate-like connection member 702 that does not rotate even when the attitude of the operation mechanism 2 rotates. On the other hand, the other end of the spring 271 is connected to the upper part of the balance adjustment member 280. When the attitude of the operation mechanism 2 rotates, the spring 271 extends according to the rotation amount of the attitude as shown in FIG. When the spring 271 is extended, a force that prevents the operation mechanism 2 from rotating is generated by the elastic force of the spring 271. Since this force increases as the amount of rotation of the operation mechanism 2 increases, the self-weight rotation force is reduced. Therefore, the operator 100 can easily operate the workpiece 10.

<Driving of the first moving mechanism>
FIG. 12 is a diagram schematically showing a state in which the traveling carriage 410 shown in FIG. 1 is viewed from the second horizontal direction DR2. FIG. 13 is a diagram schematically showing a state where the rotary drum 310 on the traveling carriage 410 is viewed from the first horizontal direction DR1.

  As shown in FIG. 12 and FIG. 1 described above, the traveling carriage 410 includes a plate-like bottom portion 411 and a pair of plate-like side portions 412 and 413 erected on the bottom portion 411 so as to face each other. . Each of the side portions 412 and 413 is provided with an opening.

  As shown in FIG. 13, the rotating drum 310 is provided with a plurality of grooves 311. As a result, when the rotating drum 310 rotates, the wire 300 is wound in an aligned manner by being wound around the rotating drum 310 while being fitted in the groove 311.

  The first moving mechanism 3 includes a ball spline 320 in addition to the wire 300 and the rotating drum 310. The ball spline 320 includes a spline shaft 321 and an outer cylinder 322 that covers the spline shaft 321 in the circumferential direction. The rotating drum 310 is fixed to the outer cylinder 322 so as to cover the outer cylinder 322 in the circumferential direction. The rotating drum 310 can rotate around the spline shaft 321 as a rotating shaft. The rotating drum 310 is movable along the axial direction of the spline shaft 321 by the action of the outer cylinder 322.

  Here, when the ball spline 320 is not provided and the position of the rotating drum 310 is fixed, the position where the wire 300 hangs downward from the rotating drum 310 changes depending on the winding and lowering of the wire 300. To do. For example, as shown in FIG. 13, when the wire 300 is wound along the groove 311 from the right side to the left side in FIG. 13, the hanging position of the wire 300 is changed along the second horizontal direction DR2. Move from right to left on 13. Further, when the wire 300 is wound, the hanging position of the wire 300 moves from the left side to the right side in FIG. 13 along the second horizontal direction DR2.

  On the other hand, in the first moving mechanism 3 according to this example, the rotating drum 310 attached to the outer cylinder 322 can rotate around the spline shaft 321. Therefore, as will be described later, the hanging position of the wire 300 can be prevented from changing due to the winding and lowering of the wire 300. In other words, the hanging point of the wire 300 can be prevented from changing due to the winding and lowering of the wire 300. As a result, the workpiece 10 is easily moved straight along the vertical direction DR3.

  For example, as shown in FIG. 13, when the wire 300 is wound along the groove 311 from the right side to the left side in FIG. 13, the rotating drum 310 tries to move to the right side by the weight of the wire 300. Force is generated. With this force, the rotating drum 310 moves to the right along the axial direction of the spline shaft 321. Thereby, when the wire 300 is wound up, it is possible to prevent the hanging position of the wire 300 from changing along the second horizontal direction DR2. Further, when the wire 300 is unwound, a force for moving the rotating drum 310 to the left side is generated by the weight of the wire 300. With this force, the rotating drum 310 moves to the left along the axial direction of the spline shaft 321. Thereby, when the wire 300 is wound down, it is possible to prevent the hanging position of the wire 300 from changing along the second horizontal direction DR2.

  The rotational force of the vertical motor 130 is transmitted to the rotary drum 310 through the timing pulleys 135 and 136 and the timing belt 137. The output shaft of the vertical motor 130 is connected to the rotation center of the timing pulley 135. A spline shaft 321 is connected to the rotation center of the timing pulley 136. A timing belt 137 is wound around the timing pulleys 135 and 136.

  When the vertical motor 130 rotates, the timing pulley 135, the timing belt 137, the timing pulley 136, and the spline shaft 321 rotate, and as a result, the rotating drum 310 rotates. The vertical motor 130 can control the rotation of the rotating drum 310 through the timing pulley 135 and the like.

  Since the vertical motor 130 controls the rotation of the rotating drum 310 through the timing belt 137, the vertical motor 130 can control the rotation of the rotating drum 310 if the timing belt 137 breaks for some reason. Disappear.

  Therefore, the handling system 1 is provided with a rotary drum brake 810 that can brake the rotation of the rotary drum 310. The rotary drum brake 810 is, for example, an electromagnetic mechanical brake. The rotary drum brake 810 brakes the rotation of the rotary drum 310 by braking the rotation of the spline shaft 321. Thus, when the timing belt 137 is broken, the rotation of the rotary drum 310 can be braked. Therefore, when the abnormality occurs, the movement of the workpiece 10 along the vertical direction DR3 can be stopped.

  On the bottom 411 of the traveling carriage 410, a vertical motor 130, a first horizontal motor 140, a rotating drum 310, timing pulleys 135 and 136, a timing belt 137, a ball spline 320, and a rotating drum brake 810 are mounted.

<Driving of second moving mechanism>
FIG. 14 is a diagram schematically showing a state in which the first horizontal motor 140 on the traveling carriage 410 is viewed from the first horizontal direction DR1. The output shaft of the first horizontal motor 140 is connected to the rotation center of the timing pulley 141. A timing pulley 142 is fixed to the outer surface of the side portion 413 of the traveling carriage 410 so as to be rotatable. A timing belt 143 is wound around the timing pulleys 141 and 142.

  Plate-shaped flanges 402 are provided at the lower ends of both side surfaces 401 of the guide member 400 in the second horizontal direction DR2. The flange 402 extends along the first horizontal direction DR1.

  A plurality of rollers that rotate on one flange 402 of the guide member 400 are provided on the inner surface of the side portion 413 of the traveling carriage 410. Similarly, a plurality of rollers that rotate on the other flange 402 of the guide member 400 are provided on the inner surface of the side portion 412 of the traveling carriage 410. One roller 145 (see FIG. 14) of the plurality of rollers provided on the side portion 413 is rotationally controlled by the first horizontal motor 140. When the roller 145 is rotated by the first horizontal motor 140, the plurality of rollers provided on the side portions 412 and 413 of the traveling carriage 410 rotate on the flange 402. As the plurality of rollers rotate on the flange 402, the traveling carriage 410 travels along the guide member 400.

  A rotation shaft 145 a of a roller 145 is connected to the rotation center of the timing pulley 142. The rotation shaft 145 a passes through the side portion 413 and is connected to the rotation center of the timing pulley 142. When the first horizontal motor 140 rotates, the timing pulley 141, the timing belt 143, the timing pulley 142, and the roller 145 rotate. As a result, the plurality of rollers provided in the traveling carriage 410 rotate on the flange 402 of the guide member 400, and the traveling carriage 410 travels along the guide member 400. The first horizontal motor 140 can control the traveling of the traveling carriage 410 along the first horizontal direction DR1 by controlling the rotation of the roller 145. As the traveling carriage 410 travels along the guide member 400, the displacement sensor 7, the first moving mechanism 3, and the operating mechanism 2 move together along the first horizontal direction DR1.

<Driving of the third moving mechanism>
FIG. 15 is a diagram schematically illustrating a state in which the second horizontal motor 150 illustrated in FIG. 1 is viewed from the second horizontal direction DR2. The rotational force of the second horizontal motor 150 is transmitted to the traveling shaft 510 via the timing pulleys 151 and 152 and the timing belt 153.

  The output shaft of the second horizontal motor 150 is connected to the rotation center of the timing pulley 151. The traveling shaft 510 is connected to the rotation center of the timing pulley 152. A timing belt 153 is wound around the timing pulleys 151 and 152.

  When the second horizontal motor 150 rotates, the timing pulley 151, the timing belt 153, the timing pulley 152, and the traveling shaft 510 rotate. When the traveling shaft 510 rotates, the guide member 400 travels along the pair of guide members 500 as described above. The second horizontal motor 150 can control the travel of the guide member 400 along the second horizontal direction DR2 by controlling the rotation of the travel shaft 510. As the guide member 400 travels along the second horizontal direction DR2, the second moving mechanism 4, the displacement sensor 7, the first moving mechanism 3, and the operating mechanism 2 move along the second horizontal direction DR2.

<Wire guide mechanism>
The first moving mechanism 3 includes a wire guide mechanism 350 that guides the hanging portion of the wire 300 in the vertical direction DR3. FIG. 16 is a view showing the wire guide mechanism 350. As shown in FIG. 16, the wire guide mechanism 350 includes two pulleys 351 and 352. The pulleys 351 and 352 are also called “sheaves”. The pulleys 351 and 352 are disposed on the bottom 411 of the traveling carriage 410.

  The rotation axes of the pulleys 351 and 352 are parallel to the horizontal plane. The rotation center of the pulley 351 and the rotation center of the pulley 352 are shifted from each other in the vertical direction DR3 and the horizontal direction. The hanging portion 301 of the wire 300 passes through the groove 351 a of the pulley 351 and the groove 352 a of the pulley 352. The pulley 351 guides the hanging portion 301 in the vertical direction DR3. The pulley 352 guides the hanging portion 301 from the opposite side to the pulley 351 in the vertical direction DR3.

  By providing such pulleys 351 and 352 in the handling system 1, it is possible to further prevent the drooping position of the wire 300 from being changed by winding and unwinding of the wire 300. Therefore, it becomes easy to move the workpiece 10 straight along the vertical direction DR3.

<Displacement sensor>
FIG. 17 is a diagram for explaining the operation of the displacement sensor 7. The displacement sensor 7 detects a horizontal operation force applied to the handle 200 of the operation mechanism 2 by detecting a displacement due to the inclination of the wire 300.

  When the handle 200 of the operation mechanism 2 is operated and the operation mechanism 2 moves in the horizontal direction, the wire 300 is inclined with the wire guide mechanism 350 as a fulcrum 360. The displacement sensor 7 surrounds a portion of the wire 300 below the fulcrum 360 in the circumferential direction. As shown in FIG. 17, the displacement sensor 7 has a planar detection range 750 parallel to the horizontal plane on the inside thereof.

  In the displacement sensor 7, a reference point P <b> 1 is set within the detection range 750. The reference point P1 is a point through which the wire 300 passes through the detection range 750 when a horizontal operation force is not applied to the handle 200. That is, the wire 300 passes through the detection range 750 when the wire 300 hangs down along the vertical direction DR3. In FIG. 17, the wire 300 when the operation mechanism 2 is not operated is indicated by a two-dot chain line.

  The displacement sensor 7 obtains the components in the first horizontal direction DR1 and the second horizontal direction DR2 with respect to the displacement amount V from the reference point P1 to the point P2 where the current wire 300 passes the detection range 750. Hereinafter, the component of the displacement amount V in the first horizontal direction DR1 is referred to as “first horizontal displacement amount”, and the component of the displacement amount V in the second horizontal direction DR2 is referred to as “second horizontal displacement amount”. FIG. 18 is a diagram illustrating an example of the displacement amount V, the first horizontal displacement amount VH1, and the second horizontal displacement amount VH2.

  When the first horizontal operating force is applied to the handle 200, the wire 300 is tilted from the fulcrum 360 in the direction of the first horizontal operating force. Therefore, the direction of the first horizontal displacement amount VH1 coincides with the direction of the first horizontal operating force. Further, when the first horizontal operating force increases, the inclination of the wire 300 in the first horizontal direction DR1 increases. When the inclination of the wire 300 in the first horizontal direction DR1 increases, the magnitude of the first horizontal displacement amount VH1 also increases. Therefore, it can be said that the first horizontal displacement amount VH1 indicates the first horizontal operation force applied to the handle 200. The displacement sensor 7 detects the first horizontal operating force applied to the handle 200 by detecting the first horizontal displacement amount VH1.

  Similarly, when the second horizontal operation force is applied to the handle 200, the wire 300 is tilted from the fulcrum 360 in the direction of the second horizontal operation force. Therefore, the direction of the second horizontal displacement amount VH2 matches the direction of the second horizontal operating force. Further, when the second horizontal operation force is increased, the inclination of the wire 300 in the second horizontal direction DR2 is increased. When the inclination of the wire 300 in the second horizontal direction DR2 increases, the magnitude of the second horizontal displacement amount VH2 also increases. Therefore, it can be said that the second horizontal displacement amount VH2 indicates the second horizontal operation force applied to the handle 200. The displacement sensor 7 detects the second horizontal operation force applied to the handle 200 by detecting the second horizontal displacement amount VH2.

  As described above, the displacement sensor 7 can detect the first horizontal operating force and the second horizontal operating force applied to the handle 200. Since the operation force in the third horizontal direction applied to the handle 200 can be considered as being divided into the first horizontal operation force and the second horizontal operation force, the displacement sensor 7 is operated by the third horizontal operation force applied to the handle 200. It can be said that force is detected. The displacement sensor 7 functions as a sensor that detects the first horizontal operating force applied to the handle 200 and also functions as a sensor that detects the second horizontal operating force applied to the handle 200.

  As can be understood from the above description, when the hanging position of the wire 300 changes along the second horizontal direction DR2 by winding and lowering the wire 300, even if the second horizontal operating force on the handle 200 is constant, The position of the point P2 in the second horizontal direction DR2 changes. As a result, the second horizontal displacement amount VH2 changes. For this reason, the displacement sensor 7 may not be able to properly detect the second horizontal operating force applied to the handle 200.

  In this example, the ball spline 320 and the wire guide mechanism 350 can prevent the drooping position of the wire 300 from changing due to the winding and lowering of the wire 300. Therefore, the displacement sensor 7 can appropriately detect the second horizontal operation force applied to the handle 200.

<Operation mode of handling system>
The handling system 1 has various operation modes. The hand rig system 1 includes an omnidirectional control mode, a horizontal control mode, and a holding control mode in addition to the system stop state described above. In the system operation state, the control device 6 determines an operation mode based on the detection result of the gripping state detection sensor 260.

  The omnidirectional control mode is an operation mode capable of rotating the posture of the workpiece 10, moving the workpiece 10 along the vertical direction DR3, and moving the workpiece 10 along the horizontal direction. The horizontal control mode can only move the workpiece 10 along the horizontal direction among the rotation of the posture of the workpiece 10, the movement of the workpiece 10 along the vertical direction DR3, and the movement of the workpiece 10 along the horizontal direction. It is an operation mode. The holding control mode is an operation mode in which the posture of the workpiece 10 is held and the positions of the workpiece 10 in the vertical direction DR3, the first horizontal direction DR1, and the second horizontal direction DR2 are held.

  FIG. 19 is a diagram illustrating a correspondence relationship between the detection result of the gripping state detection sensor 260 and the operation mode. As shown in FIG. 19, when both weak gripping states are detected by the gripping state detection sensor 260, the control device 6 sets the operation mode to the omnidirectional control mode. Accordingly, the operator 100 can rotate the posture of the workpiece 10 by operating the handle 200 while lightly grasping the pair of grips 201 with both hands, and moves the workpiece 10 along the vertical direction DR3. The workpiece 10 can be moved along the horizontal direction. The operator 100 can freely operate the workpiece 10 by operating the handle 200 while lightly holding the pair of grips 201 with both hands.

  When the one-hand weak gripping state is detected by the gripping state detection sensor 260, the control device 6 sets the operation mode to the horizontal control mode. Accordingly, the operator 100 operates the handle 200 while lightly grasping only one grip 201 with one hand, thereby rotating the posture of the workpiece 10, moving the workpiece 10 along the vertical direction DR3, and horizontally Of the movement of the workpiece 10 along the direction, only the movement of the workpiece 10 along the horizontal direction can be performed. In the horizontal control mode, since the rotation of the posture of the workpiece 10 and the movement of the workpiece 10 along the vertical direction DR3 are not performed, the operator 100 can easily operate the workpiece 10 by operating the handle 200 with one hand. Can be moved along the horizontal direction only.

  When the non-gripping state is detected by the gripping state detection sensor 260, the control device 6 sets the operation mode to the holding control mode. Thus, when the operator 100 releases the handle 200, the posture and position of the workpiece 10 at that time are maintained.

  When the strong gripping state is detected by the gripping state detection sensor 260, the control device 6 sets the operation mode to the system stop state. Thus, when the operator 100 strongly grips at least one of the pair of grips 201, the driving of all the servo motors of the handling system 1 is stopped as in the case where the emergency stop button 242 is brought into the emergency stop state. For example, when the operator 100 is operating the handle 200 while holding the pair of grips 201 lightly with both hands, if the operator 100 squeezes both hands or one hand, all servo motors are stopped. Further, when the operator 100 is operating the handle 200 while lightly holding only one grip 201 with one hand, if the operator 100 holds the one hand strongly, all servo motors are stopped. When the operation of each of the servo motors 210, 130, 140, and 150 is stopped, the built-in brake works. Therefore, in the system stop state, the posture and position of the workpiece 10 are held as in the holding control mode.

  In this example, when the system is stopped, the system stopped state is not released unless the power switch 241 of the operation mechanism 2 is turned off. For example, after the emergency stop button 242 enters the emergency stop state in the system operation state, even if the emergency stop button 242 is released while the power switch 241 remains on, the system stop state is not released. In addition, after the strong gripping state is detected by the gripping state detection sensor 260 and the operation mode becomes the system stop state, the power switch 241 remains on, and the gripping state detection sensor 260 has both the weak gripping state and the one hand weakness. Even when the gripping state and the non-gripping state are detected, the operation mode is not the omnidirectional control mode, the horizontal control mode, or the holding control mode.

  In this example, when the emergency stop button 242 is in an emergency stop state and the operation mode is in the system stop state, and the user wants to return the system, the operator 100 first turns the power switch 241 from the on state to the off state. To change. Thereafter, the operator 100 confirms the safety and then releases the emergency stop button 242. Thereafter, when the operator 100 turns on the power switch 241, the system stop state is released. When the system stop state is released, the control device 6 sets the operation mode according to the detection result of the gripping state detection sensor 260. In addition, when the gripping state detection sensor 260 detects a strong gripping state and the operation mode becomes the system stop state, the operator 100 first turns the power switch 241 from the on state to the off state. Change to state. Thereafter, when the operator 100 turns on the power switch 241, the system stop state is released. When the system stop state is released, the control device 6 sets the operation mode according to the detection result of the gripping state detection sensor 260.

<Operation of control device>
Next, the operation of the control device 6 will be described in detail. FIG. 20 is a diagram showing a connection relationship between the control device 6 and the servo motor or the like.

<Timing belt break determination>
As shown in FIG. 20, the handling system 1 is provided with an encoder 131 that detects the rotational speed of the vertical motor 130 and an encoder 811 that detects the rotational speed of the rotary drum 310. The handling system 1 includes an encoder 210e that detects the rotational speed of the rotary motor 210, an encoder 140e that detects the rotational speed of the first horizontal motor 140, and an encoder 150e that detects the rotational speed of the second horizontal motor 150. Is provided. The control device 6 determines whether or not the timing belt 137 wound around the rotary drum 310 is broken based on the detection results of the encoders 131 and 811. When the timing belt 137 is broken, the rotation speed of the rotary drum 310 and the rotation speed of the vertical motor 130 are different from each other. For example, the control device 6 obtains the absolute value of the difference between the rotational speed detected by the encoder 131 and the rotational speed detected by the encoder 811, and if the absolute value is greater than or equal to the threshold value, the timing belt 137 Determined to have broken.

  When the control device 6 determines that the timing belt 137 is broken, the control device 6 operates the rotating drum brake 810 to stop the rotation of the rotating drum 310. Thereby, the movement of the workpiece 10 along the vertical direction DR3 can be stopped when an abnormality occurs. When it is determined that the timing belt 137 is broken, the control device 6 may operate the rotary drum brake 810 and set the operation mode to the system stop state.

<Omnidirectional control mode>
In the omnidirectional control mode, the control device 6 obtains the rotational operation force applied to the handle 200 based on the detection results of the left force sensor 251 and the right force sensor 251 of the operation force detection sensor 250. Then, the control device 6 controls the torque of the rotary motor 210 so that an assist rotational force corresponding to the obtained rotational operation force is generated.

  In the omnidirectional control mode, the control device 6 obtains the vertical operating force applied to the handle 200 based on the detection results of the left force sensor 251 and the right force sensor 251. Then, the control device 6 controls the torque of the vertical motor 130 so that a vertical assist force corresponding to the obtained vertical operation force is generated.

  In the omnidirectional control mode, the control device 6 is configured to generate a first horizontal assist force that is detected by the displacement sensor 7 and that corresponds to the first horizontal operation force (first horizontal displacement amount) applied to the handle 200. The horizontal motor 140 is torque controlled.

  In the omnidirectional control mode, the control device 6 causes the second horizontal assist force to be generated in accordance with the second horizontal operation force (second horizontal displacement amount) applied to the handle 200 detected by the displacement sensor 7. The horizontal motor 150 is torque controlled.

  In the omnidirectional control mode, torque control of each servo motor is performed, so that the omnidirectional control mode can be said to be a torque control mode. Hereinafter, the torque control of each servo motor in the omnidirectional control mode will be described in detail.

<Rotary motor torque control>
In the omnidirectional control mode, the control device 6 determines whether a rotational operation force is applied to the handle 200 based on the detection results of the left force sensor 251 and the right force sensor 251.

Here, the force detected by the left force sensor 251 and F _1, the force detected by the right force sensor 251 and F _2. In this embodiment, for example, F ₁ becomes positive when such an upward force against the left grip 201, F ₁ When such a downward force on the left grip 201 will be negative. Similarly, F ₂ becomes positive when such an upward force on the right grip 201, F ₂ When such a downward force against the right grip 201 will be negative.

When the signs of F ₁ and F ₂ are different from each other, the control device 6 determines that a rotational operation force is applied to the handle 200. When the operator 100 tries to rotate the handle 200 clockwise as viewed from the front side of the operation mechanism 2, an upward force is applied to the left grip 201 and a downward force is applied to the right grip 201. When F ₁ is positive and F ₂ is negative, the control device 6 determines that a clockwise rotational operation force is applied to the handle 200 as viewed from the front side of the operation mechanism 2. On the other hand, when the operator 100 tries to rotate the handle 200 counterclockwise as viewed from the front side of the operation mechanism 2, a downward force is applied to the left grip 201 and an upward force is applied to the right grip 201. When F ₁ is negative and F ₂ is positive, the control device 6 determines that the counterclockwise rotational operation force is applied to the handle 200 when viewed from the front side of the operation mechanism 2. Hereinafter, simply speaking clockwise and counterclockwise means clockwise and counterclockwise as viewed from the front side of the operation mechanism 2.

Controller 6 determines that the rotational operation force to the handle 200 rests, determining the magnitude of T _h of the following equation (1) using the operator 100 has added the rotational operation force.

  L in the formula (1) indicates a distance in the left-right direction DR12 between the left force sensor 251 and the right force sensor 251. The distance L can also be said to be the distance in the left-right direction DR12 between the pair of first partial grips 202.

  When a clockwise rotational operation force is applied to the handle 200, the control device 6 controls the torque of the rotary motor 210 so that a clockwise assist rotational force is generated in the handle 200. As a result, in addition to the clockwise rotational operation force, a clockwise assist operation force by torque control of the rotary motor 210 is applied to the handle 200. Therefore, the operator 100 can easily rotate the posture of the workpiece 10 clockwise by rotating the handle 200 clockwise.

  On the other hand, when a counterclockwise rotational operation force is applied to the handle 200, the control device 6 controls the torque of the rotary motor 210 so that a counterclockwise assist torque is generated in the handle 200. Thereby, in addition to the counterclockwise rotational operation force, the counterclockwise assist operation force by torque control of the rotary motor 210 is applied to the handle 200. Therefore, the operator 100 can easily rotate the posture of the workpiece 10 counterclockwise by turning the handle 200 counterclockwise.

Size the T _m of assisting rotational force generated in the handle 200 is expressed by the following equation (2).

K _t in Equation (2) is a predetermined amplification factor, and K _t > 1. K _t is set to several tens, for example. Therefore, in addition to the rotational operation force, an assist rotational force that is several tens of times the rotational operation force is applied to the handle 200.

<Torque control of vertical motor>
In the omnidirectional control mode, the control device 6 determines whether a vertical operating force is applied to the handle 200 based on the detection results of the left force sensor 251 and the right force sensor 251. When the sign of the force F ₁ detected by the left force sensor 251 and the force F ₂ detected by the right force sensor 251 are the same, the control device 6 determines that a vertical operating force is applied to the handle 200. . When the operator 100 tries to move the handle 200 upward along the vertical direction DR3, an upward force is applied to the left grip 201 and the right grip 201. When both F ₁ and F ₂ are positive, the control device 6 determines that an upward vertical operating force is applied to the handle 200. On the other hand, when the operator 100 tries to move the handle 200 downward along the vertical direction DR3, a downward force is applied to the left grip 201 and the right grip 201. The control device 6 determines that a downward vertical operating force is applied to the handle 200 when both F ₁ and F ₂ are negative.

Controller 6 determines that the vertical operating force to the handle 200 rests, determining the magnitude of F _v of the vertical operating force using the following equation (3).

  When an upward vertical operating force is applied to the handle 200, the control device 6 controls the torque of the vertical motor 130 so that the upward vertical assist force is applied to the winding force of the wire 300. Thereby, in addition to the upward vertical operating force applied to the handle 200, the upward vertical assist force by the torque control of the vertical motor 130 is applied to the workpiece 10. Therefore, the operator 100 can easily move the workpiece 10 upward by raising the handle 200.

  On the other hand, when a downward vertical operating force is applied to the handle 200, the control device 6 controls the torque of the vertical motor 130 so that the downward vertical assist force is applied to the winding force of the wire 300. Thereby, in addition to the downward vertical operation force applied to the handle 200, the downward vertical assist force by the torque control of the vertical motor 130 is applied to the workpiece 10. The operator 100 can easily move the workpiece 10 downward by lowering the handle 200.

The magnitude F _mv of the vertical assist force is expressed by the following formula (4).

In Equation (4), _Kv is a predetermined amplification factor, and _Kv > 1. _Kv is set to several tens, for example. Therefore, in addition to the vertical operation force, the workpiece 10 is applied with a vertical assist force that is several tens of times the vertical operation force.

  In the omnidirectional control mode, when the operator 100 holds the handle 200 and holds the position of the handle 200 in the vertical direction DR3, the operator 100 faces upward with respect to the handle 200 due to the mass of the workpiece 10. A vertical operating force is applied, and an upward vertical assist force is generated.

<Torque control of first horizontal motor>
When the first horizontal operating force is applied to the handle 200, the control device 6 controls the torque of the first horizontal motor 140 so that the first horizontal assist force in the same direction is applied to the traveling carriage 410. As a result, an operating force corresponding to the first horizontal operating force applied to the handle 200 and an operating force corresponding to the first horizontal assist force applied to the traveling carriage 410 are applied to the workpiece 10. Therefore, the operator 100 can easily move the workpiece 10 along the first horizontal direction DR1 by pushing, pulling, or moving the handle 200 along the first horizontal direction DR1.

The magnitude F _mh1 of the first horizontal assist force is expressed by the following equation (5).

Kh1 in the formula (5) is a predetermined amplification factor, and _Kh1 > 1. K _h1 is set to several tens, for example. Further, F _h1 in the formula (5) is the magnitude of the first horizontal operating force applied to the handle 200. In addition to the operating force corresponding to the first horizontal operating force, the work 10 is applied with an operating force corresponding to the first horizontal assist force that is several tens of times the first horizontal operating force.

  The control device 6 can estimate the direction and magnitude of the first horizontal operating force applied to the handle 200 based on the first horizontal displacement amount detected by the displacement sensor 7. The control device 6 sets the direction of the first horizontal displacement amount as the direction of the first horizontal operating force. The control device 6 estimates the magnitude of the first horizontal operating force from the magnitude of the first horizontal displacement amount.

<Torque control of second horizontal motor>
When the second horizontal operation force is applied to the handle 200, the control device 6 controls the torque of the second horizontal motor 150 so that the second horizontal assist force in the same direction as that is applied to the guide member 400. As a result, an operation force corresponding to the second horizontal operation force applied to the handle 200 and an operation force corresponding to the second horizontal assist force applied to the guide member 400 are applied to the workpiece 10. Therefore, the operator 100 can easily move the workpiece 10 along the second horizontal direction DR2 by pushing, pulling, or moving the handle 200 along the second horizontal direction DR2.

The magnitude F _mh2 of the second horizontal assist force is expressed by the following equation (6).

Kh2 of the formula (6) is a predetermined amplification _factor, a _{K h2>} 1. K _h2 is set to several tens, for example. Further, F _h2 in the equation (6) is the magnitude of the second horizontal operating force applied to the handle 200. In addition to the operation force corresponding to the second horizontal operation force, the work force is applied to the workpiece 10 according to the first horizontal assist force which is several tens of times the second horizontal operation force.

  The control device 6 can estimate the direction and magnitude of the second horizontal operating force applied to the handle 200 based on the second horizontal displacement amount detected by the displacement sensor 7. The control device 6 sets the direction of the second horizontal displacement amount as the direction of the second horizontal operating force. The control device 6 estimates the magnitude of the second horizontal operating force from the magnitude of the second horizontal displacement amount.

  Note that, when the operation force in the third horizontal direction is applied to the handle 200, that is, when the first and second horizontal operation forces are applied to the handle 200 simultaneously, the control device 6 performs the first horizontal operation. The torque control for the motor 140 and the torque control for the second horizontal motor 150 are simultaneously performed to generate the first and second horizontal assist forces simultaneously. Accordingly, the operator 100 can easily move the workpiece 10 along the third horizontal direction by pushing, pulling, or moving the handle 200 along the third horizontal direction.

<Horizontal control mode>
In the horizontal control mode, similarly to the omnidirectional control mode, the control device 6 detects the first horizontal assist force corresponding to the first horizontal operation force (first horizontal displacement amount) applied to the handle 200 detected by the displacement sensor 7. The first horizontal motor 140 is torque-controlled so that the above occurs. Further, in the horizontal control mode, the control device 6 performs the second horizontal operation according to the second horizontal operation force (second horizontal displacement amount) applied to the handle 200 detected by the displacement sensor 7 as in the omnidirectional control mode. The second horizontal motor 150 is torque controlled so that the assist force is generated.

  On the other hand, the control device 6 is different from the omnidirectional control mode in controlling the rotary motor 210 and the vertical motor 130 in the horizontal control mode. In the horizontal control mode, the control device 6 controls the position of the rotary motor 210 so that the attitude of the operation mechanism 2 around the direction perpendicular to the vertical direction DR3 is maintained. Thereby, in the horizontal control mode, the attitude of the operation mechanism 2 when the operation mode is changed to the horizontal control mode is maintained. In the horizontal control mode, the control device 6 controls the position of the vertical motor 130 so that the position of the operation mechanism 2 in the vertical direction DR3 is maintained. Thereby, in the horizontal control mode, the position of the operation mechanism 2 in the vertical direction DR3 when the operation mode is changed to the horizontal control mode is maintained.

  As described above, in the horizontal control mode, only the first horizontal motor 140 and the second horizontal motor 150 among the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150 are torque-controlled. The operator 100 can move the workpiece 10 stably.

<Holding control mode>
In the holding control mode, the control device 6 controls the position of the rotary motor 210 so that the attitude of the operating mechanism 2 around the direction perpendicular to the vertical direction DR3 is held, as in the horizontal control mode. In the holding control mode, the control device 6 controls the position of the vertical motor 130 so that the position of the operating mechanism 2 in the vertical direction DR3 is held, as in the horizontal control mode.

  In the holding control mode, the control device 6 controls the position of the first horizontal motor 140 so that the position of the first moving mechanism 3 in the first horizontal direction DR1 is held. In other words, the control device 6 controls the position of the first horizontal motor 140 so that the position of the traveling carriage 410 in the first horizontal direction DR1 is maintained.

  In the holding control mode, the control device 6 controls the position of the second horizontal motor 150 so that the position of the second moving mechanism 4 in the second horizontal direction DR2 is held. In other words, the control device 6 controls the position of the second horizontal motor 150 so that the position of the guide member 400 in the second horizontal direction DR2 is maintained.

<System stopped state>
In the system stop state, the control device 6 stops the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150. Thereby, the rotary motor brake 213c operates, and the attitude of the operation mechanism 2 at that time is maintained. Further, the vertical motor brake 130a operates, and the position of the operation mechanism 2 in the vertical direction DR3 at that time is maintained. Further, the first horizontal motor brake 140a is operated, and the current position of the first moving mechanism 3 in the first horizontal direction DR1 is maintained. In other words, the first horizontal motor brake 140a is operated, and the current position of the traveling carriage 410 in the first horizontal direction DR1 is maintained. Further, the second horizontal motor brake 150a is operated, and the positions of the first moving mechanism 3 and the second moving mechanism 4 in the second horizontal direction DR2 at that time are held. In other words, the second horizontal motor brake 150a operates, and the position of the guide member 400 in the second horizontal direction DR2 at that time is maintained.

  As described above, in the handling system 1, the pair of force sensors 251 are used, and both the vertical operation force and the rotation operation force are obtained. Therefore, compared with the case where the sensor used when calculating | requiring a vertical operating force differs from the sensor used when calculating | requiring a rotational operating force, the structure of the handling system 1 can be simplified.

  In the handling system 1, the torque of the vertical motor 130 is controlled so that a vertical assist force corresponding to the vertical operation force applied to the handle 200 is generated. Therefore, unlike when the vertical motor 130 is speed-controlled or position-controlled, the operator 100 can easily move the workpiece 10 along the vertical direction DR3 intuitively. For example, the operator 100 can move the operation mechanism 2 along the vertical direction DR3 while feeling the weight of the workpiece 10. Further, the operator 100 can feel the force applied directly to the workpiece 10. Therefore, for example, when the operator 100 moves the workpiece 10 along the vertical direction DR3 and brings the workpiece 10 into contact with another object, the operator 100 can feel contact between the workpiece 10 and the other object. Therefore, the operator 100 can softly contact the workpiece 10 with another object while adjusting the vertical operating force applied to the handle 200. As a result, it is possible to prevent the workpiece 10 and other objects from being damaged. Further, since the operator 100 can feel that the workpiece 10 has collided with another object, when the workpiece 10 collides with another object, the operator 100 operates the handle 200 to move the workpiece 10 in the vertical direction DR3. You can stop immediately.

  In the handling system 1, the torque of the rotary motor 210 is controlled so that an assist rotational force corresponding to the rotational operation force applied to the handle 200 is generated. For this reason, unlike the torque control of the vertical motor 130, unlike the case where the rotation motor 210 is speed-controlled or position-controlled, the operator 100 determines the weight of the workpiece 10 when rotating the posture of the workpiece 10. You can feel the force applied directly to the workpiece 10. Therefore, the operator 100 can easily rotate the posture of the workpiece 10 intuitively.

  In the handling system 1, the first horizontal motor 140 is torque-controlled so that a first horizontal assist force corresponding to the first horizontal operation force applied to the handle 200 is generated. Therefore, similarly to the torque control of the vertical motor 130, the operator 100 moves the workpiece 10 along the first horizontal direction DR1 unlike when the first horizontal motor 140 is speed-controlled or position-controlled. Sometimes, the weight of the workpiece 10 can be felt, or the force directly applied to the workpiece 10 can be felt. Therefore, the operator 100 can easily move the workpiece 10 along the first horizontal direction DR1 intuitively.

  Further, in the handling system 1, the second horizontal motor 150 is torque-controlled so that a second horizontal assist force corresponding to the second horizontal operation force applied to the handle 200 is generated. Therefore, unlike the torque control of the vertical motor 130, the operator 100 moves the workpiece 10 along the second horizontal direction DR2, unlike when the second horizontal motor 150 is speed-controlled or position-controlled. Sometimes, the weight of the workpiece 10 can be felt, or the force directly applied to the workpiece 10 can be felt. Therefore, the operator 100 can easily move the workpiece 10 along the second horizontal direction DR2 intuitively.

  Further, since the operator 100 can move the workpiece 10 along the third horizontal direction oblique to the first horizontal direction DR1 and the second horizontal direction DR2, the operator 10 can freely move the workpiece 10 along the horizontal plane. Can be moved.

  In this example, since only the grip 201 is attached to the free end 251 a of the force sensor 251, the force sensor 251 does not detect a force directly applied to a portion other than the grip 201.

  On the other hand, when a configuration other than the grip 201 is connected to the free end 251a of the force sensor 251, the force sensor 251 detects a force directly applied to the configuration. As a result, unnecessary assist rotational force, vertical assist force, first horizontal assist force, and second horizontal assist force are generated, and there is a possibility that the movement of the workpiece 10 unintended by the operator 100 may occur.

  In this example, since only the grip 201 is attached to the free end 251 a of the force sensor 251, the assist rotational force, the vertical assist force, the first horizontal assist force, and the second force due to the force directly applied to a portion other than the grip 201. Generation of horizontal assist force can be prevented. Therefore, the movement of the workpiece 10 not intended by the operator 100 does not occur.

  In this example, the operation mode is determined according to the detection result of the gripping state detection sensor 260 that detects the gripping state of the handle 200. Therefore, the operator 100 can change the operation mode simply by changing the gripping state with respect to the handle 200. Therefore, the operability of the operation mechanism 2 is improved.

  The handling system 1 is configured to rotate the posture of the workpiece 10, move the workpiece 10 along the vertical direction DR3, move the workpiece 10 along the first horizontal direction DR1, and move the workpiece 10 in the second horizontal direction DR2. It may not be possible to perform at least one of movement along.

  Further, the operation mode may not have the horizontal control mode. In this case, the gripping state detection sensor 260 does not need to detect a one-hand weak gripping state. When there is no horizontal control mode in the operation mode, the operation mode is not only when the gripping state detection sensor 260 detects the weak gripping state of both hands but also when the gripping state detection sensor 260 detects the weak gripping state of one hand. May be set to the omnidirectional control mode.

  Further, the operation mode may not have the holding control mode. In this case, the gripping state detection sensor 260 does not need to detect the non-grip state.

  Even if the operator 100 squeezes the pair of grips 201 with both hands, the operation mode may not be set to the system stop state. In this case, the gripping state detection sensor 260 does not need to detect a two-stage gripping force. The gripping state detection sensor 260 determines whether both the pair of grips 201 are gripped, whether only one grip 201 of the pair of grips 201 is gripped, or whether any of the pair of grips 201 is gripped. What is necessary is just to detect. When the gripping state detection sensor 260 determines that both the pair of grips 201 are gripped, the operation mode is set to the omnidirectional control mode. When the gripping state detection sensor 260 determines that only one grip 201 of the pair of grips 201 is gripped, the operation mode is set to the horizontal control mode. When the gripping state detection sensor 260 determines that none of the pair of grips 201 is gripped, the operation mode is set to the holding control mode.

<First horizontal travel restriction function>
In the handling system 1, in addition to the stopper 81, a first horizontal that restricts the travel of the first moving mechanism 3 so that the first moving mechanism 3 does not move too far to the end of the guide member 400 along the first horizontal direction DR <b> 1. A travel restriction function is provided.

  FIG. 21 is a diagram for explaining the first horizontal travel restriction function. FIG. 21 schematically shows the guide member 400 viewed from one side 413 side of the traveling carriage 410. In FIG. 21, the description of the rotating drum 310 and the like mounted on the traveling carriage 410 is omitted.

  As shown in FIG. 21, stoppers 81 are provided at both end portions in the first horizontal direction DR <b> 1 of the side surface 401 on the side portion 413 side of the guide member 400. In the vicinity of each stopper 81, a sensor switch pair 873 including sensor switches 871 and 872 arranged along the first horizontal direction DR1 is located. The sensor switches 871 and 872 are fixed to the guide member 400 by a fixing member 875.

  An elongated plate-like switch-on member 415 for turning on the sensor switches 871 and 872 is provided at the upper end of the side portion 413 of the traveling carriage 410. The switch-on member 415 extends along the first horizontal direction DR1. Each end portion 415a in the first horizontal direction DR1 of the switch-on member 415 is inclined toward the guide member 400 side. In the switch-on member 415, the portion 415b other than the both end portions 415a is flat. Hereinafter, each end 415a is referred to as an “inclined end 415a”. Further, the portions 415b other than the inclined end portions 415a at both ends of the switch-on member 415 are referred to as “flat portions 415b”.

  Each of the sensor switches 871 and 872 is turned on when the switch-on member 415 hits. FIG. 22 is a diagram showing the sensor switch 871 in the ON state. FIG. 23 is a diagram showing the sensor switch 871 in the off state. The sensor switch 871 is provided with a movable portion 871a. When the movable portion 871a hits the switch-on member 415 and rotates, the sensor switch 871 is turned on. The sensor switch 872 is the same, and the sensor switch 872 is provided with a movable portion 872a. When the movable portion 872a hits the switch-on member 415 and rotates, the sensor switch 872 is turned on.

  24 to 26 are diagrams illustrating a state where the traveling carriage 410 illustrated in FIG. 21 moves toward the end portion of the guide member 400.

  When the traveling carriage 410 travels along the first horizontal direction DR1 and approaches the end of the guide member 400, as shown in FIG. 24, the switch-on member 415 is the sensor switch 871, 872, first of all the sensor switch. It hits 871. In the switch-on member 415, the inclined end portion 415a first hits the movable portion 871a of the sensor switch 871, and then the flat portion 415b hits the movable portion 871a. When the switch-on member 415 hits the sensor switch 871, the switch-on member 415 always approaches the movable part 871a of the sensor switch 871, and approaches the other sensor switch 872 as the traveling carriage 410 travels. The movable portion 871a of the sensor switch 871 gradually rotates as the switch-on member 415 moves toward the sensor switch 872, and the sensor switch 871 is turned on after the movable portion 871a hits the inclined end portion 415a and then hits the flat portion 415b. It becomes a state.

  When the sensor switch 871 is turned on, a repulsive force is applied to the first horizontal assist force. In this example, a repulsive force corresponding to the intrusion distance (travel distance) from the position where the sensor switch 871 is turned on with respect to the traveling carriage 410 toward the sensor switch 872 is applied to the first horizontal assist force. The control device 6 torque-controls the first horizontal motor 140 so that a repulsive force corresponding to the intrusion distance from the position where the sensor switch 871 is turned on is applied to the first horizontal assist force for the traveling carriage 410. To do.

  For example, a two-dot chain line 880 shown in FIG. 24 is a center position in the first horizontal direction DR1 of the traveling carriage 410 when the sensor switch 871 is turned on. Also, the alternate long and short dash line 881 shown in FIG. 24 is the center position in the first horizontal direction DR1 of the traveling carriage 410 shown in FIG. At this time, the invasion distance from the position where the sensor switch 871 is turned on for the traveling carriage 410 shown in FIG. 24 is the distance D shown in FIG.

The repulsive force applied to the first horizontal assist force is a force similar to the elastic force of the spring. The repulsive force increases as the penetration distance increases. When the magnitude of the repulsive force is F _r and the penetration distance is D, F _r is expressed by the following formula (7). _{K r} in formula (7) is a constant.

  Here, since the sensor switch 871 is turned on when the traveling carriage 410 reaches a predetermined position, the sensor switch 871 can be said to be a sensor that detects that the traveling carriage 410 has come to a predetermined position. Therefore, when the sensor switch 871 detects that the traveling carriage 410 has come to a predetermined position, the control device 6 applies a repulsive force according to the intrusion distance of the traveling carriage 410 from the predetermined position to the first horizontal assist force. It can be said that the first horizontal motor 140 is torque controlled. Hereinafter, the predetermined position is referred to as a “first predetermined position”.

  Further, since the first moving mechanism 3 including the rotating drum 310 and the like moves in the first horizontal direction DR1 together with the traveling carriage 410, the sensor switch 871 detects that the first moving mechanism 3 has reached the first predetermined position. It can be said that it is a sensor that performs. When the sensor switch 871 detects that the first moving mechanism 3 has reached the first predetermined position, the control device 6 has a repulsive force corresponding to the penetration distance of the first moving mechanism 3 from the first predetermined position. It can be said that the first horizontal motor 140 is torque-controlled so as to be applied to one horizontal assist force.

  In this way, the control device 6 controls the torque of the first horizontal motor 140 so that the repulsive force according to the penetration distance from the first predetermined position of the first moving mechanism 3 is applied to the first horizontal assist force. Therefore, the operator 100 can recognize that the first moving mechanism 3 has entered before the first predetermined position as a resistance force applied to the handle 200. Therefore, it is possible to suppress the first moving mechanism 3 from greatly entering before the first predetermined position. As a result, it is possible to suppress the first moving mechanism 3 and the traveling carriage 410 and the like from going too far and colliding with the guide member 500.

  When the traveling carriage 410 travels toward the sensor switch 872 after the sensor switch 871 is turned on, the switch-on member 415 hits the sensor switch 872 as shown in FIG. 872 is turned on.

  When the sensor switch 872 is turned on, the operation mode is the above-described system stop state. As a result, the operations of the rotary motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150 are stopped, and the rotary motor brake 213c, the vertical motor brake 130a, the first horizontal motor brake 140a, and the second horizontal motor brake are stopped. 150a operates.

  Here, like the sensor switch 871, the sensor switch 872 can be said to be a sensor that detects that the first moving mechanism 3 has reached the second predetermined position before the first predetermined position. Therefore, when the sensor switch 872 detects that the first moving mechanism 3 has reached the second predetermined position, the control device 6 operates the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150. Can be said to stop.

  Thus, when the sensor switch 872 detects that the first moving mechanism 3 has reached the second predetermined position ahead of the first predetermined position, the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second Since the operation of the horizontal motor 150 is stopped, it is possible to reliably prevent the first moving mechanism 3 from greatly entering before the first predetermined position.

  After the sensor switch 872 is turned on, the travel of the traveling carriage 410 is stopped by the stopper 81 as shown in FIG. 26 even if the traveling carriage 410 further advances due to a failure of the first horizontal motor brake 140a or the like. To do.

  21 and 24 to 26 show a state at one end portion of the guide member 400, the stopper 81, the sensor switches 871, 872 and the fixed portion are also fixed to the other end portion of the guide member 400. Member 875 is present. Then, the sensor switches 871 and 872 are turned on at the other inclined end portion 415a of the switch-on member 415. Therefore, the traveling of the traveling carriage 410 toward the other end of the guide member 400 is reliably stopped at the other end.

<Second horizontal travel restriction function>
In the handling system 1, in addition to the stopper 80, the second horizontal mechanism that restricts the travel of the second moving mechanism 4 so that the second moving mechanism 4 does not move too far to the end of the guide member 500 along the second horizontal direction DR2. A travel restriction function is provided. The second horizontal travel restriction function is a function similar to the first horizontal travel restriction function.

  FIG. 27 is a diagram for explaining the second horizontal travel restriction function. FIG. 27 shows a state in which the guide member 500 on the control device 6 side of the pair of guide members 500 is viewed from the inside. In FIG. 27, the description of the control device 6 and the like is omitted.

  As shown in FIG. 27, two sensor switch pairs 883 are provided below the end of the guide member 400 on the control device 6 side. The two sensor switch pairs 883 are arranged along the second horizontal direction DR2. Each sensor switch pair 883 includes sensor switches 881 and 882 having the same configuration as the sensor switches 871 and 872. The sensor switches 881 and 882 are arranged along the second horizontal direction DR2. Each sensor switch pair 883 is fixed to a fixing member 884. The fixing member 884 is attached to the lower surface of the end portion of the guide member 400. The two sensor switch pairs 883 move along the second horizontal direction DR2 as the guide member 400 travels.

  An elongated plate-like switch-on member 885 for turning on the sensor switches 881 and 882 of the sensor switch pair 883 on the one end side is provided at one end of the guide member 500. An elongated plate-like switch-on member 885 for turning on the sensor switches 881 and 882 of the sensor switch pair 883 on the other end side is also provided at the other end of the guide member 500.

  The switch-on member 885 extends along the second horizontal direction DR2. An end portion 885a inside the switch-on member 885 is inclined toward the guide member 500 side. Hereinafter, the end portion 885a is referred to as an “inclined end portion 885a”. The switch-on member 885 is flat except for the inclined end portion 885a. A portion of the switch-on member 885 other than the inclined end portion 885a is referred to as a “flat portion 885b”.

  Each of the sensor switches 881 and 882 of the sensor switch pair 883 on one end side of the guide member 500 is turned on by hitting the switch-on member 885 on the one end side. Similarly, each of the sensor switches 881 and 882 of the sensor switch pair 883 on the other end side of the guide member 500 is turned on when it hits the switch-on member 885 on the other end side. The state in which the sensor switches 881, 882 are turned on is the same as the state in which the sensor switches 871, 872 are turned on.

  28 to 30 are views showing a state in which the guide member 400 shown in FIG. 27 moves toward one end of the guide member 500.

  When the guide member 400 travels along the second horizontal direction DR2 and approaches one end of the guide member 500, as shown in FIG. 28, among the sensor switches 881 and 882 on the one end side, First, the sensor switch 881 hits the switch-on member 885 on the one end side. Then, similarly to the relationship between the sensor switch 871 and the switch-on member 415, the movable portion 881a of the sensor switch 881 is rotated by hitting the switch-on member 885, and the sensor switch 881 is turned on.

  When the sensor switch 881 is turned on, a repulsive force is applied to the second horizontal assist force. In this example, the repulsive force according to the penetration distance (traveling distance) from the position where the sensor switch 881 is turned on with respect to the guide member 400 toward the switch-on member 885 is applied to the second horizontal assist force. The control device 6 controls the torque of the second horizontal motor 150 so that a repulsive force corresponding to the intrusion distance from the position where the sensor switch 881 is turned on with respect to the guide member 400 is applied to the second horizontal assist force. To do. This repulsive force is the same as the repulsive force applied to the first horizontal assist force described above.

  Here, since the sensor switch 881 is turned on when the second moving mechanism 4 including the guide member 400 comes to a predetermined position, the sensor switch 881 detects that the second moving mechanism 4 has come to the predetermined position. It can be said that this is a sensor. Therefore, when the sensor switch 881 detects that the second moving mechanism 4 has reached the predetermined position, the control device 6 determines that the repulsive force according to the penetration distance of the second moving mechanism 4 from the predetermined position is the second horizontal assist force. It can be said that the second horizontal motor 150 is torque-controlled so as to be added to the above. Hereinafter, the predetermined position is referred to as a “third predetermined position”.

  Thus, the control device 6 controls the torque of the second horizontal motor 150 so that the repulsive force according to the penetration distance from the third predetermined position of the second moving mechanism 4 is applied to the second horizontal assist force. Therefore, the operator 100 can recognize that the second moving mechanism 4 has entered before the third predetermined position as a resistance force applied to the handle 200. Therefore, it can suppress that the 2nd moving mechanism 4 penetrate | invades largely before a 3rd predetermined position. As a result, it is possible to prevent the second moving mechanism 4 from going too far and falling from the guide member 500.

  When the guide member 400 further travels after the sensor switch 881 is turned on, as shown in FIG. 29, the sensor switch 882 hits the switch-on member 885, and the movable portion 882a rotates to cause the sensor switch 882 to move. Turns on.

  When the sensor switch 882 is turned on, the operation mode is in a system stop state. As a result, the operations of the rotary motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150 are stopped, and the rotary motor brake 213c, the vertical motor brake 130a, the first horizontal motor brake 140a, and the second horizontal motor brake are stopped. 150a operates.

  Here, it can be said that the sensor switch 882 is a sensor that detects that the second moving mechanism 4 has reached the fourth predetermined position before the third predetermined position. Therefore, when the sensor switch 882 detects that the second moving mechanism 4 has reached the fourth predetermined position, the control device 6 operates the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second horizontal motor 150. Can be said to stop.

  As described above, when the sensor switch 882 detects that the second moving mechanism 4 has reached the fourth predetermined value before the third predetermined position, the rotation motor 210, the vertical motor 130, the first horizontal motor 140, and the second Since the operation of the horizontal motor 150 is stopped, it is possible to reliably suppress the second moving mechanism 4 from greatly entering before the third predetermined position.

  After the sensor switch 882 is turned on, even if the guide member 400 further advances due to a failure of the second horizontal motor brake 150a or the like, the derailment prevention member 520 that travels with the guide member 400 as shown in FIG. Hits the stopper 80. Therefore, the travel of the guide member 400 stops.

  Similarly, when the guide member 400 travels toward the other end of the guide member 500, the switch-on member 885 located at the other end also has a sensor switch on the other end. 881 and 882 are turned on. Therefore, the guide member 400 toward the other end of the guide member 500 is reliably stopped at the other end.

<Modification>
The control device 6 may increase the amplification factors K _t , K _v , K _h1 , and K _h2 according to the mass of the workpiece 10 to be operated. For example, when the mass of the workpiece 10 is small and the amplification factors K _t , K _v , K _h1 , and K _h2 are large, the workpiece 10 is operated greatly only by the operator 100 applying a little force to the handle 200. Therefore, the operator 100 becomes difficult to operate the workpiece 10. On the other hand, when the mass of the workpiece 10 is large and the amplification factors K _t , K _v , K _h1 , and K _h2 are small, the operator 100 applies a large force to the handle 200 in order to operate the workpiece 10. It is necessary to add, and it becomes difficult for the operator 100 to operate the workpiece 10. As the amplification factors K _t , K _v , K _h1 , and K _h2 increase according to the mass of the workpiece 10 to be operated, the operator 100 can easily operate the workpiece 10. For example, the control device 6 can estimate the mass of the work held by the operation mechanism 2 based on the detection result of the pair of force sensors 251 of the operation mechanism 2 and the rotation speed of the vertical motor 130. The control device 6 obtains a force required when the operation mechanism 2 lifts the workpiece 10 based on the detection result of the pair of force sensors 251 and the rotation speed of the vertical motor 130. And the control apparatus 6 estimates the mass of the workpiece | work 10 based on the calculated | required force. The rotational speed of the vertical motor 130 can be obtained by providing an encoder.

  In the above example, the first moving mechanism 3 that moves the operation mechanism 2 along the vertical direction DR3 is configured by the wire 300, the rotating drum 310, and the like, but the configuration of the first moving mechanism 3 is another configuration. It may be. For example, the first moving mechanism 3 may be a linear actuator.

  Further, in the above example, the operation mechanism 2 and the workpiece 10 may be turned around the vertical direction DR3 instead of being moved along the first horizontal direction DR1 and the second horizontal direction DR2. FIG. 31 is a diagram schematically showing an example of the handling system 1 in this case.

  In the example of FIG. 31, the first moving mechanism 3 is constituted by a linear actuator. The fourth moving mechanism 30 can turn the operation mechanism 2 that holds the workpiece 10 around the vertical direction DR3. In other words, the fourth moving mechanism 30 can move the operation mechanism 2 holding the workpiece 10 along the circumferential direction DR4 along the horizontal plane. The fifth moving mechanism 40 can move the operating mechanism 2 along the radial direction DR5 in the circumferential direction DR4. The fifth moving mechanism 40 is, for example, a linear actuator. Both the circumferential direction DR4 and the radial direction DR5 are directions along a horizontal plane. The fourth moving mechanism 30 turns the operation mechanism 2, the first moving mechanism 3, and the fifth moving mechanism 40 together. In the handling system 1 shown in FIG. 31, the operation mechanism 2 employs a 6-axis force sensor instead of the operation force detection sensor 250. The 6-axis force sensor can detect not only the rotational operation force and vertical operation force applied to the handle 200 but also the operation force in the circumferential direction DR4 applied to the handle 200 and the operation force in the radial direction DR5 applied to the handle 200. .

  As mentioned above, although the handling system 1 was demonstrated in detail, above-described description is an illustration in all the aspects, Comprising: This invention is not limited to it. The various modifications described above can be applied in combination as long as they do not contradict each other. And it is understood that the countless modification which is not illustrated can be assumed without deviating from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Handling system 2 Operation mechanism 3 1st moving mechanism 4 2nd moving mechanism 5 3rd moving mechanism 6 Control apparatus 7 Displacement sensor 10 Article 30 4th moving mechanism 40 5th moving mechanism 130,140,150,210 Servo motor 130a Vertical Motor brake 140a First horizontal motor brake 150a Second horizontal motor brake 137 Timing belt 200 Handle 201 Grip 213c Rotating motor brake 220 Holding mechanism 230 Parallel link mechanism 251 Force sensor 260 Grasping state detection sensor 300 Wire 310 Rotating drum 320 Ball spline 351 352 pulley 810 rotating drum brake 871, 872 sensor switch

Claims (26)

A handling system for operating an article,
An operation mechanism operated by an operator to hold the article;
A first movement mechanism for moving the operation mechanism along a vertical direction;
A first servo motor that drives the first moving mechanism;
The operating mechanism is
A handle for operating the article, having first and second grips respectively held by one hand and the other hand of the operator;
A first sensor for detecting a force applied to the first grip;
A second sensor for detecting a force applied to the second grip;
A second servo motor that rotates the attitude of the operation mechanism around a direction perpendicular to the vertical direction;
A controller for controlling torque of the first and second servo motors;
The controller is
Based on the detection results of the first and second sensors, the first operating force in the vertical direction applied to the handle is obtained, and the first operating force corresponding to the obtained first operating force is assisted. A first torque control for controlling the torque of the first servomotor so that one assist force is generated;
Based on the detection signals from the first and second sensors, a rotational operation force about the direction perpendicular to the vertical direction applied to the handle is obtained, and the rotational operation according to the obtained rotational operation force A handling system that performs a second torque control for controlling the torque of the second servo motor so that an assist rotational force for assisting the force is generated. The handling system according to claim 1,
Only the first grip is attached to the free end of the first sensor,
A handling system in which only the second grip is attached to a free end of the second sensor. A handling system according to any one of claims 1 and 2,
The operation mechanism has a holding mechanism for holding the article,
In the holding mechanism, when the holding mechanism holds the article, a handling system in which a fall prevention function that prevents the article from dropping from the holding mechanism due to its own weight works. A handling system according to any one of claims 1 and 2,
The operating mechanism is
A parallel link mechanism having an upper link, a lower link and two left and right links;
A holding mechanism for holding the article, fixed to the lower link,
The rotation center of the second servo motor is positioned above the article held by the holding mechanism,
The handle and the upper link are integrated,
The handling system in which the second servo motor rotates the handle and the upper link around a rotation axis of the second servo motor. A handling system according to any one of claims 1 to 4,
The handling system operating mode includes:
A torque control mode in which the control device performs the first and second torque controls;
The first and second servo motors so that the control device maintains the position of the operating mechanism in the vertical direction and the attitude of the operating mechanism around a direction perpendicular to the vertical direction. And hold control mode to control,
A fourth sensor for detecting a gripping state in which the handle is gripped and a non-gripping state in which the handle is not gripped;
The controller is
When the fourth sensor detects the non-gripping state, the operation mode is set to the holding control mode,
When the fourth sensor detects the grip state, the handling system sets the operation mode to the torque control mode. A handling system according to any one of claims 1 to 4,
Comprising first and second brakes capable of braking the first and second servomotors, respectively;
When the first servo motor is not driven, the first brake works,
When the second servo motor is not driven, the second brake works,
The handling system operating mode includes:
A torque control mode in which the control device performs the first and second torque controls;
A system stop state in which the control device does not drive the first and second servo motors;
A first gripping state in which the handle is gripped by a first stage gripping force and a second gripping state in which the handle is gripped by a second stage gripping force that is greater than the first stage gripping force. A fourth sensor for detecting,
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the torque control mode,
When the fourth sensor detects the second holding state, the handling system sets the operation mode to the system stop state. The handling system according to claim 5, wherein
Comprising first and second brakes capable of braking the first and second servomotors, respectively;
When the first servo motor is not driven, the first brake works,
When the second servo motor is not driven, the second brake works,
The operation mode of the handling system includes a system stop state in which the control device does not drive the first and second servo motors,
In the fourth sensor, the handle is gripped by a first gripping state in which the handle is gripped by a first stage gripping force and a second stage gripping force that is greater than the gripping force of the first stage. Detecting the second gripping state;
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the torque control mode,
When the fourth sensor detects the second holding state, the handling system sets the operation mode to the system stop state. A handling system according to any one of claims 1 to 4,
A second movement for moving the first movement mechanism and the operation mechanism connected thereto along the first direction by moving the first movement mechanism along a first direction along a horizontal plane. Mechanism,
A third servo motor for driving the second moving mechanism;
A third sensor for detecting a second operating force applied to the handle along the first direction;
The control device torque-controls the third servomotor so as to generate a second assist force that assists the second operation force according to the second operation force detected by the third sensor. A handling system that performs torque control. The handling system according to claim 8, wherein
The handling system operating mode includes:
A torque control mode in which the control device performs the first to third torque control;
The control device includes a position of the operation mechanism in the vertical direction, a posture of the operation mechanism around a direction perpendicular to the vertical direction, and a position of the first movement mechanism in the first direction. And a holding control mode for controlling the first to third servo motors so as to be held,
A fourth sensor for detecting a gripping state in which the handle is gripped and a non-gripping state in which the handle is not gripped;
The controller is
When the fourth sensor detects the non-gripping state, the operation mode is set to the holding control mode,
When the fourth sensor detects the grip state, the handling system sets the operation mode to the torque control mode. The handling system according to claim 8, wherein
Comprising first to third brakes capable of braking the first to third servomotors, respectively;
When the first servo motor is not driven, the first brake works,
When the second servo motor is not driven, the second brake works,
When the third servo motor is not driven, the third brake works,
The handling system operating mode includes:
A torque control mode in which the control device performs the first to third torque control;
A system stop state in which the control device does not drive the first to third servo motors,
A first gripping state in which the handle is gripped by a first stage gripping force and a second gripping state in which the handle is gripped by a second stage gripping force that is greater than the first stage gripping force. A fourth sensor for detecting,
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the torque control mode,
When the fourth sensor detects the second holding state, the handling system sets the operation mode to the system stop state. The handling system according to claim 10, wherein
In the operation mode, the control device includes a position of the operation mechanism in the vertical direction, the posture of the operation mechanism around a direction perpendicular to the vertical direction, and the first direction in the first direction. A holding control mode for controlling the first to third servo motors so that the position of one moving mechanism is held;
The fourth sensor detects a non-gripping state in which the handle is not gripped;
The control device is a handling system in which, when the fourth sensor detects the non-gripping state, the operation mode is set to the holding control mode. The handling system according to claim 8, wherein
The handling system operating mode includes:
A first torque control mode in which the control device performs the first to third torque control;
The control device performs only the third torque control among the first to third torque controls, and the position of the operation mechanism in the vertical direction and the operation mechanism around the direction perpendicular to the vertical direction. And a second torque control mode for controlling the first and second servo motors so that the posture is maintained.
A fourth sensor for detecting a first gripping state in which both the first and second grips are gripped and a second gripping state in which only one of the first and second grips is gripped; Prepared,
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the first torque control mode,
The handling system, wherein when the fourth sensor detects the second gripping state, the operation mode is set to the second torque control mode. The handling system according to claim 8, wherein
The handling system operating mode includes:
A first torque control mode in which the control device performs the first to third torque control;
The control device includes a position of the operation mechanism in the vertical direction, a posture of the operation mechanism around a direction perpendicular to the vertical direction, and a position of the first movement mechanism in the first direction. And a holding control mode for controlling the first to third servo motors so as to be held,
A fourth sensor for detecting a first gripping state in which both of the first and second grips are gripped and a non-griping state in which neither of the first and second grips is gripped;
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the torque control mode,
When the fourth sensor detects the non-gripping state, the handling system sets the operation mode to the holding control mode. The handling system according to claim 13, comprising:
In the operation mode,
The control device performs only the third torque control among the first to third torque controls, and the position of the operation mechanism in the vertical direction and the operation mechanism around the direction perpendicular to the vertical direction. A second torque control mode for controlling the first and second servo motors so that the posture is maintained.
The fourth sensor detects a second gripping state in which only one of the first and second grips is gripped;
When the fourth sensor detects the second gripping state, the control device sets the operation mode to the second torque control mode. The handling system according to claim 8, wherein
Comprising first to third brakes capable of braking the first to third servomotors, respectively;
When the first servo motor is not driven, the first brake works,
When the second servo motor is not driven, the second brake works,
When the third servo motor is not driven, the third brake works,
The handling system operating mode includes:
A first torque control mode in which the control device performs the first to third torque control;
A system stop state in which the control device does not drive the first to third servo motors,
A first gripping state in which both the first and second grips are gripped with a first stage gripping force, and a second state in which at least one of the first and second grips is greater than the first stage gripping force. A fourth sensor for detecting a second gripping state gripped by a stage gripping force;
The controller is
When the fourth sensor detects the first gripping state, the operation mode is set to the first torque control mode,
When the fourth sensor detects the second holding state, the handling system sets the operation mode to the system stop state. The handling system according to claim 15, comprising
In the operation mode, the control device performs only the third torque control among the first to third torque controls, and the position of the operation mechanism in the vertical direction and the direction perpendicular to the vertical direction. A second torque control mode for controlling the first and second servo motors so that the posture of the operation mechanism around is maintained;
The fourth sensor detects a third gripping state in which only one of the first and second grips is gripped by the gripping force of the first stage;
When the fourth sensor detects the third gripping state, the control device sets the operation mode to the second torque control mode. The handling system according to claim 15, comprising
In the operation mode, the control device includes a position of the operation mechanism in the vertical direction, the posture of the operation mechanism around a direction perpendicular to the vertical direction, and the first direction in the first direction. A holding control mode for controlling the first to third servo motors so that the position of one moving mechanism is held;
The fourth sensor detects a non-gripping state in which neither the first grip nor the second grip is gripped;
The control device is a handling system in which, when the fourth sensor detects the non-gripping state, the operation mode is set to the holding control mode. The handling system according to claim 17,
In the operation mode,
The control device performs only the third torque control among the first to third torque controls, and the position of the operation mechanism in the vertical direction and the operation mechanism around the direction perpendicular to the vertical direction. A second torque control mode for controlling the first and second servo motors so that the posture is maintained.
The fourth sensor detects a third gripping state in which only one of the first and second grips is gripped by the gripping force of the first stage;
When the fourth sensor detects the third gripping state, the control device sets the operation mode to the second torque control mode. A handling system according to any one of claims 8, 9, 12, 12, 13 and 14,
A fifth sensor for detecting that the first moving mechanism moving along the first direction has reached the first predetermined position;
When the fifth sensor detects that the first moving mechanism moving along the first direction has reached the first predetermined position, the control device causes the first moving mechanism from the first predetermined position. A handling system that controls the torque of the third servomotor so that a repulsive force corresponding to the approach distance of the second servomotor is applied to the second assist force. The handling system according to claim 19, comprising
Comprising first to third brakes capable of braking the first to third servomotors, respectively;
When the first servo motor is not driven, the first brake works,
When the second servo motor is not driven, the second brake works,
When the third servo motor is not driven, the third brake works,
A sixth sensor for detecting that the first moving mechanism moving along the first direction has reached a second predetermined position ahead of the first predetermined position;
When the sixth sensor detects that the first moving mechanism moving along the first direction has reached the second predetermined position, the control device stops driving the first to third servo motors. A handling system. A handling system according to any one of claims 1 to 7,
The first moving mechanism includes:
A cord-like object having one end connected to the operating mechanism;
A rotating drum that winds and unwinds the cords,
The first servo motor is a handling system that controls rotation of the rotating drum. The handling system according to claim 21, wherein
The first moving mechanism has a ball spline;
The handling system, wherein the rotating drum is attached to an outer cylinder of the ball spline and is rotatable about the spline shaft of the ball spline as a rotating shaft. The handling system according to any one of claims 21 and 22,
A second movement for moving the first movement mechanism and the operation mechanism connected thereto along the first direction by moving the first movement mechanism along a first direction along a horizontal plane. Mechanism,
A third servo motor for driving the second moving mechanism;
A third sensor for detecting a second operating force applied to the handle in the first direction;
The control device torque-controls the third servomotor so as to generate a second assist force that assists the second operation force according to the second operation force detected by the third sensor. Perform torque control,
The handling system, wherein the third sensor detects the second operating force by detecting a displacement due to an inclination of the cord-like object. The handling system according to any one of claims 21 to 23, wherein
The first moving mechanism includes:
A first pulley for guiding the hanging portion of the cord-like object in the vertical direction;
A handling system comprising: a second pulley that guides the hanging portion in the vertical direction from the side opposite to the first pulley. 25. A handling system according to any one of claims 21 to 24,
A timing belt for transmitting the rotational force of the first servo motor to the rotary drum;
A fourth brake capable of braking the rotation of the rotating drum,
The controller is
Determine whether the timing belt is broken,
A handling system for operating the fourth brake when it is determined that the timing belt is broken. A handling system according to any one of claims 8 to 20 and claim 23,
A third moving mechanism for moving the first and second moving mechanisms together along a second direction different from the first direction along the horizontal plane;
A fourth servo motor for driving the third moving mechanism;
A seventh sensor for detecting a third operating force applied to the handle in the second direction;
The control device controls the torque of the fourth servomotor so as to generate a third assisting force that assists the third operating force according to the third operating force detected by the seventh sensor. system.

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