JP7015499B2 - Goods moving device system - Google Patents

Description

The present invention relates to an article moving device system used for manufacturing, assembling, transporting, etc. in the manufacturing field, in which when an article is moved, the weight is balanced by the assistance of a motor and the article is moved with a small operating force.

Traditionally, in factories that assemble and transfer industrial products, industrial robots that move goods such as products and semi-finished products have been used. In such a factory, a robot composed of, for example, an articulated arm and having an end effector at the tip of the arm is used in a production line. The joint mechanism of the robot has a servomotor such as an AC servomotor or a DC brushless servomotor, and a speed reducer on the output side of the servomotor in order to obtain a high output torque, and is used as a movable member such as an arm or a link. It is connected and configured.

There is a demand for high-mix low-volume production of articles of different sizes and weights using such robots.

Japanese Unexamined Patent Publication No. 06-231867 Japanese Patent Application Laid-Open No. 2003-266252

Therefore, in order to handle articles of different sizes and weights, an invention of installing a plurality of robots suitable for the target article is known (Patent Document 1 and Patent Document 2). There is a problem that the footprint becomes large when a plurality of robots are installed in this way. Therefore, in order to reduce the footprint, if the number of robots is reduced and the versatility is increased, it is necessary to use a robot that matches the maximum outer shape and maximum weight of the target products, which is a problem of increasing the size of the robot. There is.

In addition, if it becomes necessary to handle items that exceed the size and weight that can be handled by the already installed robot on the production line, it is necessary to replace it with a larger robot, and in addition to increasing the footprint, production The layout of the line will also be changed, and there is also the problem that the time required for this installation and layout change will be large.

In view of such a problem, the present invention provides an article moving device system capable of efficiently moving articles of various weights by suppressing an increase in the footprint and an increase in size of the device. I am aiming.

The article moving device system according to claim 1 is used to achieve the above object.
A locking member that locks the article to be raised and lowered, and
An elevating operation part that raises and lowers the locking member,
The motor part of the drive source connected to the elevating part and
A weight detection unit that detects the weight applied to the elevating operation unit and outputs the weight value,
An abutting member provided to abut on at least one of the article and the locking member,
A moving part that moves the abutting member by power,
A force detection unit that is placed between the abutting member and the moving unit to detect the applied force applied to the abutting member and output the applied force value.
An article moving device system that moves articles including
The control unit that controls the article moving device system is
When the abutting member is in contact with at least one of the article and the locking member, a control value is generated by calculating based on the weight value and the applied force value.
When the motor unit is controlled so that the locking member or the article is in a balanced state based on the control value and the moving portion is brought into contact with the article or the locking member to move the article, the applied force value is set to a predetermined value or less. The moving part is controlled so as to be.

The article moving device system according to claim 2 is used to achieve the above object.
When the abutting member is in contact with at least one of the article and the locking member, the control unit
When the applied force including the vertical component is obtained from the force detection unit, the control value is the weight value minus the vertical component of the applied force value.
When the applied force including the vertically upward component is obtained from the force detection unit, the control value is the sum of the weight value and the vertically upward component value of the applied force value.
The motor unit is controlled so that the locking member or the article is in a balanced state based on the control value.

The article moving device system according to claim 3 is configured to have an attachment / detachment portion for attaching / detaching an article by moving the contact member by the moving portion in order to achieve the above object.

The article moving device system according to claim 4 has an elevating and lowering actuating unit in order to achieve the above object.
A link chain in which an oval ring consisting of a semi-arc part and a straight part connected to it is alternately connected, and one end is connected to a locking member.
A rotating member that winds the link chain and rotates by driving the motor unit,
It is equipped with.

According to the article moving device system of the invention according to claim 1, the control unit controls the motor unit to cancel the weight of the article based on the outputs from the weight detection unit and the force detection unit. Therefore, the article can be easily moved. Therefore, since the moving part can be a small robot with a small weight of the article to be handled, the footprint is small and the increase in size can be suppressed. Further, even if the weight of the article changes, it is not necessary to change the layout while keeping the moving part as it is, and the production efficiency can be improved. Further, the moving portion can move the article while maintaining a small force even if the article exceeds the movable weight by itself.

According to the article moving device system of the invention according to claim 2, the control unit calculates the net weight of the locking member and the article, and based on this, the motor unit suspends the article so as to cancel the weight. Since the main body is controlled, it is possible to move the article while maintaining a good balance.

According to the article moving device system of the invention according to claim 3 , in addition to the above effect, attachment / detachment of the article and the locking member can be easily performed by the moving portion moving the abutting member with a slight force. Can be done.

According to the article moving device system of the invention according to claim 4 , in addition to the above effect, the hanging portion can suspend the article from above to assist the moving portion of the article, and the foot of the device can be assisted. It is possible to provide an article moving device system that suppresses the expansion of prints.

It is a perspective view of the whole article moving apparatus system which concerns on embodiment of this invention. It is a perspective block diagram which omitted a part of the hanging part of the article moving apparatus system which concerns on embodiment of this invention. It is a schematic diagram which shows the operation of the article moving apparatus system which concerns on embodiment of this invention. It is a schematic diagram which shows the operation of the article moving apparatus system which concerns on embodiment of this invention. It is a schematic diagram which shows the operation of the article moving apparatus system which concerns on embodiment of this invention.

Hereinafter, the article moving device system according to the embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective configuration diagram of the entire article moving device system according to the embodiment of the present invention.

The article moving device system 1 is engaged with the hanging main body 11 that controls the hanging of the article 30 and the article 30 at a position extending downward along the link chain 6 from the hanging main body 11. It is composed of a locking member 8 that stops, a contact member 42 that abuts on the locking member 8, and a moving portion 40 that arranges the contact member 42 at the tip and moves the contact member 42. The hanging main body portion 11 is provided with a hanging hook 9 on the top surface portion, and can be used by hanging it on a structure such as a beam of a building or a slide block 33 that can move horizontally on a rail 32. Yes (see Figure 3).

A first control unit 10 is housed inside the suspension main body portion 11. The first control unit 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device, and is a locking member 8 via a link chain 6. It controls the vertical movement of.

An operation unit 22 electrically connected to the first control unit 10 is provided at a position extending downward from the suspension main body portion 11 along the link chain 6. The operation unit 22 moves up and down together with the link chain 6 that moves up and down by the hanging main body portion 11, and the operator operates the locking member 8 to move up and down.

The locking member 8 is a member that is connected to one end of the link chain 6 to lock the article 30. In the present embodiment, the article 30 is, for example, a container provided with a brim on the top and parts contained therein, and in order to move the article 30, the locking member 8 is locked to the brim of the article 30. It is composed of a substantially U-shaped member and a hook-shaped member.

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

The contact member 42 is a so-called end effector provided at the tip of the moving portion 40, and has a structure for sandwiching the locking member 8 in the present embodiment. The contact member 42 is not limited to this, and is appropriately selected depending on the shape of the locking member 8, and can be deformed such that it is connected to the locking member 8 via a universal joint. The abutting member 42 is provided so as to abut on at least one of the locking member 8 and the article 30, and may have a shape and a structure that abuts on both the locking member 8 and the article 30.

The force detection unit 41 is provided between the contact member 42 and the moving unit 40, detects the applied force of at least a vertical component applied to the contact member 42, and outputs the applied force value. The force detection unit 41 is, for example, a force meter, and the operation of the moving unit 40 can be controlled based on this. The force detection unit 41 and the moving unit motors 40a to 40f are electrically connected to the second control unit 43 by wiring passing through the hollow portion in the moving unit 40, and various signals are communicated and power is supplied. Will be.

The second control unit 43 is provided in, for example, a base portion of the mobile unit 40, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and other storage devices and inputs. It is equipped with an output device. The second control unit 43 is electrically connected to the operation unit 44 and the like, and includes drive circuits for the moving unit motors 40a to 40f. The first control unit 10 and the second control unit 43 are connected by a cable 45 to enable communication. The cable 45 may have a plurality of wirings such as an input wiring and an output wiring. In FIG. 1, the cable 45 is shown as a single line for convenience. Further, in the present embodiment, the control of the hanging main body 11 is provided separately as in the first control unit 10, and the control of the moving unit 40 is provided separately as in the second control unit 43, but the suspension main body 11 side and the movement are provided. It may be arranged as a control unit grouped on either side of the unit 40, or may be provided separately from these units on the outside.

The operation unit 44 is for manually moving the moving unit 40 by the moving unit motors 40a to 40f and for teaching the movement of the moving unit 40. Further, in the present embodiment, the operation of the hanging main body 11 is performed by the operation unit 22, and the operation of the moving unit 40 is separately provided so as to be performed by the operation unit 44, but the first control unit 10 and the second control are provided separately. Since it is connected to the unit 43 by a cable 45 and can communicate with each other, it may be possible to operate only by the operation unit 44 by switching the button of the operation unit 44. Further, in the present embodiment, the operation unit 44 is connected to the second control unit 43 by wire, but the present invention is not limited to this, and a wireless connection may be used.

FIG. 2 shows a part of the internal structure of the main body portion by omitting the cover of the hanging main body portion 11 of the article moving device system 1 according to the embodiment of the present invention.

A speed reducer is attached to the load side of the motor of the drive source, and constitutes the motor unit 2 together with the motor. This motor is, for example, an AC servo motor.

Then, the speed reducer reduces the rotation speed of the motor to a predetermined speed. The reducer is, for example, a strain wave gearing reducer. The strain wave gearing reducer has a wave generator with an elliptical outer circumference, and elasticity in which a large number of external teeth are formed on the outer circumference and fitted to the wave generator so that the position of bending in the circumferential direction changes due to the rotation of the wave generator. It consists of a deformable flexspline and a circular spline with internal teeth on the outer peripheral side of the flexspline that fit into the external teeth of the flexspline. Then, the power is taken out and transmitted to the rotary output shaft 3 which is connected to the flexspline as the rotary output. By using a speed reducer of this device with a minute backlash, such as a strain wave gearing speed reducer, when the motor is frequently switched between forward and reverse rotation to perform vertical movement, an uncontrollable area at the time of switching is created. It can be eliminated and a smooth operation feeling can be realized.

The rotary output shaft 3 is a rotary shaft decelerated by the speed reducer, is connected to the elevating operation unit 7, and continuously rotates the elevating operation unit 7 in the forward and reverse directions.

The hanging hook 9 is fixed to the top surface of the hanging main body 11. The hanging hook 9 is attached to a rail 32 provided in the building structure via a slide block 33 that can move in the horizontal direction (see FIG. 3). The hanging hook 9 is provided near the center of gravity of the hanging main body 11 in the horizontal direction.

The link chain 6 is formed by intersecting and alternately connecting an oval ring composed of a semi-arc portion and a straight portion connected to the semi-arc portion, one end of which is connected to the locking member 8 and the other end (no load). The side) is stored in the link chain storage unit 12.

The elevating operation unit 7 includes a rotating member that rotates by transmitting power from the motor unit 2 of the drive source, and a link chain 6 connected to the locking member 8. In the present embodiment, the rotating member of the elevating operation unit 7 has a cylindrical shape and is connected to the rotating output shaft 3, so that the link chain 6 is wound, and the link chain 6 is wound and sent out. The position where the link chain 6 is wound is approximately vertically below the hanging hook 9, and is provided near the position of the center of gravity of the hanging main body 11. The link chain 6 is fitted into a pocket groove provided in the rotating member of the elevating actuating portion 7 and wound about 180 degrees. In the present embodiment, the link chain 6 is used for being connected to the locking member 8 and wound around the elevating actuating portion 7, but the present invention is not limited to this, and a wire rope may be used. At that time, the elevating operation portion 7 has a drum shape, and one end of the wire rope is fixed and wound around the rotating member.

A position detection unit 4 for detecting the rotation angle position of the motor is connected to the motor unit 2 on the counterload side of the motor unit 2. The position detection unit 4 is a so-called absolute encoder, which optically detects the rotation angle position of the motor and outputs a position signal. The position detection unit 4 can detect the feeding position, that is, the elevating position of the locking member 8.

The weight detecting unit 5 includes a strain-causing body and a strain gauge attached to the strain-causing body so that the force transmitted from the link chain 6 wound around the elevating operation unit 7 can be detected as a reaction force. The strain gauge is incorporated in a Wheatstone bridge circuit that converts the strain generated in the strain-causing body according to the weight into an electric signal, whereby the weight detection unit 5 detects the weight applied to the elevating operation unit 7 and outputs the weight value. do.

The first control unit 10 is arranged in the suspension main body 11 in the vicinity of the elevating operation unit 7. The first control unit 10 controls the motor unit 2 based on the position signal from the position detection unit 4 and the weight signal from the weight detection unit 5. The electrical components including the first control section 10 are arranged in the cover so that the hanging main body portion 11 can be used in a place where powder particles or water droplets are applied.

In the present embodiment, the position detection unit 4 is arranged on the counterload side of the motor unit 2, but the present invention is not limited to this, and the position detection unit 4 may be provided on the rotary output shaft 3 or the elevating operation unit 7, which is the output of the reducer, or both. It may be provided in. Further, the type is not limited to the optical type, and may be a magnetic type, a capacitance type, or the like.

Further, the weight detection unit 5 only needs to be able to detect the weight applied to the locking member 8, and has a rotary structure for detecting torque from the twist of the rotating shaft provided between the speed reducer and the elevating operation unit 7, and a motor unit. It may have a drum-shaped structure that detects the reaction force received by 2. Further, the strain gauge type is not limited to the capacitance type, and the capacitance type may be used.

In the present embodiment, the locking member 8 is composed of a hook connected to the link chain 6 and a substantially U-shaped member. A bolt with a ring, for example, is attached to the top surface of the substantially U-shaped member so that a hook can be connected, while a bent shape is bent so as to lock the collar of the article 30 at the lower tip. A detachable portion 14 is provided. The article 30 can be engaged with the attachment / detachment portion 14 by moving the locking member 8 in the horizontal direction A, and can be attached / detached to / from the locking member 8.

3 to 5 are schematic views showing the operation of the article moving device system 1 according to the embodiment of the present invention.

FIG. 3 shows a state before the hanging main body 11 lifts the article 30 placed on the fixed structure 31 such as the floor by the locking member 8. The contact member 42 sandwiches the locking member 8 and is in a state of trying to move the locking member 8 downward by the moving portion 40. The moving unit 40 can generate a force for moving the locking member 8 up and down by the contact member 42, and the load and direction thereof can be detected by the force detecting unit 41. The first control unit 10 obtains the load W1 applied to the elevating operation unit 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains the applied force applied to the contact member 42 in the vertical downward direction. It is a component and its component value P1 is obtained based on the output from the force detection unit 41. The first control unit 10 subtracts the component value P1 in the vertical downward direction from the applied force applied to the contact member 42 from the load W1 applied to the elevating operation unit 7. The first control unit 10 registers and stores the subtracted value as a control value to be controlled. Then, the first control unit 10 controls the motor unit 2 by regarding the control value as the load of the net locking member 8.

On the other hand, the second control unit 43 outputs the output detected by the force detection unit 41 so that the applied force generated by the contact member 42 is equal to or less than a predetermined value within the allowable range that can be handled by the moving unit 40. Based on this, the moving unit 40 is controlled by the moving unit motors 40a to 40f.

Therefore, by controlling the motor unit 2 based on the control value calculated and generated by the first control unit 10, the locking member 8 is in a balanced state, and the moving unit 40 is locked via the contact member 42. 8 can be moved with a slight force.

FIG. 4 shows a state immediately before the locking member 8 lifts the article 30. That is, in FIG. 3, the moving portion 40 moves the locking member 8 in the direction B via the contact member 42, and the attaching / detaching portion 14 of the locking member 8 is located near the flange portion of the article 30. Along with this movement, the hanging main body 11 also moves horizontally by the slide block 33. In this state, the article 30 is not lifted as in the case shown in FIG. 3, but the contact member 42 holds the locking member 8 and moves the locking member 8 upward by the moving portion 40. The locking member 8 is about to be locked to the article 30. At this time, a load W2 is applied to the elevating operation portion 7, and a component value P2 of the applied force is generated in the abutting member 42 in the vertically upward direction. The first control unit 10 obtains the load W2 applied to the elevating operation unit 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains the applied force applied to the contact member 42 in the vertical upward direction. It is a component and its component value P2 is obtained based on the output from the force detection unit 41. The first control unit 10 adds the component value P2 in the vertical upward direction of the applied force applied to the contact member 42 to the load W2 applied to the elevating operation unit 7. The first control unit 10 registers and stores the added value as a control value to be controlled. Then, the first control unit 10 controls the motor unit 2 by regarding the control value as the load of the net locking member 8. The first control unit 10 performs the same control as in FIG. 3 to maintain the balance of the locking member 8. The movement operation of the moving unit 40 may be performed by the operator in the operation unit 44, or may be executed by the moving unit 40 based on a pre-programmed operation.

FIG. 5 shows a state when the locking member 8 and the article 30 are lifted. After that, the locking member 8 and the article 30 can be moved by the moving portion 40 in contacting at least one of the locking member 8 and the article 30 with the abutting member 42 to move the article 30. When the locking member 8 and the article 30 are moved downward by the moving unit 40 and the contact member 42, the first control unit 10 outputs the load W3 applied to the elevating operation unit 7 from the weight detecting unit 5. On the other hand, the second control unit 43 obtains the component value P3 in the vertical downward direction among the applied forces applied to the contact member 42 based on the output from the force detection unit 41. Then, the first control unit 10 subtracts the component value P3 applied to the contact member 42 from the load W3 applied to the elevating operation unit 7.

When the locking member 8 and the article 30 are moved upward by the moving unit 40 and the contact member 42, the first control unit 10 outputs the load W4 applied to the elevating operation unit 7 from the weight detecting unit 5. On the other hand, the second control unit 43 obtains the component value P4 based on the fact that the applied force applied to the contact member 42 is upward and the output from the force detection unit 41. Then, the first control unit 10 adds the component value P4 applied to the abutting member 42 to the load W4 applied to the elevating operation unit 7.

Then, the first control unit 10 controls the motor unit 2 by registering and storing the value as a result of the subtraction or addition as the weight of the net locking member 8 and the article 30. Therefore, the locking member 8 and the article 30 are always in a balanced state, and the locking member 8 and the article 30 can be moved up and down by moving the contact member 42 with a slight force by the moving portion 40.

On the other hand, the second control unit 43 outputs the output detected by the force detection unit 41 so that the applied force generated by the contact member 42 is equal to or less than a predetermined value within the allowable range that can be handled by the moving unit 40. Based on this, the moving unit 40 is controlled. Therefore, even if the locking member 8 and the article 30 exceed the weight range that can be handled by the moving portion 40, the moving portion 40 moves the article 30 by controlling the applied force within the allowable range of the moving portion 40. It can be performed.

Therefore, even if the weight exceeds the weight that can be handled by the moving part, the hanging main body assists the lifting of the article, so that the moving work of the article can be performed without the need to increase the size of the moving part. It can be carried out. Since the hanging main body is provided with a weight detection unit and a force detection unit near the contact member at the tip of the moving unit, the vertical component of the external force applied to the locking member and the article by the moving unit is removed. Since the weight of the net locking member and the article can be detected, the balance of the locking member and the article can be controlled by the hanging main body portion.

Although the present invention has been described above based on the preferred embodiment, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist thereof.

As an example of utilization of the present invention, it can be applied to an article moving device for moving an article.

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

Claims (4)

A locking member that locks the article to be raised and lowered, and
An elevating actuating part that elevates and lowers the locking member, and
The motor unit of the drive source connected to the elevating operation unit and
A weight detection unit that detects the weight applied to the elevating operation unit and outputs a weight value,
An abutting member provided so as to abut on at least one of the article and the locking member, and a moving portion for moving the abutting member by power.
A force detecting unit arranged between the abutting member and the moving portion to detect an applied force applied to the abutting member and output an applied force value.
An article moving device system for moving the article including the above.
The control unit that controls the article moving device system is
When the contact member is in contact with at least one of the article and the locking member, a control value is generated by calculation based on the weight value and the applied force value.
When the motor unit is controlled so that the locking member or the article is in a balanced state based on the control value, and the moving portion is brought into contact with the article or the locking member to move the article, the article is moved. An article moving device system characterized in that the moving portion is controlled so that the applied force value is equal to or less than a predetermined value . When the contact member is in contact with at least one of the article and the locking member, the control unit
When the applied force including the vertically downward component is obtained from the force detection unit, the control value is obtained by subtracting the vertically downward component value of the applied force value from the weight value.
When the applied force including the vertically upward component is obtained from the force detection unit, the control value is obtained by adding the vertically upward component value of the applied force value to the weight value.
The article moving device system according to claim 1, wherein the motor unit is controlled so that the locking member or the article is in a balanced state based on the control value. The article moving device system according to claim 1 or 2, wherein the locking member has a detachable portion for attaching / detaching the article by moving the contact member by the moving portion. The elevating actuating part
A link chain in which an oval ring consisting of a semi-arc portion and a straight portion connected to the semi-arc portion is alternately connected, and one end thereof is connected to the locking member.
The article moving device system according to any one of claims 1 to 3, further comprising a rotating member that winds the link chain and rotates by driving the motor unit .

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