JP7720106B2 - Article moving device system and article moving device - Google Patents

Description

The present invention relates to an article moving device system and an article moving device that are used in manufacturing assembly, transportation, etc. in the manufacturing field, and that move articles with little operating force by balancing the weight with the assistance of a motor.

Industrial robots have traditionally been used in factories where industrial products are assembled or transported to move finished products, semi-finished goods, and other items. In such factories, production lines use robots that are composed of, for example, multi-jointed arms with end effectors at the ends of the arms. The robot's joint mechanism is composed of a servomotor, such as an AC servomotor or DC brushless servomotor, and a reducer on the output side of the servomotor to obtain high-output torque, and is connected to movable members such as arms and links.

There is a demand for using such robots to carry out high-mix, low-volume production of items of different sizes and weights.

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

Therefore, in order to handle items of different sizes and weights, there are known inventions in which multiple robots suited to the target items are installed (Patent Documents 1 and 2). However, installing multiple robots in this way poses the problem of a larger footprint. Therefore, if the number of robots is reduced to reduce the footprint and increase versatility, it becomes necessary to use a robot suited to the target items with the largest outer diameters and heaviest weights, which poses the problem of the robots becoming larger.

Furthermore, if a need arises for a production line to handle items that are larger or heavier than the robots already installed, the robot must be replaced with a larger one, which not only increases the footprint but also requires changes to the production line layout, posing the issue of the significant amount of time required for installation and layout changes.

In light of these problems, the present invention aims to provide an article moving device system that can efficiently move articles of various weights without increasing the device's footprint or size.

In order to achieve the above object, the present invention provides:
a locking member for locking the article;
a hanging body having a lifting operation unit, a motor unit, and a weight detection unit , and configured to lift and lower the locking member or the article and the locking member;
a robotic moving unit that receives power from a power source and moves an arm of a movable joint mechanism that includes a contact member that contacts at least one of the article and the locking member to establish a contact state connected to the article and a force detection unit, in a predetermined direction including the vertical direction;
a control unit that controls the movement of an article connected to the arm ;
An article moving device system comprising :
The control unit
The force detection unit detects and outputs an applied force value including a vertical component of the applied force applied to the contact member, and based on this, controls a moving unit that attempts to move an arm connected to the article using power from a power supply , as follows:
The control unit
When the motor unit is used as a drive source for lifting and lowering, the weight detection unit detects the weight applied to the lifting and lowering operation unit and outputs a weight value, and the output is used to control a process for achieving a balanced state in which the first weight of the locking member and the article is cancelled out;
The process to achieve the above balance state is as follows:
When there is a change in the vertical component in the control of the moving unit and the arm connected to the article moves, a calculation is made to move the article by lifting or lowering the applied force within the allowable range that can be handled by the moving unit based on the second weight applied to the lifting operation unit,
a net first weight is calculated based on a second weight obtained when the arm is moved and the article is raised and lowered by the above calculation, and a control value is generated for performing the raising and lowering operation while maintaining an applied force within an allowable range that can be handled by the moving unit, while canceling out the first weight;
This enables the motor unit to be controlled as a control value by processing according to the output based on the weight detection unit each time an article is moved up or down.

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

In order to achieve the above object, the present invention provides:
a locking member for locking the article;
a hanging body having a lifting operation unit, a motor unit, and a weight detection unit , and configured to lift and lower the locking member or the article and the locking member;
a control unit that controls the movement of an article connected to the arm that can be raised and lowered ;
An article moving device comprising :
The control unit
A robotic moving unit moves an arm of a movable joint mechanism, which is provided with a contact member and a force detection unit that contacts at least one of an article and a locking member to bring the arm into contact with the article and is connected to the article, in a predetermined direction including the vertical direction, with power from a power supply. The force detection unit detects and outputs an applied force value including a vertical component of the force applied to the contact member, and the arm connected to the article is moved based on this force by power from the power supply. The process is responsive to the control of the moving unit ,
When the motor unit is used as a drive source for lifting and lowering, the weight detection unit detects the weight applied to the lifting and lowering operation unit and outputs a weight value, and the output is used to control a process for achieving a balanced state in which the first weight of the locking member and the article is cancelled out;
The process to achieve the above balance state is as follows:
When there is a change in the vertical component in the control of the moving unit and the arm connected to the article moves, a calculation is made to move the article by lifting or lowering the applied force within the allowable range that can be handled by the moving unit based on the second weight applied to the lifting operation unit,
a net first weight is calculated based on a second weight obtained when the arm is moved and the article is raised and lowered by the above calculation, and a control value is generated for performing the raising and lowering operation while maintaining an applied force within an allowable range that can be handled by the moving unit, while canceling out the first weight;
This enables the motor unit to be controlled as a control value by processing according to the output based on the weight detection unit each time an article is moved up or down.

In order to achieve the above object, the present invention may be configured such that the locking member has a detachable portion that attaches and detaches an article by moving the abutting member using the moving portion.

In order to achieve the above object, the present invention may be configured so that the lifting operating unit comprises a link chain in which oval rings consisting of semicircular arc portions and straight portions connected to the semicircular arc portions are alternately connected, one end of which is connected to a locking member, and a rotating member around which the link chain is wound and which rotates when driven by a motor unit .

According to the present invention , the control unit controls the motor unit to cancel the weight of the object based on the outputs from the weight detection unit and the force detection unit, making it possible to easily move the object. Therefore, the moving unit can be a small robot that handles small objects, so the footprint is small and the size can be suppressed. Furthermore, even if the weight of the object changes, there is no need to change the layout of the moving unit, which improves production efficiency.

In addition , the control unit calculates the net weight of the locking member and the item, and based on this, the hanging main body unit controls the motor unit to cancel out the weight of the item, so the item can be moved while maintaining a good balance.

Furthermore , the moving unit can move an object with a small force even if the weight of the object exceeds the weight that the moving unit can move alone.

In addition to the above-mentioned effects, the article can be easily attached to and detached from the fastening member by the moving part moving the abutting member with a slight force.

In addition to the above-mentioned effects, the article can be easily attached to and detached from the fastening member by the moving part moving the abutting member with a slight force.

1 is a perspective configuration diagram of an entire article moving device system according to an embodiment of the present invention; 1 is a perspective view of an article moving device system according to an embodiment of the present invention, with a portion of a hanging unit omitted; 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention. 1 is a schematic diagram showing the operation of an article moving device system according to an embodiment of the present invention.

The following provides a detailed description of an article moving device system according to an embodiment of the present invention, with reference to the drawings. Figure 1 is a perspective view of the overall structure of an article moving device system according to an embodiment of the present invention.

The article moving device system 1 is composed of a hanging main body 11 that controls the hanging of the article 30, a locking member 8 that extends downward from the hanging main body 11 along the link chain 6 and hangs and locks the article 30, a contact member 42 that contacts the locking member 8, and a moving unit 40 that has the contact member 42 at its tip and moves the contact member 42. The hanging main body 11 has a hanging hook 9 on the top surface, and can be hung from a structure such as a building beam or a slide block 33 that can move horizontally on a rail 32 (see Figure 3).

The first control unit 10 is housed inside the hanging body 11. The first control unit 10 is equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other storage and input/output devices, and controls the up and down movement of the locking member 8 via the link chain 6.

An operating unit 22 electrically connected to the first control unit 10 is provided at a position extending downward from the hanging body 11 along the link chain 6. The operating unit 22 moves up and down along with the link chain 6, which moves up and down due to the hanging body 11, and allows the operator to operate the up and down movement of the locking member 8, etc.

The locking member 8 is a member that connects to one end of the link chain 6 and locks the item 30. In this embodiment, the item 30 is, for example, a container with a flange on the top and a part placed inside it. In order to move the item 30, the locking member 8 is composed of a roughly U-shaped member that locks onto the flange of the item 30, 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-40f that rotate the arms between them. The moving unit 40 is not limited to this, as long as it can move at least vertically.

The abutment member 42 is a so-called end effector provided at the tip of the moving section 40, and in this embodiment has a structure that clamps the locking member 8. The abutment member 42 is not limited to this and can be selected appropriately depending on the shape of the locking member 8, and can be modified, such as being connected to the locking member 8 via a universal joint. The abutment member 42 is provided so as to abut against at least one of the locking member 8 and the article 30, and may have a shape and structure that abuts against both the locking member 8 and the article 30.

The force detection unit 41 is located between the contact member 42 and the moving unit 40 and detects at least the vertical component of the force applied to the contact member 42 and outputs the applied force value. The force detection unit 41 is, for example, a multi-force meter, and the operation of the moving unit 40 can be controlled based on this. The force detection unit 41 and each of the moving unit motors 40a-40f are electrically connected to the second control unit 43 by wiring that runs through the hollow space within the moving unit 40, and various signals are exchanged and power is supplied.

The second control unit 43 is provided, for example, in the base of the movement unit 40, and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other storage devices and input/output devices. The second control unit 43 is electrically connected to the operation unit 44 and other components, and also includes drive circuits for each of the movement unit motors 40a-40f. The first control unit 10 and the second control unit 43 are connected by a cable 45, enabling communication between them. The cable 45 may have multiple wires, such as an input wire and an output wire. For convenience, the cable 45 is shown as a single line in Figure 1. Furthermore, in this embodiment, the first control unit 10 controls the hanging main body 11, and the second control unit 43 controls the moving unit 40, but they may be placed as a combined control unit on either the hanging main body 11 side or the moving unit 40 side, or may be placed separately and externally.

The operation unit 44 is used to manually move the moving unit 40 using each of the moving unit motors 40a-40f, and to teach the movement of the moving unit 40. In this embodiment, the operation of the hanging main body 11 is performed using the operation unit 22, and the operation of the moving unit 40 is performed using the operation unit 44. However, since the first control unit 10 and the second control unit 43 are connected by a cable 45 and are configured to be able to communicate, it is also possible to operate only using the operation unit 44 by switching the button on the operation unit 44. In this embodiment, the operation unit 44 is connected to the second control unit 43 by wire, but this is not limiting, and a wireless connection is also possible.

Figure 2 shows a portion of the internal structure of the hanging main body 11 of the article moving device system 1 according to an embodiment of the present invention, with the cover of the main body omitted.

A reducer is attached to the load side of the drive motor, and together with the motor, it forms the motor section 2. This motor is, for example, an AC servo motor.

The reducer reduces the motor's rotational speed to a predetermined speed. The reducer is, for example, a strain wave gear reducer. A strain wave gear reducer consists of a wave generator with an elliptical outer periphery, an elastically deformable flexspline with numerous external teeth formed on its outer periphery that is fitted around the wave generator and whose position changes as it is deflected circumferentially with the rotation of the wave generator, and a circular spline on the outer periphery of the flexspline with internal teeth that engage with the external teeth of the flexspline. Power is then extracted and transmitted to the rotation output shaft 3, which is connected to the flexspline as a rotational output. Using a reducer with minimal backlash, such as a strain wave gear reducer, for this device eliminates uncontrollable areas during frequent forward and reverse motor rotation switching to perform up and down movements, achieving a smooth operating feel.

The rotary output shaft 3 is a rotary shaft that has been reduced in speed by a reducer, is connected to the lifting/lowering actuator 7, and rotates the lifting/lowering actuator 7 continuously in both forward and reverse directions.

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

The link chain 6 is made up of alternating intersecting oval rings consisting of semicircular arc sections and straight sections connected to them. One end is connected to the locking member 8, and the other end (the unloaded side) is stored in the link chain storage section 12.

The lifting/lowering unit 7 includes a rotating member that rotates when power is transmitted from the motor unit 2, which serves as the drive source, and a link chain 6 connected to a locking member 8. In this embodiment, the rotating member of the lifting/lowering unit 7 is cylindrical and connected to the rotation output shaft 3. The link chain 6 is wound around the rotating member, winding and unwinding the link chain 6. The link chain 6 is wound approximately vertically below the hanging hook 9, close to the center of gravity of the hanging main body 11. The link chain 6 is inserted into a pocket groove provided in the rotating member of the lifting/lowering unit 7 and wound approximately 180 degrees. In this embodiment, a link chain 6 is connected to the locking member 8 and wound around the lifting/lowering unit 7, but this is not limiting; a wire rope may also be used. In this case, the lifting/lowering unit 7 is drum-shaped, and one end of the wire rope is fixed and wound around the rotating member.

On the anti-load side of the motor unit 2, a position detector 4 is connected to the motor unit 2, detecting the rotational angle position of the motor. The position detector 4 is a so-called absolute encoder that optically detects the rotational angle position of the motor and outputs a position signal. This position detector 4 can detect the extension position, i.e., the elevation position, of the locking member 8.

The weight detection unit 5 is equipped with a strain gauge attached to the strain element so that it can detect the force transmitted from the link chain 6 wrapped around the lifting/lowering unit 7 as a reaction force. The strain gauge is incorporated into a Wheatstone bridge circuit that converts the strain generated in the strain element according to the weight into an electrical signal, allowing the weight detection unit 5 to detect the weight applied to the lifting/lowering unit 7 and output a weight value.

The first control unit 10 is located inside the hanging body unit 11 near the lifting/lowering actuator 7. The first control unit 10 controls the motor unit 2 based on the position signal from the position detection unit 4 and the weight signal from the weight detection unit 5. The electrical components, including the first control unit 10, are located inside a cover so that the hanging body unit 11 can be used in places where it is exposed to powder or water droplets.

In this embodiment, the position detection unit 4 is located on the anti-load side of the motor unit 2, but this is not limited to this. It may also be located on the rotation output shaft 3, which is the output of the reducer, or on the lifting operation unit 7, or on both. Furthermore, it is not limited to optical types, and may also be magnetic, capacitive, or other types.

The weight detection unit 5 only needs to be able to detect the weight applied to the locking member 8, and may be a rotary type that detects torque from the twist of a rotating shaft located between the reducer and the lifting operation unit 7, or a hand-held type that detects the reaction force received by the motor unit 2. Furthermore, it is not limited to the strain gauge type, and may also be a capacitance type, etc.

In this embodiment, the locking member 8 is composed of a hook connected to the link chain 6 and a roughly U-shaped member. A bolt with a loop, for example, is attached to the top surface of the roughly U-shaped member so that the hook can be connected, while a bent detachable portion 14 is provided at the lower end to lock onto the flange of the item 30. By moving the locking member 8 in the horizontal direction A, the item 30 can engage with the detachable portion 14, making it possible to attach and detach the item 30 to and from the locking member 8.

Figures 3 to 5 are schematic diagrams showing the operation of the item moving device system 1 according to an embodiment of the present invention.

Figure 3 shows the state before the hanging main body 11 uses the locking member 8 to lift an item 30 placed on a fixed structure 31, such as a floor. The abutment member 42 is clamping the locking member 8, and the moving unit 40 is attempting to move the locking member 8 downward. The moving unit 40 is capable of generating a force that moves the locking member 8 up and down using the abutment member 42, and the load and direction of that force can be detected by the force detection unit 41. The first control unit 10 obtains the load W1 applied to the lifting/lowering operating unit 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains that the force applied to the abutment member 42 is a vertically downward component and its component value P1 based on the output from the force detection unit 41. The first control unit 10 subtracts the vertically downward component value P1 of the force applied to the abutment member 42 from the load W1 applied to the lifting/lowering operating unit 7. The first control unit 10 registers and stores this subtracted value as the control value for the controlled object. The first control unit 10 then controls the motor unit 2, regarding the control value as the net load of the locking member 8.

Meanwhile, the second control unit 43 controls the movement unit 40 using each of the movement unit motors 40a to 40f based on the output detected by the force detection unit 41 so that the force applied by the abutting member 42 is below a predetermined value within the allowable range that can be handled by the movement unit 40.

Therefore, by controlling the motor unit 2 based on the control value calculated and generated by the first control unit 10, the locking member 8 is brought into a balanced state, and the moving unit 40 can move the locking member 8 with a slight force via the abutment member 42.

Figure 4 shows the state just before the locking member 8 lifts the article 30. That is, in Figure 3, the moving part 40 moves the locking member 8 in direction B via the abutting member 42, and the detachable part 14 of the locking member 8 is positioned near the flange of the article 30. As this movement occurs, the hanging main body 11 also moves horizontally via the slide block 33. In this state, as in Figure 3, the article 30 is not lifted, but the abutting member 42 is clamping the locking member 8 and is moving the locking member 8 upward using the moving part 40, in an attempt to lock the locking member 8 to the article 30. At this time, a load W2 is applied to the lifting operation part 7, and a component of force P2 is applied to the abutting member 42 in the vertically upward direction. The first control unit 10 obtains the load W2 applied to the lifting/lowering actuator 7 based on the output from the weight detection unit 5, and the second control unit 43 obtains that the force applied to the abutting member 42 is a vertically upward component and the component value P2 based on the output from the force detection unit 41. The first control unit 10 adds the vertically upward component value P2 of the force applied to the abutting member 42 to the load W2 applied to the lifting/lowering actuator 7. The first control unit 10 registers and stores this sum as the control value for the controlled object. The first control unit 10 then controls the motor unit 2, regarding the control value as the net load of the locking member 8. The first control unit 10 performs control to maintain the balance of the locking member 8, similar to that shown in FIG. 3. The movement of the moving unit 40 may be performed by an operator using the operation unit 44, or the moving unit 40 may execute the movement based on pre-programmed operations.

Figure 5 shows the state when the locking member 8 and article 30 are lifted. The locking member 8 and article 30 can then be moved by the moving unit 40 abutting at least one of the locking member 8 and article 30 with the abutment member 42. When the moving unit 40 and abutment member 42 are used to move the locking member 8 and article 30 downward, the first control unit 10 obtains the load W3 applied to the lifting/lowering actuator 7 based on the output from the weight detection unit 5, while the second control unit 43 obtains the vertically downward component value P3 of the force applied to the abutment member 42 based on the output from the force detection unit 41. The first control unit 10 then subtracts the component value P3 applied to the abutment member 42 from the load W3 applied to the lifting/lowering actuator 7.

When the moving unit 40 and the abutting member 42 are used to move the locking member 8 and the article 30 upward, the first control unit 10 obtains the load W4 applied to the lifting/lowering operating unit 7 based on the output from the weight detection unit 5, while the second control unit 43 obtains that the force applied to the abutting member 42 is directed upward and its component value P4 based on the output from the force detection unit 41. The first control unit 10 then adds the component value P4 applied to the abutting member 42 to the load W4 applied to the lifting/lowering operating unit 7.

The first control unit 10 then registers and stores the value resulting from this subtraction or addition as the net weight of the locking member 8 and the article 30, and controls the motor unit 2. Therefore, the locking member 8 and the article 30 are always in a balanced state, and the locking member 8 and the article 30 can be raised and lowered by moving the abutment member 42 with a slight force using the moving unit 40.

Meanwhile, the second control unit 43 controls the moving unit 40 based on the output detected by the force detection unit 41 so that the applied force generated by the abutting member 42 is below a predetermined value within the allowable range that the moving unit 40 can handle. Therefore, even if the locking member 8 and the item 30 exceed the weight range that the moving unit 40 can handle, the moving unit 40 can move the item 30 by controlling the applied force within the allowable range of the moving unit 40.

As a result, even if the weight exceeds the capacity of the moving unit, the suspending main unit assists in lifting the item, making it possible to move the item without increasing the size of the moving unit. Furthermore, since the suspending main unit is equipped with a weight detection unit and the moving unit is equipped with a force detection unit near the abutment member at the tip of the moving unit, the moving unit can eliminate the vertical component of the external force applied to the locking member and item and detect the net weight of the locking member and item, enabling the suspending main unit to control the balance of the locking member and item.

The present invention has been described above based on a preferred embodiment, but the present invention is not limited to the above-described embodiment and various modifications are possible without departing from the spirit of the invention.

One example of how this invention can be used is in an article moving device that moves articles.

1: Article moving device system 2: Motor unit 3: Rotation 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: Hanging main body unit 12: Link chain storage unit 14: Attachment/detachment unit 22: Operation unit 30: Article 31: Fixed structure 32: Rail 33: Slide block 40: Moving units 40a to 40f: Moving unit motor 41: Force detection unit 42: Contact member 43: Second control unit 44: Operation unit 45: Cable

Claims (2)

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