Control device, conveyance system, control method, and non-transitory storage medium

Patent metadata

Field	Value
Publication number	US-12129113-B2
Application number	US-202217584843-A
Country	US
Kind code	B2
Filing date	Jan 26, 2022
Priority date	Feb 4, 2021
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

A control device for a conveyance robot including a telescopic portion which is extensible in a height direction is provided. The control device includes an estimation unit configured to estimate a natural frequency of the conveyance robot according to an amount of extension of the telescopic portion and a control unit configured to control a drive mechanism of the conveyance robot such that the natural frequency of the conveyance robot and an angular frequency of a vibration generating portion when the conveyance robot operates do not match.

First claim

What is claimed is:

1. A control device for a conveyance robot including a telescopic device which is extensible in a height direction and a drive device for horizontal movement of the conveyance robot, the telescopic device being mounted on the drive device for the horizontal movement, the control device comprising a processor configured to:
estimate a natural frequency of the conveyance robot based on an amount of extension of the telescopic device; and
control a drive device of the telescopic device such that the estimated natural frequency of the conveyance robot and an angular frequency of the drive device of the telescopic device do not match, the angular frequency being generated when the drive device of the telescopic device operates.

2. The control device according to claim 1 , wherein the processor is further configured to:
acquire a measurement result of a weight of a conveyance object which is placed on a mounting table provided at an upper end of the telescopic device; and
estimate the natural frequency of the conveyance robot based on a total weight of a weight of the mounting table and the weight of the conveyance object and a rigidity of the telescopic device.

3. A conveyance system comprising:
the control device according to claim 1 ; and
the conveyance robot.

4. The conveyance system according to claim 3 , further comprising a weight sensor that measures a weight of a conveyance object which is placed on a mounting table provided at an upper end of the telescopic device.

5. The control device according to claim 2 , wherein:
the telescopic device is configured to be extended and contracted in the height direction by rotating by using the drive device of the telescopic device; and
the processor is configured to control the drive device of the telescopic device such that the angular frequency is larger than the estimated natural frequency, when an amount of extension of the telescopic device is larger than a predetermined amount or when the weight of the conveyance object is larger than a predetermined weight.

6. A control method for a conveyance robot including a telescopic device which is extensible in a height direction and a drive device for horizontal movement of the conveyance robot, the telescopic device being mounted on the drive device for the horizontal movement, the control method comprising:
estimating a natural frequency of the conveyance robot based on an amount of extension of the telescopic device; and
controlling a drive device of the telescopic device such that the estimated natural frequency of the conveyance robot and an angular frequency of the drive device of the telescopic device do not match, the angular frequency being generated when the drive device of the telescopic device operates.

7. The control method according to claim 6 , further comprising:
measuring a weight of a conveyance object which is placed on a mounting table provided at an upper end of the telescopic device; and
estimating the natural frequency of the conveyance robot based on a total weight of a weight of the mounting table and the weight of the conveyance object and a rigidity of the telescopic device.

8. A non-transitory storage medium storing instructions that are executable by one or more processors for controlling a conveyance robot and that cause the one or more processors to perform functions, the conveyance robot including a telescopic device which is extensible in a height direction and a drive device for horizontal movement of the conveyance robot, the telescopic device being mounted on the drive device for the horizontal movement, the functions comprising:
estimating a natural frequency of the conveyance robot based on an amount of extension of the telescopic device; and
controlling a drive device of the telescopic device such that the estimated natural frequency of the conveyance robot and an angular frequency of the drive device of the telescopic device do not match, the angular frequency being generated when the drive device of the telescopic device operates.

9. The non-transitory storage medium according to claim 8 , wherein the functions further include:
measuring a weight of a conveyance object which is placed on a mounting portion table provided at an upper end of the telescopic device; and
estimating the natural frequency of the conveyance robot based on a total weight of a weight of the mounting table and the weight of the conveyance object and a rigidity of the telescopic device.

10. The control device according to claim 9 , wherein the controller is configured to control the drive device of the telescopic device such that the angular frequency is less than a predetermined safety factor.

Assignees

• Toyota Motor Co Ltd

Inventors

• Ota Junya
• Iwamoto Kunihiro
• Itozawa Yuta
• Komura Hirotaka
• Takagi Yutaro
• Nakamoto Yoshiaki

Classifications

• B65G2203/0258

  Weight of the article · CPC title

• B65G2203/0283

  Position of the load carrier · CPC title

• B65G2203/0291

  Speed of the load carrier · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title