PROBLEM TO BE SOLVED: To provide a transfer robot provided with a driving part having a high on-board capacity and prevented from causing torsion.SOLUTION: A transfer robot (10) includes: a driving part (2); a body (1) turnably supported on the upper side of the driving part (2); and a harness (6) placed between the driving part (2) and the body (1). The transfer robot (10) includes a torsion determination section (51) and a command speed calculation section (52). The torsion determination section (51) determines whether or not torsion is caused on a harness (6) on the basis of an angle difference (φ) between the body (1) and the driving part (2). The command speed calculation section (52) calculates command speed (v) for turning the body (1) in a direction opposite to the torsion direction when determining that the torsion is caused on the harness (6) and the transfer robot (10) is driven so as to turn back.

    【課題】大きな搭載容量を有する駆動部を備えるとともに、ねじれの発生を抑制することができる搬送ロボットの提供。【解決手段】駆動部(2)と、駆動部(2)の上側に旋回可能に支持される本体(1)と、駆動部(2)と本体(1)との間に配置されるハーネス(6)とを含む搬送ロボット(10)である。搬送ロボット(10)は、ねじれ判定部(51)と、指令速度算出部(52)とを含む。ねじれ判定部(51)は、本体(1)と駆動部(2)との角度差(φ)に基づいて、ハーネス(6)にねじれが生じているか否かを判定する。指令速度算出部(52)は、ハーネス(6)にねじれが生じていると判定され、かつ、搬送ロボット(10)が折り返すように駆動する場合において、ねじれの方向と逆方向に本体(1)を旋回させる指令速度(v1)を算出する。【選択図】図2


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    Title :

    TRANSFER ROBOT


    Additional title:

    搬送ロボット


    Contributors:

    Publication date :

    2015-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen



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