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), and follows a passage. The transfer robot (10) includes a torsion determination section (51) and a control section (50). The torsion determination section (51) determines whether or not torsion is caused on the harness (6) on the basis of an angle difference (θ) between the body (1) and the driving part (2). The control section (50) generates instruction velocity for eliminating the torsion by reciprocating motion on a line segment when determining that torsion is caused on the harness (6), the passage has line segments (B, C), and the line segments (B, C) has a length allowing reciprocating motion.

    【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)とを含み、経路を追従する搬送ロボット(10)である。搬送ロボット(10)は、ねじれ判定部(51)と、制御部(50)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(θZ)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。制御部(50)は、ハーネス(6)にねじれが生じていると判定され、かつ、経路が線分(B,C)を有し、線分(B、C)が往復運動可能な長さを有する場合において、線分上の往復運動によって、ねじれを解く指令速度を生成する。【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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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