| 摘要 |
<p>PURPOSE:To provide stable and accumulate accommodation of objects by with a transport robot device for magnetic taper cassettes etc., by furnishing a robot base with object supporting divisions, a hand device to grasp the object, and an arm device, and by transporting the robot base between object receipt/ handover positions. CONSTITUTION:This robot R includes a drum circularly rotating on a plane in the J5 direction with respect to a base RB, an upper arm 46 rotating up and down in the J4 direction with respect to the drum, a lower arm 42 rotating up and down in the J3 direction with respect to the upper arm, a wrist 41 rotating in the J2 direction with respect to the lower arm 42, and a hand 36 to tun the wrist 41 to the axis in the J1 direction. Using these elements, objects are received in accommodating divisions of a skirt and handed over from the divisions. Movement is made between racks S and a tape device MD through controls by a system control computer CC, and receipt/handover of objects is performed. This constitution accomplishes stable and accurate accommodation of objects.</p> |
