| 摘要 |
The purpose of the invention is to provide a robot system that is self-propelled, travels in comparatively narrow passages, and picks articles such as parts from article storage shelves disposed along the passages in a warehouse or the like. A robot system comprises a self-propelled truck 100 that can travel, in accordance with guidance tags on a traveling surface or a map, to an article storage shelf on which a required article is stored, and a robot art mechanism 1 that picks the required article from the article storage shelf and is mounted on the self-propelled truck. The robot art mechanism 1 comprises: a cylindrical base 3; a twisting rotation joint J1 that rotates around a first axis of rotation parallel to the center line of the base; a bending rotation joint J2 that rotates around a second axis of rotation perpendicular to the first axis of rotation; a linear telescopic joint J3 that comprises an arm that expands and contracts linearly along an axis of motion perpendicular to the second axis of rotation; a wrist 4 that is mounted to the distal end of the arm 2 and has three orthogonal axes of rotation; and an end effector 16 mounted on the wrist. |
