| 摘要 |
PROBLEM TO BE SOLVED: To improve safety against the wrong operation of a robot arm with a simple structure in travelling of automated guided vehicle. SOLUTION: A fixed position confirmation switch 15, which is a push-button switch, is provided on an automated guided vehicle 2. A main controller 6 controls a robot arm 3 to move to a fixed position and the fixed position confirmation switch 15 to turn on while the automated guided vehicle 2 is travelling. A driving preparation circuit 11 is provided to cut off a power to the robot arm 3 and a travelling mechanism 4 for emergency stop when the fixed position confirmation switch 15 is turned off during the travelling of the automated guided vehicle 2. The driving preparation circuit 11 is composed of relay circuits. A fixed position confirmation canceling relay CR for switching the fixed position confirmation switch 15 to valid or invalid is provided, which is turned to be valid only when it is travelling.
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