| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a conveyance system capable of eliminating the need of teaching to a robot according to types of vehicles. Ž<P>SOLUTION: This conveyance system comprises a holding tool 30 for holding a plurality of types of works W1 to Wn, a multijoint arm 13 for changing the position and attitude of the holding tool 30 in a three-dimensional space, and a holding tool support mechanism 40 for at least rotating the holding tool 30 relative to the end of the multijoint arm 13. The conveyance system comprises a storage section 61 for storing arm instruction data common to the plurality of types of the works for moving the end of the multijoint arm 13 from the start position to the end position and holding tool instruction data including the rotating phases θ1 to θn of the holding tool 30 according to the plurality of types of the works for holding the multiple types of works at the start position; and a control signal output section 62 for controlling the multijoint arm 13, the holding tool 30, and the holding tool support mechanism 40 according to arm instruction data and holding tool instruction data. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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