| 摘要 |
PROBLEM TO BE SOLVED: To provide a transfer robot flexibly handling the transfer of articles produced by multi-product production in low volume or in variable volume, which is easily handled upon occurrence of trouble and relatively easily controllable with respect to its position, attitude and power during operation without causing a jackknife phenomenon even when an article transfer tool (hand-pushed cart) is moved by pushing operation, and also to provide a 3-degree-of-freedom parallel link mechanism suitable for the transfer robot. SOLUTION: This transfer robot 10 is provided with: a robot body 12 performing movement; the parallel link mechanism 20 coupled to the robot body 12; and a coupling mechanism 40 performing coupling and separation between the parallel link mechanism 20 and the article transfer tool 1. The parallel link mechanism 20 is provided with a first link 21, a second link 22, and a third link 23, and according to the driving conditions of each link, a relative position and attitude on the horizontal plane of an output member 24 relative to the robot body 12 are set in this 3-degree-of-freedom parallel link mechanism. COPYRIGHT: (C)2009,JPO&INPIT
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