| 摘要 |
<p>PURPOSE: To provide a means having the capability of reducing a load on a transport means at the time of moving a robot driven with a transport means driving force in synchronous follow-up mode for a workpiece, and reducing a shock at the time of keeping the robot in contact with the workpiece. CONSTITUTION: A robot 3 has a travel section, a work section 17 and a contact section 18 as integrated with one another, and fills a brake fluid tank mounted on a body W with a brake fluid via the section 17, while traveling in synchronous follow-up mode for the body W with the section 18 in contact with the body 18. In this case, when the robot 3 is in synchronous follow-up travel mode, dynamic engagement between a travel section body 14 and a travel servo motor is shut off, and the travel resistance of the section 14 is reduced, thereby reducing a load acting on a conveyor. In addition. the robot 3 gives an approach with the own force thereof at the time of coming in contact with the body W, thereby reducing a contact shock.</p> |
