| 摘要 |
Materials handling robot comprising a carriage (1) which is movable along a first path of movement and carries a materials handling device (2Z, 14) which, in its turn, is movable relative to the carriage in a second path of movement forming an angle with the first path of movement, and characterized in that the carriage (1) comprises two parts (4X and 4Z) of which the first part (4X) carries driving and guiding means for moving the carriage with the materials handling device (2Z, 14) along said first path of movement, while the second part (4Z) carries the materials handling device (2Z, 14), and driving and guiding means for moving the materials handling device (2Z, 14) along said second path of movement, and is connected to the first carriage part (4X) by means of an articulation (53', 55) and a clamping device (60) which are so arranged that the second carriage part (4Z) is rotatable relative to said first carriage part (4X) about an axis (Y-Y) perpendicular both to the first and the second paths of movement, upon overcoming of a frictional force set with the clamping device, the materials handling device (2Z, 14) and the second carriage part (2Z) being pivotal as a pendulum to permit the materials handling device (2Z, 14) to be swung aside in the event of an obstacle occurring in its path of movement together with said carriage in said first direction of movement. |
