Automatic transport vehicle system with robotic arm and control method thereof, and robot system

Abstract

The invention provides an automatic transport vehicle system with a robotic arm and a control method thereof, and a robot system. While receiving the power supply in an automatic transport vehicle system (100) with a robotic arm, a general connection mechanism can be used and various power can be used, and the degree of freedom in designing the installation position of the connection mechanism is increased. The automatic transport vehicle system (100) with the robotic arm comprises: an AGV (10); the robotic arm (30) carried on the AGV (10); an ATC connection part (50) held by the robotic arm (30) and moving by means of the robotic arm (30) and connected or disconnected with a power supply source (73); and a power accumulating part (40) which accumulates power supplied by the ATC connection part (50) and at least supplies power to the robotic arm (30).

Description

technical field [0001] The invention relates to an automatic transport vehicle system with a robot arm, a robot system, and a control method for the automatic transport vehicle system with a robot arm. Background technique [0002] In Patent Document 1, a self-propelled working robot is disclosed. The robot realizes self-propelled operation through an internal power supply device, and connects a power supply connection unit having a cable that can be sent out and wound to an external power supply unit. Electric powered robots. Patent Document 2 discloses a mechanism for setting a charged state by connecting electrode rods, electrode springs, etc., in a power supply system for charging batteries at predetermined stations and allowing robots to work. [0003] Patent Document 1: Japanese Patent Publication No. 6-55002 [0004] Patent Document 2: Japanese Patent Laid-Open No. 60-106302 [0005] In the prior art disclosed in Patent Document 1 and Patent Document 2, the movemen...

AI Technical Summary

Problems solved by technology

Moreover, since the movement accuracy of the automatic transport vehicle is generally not high, there will be an error of about a few millimeters. Therefore, the connection is completed through a simple pressing contact, and a special structure that allows a slight positioning error is required. In addition, The power that can be supplied is also limited by electric power in actual use

In addition, the connection mechanism must be installed at a position where it can be connected by the movement of the automatic transport vehicle, and the degree of freedom in design is low.

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