To provide a workpiece conveyance apparatus capable of automatically conveying a workpiece in an efficient manner.SOLUTION: A workpiece conveyance apparatus 10 comprises a cargo handling apparatus 20 as a cargo handling part, a retaining apparatus 30 as a workpiece retaining part, a robot apparatus 40 as a movable part, travelling motors 42a, 44a that cause the robot apparatus 40 to travel integrally with the cargo handling apparatus 20, a force sensor 50 as a detection part that detects load information about a size and direction of inertial load acting on the retaining apparatus 30 that retains a workpiece W when the robot apparatus 40 is travelling, and a control apparatus 60 as a control part that applies, to the travelling motors 42a, 44a, a control gain for preventing swing of the retaining apparatus 30 based on the load information detected by the force sensor 50.SELECTED DRAWING: Figure 2

    【課題】ワークを効率良く自動搬送できるワーク搬送装置を提供する。【解決手段】ワーク搬送装置10は、荷役部としての荷役装置20と、ワーク保持部としての保持装置30と、可動部としてのロボット装置40と、ロボット装置40を荷役装置20と一体で走行させる走行用モータ42a,44aと、ロボット装置40の走行時にワークWを保持している保持装置30に作用する慣性荷重についてその大きさ及び方向に関する荷重情報を検出する検出部としての力覚センサ50と、力覚センサ50によって検出された荷重情報に基づいて保持装置30の揺れを抑制するための制御ゲインを走行用モータ42a,44aに付与する制御部としての制御装置60と、を備える。【選択図】 図2


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    Title :

    WORKPIECE CONVEYANCE APPARATUS


    Additional title:

    ワーク搬送装置


    Contributors:

    Publication date :

    2019-07-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / B25J Manipulatoren , MANIPULATORS



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