TRAVELING ROBOT DEVICE AND ITS CONTROL METHOD

PROBLEM TO BE SOLVED: To provide a traveling robot device and its control method capable of realizing compactness without enlarging an arm even for a comparatively heavy workpiece, and shortening a cycle time required for loading and unloading the workpiece. SOLUTION: This traveling robot device 1 comprises, on a traveling table 5, a robot 6 having an arm 7 rotatable and shrinkable in a horizontal direction by a plurality of link mechanisms (a first link mechanism 11 and a second link mechanism 12), and a robot arm 20 (upward/downward moving and turning means) supporting a fork 9 (workpiece support) installed at a tip of the arm 7 and supporting the workpiece 9, and moving upward/downward and turning. The device is equipped with assist means 30 connected with the fork 9, and assisting an upward/downward moving action and a turning action of the fork 9 by the robot arm 20, and a movement action of the arm 7 in a horizontal direction by shrinkage. COPYRIGHT: (C)2007,JPO&INPIT