Robot system and method of manufacturing workpiece

摘要

A robot system includes a crane unit, a crane moving mechanism, a robot, and a controller. The crane unit is to suspend a workpiece. The crane unit moves in a horizontal direction via the crane moving mechanism. The robot is to move the crane unit in the horizontal direction via the crane moving mechanism. The controller is configured to control the crane unit to move upwardly to suspend the workpiece after controlling the robot to bring the crane unit into an engaging state in which the crane unit engages with the workpiece located at a first position. The controller is configured to control the crane unit suspending the workpiece to move downwardly to place the workpiece at a second position after controlling the robot to move the crane unit toward the second position while the crane unit suspends the workpiece.

主权项

1. A robot system comprising:
a crane unit to suspend a workpiece; a crane moving mechanism via which the crane unit moves in a horizontal direction; a robot to move the crane unit in the horizontal direction via the crane moving mechanism; and a controller configured to control the crane unit to move upwardly to suspend the workpiece after controlling the robot to bring the crane unit into an engaging state in which the crane unit engages with the workpiece located at a first position, the controller being configured to control the crane unit suspending the workpiece to move downwardly to place the workpiece at a second position after controlling the robot to move the crane unit toward the second position while the crane unit suspends the workpiece, wherein the robot comprises
an arm, anda plurality of servomotors configured to drive the arm, and wherein the controller comprises
a torque controller that, if a load equal to or higher than a predetermined load is exerted on the servomotors, allows rotation of the servomotors to follow the load.