Robot system and processed object manufacturing method

摘要

A robot system includes transport means which transports an object, first detecting means which detects a three-dimensional shape of the object transported on a transport path by the transport means, a robot which performs a predetermined task on the object transported on the transport path by the transport means, means which generates an operation command to the robot, and means which corrects the operation command based on a detection result by the first detecting means.

主权项

1. A robot system, comprising:
a transport device which transports an object; a first sensor which detects a three-dimensional shape of the object transported on a transport path by the transport device; a robot which performs a predetermined task on the object transported on the transport path by the transport device; and a controller configured to operate the robot, wherein the controller comprises
a command outputting portion which generates an operation command to the robot; andan operation correcting portion which corrects the operation command based on a detection result of the three-dimensional shape of the object by the first sensor, wherein the robot is configured to permit installation of a tool for performing a task of lifting and moving the object by a predetermined lifting method as the predetermined task; the controller comprises a mode determining portion which determines a processing mode of a lifting process by the tool for the object transported on the transport path, based on the detection result by the first sensor; the operation correcting portion corrects the operation command so that the object transported on the transport path is lifted and moved by the tool, in accordance with the processing mode of the lifting process determined by the mode determining portion; a plurality of the robots are installed; the robot of among the plurality of robots which is installed furthest upstream on the transport path is installed so that an area where the lifting process is to be performed by the tool is separated from a detection area of the object by the first sensor by a predetermined distance or longer along the transport path, on a downstream side of the transport path.