Robot system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKohei Miyauchi, Yuusuke Hirano
Life of this patent
Estimating the term…
Abstract
A robot system includes a crane unit, a crane moving mechanism, a manipulator unit, and a controller. The crane unit is configured to suspend a workpiece. The crane moving mechanism allows the crane unit to move in a horizontal direction. The manipulator unit holds and moves the crane unit supporting the workpiece. The controller is configured to control the crane unit to support the workpiece at a first position and control the manipulator unit to move the crane unit supporting the workpiece toward a second position and to place the supported workpiece at the second position.
Claims19
A robot system comprising:
- a crane unit configured to suspend a workpiece;
- a crane moving mechanism that allows the crane unit to move in a horizontal direction;
- a manipulator unit that holds and moves the crane unit supporting the workpiece;
- and
- a controller configured to control the crane unit to support the workpiece at a first position and configured to control the manipulator unit to move the crane unit supporting the workpiece toward a second position and to place the supported workpiece at the second position,
- wherein the manipulator unit comprises:
- an arm;
- and
- a plurality of servomotors that 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.
A robot system comprising:
- a manipulator unit comprising:
- a hand unit;
- and
- a controller configured to control a motion of the manipulator unit and comprising:
- a crane signal input section configured to receive an input of a position signal from a crane unit that suspends a workpiece and that drives the workpiece in a vertical direction, the controller being configured to control the motion of the manipulator unit based on the position signal from the crane unit,
- wherein the manipulator unit comprises:
- an arm to which the hand unit is connected;
- and
- a plurality of servomotors that 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.
A robot system comprising:
- supporting means for suspending and supporting a workpiece;
- moving means for allowing the supporting means to move in a horizontal direction;
- manipulating means for holding and moving the supporting means supporting the workpiece;
- and
- controlling means for controlling the supporting means to support the workpiece at a first position and controlling the manipulating means to move the supporting means supporting the workpiece toward a second position and to place the workpiece at the second position,
- wherein the manipulating means comprises:
- an arm;
- and
- a plurality of servomotors that drive the arm, and
- wherein the controlling means 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.
Dependencies are inferred from the claim text.