US 12,186,901 B2
Robot system
Tsuyoshi Ito, Kitakyushu (JP); and Kiminori Nishimura, Kitakyushu (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Apr. 13, 2021, as Appl. No. 17/228,713.
Application 17/228,713 is a continuation of application No. PCT/JP2018/038412, filed on Oct. 16, 2018.
Prior Publication US 2021/0229267 A1, Jul. 29, 2021
Int. Cl. B25J 9/06 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B62D 65/00 (2006.01)
CPC B25J 9/06 (2013.01) [B25J 9/0093 (2013.01); B25J 11/005 (2013.01); B25J 15/0019 (2013.01); B62D 65/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot system comprising:
first and third robots arranged along a transport direction in which a workpiece is conveyed, each of the first and third robots having a first distal end at which a first end effector is configured to be provided to work on the workpiece and having a plurality of axes arranged in a first axis configuration in which a rotation axis, a pivot axis, a pivot axis, and a rotation axis are arranged in this order from the first distal end;
a second robot arranged between the first and third robots along the transport direction, the second robot having a second distal end at which a second end effector is configured to be provided to work on the workpiece, the second robot having a second axis configuration different from the first axis configuration, the first and third robots and the second robot are each provided on a same traveling shaft that extends in the transport direction; and
a traveling table configured to travel on the same traveling shaft in the transport direction,
wherein the first and third robots and the second robot are each mounted on the traveling table.