Robot system

[0012]A robot system 1 according to an embodiment of the present disclosure will be described below with reference to drawings.

[0013]The robot system 1 according to the embodiment includes a 6-shaft articulated type robot 2 including six drive shafts 10, a positioner (external device) 3 capable of changing the position and the posture of a mounted workpiece W, and a control device 4 configured to control the robot 2 and the positioner 3, as illustrated in FIG. 1, for example.

[0014]The robot 2 includes a base 5 that is placed on a floor surface F and a pivoting body 6 supported by the base 5 so as to be able to rotate about a vertical first axial line J1. Also, the robot 2 includes a first arm 7 supported by the pivoting body 6 so as to be able to rotate about a horizontal second axial line J2 and a second arm 8 supported by the first arm 7 so as to be rotate about a third axial line J3 that is parallel to the second axial line J2. Further, the robot 2 includes a three-shaft wrist unit