Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.

Abstract: A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera (or force sensor) and hand control cables and motor control cables CB are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables CB are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables CB are introduced into the forearm with a shield and a sheath removed, and clamped at an appropriate position. After reaching an end effector-mounting face, the control cables CB are connected to a camera (or force sensor) C/S and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body so as to have the same electric potential as the base by using means such as an earth cable or the like, and therefore the forearm is utilized in replacement of the shield.

Abstract: An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place.

Abstract: A robot wherein the condition for a work and a sequence of movements to be performed may be set in connection with positions. In addition to setting a position at which a work is performed, the robot sets the conditions for performance of a work at a set position and of a sequence of movements between set positions. The set conditions may be memorized in connection with the set positions so as to be performed as are read out.

Abstract: A retreat permission position of a carrier arm when the carrier arm is moved back to retreat outside a mounting table after the carrier arm carries a substrate to a position above the mounting table while holding a peripheral portion of the substrate, to thereby place the substrate on a plurality of supporting pins vertically movable through the mounting table. A disk substantially equal in size to the substrate, having insertion holes formed to allow the supporting pins to be inserted therethrough and being supportable by the carrier arm, and a sensor to detect whether or not the supporting pin inserted through the insertion hole of this disk exists.

Abstract: An adjustable end arm effector joint is provided. The joint includes a first surface having an alignment indicia associated therewith. Another aspect of the present invention includes a second surface having a cooperating alignment indicia associated therewith. The alignment indicia cooperate with each other to identify an alignment position of the mating joint surfaces.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters. The sensors provide robot arm extension and elevation positioning data supporting methods of rapidly and accurately placing and retrieving a wafer from among a stack of closely spaced wafers stored in the wafer cassette. The methods effectively prevent accidental contact between the end effector and the wafers while effecting clean, secure gripping of the wafer.

Abstract: A gripper apparatus for grasping an object such as a specimen holder. The gripper apparatus comprises two arms. In one embodiment the arms are pivotable, and in a second embodiment, each arm includes a pivotable member. The arms are moveably coupled to each other and are structured to grasp the object therebetween.

Abstract: A robotic self-feeding device uses a multiplicity of dishes, utensils and control methods to handle a wide variety of food, including sandwiches. Its operating sequence has a hover mode in which a utensil is automatically steered over a food holder and is constrained from moving away from the food holder. The user points to the desired food with the utensil and triggers pickup which is automatically accomplished. Its gripper can operate tong utensils to grasp food. It can cut food. The process of eating is thus easy and intuitive for people who may have a wide variety of severe paralysis disabilities.

Abstract: A controlled material transport system (MTS) for carrying materials to and from workstations, test equipment, and processing and assembly tools in a common facility. The present invention includes a rigid robot vehicle mountable to a passive track system, which can be routed to service all processing tools on the factory floor. The robot vehicle includes a hoist assembly and gripper assembly, which together perform such functions as picking up magazines, placing magazines, and loading magazines into the processing tools. The hoist assembly is capable of functioning in an operational envelope, which includes any target location within a 3-axis Cartesian coordinate system, to the extent of the range of motion of the hoist assembly. The hoist assembly also provides rigid and controlled z-axis travel, while being compact when retracted. The gripper assembly facilitates loading of the magazines, especially chute style magazines, which are commonly found on many existing processing tools.

Abstract: An apparatus for extracting a single bar from a plurality of bars, comprises a holding device for nipping the single bar. The holding device comprises nipping-members, which face each other and are capable of being opened and closed. The nipping members have a taper space formed therebetween so that only a single bar locating in a peak portion of the taper space of a plurality of bars received therein can be nipped.

Abstract: The present invention relates to a method and apparatus for the automatic receipt and distribution of products, such as parenteral products or oral/solid products from a hospital pharmacy or specimen from a laboratory, through a pneumatic tube transport system. More specifically the system of the present invention includes a robotic transfer device capable of automatically receiving and opening a pneumatic tube carrier, automatically retrieving a product from a pick-up point and placing the product into the carrier, and automatically closing and distributing the carrier into a pneumatic tube transport system.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include proximal and distal rest pads (24, 26, 124, 126) having pad and backstop portions (32, 34, 132, 134) that support and grip the wafer either by wafer peripheral edge contact or within an annular exclusion zone (30) that extends inward from a peripheral edge of the wafer. An active contact point (50, 150, 222) is movable by a vacuum actuated piston (52, 152) between a retracted wafer-loading position and an extended position that urges the wafer against the distal rest pads to grip the wafer at its edge or within the exclusion zone. The end effector further includes fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters.

Abstract: A force display master interface is provided for interaction with teleoperated robotic slave manipulators or virtual slave entities. The device provides a de-coupled actuator that permits selective engagement between the actuator and the fingertip. A method for high speed control of force display masters is disclosed, which includes determination of a pre-contact state of the slave entity and an object in the slave environment. Operation on the pre-contact state information is used to pre-position the actuator into an appropriate position to represent the contact to the operator, before slave contact is made. In one embodiment, the force display master provides a hand mounted linkage assembly, in combination with a remote control assembly that measures fingertip motion and selectively provides resistance thereto. In another embodiment the invention includes general linkage-actuator arrangements that can be used singly or in combination to provide a variety of master interface devices.

Abstract: To provide a substrate transport device and a transport teaching system which can automatically perform a teaching processing in order to reduce the burden of an operator and to eliminate a positional shift accurately and efficiently in a short time. Optical connectors 251, 252, 253 and 254 of a jig 200 and optical connectors 256, 257, 258 and 259 fixedly provided on a substrate transport device are opposed to each other and optical axes are coincident with each other. A lens having a high condensation ratio is provided in each optical connector. A light signal is output from optical sensor heads 231 and 241 through an optical fiber F2, each optical connector and an optical fiber F1, and a light signal input to optical sensor heads 232 and 242 is guided into the substrate transport device. Then, an arm 31b is automatically moved in a three-axis direction. Thus, an edge position of a detected portion 122 is detected to acquire positional information so that teaching information is obtained.

Abstract: A system and a method for re-calibrating a robot, an end-effectuator of the robot and a fixture for holding a production part based upon measurements recorded by a sensor after contact or interception with random points along the three-dimensional contour of the end-effectuator of the robot.

Abstract: An articulated apparatus is disclosed that includes a first link member, a second link member, and a third link member. The second link member is coupled to the first link member at a proximal end of the second link member by a first joint having a first axis of rotation. The third link member is coupled to a distal end of the second link member by a second joint. The movement of the third link member with respect to the second link member is governed by at least one tendon that passes through the first axis of rotation of the first joint such that movement of the second member with respect to the first member does not cause movement of the third member with respect to the second member.

Abstract: A self-teaching robot arm positioning method that compensates for support structure component alignment offset entails the use of a component emulating fixture preferably having mounting features that are matable to support structure mounting elements. Robot arm mechanism motor angular position data measured relative to component emulating fixture features are substituted into stored mathematical expressions representing robot arm vector motion to provide robot arm position output information. This information indicates whether the actual relative alignment between the robot arm mechanism and a semiconductor wafer carrier is offset from a nominal relative alignment. The robot arm mechanism position output information can be used to effect either manual or automatic correction of an offset from the nominal relative alignment.

Abstract: A method for cell alignment, identification and calibration of part of a robot tool, preferably a part of the robot tool, is positioned close to a detector, whereupon it is moved repeatedly past the limit of the area of detection of the detector. During the movement, the pose of the robot is registered each time the surface of said robot tool comes into tangential contact with the area of detection, and an over determined system of equations is formed, consisting of a correlation between the registered poses and unknown parameters regarding the detection area of the detector and the location of the robot part in space. An error vector is introduced into the system of equations, which is then solved while minimizing the error vector, preferably in the least square sense, in order to thus identify said unknown parameters and the error vector.

Abstract: A robot vehicle for hot-line job for transmission and distribution lines which comprises an insulating boom formed of an insulating material at a tip end stage of multiple stage booms, a base end of which is supported on an elevated work vehicle to be capable of swinging, pivoting up and down, and extending and contracting, and a frame provided on the tip end of the insulating boom, the frame mounting thereon double arm manipulators of multishaft construction for performing a distribution work, a slide device for sliding independently these right and left double arm manipulators front to rear, and lifting arms of multishaft construction having a function of lifting a heavy article, so as to allow an operator to perform remote control. An electric actuator is used for driving the double arm manipulators and the slide device, and hydraulic manipulators for driving the lifting arms.

Abstract: A robot with multi-joint arms, wherein articulated first and second arms 9, 10 are movable in a horizontal plane as well as in a vertical direction, the second arm having a free end to which a supplementary unit A is removably connected, the supplementary unit A including a joint member 17 adjustably connected to the free end of the second arm 10 and a working member 18 removable connected to the joint member 17. The working member 18 has a predetermined length Lx which determines the effective length L2 of the second arm 10, and wherein the data representing the effective length L2 of the second arm is entered to renew the existing effective length of the second arm to produce new data representing the value of the newly entered effective length L2 of the second arm 10, the new data being employed to calculate out the value to control the operations of the first and second arms 9, 10.

Abstract: A correct track calculating section calculates a correction amount in accordance with a reaction force acting on the working end of a robot. The correction amount is added to a given provisional target position so as to reduce the reaction force. When the reaction force increases excessively, an on-off switch is closed and a selector switch is switched to decelerate and stop the working end of the motor at a virtual position.

Abstract: Device to separate rolled bars (12), the bars (12) emerging from the cooling zone and being fed by conveyor means in a direction substantially transverse to the axis of the bars (12) and displaced along a plane by movement means (14), the movement means (14) being separated lengthwise, there being included a counting device (13) to form bundles consisting of a desired and defined number of bars (12), the device comprising a plurality of separator units (15) aligned lengthwise parallel to the bars (12) and each arranged between two adjacent movement means (14), each separator unit (15) comprising at least a pair of distancing pins (16), the distancing pins (16) including a first inactive position lowered and “retracted below the plane (“x”) on which the bars (12), lie and a second active position raised and protruding with respect to the plane (“x’”) on which the bars (12) lie and inserted between two adjacent bars (12), the distancing pins (16),in the first inactive positio

Abstract: A robot has a plurality of components which can pivot relative to each other, in particular robot arms. Changes in separation between individual points of the robot thereby occur. This must be taken into consideration when guiding the operation cables for robot elements and in particular robot tools. The cables must be capable of accommodating length changes while being loaded to as little extent as possible during motion of the robot so that they have high durability and are not prematurely damaged. In accordance with the invention, a robot having cables extending at least partially on the outside, in particular operation cables for robot tools such as a welding tool, has cables guided in a substantially circular loop at the height of a robot arm which can pivot about an axis of the robot.

Abstract: A method for detecting physical interference with desired transport of an article. The method includes the step of detecting an operative acoustic signal representing the structure-borne sound pattern of an article during said article transport, and detecting the presence of interference based on the acoustic signal. A system for performing the method includes a transport device adapted to transport the article through a predetermined path and an acoustic sensor in structure-borne acoustic contact with the transport device and capable of producing an acoustic signal indicative of physical interference.

Abstract: A legged moving robot has an action plan function to operate according to a predetermined action plan. The legged moving robot has a fuel cell for supplying operating electric energy for the legged moving robot, an operation control unit for controlling operation of the legged moving robot according to the action plan, and an electric generation managing unit for monitoring a state of the fuel cell and contents of the action plan and for regulating an amount of electric energy generated by the fuel cell depending on the action plan.

Abstract: A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained.

Abstract: An articulated apparatus is disclosed including a plurality of link members each in communication with and rotatably moveable with respect to at least one other adjacent link member about an associated joint between the adjacent link members. The plurality of link members include a first link member that extends in a first direction and is associated with a first joint having an axis of rotation in a second direction that is different than the first direction, and a second link member that extends in a third direction and is associated with a second joint having an axis of rotation in a fourth direction that is substantially coplanar with the third direction. The apparatus also includes a base portion including a drive assembly for controlling the movement of each of the link members with respect to other link members about the joints via tendons that control the rotational movement of the link members about the joints responsive to the drive assembly.

Abstract: Positioning apparatus to place a reference point at selected locations in a plane. Two carriages are independently mounted to a carriage rail. The rail bears location references and the carriage carry sensors responsive to them to learn their positions along the carriage rail. Guideways and guide rails are mounted in pairs to a respective carriage and to an interface member bearing the reference point. They form an angle between them such that the interface member moves in the plane as a function of the locations of the carriages along the axis and relative to each other. Drivers drive the carriages in response to commands related to the location of the carriages.

Abstract: A calibration method enables a visual sensor attached to a robot to be calibrated easily, quickly, and accurately without using a mechanism for accurately setting a calibration jig or a wide jig setting space. First calibration pattern data, which includes the coordinate values of dots composing a dot pattern formed on a pattern plate (3) mounted on the distal end of an arm of a first robot (1), in a common coordinate system is entered in a visual sensor control device (20) by means of a first robot control device (10), and pattern plate image data is delivered from a camera (6), which is mounted on the distal end of an arm of a second robot (4), to the visual sensor control device (20).

Abstract: An electronic components mounting machine comprising an actuator(7), whereby electronic components are mounted on a substrate, a camera(5) whereby coordinates of recognition marks formed on the substrate at four places at least, are detected, a controller(6) whereby actuator(7) is controlled, a mounting data table(9) wherein information on mounting coordinates and mounting angles of electronic components to be mounted is stored, and a correction data table(10) wherein information on correction values to be applied to the mounting coordinates and mounting angles in reference to the substrate, on which the electronic components are mounted, is stored, and characterized in that the correction data table(10) stores information on correction values for each respective cell, which is formed by dividing the substrate into a plurality of small sections according to a specified rule in reference to the coordinates of recognition marks detected by the camera(5), thus enabling to mount each respective electronic compone

Abstract: A substrate transport apparatus comprising a robot transport arm and a substrate aligner located on the robot transport arm.

Abstract: For association with a packaging line, a device for overturning packaged editorial products which grips the editorial products (12) advancing on a conveyor belt (13) and overturns them to superpose them on the next product in order to facilitate their final stacking within a collection element. Such a device is particularly advantageous when handling packaged editorial products the thickness of which varies along their length by virtue of consisting of at least one editorial product (12') combined within its wrapper with a second added product (12") of different dimensions.

Abstract: A multi-compartment refuse and/or collection vehicle having an automated container handling mechanism that may automatically lift and dump a container into a preselected corresponding charging hopper of the vehicle. A microprocessor controls the extension, lift and lateral position of the container handling mechanism and analyzes the output voltage of potentiometers coupled to the container handling mechanism to thereby coordinate actuation of the container handling mechanism and smoothly pick up the container from the curbside, dump the container into the preselected corresponding charging hopper, and return the container to the same position on the curbside but above the ground a predetermined distance.

Abstract: An end effector storage station that stores end effectors in a horizontal and cantilevered position, each end effector being stored in a known location in space relative to a robotic manufacturing tool. The storage station comprises a plurality of storage cells, wherein an end effector holder is installed within each of the said storage cells. The storage station further including and end effector transport cell that includes an end effector transport cart and transport cart lift to accurately position the transport cart and attached end effector holder to a known and predetermined location in space.

Abstract: A refuse and/or collection vehicle having an automated container handling mechanism that may automatically lift and dump a container into a charging hopper of the vehicle. A microprocessor controls the extension and lift of the container handling mechanism and analyzes the output voltage of potentiometers coupled to the container handling mechanism to thereby coordinate actuation of the container handling mechanism and smoothly pick up the container from the curbside, dump the container in the charging hopper, and return the container to the same position on the curbside but above the ground a predetermined distance.

Abstract: A bag palletizer has a frame equipped with two tier guides, two pallet lift mechanisms, two stacker work stations, and a lift control at each work station. A belt conveyor delivers bagged articles successively to both work stations. A pallet is supported on each pallet lift mechanism and raised until it abuts the bottom surface of the associated tier guide. Bags are manually removed from the conveyor and placed atop the pallets to form a lowermost tier on each pallet. After each lowermost tier is formed, the pallets are lowered by the respective lift mechanisms the height of one tier to provide sufficient space in the tier guides to form another tier atop the lowermost tier. These steps are repeated until a selected number of tiers are stacked atop each pallet at which time each pallet and its stack of bags are removed.

Abstract: A vacuum lifting device that is particularly suitable for lifting refractory slabs used to line aluminum smelting cells incudes suction cups which engage the object to be lifted. A plurality of mechanical supports can be moved so that they extend at least partly underneath the object being lifted when the object is raised from the ground. The mechanical supports can hold the object in case of vacuum failure and improve the safety of the device. An optional automatic override can ensure that the mechanical supports are in the down position in the case of vacuum failure.

Abstract: A mechanism and method for mounting components on a substrate in an accurate location. The components are presented in the sensing station at successive positions to determine the optimum position for their determination and this optimum position is preset into the apparatus and all like components are subsequently measured only in that optimum position.

Abstract: A component mounting apparatus and method for mounting components on to-be-mounted positions of works, includes a carrying device for continuously and successively carrying the works in a working area, and a first component-mounting device for picking up one component from component supply units in a first component supply section and mounting the picked-up component on the to-be-mounted position of one of the works being continuously and successively carried in the work area.

Abstract: A robot which does not require electric wires (power transmission wires and signal wires) for interconnecting joint shafts is provided. An electrodeless unit for transmitting electric power by way of high-frequency electromagnetic induction and a unit for transmitting signals by way of optical transmission or high-frequency electromagnetic induction are installed in either a reduction gear that is coupled to the shaft of a motor for actuating each of the shafts of the robot or a direct-drive motor. Electric power or signal wires are drawn through a groove or hollow defined in an output shaft of the reduction gear or the direct-drive motor. Information produced ahead of the output shaft is fed back over signal wires that are drawn through the groove or hollow defined in the output shaft.

Abstract: A collision avoidance technique is provided in an automated semiconductor wafer processing system, wherein a magnet or magnetic strip is incorporated into each boat or carrier used to hold and transport the semiconductor wafers during the IC fabrication process. Additionally, a magnetic field sensing device is incorporated into the robotic arm of the system for sensing the presence of magnetic fields generated by the magnet(s) incorporated into the boats and/or carriers. Using this system, it is possible for the automated system controller to determine whether an imminent collision is about to occur by monitoring changes in the detected magnetic field. In this way, collisions between one boat/carrier and a second boat/carrier may be anticipated and avoided without relying upon physical contact between the two objects in order to detect collision.

Abstract: Basic interchangeable building blocks such as to create a structure and/or an exoskeleton for an apparatus for monitoring and controlling the movements of body members comprising a single axis joint adaptable axis joint, an axial rotation joint, a wrist rotation joint and a linear motion transmission joint, all of which can be spring controlled and/or be controlled by a rotation transmitting cable each having means for producing electrical signals indicative of their movement and can be coupled together so as to permit electrical conduction and rotation transmitting cables to be passed through them.

Abstract: A robotic end effector adapted to be mounted at the end of an arm of a program-controlled robot is capable of providing compliance within a vertical plane as well as alignment along a horizontal axis. A method and system utilizing the end effector to pick up flat or curved glass panels from glass racks and place the glass panels into irregularly-shaped wooden crates. Due to the compliance and horizontal alignment provided by the end effector, the system allows essentially perfect piece-to-piece vertical edge-of-glass alignment and side-edge to side-edge alignment during the packaging process so as to eliminate glass etching/scratching and breakage. The end effector includes a base frame on which compliance devices and side-shift alignment devices in the form of linear bearing systems support a number of material handling devices in the form of suction devices. The handling devices are typically material holding/gripping devices.

Abstract: A grapple comprising a grapple head to which is pivotally mounted left and right tongs. Two double acting hydraulic cylinders extend between the tong pivot points and the other tong. The piston side of the hydraulic cylinders are hydraulically coupled together by a closed center flow divider valve. A cross over relief valve assembly is mounted in parallel with the flow divider valve.

Abstract: A compliancy joint for a robot has six degrees of compliancy freedom and comprises a housing having an inner ring. A float block is movably disposed in the interior of the housing and a plurality of circumferentially arranged pneumatic cylinders on the housing apply force circumferentially to the float block. Sensors are used to detect when the float block is near its compliancy limit and a controller is operatively connected to the sensors and the cylinders for preventing the float block from reaching its compliancy limit. This joint is able to break away from the robot should the robot exceed the device's compliancy limit, preventing damage to the robot and robot end of arm tooling.

Abstract: A system for controlling the locomotion of a biped walking robot by absorbing the footfall impact such that the robot walks stably. In advance, constraint conditions for the robot such as a coordinates position of the robot's center of gravity for the robot to assume a predetermined attitude are preestablished and in walking, robot's joint angles are determined inverse kinematically from the preestablished attitude constraint conditions. The ground reaction force generated at the footfall is detected and a correction amount required for shifting the center of gravity in the impact force absorbing direction is calculated. The attitude constraint conditions are recalculated in response to the correction amount and then the robot's joint angles are recalculated from the corrected attitude constraint conditions in three-dimensional, or at least in one of two-dimensional planes. Instead of the center of gravity, the robot's hip section can be used.

Abstract: A load is gripped between a pair of load-engaging surfaces while the magnitude of any slippage between the load and the surfaces is variably sensed. A slip-correcting system variably predetermines an increase in the grip sufficient at least to decelerate the sensed magnitude of slippage, and the grip is automatically variably increased accordingly. Preferably, the magnitude of slippage sensed is a magnitude of relative movement between the load and the load-engaging surfaces, and preferably the magnitude of relative movement is a time-based magnitude such acceleration. The predetermined increase in the grip resulting from the sensed magnitude of slippage is preferably a predetermined increase in the proximity of the load-engaging surfaces, rather than any particular increase in the gripping force applied by the surfaces. A preferred fluid-powered embodiment of the clamp apparatus is disclosed for use on lift trucks in handling paper rolls and the like.

Abstract: A system especially adapted to retrieve, insert and transport a computer data storage cassette between spaced-apart cassette library and cassette drive unit sites. The system includes a robot carried by a movable transport assembly which is operable to transport the robot between the cassette library and cassette drive unit sites. The robot itself includes an especially adapted robotic manipulator whereby the cassette may be gripped and released. A mechanical cassette ejector is preferably provided to ensure that the cassette is expelled from the fingers of the robotic manipulator when the cassette is released. A push rod may also be provided so as to engage, and thus manipulate, a door which covers a slot of the cassette drive unit.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.