Abstract: A device for the transport of carriers (11,29), in which displaceable containers (27,31) with carriers (29,11) can be coupled with a selection device (33), which is displaceable in vertical direction along a container (27,31) and has two relatively vertical positions with respect to the container (27,31) for the transport of carriers (11,29) at a bringing stage and at a fetching stage, respectively, from and to a positioning device R(B), R(C). The selection device (33) for use in the transport device as described. Use of the transport device with selection device lies particularly in the field of the flexible automation.

Abstract: A work forming apparatus of this invention includes a robot which operates within a predetermined operational range, a working machine with a chuck, a supply loop, a discharge loop, supply pallets for accommodating material works, and discharge pallets for accommodating formed works. An information card is attached to each pallet so as to record work information relative to the corresponding pallet. Two information processing heads are provided for effecting reading and writing of work information at a work supplying section and a work discharging section, respectively. A control device provided for controlling all the above elements inputs a production command so that a specified hand is automatically selected and the robot employs the hand to take the required material works alone out of the supply pallets which are being circulated on the supply loop. The material works are then formed and discharged by the discharge pallet.

Abstract: A continuous semiconductor substrate processing system is operated by a system control structure in accordance with a predetermined processing program. A wafer conveying mechanism conveys wafers to and from each of plural process stations, each of which performs a corresponding process step on semiconductor wafers, to and from a stocker and to and from an inspection unit. Carriers, movable by manual or mechanical structure other than the wafer conveying mechanism, provide for alternative conveying of wafers to and from each of the process stations, the stocker and the inspection station.

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above described. The present invention also includes a vehicle produced by the robot above described.

Abstract: Disclosed is an automatic carrier system having one or more self-propelled robotic carriers for carrying products-in-assembly between assembly stations of an automated assembly line. The running speed and stopping position of individual carriers is controlled by command indicators. The carriers are capable of stopping within a small distance of a desired position relative to an assembly station. Each carrier supports a pallet upon which is slidably disposed a subpallet. Each assembly station has a robotic arm upon which is located a positioning member and an assembling tool. Accurate positioning of product-in-assembly is effected by lowering the positioning member, which comprises two cylinders with tapered openings, over a pair of positioning projections mounted on the slidable subpallets. As the positioning projections slide within the tapered opening of the positioning member cylinders, the sloped surface of the tapered opening causes the positioning projections to move toward the center of the cylinders.

Abstract: A system for handling workpieces comprises a carrier frame and a gripper device secured to the carrier frame and actuatable to grip a respective workpiece. The gripper device comprises a housing including a cylindrical housing member and a bearer head adjoining one end of the cylindrical housing member and carrying a gripper, and an operating device for the gripper arranged in the housing member. The handling system further comprises a bearing for the cylindrical housing member, which has a surface configuration designed to enable the housing member to fit the bearing and to be held thereby, and a coupling device cooperating with the bearing head and holding the bearing head non-rotatably with respect to the bearing.

Abstract: A vehicle body is assembled in a number of stages each including robots which are automatically adjusted to move and secure work pieces such as panels to a basic body member or chasis. One of the stages includes a measuring arrangement which scans the assembled unit with laser beams to determine if the required tolerance have been set. In the event of deviations beyond permissible limits the appropriate correction is derived and fed back to the stage wherein the securing operation in question occured.

Abstract: A substrate and an article to be assembled with the substrate are conveyed separately to an assembly station in which they are assembled. A conveyor line conveying the substrates to the assembly station is provided with an adhesive coating station where the substrate is coated with an adhesive. A conveyor line conveying the articles is provided with a conveyance velocity detection means for detecting a conveyance velocity at which the article is conveyed. A timing in which the substrate starts being coated with the adhesive by an adhesive coating means is adjusted in accordance with a change in the conveyance velocity. A period of time required from a time for the start of coating the adhesive to a time for the start of assemblying the substrate with the article is made constant by adjusting the timing of the start of coating the adhesive.

Abstract: A transfer device for use in treating a work product is disclosed, in which a first gripper assembly rotates about a pivot point located between an input conveyor and a station, and a second gripper assembly rotates about a pivot point positioned between the station and an output conveyor. The rotation of each gripper assembly may be accelerated or decelerated at predetermined points in the rotation cycle by use of a cam, roller, and linkage mechanism.

Abstract: An automobile door opening/closing device according to the present invention is provided with a robot arm capable of moving horizontally toward a door, a non-contact type sensor attached to the robot arm for detecting an upper edge shape of the door, an engaging rod attached to the robot arm and adapted to be moved vertically for insertion thereof into a glass slot of the door, and a drive means for driving the engaging rod. In operation, the robot arm is moved horizontally toward the door in close proximity to the upper edge of the door, and when the non-contact type sensor detects a specific shape of the upper edge of the door, the drive means is operated to insert the engaging rod into the glass slot, and the door is then opened or closed by a horizontal movement of the robot arm.

Abstract: A production line for manufacturing automobiles, for example, has a plurality of self-propelled carriages for carrying workpieces respectively thereon, the self-propelled carriages having respective first emergency shutdown circuits, and a plurality of automatic machines for processing the workpieces on the self-propelled carriages, respectively, the automatic machines having respective second emergency shutdown circuits, respectively. When one of the self-propelled carriage malfunctions, the first emergency circuit thereon is energized to interrupt movement of the self-propelled carriage along the production line, and operation of the automatic machine which processes the work-piece on the stopped self-propelled carriage is stopped in response to a signal which energizes the first emergency shutdown means on the self-propelled carriage.

Abstract: A countour detecting apparatus which comprises: a picture-data input device for the input of data on a picture including an object to be detected; a video-signal generator for scanning the data on the picture and generating video signals each corresponding to luminance of each pixel of the picture; a picture-data memory for sampling the video signals corresponding to each of two-dimensional coordinates of the pixels and storing the sampled video-signals; and a contour detector for moving a pair of a first picture section and a second picture section, which is arranged to be apart by a predetermined distance from the placed in parallel with the first picture section, in the picture stored in the picture-data memory, the countour detector also detecting the position of the first and second picture section in case where the absolute value of the difference between a first sum of the video signals stored in the picture-data memory corresponding to the pixels in the first picture section and a second sum of the vi

Abstract: To transfer cartons (12) arriving on delivery conveyors (13, 14) onto pallets (10, 11), a pivoting conveyor (15) (robot) is used, and this takes up the cartons (12) by a suction head (17) and, by pivoting and moving up and down, feeds them to the pallet (10, 11). To reduce the lifting movements of an articulated arm (16) which are thereby necessary, by platforms (30, 31) movable up and down the cartons (12) are conveyed upwards or downwards to the articulated arm (16), so that the lifting movements of the latter are reduced correspondingly.

Abstract: The invention relates to an apparatus for automatically feeding each of a sequence of crucibles (3), which are arranged on a conveyor, to a test oven (12) for vaporization and content analysis of a sample contained in each crucible. For cradling each crucible, a gripper head (13) is provided. In order to provide an apparatus in which the number of mechanically moving parts is minimized, the gripper head is rigidly mounted on the end of an operating piston (7). The gripper head preferably comprises two spaced, co-linear crosspieces (16) which face each other and engage under an outwardly extending circumferential flange (17) on the top of each crucible (3). The operating piston (7) and a lifting piston (6) are oriented vertically and connected together at their tops by a transverse crossbar (10). Lifting piston (6) is rotated about its axis (8) by a drive motor, thereby revolving operating piston (7) along a circle (11).

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: The take-out mechanism comprises first and second container gripping structures (50a, 50b) and independently operable moving structures (58a, 70a, 72a; 58b, 70b, 72b) therefor. Each moving structure comprises a first horizontally-disposed linear motor (70a; 70b) operable to move the gripping structures horizontally along the center-line of the machine, a second horizontally-disposed linear motor (72a; 72b) disposed perpendicularly relative to the first horizontally-disposed linear motor and operable to move the gripping structures horizontally perpendicular to said center-line, and a vertically-disposed linear motor (58a; 58b) operable to lower the gripping structures from the level at which they are moulded in the machine to a level at which they can be released on to a conveyor (30).

Abstract: A robot for serving a product dispensed from a product dispenser to a customer including a processor and a robotic arm. The processor stores a predetermined instruction set and generates command signals according to the instruction set. The robotic arm is responsive to certain ones of the command signals for transferring the dispensed product from a product dispense location to a position adjacent the customer for removal by the customer. The robot may further comprise a communications system for storing a set of predetermined messages and is responsive to certain other ones of the command signals for announcing selected ones of the messages. Furthermore, the robot may further include a transport system for transferring the dispensed product from the position adjacent the customer, the product dispense location and the position adjacent the customer beyond reach of the customer, to a position within reach of the customer.

Abstract: A method and apparatus for fitting, by a manipulator, a cylinder head to an engine block in proper registry relative to each other through engageable locating pins and recesses prior to assembling rigidly with a plurality of coupling bolts into one whole integral body in an automatic assembling line. The engine block is formed with bolt engaging bores and is placed on the main assembly line. Coupling bolts are inserted through bolt receiving bores formed in the cylinder head with the bolts protruding. The cylinder head is brought from an auxiliary assembly line and set on the engine block while inserting the protruding coupling bolts into the bolt engaging bores and thereby the cylinder head is securely, albeit temporarily, held on the engine block pending tightening of the coupling bolts even if the locating pins and recesses are not perfectly aligned.

Abstract: A method of assembling a plurality of individual parts to manufacture a workpiece, which comprises the steps of placing each single individual part in a holder in a preparation stage, the holder holding each single individual part in a predetermined position, conveying an assembly support along a conveying path to sequentially arranged work stations whereat the parts are assembled on the assembly support, conveying the holders from the preparation stage to the work stations along the conveying path for alignment of the holders with the assembly support, removing the parts from the holders at the work stations and placing them on the assembly support for assembly thereon, returning the holders empty to the preparation stage after the single individual parts held therein have been removed, and again placing individual parts in the returned holder in the preparation stage in a predetermined position.

Abstract: The instrument panel is clamped at both longitudinal ends thereof onto an assembly jig mounted on a robot arm. The jig holding the panel is inserted widthwise into the car cabin through a door opening. The jig is moved to a preassembly position where the end walls of the panel overlap outer side surfaces of mounting brackets previously installed in the car cabin. The end walls of the panel are then fastened in place by nut runners provided at both ends of the assembly jig. The nut runners are mounted on tool holders which are able to perform a floating movement in a plane perpendicular to the car width direction. Positioning devices are provided at both ends of the jig to correct the position of the tool holders with respect to the brackets to align and position the panel so that the mounting holes in the end walls of the panel line up with the tapped holes in the brackets.

Abstract: Transfer mechanism to pick up an object such as a wafer used in the manufacture of semiconductor chips from one location, lift the object, transfer the same laterally, lower it and later deposit the same in another location. A horizontal feedscrew mounted in a stationary base controls horizontal reciprocation of a transverse housing. A vertical feedscrew mounted in the transverse housing controls vertical reciprocation of a second housing. Supported by the second housing are one or more lifts. Each lift has guide rods fixed relative to the second housing and a stop on its lower end. Parallel and adjacent the guide rods is a reciprocating rod carrying a gripper on its lower end. At the end of the vertical movement of the second housing the reciprocating rod moves the gripper away from the stop so that a wafer may rest on the guide rods. As the second housing moves up, the gripper clamps the wafer against the stop. Motors drive the feedscrews to lift the wafer, move it transversely and lower it.

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: A manufacturing line control system wherein the hardware region of a main memory is divided on basis of different pieces of information to be stored, the main memory being in a CPU board within a line computer which synthetically judges and processes data transmitted from a manufacturing line; and access control portions are disposed on each of the regions for performing high speed access upon instruction of identical page by a microprocessor. Various analog signal, digital signal and status signal issued from a product passing through the manufacturing line are inputted from the line computer into various equipment installed on the manufacturing line, and control signals are transmitted to the various equipment by a line controller including an input-output portion with which a plurality of card equipment is detachably provided for the application of various types of manufacturing line.

Abstract: Installations for assembling by welding or other means comprising means for positioning the various constituent parts, at least one programmeable means for assembly by welding or other means.An installation characterised in that it comprises at least one gantry (10, 11) the upper face of which accommodates the programmeable welding or other means which can be moved on at least one mobile cross member (10.sub.1, 11.sub.1) and in that means (13, 14) are provided to move constituent parts in the lower zone of the gantry and to immobilise them under the welding means.

Abstract: Windshields are automatically mounted on automobiles on the assembly-line by advancing a gripping device carrying the windshield and associated position sensors relatively towards the automobile, moving the sensors over a windshield opening in the automobile body shell and across edges of the shell defining such opening to provide signals indicating the position of such edges. Such measurements take place firstly on a gross scale and subsequently on a fine scale along at least four axes during the mounting process. The gross position of the windshield opening is first detected using the gross sensors. Starting from a reference point determined in the course of the gross measurement, a gripping device is then moved towards the upper edge of the windshield opening until a first of two fine sensors moves across such upper edge when the gripping device is pivoted around the detected point until the second fine sensor also moves across the upper edge.

Abstract: A clip-clinching device for a coil-spring unit includes an arch having a pair of laterally spaced upstanding poles and a horizontal bar connecting upper end portions of the poles. First and second carriers are positioned on the horizontal bar and are movable therealong. First and second members are respectively provided on the first and second carriers and are movable in the vertical direction. First and second clip-clinching tools having projecting tongues at which a jaw is defined are respectively mounted to the first and second members. A base member positioned under the horizontal bar supports a movable coil-spring unit transfer device for movement along a line perpendicular to the horizontal bar.

Abstract: A method of feeding a work station, which utilizes a robot to grasp workpieces one after the other at a charging station to which the workpieces are successively conducted to feed them to the work station and to transfer the workpiece worked upon to a discharging station. The robot grasps every workpiece arriving at the charging station by a workpiece holder that grasps the workpieces at a predetermined place thereon and holds them during all the time of transfer thereof and working thereon and releases the workpieces only when they arrive at the discharging station. At the work station, the workpiece holder is held in a very precise position by a gripping block rigidly fixed to a member in the work station. An apparatus for practicing this method comprises a workpiece holder adapted to the geometry of the workpieces to be processed, and a gripping block mounted on a member in the work station and arranged to receive the workpiece holder and to securely hold the same in a precise position at the work station.

Abstract: An automatic wheel attachment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the detecting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: In an apparatus for processing objects positioned on a conveyor belt by way of a processing device that moves to and fro in parallel to the conveyor belt a correction mechanism is provided for controlling the relative position of the processing device and the object. The correction mechanism can comprise two detection devices for detecting the position of the objects and the processing device, respectively, and a control unit for, in relation to the signals of the detection devices, changing the position of the processing device.

Abstract: A walking beam conveyor (54) delivers drill bits (B), one at a time, into a feed position. A pushrod (52) moves a drill bit (B) from the feed position into the nosepiece (36) of a robot arm (28). The drill bit (B) enters the nosepiece (36) shank end first. The shank (84) enters into and is gripped by a collet (38) in the nosepiece (36). A stylus (66) is then lowered down onto the point end portion of the drill bit (B) and the drill bit (B) is rotated about its axis until the stylus (66) drops down to the bottom of the drill bit flute (70). Rotation is immediately stopped and the robot arm (28) is retracted and swung into a position of alignemnt with a drill bit holder (18) of a sharpening machine. The robot arm (28) is then extended to place the drill bit (B) into a collet (C) in the holder (18). The collet (C) is operated to grasp the drill bit (B) and the collet (38) in the nosepiece (36) is operated to release the drill bit (B).

Abstract: A system for automatically distributing and supplying parts includes a parts distributing device for delivering an array of parts, and a parts supplying device for feeding the parts to a parts installing device at spaced intervals corresponding to parts installing positions. The parts supplying device has a first positioning member for receiving the delivered array of parts, a second positioning member connected to the first positioning member through flexible tubular members for spacing the parts at the spaced intervals, and a parts feed mechanism movable selectively into confronting relation to the second positioning member and the parts installing device for receiving the parts from the second positioning member and feeding the parts to the parts installing device.

Abstract: An applying robot which is disclosed herein comprises a movable arm having an applying gun and reciprocatingly movable at least between a work carry-in position and an applying position; and a work transporting hanger member mounted on the movable arm for engagement with and disengagement from a work in the individual positions.

Abstract: In an industrial robot according to this invention, at least three points among a large number of off-line teaching points set for tasks are directly taught in the actual site of the tasks, the "deviations" between the actual teaching points and the off-line set teaching points respectively corresponding to each other are computed in directions X, Y and Z, and all the large number of off-line teaching points are corrected on the basis of the errors detected for at least the three points.

Abstract: An improved apparatus and method for feeding a large volume of electrical components to a vision controlled robotic placement apparatus is provided. Electrical components in a reeled pocketed carrier tape are indexed along a dereeling component feeder to a pick up station. Forward advance of the carrier is stopped when an optical sensor in the feeder senses that a depending pocket in the carrier tape is generally positioned at the pick up station. The vision control system on the robot is relied upon to locate the pocket at the pick up station and to locate the individual components presented in the pocket. The components are robotically unloaded from the carrier one at a time and placed on a printed circuit board assembly at a second station with the guidance of the vision control system. As the last component is picked up for placement, the vision control system signals the carrier tape drive to index the next pocket to the pick up station.

Abstract: An apparatus for loading a spare wheel on a vehicle body comprises a robot operative to load the spare wheel on a predetermined portion provided in the vehicle body supported and transported by a carrier mounted on a vehicle body conveying device, a speed detecting device including a movable mechanism which engages temporarily with the carrier to move together with the carrier and detecting a speed of transportation of the vehicle body based on a speed of movement of the movable mechanism, and a robot moving device for shifting the robot along a direction of transportation of the vehicle body at a speed determined in response to the speed detected by the speed detecting means.

Abstract: Target based machine vision method and apparatus are disclosed, useful for alignment of sensors and other objects affixed to structures, robots and the like.While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.

Abstract: An article picking up mechanism for picking up articles placed in a container one by one for assembling the articles on works. The mechanism includes a tiltable table for receiving the container and tilting it to thereby shift the articles to one side of the container leaving a space in the other side. A manipulator robot is provided to shift one of the articles toward the space and grip the article to take out of the container.

Abstract: A windowpane mounting system for mounting a windowpane on a vehicle body comprises a vehicle body conveyor for intermittently feeding the vehicle body, and a windowpane mounting robot for mounting a windowpane on the vehicle body at a windowpane mounting station. The windowpane mounting robot is arranged to be movable between a first mounting position for mounting one of the windowpanes for the windshield and the rear window and a second mounting position for mounting the other windowpane, the first mounting position being further than the second mounting position from a windowpane supply station at which the windowpane mounting robot receives the windowpanes, and is arranged to perform a mounting operation at the first mounting position in response to the feeding of the vehicle body to said windowpane mounting station by the vehicle body conveyor.

Abstract: A walking beam conveyor (54) delivers drill bits (B), one at a time, into a feed position. A pushrod (52) moves a drill bit (B) from the feed position into the nosepiece (36) of a robot arm (28). The drill bit (B) enters the nosepiece (36) shank end first. The shank (84) enters into and is gripped by a collet (38) in the nosepiece (36). A stylus (66) is then lowered down onto the point end portion of the drill bit (B) and the drill bit (B) is rotated about its axis until the stylus (66) drops down to the bottom of the drill bit flute (70). Rotation is immediately stopped and the robot arm (28) is retracted and swung into a position of alignment with a drill bit holder (18) of a sharpening machine. The robot arm (28) is then extended to place the drill bit (B) into a collet (C) in the holder (18). The collet (C) is operated to grasp the drill bit (B) and the collet (38) in the nosepiece (36) is operated to release the drill bit (B).

Abstract: An automatic assembly apparatus has a first conveyor for transporting trays carrying parts to be assembled, a second conveyor for transporting pallets on which the parts are to be assembled and which extends parallel to the first conveyor, a stocking station positioned between the first and second conveyors and at which a plurality of the trays can be accommodated, a working station adjacent to the second conveyor, a pusher arm for moving trays from the first conveyor to the stocking station, and a root mounted between the first and second conveyors for carrying the trays from the stocking station to parts supplying stations adjacent the working station, and for assembling, on pallets transported to and from the working station by the second conveyor, parts removed by the robot from trays situated at the parts supplying stations, whereby a plurality of parts can be assemled by a single robot and it is possible to automatically and efficiently assemble the parts even in cases of relatively small scale producti

Abstract: A system for transferring, positioning and machining a workpiece includes a transfer device for transferring the workpiece to a prescribed position, a positioning device disposed in the prescribed position for positioning the workpiece, a machine tool for machining the workpiece, and a delivery robot disposed in the prescribed position for delivering the workpiece to the machine tool. The positioning device is used to position workpieces successively. Therefore, it is not necessary to provide positioning devices which would otherwise be associated with respective workpieces. The positioning device includes a positioning pin which is displaceable toward and away from a workpiece. Since the positioning pin is not held against the workpiece at all times, the positioning pin is prevented from being damaged or broken by physical interference with surface irregularities of the workpiece.

Abstract: An apparatus for starting a playback action of a teaching-playback robot, which is simple in construction and capable of handling works of various kinds or types, essentially including in combination: a start signal generating mechanism adapted to produce an output start signal upon detecting arrival of a work being transferred by a conveyer at a predetermined position upstream of a teaching-playback robot; a discriminating mechanism for detecting the type of the workpiece which has arrived; a delay amount selector mechanism for selecting a delay amount according to the type of the detected workpiece; and a start delay mechanism for delaying the start of the playback action of the teaching-playback robot by the selected delay amount from the point in time of production of the start signal.

Abstract: A method and apparatus are disclosed for the automated loading of parts wherein multiple gantry robots are utilized to pick up automotive parts from movable transfer beds and placed into predetermined positions in containers which are serially indexed through the work envelopes of the robots until the containers are full. In the disclosed embodiment, the method and system are utilized for racking automotive parts after they exit a sheet metal stamping machine. Preferably, empty containers are automatically delivered to a container queue such as by an automatic guided vehicle system (AGVS) at an unloading station adjacent the robots. Thereafter each AGV is moved to a loading station to receive and retain thereon containers loaded with parts by the gantry robots.

Abstract: A plate member locating-and-feeding system comprises a locating system for locating a plate member fed to a locating station, a position sensor for detecting the position of the plate member located by the locating system, a suction feeding system for holding the locating plate member under a suction force and feeding it to a working station, a working robot provided at the working station for performing a predetermined process and a controller which stores regular working position data, and corrects the regular working position data on the basis of difference between the position data represented by the output signal of the position sensor and the regular working position data, and controls the working robot to perform the predetermined process according to the corrected working position data.

Abstract: An apparatus for performing a work function on a workpiece comprising a stationary support member, a workpiece support assembly mounted on the stationary support member for pivotal movement about a vertical axis, first and second workpiece holding members mounted on the workpiece support assembly, a mechanism for pivoting the workpiece support assembly between selected positions to move one of the workpiece holding members into position at a first station at which a work function may be performed on a workpiece while simultaneously moving the other workpiece holding member into position at a second station at which a workpiece may be loaded and unloaded, and a robot mounted on the stationary support member operable for performing a work function on a workpiece positioned at the work station.

Abstract: A reciprocating device for spray painting an object includes a plurality of mounting arms each having one end releasably retaining a spray painting device and an opposite end releasably coupled to one of a pair of spaced apart generally parallel vertically extending posts. The posts are attached to a driving mechanism which includes a servomotor coupled to one end of a crank arm having its other end rotatably coupled to a sliding block engaging a generally horizontally extending rod to convert the rotary motion of the motor to vertical motion of the rod. The rod is coupled to the ends of the posts and the motor is controlled as to its direction of rotation, speed of rotation and degree of rotation to define the excursion of the reciprocating movement and the speed of the movement. The assembly is mounted on rails for movement toward and away from the object to be painted by another driving mechanism.

Abstract: A workpiece manipulating apparatus for faceplate panels of cathode ray tubes includes a conveyor for carrying panels along two groups of grinder stations in a pattern coordinated with carriage mounted loaders which move along the conveyor. The conveyor indexes to loading stations as do the loaders. Unground panels are sequenced to the stations as the loaders are present. Loaders pick the unground panels from the conveyor and transfer them to an orienting station which orients panels for loading into a grinder. Loaders pick an oriented panel from the orienting station and load it in to the grinder at the loading station. They also pick up ground panels from the grinder and place them in a reorient station and pick ground panels from the reorient station and place them on the conveyor in the position from which they removed an unground panel. The loader advances to a next loading station to load a next grinder and the conveyor with panels picked up at the preceeding station.

Abstract: In the commercial production of licorice bites, each about 1 inch long, a group of extruded 54-inch licorice strips are lifted by a programmable controlled robot from the discharge end of a lower conveyor and deposited at the input end of an upper conveyor which carries the strips to a cutting station. The robot hand has a lower stainless steel blade for insertion under the group of licorice strips to wedge the sticky strips from a board on which they are being carried by the lower conveyor. The robot hand includes an upper bar. The bar is moved relative to the blade after insertion of the blade under the licorice strips, thereby clamping the strips between the bar and the blade. The arm of the robot then lifts the hand and clamped group of licorice strips and deposits the front ends of the strips at the input of the upper conveyor.

Abstract: A method and apparatus is disclosed for setting up fixed and robotic systems by using a robot programmed by design data for a part of structure to simulate a master of same. Envisioned primarily for use in auto body fabrication processes, the invention is generally useable with smaller parts and assemblies. It is considered vitally useful for programmable assembly of bodies or other larger objects where a variety of styles or other considerations virtually preclude effective master parts. The invention sequentially creates, point by point, a master in space, using programmable placement of master surfaces, target points, or cameras capable of evaluating location of assembly robots and other items, generally from target points thereon.

Abstract: A piling planning method for cargoes in which an operator can designate a piling position of each of the various cargoes, and by displaying the piling result graphically on a graphic terminal, a piling patern is determined so that vacant space is reduced, and by using a final piling pattern, a piling position and a piling order of each cargo, and a piling operation sequence of the palletizing robot are determined. A piling system is provided in which cargoes supplied thereto are piled on a pallet in accordance with piling planning data prepared by a piling planning device which executes the above piling planning method.