Abstract: A indoor-type mechanized storage facility includes a box-shaped casing and an elevator device coupled to the casing. The casing contains a plurality of storage portions which are aligned with each other, and a passageway portion which is formed in front of the storage portions. The elevator device includes an elevator tower which protrudes in a building, and a lifter which supplies the storage unit in the casing to an opened portion of the elevator tower. The casing is disposed in an empty space or below the floor in the building. The mechanized storage facility also includes a conveying car which moves in the passageway portion and conveys the storage unit between the casing and the elevator device, and a control device that controls the operation of the conveying car and that of the elevator device. The conveying car has a transversely conveying device that conveys the storage unit substantially in the horizontal direction to accommodate it in the storage portion.

Abstract: A tray positioning arrangement for delivery system in which a tray is formed of a casing opened at its top and an article receptacle member accommodated therein and having plural article holding pits. The article receptacle member has abutment portions and the casing has openings at its positions corresponding to the abutment portions of the article receptacle member so as to allow a positioning device directly act on the article receptacle member through the openings of the casing and the abutment portions of the article receptacle member.

Abstract: An article delivery apparatus comprising a main body and an article carrier formed essentially of stack of trays holding articles thereon. The main body has at least one tray loading portion for unloadably loading the carrier therein and a shifting mechanism for circulating the trays within the main body through an article delivery position where the articles on the tray are delivered to for example a working robot.

Abstract: A universal robot comprising an X-axis arm (3) which is mounted on a post (1) through a support member (2) movable in the vertical direction and is tiltable into a desired position, and a Z-axis arm (6) which is mounted on a slider (5) movable along the X-axis arm (3) and is tiltable into a desired position. With this arrangement, the transportation of a load to be moved in two-dimensional directions can be carried out by a single linear movement of the slider, so that not only the time required for the load transportation can be reduced but the accuracy of the transportation can be improved very much.

Abstract: An end position control robot constituted by a compound robot comprising a weight control apparatus a weight control robot having a link arm robot and a position control apparatus of a position control robot, both the apparatus being mechanically associated. The weight control apparatus is constructed so as to bear vertical load to control a vertical position and the position control apparatus is constructed in such a manner that a working end portion of the weight control apparatus is moved in a horizontal direction to carry out positioning, which leads to a precise positioning of the end portion of the arm in the case of load being transferred.

Abstract: A robot arrangement adapted to carry a load such as an article, a tool or a cargo to a specified position includes a main robot capable of active movement of the load in rectilinear directions and passive movement in directions parallel to a plane perpendicular to the rectilinear directions, and at least one sub robot capable of active movement of the load in directions parallel to the plane. A flexible connection allows passive movement of the load with respect to the sub robot in the rectilinear directions.