Abstract: An industrial robot system comprises a control unit including programs for operating an industrial robot and a peripheral device of the industrial robot according to the programs; a memory for storing the steps of the programs which are effected when the industrial robot and peripheral device are stopped unintentionally; a detector for detecting the conditions of the industrial robot and peripheral device when the industrial robot and peripheral device are stopped unintentionally; and a restarter for starting the industrial robot and peripheral device again when the contents of the memory coincide with the conditions detected by the detectors.

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: An apparatus for predicting the lifetime of cables for movable portions of an industrial robot, the apparatus comprising: measuring devices connected to the cables for the movable portions of the industrial robot for measuring mechanical movement of the cables for said movable portions; and a CPU for making accummulating results obtained by the measuring devices and predetermined reference values to determine that the cables for said movable portions have exceeded their lifetime if the accumulated exceeds a predetermined reference value.

Abstract: Control circuit, which is connected to a data processor, a D-A converter, such as a current integration type adaptive delta demodulator, and a data processing mode change command terminal, attenuates output from the data processor in response to a data processing mode change command from the data processing mode change command terminal while delaying the data processing mode change command by a first prescribed time to supply the command to the D-A converter and releasing the attenuation of the output of the data processor after a lapse of a second prescribed time which is longer than the first prescribed time. Thus, no instable output data from the data processor appear at the output of the D-A converter so that no noise is caused.

Abstract: A pneumatic radial tire having at least one steel belt layer disposed at a tread portion, wherein each steel belt layer is constituted by mixing and arranging at random a plurality of steel cords having a 1.times.2 twist structure of an S twist and a plurality of steel cords having a 1.times.2 twist structure of a Z twist, and has a mixing ratio of the steel cords having the 1.times.2 twist structure of the S twist to the steel cords having the 1.times.2 twist structure of the Z twist within a range of 4:6 to 6:4 and a difference in the twist pitch of at least 1.5 mm.

Abstract: An industrial robot apparatus has a plurality of robots mounted for movement along a pathway. When a malfunction sensor detects a malfunction of one of the robots, a withdrawal controller withdraws the malfunctioning robot from the pathway, and the operation usually performed by the malfunctioning robot is allotted to one or more of the remaining normal robots by an operation allotter. A normal robot to which an operation is allotted is controlled by a hand replacement controller to replace its detachable hand with a hand corresponding to that of the malfunctioning robot.

Abstract: An industrial robot for casting products by pouring molten metal in a ladle mounted on an arm thereof to successively conveyed molds, comprises a drive mechanism for driving the ladle to incline with respect to the mold, means for measuring a level of molten metal in the mold, means for detecting an inclination rate of the ladle and a central processing unit having a memory for storing an optimum level of molten metal in the mold and inclination rate of the ladle, the central processing unit being adapted to receive a level data from the measuring means and an inclination rate data from the detecting means, compare the data with the optimum level and inclination rate, calculate deviations of the data from the optimum level and inclination, and supply control signals to the drive mechaniam to control the latter optimally.

Abstract: An industrial robot has respective actuators mounted within the main body for moving the upper arm, the forearm, and the wrist via respective gear trains, thereby providing light-weight joint sections and eliminating the need for external cables swinging along with the arms. The upper arm, forearm, elbow, and wrist units are made in modular form for easy replacement and substitution of different length arm units.

Abstract: An industrial robot includes a base body, a hand, first and second horizontal arms rotatably coupled to each other, and a lift shaft provided between the base body and the first horizontal arm. The robot also includes drivers provided on the base body for driving the first and second horizontal arms and the hand, respectively, and transmission mechanisms provided in the base body and the first and second horizontal arms for transmitting the output power of the drivers to each of the first and second horizontal arms and the hand.

Abstract: A running type robot control system in which a plurality of running type robots run along a common running path to actuate machines arranged at both sides of the running path cooperatively. With such a running type robot control system, while in service, the running type robots are controlled so that no interference occurs in service areas of the robots. Further, the running path is provided with turnouts at both ends thereof. When one of the robots is inoperative, the damaged robot is controlled to be directed to the turnout, and the remaining robot is controlled to cover all of the machines. Consequently, productivity or workability is improved remarkably.

Abstract: In an industrial robot, its hand is mounted on a base plate which is elastically coupled to a base body in such a manner that the base plate is slidable with respect to the base body, and a correcting unit is provided to correct an operational origin of the hand. Accordingly, when the hand is struck against something such as a work stand, the base plate is displaced by the impact so that the hand is prevented from being damaged and the origin of the hand is automatically corrected in accordance with the amount of slide displacement of the base plate detected by a detecting unit.

Abstract: A process for producing carbon fiber or graphite fiber is provided. The process comprises spinning a carbonaceous pitch, doubling spun pitch fiber bundles, adding a heat resistant doubling treatment oil, passing the fiber bundles continuously and linearly through an oxygen rich gas, infusibilizing at a temperature of 350.degree. C. or less, then carbonizing or graphitizing infusibilized fiber bundles.

Abstract: An industrial robot control device for use in an automobile manufacturing line for instance. The device is capable of preventing incorrect or improper operations of the machines due to a voltage drop in a power source, which occurs when a plurality of machines including the industrial robots are driven simultaneously.

Abstract: An industrial robot device in which deviation between an offline-teaching instruction and an actual movement of a robot according to the instruction can be eliminated. The elimination of deviation is accomplished by adjusting absolute X, Y and Z axes of software for driving the robot with respect to those of a processing machine which operates together with the robot.

Abstract: An industrial robot adjustment device capable of adjusting the position of a tip end of an industrial robot easily to the origin assumed by software of the industrial robot. The adjustment is electrically carried out by the coupling of a jig positioned at a predetermined position relative to the robot and pins provided to a flange which is detachably mounted on an end portion of an operating arm of the robot.

Abstract: An industrial robot control device for use in an automobile manufacturing line for instance. The control device is capable of preventing incorrect or improper operations of the machines due to a voltage drop in a power source which occurs when the plurality of machines including the industrial robots are driven simultaneously.

Abstract: A industrial robot head device for conveying a workpiece to a working apparatus and performing a working operation on the workpiece by the working apparatus is disclosed in which a grasping device provided with claws for grasping the workpiece is pivotally supported on a frame by a parallel linkage and urged by a spring system in the direction of displacement of the grasping device. The attitude of the workpiece in thereby accurately maintained at all times, even when the workpiece is being urged against a work head, for instance, a welding head gun of a spot welding machine.

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: A piping for control/drive medium of an industrial robot having at least one robot arm, which is to be supplied from a main body of the robot to a hand device thereof, is composed of a plurality of pipe segments adjacent ones of which are connected by a rotary joint disposed on a joint portion of the robot arm, with a rotary axis of the rotary joint being aligned with a rotary center of the joint portion.

Abstract: The horizontal movement actuators 3 of an industrial robot arm 2 are deenergized after an initial engagement between a workpiece 8 grasped by a robot hand and a base member 10 disposed on a support table 12 so that any axial misalignment between the workpiece and a hole 11 in the base member is automatically corrected with the guidance of a chamfer 8a, 10b provided on the workpiece and/or the hole.