Abstract: An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.

Abstract: An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.

Abstract: A clean assembling module device that achieves cleanliness of a work area where assembling, processing, transportation, etc. of a work item are performed and that can be downsized. The invention also includes a production system, an industrial robot, and a pollution spread prevention system that are formed with the device. A clean assembling module device is provided with clean air generation means on the top of the device and is formed so as to have a work area, a clean air retaining/exhausting area and a mechanism section area, in that order from the top side of the device. The outer periphery of the work area is shielded by a clean area shielding wall. Fluid resistance between the work area and the clean air retaining/exhausting area is controlled by a partition wall having small holes. Air came through the work area and the clean air retaining/exhausting area is exhausted by an air exhausting fan to outside the device.

Abstract: A system which performs heating or the like with respect to a workpiece in a production system for a mechanical product such as a motor, and a production system including this system, for decreasing line inventories, continuously maintaining the cleanliness, and decreasing an installation space. The system comprises: a carriage device (41a, 41b) which is arranged in an oven (40) capable of accommodating a plurality of workpieces (2) and carries each workpiece (2) to a supply side or a discharge side in the oven (40); and a control portion which controls the carriage device (41a, 41b). The carriage device (41a, 41b) is operated in accordance with each workpiece (2), and heat treatment statuses of the workpieces (2) are individually managed in the oven (40). The carriage device (41a, 41b) is set in such a manner that an operation drive device (43) as a drive mechanism thereof is positioned outside the oven (40) and only an operation end (41a) which holds the workpiece (2) enters the oven (40).

Abstract: A cleansing system for automatically cleansing a workpiece through cleansing tanks and drying tanks in steps to process and assemble the workpiece, an ultrasonic cleansing apparatus, a vacuum drying apparatus, a cleansing apparatus, a cleansing tank, a drying tank and a production system. For example, a descending air current with a sufficient wind velocity/air capacity is obtained, a cleansing time is reduced and unevenness in cleansing of the workpiece is suppressed without bringing contaminations in a preceding tank into a following tank. The present invention has a carriage device (21) which carries a workpiece (2) to a predetermined position, a plurality of workpiece processing portions (23) arranged around the carriage device (21) in a radial pattern, a drive portion which drives the carriage device (21), a workpiece supply portion (25) which supplies the workpiece (2), and a workpiece discharge portion (26) which discharges the workpiece (2).

Abstract: A production system which can provide an operating environment consisting of a clean atmosphere when an environment which can prevent dust from entering is required in an operation such as processing, assembling or the like of a workpiece.

Abstract: An automatic transaction apparatus comprises a media operation unit having a card access port and paper currency depositing/receiving port and a housing unit which includes a card process portion and a plurality of paper currency dispenser portions which are positioned at the side of the card access port and the paper currency depositing/receiving port. Also included are a slider portion which is arranged to be movable in a given direction behind the card access port and the paper currency depositing/receiving port and in front of the card process portion and the plurality of paper currency dispenser portions. Further included are a transport unit which is supported by the slider portion, and which has a chuck portion which is movable between the operation unit and the housing unit. A controller also forms part of the apparatus; the controller controls movement of the slider portion and the chuck portion.

Abstract: A first rotatable arm and a second arm rotatably are connected together at a forward end of the first rotatable arm. A hollow hole portion is formed at a rear end portion of the second arm and has a hollow projecting shaft provided at one side coaxial with it. A supporting plate and a second shaft are provided at the forward end of the first arm for rotatably supporting the hollow projecting shaft and the hollow hole portion, respectively, the supporting plate and the second shaft being separated so as to be on opposite sides of the hole portion. A rotary shaft rotatably is supported by the hollow projecting shaft at a center of the latter and a motor is provided in a position separated from the rotary shaft and connected to it. A decelerator is provided between the rotary shaft and the second arm within the hollow hole portion.

Abstract: A method of positioning a planar multi-joint industrial robot in which errors due to manufacturing tolerances and errors in the manufacture of the robot are prevented from affecting the accuracy of the movements of the robot in actual use. The coordinate system of a measuring plate is first made to agree with one axis of the coordinate system of the robot by teaching, and the coordinates of four points on the measuring plate are taught to the robot. The actual arm lengths of two arms of the robot are obtained, and an angle of one of the arms relative to an extension of the other arm on the basis of the four coordinates is determined. Dimensions of the robot to the actual arm lengths and this angle are then corrected, and two reference points of the object are taught to the robot to obtain an inclination between the coordinate systems of the object and the robot. The coordinate system of the robot is corrected with the inclination to thereby obtain the position of the object.

Abstract: A multi-articulated robot is disclosed which comprises a base; a first arm rotatably supported to said base; a second arm rotatably supported at a forward end of the first arm; a work shaft provided at a forward end of the second arm; belts provided below the first arm and the second arm, respectively; a motor provided at the base for driving the work shaft; a hollow shaft fixed to the base, the hollow shaft rotatably supporting the first arm, and the motor being fixed to the hollow shaft; a rotary shaft rotatably supported in opposition to an output shaft of the motor, the rotary shaft projecting into a space defined below the hollow shaft; a declerator interposed between the rotary shaft and the output shaft of the motor and a pulley provided at a projecting end of the rotary shaft, one of the belts being laid around the pulley. The belt laid around the pulley is of the endless type.

Abstract: A lifting head of a swivel arm of an assembly robot having an increased stroke of a lifting shaft and a reduced overall weight. A pair of guide bars are fixedly provided on the swivel arm extending parallel thereto, and a feed screw rotatably supported on the swivel arm extends parallel to the guide bars. A holding plate is fixed to the upper side of the swivel arm. A supporting member is secured to an upper end of the holding plate, the supporting member supporting the upper end portions of the guide bars and rotatably supporting upper end portions of the feed screw. A cylindrical guide having an inner wall of noncircular section is rotatably supported by the swivel arm. A lifting shaft slidably inserted into the cylindrical guide has an upper end portion rotatably supported by the nut member and has a fluid passage formed therein, an upper end of which is coupled to a fluid pipe. A rotating pulley is provided at the lower end of the cylindrical guide.

Abstract: A process for controlling an industrial robot in which most data for controlling the robot can be supplied using a preset process without moving the robot and only data for regions in which very precise control is required need be prepared by actually moving the robot. A programming unit is provided separate from but connectable to a robot control unit. The programming unit is used to compile and transfer completed programs to the robot control unit for controlling the movements of the robot. To program the robot control unit, the programming unit and robot control unit are connected as an on-line system. Then, data describing a desired path of movement is inputted to the programming unit as a series of coordinates in Cartesian form. In regions where very precise control is required, the coordinates describing the desired path of movement are corrected using small corrective motions of the robot. The inputted data and the corrected coordinates are displayed.

Abstract: A robot control apparatus for controlling the movement of an arm of a robot with respect to a workpiece transported upon a pallet moving down an assembly line, wherein the position of the arm of the robot is compensated for in accordance with the position of the workpiece. A reference position memory stores a reference position of one of the pallet and workpiece. A position detector detects the position at which the pallet of workpiece is clamped along the assembly line. A difference between the outputs from the reference position memory and the position detector is used to correct a value stored in a work position memory to thus provide the output data which controls the movement of the arm of the robot.

Abstract: An operation control apparatus for industrial robot in which a speed pattern optimum for the particular task to be performed is utilized. The operational control apparatus includes a plurality of operating program memories for storing completed operating programs compiled by a separate programming device, a speed pattern memory for storing plural speed patterns, a changeover signal generator which generates a changeover signal in response to a predetermined sensed operating parameter of the industrial robot or in response to operation of manual changeover switch, and a changeover circuit for selecting an optimum speed pattern in response to the changeover signal. Rising and falling slopes of the speed patterns can be made different from one another so that the arm of the industrial robot can be moved at a greater speed when it is not in contact with a workpiece than when it is actively manipulating a workpiece.

Abstract: A head for an industrial robot comprising, a head body mounted on an end of an arm of the industrial robot, an internal motor, a nut member and a guide member rotatably supported by the head body. A belt drive device is provided between the motor and the nut member. A screw rod passes through and threadedly engages with the nut member. A spline shaft has at a lower end an operating chuck. A connecting device connects the screw rod and the spline shaft to each other in a sealable manner and slide members for preventing rotation of the screw rod. A fluid is supplied to operate the chuck through passages formed in the screw rod and the spline shaft.