Abstract: There is provided a contact type measuring instrument in which the contact force of a probe is adjusted by a force created by compressed air and an attraction force between a permanent magnet and a magnetic body. This measuring instrument gives a pulling-in force or a pushing-out force to the probe by controlling a fluid pressure in a probe body. Also, between the permanent magnet attached to the tip end of a movable part of a micrometer attached to the probe body and a plate-shaped member attached to the end part on the side opposite to a contact of the probe, an attraction force according to a distance between the permanent magnet and the plate-shaped member is created.

Abstract: An angle adjusting mechanism or a linear axis of a processing machine is provided with a reciprocation device. A tool and a tool cutting mechanism are mounted on a moving part of the reciprocation device. A workpiece is processed by the tool based on a combination of the drive of the processing machine and the drive of the reciprocation device.

Abstract: An off-line data teaching method for a robot in which a desired posture of the robot is maintained in passing the bending portion of the operation line by preparing off-line teaching data for an operation line on a workpiece which is subjected to an operation of a robot, and by performing an insertion of a circular arc. The indicators (A, L and C) representing air-cut points, terminal point of a linear segment, and intermediate and terminal points of a circular arc segment are assigned to each coordinate data of the operation line consisting of linear segments and circular arc segments on a plane. The circular arc J(1)i+1 of small radius is inserted by defining the new teaching points L(1)i+1, C"(1)i+1 and C'(1)i+1 and disqualify the bending point Li+1. The coordinate data after insertion of the circular arc and the indicators are used to determine the position and posture of the robot.

Abstract: An air cooling apparatus for a rotatable laser-type weld-line detecting device for an automatic welding machine having a welding torch applying welding to a welded portion of a workpiece to be welded, the air cooling apparatus being provided with a metallic heat-interruption housing enclosing the rotatable laser-type weld-line detecting device, a first air cooling system cooling the laser-type weld-line detecting device from around the outer surface of the device and the inner wall of the heat-interruption housing by the use of a low temperature cooling air under pressure, and a second air cooling system cooling the interior of a laser-type weld-line detecting unit emitting a detection purpose laser beam and a light receiving unit receiving and detecting the detection-purpose laser beam reflected from the welded portion of the workpiece.

Abstract: A control means for an industrial robot having a sensor for detecting the position of an operation line, in which the position of the robot is corrected by utilizing signals detected by the sensor in executing weaving welding, overlap welding, or other operation by the robot. In effecting weaving welding or the like with a taught track (P1.fwdarw. . . . .fwdarw.Pn) as a reference, the robot control is carried out in a sensing/correcting operation mode (Q1 to Q1-10; . . . ) where the robot position is corrected in accordance with the signals detected by the sensor as the robot moves, and in a designated-shape track operation mode where the robot starts at an end point (Q1-10, Q1-20, . . . ) of one robot track section determined during a sensing/correcting operation mode to trace a track ([B0]1-1, [B0]1-2, . . . ) of a previously designated shape, alternately. Overlap welding can be executed by utilizing the correction data obtained by executing the operation in the sensing/correcting operation mode.

Abstract: When a deburring tool encounters a large burr near point P'.sub.1 in the process in which the tip of the tool moves from point P.sub.1 to point P.sub.2 on a workpiece, the cutting resistance increases suddenly until it exceeds the present threshold Xth, the robot retracts the deburring tool in the direction in which the cutting resistance is reduced and brings the tool tip from point P'.sub.1 to point Q.sub.1. After that, the robot controls the movement of the tool so that the tool tip moves from point Q.sub.1 to point P.sub.2 (pattern I). When the cutting resistance exceeds the threshold Xth during the movement of the tool tip from point Q.sub.1 to point P.sub.2, a similar retraction movement is executed (pattern II, III). As long as the tool does not encounter such a large burr, the moving speed is controlled to a value corresponding to the cutting resistance.

Abstract: An arc welding control method for a welding robot wherein a welding current and a welding voltage are controlled at the start of arc welding so as to prevent the formation of a molten metal pool. When arc start is instructed, a welding command voltage E and a welding command current I are set to initial values E0 and I0, respectively (S4). The welding command voltage E is gradually increased until an arc is generated (S6). When an arc is generated, the welding command voltage E and the welding command current I are set to the stopped-state voltage Es and the stopped-state current Is of the robot, respectively (S9). Thereafter, as robot acceleration processing progresses, the welding command voltage E and current I are gradually increased with increase in the robot moving speed (S11). When a robot acceleration time has passed, the welding command voltage E and the welding command current I are set to the normal welding voltage Ec and the normal welding current Ic, respectively.

Abstract: An industrial robot is provided with a cable laying arm (20) extended on one side of a robot trunk (12) so as to form a dual arm structure in combination with a structural arm (18) extended on the other side of the robot trunk (12). A bundle (58) of cables capable of being detachably connected to the robot unit is extended in the cable housing element (50) of the cable laying arm (20) so that the cables including power supply cables and signal transmission cables are not exposed to the outside. The whole cable housing element (50) can be readily removed from the robot trunk (12) together with the bundle (58) of cables, in case any one of the cables is disconnected, to permit repair of the disconnected cable.

Abstract: A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.

Abstract: An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.

Abstract: A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value.

Abstract: An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.

Abstract: In a horizontal revolute robot, an upper end of a ball screw (21) of a direct-acting actuator (100) is rotatably supported by a top plate of a column (10), and the lower end thereof is coupled to a drive unit (40) disposed on a base plate of the column. A first link (220) is pivotally coupled to a coupling member (210) of a manipulator (200) fixed to a slider (30) of the actuator, and a second link (240) is pivotally coupled to the first link. The ball screw is rotated by the drive unit to move the manipulator along the ball screw in unison with the slider, and servomotors (230, 250) of the manipulator are driven to turn both the links within a horizontal plane, so that a wrist portion of the robot is positioned in a robot installation space for robot operation. Since no base is required to turnably support the actuator, the robot is small-sized, light in weight, and low-priced. Since the lower movement limit position of the manipulator is low, the range of action of the robot is wide.

Abstract: A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).

Abstract: A direct-acting actuator for an industrial robot has an elongate ball screw or feed screw which is attached or detached quickly and safely in a narrow working space. In attaching the ball screw, upper and lower end portions of the ball screw, diagonally inserted in the inside space of a column (10), are respectively fitted into holes (12a, 33a) of a column top plate (12) and a plate member (33) of a slider (30) through a passage (12b), formed in the top plate and opening in a slider-side end face of the same plate, and a passage (33b), formed in the plate member and opening in the distal end face of the same member. Then, the lower end of the ball screw is coupled to a reduction gear (52), and a bearing unit (22) mounted on the upper end of the ball screw and a ball nut (34) threadedly engaged with the ball screw are respectively fitted into the holes (12a, 32a) so that the bearing unit and the ball nut are fixed to the top plate and the plate member, respectively.

Abstract: A hand changing device for industrial robots, having a changer body (10) designed to be attached to the robot arm (92) and a changer adapter (50) carrying a robot hand. The changer body (10) and the changer adapter (50) are separate components designed to be coupled detachably. The changer adapter (50) carrying the robot hand (74) is clamped by the changer body (10) by the engagement of a plurality of clamping balls retained within the changer body (10) and a ball engaging part formed in the changer adapter (50). The changer body (10) is provided with a fluid-driven piston (20) to move the clamping balls between two positions, namely, the clamping position and the idle position.

Abstract: A robot hand provided with fingers driven by a double acting cylinder and supplied working liquid pressure through two, 2-position, 5-port-type, single solenoid, electromagnetic valves, wherein: (a) an outlet of a first electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is connected with the inlet of a first chamber of the double acting cylinder; (b) an outlet of a second electromagnetic valve is connected with the inlet thereof in response to the OFF position of a second chamber of the double acting cylinder; (c) an outlet of the first electromagnetic valve is connected with the inlet thereof in response to the OFF position of the solenoid thereof and is plugged; (d) an outlet of the second electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is plugged; and (e) a working liquid pressure source is connected with the inlet of the first and second electromagnetic valves.