Abstract: A linear motion apparatus has a linear motion mechanism having a long shaft member and a connecting member attached to the shaft member, wherein at least one of the shaft member and the connecting member moves in a longitudinal direction of the shaft member; and an antirust member attached to the linear motion mechanism, wherein the antirust member contains an antirust material having a higher ionization tendency than a material for the linear motion mechanism and is electrically connected to the linear motion mechanism.

Abstract: A calibration method for a laser processing robot, including: fixing a jig that includes a target-site to a base of the laser processing robot; placing a laser processing tool at a position where a laser beam is scanned with respect to the target-site, the laser processing tool having a function for two-dimensionally scanning the laser beam and a function for receiving the laser beam reflected at an object and for measuring a distance to the object; measuring distances to respective portions of the target-site by scanning the laser beam; calculating a coordinate transformation function for converting a position and orientation of the target-site, which is obtained based on the measured distances to the respective portions of the target-site, into an actual position and orientation of the target-site; and correcting a tool-center-point of the laser processing tool by the coordinate transformation function.

Abstract: A wire-body processing structure for a robot including a base, a rotary drum rotating about a first axis, and an arm rotating about a second axis. The rotary drum has a hollow part extending from inside the base, along the first axis, and opening in a top surface of the rotary drum. The wire body inside the base is led out, via the hollow part, from the opening in the top surface of the rotary drum, is bent to the rear side of the rotary drum, is guided below the arm, is fixed to the rotary drum with a first fixing member, is bent along the arm, and is fixed to a side surface of the arm with a second fixing member, with a certain surplus of a length between the first fixing member and the second fixing member.

Abstract: A robot system including a robot body and a control device. The robot body includes wrist elements at a distal end of an arm; a wired wire body connected to an end effector fixed to the third wrist element. The control-device includes an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, angles of straight lines connecting the wire-body outlet and specific points of the wire body, with the straight lines projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute values of the angles calculated by the angle calculation unit have exceeded predetermined angle thresholds.

Abstract: Provided is a robot including: a base; and a movable portion including a rotating drum that rotates about a vertical axis with respect to the base. The base is provided with an opening portion through which wire members are led into the base; the base and the rotating drum are provided with a hollow portion in which the wire members are guided into the rotating drum; the robot further includes a distribution board member that is detachably attached to the base; the distribution board member is provided with an attachment portion that is attached to the base, and a relay portion that is disposed on the outside of the opening portion with a gap therebetween; and the relay portion includes a mountable region in which a connector that relays some of the wire members is mounted.

Abstract: A robot which can prevent an excessive bending of an wire member. The robot includes a first wrist element coupled rotatably about a first axis, a second wrist element coupled rotatably about a second axis, a third wrist element coupled rotatably about a third axis and supporting an end effector configured to perform a work on a workpiece, a first wire member disposed in such a way as to pass through the inside of the first wrist element, the second wrist element, and the third wrist element and connected to the end effector, and a second wire member disposed in such a way as to pass through the inside of the first wrist element and run outside the second wrist element and the third wrist element and connected to the end effector.

Abstract: A wire-body processing structure for a robot including a base, a rotary drum rotating about a first axis, and an arm rotating about a second axis. The rotary drum has a hollow part extending from inside the base, along the first axis, and opening in a top surface of the rotary drum. The wire body inside the base is led out, via the hollow part, from the opening in the top surface of the rotary drum, is bent to the rear side of the rotary drum, is guided below the arm, is fixed to the rotary drum with a first fixing member, is bent along the arm, and is fixed to a side surface of the arm with a second fixing member, with a certain surplus of a length between the first fixing member and the second fixing member.

Abstract: A calibration method for a laser processing robot, including: fixing a jig that includes a target-site to a base of the laser processing robot; placing a laser processing tool at a position where a laser beam is scanned with respect to the target-site, the laser processing tool having a function for two-dimensionally scanning the laser beam and a function for receiving the laser beam reflected at an object and for measuring a distance to the object; measuring distances to respective portions of the target-site by scanning the laser beam; calculating a coordinate transformation function for converting a position and orientation of the target-site, which is obtained based on the measured distances to the respective portions of the target-site, into an actual position and orientation of the target-site; and correcting a tool-center-point of the laser processing tool by the coordinate transformation function.

Abstract: A robot system including a robot body and a control device. The robot body includes wrist elements at a distal end of an arm; a wired wire body connected to an end effector fixed to the third wrist element. The control-device includes an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, angles of straight lines connecting the wire-body outlet and specific points of the wire body, with the straight lines projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute values of the angles calculated by the angle calculation unit have exceeded predetermined angle thresholds.

Abstract: Provided is a robot including: a base; and a movable portion including a rotating drum that rotates about a vertical axis with respect to the base. The base is provided with an opening portion through which wire members are led into the base; the base and the rotating drum are provided with a hollow portion in which the wire members are guided into the rotating drum; the robot further includes a distribution board member that is detachably attached to the base; the distribution board member is provided with an attachment portion that is attached to the base, and a relay portion that is disposed on the outside of the opening portion with a gap therebetween; and the relay portion includes a mountable region in which a connector that relays some of the wire members is mounted.

Abstract: A robot which can prevent an excessive bending of an wire member. The robot includes a first wrist element coupled rotatably about a first axis, a second wrist element coupled rotatably about a second axis, a third wrist element coupled rotatably about a third axis and supporting an end effector configured to perform a work on a workpiece, a first wire member disposed in such a way as to pass through the inside of the first wrist element, the second wrist element, and the third wrist element and connected to the end effector, and a second wire member disposed in such a way as to pass through the inside of the first wrist element and run outside the second wrist element and the third wrist element and connected to the end effector.

Abstract: A teaching operation unit having a touch panel. The teaching operation unit is provided with a housing including a display window; a display unit accommodated in the housing and including a screen visible through the display window; a touch panel accommodated in the housing to be disposed between the display window and the screen of the display unit, and including an input area operable through the display window; a frame accommodated in the housing to be disposed between the display window and the touch panel; and a protective sheet covering the input area of the touch panel in a non-contact manner. The frame includes a sheet support extending inward along a peripheral edge of the display window, the sheet support defining an opening for allowing an operation of the input area. The protective sheet is supported by the sheet support of the frame to be disposed in the display window.