Abstract: A sealing device provided to a joint section of a robot. The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism incorporated into the joint section. The overlapped seal portions include a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion arranged outside the first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.

Abstract: An industrial robot (10) comprising three power transmission units (21, 22, 23) arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (31, 34). Also, all of the three power transmission units and the three drive means are desirably built into the base (15) of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.

Abstract: A three-dimensional measurement apparatus of a slit light (or pseudo slit light) projection type that is adapted to prevent deterioration of measurement accuracy and to be easily miniaturized. Detected positions C1, C2 are adopted that are determined so as to correspond to scanning lines on each of which a number of brightened pixels falls within an allowable range are detected. The allowable range varies from Nav × amin to Nav × amax or from Nav?? to Nav +?, where Nav is an average of the numbers of brightened pixels detected on scanning lines for each of which at least one pixel is determined, and amin, amax, ?, and ? are minimum proper ratio, maximum proper ratio, subtract number of pixels, and add number of pixels, respectively, which are set in advance as parameters.

Abstract: An object taking-out apparatus for taking out objects randomly stacked in a container according to a condition of how each object is placed, which includes a robot hand having telescopic means and a coupling member whose one ends are connected to a robot arm end, and holding means coupled to their other ends. The telescopic means expands and contracts to cause the holding means to assume either a first orientation where a small angle is formed or a second orientation where a large angle is formed between a holding direction axis of the holding means and a rotary axis of the robot arm end, thereby taking out objects without causing interaction between the robot and the container.

Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: A sealing device provided to a joint section of a robot. The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism incorporated into the joint section. The overlapped seal portions include a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion arranged outside the first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.

Abstract: An industrial robot (10) comprising three power transmission units (21, 22, 23) arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (31, 34). Also, all of the three power transmission units and the three drive means are desirably built into the base (15) of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.

Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: Cable distribution and support equipment for a sensor, in a robot system including a robot and the sensor attached to the wrist region of the robot, to lay a sensor cable connected to the sensor in the robot. The cable distribution and support equipment includes a sensor cable comprised of a signal cable and a power cable; an umbilical member comprised of at least one of a control cable of a drive motor of a wrist axis of a robot, a control cable of a hand attached to the robot and a pneumatic-mechanism driving compressed-air hose; and a protective tube through which the sensor cable and the umbilical member are passed. The protective tube is configured to be laid through a cavity formed in a hollow forearm of the robot. The signal cable may be comprised of an image signal cable and a control signal cable, provided for a visual sensor. Alternatively, the signal cable may be comprised of a detection-data transmission signal cable of a strain gauge provided for a force sensor.

Abstract: A three-dimensional measurement apparatus of a slit light (or pseudo slit light) projection type that is adapted to prevent deterioration of measurement accuracy and to be easily miniaturized. When there is a disturbance in a region A in a distribution of pixels whose detected luminances exceed a threshold, a detected position C3 determined from a weighted average of luminances of pixels selected under a threshold condition along a scanning line traversing a bright portion image and liable to be deviated from a correct detected position line B-B is excluded from data to be used for the three-dimensional measurement, whereas detected positions C1, C2 are adopted that are determined so as to correspond to scanning lines on each of which pixels whose number falls within an allowable range are detected.

Abstract: An object taking-out apparatus for taking out objects randomly stacked in a container according to a condition of how each object is placed, which includes a robot hand having telescopic means and a coupling member whose one ends are connected to a robot arm end, and holding means coupled to their other ends. The telescopic means expands and contracts to cause the holding means to assume either a first orientation where a small angle is formed or a second orientation where a large angle is formed between a holding direction axis of the holding means and a rotary axis of the robot arm end, thereby taking out objects without causing interaction between the robot and the container.

Abstract: A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through a fixing tool (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing tool (6).

Abstract: Hydrochloride salts of heterocyclic spiro compounds are provided and can be represented by the following general formula: ##STR1## wherein A represents piperidine or N alkyl piperidine or N alkylene attached to a non adjacent piperidine ring carbon, X is S or O, Y is carbonyl, thiocarbonyl, methylene, R.sup.5 methylene, ##STR2## alk in which R.sup.1 to R.sub.3,R.sub.6,R.sub.7 are H or alkyl, R.sub.4 is H, alkyl, COOH, or ester, or --C alkyl, R.sub.5 is halo, OH,SH, O alkyl, S alkyl, O acyl or S acyl, and Z, and Z.sub.2 are O or S. The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.

Abstract: Heterocyclic spiro compounds represented by the following general formula and salts thereof: ##STR1## wherein A represents piperidine or N alkyl piperidine or N alkylene attached to a non adjacent piperidine ring carbon, X is S or O, Y is carbonyl, thiocarbonyl, methylene, R.sup.5 methylene, ##STR2## in which R.sup.1 to R.sub.3, R.sub.6, R.sub.7 are H or alkyl, R.sub.4 is H, alkyl, --COOH, or ester, or ##STR3## R.sub.5 is halo, OH, SH, O alkyl, S alkyl, O acyl or S acyl, and Z.sub.1 and Z.sub.2 are O or S.The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.

Abstract: Heterocyclic spiro compounds represented by the following general formula and salts thereof ##STR1## The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.

Abstract: Heterocyclic spiro compounds represented by the following general formula and salts thereof: ##STR1## The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.

Abstract: A novel crystal form of N.sup..alpha. -[[(S)-4-oxo-2-azetidinyl]-carbonyl]-L-histidyl-L-prolinamide is provided and a process for preparing such crystals. The crystals provided by the present invention are the dihydrate form of the compound which exhibits a specific X-ray powder diffraction pattern, infared absorption spectrum and thermogravimetry-differential scanning calorimetry. The compound in its novel crystal form is useful in the treatment of consciousness disturbances and memory disorders.

Abstract: Substituted azetidinone compounds are provided which have the formula: ##STR1## wherein one of R.sup.1 and R.sup.2 represents a substituted lower alkyl group, an azido group, an amino group, a lower acylamino group, a mercapto group or a lower alkylthio group and the other represents a hydrogen group, or, both represent hydrogen atoms or lower alkyl groups; R.sup.3 represents a hydrogen atom or a group shown by formula: ##STR2## (wherein X represents ##STR3## (wherein R.sup.5 represents a hydrogen atom or a lower alkyl group) and Y represents a hydroxy group, a lower alkoxy group, an amino group, a mono- or di-lower alkylamino group); R.sup.4 represents a hydrogen atom, a substituted or unsubstituted lower alkyl group or a group shown by formula: --CH.sub.2 CO--A (wherein A represents an amino group or a group shown by formula: ##STR4## (wherein X and Y are as defined above), provided that when R.sup.1 and R.sup.2 are both hydrogen atoms, at least R.sup.

Abstract: A novel-4-substituted-2-azetidinone compound shown by the general formula ##STR1## and salts thereof. The compounds of this invention have a strong CNS activity and are useful for improving a disturbance of consciousness in schizophrenia, a head injury, etc., or improving hypobulia, memory loss, etc.

Abstract: Heterocyclic spiro compounds represented by the following general formula and salts thereof: ##STR1## The above compounds act upon muscarinic acetylcholine receptors, thereby activating the acetylcholine nervous functions in the central nervous system.