Abstract: An automatic guided vehicle comprising a loading table provided with positioning motors for three directions including two on a horizontal plane and a rotational one around a vertical axis and also with optical sensors for detecting positioning marks at stop positions so that positioning of the automatic guided vehicle at a stop point thereof may be ensured in high precision, and a method for positioning the automatic guided vehicle without attendant with high precision in such manner that the optical sensors detect degrees of deviation between the guided vehicle and the positioning marks, and positioning motors are driven after computing three-directional positioning correction values based on the result of detection or reducing deviation at the loading table.

Abstract: An apparatus for rotating a wrist shaft of a robot comprising an indexing plate which is rotated by a motor through a friction coupling, a roller which is pressed against the indexing plate and which is disengaged from recesses in the indexing plate by an air cylinder. The motor and air cylinder are controlled by a timing mechanism which is responsive to indexing signals and to signals from a series of proximity switches, there being one proximity switch actuable at each of the several indexing positions. Indexing positions are selected by transmitting indexing signals to the timing mechanism. Upon receipt of an indexing signal requiring movement of the wrist shaft, the timing mechanism actuates the air cylinder, releasing the indexing plate. Immediately thereafter, it starts the motor. In the case of a single step indexing operation, the roller is released to engage the indexing plate after a predetermined time interval, and the power to the motor is thereafter cut off.

Abstract: Workpieces to be machined are stacked on all but one of a series of uniformly spaced vertical guide bars on a turntable movable along a transfer path. An elevator mechanism moves into engagement with the turntable and lifts a carrier with a stack of workpieces to be machined on one of the guide bars so that the uppermost workpiece is in a position to be grasped and transferred to a machine tool by a robot arm. The elevator also positions a workpiece carrier on an adjacent guide bar so that the carrier is positioned for the stacking of machined workpieces thereon by the robot arm. The workpiece carriers are positioned by the elevators in response to signals from photoelectric detectors. When all of the workpieces on one carrier are machined and stacked on an adjacent carrier and said one carrier is unloaded, the elevator mechanism is temporarily separated from the turntable and the turntable is rotated by the distance of twice the spacing between adjacent guide bars.