Abstract: A transfer robot for removing molded pieces provides a telescoping robot arm having a pneumatically activated gripping device mounted to a remote end. The robot arm comprises two tubes mounted coaxially inside a housing. The first tube is driven outwardly of the housing by a rodless cylinder drive; the second tube is mounted coaxially to the inside of the first tube and is itself driven by a rack and pinion arrangement which doubles the projecting speed of the second tube with respect to the projecting speed of the first tube. The robot arm is movably mounted to a cantilever rack which is itself rotatably mounted to a supporting stand.

Abstract: Apparatus for inserting a semiconductor wafer in a slot of a holding post including a wafer support member or paddle for supporting the wafer and inserting it into a slot and rotation device for rotating the support member by the angle necessary to cause edges of the wafer to be received at the centers of the slots.

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 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 transfer robot comprises a carriage mounted headstock assembly, a main support disk mounted to the rotatable spindle of a headstock, an extention slide mounted to the support disk for motion transverse to the spindle, and a carrying fixture mounted to the outer end of the slide and having adjustable sets of spaced apart gripping arms for gripping and carrying a cylindrical tire carcass. A counterweight on the disk offsets the outboard weight of the extended slide and carrying fixture, and a carcass carried thereon, on the headstock spindle and its bearings. The robot is powered by programmable devices which sequence its operation to grasp and carry a carcass by its bead areas from a carcass supply station, in an arc, into alignment with the axis of a tire building drum, then the carcass is moved axially of that drum and located around it, after which the gripping arms release and retract, and the fixture is moved to a parked position.

Abstract: An orthogonal two-axis moving apparatus includes a first guide member which extends along one direction and is attached to a stationary position, a slide block which is slidably supported on the first guide member and is movable in the one direction, and a second guide member which extends along the other direction perpendicular to the one direction and is supported by the slide block to be movable in the other direction. First and second rollers are pivotally supported on two ends of the first guide member, a third roller is pivotally supported on one end of the second guide member, and intermediate rollers are pivotally supported on four corner portions of the slide block. A coupling belt is provided and has two ends of which are fixed to the other end of the second guide member and which is looped in a cross shape on the first to third rollers and the four intermediate rollers.

Abstract: A multi-cylinder and short lead screw driven travel arm or machinery movement unit achieving infinitely variable travel through the design limits of travel imposed thereon. In one working configuration using 1", 2", 4" and 8" travel pneumatic cylinders and a 1" travel screw together yield a sixteen inch travel range with an infinite range of fully programmable settings through selected activation of cylinders along with the selected vernier setting of the 1" threaded travel screw. The travel range of settings may be increased even further by adding additional travel cylinders and increased length travel guide structure adequate for such increased travel range of settings, for example, addition of a 5" travel cylinder extends the range of settings to a maximum of twenty one inches.

Abstract: A robot program checking method for editing a robot program accurately and rapidly. When types of a controller and a robot body to which an edit program is to be applied are specified after the edit program is created, a format table indicative of a format suitable for the controller and movable range data for an operating section of the robot body are transferred from a floppy disk to a working memory together with the edit program. If the edit program which is read out one block by one block is not stated in accordance with a predetermined format, or if a position data contained in the edit program and indicative of a target moving position of the operating section of the robot body falls outside the movable range, an error message indicative of a block number and a reason for the error are printed out. With reference to the error message, an operator corrects the edit program.

Abstract: An apparatus for processing cylindrical and belt-like substrates includes: a support structure having two opposing faces and defining a central horizontal axis, each face of the support structure supporting a planetary array of substrates about the central horizontal axis to define two opposing planetary arrays of substrates, each substrate in each planetary array defining an offset horizontal axis radially spaced from and parallel to the central horizontal axis of the support structure; an array of processing modules each housing a processing chamber for receiving therein the opposing planetary arrays of substrates, each chamber defining a central horizontal axis aligned with the central horizontal axis of the support structure when the support structure is received within the chamber, and each chamber including an opening between opposing chamber sections, the opening being in a plane parallel to the central horizontal axis of the chamber; and a transport vehicle for transporting the support structure to ea

Abstract: A hollow synthetic resin product manufacturing apparatus with an extruder having an extruding head for extruding a parison and a mold formed of lower and upper molding portions respectively having grooves, a cutter for cutting the parison extruded from the extruding head into a specified length, a robot having a hand for holding the parison at one point of the parison, and a control unit for moving the hand holding the above portion of the parison so that the parison be accommodated in the groove of the lower molding portion.

Abstract: A horizontal/vertical conversion transporting apparatus, wherein a mechanism for variably changing a distance between upper and lower boat hands for clamping an article therebetween is mounted on a conversion arm, the conversion arm is vertically movable along a support arm, and at the same time, the conversion arm is rotatable within the plane of vertical movement.

Abstract: A portal system is described which consists of two translational axes and two rotary axes which are so arranged and controlled that every point within a cubic working space can be computed and reached. As a result of this special kinematic construction the total complexity for the frame and also the mechanical complexity and cost are substnatially reduced in comparison to customery portal systems.

Abstract: An automatic cop replacing apparatus for a shuttle-type loom with which a cop contained in the shuttle is automatically replaced, including tying the threads together of the old and new cops, and requiring no operator intervention. The apparatus includes a hand for gripping the cop. A rotary arm plate on which the hand is mounted, a drive device for rotating the rotary arm plate and for straightly moving the rotary arm plate in the axial direction, and a drive shaft for moving the rotary arm plate to an exchange position for the cop. A thread tying device holds and ties together the treads of the old and new cops.

Abstract: An industrial robot includes a base body, a hand, first and second horizontal arms rotatably coupled to each other, and a lift shaft provided between the base body and the first horizontal arm. The robot also includes drivers provided on the base body for driving the first and second horizontal arms and the hand, respectively, and transmission mechanisms provided in the base body and the first and second horizontal arms for transmitting the output power of the drivers to each of the first and second horizontal arms and the hand.

Abstract: In a material transfer device, an articulated arm assembly extends and retracts in a "froglike" motion to transfer an object between a plurality of locations. The articulated arm assembly is rotatable about a pivot point in a radial plane and can be raised or lowered in an axial direction to align the object with the intended destination. A greater degree of axial mobility may be provided, for example by a rotating lift screw. A vacuum chamber may be provided, with the arm assembly moving the object between locations in the chamber.

Abstract: A robot system in which a force (torque) exerted on an end effector disposed at an end of a robot to hold an object is sensed to achieve a positioning control. The robot system includes a unit to sense an inertial force exerted on the end effector and the sensed result is fed back so as to remove the influence of the inertia force, thereby effecting an accurate positioning control.

Abstract: A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

Abstract: There is disclosed a robot used in a clean room and adapted to transport a wafer cassette containing semiconductor wafers. The robot includes: a guide rail disposed in the clean room; a robot body slidably connected to the guide rail for movement along the guide rail; and a first drive mechanism for driving the robot body along the guide rail. The robot body includes: a clamping hand for releasably clamping the wafer cassette; an arm assembly, extending between the guide rail and the clamping hand, for controlling the position of the clamping hand; and a wrist assembly, interposed between the arm assembly and the clamping hand, for adjusting the orientation of the clamping hand.

Abstract: A robot arm in which a hand or end effector placed at the end of, and pivotally joined to first and second pivotally coupled arms is caused to experience linear, straight line motion in response to a single rotary actuator at the far end of the further most arm. A series of belts and pulleys of different sizes coordinate the motion of the two arms and the hand in order to produce straight line or radial motion in response to a single rotary actuator. The robot arm has particular application in semiconductor wafer handling systems in such capacity as transferring wafers between storage cassettes and test platforms and in this application is married to Z and .theta. motion drives.

Abstract: A manipulator drive mechanism employing splined shafts in both a vertical and a horizontal axes. The horizontal splined shaft is rotatably driven by a rack assembly and a pinion gear rotatably fixed with respect to the horizontal splined shaft and which is also slidable along the horizontal splined shaft.

Abstract: A robotic materials handling system for storing and handling box-like articles such as videocassettes includes a storage area containing a plurality of columns of storage bins, a vertical support shaft located adjacent the storage area and a manipulator assembly carried on the shaft. The manipulator assembly includes a plurality of gripper mechanisms which may be positioned adjacent desired storage bins. The system includes computer control circuitry for controlling the operation of the manipulator assembly and gripper mechanism to transport articles between desired locations.

Abstract: A portal system is described which consists of two translational axes and two rotary axes which are so arranged and controlled that every point within a cubic working space can be computed and reached. As a result of this special kinematic construction the total complexity for the frame and also the mechanical complexity and cost are substantially reduced in comparison to customary portal systems.

Abstract: A robotic manipulator for supporting a tool or workpiece, the manipulator including at least one rotary linear actuator adapted to be supported by a base and providing for controlled movement of a manipulator link with two degrees of freedom. The robotic manipulator includes a link assembly having one end spherically joined to a movable member for supporting the movable member, the movable member being adapted to support a tool or workpiece. The link assembly is articulated, and the opposite end of the link assembly is supported by a rotary linear actuator for linear movement in a direction transverse to a longitudinal axis of the opposite end of the link assembly and for rotational movement about the axis defined by that linear movement.

Abstract: An overload detection mechanism for a robot is disclosed, wherein first and second members are relatively urged together by an urging means to urge the axis of the second member toward the Z axis of the first member. The second member is guided in any movements departing from coaxial alignment, and the first member is supported near the end of a robot arm. A tool mount or workpiece mount is connected to the second member. An electrical device is mounted on one of the members, and a device actuator on the other of the members, with the reaction means acting between the members to relatively move the members upon tilting from an X-Y plane normal to the Z axis, or axial thrust applied by the tool mount to the second member. In this manner, an overload of a tool in the tool mount establishes relative movement between the first and second members, so that the electrical device is actuated to change an electrical condition thereof and can be connected to stop movement of the robot.

Abstract: A manipulator for vacuum applications, e.g., for positioning of a specimen at a required point in a vacuum chamber (20) where the specimen can be subjected to ion implantation or similar treatment or measuring procedures, comprises an adjustable angular connector (12) which is formed by two skewed rings (32) and (36) which slide one over another. When the rings rotate, the end of drive shaft (72) describes a planetary path along a circle. The drive shaft (72) has one end connected to a rotary drive mechanism (14) and another end to a driven shaft (92) through a universal joint (90). The lower end of the driven shaft is installed in a rotating manner in a slide (87). The slide (87) is guided in one direction along another slide (84) which in turn is guided in a direction perpendicular to the first one along a rigid frame (80). Planetary motion of driven shaft (92) causes linear motions of the slides (84, 87) in mutually perpendicular directions.

Abstract: A shaft supporting mechanism of an industrial robot in which an arm is supported by a freely extendable support shaft inside a hollow post and a working plane of a working arm is variably set is provided, with plural sets of linear support guides in opposed relation about a drive mechanism of the support shaft. As a result, the support shaft is held in the post stably and balanced in the vertical direction even if an external force attempting to tilt the support shaft is applied during up-and-down movement of the support shaft or operation of the working arm.

Abstract: A polar-coordinate manipulator for vacuum application, e.g., for positioning of a specimen (S) between several operating positions in a vacuum chamber (16) where the specimen can be subjected to ion implantation or similar treatment or measuring procedures. The device comprises a circular stationary support (12) attached to the flange of vacuum chamber (16). A square-shaped rotary table (22) is rotatingly supported by a circular support (22) and in turn slidingly supports a sliding block (44). The sliding block can be shifted by a micrometer (50) radially with respect to the axis of rotation of the turntable. The sliding block supports a moveable plate (72) which can be shifted along the above-mentioned axis of rotation and carries a rigidly attached rod (92) which penetrates into the vacuum chamber and supports the sample to be treated. The manipulator can position the sample at a target point in a polar coordinate system.

Abstract: A wafer transfer mechanism used for transferring wafers between cassettes and a boat uses sensors to detect and to measure any offset of the actual center of each wafer being transferred with respect to the expected or precalibrated center of that wafer. An appropriate adjustment is made to effectively eliminate such offset so that each wafer can be transferred throughout the system without any edge contact between a wafer and the boat or the cassette. The system also includes a boat exchange unit having a rotatable turntable which is used in association with two boats. The boat exchange unit permits a continuous mode operation in which one boat can be undergoing a loading or unloading of wafers at one station on the turntable while another boat is at or is moving to or from a heating chamber loading or unloading station on the turntable.

Abstract: A manipulator device is described in which a pair of holding members mounted on extensible arms, are rotatable through 360.degree. about an axis parallel to the plane in which they lie and perpendicular to the axis of the arms, and in which the arms are actuated by motor means interconnected together in such a way as to link the holding members for simultaneous displacement in a symmetrical manner.

Abstract: A pick-and-put tool, new-nut hopper and pin-insertion/torque tool for completing the installation of the new split-pin assembly in a lower guide tube under water after the old split-pin assembly has been severed into fragments. One fragment, located in the upper counterbore of the LGT, includes a portion of the old nut and the portion of the pin on which it is threaded. The pick-and-put tool includes a clamp and hydraulic cylinders for moving the clamp between a home position and an advanced position and for pivoting the clamp in each position. There is also a cylinder for raising or lowering the clamp in each position. The pick-and-put tool has stops which stop the movement of the clamp precisely in the home position or the advanced position and in their pivoted positions. The pick-and-put tool is mounted in the pool such that it can properly align with both the LGT and hopper. The clamp is first moved from the home position to the advanced position.

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 pipe handling machine having vertical tracks mounted on a rotatable base. A carriage is mounted on the vertical tracks for vertical movement. A multisection telescoping boom is mounted on the carriage, and a pipe-engaging head is mounted on the end of the boom. The base may be carried on a movable trolley, which engages a set of tracks. The tracks run across the rig floor, from well center to a setback area. A second set of tracks may run across the rig floor, transverse to the first set.

Abstract: An industrial robot having a gimbal-ring type suspension incorporating two axes renders therewith a translatorily movable arm swingable. According to the invention, the translatory movement is achieved in that the gimbal-ring type suspension, which can be swung with the aid of two motors, carries a part in the form of a box-like structure in which a platform provided with a rack can be slidably moved on guides, the platform being driven to translatory motion by a pinion. The platform carries a fourth, a fifth and a sixth motor, of which the fourth motor is able to rotate the arm about its longitudinal axis while the fifth and sixth motor drive their respective drive shafts for swinging the tool holder and rotating the same.

Abstract: A control system for a movable robot, having a movable member which is linearly movable on and articulated about a base and having an articulated arm with a work element, executes a prestored continuous path program for moving the work element through a continuous path by simultaneous coordinated linear and articulation displacements of the movable member and arm in all degrees of freedom. These simultaneous coordinated displacements are produced by interpolating in advance the position of the movable member at a teaching point and by loading the interpolated position of the movable member into an interpolation calculation of the arm position.

Abstract: A four-axis robot has three independent linear motions and one rotational component. The robot is disposed between a pair of confronting storage units and is operable to store and retrieve articles in and from them. The robot comprises a carrier disposed half-way between the two storage units for travel parallel to the units. A head is supported from the carriage and in turn supports an arm for horizontal extension and retraction. The head can be both elevated and lowered along, as well as rotated about, a vertical axis. The head and arm are capable of 180.degree. rotary motion about the vertical axis to access the two storage units. Specific rotational control of the head is provided by a unique actuating mechanism with associated adjustable stops. The mechanism includes a linearly movable gear rack operated by a power cylinder and meshing with a pinion concentric with the vertical axis. The pinion is mounted on the bearing portions of a ball spline shaft and bearing coupling.

Abstract: The present invention provides a technique as well as a system whereby through the use of industrial automation, windshields and the like can be inserted into a vehicle which is on a continuously moving conveyor line without stopping the vehicle. Thus, the vehicle is in motion on the conveyor during the insertion. The windshield can be automatically centered for robot acquisition through a unique mechanical device; and, multi-sensor information is converted into real-time path modification signals for robot guidance.

Abstract: A fluid power apparatus particularly useful for an industrial robot which includes a pair of expansible chamber devices each having a pair of control chambers in fluid communication with each other to intensify the working fluid output pressure and a working chamber that expands to receive a charge of working fluid and contracts to expel working fluid therefrom. A working fluid circuit includes a first line connected with one of the working chambers and a second line connected with the other of the working chambers. A fluid actuator is connected with the circuit and has a moveable element that moves in response to flow of working fluid in the circuit to the actuator. The apparatus has a static condition in which the one working chamber is contracted with the moveable element of the actuator stationary in a first position.

Abstract: A hazardous material handling apparatus capable of being remotely controlled so as to allow the operator to safely handle hazardous materials. The apparatus utilizes electric motors in order to provide for three-dimensional movement of the gripper. A television camera and remotely located television monitor may be utilized in order to facilitate remote control of the apparatus. A manually operated gripper is provided to allow for simple and inexpensive construction.

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: An arrangement in an industrial robot for driving translatory motion of a unit which is mounted in a gimbal-type suspension having two mutually perpendicular axes. A motor with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, the frame being capable of being swung in one direction. The motor drives a pinion which meshes with a rack by a shaft, the shaft also constituting one journal of the machine part in which the translatorily movable machine part is movably arranged. The shaft is rotatably journalled to both the frame and the machine part through each of its bearings.

Abstract: A low cost, programmable industrial robot is provided which incorporates a simplified construction with relatively sophisticated movement capability. Preferably, the robot is pneumatically operated. The robot construction includes a series of simplified structures for both calibrating ease and providing relatively versatile movement in view of the overall product cost. The device provides four adjustable axes of movement and multiple axes mounting for an end effector. In the preferred embodiment, a rotary actuator provides rotational movement for the robot. Rotary movement is adjustable and a simplified structure is included for providing repeatable intermediate stop positions for the work arm of the device. An improved rotary manifold for a rotary actuator provides a conduit for pneumatically powering the remaining robot movement functions. Those functions include vertical reciprocal movement, horizontal reciprocal movement and rotary movement of a gripper device or some other end effector.

Abstract: A machine (1) (53) (75) for effecting the transfer of objects in the space between positions having predetermined co-ordinates, in which said objects are supported by a head (25) integral with a pinion (20) (60) mounted rotatable on a slide (12a) (59) sliding in a direction perpendicular to the axis of said pinion (20) (60); the pinion (20) (60) meshing by opposing means with teeth (21) (64, 65) (76, 77) extending along said slide (12a) (59) and axially moving under the bias of driving apparatus (41, 42) (68, 69).

Abstract: Apparatus for the automated assembly of flowable materials into a receptacle for delivery to a selected location is disclosed. The apparatus includes a plurality of spaced flowable material dispensing means, a plurality of spaced receptacle storage means and a plurality of spaced receptacle delivery locations. A robot arm is provided to receive, support and transport the receptacles. The apparatus includes a computer adapted to cause the robot arm to select a receptacle at one of the receptacle storage means, transport it to more than one of the flowable material dispensing means in a predetermined sequence and deliver the receptacle with the assembly of flowable materials therein to a predetermined one of the receptacle delivery locations in response to a given computer command signal. Structural details of the robot arm and an embodiment of the apparatus specifically adapted to provide an automated bartender function are described.

Abstract: An apparatus is disclosed for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells, more particularly hot cells of reprocessing plants for spent nuclear fuels. The position of damage zones is detected and ascertained with the use of coordinates. Replacement parts and tools are moved into the maintenance and work position in dependence upon the coordinate data, and the repair of maintenance work is automatically carried out under computer control, with remote operation and remote monitoring. For carrying out the work, computer-controlled handling machines and manipulators are used which are adapted to travel in controllable manner in the hot cell. The monitoring and detecting, using coordinates, of damage zones and defects may be carried out with the use of cameras and/or leak detectors.

Abstract: The invention concerns a kinematic system of an industrial robot and a sequential control system of its operating cycle.The robot comprises a vertical spindle supporting a main rotating arm and a forearm fixed to a gripping component. A first vertical transfer jack is provided at the end of the forearm. Arms are mounted via bearings on a loose spindle in a link and can swivel, driven by servo-motors in a horizontal plane so as to form a kinematic system functioning in cylindrical coordinates. The servo-motors are programmed to drive the gripping component through a linear trajectory at the beginning of the cycle. A releasable couping system with memory device is provided for the tool-holder. The controller control system is arranged to ensure the transitory readjustment of each arm to a starting position.

Abstract: A stationary robotic base carries a movable robotic platform and supports a pair of vertical striker plates spaced apart by a central, elastomeric block. The striker plates are confined within a compartment of the stationary base, and extend upward into a pathway defined by a lug depending from the moving platform. The lug contacts the top portion of a given striker plate and, as the plate is struck, it tends to pivot about its bottom edge toward the other plate, compressing the elastomeric block, while the other plate is held from moving away from the block. The assembly is bidirectional, with each striker plate being yieldable toward the other as it is encountered by the moving lug.

Abstract: Disclosed is a pick and place unit having a first moving plate movably supported by a fixed plate and a second movable moving plate supported by the first moving plate movably in the direction crossing the moving direction of the first moving plate. The pick and place unit comprises: a first rod-shaped member secured to the fixed plate and disposed along the moving direction of the first moving plate; a second rod-shaped member secured to the second moving plate and disposed along the moving direction of the second moving plate; a movable stopper secured to the first moving plate and having bores, each having portions different in width from each other, for receiving the first and second rod-shaped members respectively; a driving member for moving the movable stopper; and stators fixed at any desired positions of the first and second rod-shaped members, respectively, so as to sandwich the movable stopper and adapted to abut against the movable stopper.

Abstract: A pair of clutch-brake units each include a housing confining a cooling oil and rotatably supporting an input shaft and an aligned output shaft with interfitting clutch plates and discs for connecting the aligned shafts and interfitting brake plates and discs for connecting the output shaft to the housing. Each housing also encloses an axially movable non-rotating actuating piston for selectively engaging the clutch and brake plates and discs, and the input shafts of the clutch-brake units are driven continuously by a common electric motor. The output shaft of one clutch-brake unit is connected by a first drive mechanism to raise and lower or reciprocate a vertical shaft supporting a head member which carries a transfer arm, and the output shaft of the other clutch-brake unit is connected by a second drive mechanism to oscillate the vertical shaft, head member and transfer arm.

Abstract: A positioning apparatus for positioning an arm of an industrial robot comprises a frame member connected to the robot arm and being movably supported by a frame-supporting member. The frame-supporting member is movably mounted within an upstanding hollow sleeve of a stationary base, and a bearing is formed between an outer peripheral surface portion of the frame-supporting member and an inner peripheral surface portion of the base hollow sleeve portion for slidably mounting the frame-supporting member to undergo linear and angular sliding movements relative to the base hollow sleeve portion. A rotary motor effects angular driving movement of the frame-supporting member, and a linear motor effects linear movement of the frame-supporting member to thereby accurately position the robot arm. By such a construction, the frame-supporting member is mounted for angular and linear sliding movements relative to the base hollow sleeve portion by a single bearing.

Abstract: A compact robot of the 3-axis type comprising a base-mounted motor control system with means to sense the position of a robot arm through a servo-system comprising position-sensing potentiometers mounted in the motor control system and a feed-back control system to co-ordinate the vertical and horizontal movement of a robot arm.