Abstract: A robot of the type having a housing and a manipulator mounted to the housing and movable along a plurality of predetermined axes of movement. A drive mechanism is associated with the each axis of movement for moving, upon actuation, the manipulator along its respective axis of movement. The actuation of the drive mechanisms is controlled by a program drum which is rotatably mounted to the housing. A plurality of cam segments are adjustably secured to the drum at both axially and circumferentially spaced positions thus forming a plurality of axially spaced, segmented cam rings. A plurality of cam followers are secured to the housing so that one cam follower registers with each cam ring. Each cam follower is connected with an actuator so that, when the cam follower engages a cam segment on the drum, the actuator activates the drive mechanism corresponding to the particular cam ring. Conversely, the actuator deactivates its associated drive mechanism when the cam follower disengages from the cam segment.

Abstract: A process is disclosed for automatically positioning the drill spindle over a workpiece at a predetermined location defining the bore center, wherein the shop drawing and the workpiece bore centers are defined as to their locations in different coordinate systems and wherein the invention provides for calculating and measuring steps to transform between the various coordinate systems. The invention discloses also apparatus for practicing the process by employing a controller-arithmatic unit which carries out the coordination of the plurality of logic circuits and the effecting the use of a programmed performance of the process including the teaching or updating of the program for new bores.

Abstract: A device for operating a hand of an industrial robot is so constructed that fluid pressure cylinders (43, 44) are provided as a driving mechanism of the hand (4) of the industrial robot, branch passages including a pressure-reducing valve (47) are provided in a fluid supply passage to the fluid pressure cylinders (43, 44), the supply of fluid is switched by solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4), and the switching of the solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4) is carried out in accordance with the selected grasping force which has been selected in the teaching mode of the industrial robot, whereby the grasping force of the hand can be controlled stepwisely.

Abstract: Remotely-controlled manipulator carrier systems are used in large-area hot ells such as a facility for reprocessing irradiated nuclear fuel materials. The system is used to perform manual-like operations on the process equipment in the hot cell which is disposed in racks along two longitudinally extending walls of the hot cell enclosure, the racks being filled with process equipment and defining a passageway in the direction of the longitudinal axis of the enclosure. The system includes a vertical guide column which is connected to the bridge beam of an overhead bridge crane. A support is mounted on the guide column for movement up and down the column. An extendible arm is cantilever-mounted on the support and has a manipulator or other remotely-controlled apparatus at its outer end. The extendible arm is to be subjected to a minimal bending moment when work is done in the racks containing the process equipment.

Abstract: A robot control system for teaching and operating a robot 13 on the basis of a rectangular coordinate system, the robot having an arm which operates on the basis of a cylindrical coordinate system. Provided are a teaching device 101 for providing instructions in the rectangular coordinate system in order to teach the operations performed by the robot 13, a rectangular-to-cylindrical conversion device 104 or 202 for converting the instructions in the rectangular coordinate system from the teaching device 101 into command data in the cylindrical coordinate system, and a data memory 108 for storing the acquired command data in the cylindrical coordinate system.

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.

Abstract: A transporting device for lifting and relocating material from one position to another. In one embodiment, the transporting device comprises a stationary central support pedestal and a rotatable turret situated at the top of the pedestal. The turret has at least a pair of arms which extend radially outwardly from the pedestal. Each arm has an adjustable lifting and stacking mechanism for gripping and transporting of material as the turret is rotated. In another embodiment, the transporting device comprises a rotatable central support turret situated on a stationary pedestal. A pair of arms extend radially outwardly from the turret. Each arm may be raised and lowered independently of the other and includes a mechanism for gripping material as the turret is rotated. In either embodiment, the turret is driven by a motor situated in the stationary pedestal.

Abstract: An industrial robot having a trunk mounted for vertical and rotational movement on a stationary base is provided with two arm members extensible from the said trunk having a robot wrist mechanism attached to their ends. The extending and contracting movements of the arm members, rotational movement of the wrist and swinging movement of the wrist are controlled, respectively, by three electric servo motors mounted in a mounting compartment positioned on the side of the trunk opposite to the extensible arms.

Abstract: A conveyor robot with a double arm with engaging members at both ends which are rotatable about a vertical axis and in a particular case additionally swingable about a horizontal axis. Both engaging members can be simultaneously moved in the longitudinal direction of the arm, in opposite directions. Both engaging members can have a common drive for their movements of rotation and another common drive for their swinging movements.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.