Abstract: In modern industrial robots which move at considerable speeds, collisions generally cause serious damage to the robots and the collision objects. This can lead to injuries and expensive production stoppages. In a method for collision-free interaction between a machine having mobile machine elements and objects in its vicinity, safety regions are established and monitored using the knowledge of the current position and the dynamic behavior. In particular, image data of the mobile machine element are recorded by means of an image acquisition system and are correlated with a database, which has been compiled in a training phase with image data of at least one mobile machine element. The database contains image data relating to a plurality of movement phases within the movement process of the machine.

Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Abstract: A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.

Abstract: Provided is an apparatus for controlling cables of a robot. The cable control apparatus includes: a body disposed above the arm and having a male rail formed in a length direction; a stationary unit fixed at an upper one side of the body and having a through-hole; a moving unit disposed on the male rail slidably in right and left directions and including a through-hole formed thereon and a female rail corresponding to the male rail; a cable tube for integrally housing a plurality of the cables and including one end fixed to the moving unit and the other end connected to the head through the through-hole of the stationary unit; and an elastic member externally inserted to the cable tube and including one end connected to the stationary unit and the moving unit.

Abstract: The present invention discloses a system and method for monitoring and diagnosing a robot mechanism. This requires adding intelligence to the diagnostics by parameters of physical robot arm linkages respecting component relative rotation or load transfer; storing rotation or translation relationship parameters characteristic of resonant frequencies between at least one mechanical link; receiving servo motor signals; digitizing and storing servo known normal data time histories; performing a time domain to frequency domain transformation on signal to identify components which are out-of band limit pre-sets.

Abstract: In a manipulator-type robot of the present invention, a manipulator base contains a connection case for making cable connections to an external device. In the connection case, a signal-line connecting section for external connection is disposed on a predetermined signal line of a cable that is routed through the inside of the manipulator. The connection case contains, other than the aforementioned signal-line connecting section for making connections to the outside, an additional signal-line connecting section.

Abstract: An industrial robot system including at least one industrial robot including at least one manipulator located in a robot cell, a control unit for controlling the manipulator, a portable operator control device for teaching and manually operating the manipulator, a detecting unit detecting when the portable operator control device leaves the robot cell, and a warning generator producing a warning to the operator upon detecting that the portable operator control device leaves the robot cell.

Abstract: An industrial robot able to reliably prevent fall of an elevating part and able to improve a degree of freedom of design, that is, an industrial robot comprising a base body; an elevating part able to rise and descend with respect to the base body; an elevation drive source; a transmission mechanism for transmitting the drive force of the elevation drive source; a drive mechanism for making the elevating part rise and descend by the drive force transmitted via the transmission mechanism; a sensor for detecting an abnormality of the transmission of the drive force from the drive source to the elevating part; and a fall prevention part supported by one of the base body and the elevating part and abutting against the other of the base body and the elevating part and preventing fall of the elevating part when the sensor detects an abnormality of the transmission mechanism.

Abstract: Manufacturing equipment is provided for safely changing the setup of a jig while maintaining production line utilization. A safety wall prevents entry into a machining area where multiple machining installations are installed. Openable and closable access doors are provided for the machining installations. A workpiece holding tool is moved in the machining area conveys workpieces from one of the machining installations to another. Isolation walls prevent the movement of the workpiece holding tool. A control device drives the isolation walls allowing movement of the workpiece holding tool outside the machining area at the machining installation corresponding to an opened access door and prevents the workpiece holding tool from moving into the machining area with the opened access door.

Abstract: Provided is a working device wherein an operator is not required to enter a working area (K) of a robot (11) surrounded by a protection fence (21). The working device is provided with a tray (43) for placing a second work piece (18). The second work piece is placed on the tray (43) and transferred from inside to the outside of the protection fence.

Abstract: A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated.

Abstract: A robot controller including a multitude of simultaneously functioning robot controller units. Each robot controller unit is adapted to receive an input signal, receive top-down information, execute an internal process or dynamics, store at least one representation, send top-down information, issue motor commands wherein each motor command has a priority. The robot controller selects one or several motor commands issued by one or several units based on their priority. Each robot controller unit may read representations stored in other robot controller units.

Abstract: In a controller, a first switch unit establishes electrical connection between a power-off brake and a power source when a servomotor is energized. The electrical connection causes the power-off brake to be released. A second switch unit is provided between the power-off brake and the power source. The second switch unit establishes electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized. A calculating unit calculates a driving speed of the joint by the servomotor. A determining unit determines whether the calculated driving speed of the joint is greater than a predetermined threshold speed. An interrupting unit interrupts a supply of electrical power from the power source to the power-off brake through the electrical connection established by the second switch unit when it is determined that the calculated driving speed of the joint is greater than the predetermined threshold speed.

Abstract: An internal pressure explosion-proof system is provided that is capable of detecting high-pressure abnormality of an internal pressure explosion-proof mechanism, urging a check of gas/air apparatus by providing a means for notifying a user of abnormality, and decreasing excessive pressure of an internal pressure chamber. A high-pressure abnormality detector and a pressure regulating valve are provided in an air discharging portion for releasing the gas/air discharged from the internal pressure explosion-proof mechanism. The working pressure of the high-pressure abnormality detector is set to be lower than the working pressure of the pressure regulating valve. The high-pressure abnormality detector sends a signal when the pressure becomes higher than the set pressure to make the alarm give a warning and makes the open valves open to decrease the pressure of the internal pressure chamber of the internal pressure explosion-proof mechanism which became excessive.

Abstract: A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.

Abstract: An assembly of a milking robot with a milking robot feeding place, such as a milking robot feed trough, and a device for gripping and displacing material, such as for example roughage and/or concentrate for animals. The device is provided with a gripper (2) for gripping, then displacing and subsequently supplying the material. The device comprises control means for displacing the gripper (2) to the milking robot and for controlling the gripper for supplying the material to the milking robot feeding place of the milking robot.

Abstract: A cover for a robot which includes an electrostatic spray gun with a nozzle which sprays charged material. The cover includes an insulating layer adapted to generally surround the robot except at an aperture where the nozzle extends from the cover. The cover also includes a conductor on the insulating layer near the aperture and spaced apart from the robot. A charge source provides an electric charge to the conductor.

Abstract: A method for communication between a charging station and a robot, via a pair of power lines coupled between a power supply in the charging station and a battery in the robot. In operation, the power supply is sequentially switched between a first voltage level and a second voltage level in accordance with a predetermined signal pattern. The voltage level on the power lines in the robot is monitored and correlated with a specific command to be executed by the robot.

Abstract: A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.

Abstract: A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of one portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

Abstract: A robot of a robot system performs a desired operation by an operation motor and moves along a route by a movement motor. The robot system includes a robot power cutoff device for cutting off the power supply to the operation motor when making the robot move from one station to another station across the worker passage, a cutoff state monitoring device for monitoring the cutoff state of the power supply to the operation motor, and an emergency stop device. The emergency stop device cuts off the power supply to the movement motor so as to make the robot stop on an emergency basis, when it is detected that the power supply to the operation motor has not been cut off and the robot enters the predetermined section above the worker passage.

Abstract: An industrial robot system including at least one industrial robot including a manipulator and a control unit for controlling the manipulator, a portable operator control device for teaching and manually operating a robot. The portable operator control device includes safety equipment including an enabling device, which upon activation enables manual operation of the robot by the portable operator control device. The portable operator control device is adapted for wireless communication with the control unit, and a detecting unit that detects when the portable operator control device enters an area defined in the vicinity of the manipulator. The robot includes an enabling function which upon activation enables the enabling device of the portable operator control device, and upon deactivation disables the enabling device. The robot system is adapted to automatically activate the enabling function of the robot upon detecting that the portable operator control device enters the defined area.

Abstract: A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device.

Abstract: An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced.

Abstract: An integrated tool and automatic calibration systems that enable wet chemical processing chambers, lift-rotate units and other hardware to be quickly interchanged without having to recalibrate the transport system or other components to the replacement items. These tools are expected to reduce the down time associated with repairing or maintaining processing chambers and/or lift-rotate units so that the tools can maintain a high throughput. Several aspects of these tools are particularly useful for applications that have stringent performance requirements because components are more likely to require maintenance more frequently, and reducing the down time associated with maintaining such components will significantly enhance the integrated tool.

Abstract: A method determines axial alignment between the centroid of an end effector and the effective center of a specimen held by the end effector. The method is implemented with use of an end effector coupled to a robot arm and having a controllable supination angle. A condition in which two locations of the effective center of the specimen measured at 180° displaced supination angles do not lie on the supination axis indicates that the centroid is offset from the actual effective center of the specimen.

Abstract: An end-effector that loads disks into a pallet of a sputtering machine, for example, has a two-piece mandrel with a rigid inner core and a plastic outer sleeve slideably axially mounted on the core. The sleeve is attached to the core with a coupling providing a predetermined attachment force. A breakaway force exerted on the sleeve that exceeds the attachment force causes the sleeve to separate from the mandrel, this separation being sensed by a breakaway sensor.

Abstract: The robot alignment system is used for establishing a predetermined alignment position between a movable robot member and an article that is processed by the robot. The system includes a laser transmitter that emits a focused laser beam and a target against which the focused laser beam is directed. The laser transmitter is preferably supported by the robot and the target is supported by the article that is processed by the robot. A signaling device cooperates with the target to produce a detectable signal when the focused laser beam is received at a predetermined location on the target. The detectable signal signifies establishment of a predetermined alignment position between the robot and the article that is processed by the robot.

Abstract: A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientation of the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.

Abstract: A plurality of atomizers or other tools are disposed in a mounting plate (10) in storage places (12), respectively. The mounting plate (10) is rotatable relative a paint robot of a coating installation and has a pneumatic lock or a tool holder (19) that can only be released automatically during storage of the atomizers by an external control device of the mounting plate.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: A hand device for working robot which can be downsized is provided. The device consists of a robot hand 10, a link means 40 and a workpiece drop prevention means. The robot hand 10 includes a hand base 20, a pair of fingers 21, 21 protruding from the hand base 20 and a movable core 25 provided with a cylinder 24. The link means 40 includes a lever and a connecting pad 43 for connecting the lever and the movable core 25. A workpiece drop prevention means 60 includes a protrusion stick 50 which is supported by a supporting rail 51, a coil spring and an air cylinder for recess 53.

Abstract: A virtual electronic pet and a pet-type robot that changes emotional state and instinct state according to surrounding information and internal information. The electronic pet behaves according to the emotional state and the instinct state. Transmission/reception of the internal state of the electronic pet (pet characteristic information) is made possible among the virtual electronic pet, the pet-type robot, and a personal computer. Thus, the action of the electronic pet is implemented by each device in accordance with the internal state of the electronic pet affected by other equipment.

Abstract: A robot arm positioning error is corrected by employing a specimen gripping end effector in which a light source and a light receiver form a light transmission pathway that senses proximity to the specimen. A robot arm old position is sensed and recorded. The robot arm retrieves the specimen from the old position and employs old position information to replace the specimen at a new position that is ideally the same as the old position. A robot arm new position is sensed and recorded. A difference between the new and old positions represents a position error. A correct position is obtained by processing the position error and the old position information.

Abstract: During a robot is taking workpieces out of a workpiece container 2, a safety fence 2 and a photoelectric sensor 1 are valid and the robot is stopped when the safety fence 2 is opened or a beam from the photoelectric sensor 1 is cut off. A safety fence 1 and a photoelectric sensor 2 are invalid and do not hinder operation of the robot. Operation feasible state indicating lamps of workpiece feeding lamp/switch boxes 1 and 2 are turned on and off, respectively. If an operator replaces a workpiece container 1, he/she actuates an operating area entrance switch or the box 1 into an ON state to make OFF state an operation feasible signal for the robot RB on a side of the workpiece container 1. When the robot is operating on the side of the workpiece container 1, the robot can continue to operate while similarly ensuring safety of the operator.

Abstract: A tool identification system has a tool holder allowing removable attachment thereto of any one of a plurality of tools; a sensor arrangement operable to sense features present on a tool attached to the tool holder; a processor operable to identify uniquely, from the sensed features, the type of the tool attached to the tool holder; and an insulation arrangement provided between the tool holder and the sensor arrangement, thereby electrically insulating the tool holder from the sensor arrangement.

Abstract: The invention relates to a toolholder (10) for coupling a welding torch to an industrial robot (14), comprising a first fixing device (16) for fixing the welding torch (12) to the toolholder (10) and comprising a second fixing device (18) for fixing the toolholder (10) to the industrial robot (14). The first and second fixing devices (16, 18) can be displaced or repositioned with regard to one another counter to the action of spring elements (22, 24). The toolholder also comprises a protective circuit (26) for deactivating the welding torch (12) when predetermined displacements or repositionings are exceeded. A component (28) connected to the first fixing device (16) can be repositioned in the Z-direction (30) (toolholder longitudinal axis) and can be displaced in the X-direction and/or Y-direction (32, 34) with regard to the second fixing device (18).

Abstract: A pick-and-place tool releasably retains a part during a pick-and-place operation by an automated device. The pick-and-place tool includes a front structure having a first bore disposed therein for receiving a shaft extending from the part. A plurality of locking mechanisms is disposed within the front structure. The plurality of locking mechanisms are evenly spaced around the inner surface and are in fluid communication with a common fluid source. Each locking mechanism in the plurality of locking mechanisms includes a bearing disposed proximate an aperture in the inner surface, and a piston in mechanical communication with the bearing. Movement of the piston in response to a fluid pressure at the common fluid source forces the bearing to extend through the aperture and retain the shaft within the first bore. In one aspect, a resilient member is disposed between the front structure and a tool holder coupled to the automated device.