Abstract: A method of filling a kit with required parts automatically. The parts are stored in an automatic storage and retrieval apparatus. The parts are held in a container stored in trays in the automatic storage and retrieval apparatus. On demand, a tray is placed at a transfer location whereat a robot arm removes the selected container, transports the selected container, opens the selected container over a kit box wherein the parts fall from the opened selected container, closes the selected container and returns it to the transfer location where the above apparatus replaces it in the storage area under another demand. The above continues until all parts are placed in the kit box.

Abstract: An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of robot programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU), and a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the robot program conforming to the particular workpiece. An NC program number, corresponding to the robot program, is transmitted from the robot control device (RCU) to the numerical control device (NCU). The machine tool (MAC) is controlled in accordance with the NC program identified by NC program number, and the robot (RBT) is controlled based on the selected robot program.

Abstract: Positional information about movable components in a machine system relative to the workpiece is wirelessly transmitted by infrared radiation to a remote receiver. The receiver is operative to convert the infrared signals into electrical signals for controlling operational cycles of the machine system.

Abstract: An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU), and a plurality of robot control programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the NC program conforming to the particular workpiece. A robot program number, corresponding to the selected NC program, is transmitted from the numerical control device (NCU) to the robot control device (RCU), so that the robot (RBT) may be controlled based on the robot program identified by the robot program number number.

Abstract: A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basi

Abstract: A light beam directing apparatus is described which permits a reflected collimated beam of light, such as a laser, to be directed in a path which comprises a plurality of straight segments. Each segment of the beam is associated with a segment of a robot's arm in a fixed spatial relationship.

Abstract: A workpiece handling assembly for gripping, manipulating and releasing a fixtured workpiece assembly for transport to and from and positioning in a workpiece welding station and the like by a hoist to minimize contamination of the welds comprising an inverted generally "U" shaped gripping and manipulating gripping device including a telescopically extensible horizontal crossbeam structure having depending support arms extending downwardly from opposite ends thereof. The lowermost ends of said arms have pivoted gripper jaw members journaled therein for rotary movement about a common horizontal axis, including foot formations shaped to interfit and grip convergent grip edges of triangular protrusions projecting from the workpiece. The gripper jaw members are movable to and from gripping relation with the triangular protrusions, and the gripper jaw members can be latched at diametrically opposite angular positions to support the workpiece in either of two relatively inverted positions.

Abstract: There is disclosed an arrangement for exchanging measuring and/or sampling probes capable of being slipped on to a holding means arranged on the lower end of a vertically movable lance with friction-tight contact. It includes a grab clamping the probe and movable from an operation position below the lance into a position laterally therebeside. In order to be able to slip on a probe to a holding means assuming a position that deviates from the ideal position, without damage to the holding means and the probes, the grab is mounted on the arrangement by universal joint means.

Abstract: A multi-articulated arm mechanism including a first shaft rotatably mounted on a first base plate; a first arm mounted pivotally only in a plane extending through and parallel with the first shaft; a first positioning mechanism for determining the angle of the first arm with the first shaft; a second arm attached to the first arm and pivotable only in the first plane; a second positioning mechanism for determining the angle of the second arm with the first arm; a slide arm connecting a third fulcrum point on a second base plate located remote from the first plane to a second fixed fulcrum point on the second arm; and a third positioning mechanism for determining the length of the slide arm.

Abstract: A part feeding and assembling system comprises a bowl feeder composed of storage container for storing parts to be assembled and a transporting track for transporting the parts in a row, the transporting path having an end opened in the interior of the container, a visual recognition apparatus for imaging the parts being transported, determining whether the part as imaged is proper for assembling currently carried out, and recognizing position and direction of the proper part, and a robot for picking up the proper part by generating pick-up position data of the robot on the basis of the data representative of the position and direction of the proper part and assembling it to a part to be assembled at other station. The robot picks up only the proper part from those being transported. The bowl feeder introduces the improper parts to the container through the opening so that they are again placed on the transporting path for being recirculated.

Abstract: A fruit harvesting apparatus in which the positions of fruit are searched and detected by a television camera with a variable shooting direction. Both the television camera and a spot light emitting device, such as a laser, are varied in position and direction in accordance with instructions to locate a fruit. A movable fruit picker is then moved to the determined position of the fruit and operated to pick the fruit.