Abstract: An apparatus for supplying a pallet to a machine tool has two rows of pallet supports and a pallet carrier between the two rows. The two rows of pallet supports consist of one or more modules so that a change of the number of pallet supports can be easily achieved. The pallet carrier moves along and at a right angle to the two rows, and can be positioned under a desired pallet. The pallet carrier lifts the desired pallet and transfers it to the machine tool by only linear movement.

Abstract: A plurality of vehicle bodies are successively conveyed with the rear of each vehicle body directed in the conveying direction and the front of each vehicle body opposed to the rear of the immediately rearward vehicle body. A single robot mounts a first part on the front of each vehicle body and a second part on the rear of the immediately rearward vehicle body.

Abstract: A device for pivoting a pivotable member about its pivot axis between its closed and open positions includes a pivot arm pivotally supported about an axis parallel and adjacent to the pivot axis of the pivotable member. A free end of the pivot arm has a mechanism attached thereto, which mechanism supports a member which is movable in a direction normal to a circular arc path taken by the free end of the pivot arm. A connector is attached to the movable member and is further connectable to the pivotable member. Upon movement of the pivot arm into correspondence with the pivotable member under action of a pivot arm actuator, the connector is connected to the pivotable member with the movable member positioned at a predetermined position by a positioning device.

Abstract: A welding robot is provided with a first joint member in addition to a welding gun. A work holder provided with a second joint member adapted to be connected with the first joint member and a clamp mechanism for gripping a workpiece is positioned in a predetermined waiting position. The welding robot accomplishes welding on a workpiece transferred to a first station and when the welding is completed, the welding robot approaches the work holder in the waiting position to connect the first and second joint members with each other. Then the robot returns to the first station carrying the work holder and permits the clamp mechanism of the work holder to grip the workpiece at the first station. Thereafter, the robot moves to a second station to transfer the workpiece from the first station to the second station. Then, the clamp mechanism releases the workpiece and the robot moves away from the second station to the waiting position with the workpiece left at the second station.

Abstract: The invention is concerned with the design of processing stations for the processing, by welding technology, of semi-finished vehicle body subassemblies (5) within the framework of a flexible manufacturing system. Thereby, frame-like work piece carriers (1) with support members (4) are used for loose positioning of components of the subassemblies (5), where the work piece carriers (1) are also capable of accepting differently configured subassemblies. The transfer line (9) is not planned as a single line, but includes only the input station (10), the work position (6) and the output station (11). Next to these stations (10, 11), storage stations (14) are arrayed, which are connected with one another by a transport system (20) which crosses the transfer line (9). In this manner it is made possible to store the work piece carriers (1) with the processed subassemblies (5) or to bypass the next work station if it is not capable of receiving (a work piece carrier), or is out of order.

Abstract: A weighty object mounting system includes a mounting table provided in a mounting station established in an assembly line for supporting a weighty object placed thereon to be mounted on a transportable object transported into the mounting station, a lifting device for lifting the mounting table to move the weighty object thereon into a mounting position provided on the transportable object, a position adjusting device for shifting the position of the mounting table so as to compensate for misalignments arising between the transportable object and the weighty object, a mounting table releasing device operative to cause the position adjusting device to make the mounting table movable in a plane along the direction of transportation of the transportable object in the mounting station, and a positioning device attached to the mounting table and having a tapered portion provided for engaging with a receiving portion provided on the transportable object when the mounting table ascends.

Abstract: An electronic part insertion apparatus which includes an inclined portion inclined by a predetermined inclination angle and having at least one inclined surface on which electronic parts having leads slide to descend under their own weight. An intermittent feeding mechanism is arranged in the middle of the inclined portion to feed intermittently the electronic parts, and a positioning mechanism is provided at a lower portion of the inclined portion to stop and position the electronic parts on the inclined surface. A hand portion is arranged to be pivotable to hold the positioned electronic part at a first position and to insert the held electronic part into a printed circuit board at a second position.

Abstract: An apparatus for automatic glazing of cars which comprises a robot having a robot arm. A tool is mounted on the robot arm for gripping a window glass, and two T.V. cameras are fixed along a conveyor line for respectively taking images of front and rear pillars of a body shell stopped at a predetermined position. T.V. cameras are mounted on the gripping tool for taking images of a window frame for position compensation of the window glass, and an image processing unit is provided for distinguishing the kinds of body shells and for calculating position variations of the stopped body shell with respect to predetermined positions thereof from the images. A control unit is provided for receiving signals corresponding to the position variations from the image processing unit and for moving the robot so as to compensate for position variations.

Abstract: A conveyor system in an automobile assembly line which comprises a slat conveyor for conveying a vehicle body structure past a door fitting position at which at least one door assembly is fitted to the body structure being conveyed, and having at least one engagement member movable together therewith, a pair of side carriages arranged on respective sides of the slat conveyor for movement between initial and end positions along the slat conveyor, and a cylinder for forcibly returning the carriages, once moved to the end position to the accompaniment of the movement of the slat conveyor, to the initial position. Each of the carriages includes a plurality of lift cylinders operable to lift the body structure a predetermined height above the slat conveyor during the passage of the body structure being conveyed through the door fitting station.

Abstract: An automatic freight stacking system for loading previously determined freight articles of various configurations (shapes, size, material, etc.) to be shipped, using a loading scheduler for determining a loading schedule on the basis of the existing various configurations of the freight articles, marshalling equipment for receiving the freight articles in a given order and delivering them in a predetermined order which is determined by the scheduler, a feeding conveyor for carrying the delivered freight articles and transporting means to the places of the respective loading means allocated by the loading scheduler, and the loading means for loading the carried freight articles on the transporting means in accordance with the scheduled operation sequence.

Abstract: A tool and workpiece change system adapted to a machining center with a tool magazine and a pallet pool having a pallet change station and a pallet loading and unloading station and associated with a pallet change apparatus for replacing a pallet on a worktable in the machining center with another pallet successively positioned at the pallet change station. The system comprises a replaceable hand support arranged adjacent the loading and unloading station to detachably support a first replaceable hand for grasping a workpiece and a second replaceable hand for grasping a cutting tool, a workpiece support arranged adjacent the hand support, a tool support arranged adjacent the workpiece support to detachably support a plurality of spare cutting tools, and a robot arranged to be movable between first and second spaced positions.

Abstract: A method for changing the tooling in a robot-based material transfer system is disclosed as well as a system utilizing the method. The tooling is changed to accommodate the transfer of material such as automotive parts having different configurations within the system. Initially, end effectors of gantry robots and/or transfer beds of the system are placed in at least one container which is indexed through the work envelopes of the robots. Then, at least one specially designed container containing new tooling is indexed into the work envelopes. The robots are controlled to remove the new tooling from the containers and to place the new tooling in operative positions in the system. In the disclosed embodiment, one of the robots utilizes a special transfer bed gripper to replace the old transfer beds with new transfer beds. Preferably, an automatic guided vehicle system (AGVS) moves containers to and from loading and unloading stations in the material handling system.

Abstract: An automatic commissioning system, in which the articles to be wharehoused are provided with a machine readable coding. On the transport unit for the articles a robot is arranged which grabs the articles, swings them in front of a concurrently transported code reading device which determines the destination address. The articles are then deposited in the addressed rack compartment.

Abstract: The assembly comprises several transport bands for advancing the products to be disposed in the preformed containers for assorted packings to a distributing station, from where several band conveyors transport the products to different filling stations. Each filling station comprises a depositing means for the products being mounted on a slewing arm comprising an extensible horizontal arm. The depositing means comprises a tubular stem connected to a coupling piece which in turn is carried by the head of a conveyor thus connecting the conveyor and the slewing arm. The assembly is designed to facilitate the regulations which are necessary for a change of the format of assorted packings.

Abstract: An improved device for offering high speed transfer of articles between first, second and third stations. The device includes a pair of gripping devices each of which is movable along a first path with the first gripping device being operative to pick up an article at the first station and deposit it at the second station. The other gripping means is effective to grip the article at the second station and move it to the third station for release.

Abstract: Installation for assembling a number of body models of a single type of motor vehicle. The installation includes:a horizontal shaft at the top of the frame for moving vertically the assemblies of elements used to position and hold components of the top part of a given motor vehicle body model while welding the components.

Abstract: A working/assembling system including a dosed loop endless track, moving units adapted to travel on the endless track, at least one robot supported on one of the moving units for a working or assembling operation, and a control unit mounted on the other moving unit connected to the one moving unit having stored therein operations to be performed by the robot and causing the robot to perform the operations. The robot moves on the moving units as the latter travel on the endless track, and performs the operations for working on workpieces or assembling parts as it is controlled by the control unit.

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 method and system for automatically attaching works to respective vehicle bodies carried on a slat conveyor using a robot. The method comprises the steps of (a) providing a base on which the robot is mounted and which is movable within a movement range, at least one part of which is alongside of the conveyor; (b) providing work feeders for sequentially feeding plural kinds of the works which are different according to vehicle types (sedan, hardtop, etc.

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.

Abstract: An induction heating apparatus for inductively heating the valve seats of a family of engine component designs includes a plurality of rotatably mounted inductors which are selectively indexed and cycled in accordance with the component design presented at the heat treating station.

Abstract: In the commercial production of licorice bites, each about 1 inch long, a group of extruded 54-inch licorice strips are lifted by a programmable controlled robot from the discharge end of a lower conveyor and deposited at the input end of an upper conveyor which carries the strips to a cutting station. The robot hand has a lower stainless steel blade for insertion under the group of licorice strips to wedge the sticky strips from a board on which they are being carried by the lower conveyor. The robot hand includes an upper bar having a food-grade rubber undersurface. The bar is lowered relative to the blade after insertion of the blade under the licorice strips, thereby clamping the strips between the lowered bar and the blade. The arm of the robot then lifts the hand and clamped group of licorice strips and deposits the front ends of the strips at the input of the upper conveyor.

Abstract: A piling planning method for cargoes in which an operator can designate a piling position of each of the various cargoes, and by displaying the piling result graphically on a graphic terminal, a piling patern is determined so that vacant space is reduced, and by using a final piling pattern, a piling position and a piling order of each cargo, and a piling operation sequence of the palletizing robot are determined. A piling system is provided in which cargoes supplied thereto are piled on a pallet in accordance with piling planning data prepared by a piling planning device which executes the above piling planning method.

Abstract: An end effector apparatus for attachment to an industrial robot for transferring prepressed windshields to an autoclave tub. Vacuum cups engage and secure the windshield to the end effector for transfer of the windshield from an upender conveyor to the tub. A combination spacer clip sensing device and spacer clip retaining device senses the presence of a spacer clip on the top edge of the windshield and holds the clip in place during transfer.

Abstract: A parts assembly method and a device which utilizes this method, in which the structure for receiving parts member for assembly is set in prescribed attitudes, and the parts are automatically assembled in that member by assembly from a fixed direction, so that an automatic device having simple movements can be mainly used. The structure member being assembled can be set in an optional direction in which conditions are more suitable for the assembly. There is no increase in cost, and the parts are reliably and automatically assembled into the receiving member.

Abstract: An apparatus including a set jig for setting and positioning a door into a door opening portion of a vehicle body which jig is movable to advance and retreat in the direction of the door opening portion and movable in the vehicle length and height directions from a predetermined original point position (corresponding to a normal set position of the door opening) and a position detecting mechanism for detecting deviation in position of the door opening from the normal set position and for adjusting the alignment of the set jig in accordance with the deviation to have it correspond with the actual position of the door opening portion prior to the set jig advancing to set the door.

Abstract: A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device; causing the movable tables to support the main body during the synchronized movement; setting a part held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage. Since the carriage is moved during the assembly of parts, this method assures the assembly line of a high-speed operation.

Abstract: The robotic assembly of a keyboard using a multiplicity of keys of a plurality of distinct types, such As key caps on a sculptured keyboard, can be substantially increased in speed by the use of a multifacted rotatable turret for picking up and installing the key caps onto the keyboard. A programmable robot, having a robotic arm is provided with a rotatable multifaceted turret. Each facet of the turret includes a key handling member which is molded to accept a distinct type of sculptured key. The types of sculptured keys are segregated in a pick-up position. The turret is manipulated by the robotic arm in the pick-up position to pick up a multiplicity of keys of one given type on each of the facets of the turret. Thus, each turret picks up one type of keys. The turret is then translated by the robotic arm to an assembly position. The turret is once again rotated and advanced to assemble the key caps on to key stem projected from the keyboard.

Abstract: A robot system for use with a machine tool having a spindle, comprising a robot having a body for being mounted on the machine tool, an arm pivotally mounted on the body and rotatable in a plane transverse to an axial direction of the spindle of the machine tool, and a hand mounted on a distal end of said arm for gripping a workpiece for transfer to the machine tool, and a workpiece feeder disposed adjacent to the robot and movably supporting a succession of pallets for carrying unmachined and machined workpieces thereon.

Abstract: A linear transfer device for wafery works comprising: a work supporting means provided each in a work supplying station, one or more working stations and a work discharging station, which supports the works in erect positions in front thereof, the stations being linearly arranged with equal distances; a feeding means for axially feeding the work supporting means; a transfer bar capable of moving horizontally and vertically and holding means provided on the transfer bar which are adapted to face to the stations and have a pair of supporting grooves in order to support the work in an erect position, characterized in that the delivery or reception of the work supported by each work supporting means or each holding means can be made only by the vertical movement of the transfer bar relatively to each station and that the work supporting means can locate at the retreated positions in order to prevent from interfering with the holding means when the transfer bar is in movement.

Abstract: A method of and a magazine for serving machines for mechanical treatment with a robot. Articles to be machined are supplied on pallets on a first conveyor. A robot collects an article from a pallet on said conveyor, places it in the machine and collects a machined article and places it on a pallet on a second conveyor belt. The robot is connected to or grips an empty pallet and moves this from the first to the second conveyor belt.

Abstract: A vehicle door opener apparatus positioned in a work station such as a paint booth includes a rotary arm with its pivot axis substantially aligned with the door hinge axis in open and closed positions of the door. Harmonic control linkage provides smooth acceleration and deceleration of the door. A fixture pin is mounted on the lower surface of each door of the vehicle body for engagement by a gripper mechanism comprising a pair of elongated rail members supported on the free end of the arm. The rail members receive the fixture pin upon movement of the vehicle body into the work station. A system utilizing the apparatus includes a hydraulic power supply and a manifold assembly. The manifold assembly includes a solenoid valve which controls a rotary actuator of the apparatus in an on-off manner. The rotary actuator powers a drive link of the control linkage. Magnetic proximity switches provide status signals to a programmable controller which controls the solenoid valve.

Abstract: Assembly of stick-type cosmetics such as lipsticks is fully automatized by highly coordinated operation of a pair of robots each accompanied with sequential operational units arranged within the ambit of its operational terminal so that sticks and bottles are transferred upside down from unit to unit for application of sequential operations and combined with each other and further with caps to form complete stick-type cosmetics. Simple adjustment in numerical control of the robots and their operational terminals will span a wide variety of quality demands in the market, and will make the system well suited for small scale production with high lot number in which shifting of lots is highly frequent. There is no manual touching of the sticks during assemblage which enables high level of sanitization of the whole 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: The present invention provides a computer controlled robotic arm unit having a fixed body and a carriage which is linearly movable to the fixed body along a first horizontal orthogonal cartesian axis. An elongated column is vertically movably mounted to the carriage along a second vertical cartesian axis while an elongated arm is carried at the upper end of the column. This arm includes a work performing member at one end and is linearly movable along a third and substantially horizontal orthogonal cartesian axis which is perpendicular to the first axis.

Abstract: A robot painting system for electrostatically painting an automobile body that includes a paint module adapted to maintain the automobile body in a stationary position relative to at least two painting robots, each of which carries a rotary bell-type atomizing device and provides programmed movement thereof about five control axes at a speed which prevents the cone-shaped pattern of atomized paint particles from being distorted due to any gyroscopic effect developed by the atomizing device as it is moved about the control axes.

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 wire canister capable of being used by robots during the assembly of a wire harness. The wire canister is capable of accepting, storing and dispensing random lengths of wire, i.e., a wire segment. The leading and trailing ends of the wire segment are constrained in such a way that the ends of the wire segment may be readily acquired by the manipulator of a robot and presented to other supporting equipment for purposes of performing operations on the ends of the wire segment.

Abstract: A controller for a manipulator or robot having a plurality of power-driven, signal-controlled links interconnected to permit relative motion therebetween to define plural degrees of freedom. The links of the manipulator are controlled to perform movements corresponding to stored sequences of command positions. The controller stores, for each link, a sequence of command positions and is operable to add a further command position or a further sequence of command positions to the original sequence of command positions. In a non-synchronous mode of operation (where the movements of the robot are not sychronized with movement of the workpiece) or in a synchronous mode, a further command position is added to the end of the original sequence by producing a number of additional command positions and storing the additional command positions after the original sequence. The last of the additional command positions is substantially equal to the further command position.

Abstract: A method and apparatus for real time editing, or modifying, of a program of prerecorded robot motions stored in a robot controlled memory while it is being processed by the controller for subsequent storage of the program, as edited, in memory and output to the robot for execution.