Matsushita Electric Industrial Co., Ltd.

Akiyoshi Nakada

Makoto Doi

Toshitsugu Inoue

Haruo Tada

Kuninori Takezawa

Toshitugu Inoue

Hitoshi Kubota

Mikio Hasegawa

Hiroshi Nakagawa

Manabu Yamane

Tomohiro Maruo

Yoshiaki Makizawa

Kenji Sogawa

Toshihiro Ide

Hideki Tsutsumi

Akiho Hirahata

Haruo Kaji

Takanori Funabashi

Kiyoshi Shinki

A component assembling apparatus includes an intermittently rotatable index table for holding a plurality of positioning tools for use in positioning components to be assembled, and an index table driving mechanism for intermittently rotating the index table. The apparatus also includes a component feeding device for feeding one of the components and holding the component at a removal position of the device, a tool container for storing the plurality of assembling tools for assembling the components, and an arm robot for removably securing one of the assembling tools at its end. The arm robot is operable to move the component from the removal position of the component feeding device to a predetermined position of the positioning tool on the table, and to assemble the component on the positioning tool. An arm robot driving mechanism is provided for actuating the arm robot and the assembling tool.

Component assembling apparatus

In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.

Industrial robot

Disclosed is an industrial robot of the type wherein the robot arm is directly driven by a motor. A position encoder generates a signal representative of the actual position of the arm and a manually controlled position entry switch is operable during a teaching mode. When the arm is manually moved to a desired position, a memory controller responds to the operation of the position entry device by storing the actual position signal in a memory as a target position signal, and reads the stored signal during a playback mode. A servo-control system responds to the actual position signal from the encoder and the target position signal from the memory by controlling the motor so that the actual position of the arm approaches the desired position during the playback mode. The output of the servo-control system is decreased during the teaching mode to render the arm manually movable to the desired position and is increased during the playback mode. Alternatively, the servo-control system is disabled during the teaching mode to permit the robot arm to be manually moved to the desired position and enabled during the playback mode.

Industrial robot having a device for teaching a motor-driven arm with

The disclosure relates to an industrial robot free from generation of dust, which is provided with and internal space formed by covering rotating portions and contact portions of its arm members, joint members, bearing members or driving source, by the arm members, joint members, bearing members, or a cover member, or by a combination of these members, and air throttling portions provided in air passages for connecting the internal space with external air so as to separate the internal spaced from external air by sucking the air in the internal space. By the above air throttling portions, air within the internal space is isolated from the external air, and thus, scattering of dust from the dust generating portions toward the atmosphere is advantageously prevented.

Upper parallelogram links (8, 8, 5, 12) and lower parallelogram links (14, 14, 12, 17) are series connected at an intermediate driving unit 12 with direction of the journal shafts (7, 7, 10, 10) of the upper parallelogram links and direction of the journal shafts (13, 13, 16, 16) of the lower parallelogram links being perpendicular to each other; thereby a third driving unit 17, to which a shaft of a hand 19 is mounted, is always kept in parallel to a first driving unit 5 irrespective of the position of the hand 19; thus a reliable handling by hand is assured, and also accurate horizontal motions are attainable with conventional computing means.

Handling apparatus

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Suita, Japan

Akiyoshi Nakada