Honda Giken Kogyo Kabushiki Kaisha

Isao Bundo

Hiroshi Miwa

Kazuhide Matsuo

Yutaka Asano

Shinji Imai

Shigeru Okazaki

Kouzou Hannuki

Noriaki Shigematsu

Nobuya Takeishi

Mikiya Ito

The heat generated by a laser oscillator is partly radiated toward a frame. The radiated heat is partly absorbed by a cooling mechanism. The remaining heat is transferred through a chamber which dissipates part of the heat, to a heat insulating panel, which blocks most of the heat. The heat generated by the laser oscillator is partly radiated outwardly and reflected by a casing inwardly toward the frame. The reflected heat is partly absorbed by cooling mechanisms. The remaining heat is transferred through chambers which dissipate part of the heat, to the heat insulating panel, which blocks most of the heat. Therefore, any temperature rise of the frame due to the heat generated by the laser oscillator is very small, and the frame is prevented from being deformed due to the heat from the laser oscillator. Because the frame is not deformed, a laser beam emitted from the laser oscillator is applied to a desired position which remains unchanged.

Laser oscillator system

Distortion amounts .delta.1, .delta.2, .delta.12 of workpieces are measured. Based on these distortion amounts, those correction amounts A1, A2, A3 for correcting the workpieces which are required to eliminate the distortions after the workpieces have been combined are computed. Clamp units are moved to thereby deflect the workpieces by the correction amounts. In this state, the workpieces are combined.

Method of combining workpieces

An industrial robot includes a a hollow arm extending from a robot base, a wrist base mounted on a distal end of the hollow arm for rotation about a longitudinal axis of the hollow arm, a wrist mounted on a distal end of the wrist base for swinging movement about an axis transverse to the longitudinal axis, and a wrist socket mounted on a distal end of the wrist for rotation about an axis parallel to the longitudinal axis. The industrial robot also includes first, second, and third actuators such as motors. The first actuator is fixedly mounted on a rear end of the arm remotely from the wrist base and produces rotational drive forces that are transmitted to rotate the wrist base. The second actuator is fixedly mounted on the rear end of the arm and produces rotational drive forces that are transmitted to swing the wrist. The third actuator is fixedly mounted on the wrist and produces rotational drive forces that are transmitted to rotate the wrist socket.

Industrial robot with wrist actuator mechanism

A working apparatus for a work being conveyed wherein a movable base is provided alongside of a conveyor conveying a plate-like workpiece mounted on a carrier in such a manner that the workpiece is held in an upright posture with its side surfaces facing sideward, the movable base being movable in the longitudinal direction in which the workpiece is conveyed, and a robot mounted on the movable base is used to apply predetermined working to the workpiece being conveyed by the conveyor. A clamping device for clamping the carrier is provided on the movable base and operated by signals from a detecting device that detects the carrier. A positioning mechanism is also provided on the movable base, for positioning the workpiece on the carrier in three orthogonal directions with respect to the movable base and holding the workpiece in that position. The positioning mechanism includes a vertically movable lifter for pushing the workpiece up from below to a predetermined position, a first unit having a reference seat for receiving one of the front and rearward side edges of the workpiece and a first clamp member for clamping the one side edge from sideward direction and a second unit having an abutment seat for contacting the other of the front and rearward side edges of the workpiece and a second clamp member for clamping the other side edge from sideward direction. The first unit is mounted on the movable base to be movable laterally toward and away from the conveyor. The second unit is also mounted on the movable base to be movable laterally toward and away from the conveyor and additionally movable in the longitudinal direction.

Growing community of inventors

Sayama, Japan

Isao Bundo