Kabushiki Kaisha Sankyo Seiki Seisakusho

Kazuyoshi Yasukawa

Yukio Oguchi

Yasuyuki Kitahara

Yoshio Hayashi

A first rotatable arm and a second arm rotatably are connected together at a forward end of the first rotatable arm. A hollow hole portion is formed at a rear end portion of the second arm and has a hollow projecting shaft provided at one side coaxial with it. A supporting plate and a second shaft are provided at the forward end of the first arm for rotatably supporting the hollow projecting shaft and the hollow hole portion, respectively, the supporting plate and the second shaft being separated so as to be on opposite sides of the hole portion. A rotary shaft rotatably is supported by the hollow projecting shaft at a center of the latter and a motor is provided in a position separated from the rotary shaft and connected to it. A decelerator is provided between the rotary shaft and the second arm within the hollow hole portion.

Articulation structure of rotatable arm

A method of positioning a planar multi-joint industrial robot in which errors due to manufacturing tolerances and errors in the manufacture of the robot are prevented from affecting the accuracy of the movements of the robot in actual use. The coordinate system of a measuring plate is first made to agree with one axis of the coordinate system of the robot by teaching, and the coordinates of four points on the measuring plate are taught to the robot. The actual arm lengths of two arms of the robot are obtained, and an angle of one of the arms relative to an extension of the other arm on the basis of the four coordinates is determined. Dimensions of the robot to the actual arm lengths and this angle are then corrected, and two reference points of the object are taught to the robot to obtain an inclination between the coordinate systems of the object and the robot. The coordinate system of the robot is corrected with the inclination to thereby obtain the position of the object. In a control unit of the robot are stored the actual arm lengths and the inclination as well as the position coordinates as correction values.

Method of calculating actual arm lengths and compensating for angular

A multi-articulated robot is disclosed which comprises a base; a first arm rotatably supported to said base; a second arm rotatably supported at a forward end of the first arm; a work shaft provided at a forward end of the second arm; belts provided below the first arm and the second arm, respectively; a motor provided at the base for driving the work shaft; a hollow shaft fixed to the base, the hollow shaft rotatably supporting the first arm, and the motor being fixed to the hollow shaft; a rotary shaft rotatably supported in opposition to an output shaft of the motor, the rotary shaft projecting into a space defined below the hollow shaft; a declerator interposed between the rotary shaft and the output shaft of the motor and a pulley provided at a projecting end of the rotary shaft, one of the belts being laid around the pulley. The belt laid around the pulley is of the endless type.

Multi-articulated robot

A lifting head of a swivel arm of an assembly robot having an increased stroke of a lifting shaft and a reduced overall weight. A pair of guide bars are fixedly provided on the swivel arm extending parallel thereto, and a feed screw rotatably supported on the swivel arm extends parallel to the guide bars. A holding plate is fixed to the upper side of the swivel arm. A supporting member is secured to an upper end of the holding plate, the supporting member supporting the upper end portions of the guide bars and rotatably supporting upper end portions of the feed screw. A cylindrical guide having an inner wall of noncircular section is rotatably supported by the swivel arm. A lifting shaft slidably inserted into the cylindrical guide has an upper end portion rotatably supported by the nut member and has a fluid passage formed therein, an upper end of which is coupled to a fluid pipe. A rotating pulley is provided at the lower end of the cylindrical guide. A cover is secured to the swivel arm covering the guide bars and feed screw. The cover includes a pair of guide rollers and a hole at the top portion thereof, with the guide rollers being supported on both sides of the hole and the pipe extending through the hole and being guided by the guide rollers.

Lifting head of swivel arm of assembly robot

A process for controlling an industrial robot in which most data for controlling the robot can be supplied using a preset process without moving the robot and only data for regions in which very precise control is required need be prepared by actually moving the robot. A programming unit is provided separate from but connectable to a robot control unit. The programming unit is used to compile and transfer completed programs to the robot control unit for controlling the movements of the robot. To program the robot control unit, the programming unit and robot control unit are connected as an on-line system. Then, data describing a desired path of movement is inputted to the programming unit as a series of coordinates in Cartesian form. In regions where very precise control is required, the coordinates describing the desired path of movement are corrected using small corrective motions of the robot. The inputted data and the corrected coordinates are displayed.

Point measuring process for preset robot

A robot control apparatus for controlling the movement of an arm of a robot with respect to a workpiece transported upon a pallet moving down an assembly line, wherein the position of the arm of the robot is compensated for in accordance with the position of the workpiece. A reference position memory stores a reference position of one of the pallet and workpiece. A position detector detects the position at which the pallet of workpiece is clamped along the assembly line. A difference between the outputs from the reference position memory and the position detector is used to correct a value stored in a work position memory to thus provide the output data which controls the movement of the arm of the robot.

Robot control apparatus

An operation control apparatus for industrial robot in which a speed pattern optimum for the particular task to be performed is utilized. The operational control apparatus includes a plurality of operating program memories for storing completed operating programs compiled by a separate programming device, a speed pattern memory for storing plural speed patterns, a changeover signal generator which generates a changeover signal in response to a predetermined sensed operating parameter of the industrial robot or in response to operation of manual changeover switch, and a changeover circuit for selecting an optimum speed pattern in response to the changeover signal. Rising and falling slopes of the speed patterns can be made different from one another so that the arm of the industrial robot can be moved at a greater speed when it is not in contact with a workpiece than when it is actively manipulating a workpiece.

Operation control apparatus for industrial robot

A head for an industrial robot comprising, a head body mounted on an end of an arm of the industrial robot, an internal motor, a nut member and a guide member rotatably supported by the head body. A belt drive device is provided between the motor and the nut member. A screw rod passes through and threadedly engages with the nut member. A spline shaft has at a lower end an operating chuck. A connecting device connects the screw rod and the spline shaft to each other in a sealable manner and slide members for preventing rotation of the screw rod. A fluid is supplied to operate the chuck through passages formed in the screw rod and the spline shaft.

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Nagano, Japan

Kazuyoshi Yasukawa