Fujitsu Fanuc Limited

Fanuc Corporation

Fijutsu Fanuc Limited

Shigemi Inagaki

Hajimu Inaba

Susumu Ito

Seiichiro Nakashima

Kenichi Toyoda

Nobutoshi Torii

Ryo Nihei

Kazuhisa Otsuka

Seiichiro Nakajima

Shinsuke Sakakibara

Yasuo Naito

Mitsuhiro Yasumura

Apparatus for holding stacked workpieces and feeding the same

Industrial robot

Cable supporting arrangement in industrial robots

Method and device for determining the reference positions of an

A compact industrial robot for mounting on a lathe includes a traveling body transported along an axis (Z axis) parallel to the axis of a spindle provided on a lathe, a column provided on the traveling body for extending and retracting in a vertical direction (Y axis), a first rotating mechanism provided on the column for rotation about an axis (C axis) parallel to the spindle axis, and a second rotating mechanism provided on the rotary shaft of the first rotating mechanism and having a hand. The hand, having a double-hand configuration, is swung by the first rotating mechanism in a plane orthogonal to the spindle axis, and is swiveled by the second rotating mechanism about the longitudinal axis (.alpha. axis) of the second rotating mechanism.

Industrial robot wrist mechanism

Wrist mechanism of an industrial robot

A swivel device for supporting a swivel unit thereon, including a hollow main frame and a comparatively slender rotatable shaft disposed upright within the hollow frame, connectable to the swivel unit at the upper end thereof and connected to a driving source at the lower end thereof through a transmission mechanism. All control cables and conduits for controlling the mechanisms mounted on the swivel unit are accommodated in the space formed within the hollow frame around the upright shaft.

Swivel device

A robot wrist of an industrial robot having a wrist housing supporting two orthogonally arranged rotating output shafts therein, each of the shafts being connected to a robot hand, and a built-in fluid conveying means provided for distributing pressurized air introduced from the outside of the robot wrist toward the robot hand attached to one of the rotating cutput shafts. An output end of each of the two rotating output shafts may either be plugged by a plug element or closed by a stop valve when the output end is not connected to the robot hand.

Robot wrist of an industrial robot

An industrial robot having a trunk mounted for vertical and rotational movement on a stationary base is provided with two arm members extensible from the said trunk having a robot wrist mechanism attached to their ends. The extending and contracting movements of the arm members, rotational movement of the wrist and swinging movement of the wrist are controlled, respectively, by three electric servo motors mounted in a mounting compartment positioned on the side of the trunk opposite to the extensible arms.

A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.

System for controlling an industrial robot

An industrial robot, mountable on a machine tool for carrying a workpiece to a spindle of the machine tool, and having an arm, one end of which is equipped with a wrist having a gripping device for gripping a workpiece. The robot further includes a main body having first and second rods with perpendicular spanning plates movably mounted on the machine tool rotatably connected to the second rod, first driving means provided on the main body for moving the arm axially of the spindle on the machine tool, and second driving means for allowing movement axially of the spindle for rotating the arm in a plane perpendicular to the axis of the spindle, with the other end of the arm serving as the center of rotation about the first rod.

An industrial robot having a robot hand attached to a robot arm, a rotary motion unit supporting therein the robot arm, a vertical motion unit on which the rotary motion unit is disposed, and a vertical hollow structure extending through the vertical and rotary motion units and defining therein a vertically extending wiring and piping space.

An industrial robot, having a manipulative robot hand for mounted on a vertically movable portion thereof moved by a vertical drive, provided with a load reducing pneumatic cylinder for applying a constant upward force to the vertically movable portion during the vertical movement of the portion and an air storage tank or tanks directly connected to the pneumatic cylinder for continuously supplying air under a desired fixed pressure. The upward force contributes to reducing a load applied to the vertical drive. The air storage tank or tanks contributes to ensuring mechanical rigidity of the industrial robot.

An industrial robot having a hollow arm rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism attached for rotation at one end of the arm, the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders colinearly disposed within the arm, the first cylinder being fixed and the second cylinder being movable longitudinally of the arm. A piston rod interconnects the first and second air cylinders, the piston rod having a first piston at one end received in the first cylinder and a second piston at the other end received in the second cylinder. The piston rod is moved longitudinally of the arm by introducing air selectively into the first and second air cylinders. A pulley is affixed to the first cylinder, and a tension member such as a wire or belt is connected between the rotary shaft of the wrist mechanism and the pulley. The second cylinder is connected to the tension member. The tension member is pulled by driving the second cylinder, thereby rotating the rotary shaft, which is capable of being stopped at 0.degree., .+-.90.degree., and 180.degree. positions by the use of a stopping mechanism.

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Musashino, Japan

Shigemi Inagaki