Canon Kabushiki Kaisha

Yasuo Karube

Yasuhiro Sawada

Yusaku Azuma

Takeo Tanita

Norio Nikaido

Teiji Ohsaka

Hiromitsu Harada

Soft part cutting and mounting methods and soft part cutting and mounting apparatuses are capable of cutting and mounting without human intervention by using an automatic soft part apparatus. The apparatus which uses a sheet material continuously formed from a release sheet having at least a release layer on a surface and including continuously formed tack paper and a soft member having an adhesive layer temporarily adhered to the release layer to finally adhere to an article, and cuts the soft member with the adhesive layer into a predetermined shape. The sheet material is continuously intermittently fed by a sheet material convey unit so as to stop at a cutting position. In the cutting position, a contoured cutting blade moved with respect to the soft member by a first elevating mechanism is moved to the release layer, the cut soft part is drawn by suction by a suction head disposed in a portion surrounded by the contoured cutting blade and vertically moved by a second elevating mechanism, and the release sheet is drawn by suction by a suction unit including an ultrasonic wave application device for transmitting ultrasonic vibration at a frequency of 10 kHz or more. The soft member is cut together with the adhesive layer from the sheet material by controlling the driving of the individual mechanisms and components, thereby obtaining the soft part.

Methods of cutting and mounting soft parts and apparatuses for cutting

An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases. In addition, first and second detectors are fixed to the horizontal arm and output first and second detection signals, respectively, as long as they are detecting the first and second detected portions, respectively, and a controller is provided for judging the original point position of the vertical arm on the basis of the output modes of the first and second detection signals from the first and second detectors respectively.

Robot

A planetary roller speed reducer includes a sun roller mounted rotatably on a pedestal and a plurality of planetary rollers having a central portion with a narrowed diameter and mounted rotatably on the pedestal. The sun roller circumscribes large-diameter portions of the planetary rollers which work as a first reduction part, and an outer ring working as an output shaft circumscribes a small-diameter portion working as a second reduction part. A rotary driving system comprises a support fixed to the pedestal and disposed within the outer ring on an extension of the sun roller, and a turning angle detector fixed to the outer ring detects a turning angle between the support and the outer ring.

Growing community of inventors

Ibaraki, Japan

Yasuo Karube