Abstract: The present invention relates generally to a metrology framework for determining the position of a first object, such as an operator, relative to a second object when the first object is moved relative to the second object. The metrology framework comprises a plurality of extensible instrument arms that are operatively connected in proximity to the first object and the second object. A sensor is in communication with each extensible instrument arm to provide a signal indicative of the extension of the instrument arm. The combination of the signals can be used to determine the position of the first object relative to the second object in all six degrees of freedom.

Abstract: A system for detecting a limit of acceptable rotation for a joint is disclosed. The system includes a support that supports the joint and keeps its pivot point substantially stationary with respect thereto. The system also includes an extensible leg connected to the joint. A contoured member is mounted adjacent the extensible leg and has a surface shaped as a portion of a sphere. The contoured member is located so the pivot point of the joint substantially coincides with the center of the sphere and the periphery of the contoured member corresponds to the limit of acceptable rotation for the joint. Thus, as the leg pivots, the contoured member also moves a similar amount. A detector is used to detect the periphery of the contoured member surface and to assist in preventing further rotation of the joint in that direction.

Abstract: A pivotable joint usable, for instance, with a multi-legged machine tool, is disclosed. The basic design of the joint includes a central block to which is connected a first yoke pivotably mounted for motion about one axis. A second yoke is also pivotably mounted to the central block for motion about a second axis. The central block includes an opening extending therethrough between two surfaces, and the cross-sectional area of the opening decreases towards the central region of the block. This type of opening permits the use of an extensible mounting leg having a rod that moves through the opening during pivoting of the joint.

Abstract: The present invention is directed to an apparatus and method for moving tools between a storage structure and a machine tool. The apparatus includes a framework on which is mounted a linkage assembly comprising a plurality of individual links pivotably interconnected. A tool holder is attached to one link and is configured to select tools from the storage structure and move them into proximity with the machine tool. The apparatus also removes the tool from the machine tool and returns it to the storage structure. The linkage assembly provides for efficient movement of the tool holder along a complex curvilinear path by pivoting a single link or element of the linkage assembly.

Abstract: A bushingless workhead comprises a flexible drill collet inside a flexible chucking collet. The chucking collet has external frusto-conical surfaces on the ends thereof that mate with corresponding frusto-conical surfaces on a pair of pistons. The pistons are slidable within a housing away from each other to apply opposed forces to the chucking collet. The forces cause the chucking collet to collapse and to also collapse the drill collet to grip a tool inside the drill collet. One piston applies a greater force on the chucking collet than the other piston. The chucking collet is thus forced to move longitudinally in one direction, and it abuts a fixed reference surface that repeatably locates the chucking collet with each tool gripping operation prior to the chucking collet collapsing to grip the tool.

Abstract: A machine such as a machine tool includes a pair of spaced platforms. One platform may mount an operator such as a tool in a spindle, and the other platform may mount an object such as a workpiece. The spaced platforms are joined by six powered and extensible legs joined to the respective platforms by universal joints. The length of the legs is individually manipulated to vary the positions of the platforms and, therefore, the object and operator relative to each other. Four of the legs are arranged into two pairs which are spaced apart to provide between them a part of a corridor for moving the workpiece into a working position. The two legs in each pair may cross each other. The other two legs extend away from each other and provide another part of the corridor between their inboard ends.

Abstract: An automatic drill loader is used with a drill grinding machine to automatically present drills to the drill grinding machine workhead for being ground thereat and to carry ground drills to a storage receptacle. The automatic drill loader comprises a magazine, a timing station, and two sets of grippers. The magazine stores a quantity of drills, which may have stepped shanks. The magazine is adjustable to suit drills of different lengths and diameters. The magazine presents one drill at a time to a staging station. A load gripper grips the drill at the staging station and conveys it to the timing station, whereat the drill is linearly and angularly oriented. The load gripper then transports the drill to the drill grinding machine workhead. Simultaneously, an unload gripper carries a ground drill from the drill grinding machine workhead to the storage receptacle.

Abstract: A transfer line for machining differential housings, in which the outer surface of the workpiece is clamped against angled locating surfaces in each work rest. The workpiece is rotated through 90.degree. and located against a work rest in a successive machining station which is oriented 90.degree. to the first mentioned work rest locating surfaces so that the same locating points on the workpiece are used for locating in the successive machining station despite the workpiece having been rotated to enable machining from a different angle.

Abstract: Apparatus and method for cracking a connecting rod comprises long and short semi circular dies. The dies include self-contained means for biasing their flat surfaces together to enable them to be inserted through the connecting rod bore. The long die is supported on both sides of the connecting rod. The connecting rod bore initially contacts only the long die. A force generating tool passes through the long die and contacts the flat surface of the second die. The tool operates to separate the two dies against the self-contained biasing means such that both dies contact the connecting rod bore. The tool applies a force to the second die along a plane parallel to the longitudinal axis of the connecting rod bore. The force is sufficient to crack the connecting rod. The force may be either an impulsive force or a relatively slowly applied force.

Abstract: A bushingless workhead comprises a flexible drill collet inside a flexible chucking collet. The chucking collet has external frusto-conical surfaces on the ends thereof that mate with corresponding frusto-conical surfaces on a pair of pistons. The pistons are slidable within a housing away from each other to apply opposed forces to the chucking collet. The forces cause the chucking collet to collapse and to also collapse the drill collet to grip a tool inside the drill collet. One piston applies a greater force on the chucking collet than the other piston. The chucking collet is thus forced to move longitudinally in one direction, and it abuts a fixed reference surface that repeatably locates the chucking collet during each tool gripping operation prior to the chucking collet collapsing to grip the tool.

Abstract: Apparatus and method for cracking a connecting rod comprises long and short semi-circular dies. The dies include self-contained means for biasing their flat surfaces together to enable them to be inserted through the connecting rod bore. The long die is supported on both sides of the connecting rod. The connecting rod bore initially contacts only the long die. A force generating tool passes through the long die and contacts the flat surface of the second die. The tool operates to separate the two dies against the self-contained biasing means such that both dies contact the connecting rod bore. The tool applies a force to the second die along a plane parallel to the longitudinal axis of the connecting rod bore. The force is sufficient to crack the connecting rod. The force may be either an impulsive force or a relatively slowly applied force.

Abstract: An automatic framing system comprises at least one framing station located along a path. Workpiece carrying pallets are propelled along the path by draw bars. At each framing station, a critical lift lifts the workpiece from the pallet to a work station. The critical lift comprises a first lift mechanism for raising a frame located under the workpiece from a lowered position remote from the workpiece to an intermediate position proximate the workpiece. A second lift mechanism raises the frame from the intermediate position to a third position to contact and lift the workpiece from the pallet to the work station. Side gates pivot between open and closed configurations about respective horizontal axes located near the critical lift. The critical lift frame interlocks with the closed side gates when the frame is in its third position When in the closed configuration, tooling within the side gates clamps the workpiece at the work station.

Abstract: A rotate/translate conveyor module enables a workpiece to be selectively rotated and translated between adjacent sections of a conveyor without having to be lifted above the plane of the adjacent conveyor sections. The rotate/translate conveyor module comprises a plurality of roller modules that are arranged along the path of the workpiece. Each roller module has at least one roller that is driven by an independent electric motor. The rollers of the roller modules support the workpiece in the same plane as the rollers of the conveyor sections. In one embodiment, four roller modules are symmetrically located about the workpiece path, with the longitudinal axes of the rollers intersecting at 90 degrees and at a point on the workpiece path. By operating the electric motors in different combinations of directions, four translational and two rotational motions can be imparted to the workpiece.

Abstract: A workpiece pallet is disclosed with which it is possible to machine a number of different workpieces in a transfer line with a minimum of equipment. The workpiece pallet has several faces each having at least one clamping place to receive a workpiece. The main body is rotated to present a selected side in the stations to allow operations on workpieces clamped on that side.

Abstract: An automatic framing system comprises at least one framing station located along a path. Workpiece carrying pallets are propelled along the path by draw bars. At each framing station, a critical lift lifts the workpiece from the pallet to a work station. The critical lift comprises a first lift mechanism for raising a frame located under the workpiece from a lowered position remote from the workpiece to an intermediate position proximate the workpiece. A second lift mechanism raises the frame from the intermediate position to a third position to contact and lift the workpiece from the pallet to the work station. Side gates pivot between open and closed configurations about respective horizontal axes located near the critical lift. The critical lift frame interlocks with the closed side gates when the frame is in its third position. When in the closed configuration, tooling within the side gates clamps the workpiece at the work station.

Abstract: A drill grinding machine employs independent servo motors for drill rotation, drill lift, and drill feed. The three motors are connected through respective suitable drive mechanisms to a tubular spindle that is rotatably mounted within a work head. The work head contains a hydraulic clamp for selectively chucking and releasing a drill holder. A drill is gripped in the drill holder such that the drill point is proximate a grinding wheel. The drill, lift, and feed motors are actuated to rotate the drill about its longitudinal axis and to move the drill point along a predetermined cyclical path of contact with the grinding wheel to grind a selected point. Combinations of points may be ground on a single drill by suitably controlling the lift and feed motors. A timing pad adjustably mounted to the machine housing cooperates with the lift and feed motors and the work head clamp to enable the drill to be manually timed prior to a grinding cycle.

Abstract: An automatic assembly system transports workpieces to a work station whereat the workpieces are processed into an assembled product. The automatic assembly system conmprises a monorail that defines a path above the work station. A trolley travels along the monorail supporting a workpiece carrier by means of a pair of latches pivotally connected to the trolley. A lowerator mechanism is mounted to the monorail above the work station. When a trolley stops above the work station, the lowerator mechanism thereat operates to lift the workpiece carrier from the trolly latches. The trolley latches retract and the lower mechanism then lowers the carrier and workpieces to the workstation without lowering the trolley or the monorail. A safety interlock prevents uncontrolled lowering of the carrier and workpieces.

Abstract: A drill grinding machine employs independent servo motors for drill rotation, drill lift, and drill feed. The three motors are connected through respective suitable drive mechanisms to a tubular spindle that is rotatably mounted within a work head. The work head contains a hydraulic clamp for selectively chucking and releasing a drill holder. A drill is gripped in the drill holder such that the drill point is proximate a grinding wheel. The drill, lift, and feed motors are actuated to rotate the drill about its longitudinal axis and to move the drill point along a predetermined cyclical path of contact with the grinding wheel to grind a selected point. Combinations of points may be ground on a single drill by suitably controlling the lift and feed motors. A timing pad adjustably mounted to the machine housing cooperates with the lift and feed motors and the work head clamp to enable the drill to be manually timed prior to a grinding cycle.

Abstract: A zone controlled conveyance system includes a series of modular sections arranged end-to-end to define a path along which a workpiece is propelled. Each section is divided into one or more zones. Each zone includes a number of rollers that support the workpiece and propel it in the downstream direction in accordance with the energization of a separate motor drivingly connected to each roller. Sensors associated with each zone sense the presence or absence of a workpiece within the zone. The sensors cooperate with a controller to selectively energize or deenergize the motors of the various zones in a manner that controls downstream propulsion or accumulation of the workpieces. The sections include radiussed sections and sharp corner sections. The sharp corner sections may include a turntable that changes the workpiece orientation.

Abstract: An improved tool exchange arm for use in the automatic tool changer of a machining center adapted for boring, drilling, milling, tapping and tool changing operations under numerical control. The tool exchange arm may be incorporated in machining centers of either vertical or horizontal spindle configuration. It operates with current commercial tapered shank toolholders, is capable of precisely and securely positioning itself for engagement with the toolholders to be exchanged, and rotates quickly for tool exchange without sharp impacts at the extremities of its rotational stroke.