Abstract: An improved mobile pipe forming apparatus in which pipe forming apparatus is supported on a carriage. The carriage is mounted on a forward and a rearward pair of tracks, the two tracks of each pair being attached to each other by a rigid carbody, the carbody of one of these pairs of tracks being pivotally secured to the carriage by means of a ball and socket centered with respect to that carbody, the other carbody being secured to the carriage by means of a turntable which rotates above an axis normal to the surface of the carriage on a centered axis pin so that, during movement, the carriage stays on the same plane as that of the turntable. It is preferred that independent motors are provided for each track to power these motors. The motors are computer controlled. Other mechanical improvements over prior art mobile pipe forming apparatus are also described.

Abstract: A pipe forming apparatus provided with microcomputer control of the welding temperature and, when for a mobile pipe forming apparatus, the speed of vehicle and speed of the milling operation. Where the pipe forming apparatus is mobile, it is further provided with a propulsion and steering system, the computer measuring the speed of the apparatus and the pipe manufacturing speed and passing that information to the microcomputer. The microcomputer then controls the relative mill speed and vehicle speed to ensure that during operation the pipe milling apparatus moves ahead at an equal speed but opposite direction to the metal strip being formed into pipe.

Abstract: Apparatus and method for accurately aligning and applying the outside longitudinal weld seam, with the weld seam of a section of large diameter thick gauge steel pipe generally after the inside weld has already been made, including support means for maintaining the pipe section in a stationary position, a plurality of adjustable scanning and tracking assemblies mounted at spaced measured stations along the length of the apparatus, each of which include optical scanning means whereby the scanning and tracking assemblies can be centered with respect to the seam weld of the pipe section at the point of scan, guide means connected to each scanning assembly so that the movement thereof causes said guide means to assume a contour corresponding to the longitudinal weld seam, and a welding machine which follows the path of said guide means to thereby apply the outside weld seam in alignment with the weld seam as the pipe is held stationary and the welding machine travels along the length thereof.

Abstract: Apparatus for applying a vacuum to a nuclear fuel rod cladding tube's interior through its open end while girth welding an inserted end plug to its other end. An airtight housing has an orifice with a seal which can hermetically engage the tube's open end. A vacuum hose has one end connected to the housing and the other end connected to a vacuum pump. A mechanized device moves the housing to engage or disengage its seal with the tube's open end. Preferably the mechanized device includes an arm having one end attached to the housing and the other end pivotally attached to a movable table; an arm rotating device to coaxially align the housing's orifice with the welding-positioned tube; and a table moving device to engage the seal of the coaxially aligned orifice with the tube's open end.

Abstract: A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line.

Abstract: A soldering apparatus is disclosed for attachment to a positioning robot arm. A soldering iron and a supply of solder are combined on an accessory tool and additionally the robot has the capability of periodically cleaning the soldering iron to maintain a high degree of repetitive quality. Additionally the time to accomplish repetitive soldering functions is significantly reduced.

Abstract: An apparatus for welding through-the-partition intercell connections in a lead-acid battery container wherein each partition has at least two spaced apertures therein for making such intercell connections includes in the exemplary embodiment three weld stations and a crimping station through which the containers are sequentially conveyed, and the containers are aligned and retained at dual positions in each station so that the welding or crimping operation can be carried out. A microprocessor based programmable controller serves as a master control to operate the apparatus, and a slave control is associated with each welding station.

Abstract: For the mounting of electrical and/or electronic components on a substrate, the components are presented in a pick-up position in a fixed, invariable pattern, preferably in a straight row. The components are simultaneously picked up in this pattern by a number of transfer devices and simultaneously moved toward their mounting positions over the substrate. During this transfer, they are moved different distances into a modified pattern with respect to one another, which corresponds to the desired pattern in which the components are to be positioned on the substrate. The transfer devices are programmed by means of exchangeable program plates.

Abstract: An automatic wire bonder for bonding at least one wire between a first predetermined location on a workpiece and a second predetermined location on a substrate on which the workpiece is carried includes a wire feeding head, and means for moving the head, in x, y, and z directions, relative to the workpiece, x and y being at least parallel to the plane of the workpiece and z being an elevation direction above the workpiece. Means are included for determining a z direction measurement between the first and second predetermined locations. The bonder is computer controlled to automatically dispense the wire and to configure it to a predetermined configuration to include a partially circular portion and an adjacent straight portion to be bonded between the first and second predetermined locations. The shape of the partially circular portion and the length of the straight portion are automatically determined by at least the z direction measurement.

Abstract: A semiautomatic weld grinding apparatus for grinding the surface of a weld seam interconnecting two perpendicularly disposed tubular sections. The grinding apparatus is capable of grinding off excess weld from a saddle-type nozzle to shell weldment that follows a circular path through a plurality of planes. Alternatively, the apparatus is adaptable to function as a welding or a cutting apparatus that follows the saddle-shaped path created at the interface of two perpendicularly disposed tubular sections.

Abstract: A welding torch is supported by a mount which can be oscillated about a vertical pivot that is carried by and movable with an up-down frame which is carried by and movable with a forward-rearward frame that is carried by and movable with a laterally-movable frame. As a result, that welding torch can be oscillated about a pivot which is movable vertically, forwardly and rearwardly and from side to side. A plurality of cams are mounted adjacent each other and act through linkages to provide any desired individual or combined oscillation, up-down, forward-rearward, or lateral movement of that welding torch.

Abstract: The method includes aligning a first plurality of cylindrical workpieces of a first diameter such that the longitudinal axes thereof are substantially coincident and welding the workpieces together end-to-end to form a cylindrical member of a desired length. The welding step includes rotating the workpieces about their longitudinal axes while maintaining a welding electrode at a fixed position along the workpieces and at a fixed distance from the outer circumference of the workpieces. The method includes cutting openings in the cylindrical member wherein the cylindrical member is rotated about its longitudinal axis while causing a cutting means to move linearly along the length of the cylindrical member. In one embodiment, the method is repeated with a second plurality of cylindrical workpieces of a greater diameter with some of the steps in processing the first and second plurality of workpieces being carried out at substantially the same time. Other forms of the apparatus and method are disclosed.

Abstract: A soldering installation (1) is provided for run-through and shuttle operation, in particular for the run-through soldering of printed circuit boards on a soldering machine. It is equipped with a feeder mechanism (4) for the transport of soldering frames (18) to which printed circuit boards are fixed. The feeder mechanism (4) has a travel distance of at least 2 frames. In the first half of the feeder mechanism (4) is a device (31) for the holding of a frame (18) as well as an activator (32) for the release of the frame (18). A transport mechanism, (5) running synchronously with the feeder mechanism (4) bridges the soldering machine. An electric motor (37) with adjustable speed and reversibility drives these parts (4 and 5).

Abstract: A mirror mounting is described in which a plane rectangular reflecting strip is deformed along the two longer edges thereof so that it is approximately tangent to the ideal mirror while the strip remains substantially flat in the direction of its shorter edges. In the preferred embodiment of the invention, a plurality of such reflecting strips are so formed by attachment to a supporting frame using a pair of elastomeric cushion frames to embrace the longer sides of each strip while leaving the shorter sides free. Advantageously, each reflecting strip on the frame is bent in a continuous manner the full distance of its longer side. The frame is preferably a rigid array of parallel channel members each of which is adapted to receive a curved T-section angle bar having the desired curvature of the reflecting strip. The angle bars are deformed into this curvature in a separate operation while they are being attached to the channel members.

Abstract: A tracking type welding apparatus wherein a torch follows a probe along a weld seam and the probe senses lateral seam deviations and stores them in a pin cam and wherein the deviations are later used to move the torch in the same manner. The pin cam is remote from the torch and probe assembly and is electrically synchronized with it. Means are also disclosed to permit a single pin cam wheel to store horizontal and vertical deviation information and gap width information simultaneously.

Abstract: An apparatus for bonding wires on semiconductors is provided with a processor controlled vertical drive mechanism coupled to a novel bonding head of the type having a bonding tool mounted therein. The height of the bonding tool at the reset position and at the bonding position may be programmed into the processor for different semiconductor devices or workpieces. Indicating means are provided on the novel bonding head for establishing the reset position and the bonding positions so that the bonding tool is taught a series of predetermined vertical positions during a bonding cycle. The apparatus is also programmed to compute intermediate positions between said predetermined vertical positions to obtain optimum high speed movement of the bonding head and the bonding tool during subsequent bonding cycles.

Abstract: A servicing machine for a steam generator is accurately set up in the generator channel head with a pivoted arm mounted for rotation in a plane parallel to the tubesheet. The angular position of the arm, the longitudinal position of a carriage mounted on the arm and the vertical position of a platform on the carriage are remotely controlled to maneuver a probe used in mapping the precise location of the thousands of holes in the tubesheet. Various operations are then performed at each precise hole location by tools carried by the arm mounted carriage to prepare for installation of new tubing. The operation of a pair of remotely controlled pivoted arms, one on each side of the channel head divider plate, is coordinated to automatically position the ends of U-shaped tubes in corresponding holes in the tubesheet on opposite sides of the divider plate and to secure the same in place.

Abstract: A welding machine can form continuous welds of three hundred and sixty degrees on workpieces which are rotated through angles of less than three hundred and sixty degrees by moving the welding torch of that welding machine in one direction circumferentially of those workpieces while those workpieces are being rotated in the opposite direction.

Abstract: An apparatus for multi-bead welding of two rotating workpieces comprises a flat filler wire holder which can be introduced into the gap between the workpieces and which is periodically pivoted forth and back at substantially constant angular velocity between the two sides of the gap. The pivoting is effected by a motor which is started when a cam rotating in synchronism with the workpieces actuates a stationary signal generator. The cam is provided on a cam disc which is driven through a friction coupling and which, on each revolution, is arrested by a pawl during a period determined by an adjustable timer. The timer is started when the cam actuates a stationary signal generator mounted shortly in advance of the pawl, and after the expiry of the period of the timer the pawl is retracted so that the rotation of the cam disc can continue. The pawl is again advanced to operative position when the cam actuates the first mentioned signal generator.

Abstract: A device for automatically welding a tube onto a pipe of larger diameter is the subject of the present invention. Tack welding is achieved by two welding torches located on opposite sides of the tube and spaced apart longitudinally a distance equal to the distance desired between tack welds. The entire torch assembly is mounted on a movable carriage that is motor driven. A frictional spool wheel engages the tube to drive the carriage while also serving as a guide wheel. Two cam wheels are also driven by the same motor that drives the carriage. One cam wheel controls operation of the welding torches on an intermittent basis. The second cam wheel controls the drive motor so that the latter is operated at a first speed during welding and a faster speed when welding in interrupted. This allows the device to traverse a given distance in less than half the time that would be required if the slower welding speed were maintained throughout the entire length of the tube.

Abstract: An apparatus for placement of electronic components on a fluxed hybrid circuit substrate. In accordance with an automated program, the apparatus at a single work station places with high precision a plurality of chips of various types and physical and electrical sizes on a single substrate. Components are successively placed by a pair of hollow pick and placement spindles operating alternately and having motion in the X-Y planes. Precise location of stored chips is not required; the apparatus orients and centers each chip after selection and prior to placement.

Abstract: Apparatus for furnishing weld material to a surface for welding thereto along a predetermined welding path, comprising an elongate guide (such as a tube) having a contacting surface (typically internal) substantially uniform in cross section and defining a longitudinal guide path (as by a slot opening) corresponding to the welding path, means for maintaining the guide in a position with the guide path adjacent to the surface to be welded and in registry with the welding path, weld material supply means in controlled contact with the guide (as inside the tube) and comprising an elongate flexible member having a contacting surface with its cross section (typically external) shaped to fit slidably in a predetermined position alongside the contacting surface of the guide (as inside the tube), a longitudinal opening through the elongate flexible member, and an elongate piece of flexible weld material (such as a wire) slidably positioned in and protruding from the opening, means for moving the weld material supplyi

Abstract: A manipulator apparatus having a manipulator arm movable in a plurality of axes is programmed to perform a desired sequence of operations over a desired path. The programming is accomplished by an operator manually moving the end of the manipulator arm over the desired path while encoders associated with each axis of the manipulator apparatus produce signals representing movement of the arm in each of the axes. The encoder signals are automatically recorded at predetermined increments of movement of the arm as command signals for controlling movement of the arm during a playback cycle. Recording of these command signals is controlled by a guide wheel which is positioned on the end of the arm during programming and is rotated by maintaining the wheel in contact with the work as the operator moves the manipulator arm over the desired path.

Abstract: An apparatus for automatically positioning a wire bonding machine at a second bond position is provided with a plurality of individually adjustable second bond positioning devices set at second bond positions and cooperable with second bond positioning actuating means. After positioning a semiconductor at a first bond position and completing a first bond, the second bond actuating means cooperating with a second bond positioning device automatically moves the semiconductor to a second bond position. After completing the second bond, the second bond positioning actuating means is released permitting the semiconductor to return to a first bond position as another second bond positioning device is cycled into active position.

Abstract: Wire-bonding equipment has jigs which may be secured on a mounting support whereat an electronic or other module may be loaded onto a jig and moved into a correct alignment observable on a television screen, and the jigs are transportable from the mounting support location to a positioning table location whereat successive jigs are automatically moved in a requisite manner to bring successive terminals of modules loaded thereon to a position for bonding of wires thereto by a simultaneously actuated wire-bonder unit, after which successive jigs are transported back to the mounting support to permit unloading of a wired module and loading of a new module. Since the disclosed equipment permits use of ultrasonic bonding means, and requires only simple, easily observable actions by an operator, the equipment is particularly suited to wiring of microelectronic modules.

Abstract: An automatic welding apparatus comprising a workpiece fixture carried by a moving member for rotation about a horizontal axis extending in a back and forth direction, said moving member being provided on a carriage for sliding movement in a lateral direction, said carriage being provided for sliding movement in said back and forth direction, and a torch fixture carried by an arm for rotation about a vertical axis, said arm being provided for sliding movement in the vertical direction. In another embodiment, the workpiece fixture is provided only for rotation about a horizontal axis extending in the back and forth direction, and the torch fixture is carried by the arm for rotation about the vertical axis, which arm is provided at the end of a column for sliding movement in said lateral direction, which column is provided on a sliding member for sliding movement in the vertical direction, which sliding member is provided on a guide for sliding movement in said back and forth direction.

Abstract: Tapered spiral tube in continuous lengths is fabricated with an alternating increasing and decreasing diameter, the length being severed at the locus of change. The taper may be straight, convex or concave, the tube being produced from strip-stock which is squeezed between biassing rollers whereby one or other edge is thinned, and as a consequence lengthened and convexly curved. The entire fabricating process is automatic, being predetermined by templet means and monitored by feed-back measures felt by the tube while being fabricated.

Abstract: An installation for the automatic feed of welding wires for a welding torch provided for the treatment of workpieces, in which means are provided to weld together the welding wires supplied in rod shape in a fully automatic manner by welding the same together into an endless rod with simultaneous continued forward movement of the welding wires in the direction toward the welding torch.

Abstract: A wire bonding system connects wires between electrode pads on a semiconductor pellet fixed on a lead frame to the corresponding lead parts on the lead frame. The lead frame with the pellet fixed thereon is first set in a position beneath a projector, to obtain a magnified image of the pellet, from which the position of the pellet is measured. On the basis of the measured value, a computer calculates positions for bonding the wires. The lead frame with the pellet therein is then set on the wire bonding machine and the positions of the bonding head are controlled using the result of said calculation to carry out wire bonding. The position measuring means is separate from the bonding machine, with an on-line or off-line connection therebetween.

Abstract: A welding machine holds a plurality of metal objects in abutting engagement, moves those abutting metal objects relative to a welding torch, and provides an angular disposition of that welding torch relative to the junction between the abutting portions of those abutting metal objects which foster the formation of a smooth and uniform weld at that junction. The welding torch is mounted on a support which can move as the abutting metal objects are moved relative to the welding torch; and that support can be moved to cause that welding torch to closely "track" the junction between the abutting portions of those abutting metal objects, and also to provide whatever angular disposition of that welding torch relative to that junction which is needed to foster the formation of a smooth and uniform weld at that junction.

Abstract: Apparaus for automatically bonding pre-twisted wires to a number of pairs of ground and current contact points on a workpiece or substrate is disclosed. The apparatus forms a loop in the pre-twisted wires and bonds each wire to a ground or current contact point. The pre-twisted wire is then routed to the next pair of ground and current contact point for bonding.

Abstract: A programmable manipulation machine for picking up a succession of small components, such as semiconductor chips, and placing them precisely in predetermined positions on a work-piece, such as a substrate. The machine includes a vacuum chuck assembly which is movable by a servomotor along a relatively long horizontal axis between a chip pick-up station and a dip assembly station and which is also movable, by means of digital stepper motors, linearly in a transverse horizontal axis and a vertical axis, and rotationally about the vertical axis. Also included are a substrate-supporting work table which is also movable, by means of a digital stepper motor, in the transverse horizontal direction, and a control unit for direction and sequencing movement of the chuck assembly and work table in accordance with operator-changeable positional data stored in a memory associated with each movement axis.