Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

Abstract: Information producing apparatus for producing position and direction information of chip-like electric parts for use in the chip mount system. This apparatus comprises: a tablet digitizer; X and Y axis position memories to store the X and Y axis position data of the cursor; a menu position memory to store the position of the menu drawing which is divided into many menu spots and is attached on the tablet; a menu spot memory in which data corresponding to the menu spots is stored; a discrimination unit to discriminate whether the cursor is located within the menu drawing or not; and an arithmetic operation unit to calculate the menu spot position corresponding to the cursor position when the cursor exists in the menu drawing. When the cursor is out of the menu drawing, the readout data from the X and Y axis position memories is used as the position information on the printed wiring board of the chip-like electric parts to be installed.

Abstract: The present invention provides a technique as well as a system whereby through the use of industrial automation, windshields and the like can be inserted into a vehicle which is on a continuously moving conveyor line without stopping the vehicle. Thus, the vehicle is in motion on the conveyor during the insertion. The windshield can be automatically centered for robot acquisition through a unique mechanical device; and, multi-sensor information is converted into real-time path modification signals for robot guidance.

Abstract: An apparatus is provided for the automatic assembly of nuclear fuel rod bundles in a predetermined coordinate array. Each fuel rod is identified during its travel and positioned according to an identifying code carried on its lower end plug which designates the fuel enrichment and additive level of the rod.

Abstract: A robot intended to the assembly of constitutive parts of objects comprises at least one working head (4) provided with a tool (8) effecting above a working area (9) motions controlled by a program according to at least three degrees of freedom and, within said working area (9), a device (14) providing for the accurate positioning of the parts to be manipulated in predetermined positions and orientations. It is characterized in that it comprises at least one removable preformed receptacle (17) providing for the collective transport of parts to be assembled to or from the working area (9), said receptacle being configured to maintain with a certain tolerance said parts in relative positions and orientations similar to those determined by the device (14) and arranged to cooperate with the latter. Assembly process implementing a robot such as hereabove defined and its application to the assembly in series of constitutive parts of objects.

Abstract: A method and apparatus for automatically making harnesses such as those used for electrically interconnecting a plurality of spaced-apart, separate connection points. Insulated wire is fed through a press position where terminals are attached to the wire conductor. The insulation is displaced from a portion of the wire where a terminal is to be attached, thereby baring the conductor. A terminal is brought adjacent the bared conductor from a supply of terminals and crimped to the conductor. A wire feeding mechanism advances the wire so that the section having a terminal crimped thereto is removed from the press position and a new portion is brought into the press position for the attachment of another terminal. The automatic process is repeated until a pre-determined number of terminals are attached to the conductor at which time the wire can be severed to complete the manufacture of the harness.

Abstract: An interactive system (10) for facilitating assembly of fuel rods into nuclear fuel assemblies having specific grid location requirements for the fuel rods, includes an operator work station (12) adapted for positioning between a supply of fuel rods and a fuel assembly loading magazine (22). Identifying data with each fuel rod is read by the operator with a manual scanner (24) for input and comparison by a computer (28) with the stored data for the particular fuel assembly to be assembled. The proper grid location for the fuel rod is then displayed on a screen (32) prompting the operator to insert the rod through a prompter/detector apparatus (36) mounted on one end of the magazine. In the preferred embodiment, the apparatus (36) includes a pair of motorized, slotted guide bars (54, 56) controlled by the computer (28) to intersect over the proper grid location for the particular fuel rod type.

Abstract: A method of using a robot to apply a weatherstrip to a flange extending about an opening in a vehicle body wherein the weatherstrip is coiled on an end effector which in turn unwinds and rolls the weatherstrip onto the flange starting from a predetermined starting position on the flange to a stop position a predetermined distance short of the starting position.The unwound weatherstrip is lifted away from the flange at the stop position and then held and cut-off at a point determined by the above-mentioned predetermined distance so that the weatherstrip being applied to the flange will then abut end-to-end whereafter the cut end of the weatherstrip is retrieved and applied to the flange.

Abstract: A method and system for controlling assembly of various models, types and specifications of assemblies, such as vehicle bodies, are effective for indentifying components to be assembled to a base component. A plurality of color marks of different colors are used to identify the components to be assembled to the base component. The color marks of the same color are applied to both the base component and the component to be assembled to the base component according to the model, type and specifications of the finished assembly. Therefore, by selecting the components to be assembled to the base component having the color marks matching those appearing on the base component, selection of the proper components to be assembled onto the base component exactly according to the instructions and specifications of the finished assembly.

Abstract: An automatic assembly machine having multiple assembling heads in which a multiplicity of parts are assembled on a principal part at different positions, characterized by comprising a movable table carrying the principal part, and a plurality of assembling heads, fixedly disposed above the table along the area of movement thereof, for feeding and assembling different parts, said table being driven under the control of a numerical control device for operating on the coordinates of a position corresponding to a selected one of said assembling heads and on the coordinates of positions on the principal part at which the parts are to be assembled.

Abstract: Assembly of stick-type cosmetics such as lipsticks is fully automatized by highly coordinated operation of a pair of robots each accompanied with sequential operational units arranged within the ambit of its operational terminal so that sticks and bottles are transferred upside down from unit to unit for application of sequential operations and combined with each other and further with caps to form complete stick-type cosmetics. Simple adjustment in numerical control of the robots and their operational terminals will span a wide variety of quality demands in the market, and will make the system well suited for small scale production with high lot number in which shifting of lots is highly frequent. There is no manual touching of the sticks during assemblage which enables high level of sanitization of the whole system.

Abstract: An automatic assembling machine is disclosed for use with a carrier having parts arranged on it in predefined positional relationships which are defined by predetermined distances therebetween in two orthogonal directions. A movable table supports the carrier and moves in two orthogonal directions in a horizontal plan. A mounting surface extends above the plane of the movable table and has first and second portions which are parallel to the two orthogonal directions. At least one working unit is attached to at least one of the portions of the mounting surface to cooperate with movements of the table in assembling the parts on the carrier.

Abstract: Tool for terminating a plurality of wires to a matrix of wire receiving slots in a connector comprises a housing having a cover hinged thereto and nest means therein movable perpendicularly to said housing. The cover has a plurality of wire inserters extending from the bottom surface thereof toward the nest means, each inserter being slidable to a like plurality of positions. The nest means is profiled to hold the connector so that the matrix of slots parallels the array of inserters, whereby a plurality of parallel wires may be terminated to slots as desired by moving said nest with connector and wires therein toward said cover with inserters appropriately positioned.

Abstract: A programmable force assembler for robots includes a bi-directionally actuatable slide member. A microprocessor is programmable for controlling insertion force independent of the distance moved by the slide member. A position indicator transmits slide member distance signals and velocity information to the microprocessor. A pressure transducer is connected to the bi-directional actuator and is coupled to send signals to the microprocessor. A supply valve is connected to the bi-directional actuator and is coupled for receiving signals from the microprocessor in response to the pressure transducer signals.

Abstract: An automatic assembly machine having multiple assembling heads in which a multiplicity of parts are assembled on a principal part at different positions, characterized by comprising a movable table carrying the principal part, and a plurality of assembling heads, fixedly disposed above the table along the area of movement thereof, for feeding and assembling different parts, said table being driven under the control of a numerical control device for operating on the coordinates of a position corresponding to a selected one of said assembling heads and on the coordinates of positions on the principal part at which the parts are to be assembled.

Abstract: A device is disclosed for automatic setting of a window element or headliner, particularly onto a vehicle body disposed on a support connected to a conveyor line. A movable setting tool is equipped with means for retaining said element and sensors for detecting the proximity of the vehicle body and particularly the frame to receive said element. The sensors send, possibly by processing means, control signals to drive means of said tool, in order to position the tool correctly with respect to the body onto which is rests.

Abstract: An apparatus for attaching a plurality of studs on a flexible sheet material such as work fabric, leather or the like according to a desired pattern comprizes a holder for holding the sheet material, a supply device for supplying studs severally, a plastic working device including a punch and die set for attaching the studs on the sheet material, and a drive device for varying the relative position between the holder and the plastic working device. The studs may be supplied severally and attached sequentially to the sheet material while the relative position between the holder and the plastic working device is varied by the drive device.

Abstract: A method of connecting a tube (12) to a flange (120) is disclosed including placing the tube between first and second portions (14,16) of a holding apparatus (10), closing the portions and gripping the tube securely between the portions by operation of a first powered actuator (24), positioning a force-transmitting apparatus (20) including a punch (22) into axial alignment with the tube and flange, and forcing the punch axially into the tube and expanding the tube radially outwardly into interlocking engagement with the flange by operation of a second powered actuator (26) of the force-transmitting apparatus. The portions (14,16) are preferably pivotally closed to securely grip the tube, and the force-transmitting apparatus (20) is preferably an intergrated part of a computer controlled industrial robot (32).

Abstract: Method involves programming crimp connection equipment to automatically and sequentially establish a plurality of desired different connection configurations. Information representing a series of desired connection configurations is transferred to a control means. Such information is carried by a card that also illustrates a desired final stator assembly configuration. An operator sets thumb wheel switches so that digital information on the card is entered into a control panel. The control means automatically sequences and conditions the apparatus to establish different connections. The card both directly controls machine operation and also is used as a process control card. Also disclosed is a means for positioning a crimp height controlling eccentric shaft in virtually an infinite number of different predetermined angular positions and virtually continuously monitoring the actual instantaneous position of such shaft.

Abstract: A preprogrammed microprocessor controlled apparatus for controlling automatic wire crimping equipment. The equipment disclosed is adapted to perform, in automatic sequence, a plurality of wire crimping steps on a dynamoelectric machine such as a motor. A wide variety of crimp height settings is selectively inserted by the equipment operator to achieve optimum crimp height for each crimp step to be performed. The crimp height setting mechanism includes an eccentric cam positioned by means of a pulse operated stepper motor with correct positioning indicated by a feed back pulse train from the cam shaft position encoder which pulse train is compared with the input information established by the equipment operator. Automatic and semi-automatic sequencing modes of operation are provided as determined by input selections established by the equipment operator.

Abstract: An assembly line for parts of electronic and other equipment having a plurality of assembling stations, each station including a conveyor belt for successively conveying articles from the adjacent station, a drive source for the conveyor belt, means for stopping each of the articles including a stop lever for engaging a boss attached to each article for stopping each article in an operating position, means for positioning each article including a positioning pin for insertion in a hole formed in each article for positioning the article stopped in the operating position, a picking and placing unit for assembling each part with one of the articles after parts are successively fed by a supplying device, and an assembly line base machine provided with an operating panel for operating the drive source, article stopping means, article positioning means and picking and placing unit. Shifting of the stations and reorganization of the assembly line itself can be readily carried out.

Abstract: A programmable manipulator having an arm which is movable in a plurality of axes and encoder apparatus for the axes operative to develop position signals corresponding to the actual position of the arm is provided adjacent a workpiece moving along a predetermined path, a conveyor for example, to perform a series of programmed operations on the workpiece.The programmable manipulator is provided with teach-programming apparatus for moving the arm during an initial teaching operation to different positions of the stationary workpiece corresponding to the desired series of operations of the manipulator relative to the stationary workpiece. Further, apparatus is provided for calculating digital representations during the teaching operation representing the positions of the arm accounting for the projected workpiece movement during playback and corresponding to the initial teaching positions relative to the workpiece.

Abstract: Intermediate a component inserting machine and its lead clinching mechanism, a turret-type work support carries one or more detachable circuit boards and is rotatable about a vertical axis as well as movable in their general plane under the control of programmed power means. The latter is effective to cause a pivot means on the support and a cooperative surface or stop means to shift the support and its boards angularly at predetermined times and to a predetermined extent. Accordingly, without need to angularly reposition the inserter or clinching means, the automatically positioned work support enables the boards to receive components in various predetermined angular relations (most commonly at right angles), and boards may be loaded and unloaded on the turret while other boards thereon are concurrently having components mounted therein.The arrangement avoids the hazard present when boards are manually repositioned, and generally enhances productivity.

Abstract: A clutch-brake unit for a mechanical drive, such as used on a press, has a hub which fits over a spindle at the end of a driven shaft, which may be a crankshaft, and locates against a flange on the driven shaft, thereby enclosing the entire spindle. The hub has a flange portion which carries an annular piston, and the chamber in which this piston is located is in communication with the hub interior. The hub has a drive disk mounted on it by machine screws that extend axially through the drive disk, the flange portion of the hub, and thread into the flange on the driven shaft so as to secure the hub to the shaft. The drive disk is spaced from the flange portion of the hub, and interposed between the two is a brake disk, a pressure plate, and a transfer disk. The brake disk is connected to an anchor attached to the press frame, and the pressure plate is spring loaded so as to urge the brake disk against the flange portion of the hub and thereby impede rotation of the hub.