Abstract: An automatic wheel attachment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the detecting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: A precise alignment mechanism combined with a transport mechanism for silicon wafers, that handles the wafers by the edges only, in order to eliminate the potential for surface damage or contamination of the wafers. The preferred embodiment of the invention works with wafers that are approximately prealigned in the cassettes before handling. A second embodimenmt can work with randomly aligned wafers. An improvement for high production or continuous operation adds a multiple cassette input to the invention.

Abstract: A device for detecting a position of an edge of a disk-like workpiece having an outer periphery whose shape includes a portion bearing positional information related to the workpiece, the device including a system for rotationally moving the workpiece; an illuminating system; and a photodetecting system; wherein the illuminating system and the photodetecting system are disposed so as to sandwich therebetween an outer peripheral portion of the workpiece when it is rotationally moved by the moving system and wherein the illuminating system projects, toward the photodetecting system, a light beam having an elongated shape in cross-section.

Abstract: In a paper arranging apparatus, a method and system for turning over papers while the papers are being transferred to a paper piling table from a paper feeding table by means of a crossing plate located between the two tables. A rotary shaft is disposed above the crossing plate, and the rear end of a stack of papers transferred onto the crossing plate from the paper feeding table is lifted and turned around the rotary shaft. The rotation of the rotary shaft conveys the stack of papers to the paper piling table.

Abstract: Apparatus is set forth for prealigning the transport stage of an automated wafer handling lithographic system. The wafer is first rotated and its displacement in X, Y, and .THETA. from a desired orientation is determined. Rotation of the wafer is stopped when its angular position reaches a desired orientation. The wafer chuck of the transport stage is then displaced to compensate for any deviation of the wafer in the X and Y directions from a desired rectilinear orientation. This permits the wafer stage to present the wafer to the exposure station of a lithographic system aligned in the X, Y and .theta. directions.

Abstract: Device for turning over a length (3) of flexible textile material comprising: a supporting surface (1), a turn over apparatus (4), (21,22) close above said surface (1) and having an endless work surface (4,26) of textile repelling material (13), whereby relative movement of the support surface (1) and turn over apparatus (4,21,22) is such that the surface speed of the work surface is equal to the relative horizontal displacement, and a stationary foil (10,24) lying over the top part of the work surface (4,26) starting from a pick-up plate (11,29).

Abstract: A cassette of conventional form is loaded with a plurality of semiconductor wafers having indexing flats of the known type and placed over three parallel rollers rotatably secured to a frame. The three rollers include a center roller and two side rollers positioned only slightly higher than the center roller such that their rotary motions can be communicated to the wafers by contact, depending on the position of the individual indexing flats. The indexing flats are roughly aligned in downward directions first by rotating only the center roller and after all three rollers are rotated to bring the indexing flats in upward directions, the wafers are more accurately aligned in a downward direction by rotating only the center roller and all three rollers are rotated thereafter for a predetermined period of time, depending on the desired angular position of the indexing flats.

Abstract: An automated diffusion furnace load station has a cassette and wafer transporter which selectively transports, using a support assembly, wafer-filled cassettes from a delivery station to a transfer post over which a loaded cassette is lowered to suspend the set of wafers above the cassette. The transporter causes the support assembly to release the cassette and engage the wafers to transfer them as a set to a carrier of a diffusion furnace tube. The process is reversed for unloading processed wafers from a furnace carrier and loading them into a cassette. The process further may be sequentially performed to exchange sets of processed wafers from a furnace carrier with sets of unprocessed wafers located in cassettes at a delivery station. The support assembly is used to selectively support a cassette or a set of wafers removed from a cassette by selectively positioning a pair of jaws relative to a cassette or to a set of wafers for supporting the same.

Abstract: A machine for orienting and stacking receptacles, such as cups having a base end and a mouth end, which machine includes a receiving area wherein the cups are initially received and are then fed to an upright, angularly disposed conveyor, the cups being received between bars presented by the conveyor. As the cups are moved upwardly by the conveyor, they come into engagement with an angularly disposed orienting roller which spans the width of the conveyor and contacts the cups to shift them into a common, oriented relationship with the mouths all facing in one direction and the bases in another. After orientation, the cups pass over the top of the conveyor and are removed therefrom and carried to a delivery location. The removal of the cups from the conveyor is accomplished by a vacuum which is drawn adjacent the top end of the conveyor.

Abstract: An apparatus for placing in location a circular article from a transport pallet and for moving the article to one or more control positions being angularly offset with respect to one another. The apparatus includes a gripping mechanism with grippers mounted on a gantry, a framework supported by a plate which can be raised and lowered, the framework including a mechanism for rotating the article about itself and leaving free an angular sector of 120.degree. at which all the parts of the article can be presented in order to be brought up to or brought into contact with a measurement or inspection mechanism the framework also comprising a mechanism to allow for correct location in any inclined direction or vertical. The apparatus is applicable to automation of control sequences or machining sequences without manual operation or intermediate return of the article between the operations of inspection or of machining.

Abstract: Apparatus for loading and unloading wafers including a support structure having associated with it a predetermined wafer engagement position at which wafers can be engaged by the processing machine, a temporary storage device mounted on the support structure for storing a wafer in position for pick up, the flat surfaces of the wafer being parallel to an X-axis and perpendicular to a Z-axis, a first wafer engagement member for carrying the wafer on the first engagement member between the temporary storage device and the engagement position, a first X-direction mover mounted on the support structure and operable to move the first engagement member parallel to the X-axis, a second wafer engagement member for carrying the wafer on the second engagement member between the temporary storage device and the engagement position, a second X-direction mover mounted on the support structure and operable to move the second engagement member parallel to the X-axis independent of the first engagement member, a Z-direction m

Abstract: Apparatus for aligning an object having a distinguishing feature in it, the apparatus including rotator means for holding and rotating the object about a rotation axis so that a portion of the surface including the distinguishing feature travels through a surface sensing region, engagement means for engaging the object and transferring it to and receiving it from the rotator means, sensing means for measuring and recording, during rotation of the object, position versus angular orientation information relating to position of the surface along an axis transverse to the surface, calculating means, responsive to the sensing means, for calculating from the position versus angular orientation information both the angular orientation of the distinguishing feature and the location of the center of the object with respect to the rotation axis, and alignment correction means for generating angular correction signals for rotating the object such that the distinguishing feature attains a predetermined angular orientatio

Abstract: Apparatus for positioning the seam of a welded tube comprises a plunger rod of a diameter less than the tube having a first longitudinal axis supported and journaled upon its first axis for reciprocal and rotational movements. A radial knife edge projects from the plunger which is adapted for advancing on its axis into a welded tube having a seam rotatably supported upon the first axis. Successive rotation of the plunger causes the knife edge to operatively engage the seam and rotate the tube a predetermined angle, there being preset angular final seam position for the tube, the knife edge having a preset initial position clockwise ahead of the desired seam position. Rotation of the knife edge is counterclockwise.

Abstract: A part positioning apparatus is provided for accurately positioning and angularly orienting a variety of different parts or components for pick-up by a robotic part handling device. The apparatus includes a bowl-like part receptacle which is subjected to a vibratory force so that a part placed on a concave interior surface of the receptacle slides thereover, under the influence of gravity, and assumes an equilibrium position in a designated area of a horizontal plane thereby positioning the part with respect to X and Y axes. Thereafter the receptacle is rotated about a vertical axis to angularly orient the part in a desired direction.

Abstract: A system for manipulating articles, such as irregular mailpieces in the U.S. Postal Service mail processing system, receives an agglomeration of parcels into a first subsystem where the parcels are separated and are passed to a second subsystem where each parcel is manipulated until its addressee label is directed upward. The first subsystem includes a plurality of individually rotatable cylindrical rollers which form a support surface for the parcels. The rollers produce translation of a parcel by cooperative motion or separation of parts of a pile of parcels by differential motion. The second subsystem includes a high-friction, flexible conveyor belt which in a first mode supports a parcel and in a second mode forms a downward loop in which a parcel can be rotated and inverted. The parcels in both subsystems are manipulated by a five-axis robotic arm which is responsive to a machine vision system measuring the position and physical characteristics of each parcel.

Abstract: An apparatus for rolling over or positioning workpieces. The apparatus consists of two conveyor belt surfaces arranged to rotate a workpiece supported on a first conveyor surface in a vertical plane. The apparatus eliminates the need for complicated hoisting or lifting devices to position the workpiece or operations to be performed thereon. The apparatus can also include an electromagnet for retaining the workpiece on a first conveyor surface when it is being worked on. The apparatus may also include the ability to adjust a second conveyor surface which improves the stability of the workpiece when worked on in an inclined position.

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: A method and apparatus for orienting semiconductor wafers of the type that have a generally circular peripheral shape and a flat, chordally extending edge on the periphery. In fabricating the wafers the chordally extending portion is formed in fixed relation to the crysatallographic axes of the material of which the wafer is formed. All subsequent processes are precisely orientated with respect to the chordally extending edge and the present invention affords orientation of such edge to virtually any position.

Abstract: A means for rotating tree trunks or equivalent into correct position regarding their curvature, prior to their feeding into a machine processing round timber. The means is primarily intended to be used as an ancillary in a timber feeding means which feeds the tree trunks into a processing machine, because branch stubs which have remained on the tree trunk may impede the turning of the tree in the feeding means. The means of the invention has been carried out in such manner that the means comprises one or several rotator pairs, each such pair being composed of two rotators provided with a helix and disposed in the tree trunk feeding means, and which in their operating position are elastically urged against the tree trunk and which are arranged to rotate with reference to each other so that the tree trunk therebetween rotates, forced by the helices, in the desired direction.

Abstract: This invention has as its object a six-axis head for correction of movements equipping a mobile tool (12) for mating assembly of an element on a support. The head comprises an upper frame (10) fastened to the mobile assembly tool defining a first geometric plane P.sub.1, an intermediate frame (16) defining a second geometric plane P.sub.2 and connected to the upper frame (10) by first drive means (M.sub.1, M.sub.2, M.sub.3) making it possible to perform two translations and a rotation of plane P.sub.2 in relation to plane P.sub.1, a lower frame (18) defining a third geometric plane P.sub.3 and connected to the intermediate frame (16) by second drive means (M.sub.4, M.sub.5, M.sub.6) making it possible to perform a translation and two rotations of plane P.sub.3 in relation to plane P.sub.2, means (20) for holding the element being fastened to the lower frame (18). It has application in automated placing of glazing elements (windscreens) on a motor vehicle body.

Abstract: A hay bale feeder comprises a cradle having opposed end plates and side formed by angularly disposed conveyors movable laterally relative to the longitudinal axis of the cradle. Each conveyor comprises a pair of substantially parallel endless chains carried by sprockets on respective upper and lower shafts extending between the end plates, and a plurality of slats or bars are fixed to the chains for movement therewith. The slats or bars have spikes extending therefrom to engage in and remove hay from a bale carried in the cradle. The conveyors are driven in synchronism so that upper runs of the conveyors move in the same general lateral direction. Guide plates support the conveyor chains between the respective upper and lower shafts.

Abstract: A mechanism for rotating about a vertical axis generally flat-bottomed objects which are moving along the working surface of a conveyor system, the mechanism including at least three rollers which are rotatable about horizontal axes and which are oriented so as to be tangent to the circumference of a circle which is concentric with the vertical axis, a support frame for moving the rollers into an active positioning above the working surface of the conveyor system and downwardly to an inactive positioning therebelow, and a belt drive system for rotating all of the rollers in the same direction with respect to the circumference of the circle.

Abstract: An apparatus for manipulating a workpiece or the like comprising a pair of inger assemblies mounted on a common support. The finger assemblies have belts with contact surfaces arranged in a confronting relationship. A first operating mechanism is provided for moving the finger assemblies along a first axis towards each other to grip a workpiece between the belt contact surfaces. A second operating mechanism is provided for rotating the belts about the first axis in order to impart a corresponding rotation to the workpiece gripped therebetween. A third operating mechanism is provided for moving the belts in either the same or opposite directions in order to impart either translational movement to the workpiece along a second axis perpendicular to the first axis or rotational movement to the workpiece about the second axis.

Abstract: An automatic wafer alignment station is disclosed for aligning a wafer having flats about its centroid with the flats oriented in a preselected spatial direction. The wafer is held by a vacuum chuck which is operatively connected to a motor driven carriage for controlled movement about an X axis, to a .theta. actuator carried by the carriage for controlled rotation about the axis of the chuck, and to a Z actuator carried by the carriage for controlled motion about a Z axis. An X capacitive sensor and a Z capacitive sensor are positioned near the wafer. An X processing and Z compensating circuit is responsive to the X and the Z capacitive sensor output signals and provides an electrical signal that has values which exclusively represent the position of the edge of the wafer along the X axis only over a predetermined angular range. Circuit means including an A/D converter and a microprocessor respond to the electrical signal and produce a plurality of corrective signals to the X, Y, and .theta.

Abstract: A device for orienting a disc having a flat portion formed on the outer periphery thereof, for example, a wafer for the manufacture of a semiconductor circuit element. The disc is guided and rotated by a rotatable roller and a drive roller which point-contact the outer periphery of the disc. The rotation of the disc is stopped when the disc has come to a predetermined rotational position. By this, rough orientation of the disc is accomplished. Subsequently, the disc is urged toward the rotatable roller and the drive roller. At this time, the drive roller is disconnected from a drive source and becomes a low torque rotating roller. Accordingly, precise orientation is accomplished without hampering the rotation of the disc.

Abstract: A device is described for orienting intravenous needles or other similar articles having relatively long shank portions which terminates in bevelled or flat tips. The device has a fixture for supporting the needles at an angle to the horizontal and with the bevelled tip resting on a knife edge. A vibrator is coupled to the needle supporting fixture causing the needle to turn to its most stable position on the knife edge where the flat portion engages the knife edge.

Abstract: An apparatus for rotating a pallet comprising an annular under ring supporting bearings rotatable in a horizontal plane and bearings rotatable in a vertical plane, and an upper ring provided over the under ring and supported by the vertical bearings. The upper ring is prevented from deflecting laterally by the contact of a peripheral wall on the upper ring with the horizontal bearings.

Abstract: An automatic wafer orienting apparatus comprising a first orienting device for driving and rotating a wafer thereby orienting the wafer while utilizing a peripheral edge and an orientation cut thereof as the guide, a device for disengaging the thus oriented wafer from the first wafer orienting device, and a second wafer orienting device for re-orienting the wafer by pressing a lateral edge and an orientation cut thereof against orienting members provided on a wafer chuck.

Abstract: An apparatus for automatically aligning logs to be sawn in a sawing machine in a position for yielding an optimum sawing result, comprising an arrangement for carrying the log to be aligned in a predetermined vertical longitudinal plane through the sawing machine, and a device for turning the log. The apparatus further comprises sensing members, which are connected to an evaluation which, control unit and by external sensing the log by the sensing members, records changes of the log center in relation to the longitudinal plane during one revolution of the log. Thereafter, the unit on the basis of information received determines the optimum alignment position and permits the turning device to turn the log into this position.

Abstract: A jaw for holding a coil in a coil transfer apparatus during movement from one position to another designed to permit the coil to be rotated about its longitudinal axis while held by the jaw.

Abstract: A method and apparatus for separating helical springs with knots at their coil ends, for mattress spring frames, in which the springs are moved upright and entangled in sliding guides by a conveyor belt against a stop. The lower coil end of the springs touching the stop is grasped by a gripping member. The stop is moved to an inactive position and the gripping member pulls the grasped coil end from the sliding guide by an amount equivalent to spring wire thickness. Then the stop returns to its active position and the gripping member pivots the spring by 90.degree. into a lying position where the far end of the coil is grasped by a spring turning member. The gripping member releases the spring and returns to the starting position. Then the spring turning member rotates the spring until the knot touches a stop. After release, the spring is grasped by another gripping member and passed on to the spring frame assembly machine.

Abstract: An extrusion die mounted in a die holder is fitted onto the end of the press stem of an extrusion press by apparatus which has a swing arm which receives a die holder in a first position, then pivots to a second position where the die holder is aligned with the extrusion press stem, rotates the die holder so that it is correctly oriented relative to the press stem and then pushes the die holder axially onto the press stem.

Abstract: A grapple attachment for the boom of a hoisting machine having a pair of arms movable between open and closed positions, the arms supporting an endless chain which, when the arms are closed, embrace a pole to be placed so that the pole can be lifted and then rotated about its own axis by a drive motor engaging the chain so that the fittings and the like attached to the pole can be aligned in a selected direction while the pole is held by the grapple.

Abstract: A simple, economical, drum-type tube cutting machine is disclosed which employs a conventional drum for high-speed automatic cutting of ordinary tubes and a special drum for high speed cutting of tubing which could not otherwise be cut satisfactorily because of special problems due for example to flimsy walls, excessive diameter or excessive wall thickness. The special drum employs a series of replaceable generally semi-cylindrical vanes which fit the tubes to prevent them from collapsing or moving out of position during the cutting operation and to hold them in position after they are cut so that internal supporting mandrels are not needed. The internal radius of the vanes is selected to match the external radius of the tubes being cut and is changed when the tube radius is changed.

Abstract: A stand for supporting and rotating shafts in fractions of a revolution, for example for assembling armature slot conductors. Conventional arrangements use multiple rollers conforming to the shaft, one of which is motorized by way of gearing. This tends to be cumbersome, expensive and complex. According to this invention a shaft is supported on the walls of a channel between roller stops. A lever within the channel is jacked up to tilt the shaft against one roller and the lever is pushed longitudinally, allowing the shaft to remain in position but rolled around against the stop by an amount corresponding to the linear lever movement. The lever is then lowered and retracted.

Abstract: A bale wagon having an improved bale-receiving means, which is operable to deposit bales onto the bale-supporting means either on edge or on the flat is disclosed. A pusher mechanism including a bale-engaging member moves the bales on edge to the bale-supporting table or operates in conjunction with a bale-turning apparatus to rotate the bales 90 degrees axially prior to the transfer step. Swing arms within the bale-engaging member allow the selective 90 degree pivoting of bales necessary for the automatic formation of tie tiers.

Abstract: A truck on rails includes a vertically adjustable horizontally extending main beam supported at one end and having a plurality of auxiliary beams semi-circularly arranged thereabout parallel thereto and each connected thereto by a plurality of parallel levers of equal length each having a fulcrum on the main beam, being pivotally connected adjacent an outer end to its respective auxiliary beam, and being operatively connected adjacent an inner end to an actuating rod reciprocable by a hydraulic actuator for adjustment of the auxiliary beams radially of the main beam. The auxiliary beams are provided with rollers for engagement with the inside of a pipe, and those on the uppermost auxiliary beam are driven by a compressed-air motor to compensate for frictional drag imposed by the others on pipe being rotated in continuous production on a pipe making machine. When the pipe is cut to length, the truck transports the cut-off length to a storage or shipping area and returns to support another length being made.