Abstract: A component transfer device includes a holding mechanism (20) that positions and holds a component on a carrying surface (S) located at a predetermined height and a pull-out unit (40) that pulls out the component held on the carrying surface by the holding mechanism in a horizontal direction. The pull-out unit includes a grasping member (43, 44) that can separably grasp the component from a vertical direction, a cam member (42) that causes the grasping member to perform a component grasping operation and a component releasing operation at predetermined timings by exercising a cam function to the grasping member, a driving mechanism (41, 46, 47) that drives the cam member and the grasping member.

Abstract: An upper housing assembly includes a pivot arm having an upper cam surface adjacent a distal end. A cam follower is coupled to a laser head to move up and down with a laser head. The cam follower exerts a downward force on the upper cam surface during normal operation. Thus, as the pivot arm rotates back and forth, the laser head moves up and down. A assist gas hose can be coupled between the upper housing and the laser head which has a spiral configuration permitting relative axial movement between the upper housing and the laser head. Upon an upward axial force being exerted on the laser head, the cam follower moves upwardly away from the upper cam surface.

Abstract: A library apparatus includes cells. A positioning mechanism serves to position a carriage relative to the cells within an operating region adjacent to a standby region. A transporting mechanism drives the carriage toward the standby region. A swaying mechanism allows grasping fingers on the carriage to go around an object lying on the movement path of the grasping fingers when the transporting mechanism carries the carriage to the standby region. The grasping fingers acts to hold an object within the cell. If the positioning mechanism malfunctions, the transporting mechanism transfers the carriage to the standby region. Even if an object exits on the movement path of the grasping finger, the carriage is allowed to keep moving because the swaying mechanism allows the grasping finger or fingers to sway around the object on the movement path. The carriage thus reliably reaches the standby region.

Abstract: The installation is constituted of a machine (2) for packaging products (8) and of a robotic palleting station arranged in the same enclosure (1) provided with a door (7) that offers access to said palleting station. This installation comprises means which limit the range of movement of said robot (15) in said closed enclosure (1) in order to concentrate the displacements of its gripping head (17) in a restricted space which does not overlap onto the safety space which is defined according to a minimum distance measured from the immaterial barrier located in the enclosure 1, in the vicinity of the door (7). These means for limiting the range of movement of the robot (15) are comprised of a cam of the electric type, said cam limits, under the control of the steering control of said robot, the amplitude of the movement of said robot (15) around its main axis no. 1 and it can also reduce its speed of movement.

Abstract: An industrial robot includes a first member, a positioning member arranged to be attached to the first member, a second member arranged to rotate relative to the first member, and a first joint for coupling the first member with the second member. The second member has a contact point arranged to contact the positioning member. An indication for requesting to enable the positioning member to contact the contact point is displayed. The second member rotates at the first joint relatively to the first member while the positioning member can contact the contact point. It is detected whether or not the contact point of the second member contacts the positioning member. A position of the second member is stored as an origin when it is detected that the contact point of the second member contacts the positioning member. This method prevents a possible failure of the attaching of the positioning member, and decreases a work load on an operator.

Abstract: A robotic arm (10) for use with a pharmaceutical unit of use transport and storage system (200) comprises a base plate (14) with a first cam track segment (16) and a second cam track segment (18). A first arm segment (20) is rotatably attached to the base plate (14) and a second arm segment (26) is rotatably attached to the first arm segment (20) and includes a cam track follower (110) that engages with the first and second cam track segments (16, 18) to guide the movement of the second arm segment (26). A platform (36) is secured to an end of the second arm segment (26) and is adapted to engage a product (214). A series of orientation sprockets (102, 124, 126, 142) and drive chains (148, 150) cooperate to maintain the platform (36) rearwardly oriented as the arm (10) extends from a retracted position to an extended position.

Abstract: A robotic arm (10) for use with a pharmaceutical unit of use transport and storage system (200) comprises a base plate (14) with a first cam track segment (16) and a second cam track segment (18). A first arm segment (20) is rotatably attached to the base plate (14) and a second arm segment (26) is rotatably attached to the first arm segment (20) and includes a cam track follower (110) that engages with the first and second cam track segments (16, 18) to guide the movement of the second arm segment (26). A platform (36) is secured to an end of the second arm segment (26) and is adapted to engage a product (214). A series of orientation sprockets (102, 124, 126, 142) and drive chains (148, 150) cooperate to maintain the platform (36) rearwardly oriented as the arm (10) extends from a retracted position to an extended position.

Abstract: There is provided a pick and place apparatus including a cam apparatus which comprises an input shaft (5); a first output shaft (7); rotational motion converting cam mechanism (21); a slider member (9); a relative rotation regulating cam mechanism (31); a cam link mechanism (41); a second output shaft (11); and a motion converting cam mechanism (51) engaged with and between the second output shaft and the slider member; an arm member (66) fixed on the first output shaft which is telescopic in the radial direction of the first output shaft; and a telescopic driving means (69) that converts the relative rotation generated between the first output shaft and second output shaft into an expansion or contraction of the arm member.

Abstract: A plate member carrier is constructed to include a suction device adapted to suck and transfer the workpiece, a first four-bar linkage adapted to keep the suction device in horizontal, a second four-bar linkage adapted to prohibit the suction device from transverse displacement, and a cam adapted to control vertical movement of the suction device subject to a simple harmonic motion curve.

Abstract: In a robot area monitoring device, in which at least one area of a rotary movement about at least one robot axis is monitored, initiators cooperating with part annular cams arranged coaxially to the axis to be monitored are provided, the initiators being connected to an evaluating device.

Abstract: A stopper includes a frame (51) fixed to a mount base (1) of an industrial robot, a retaining shaft (52) which is fixed to the frame (51) in an upright position in relation to the plane of rotation of the turning base (2), a rod-shaped engagement lever (53) which is supported so as to be able to turn around the retaining shaft (52), a spring (57) for returning the engagement lever (53) to a position where it faces the center of the turning base (2), stoppers (59A, 59B) provided on both inner surfaces of the frame (51) which face the engagement lever (53), and an engagement dog (7) which is fixed to the turning base (2) and is capable of engaging the engagement lever (53). It is possible to provide a stopper for use with an industrial robot which permits setting of the operating angle of the turning base to a value of 360.degree. or more and which ensures a wide range of operation.

Abstract: A work piece transfer system particularly suited for transferring semi-conductor wafers from one environment, through a loadlock, to another environment and back again employs a series of pivotally interconnected levers located within the loadlock when the device is in its central collapsed position. Only a single shaft extends through the loadlock, the main drive shaft for operating the device. The lever arm, which is attached to the input shaft for rotation with it, has a hole through its center for pivotally supporting a composite lever arm half of which is located above the first lever arm, and the other half of which is located below the lever arm, with the two portions connected by a pin passing through a hole in the center of the first lever arm. The work piece is pivotally attached to the opposite end of the first lever arm; and an interconnecting lever arm is pivotally attached between one end of the composite lever arm and an intermediate pivot on the work piece.

Abstract: An apparatus provides .theta.-rotational motion about a Z-axis. The apparatus is improved as follows. A stop structure is carried by the apparatus and rotates with it. The stop structure has a detent engagement structure. A detent structure comprises a rotatable member located adjacent to the stop structure. The rotatable member is mounted for free rotation about an axis parallel to the Z-axis. The rotatable member defines a plurality of detentes which are adapted for sequential engagement with the detent engaging structure as the stop structure rotates about the Z-axis. A biasing structure serves for biasing the stop member to deter it from rotating. The biasing structure is overcome by action of the detent engaging structure with any one of the detentes and otherwise prevents rotation of the stop member. A stationary detent is located adjacent the stop member. The stationary detent engages with and halts rotation of the stop member beyond a selected rotational position.

Abstract: A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to a patient. The system includes a computer which controls the movement of a robotic arm in response to input signals received from the control panel. The robotic system is mounted to a cart which can be wheeled to and from an operating table. The cart has a clamping mechanism which attaches the cart to the table. The system also contains a spring loaded mount plate that allows the robotic arm to be rotated and adjusted relative to the cart and the patient. Both the robotic arm and the control panel are encapsulated by protective bags that prevent the system from being contaminated.

Abstract: This invention discloses a pick and place machine operable to pick up a part at a loading station and to thereafter place and release the part in a delivery station spaced at least horizontally from the loading station. The pick and place machine comprises a housing and a first member supported by the housing. The first member has free horizontal reciprocal movement on the housing with respect to the pick-up and delivery stations. A second member is supported by the first member for reciprocal movement between the first member and the pick-up and delivery stations. A rotatable post with opposing ends is mounted through the first member and has an actuating arm on one end and a follower arm on the opposing end. The follower arm has opposing ends with a follower on one end and a pivot mechanism connected to the second member on the other end. Guides are provided on the housing for engaging the follower and co-operating elements of sliding abutment means are provided on the guides and the follower.

Abstract: A linear actuated sealant applicator pump for pumping a sealant into an aperture prior to installation of a fastener in that aperture. An air driven linear actuator translates a cam plate carrying a sealant applicator head from a first position in a first direction spaced from and slightly out of vertical alignment with the aperture to which sealant is to be applied. An adjustable stop limits the translation of the cam plate and injector pump. The actuator then continues in the first direction causing the cam plate to follow a cam slot translating the sealant applicator head in a second direction normal to the first direction toward and in vertical alignment with the aperture with the head engaging the edges of the aperture. The engagement of the head with the edges of the aperture prevents further translation of the sealant applicator head into the aperture.

Abstract: An apparatus for forming phosphor layers in cathode-ray tubes includes a table having a plurality of operating positions for processing panels for cathode-ray tubes to coat phosphor layers thereon. A plurality of angularly spaced clamp heads for holding the panels, respectively, are supported on the table for rotation about a first axis and angular movement about a second axis in each of the operating positions. A cam, which is operatively connected to the clamp heads, has a first cam groove for angularly moving the clamp heads through different angles about the second axis in the operating positions and a second cam groove for keeping the clamp heads in a fixed angular position with respect to the second axis in the operating positions. Joint cam groove mechanisms are combined with the cam for selectively switching between the first and second cam grooves.

Abstract: Transferring device for a semiconductor wafer or like part includes a rotatable carrying arm rotatably for carrying a semiconductor wafer or part from its initial position and through a first angle. The rotatable carrying arm has a holding portion for a wafer or part, and a cam follower portion. A motor rotates the rotatable carrying arm through an angle slightly greater than the first angle slightly past a desired position for the wafer. Then, an eccentric cam returns the carrying arm through a second, incremental angle, for bringing the carrying arm, and, hence, the wafer held thereby, to the desired position.

Abstract: An arrangement for loading elongated bundles of sheets on a pallet in different orientations includes conveying a movable carriage between a supply station to which bundles are fed, and a loading station at which bundles are loaded on the pallet. An upright column extending along a longitudinal axis is mounted on, and is jointly movable with, the carriage. A pair of jaws is displaceable toward and away from each other along a transverse axis. In a bundle-gripping position, the jaws engage opposite ends of a bundle. In a bundle-release position, the jaws are disengaged from the bundle. The jaws are raised and lowered along the longitudinal axis. The jaws, while in the bundle-gripping position, are turned about, and in a plane perpendicular to, the longitudinal axis to a desired angular orientation prior to loading the bundle onto the pallet.

Abstract: An orthosis for powering the walking movement of a paralyzed wearer, comprises torso members to be firmly connected to the opposite sides of the wearer's torso. A pair of leg braces is connected to the torso members. Each leg brace comprises a thigh member pivotally mounted at a hip joint to one torso member on one side of the wearer. A shank member connected to the shank and foot of the wearer, is pivotally mounted at a knee joint to each thigh member. A four link drive mechanism which is powered by a rechargeable power unit mounted on the torso member, swings the thigh member forwardly and rearwardly about the hip joint. A knee lock keeps the knee joint locked during the rearward movement of the thigh member and during a portion of the forward movement of the thigh member. At an appropriate point during the forward movement of the thigh member, a cam operated crank unlocks the knee joint and swings the shank member rearwardly to simulate a natural forward step.

Abstract: Angular regions (A, B) for turning a trunk body (12) of an industrial robot can be changed in accordance with an operation of the industrial robot by setting movable stoppers (18, 20). Turning movement can be stopped by an electrical means (LS1, LS2, LS3, LS4, LS5) to protect a drive motor and a drive mechanism, just before a stopper (22) fixed on the trunk body collides with mechanical stoppers (14, 16, 18, 20). An accident based on an error operation of the movable stoppers can be prevented by disposing proximity detectors (PS1, PS2, PS3, PS4).

Abstract: An industrial robot's articulate device comprises: a first arm; a second arm rotatably connected to the first arm; an electric motor for rotating the second arm; a transmission shaft rotatably supported by the first arm for transmitting the output of the electric motor to the second arm; and a detecting mechanism for detecting the position of the second arm with respect to the first arm. The detecting mechanism includes a dog secured to the transmission shaft, a swing lever swingably coupled to the first arm to pose in alternative postures according to the direction of rotation of the dog and a detector for detecting the alternative postures of the swing lever. The detector is constituted by a pair of limit switches, which are provided on both sides of the swing lever to detect the alternative postures thereof.

Abstract: A one-hand-operable control unit for a bridge crane. A cam, rotated by pointing a control handle in the direction toward which it is desired for the bridge crane hoist to be moved, operates switches which connect power to the appropriate motors of the bridge crane to move the hoist longitudinally, laterally, or diagonally when a thumb-operated traverse power control switch, located on the control unit handle, is closed. Switches are conveniently located on the front of the control handle to control load-raising and lowering operation of the hoist motor. A flexible hollow shaft connecting the control handle with the cam rotates the direction-controlling cam in response to pointing the handle toward the direction of traverse movement desired.

Abstract: A wrist mechanism of an industrial robot provided at the extremity of the robot arm (20) and having two degrees of freedom of motion enabling a wrist unit (30) to perform a tilting motion and a swivel motion about two substantially perpendicular intersecting axes respectively. Either a motion transmitting mechanism for the tilting motion of the wrist unit or a motion transmitting mechanism for the swivel motion of the wrist unit (80, 82, 90, 92, 96) is provided with a bevel gear mechanism (96) to change the direction of motion transmission through an angle of 90.degree.. Overtravel detecting means (110a, 110b, 120a, 120b) for detecting the overtravel of both the above-mentioned motions and datum position of motion detecting means (112a, 112b, 122a, 122b) are coaxially arranged about one of the above-mentioned perpendicular intersecting axes.

Abstract: An automatic machine for the internal fettling of sanitary appliances in general, which comprises a tappet device elastically loaded towards a cam having a profile conforming to the mouth of the bowls of the articles to be fettled, said device controlling the horizontal excursions of a double slide which supports in an overhanging manner, to lie above a surface on which the articles are arranged, a verticle slider provided with a stepwise-rotatable coaxial shaft on which there is lowerly mounted, in an orientation-adjustable manner, a rotating brush arranged for insertion into the bowls in order to make contact with their entire inner surface extension by virtue of the combination of the aforesaid movements.

Abstract: An automatic workpiece delivery apparatus includes a support member mounted on a body for vertical movement. A slide bar is supported by the support member for horizontal movement and has a pair of workpiece holders at its opposite ends. First and second cams are mounted on a common cam shaft. First and second cam mechanisms are operable respectively in response to the cam surfaces of the first and second cams. A first displacement transmitting mechanism operatively connects the first cam mechanism to the slide bar for displacing the slide bar horizontally. A second displacement transmitting mechanism operatively connects the second cam mechanism to the support member for displacing the support member vertically. A motor has an output shaft connected to the cam shaft for rotating the first and second cams.