Abstract: An automatic, controlled manipulator includes a moveable tool head on an arm and a tool supported at the end of the arm. The manipulator may be moveable in multiple or all directions. A storage for remotely generated control signals can be accessed to control motors causing 3D motion of the tool head, attachment of the tool, and (if applicable) motion of the manipulator, and also to control power to operate the tool. Video signals generated at the manipulator are used to identify the workpiece, to select one of a plurality of stored control programs, and to select the tool operations applied.

Abstract: A tracking apparatus and method for controlling the position and movement of a manipulator which holds an effector. An actual work path drawn on a workpiece is detected by a sensor. Predetermined taught path data is amended according to the detected work path, and the effector held by the manipulator is drawn to exactly track the work path on the workpiece. The effector is controlled so that the effector tracks the work path accurately even under conditions when detection data from the sensor has low reliability or contains errors.

Abstract: A parallel jaw robotic gripper and method for operating the gripper to grasp an unknown object are disclosed. The parallel jaw gripper of the present invention includes two pairs of light sources and sensors mounted on opposing extensions of each gripper. The light sources and detectors on each jaw are used to produce and detect the interruption of a pair of parallel light beams and/or a pair of crossed light beams by the object to be grasped. The gripper is rotated, translated, and/or closed in accordance with the detected status of the light beams in a simple table-driven manner by which the gripper is positioned to grasp the object with a stable grasping configuration. The gripper of the present invention can grasp an object of an unknown shape without disturbing or touching the object before grasping it.

Abstract: Robot gripper jaw apparatus is disclosed that is suited for grasping a media cartridge in a robot-controlled media library, or for grasping other objects. The gripper jaw apparatus employs a novel circular cam which reduces the amount of torque required to operate the gripper jaws. This allows use of a relatively small servo motor. The use of a circular cam additionally decreases the overall size and complexity of the gripper apparatus as compared to conventional gripper mechanisms. The gripper apparatus provides for an easily controllable robot gripper jaw mechanism for grasping a media cartridge wherein the force applied by the gripper jaw mechanism does not damage the media cartridge being grasped, due to the use of a flat spring which limits the force applied to the media cartridge. In addition, the gripper apparatus does not require that the gripper drive servo motor be reversed in order to release the media cartridge. Therefore, the gripper jaw servo motor need only rotate in one direction.

Abstract: An apparatus for taking residual solid matter out of an extrusion head of an extruder includes a grasping device for grasping residual solid matter in the extrusion head, and a moving device for moving the grasping device between a grasping position in the extrusion head and an exhausting position on one side of the extrusion head. In order to remove the residual solid matter from the grasping device even if the solid matter firmly adheres to the grasping device, the apparatus further includes a disengaging device for urging the residual solid matter to disengage it from the grasping device when the grasping device has arrived at the exhausting position and released the residual solid matter. A control device is provided for controlling the grasping device, the moving device and the disengaging device.

Abstract: A part gripping hand apparatus according to the present invention includes a body, drive motors disposed at three points on the body which are not on a straight line, arms integrally mounted on the drive shafts of the drive motors and extending from the center of rotation along radial directions with a predetermined length, finger members mounted on the ends of the arms, and a control unit for positioning and controlling the finger members at any position with the circumference of each of the finger members as the operation range.

Abstract: In order to treat disk-shaped bodies, specifically semiconductor disks in a vacuum plant, they must be transported and deposited between stations. A given disk is supported at its edge by two supporting arms each having two fingers and supporting surfaces at four edge sections of the disk distributed along the circumference of the disk. In order to grasp or release the disk by decreasing or increasing the distance between the supporting arms, both supporting arms are mounted to a respective piston/cylinder unit. In such units a respective cylinder moves relative to a stationary piston rod. The ends of both piston rods are thereby mounted oppositely of each other to a rotation axle extending perpendicularly to the axes of the cylinders by means of which the two piston/cylinder units can be pivoted together with the supporting arms from one station to the other station within the vacuum plant.

Abstract: A system for taking up and discharging ironed cloth articles from ironing apparatus comprises a column mounted on a base and supporting an articulated rotary arm at one end of which there is mounted a ball member for engaging an ironed cloth article and removing it from an ironing apparatus.

Abstract: A clamp mechanism (20) for holding and transporting parts such as wire (16) and terminals (18) to connector blocks (12) where transport paths require precision and limited space includes a scissors-like clamp (42,52) confined in a housing (24-28) with such clamp driven to move and close by toggle/cam (60,38) in a single sided movement by a single driving mechanism such as a pneumatic cylinder (22), and to open upon the reverse stroke by a spring (66) all defined by a single reciprocating stroke of the driving mechanism.

Abstract: Pickup device (24) is for mounting on the mounting plate of a positioning robot. The pickup device has a frame (30) which carries movable carriages (36, 38). Cam ring (50) controls the position of the carriages. Downwardly depending arms (60, 62) carry pairs of levers thereon. The levers have facing sloped cam surfaces (84, 86) which are spread by downward thrust of closing pin 88. When the closing pin drops too far, it indicates lack of grasp and this is signaled by contacts (114, 116).

Abstract: An apparatus and method is described for inserting pins in holes wherein either the pin or the hole is chamfered or beveled. One part is vibrated with respect to the other in a plane orthogonal to the direction of insertion. One part is incrementarlly moved in the direction of insertion. When interference caused by the contact is sensed, the magnitude of the interference is determined and used to reposition the center-line of the one part in the orthogonal plane until the pin is fully inserted.

Abstract: An electromechanical manipulator including gripper elements provided with a plurality of fingers and a sensing element provided for each of the fingers to sense their relative position. The sensing means includes at least one Hall effect element disposed in the body of the gripper element. A magnet element is oriented in a bipolar slide-by mode with respect to the Hall effect element and is disposed for movement with one of the fingers of a gripper element.

Abstract: An apparatus and method is described for inserting pins in holes wherein either the pin or the hole is chamfered or beveled. One part is vibrated with respect to the other in a plane orthogonal to the direction of insertion. One part is incrementally moved in the direction of insertion. When interference caused by the contact is sensed, the magnitude of the interference is determined and used to reposition the center-line of the one part in the orthogonal plane until the pin is fully inserted.

Abstract: A robot gripper control system is disclosed which uses PVDF piezoelectric sensors to actively damp exerted force. Instead of charge amplifying the output of the piezoelectric transducer, the output voltage is measured as the charge drains across a path of low resistance. Thus, the sensor output is proportional to the rate-of-force exerted by the gripper. The PVDF sensor and a strain gauge are arranged in a proportional and derivative (PD) control system for the control of force of a robot manipulator hand. Experimental results for the particular disclosed gripper indicate that as much as a 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.

Abstract: A system for producing confectionary products, especially lollipops, is disclosed. The system includes a plurality of molds mounted on a conveyor belt assembly. A dispensing means adapted for injecting a predetermined quantity of fluid into each of the molds is positioned proximate the belt. A stick handle inserter for receiving a plurality of elongated sticks, and thereafter inserting a single handle into each of the fluid retaining molds, is positioned adjacent the belt either before or after the dispensing means. A cooling means for cooling the viscous fluid to aid in its solidification is associated with the belt. A transfer means positioned proximate the belt is adapted to remove the finished confectionary product from the mold and thereafter transfer that product to a station for wrapping.

Abstract: Method and apparatus for detecting article engagement errors and for calibrating engagement error detection apparatus associated with a plurality of gripper arms (16) of an insertion machine (10). Gripper arms (16) at each of a plurality of insert stations S comprise a first jaw member (24) and a second jaw member (26) which selectively engage articles therebetween. Field-generating means (420) is mounted on one jaw member while a Hall Effect sensor (400) is connected on the other jaw member. The sensed flux density of the generated field is a function of the relative displacement of the first and second jaw members (24,26). A signal generated by the sensor (400) operated in a slide-by mode is related to the separation of the first jaw member (24) and second jaw member (26). If the sensor-generated signal is within predetermined limits of a stored reference signal a proper number of articles are engaged between the first and second jaw members (24,26).

Abstract: An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

Abstract: A robotics manipulator utilizes a fluid pressure control system to provide a response to the gripping force of the robotics manipulator on an object. The force is converted to a change in fluid pressure that is sensed in a fluid flow channel. This change in pressure or flow is in turn used to provide the control system for the robotics manipulator with information on how hard an object is being gripped.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.