Abstract: A turret is rotatably secured to a housing adapted to be secured to a robot wrist having a reference orientation and axis. The turret has a plurality of interchangeable lead processing devices which are selectively aligned to the reference orientation and axis. When so aligned a lead processing device is engaged with a selected component and operated to cut and bend the lead of that component. A second component's lead may be processed by the same or a different lead processing device secured to the turret. The latter device is aligned to the reference orientation and axis prior to processing the second component's lead. The robot is programmed to align the reference axis and the corresponding processing device to the selected component whose lead is to be processed.

Abstract: An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.

Abstract: Device for inspection and repair of tubes of a nuclear reactor steam generator in a tube bundle being disposed in a tube sheet and opening into at least one chamber having an opening formed therein, including a manipulator being insertible in the chamber through the opening and being lockable to the tube sheet for carrying remotely controlled and monitored inspection instruments and tools, the manipulator including a support leg being adjustable in length in the axial direction, a main arm being connected to and movable relative to the support leg, and an equipment carrier being connected to the main arm and movable relative to and together with the main arm, and a mounting rod being connectible to and detachable from the manipulator.

Abstract: An apparatus for moving and positioning a tool for plugging a defective heat exchanger tube of a steam generator in a nuclear reactor includes a base, a plug magazine supported on the base, a guidance mechanism mounting the plugging tool and a positioning mechanism supported on the base and mounting the guidance mechanism. The guidance mechanism is operable to align and position the tool relative to the plug magazine and the defective heat exchanger tube to correspondingly effect, upon operation of the tool, plug loading when the tool is located in a plug dispensing position adjacent to the plug magazine and plug unloading when the tool is located in a plug applying position adjacent to the defective tube. The positioning mechanism is operable to assume folded and unfolded conditions to transfer the guidance mechanism and the plugging tool therewith respectively between the plug dispensing and applying positions.

Abstract: An exchange system is provided for connecting a remote, manipulable element, such as a robot arm tool gripper, to a central control source, such as a robot arm and its associated programmable control. An upper exchange unit attaches to the robot arm and receives control signals which pass through the body of the upper unit to a matable lower exchange unit. A plurality of lower exchange units are provided, each attached to an individual tool gripper and relaying control signals to the gripper. The mating upper and lower exchange units provide for serial connection of the robot arm to any desired one of an array of tool grippers and for communication of control signals through the mated units to each tool gripper without the need for separate control umbilicals between each tool gripper and the control signal source.

Abstract: A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably mounted on one of the cases and which are able to occupy a coupling position in which they bear against pins fixed to the other case. This couples the toggle joint to the end of the arm and the latches can also occupy a position in which they are disengaged from the pins in order to disconnect the toggle joint. The retractable locking means normally immobilizes the latches with respect to the case supporting them when the latches occupy the coupling position. The invention also provides a disconnection support for the coupling device.

Abstract: Successively laser cutting configurated openings in the walls of tubular manifold members with a plurality of robots and cooperative fixtures circumferentially around a cutting laser focus, the robots sequentially gripping the tubular members secured in exact orientation and position in the respective fixtures, by circumferentially expansible gripping jaws inside the tubular members, and advancing the members to and through a 360 degree pattern about the laser focus. The manifold laterals are subsequently welded to the member around the laser cut openings.

Abstract: An industrial robot device is disclosed which is equipped at a forward end of an arm with a work tool such as a cutting or a grinding tool, and in which there is provided a device such as a friction damper for suppressing sudden movement of the work tool in the direction of the normal displacement thereof towards and away from a workpiece. Damage to the work tool and workpiece due, for instance, to sudden changes of load, is thereby prevented.

Abstract: Tool-holder B f6r gripping and changing tools for an industrial robot suitable for fixing to a rotary wrist-joint (5) of a robot arm, intended to carry one tool at a time. This tool-holder B comprises an upstream part C able to be fixed to the wrist-joint (5), a downstream part D able to be fixed to a tool (E1, . . . ) and remaining integral with the latter at each tool change, the two parts C and D being equipped with additional means for assembly and for rapid locking as well as unlocking and with detachable connectors (28, 32; 29, 37) for supplying the tool (E1) with fluid and electricity, the upstream part C containing a jack (7, 22) capable of displacing the locking and unlocking components (25, 41, 42, 14, 15, 16), and the downstream part D can be arranged in a tool magazine with the associated tool. The one-piece nature of the tool gripped in the tool-holder B ensures ease and speed of the robot's arm movements in space, maximum robot reliability, as well as rapid and powerful locking and unlocking.

Abstract: A disposable sealant piston-cartridge is itself connected to a motion actuation pressure driven piston mounted to the transfer head of a riveter machine. Between countersink and rivet operations, the actuating piston moves a sealant cartridge spring loaded nozzle into engagement with a countersink and upon pressurization of the sealant piston cartridge, a bead of sealant is deposited into the countersink.

Abstract: A multiple-function hand useful in automated laboratory operations, particularly liquid transfer operations. A gripper and a piston operated syringe are made compatible on a single function by mounting such that their mechanical actuating mechanisms are operated parallel to one another, while the operating vector of the syphon, i.e., the direction of piston movement and direction of gripper lift are at right angles one to the other.

Abstract: A method and apparatus for performing repetitive cycles of panel coating operations using a programmable manipulator including a manipulator arm movable along a plurality of axes. The apparatus comprises a hand unit carried on the manipulator arm. The hand unit is movable so as to bring the brush held by it into resilient contact with an area of the panel to be coated. A coating material is injected into the brush at a predetermined rate while the brush is held in resilient sliding contact with the panel and while the manipulator arm moves about the panel to coat a preselected area of the panel. After the preselected area of the panel has been coated, the manipulator arm is moved to move the brush out of contact with the panel. Between coating cycles, the manipulator arm moves the brush into a storage chamber where it is treated to prevent the coating material from caking on the coating brush.

Abstract: A grinding robot of playback system to grind 3-D curved surface is disclosed which is comprised of No. 1 arm being horizontally oscillatable around a vertical axis, No. 2 arm pivoted horizontally oscillatable to the head of said No. 1 arm, fluid cylinder attached vertically to the head of said No. 2 arm, abrasive tool attached freely ascendable/descendable and turnable to the bottom of said fluid cylinder, workpiece-fixing table arranged freely turnable and inclineable from horizontal to vertical below said abrasive tool, and designed to make it possible to trace the 3-D curved-surface profile by constantly pressing down the workpiece perpendicularly toward the same by the action of said fluid cylinder and to perform the 3-D curved-surface's automatic grinding-work with the use of 2-D positional data and also to playback-control a retirement locus of the abrasive tool when retiring it temporarily from work area.

Abstract: A fixed ceiling is provided from which depends a carrier block which is movable forward, rearward, rightward and leftward. An exhaust port is provided on the upper surface of the carrier block and a seal member is provided on the surface of the carrier block about its periphery so that a vacuum can be created on the upper surface of the carrier block and the carrier block may be freely sucked to the fixed ceiling. Vertically movable fitting parts for a plurality of tools are provided below the carrier block.

Abstract: An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered.

Abstract: For controlling a work process carried out by means of a robot (RB), instructions are stored both relating to the positioning of the robot and relating to the very process to be accomplished. The process instructions are stored in the form of process stage instructions (SPS, SPM and SPE) comprising(a) process start stage, during which the process is initiated (the arc is struck, for instance, when arc welding is involved) and the relative movement between object and robot can be started;(b) process main stage, during which the actual process is carried out; and, at least when the process is not directly followed by a further process;(c) process terminal stage, during which the process is terminated (the arc is broken, for instance, when arc welding is involved) and the relative movement between object and robot can be stopped.

Abstract: A universal driver tool pivotable into a plurality of angular positions is disclosed for use by a computer controlled robotic manipulator. Improved mechanism for connecting the driver tool to the pneumatic system of the robot is disclosed as is a technique for quickly changing the bit driver by the tool without requiring a complete tool change operation.

Abstract: A remote manipulator arm for positioning and operating tube sheet repair tools within a nuclear generator shell. The arm includes a number of arm segments linked serially, each having a remotely-controlled motor to pivot an elbow in the arm segment by way of gears. A mounting bracket passes through a manhole in the generator shell and provides a stable point of connection for the arm, both inside and outside the shell, as well as connections for power and control signals to the arm. A workhead is provided for mounting on the arm end opposite the bracket, and can carry a plurality of tools to conduct repair operations on tubes. The mounting bracket can be installed from without the shell and does not block the manhole, and the arm is self-installing, requiring no human presence within the generator shell.

Abstract: There is provided by this invention a part turnover attachment for use with an automated machine tool comprised of a chuck for supporting the tool in the rotatable spindle of the machine tool and a rotatable pickup mechanism that attaches to a workpiece. The rotatable pickup mechanism is rotated by the controlled rotation of rotatable spindle whereby the workpiece can be inverted.

Abstract: The alignment of the drill stem and bit of a rock drill rig is corrected when the force of drilling and the feeding power on the drilling machine of the rig has resulted in a change in the direction of the drill stem because of deformation of the articulated and extensible drill boom of the rig and of its pivotally supported drill support on the drill boom. The drill rig is of the type that includes elements for measuring boom lengths and articulation angles, servos for controlling such lengths and angles and a control unit which is connected to the measuring elements and servos for adjusting the drill stem and bit. The various articulation angles which are required to compensate for deformations of the drill boom and drill support are determined as if the drill boom and support were in an unloaded condition, on the basis of measured values of the boom lengths and articulation angles which have been registered in the control unit in an unloaded condition.

Abstract: An improvement to computer control robot arm assemblies having a work head on the free end thereof for allowing the work head to be positioned and held within closer tolerance limits to a desired coordinate position. The work head is attached to the robot arm by a vernier control assembly allowing vernier movement in the X, Y, and Z directions. A moveable support member is provided on the robot arm adjacent the work head. A detector is mounted to the work head for sensing a light beam. A collimated light beam is passed through a point associated with the desired coordinate position under computer control. The work head is positioned within first tolerance limits by the robot arm under computer control. The logic of the computer then contacts the work piece with the support member to hold the free end of the robot arm in position. Under closed-loop computer control, the vernier drives are used to position the detector at a point where the work piece is in the desired coordinate position.

Abstract: An apparatus and method for installing and removing a tool on a chuck connected to a robot arm. The chuck has a mandrel with two parallel flat sides and two protruding flanges. The tool has a tool coupling member which is supported and held against rotation by a support plate. The tool coupling member is cylindrical and has two lugs spaced apart to allow the flat sides of the mandrel to pass, but to lock over the flanges of the mandrel when the mandrel is rotated relative to the tool coupling member. A cam follower on the chuck follows a guide slot in the support plate to cause the mandrel to rotate relative to the tool coupling member. The cam follower also causes a key on the chuck to mate or disengage a key slot on the tool coupling member.

Abstract: A robot toolchanger system is disclosed, where an adapter unit is mounted to the end effector of a robot. The housing of the adapter unit has central opening for receiving a T-shaped member which is affixed to a common toolbase, applied to a variety of tools. The crossbar of the T-shaped member is engaged by a slide movable in the housing in reversing directions to lock and unlock the tool with respect to the robot end effector.

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.

Abstract: A ground-based aircraft refueling system uses existing air-to-air refueling technology. A fixed facility design attaches a moveable air-to-air type refueling boom and probe to an overhead track mounted on the ceiling of a TAB VEE aircraft shelter. Movement of the boom and probe is controlled from a remote control room protected from hazardous chemical and biological environments. In a second embodiment, a moveable facility design mounts on the top of a tank truck a first boom attached at a right angle to an air-to-air type refueling second boom and probe. The booms and probe are remotely controlled from the truck cab, which is protected from hostile chemical and biological environments. A third embodiment adds to the moveable facility design a second tank and nozzle outlet for spraying decontaminate.