Abstract: A conveyor system including a buffer store for the temporary retention of articles delivered by the conveyor to the store. Articles are raised out of contact with the conveyor by two ramps one passing under a flange on each side of the article. The conveyor and ramps are downwardly inclined in this area so the article travels along the ramps under gravity until hitting a stop. The articles are in two parts, each upper part being removed from the store by a robot and normally only the lower, reusable part being returned to the conveyor. A second stop is also provided adjacent the first to permit the return of only one article base to the conveyor. Sensors are provided to detect the present of articles in the store.

Abstract: Apparatus for handling and positioning thin flexible gummed articles which are stuck in spaced sequence to a webbing which extends along a predetermined path in the machine. A vacuum holding chuck holds the gummed articles by suction and moves horizontally causing simultaneous synchronized movement of the webbing. The webbing goes around the sharp edge of a stripping plate and the vacuum holding chuck continues its straight line motion so that the thin flexible gummed article is stripped from the webbing. The article is then positioned and pressed into contact where it is to be used. The vacuum holding chuck returns to its starting position for the handling of the next article.

Abstract: A gripper pad or gripper tool changer for a multi-axis manipulator is provided which is capable of automatically attaching in locked position a selected pair of a plurality of gripper pads or tools to the fingers of a gripper. Each pair of gripper pads or tools are mounted in a holder mechanism which is attached to a surface within the work envelope of the manipulator. The pairs of gripper pads or tools are picked up from the holder and attached and locked to the gripper fingers by controlled movement of the manipulator. A pair of gripper pads or tools are returned to the holder by controlled maneuvering of the gripper into the holder such that unlocking means associated therewith provide unlocking of the gripper pads or tools from the gripper fingers so that the gripper pads or tools can be detached from the gripper fingers. Error detection of missing or displaced finger tools in a pickup operation is provided.

Abstract: A system for automatically calibrating a robot in all degrees of freedom in one point to compensate for inaccuracies in the different coordinate directions. The system includes moving a measuring body, held by the robot gripper, in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means the actual position reached by said measuring body, calculating the errors in the different coordinate directions based on the measured values and the nominal position values and compensating for the errors in respective coordinate directions.

Abstract: A compact low-cost drive for a robotic gripper system is disclosed having a rotationally driven shaft connected to an energy source for transmitting energy provided by the energy source to the gripper. An epicyclic gear arrangement is coupled to the shaft to convert the rotational motion of the shaft into a linear motion. At least one of the pins connected to the gears is linearly translateable in two directions under the control of the energy source. Fingers are recessed in the pins to facilitate gripping and releasing objects to be handled by the gripper system. A feedback means coupled between the energy source and the fingers can also be used to sense and control the position of the fingers.

Abstract: A multi-degree of freedom force transducer is provided for measuring forces applied to gripper fingers in a manipulator when grasping an object therebetween. The transducer includes a pair of force sensor assemblies rigidly connected at a first end to a respective finger and at a second end to a drive member for the gripper. A plurality of parallel beam structures are contained in each of the force sensor assemblies, each consisting of a pair of flat parallel flexure members, each member bridging opposite sides of a gap in the structure. These parallel beam structures are oriented so that the axis perpendicular to the planar surfaces of the parallel flexure members are orthogonal to one another, providing the capability of measuring the force applied to an object held by the gripper in the X, Y and Z axial directions.

Abstract: A fiber optic scanner system for reading coded patterns is provided having a single optical fiber extending from the reading end of the scanner tip to a remote terminal. The remote terminal includes an optical signal generator for generating and driving light pulses along the single optical fiber to the reading end of the scanner member so as to illuminate a bar code and obtain reflected pulses therefrom which are carried to the remote terminal receiver and decoded.

Abstract: An optical fiber connector is provided having identical connector halves including mating surfaces which are made of a soft metal and the surface configuration is coined or stamped therein by the same die to provide minimum manufacturing tolerance errors between fiber holding rails located in a channel on each surface. Locating holes and projections are likewise located in said mating surfaces so that, when one surface is reversed with respect to the other and mated thereto, the optical fibers placed between the rails and precisely cut with respect to a limit line will mate end to end coaxially with the end surfaces in the same plane.