Abstract: There is provided a self-aligning ballscrew assembly for a manipulator device for reciprocating an extension element along a linear extension axis, with the self-aligning ballscrew assembly including a ballscrew having a longitudinal axis. A ballscrew bearing block is provided having a ballscrew nut mounted on the ballscrew for translating an extension element of the manipulator device along a linear extension axis in response to relative rotation between the ballscrew and the ballscrew nut, and a drive motor selectively provides relative rotation between the ballscrew and the ballscrew nut.

Abstract: An improved robotic manipulator of the type having a plurality of serially-connected drive shafts and a mounting surface affixed to one end thereof. The manipulator includes a first shaft rotatable about a first axis coincident with one ordinate of a mutually perpendicualr triordinate system and a first housing rotatable about that first axis, a second shaft rotatably mounted to said first shaft for rotation about a second axis obliquely oriented with respect to said first axis, and a second housing rotatable on the first housing about a second axis. Rotational movement is imparted to the second shaft about the second axis in accordance with rotational movement of a shaft rotatable about the first axis. A mounting surface has a centerline angularly oriented with respect to the second shaft, and a third shaft upon which the mounting surface is attached is rotatable about a third axis angularly oriented with respect to the second axis.

Abstract: A reheat blow molding machine has an improved article handling system that carries heated preforms by a carriage assembly from an oven to a roller chain conveyor which moves them to a blow mold from when the blown product is moved to an eject station. The motions are linear and cyclical or periodic, drive means for such intermittent motions being provided. Preforms are handled in groups of four, each one being supported by its capping ring in a locating notch on the carriage and by the finish groove in a holder notch above it when it is transferred to the conveyor. All notches are open on the side facing the oven and have self-centering features to get and keep alignment for transfer and positioning at the blow mold. The carriage which moves preforms horizontally toward the conveyor and raises them to the elevation for transfer to the holder notches of the conveyor.

Abstract: The present invention includes a tool and method for resurfacing a housing facing. The tool is adapted for use with a rotatable shaft extending from a housing, e.g. an impeller shaft of a pump. The tool includes a body having first and second halves that are removably secured to the rotatable shaft. A plurality of cutters are receivable within slots selectively disposed along the radii of the body halves. Advancing and locking screws for each cutter are utilized to position a cutter for engagement with the housing facing. The shaft is rotated, causing the cutters to produce a cut of desired depth in the facing. The depth of the cut is increased by turning an advancing screw.

Abstract: A reheat blow molding machine having an article handling system that carries heated preforms by a carriage assembly from an oven to a chain conveyor which moves them to a blow mold from whence the blown product is moved to an eject station. Attached to the chain conveyor are preform holder assemblies each of which contains a resilient spindle nose which supports the preforms by engaging an internal surface at one end of the preform.

Abstract: There is provided a rotator bearing shock and vibration dampener for the rotator bearing of a robotic manipulator, with such shock dampener including a stationary robot base and a rotary turntable, and a large rotary turntable bearing having its inner race bolted to the stationary base and its outer race bolted to the rotary turntable. An oil damp well space having a relatively thin, predetermined depth squared relative its surface area is formed in the base below the outer race and in the turntable above the inner race. A predetermined volume of damping oil is located adjacent the turntable bearing in the base and fills the oil damp well space, whereby the damping oil normally resides in the well space to provide an oil film therewithin.

Abstract: An apparatus is provided for self-monitoring a communication circuit incorporating a differential driver for malfunctions with a malfunction detector located remote from the driver. The malfunction detector monitors the state of signals received at the remote location on a pair of lines coupled to the driver. Preferably, the detector includes a pair of back-to-back light emitting diodes, one of which will emit light so long as the received signals are in opposite states, and neither of which will emit light when the received signals are not in opposite states as will occur during a malfunction. The detector further preferably includes a phototransistor responsive to the diodes to provide a malfunction signal when neither diode emits light. Alternatively, the detector may comprise an exclusive-OR logic gate.

Abstract: A counterbalance assembly for use with a rotatable arm in a robotic manipulator, wherein such arm is rotated about a rotation axis. The assembly further includes one or more compression springs for providing resistance to compressive forces, and converting apparatus for translating the rotational movement of the rotatable arm about the rotation axis into linear deflection of such compression spring, whereby resistance of the compression spring to linear deflection in either direction along its longitudinal axis establishes an effective counterbalancing force which reduces the load bearing on the arm drive regardless of the direction in which the rotatable arm is rotated.

Abstract: Apparatus and method are disclosed for teaching a cycle of operation to a computer operated robot arm. A keyboard is provided comprising first keystroke means which are operative in two different teaching modes. In a first teaching mode, the keystroke means cause storage of individual instructions defining an operation to be performed by the robot arm at a point in space. In the second teaching mode the first keystroke means are operative for creating a macro comprising a sequence of such instructions for later use. There is a pendant which controls the movement of the end of the robot arm and has second keystroke means for causing a previously stored macro to be assembled into an operating control program for the robot arm. The second keystroke means also may be used for causing assembly of individual instructions into the operating control program.

Abstract: A bearing block for anchoring a self-contained bearing for a moving part of a robotic manipulator to such robotic manipulator is provided, wherein the self-contained bearing has a known outside diameter. In particular, the bearing block comprises a body portion having attachment means for attaching the bearing block to the robotic manipulator, with such body portion being split into a base piece and a clamp piece along a dividing axis. A bearing race or bore is formed through the body portion and centered therewithin on the dividing axis. The bore is formed after the body portion has been split along the dividing axis, and has an effective diameter slightly undersized relative the outside diameter of the self-contained bearing to be held therewithin.

Abstract: A numerically controlled lathe has its tailstock body clamped on ways of a bed at a desired position by pucks through using an intensifier to increase the hydraulic pressure applied to the pucks to three times the hydraulic source pressure. The intensifier is automatically replenished with hydraulic fluid each time that there is release of the clamping pucks.

Abstract: A method and apparatus are provided for producing a control signal by digital computation for controlling an element affecting a process. The process is described by a sequence of activities, and the onset of each activity is marked by a predetermined change of a process parameter. An event detector is provided for detecting the occurrence of predetermined changes of process parameters in response to data included within event detector data blocks. The event detector data blocks include data defining the desired response to the detection of a predetermined change of a process parameter. The control signal is produced in accordance with a selected predetermined algorithm using data included in algorithm data blocks. A first event detector data block and a first algorithm data block are selected defining a first predetermined change of a process parameter and a first algorithm.

Abstract: A dressing roll unit is supported on a nonrotating shaft clamped and maintained as a "fixed end" beam, thereby restrained against axial movement and deflection. The shaft is formed with spaced-apart bearing points, wherein wedge-shaped relief sectors are formed about the shaft at the bearing points, and a roll body is maintained about the bearing points with an annular clearance. Rotation of the dressing roll body and roll thereby forms high pressure hydrodynamic wedges of oil at the relief sectors and annular clearances, to create an extremely rigid roll mounting unit, without the need for pivoting bearing parts.

Abstract: A reheat blow molding machine has an improved article handling system that carries heated preforms by a carriage assembly from an oven to a roller chain conveyor which moves them to a blow mold from whence the blown product is moved to an eject station. The motions are linear and cyclical or periodic, drive means for such intermittent motions being provided. Preforms are handled in groups of four, each one being supported by its capping ring in a locating notch on the carriage and by the finish groove in a holder notch above it when it is transferred to the conveyor. All notches are open on the side facing the oven and have self-centering features to get and keep alignment for transfer and positioning at the blow mold. The carriage which moves preforms horizontally toward the conveyor and raises them to the elevation for transfer to the holder notches of the conveyor.

Abstract: A laser beam combiner housing is connected to a light pipe distribution system, and has a first beam path established for a principal lasing beam passing through an inlet aperture to an outlet aperture connected to the light distribution system. An internal mirror face transversely intercepts the first beam path and is aligned with a second laser beam path, so that the second laser beam will establish a line of incidence with the reflective mirror, and the corresponding line of reflection of said second laser beam will be collinear with the first laser beam path. The second laser beam is created by a low power visible spectrum laser generating unit, so that the light distribution pipes and corresponding reflective mirrors may be accurately aligned with the principal lasing beam path. The housing is also provided with cooling fluid to create controlled environment for the principal lasing beam.

Abstract: An apparatus and method is disclosed for controlling motion of a tape dispensing apparatus or the like in response to both computer change in position signals and proportional and integral tracking error signals to maintain a desired conformal relationship between the tape dispensing apparatus and a contoured surface. The level of responsiveness to computer change in position signals versus tracking error signals is adjustable depending upon the severity of the contour so as to optimize servo tracking where necessary.

Abstract: Bore holes are formed in opposite side walls of a part in alignment with each other by two separate cutting tools in two separate machine tools disposed on opposite sides of the part. One of the machine tools is a master and the other is a slave with the master machine tool being disposed at the position at which it is to form a bore hole in one of the opposite side walls. Then, the slave machine tool is moved so that the longitudinal axis of its spindle is in alignment with the longitudinal axis of the spindle of the master machine tool whereby the two bore holes will be aligned with each other and extend through the entire part. This alignment is accomplished by a laser on a spindle carrier of the master machine tool producing a laser beam in parallel with the longitudinal axis of the spindle of each of the spindle carriers and being received by a laser target on the spindle carrier of the slave machine tool.

Abstract: A coordinate laser cutting machine nozzle rides in close proximity to sheet material to be cut, and the nozzle is provided with an outer chambered ring, spring-loaded to ride on the sheet stock. The nozzle ring is provided with a concentric band of spring steel held in spaced relationship thereto by a plurality of standoffs. The spring ring is maintained at a spaced distance from the surface of the sheet stock, i.e. at the chamfer line, and the spring ring and outer nozzle ring are connected to an electrical supply. Upon contacting a dislodged workpiece previously-cut from the sheet stock, the spring ring makes electrical contact with the outer nozzle ring, and the resulting electrical signal is used for automatically inhibiting machine movement, or for otherwise indicating a fault condition.

Abstract: A laser beam pathway is established through hollow robotic wrist elements, including plural elements rotatable around first and second wrist axes transverse to one another and intersecting at a junction point. The junction point lies within a mirror chamber formed within a base housing of the robot elements, and a mirror is mounted within the mirror chamber to assist in directing the laser beam. The beam passes collinearly with the first and second wrist axes and first and second ducts are provided with a rotary joint included in the second duct, to isolate the beam pathway from internal wrist drive elements.