Abstract: An articulatable robot has a forearm and robotic wrist, the wrist having plural members mounted on plural axes of rotation. A laser generator is connected through a light pipe system to the robot forearm, distal to the robotic wrist, and a continuous laser beam pathway is established through the forearm and robotic wrist, the beam pathway extending colinearly with the plural rotation axes of the wrist members.

Abstract: Plural rotatable elements are contained in a wrist assembly wherein at least two of the axes intersect at a junction point, and a continuous laser beam pathway is established through the wrist elements, the beam pathway extending colinearly with the first and second wrist axes, and a mirror is provided with a reflecting surface intercepting the junction point of the wrist axes to assist in directing the internally ducted laser beam.

Abstract: A loader inserts articles into a conveyor from underneath. Each article is received in a gripper and depends thereform. The gripper is supported from the conveyor facing down at the point of loading (insert station). A predetermined number of articles (here, three plastic preforms to be heated then blown into plastic bottles) is fed by gravity down a chute to a reception point where they are temporarily stopped forming a queue. The reception point is upstream of and lower than the grippers. The loader has a device to grasp a group (the first three in the queue) from the side (or cross-machine direction) and move the group horizontally and lineally downstream to the insert station underneath a corresponding number of grippers while at the same time increasing the center-to-center distances to the same as the center distances spacing the three grippers in the group.

Abstract: The mold clamping force exerted in a toggle plastic injection molding machine is measured by determining the amount the tie rods stretch. A link is clamped on a lower tie rod near the backing platen and supports a contact that is adjustable in the direction of tie rod stretch. The contact in turn engages a probe portion of a sensor that is secured to the machine base. The contact, hence the sensor probe, move the amount that the tie rod stretches at the point of clamping. The motion is directly proportional to clamping force which latter can then be adjusted by operating the adjusting nut drive motor a suitable amount.

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: A linear actuator comprising a ball screw, ball nut, and an endless ball circuit disposed between the two has an improved end closure body having a guide portion extending to approximately one revolution of the helical path around the screw out of the nut, where the balls then depart from the helical screw path and are received in a nonlinear ball passage formed within the closure. The ball passage has a first portion tangent to the ball screw groove and a second portion extending out of the end face of the closure in line with a longitudinal hole in the ball nut so that the balls may be smoothly returned through the nut to the opposite end, for reentry into the helical ball path.

Abstract: A pallet has a plurality of reciprocable spindles mounted thereon. Each spindle can be reciprocated and has an improved bearing support and bias means urging the spindle to one end of its reciprocation path. An improved spindle nose is provided to mount on the spindle as an exchangeable chuck thereby changing the size of the workpiece that can be handled. The spindle nose features an improved means to maintain seal with the preform finish that includes a base from which protrudes a flexible skirt which is extending from the other side of said base, said skirt being sufficiently resilient to maintain sealing engagement with the inside diameter of the preform finish during blow molding; and an air passage extending completely through said locating stud, base, and skirt region.

Abstract: An extensible boring bar is moved between fully retracted and fully extended positions proximal and distal to a machine housing. The bar is supported at a point within the housing and a snout and damper assembly is provided at the outermost face of the housing. The snout and damper assembly forms a compound damper system whereby an annular ring around an outer quill serves to damp the bar when simply supported in its fully retracted position, by damping the end support bearing directly. In the fully extended position, the bar is generally-cantilevered beyond the snout and damper assembly, and deflection of the bar will occur between the interior, support point and the snout support. Thus, the snout carries an additional annular damping chamber around the bar between the annular damping ring and interior or support point to damp the intermediate crown or deflection of the bar when fully-extended.

Abstract: An articulatable robotic machine has a forearm and wrist unit capable of handling an internal laser beam received at the aft end of the forearm and exiting at the forward end of the forearm through the wrist unit tooling plate. A laser marker galvohead and collimator are affixed to the tooling plate of the wrist, and a laser generator is affixed to the forearm of the robot machine and provided with a laser beam system to direct a laser beam into the aft end of the laser arm. The output pattern galvohead may be manipulated to a variety of predetermined positions on a workpiece.

Abstract: A robotic base compartment has an interior locating surface. A plurality of pins extend squarely from the locating surface. The pins are located by pre-assembly machining and the extending pin surfaces are coated with a release agent. A robotic component plate, such as a gear-carrying plate, is assembled in the base compartment, with clearance slots surrounding the locating pins. After adjustably positioning the gear elements with one another by shifting the component plate, the slots are filled, for at least a portion, with a pourable hardenable material such as epoxy which is then allowed to harden. The components may thereafter be disassembled and reassembled without the loss of precision location. The assembly method obviates the need for manual drilling and reaming of pin holes at assembly and the attendant chip contamination that results therefrom.

Abstract: An apparatus and method are provided for creating and revising programs for numerically controlled machines. First, generalized data block signals are produced, the generalized data block signals representing alphanumeric words defining block types, workpiece material types, work surfaces, workpiece features and machining operations. Then, machine control instruction block signals are produced in response to the generalized data block signals, the machine control instruction block signals represent alphanumeric words defining machine member motion in the form and format required by a particular numerical control. The generalized data program may be created by a machine operator using data obtained from the workpiece design data. Generalized data program creation and revision is accomplished without regard for the data requirements and limitations of a particular machine and control combination by which the workpiece is to be processed.

Abstract: An endless belt type of conveyor for small flat workpieces (chips) provides a series of pockets on a perforate belt, each pocket adapted to support a chip during conveyance through a zone wherein high velocity air jets are directed against the chip. The pockets are formed by facing pairs of series of "H" or "I" shaped crossbars connected between a spaced-apart pair of roller chains. The perforate belt is formed by a Teflon (polytetraflouroethylene) coated fiberglass screen (alternatively silicon rubber) supported by the H crossbars. This construction permits the pockets to move readily around the sprockets about which the roller chains are wound.

Abstract: A method and apparatus are provided for providing for controlled oscillation of a tool centerpoint associated with a function element carried by manipulator simultaneously with motion of a workpiece feature relative to a predetermined location. The tool centerpoint describes a predetermined pattern relative to the workpiece feature as a result of the combined motion. Tool centerpoint oscillation occurs in an oscillation path between two extremes determined by pattern parameters defining pattern amplitude measured with respect to a pattern longitudinal axis. The direction of the oscillation path is defined by input signals representing angles measured relative to a rectangular coordinate system used for defining the predetermined location. The rate of tool centerpoint motion is defined by an input signal representing velocity.

Abstract: A modular fixturing apparatus is provided for locating, orienting and holding a workpiece during a machining operation, having a workpiece specific mounting plate and a carrier apparatus provided with stop means and pusher means for accurately and reproducibly positioning the mounting plate on the carrier. The workpiece specific mounting plate has a workpiece specific pattern of threaded holes adapted to attach locating, clamping and supporting devices to hold the workpiece during the machining operation. Accurate, reproducible location and orientation of successive workpieces of the same geometry on the apparatus for the same machining operations is achieved quickly and positively. Reconstruction of the fixturing apparatus to hold subsequent workpieces of the same geometry in the same location and orientation is also readily achieved.

Abstract: The tape laying head of a composite tape laying machine is rotatable around the tape laydown surface on circular guideways. The presser shoe assembly is likewise rotatable around the common radius point by means of circular cam faces journalled on cam followers supported by the tape head presser assembly. A feedback transducer signals rotation of the tape presser member while adapting to contour changes, and the signal is employed to effect rotation and realignment of the entire tape head with the presser shoe. The mechanism additionally embodies a brake assembly which is selectively energized to prevent presser shoe rotation at predetermined times.

Abstract: A machine for program controlled working a material with laser light is provided. The machine includes first movable members for effecting changes of position of a tool centerpoint associated with a function element carried by the machine. Second movable members effect changes in attitude of the function element through the tool centerpoint. A laser light beam is focused to a focus point by a focusing element supported by one of the second members. The laser light beam is conducted to the focusing element by an articulated light pathway from a laser light source. The articulated pathway comprises tubular segments connected at joints to redirect the laser light beam from one tubular segment to another. Each segment is mounted to the joint so as to be rotatable about the longitudinal axis of the segment. Adjustable stops are provided to limit the range of rotation of tubular segments as required.

Abstract: A method and apparatus are provided for controlling interpolated linear motion of a tool centerpoint associated with a function element carried by a machine. The motion is defined by input signals representing locations relative to an input coordinate system and path velocities therebetween. The machine includes at least one member rotating about an axis which is subject to movement at a velocity greater than the path velocity. Control is effected by producing projected velocity signals for the machine axes for each interpolative iteration and reducing the iterative path velocity in response to detecting a projected axis velocity in excess of an associated axis velocity limit. The control is applicable to machines incorporating a structure in which members must instantaneously change position to maintain the tool centerpoint on the path.

Abstract: A spindle is rotatably mounted within a housing on spaced-apart antifriction bearings. The inner races of the bearings are held solidly against shoulder portions of the spindle and the outer race of the front bearing is mounted against a shoulder in the housing. The outer race of the rear bearing is supported in a circular diaphragm concentric with the spindle axis, which may be flexed along the axis to load the bearings against one another. A hydraulic chamber is formed against the diaphragm to load the diaphragm at preselected intervals, and a stop plate is provided in the housing to limit movement of the outer race is a distance corresponding to a maximum preload in the bearings. When the stop plate is contacted, hydraulic pressure may be greatly increased to further load the diaphragm and its corresponding outer race solidly against the stop plate without further increasing the preload in the bearing set, providing a high holding force resistant to spindle pull out.

Abstract: An industrial robot carries a portable laser welder on its movable end effector. The welder has a hollow compression tube axially movable against an anvil to hold a plurality of workpieces together while welding. The laser beam is brought through the tube from a remote laser generator by means of an articulatable light pipe system connecting the compression tube and the generator.

Abstract: A stationary robotic base carries a movable robotic platform and supports a pair of vertical striker plates spaced apart by a central, elastomeric block. The striker plates are confined within a compartment of the stationary base, and extend upward into a pathway defined by a lug depending from the moving platform. The lug contacts the top portion of a given striker plate and, as the plate is struck, it tends to pivot about its bottom edge toward the other plate, compressing the elastomeric block, while the other plate is held from moving away from the block. The assembly is bidirectional, with each striker plate being yieldable toward the other as it is encountered by the moving lug.