Abstract: A three-dimensional vision seam tracking method and apparatus for controlling the motion of the center point of a tool mounted on a manipulator. The manipulator is provided with a control to operate the manipulator members to move the tool center point at programmed velocities along a programmed path corresponding to the seam. The manipulator is provided with a vision system including a laser scanner/camera head mounted ahead of the function element. The control is programmed with dynamically varying orientation angles to control the orientation of the tool during seam tracking. The laser scanner/camera head scans the seam at predetermined time intervals. A set of coordinates for the center point of the seam in a coordinate system relative to the camera is provided for each scan.

Abstract: Thin plates are stacked across the width of a composite tape strip. A pressurized membrane extends along the top edges of the plates, biasing the plates down against the tape strip. The membrane yields to vertical movement of the plates sliding relative to one another, in response to contour changes occurring across the tape strip.

Abstract: A chain guide structure for guiding a conveyor chain through a thermoforming machine to protect the chain from plastic chips and other debris. The chain guide includes a support rail structure for supporting an upper run of conveyor chain, and a spring steel cover sheet overlying a track defined by the support rail and in close proximity with the chain to serve as a cover and thereby protect the chain from contamination from foreign material. Additionally, the chain includes a series of spikes to penetrate a plastic sheet and thereby carry it through the machine, wherein the chain guide structure has a width sufficient to permit lateral outward expansion of the plastic sheet as it is heated in the thermoforming machine. An upwardly inclined portion of the guide structure provides a cooling section to permit the plastic sheet to cool as it is carried away from a forming section of the machine.

Abstract: Hydraulic fluid leakage collection apparatus that includes an annular collection chamber that is carried in a cylindrical member within which a piston member is movable. A seal and wiper are carried by the clamp cylinder of an injection molding machine to seal the space between the clamp piston and the clamp cylinder and also to wipe from the surface of the clamp piston accumulated hydraulic fluid. Positioned adjacent the wiper ring is a drain passageway that is adapted to receive the hydraulic leakage fluid that is wiped by the wiper ring from the piston. A conduit extends from the drain passageway to an air operated vacuum pump to draw the leakage hydraulic fluid from the drain passageway. A container is positioned in the conduit between the drain passageway and the vacuum pump to collect the hydraulic leakage fluid that is collected.

Abstract: A fiber placement machine has a head for controlling fiber tows running from an upstream supply creel to a downstream work laydown zone, and the head includes a bracket supporting a presser member which impresses and compacts the fiber against a workpiece. The head includes a relatively rigid fiber guide assembly and a drive for moving the fiber guide to an advanced position near the presser member and a retracted position away from the presser member. In the advanced position, fiber tows run uninhibited through channels in the fiber guide. However, when it is desired to cut the fibers, the fiber guide is run to the retracted position, at which point the guide is clamped to the incoming fiber tows. After the exiting cut fiber has been laid down on the workpiece by the presser member, the incoming fibers may be restarted by driving the fiber guide and its clamped fiber tow to an advanced position where the fiber tow end may be grabbed in the nip formed between the presser member and the workpiece.

Abstract: A method and apparatus for controlling the hydraulic pressure in an hydraulic clamping cylinder to correspond with a desired clamping force and to compensate for overshoot of the hydraulic pressure caused by time delays in operating the components in the hydraulic circuit. The control arrangement involves the sensing of the actual hydraulic pressure during the clamp force maintenance portion of a clamping cycle and comparing the actual pressure with a desired pressure to provide a correction signal to be utilized to control the operation of the hydraulic system during the next succeeding cycle so that the actual hydraulic pressure during the clamp maintenance portion of the clamping cycle during the next succeeding cycle results in a clamping force that is closer to the desired clamping force.

Abstract: A longitudinal conveying system for mechanically feeding one or more workpieces to a predetermined loading position, comprising a pair of spaced, parallel longitudinal workpiece supports, with each such supports including an upper support face and having a distal end and a proximal end. The predetermined loading position is located adjacent the proximal end of the workpiece supports, and a longitudinal conveying beam is moveably located intermediate the workpiece supports. The conveying beam has an upper surface for supporting one or more workpieces. Driving apparatus for moving the conveying beam in an upward direction, a forward conveying direction toward the proximal end, a downward direction, and a backward direction is provided for enabling the conveying beam to lift workpieces from the workpiece supports for movement toward the proximal end.

Abstract: A method and apparatus for reducing the intensity of the sound that accompanies a rapid decompression in a pressurized hydraulic system such as that of an injection molding machine. The apparatus includes a reduced area valve that interconnects the high pressure system with a low pressure system, with the valve connected with a tubular muffler so that high pressure fluid is initially released through the valve and into the muffler. The muffler includes a plurality of spaced apertures that face a rigid structural surface so that the high pressure fluid passing through the muffler issues from the several apertures and impinges on the rigid structure to dissipate the pressure shock accompanying decompression, and thereby modulate the intensity of the sound of decompression.

Abstract: An improved computer controlled hydraulic system for a conventional toggle-operated plastic injection molding machine comprising an injection assembly and a mold clamping assembly. The hydraulic system includes a first low volume pump and a second high volume pump connected between a reservoir of hydraulic fluid and a pressure and flow control manifold. The output of the pressure and flow control manifold is connected to an injection control manifold, in turn conected to and operating the instrumentalities of the injection assembly. The output of the pressure and flow control manifold is also connected to a clamping control manifold, in turn connected to and operating the cylinder of the clamping assembly. An isolation manifold is connected between the pressure and flow control manifold and the clamping control manifold. A third low volume pump is connected between the reservoir and the isolation manifold. The isolation manifold is also connected to the reservoir.

Abstract: A base supports a workpiece form-holding means in either a stationary or rotatable manner. A cross-slide and corresponding fiber creel assembly which is affixed to, and depends from, the cross-slide assembly is carried with respect to the workpiece form-holding means by a hanging carriage carried on an overhead support beam. A fiber payout eye is carried on the cross-slide assembly for guiding fiber from the fiber creel assembly to the workpiece form as the carriage and cross-slide are moving.

Abstract: A machine and control are provided for effecting motion of a function element, such as an adhesive material dispensing gun, and controlling the operation of the function element by means of a control signal proportional to the velocity of a workpoint associated with the function element. The control produces a velocity signal representing the velocity of the workpoint, calculates the value of a control signal using the velocity signal and predetermined constant defining the constant of proportionality and zero velocity output and applies the control signal to a digital-to-analogue converter to produce an output signal for controlling the function element.

Abstract: A preform carrier adapted to be received in the open end of a wide mouth tubular container preform for internally gripping the preform to permit carrying the preform from a heating station to a container blowing station. The carrier includes a flexible annular gripping member in the form of a gripping and sealing ring that is resiliently flexible in a radial direction, relative to the preform axis, for engaging the inner surface of the preform finish. The gripping member includes an annular sealing ridge on its outermost surface for gripping and sealing against the inner surface of the preform finish. The gripping member is of generally U-shaped configuration, and includes an inner annular U-shaped spring for urging the legs of the sealing ring outwardly to provide a gripping and sealing force against the inner surface of the preform finish.

Abstract: A method for monitoring and controlling the wall thickness of an extruded profile of heated polymeric material that issues from an extrusion die. The die includes a plurality of discrete sectors each having a controllable heat source and a temperature sensor, and the temperature at each particular sector is controlled and adjusted in order to change the measured wall thickness corresponding with that particular sector as necessary to provide a desired wall thickness distribution. A characteristic curve for the particular material is provided as an input quantity and involves the relationship between a change in extrusion temperature versus the corresponding change in wall thickness, and that relationship is utilized to effect rapid adjustment of wall thickness by means of a temperature change in order to provide a finished article having the desired thickness profile and without having excessive material, to thereby reduce the weight and cost of the extruded article.

Abstract: An improved fiber guidance system for a fiber placement machine where a fiber placement head is moved by a manipulator wrist with respect to a relatively stationary creel assembly, and a plurality of fiber redirect rollers are used, each having a caster-like mounting base, one roller assembly being mounted to the machine member with the creel assembly, and one member being mounted to the fiber placement head, so that a band of fibers is trained around the first and second redirect rollers under tension and the redirect rollers will swivel about their bases in accordance with spatial orientations of the placement head and in accordance with tension of fiber band, thereby maintaining approximately equal tension at the outer fibers at each side of the fiber band.

Abstract: A fiber placement head is moved by a manipulator wrist with respect to a relatively stationary creel assembly, and a plurality of fiber redirect rollers are employed, each having a mounting base. One roller assembly is mounted to the machine with the creel assembly, and one roller assembly is mounted to the fiber placement head, so that a band of fibers is trained around the first and second redirect rollers under tension, and the redirect rollers are motor-driven to swivel about their bases in accordance with spatial orientations of the placement head, therby maintaining control and preventing fibers from jumping off the rollers.

Abstract: A bracket carries a plurality of wafer members stacked across the width of a fiber band. At least one wafer member is stationary with respect to the bracket, and at least one wafer member is movable, in a direction normal to the fiber laydown surface. In-line apertures are provided through the wafer members, and a fluid operated bladder is commonly disposed through the apertures and inflated to bias the movable wafer members against the fiber laydown surface when the stationary member is impressed against the fiber laydown surface. The wafer members have a compliant contact surface for contacting the band of fibers, and the movable wafer and contact means may thereby float with respect to the bracket to adapt to contour variances across the band width on the laydown surface.

Abstract: The identity of a desired video disk is compared to the identity of a video disk in use in a video disk player. If the desired video disk is not the same as the video disk in the player, instructions are given to change the video disk, and a comparison is again made.

Abstract: A recirculating ball nut includes an inner hollow element surrounding a ball screw extending therethrough with the inner hollow element and the ball screw having cooperating helical grooves with balls therein. The ball nut has an outer hollow element surrounding the inner hollow element and secured thereto. The outer hollow element has the same number of helical grooves, which extend for less than a revolution, on its inner surface as the inner hollow element. Each helical groove in the outer hollow element has its ends communicate through ball connectors with one of the helical grooves in the inner surface of the inner hollow element and the cooperating helical groove in the ball screw at two spaced portions to allow the balls to recirculate. Each ball connector is disposed within a slot in an end of the inner hollow element and rests on an arcuate portion of an inner surface of the outer hollow element.