Abstract: A clamping and welding apparatus for properly clamping and welding a pair of sheet materials within a welding station for both confined and accessible clamping and welding areas. When sheet materials or body panels of automobiles arrive in a welding station, the body panels typically have welding locations that are in both accessible and confined areas. In confined areas wherein the operation and maneuvering of the clamping and welding apparatus are hindered, a laser welder is connected to the end of a programmable robotic arm that provides a wide range of movement to the laser welder independent of a clamp. The clamp provides a pair of opposed clamp arms that are pivotally connected to a support member and whose pivotal movement is powered by a pair of clamp actuators units. An aperture is provided through one of the clamp arms to guide and direct the laser welder to a proper position for providing a spot weld on the body panels.

Abstract: The method and apparatus for the manufacture of product subassemblies by computer programmed robots is an end effector fixture assembly, or geometry station wherein at least two individual elements of the particular subassembly are dimensionally positioned relative to one another between a lower base fixture and an upper fixture of the end effector fixture assembly to establish a net location therebetween. The robot manipulates the end effector fixture assembly and transports the two individual elements located therein to a work performing station located within a defined region of the robot to perform work on the subassembly.

Abstract: A framing apparatus that accurately and efficiently clamps and welds a loosely assembled vehicle body with a high degree of repeatability between consecutive vehicle bodies while also having the ability to adapt to a plurality of different, predetermined loosely assembled vehicle body configurations in a quick and efficient manner. The framing apparatus provides a first and second framing means that move between a raised position for introducing and removing the vehicle body from a welding station and a lowered position for clamping and welding the loosely assembled vehicle body. The first and second framing means are pivotally connected to a carriage which is supported on a pair of substantially parallel inner rails for movement along a first path of travel. A pair of substantially outer rails support the first and second framing means for movement along the first path of travel when in the raised position.

Abstract: The method and apparatus for the manufacture of product subassemblies by computer programmed robots is an end effector fixture assembly, or geometry station wherein at least two individual elements of the particular subassembly are dimensionally positioned relative to one another between a lower base fixture and an upper fixture of the end effector fixture assembly to establish a net location therebetween. The robot manipulates the end effector fixture assembly and transports the two individual elements located therein to a work performing station located within a defined region of the robot to perform work on the subassembly.

Abstract: A fastener suitable for joining two or more plastic or metal panels together under automated manufacturing conditions. The fastener has a piercing end for forming its own passage through the panels so as to avoid the need for a pre-drilled hole. Disposed near the piercing end are one or more rigid barbs which extend obliquely from the shank toward the head of the fastener. The barbs create an interference with the adjacent panel to secure the panels. The fastener further incorporates an adhesive strip which serves to adhere the fastener to the panels in a manner that prevents both rotation and axial displacement of the fastener relative to the panels. The fastener is particularly adapted for permanently joining two or more panels where access to both sides of the joined panels is either impracticable or undesirable, such as when a body panel of an automobile is to be fastened to the automobile's frame.

Abstract: A resistance welding gun which is adapted to prevent asymmetrical impacting of two or more metal sheets to be welded. The resistance welding gun includes a pair of rotatably connected arms, each of which has a corresponding working end and actuation end. An electrode tip is located at each working end to provide a pair of opposed welding electrodes, while a cylinder is attached to the actuation ends of the arms to provide rotation therebetween. Between the actuation ends there is provided an equalizing mechanism including a crank and a pair of linkages which serve to equalize the movement of the arms about their pivot. In cooperation with the pivot of the arms, the crank establishes a fixed or datum point at which the electrode tips of the resistance welding gun are targeted such that, when properly positioned on opposite sides of the metal sheets, the electrode tips contact the metal sheets substantially simultaneously and apply substantially equal forces to the opposite sides of the metal sheets.

Abstract: Apparatus for conveying panels, such as vehicle body side panels to and from work stations located at spaced locations along a conveyor includes a panel support frame mounted on the conveyor for movement along the conveying path with the support frame in an elevated generally horizontal conveying position. The support frame carries a plurality of mechanically actuable releasable clamps adapted to retain a panel engaged against a group of locator pads fixedly mounted on one side of the support frame. A second group of locator pads movably mounted on the frame are normally biased into engagement with the panel at spaced locations around its periphery to hold the panel in a predetermined position laterally of the support frame. The support frame mounts an actuator member coupled to all of the clamps to position all clamps in a panel clamping position when the actuator member is in a first position and to position all clamps in a panel release position when the actuator is in a second position.

Abstract: A laser welding head carried by a robotic arm welds sheet metal workpieces to each other along an elongate seam while maintaining a precise focusing of the laser beam on the seam as it is formed in the face of minor variations in the dimensions, shape and positioning of successive workpieces. The head includes a workpiece gripping assembly including a fluid pressure actuated motor having its cylinder coupled to one of two workpiece engaging members and its piston rod coupled to the other to shift the members between an open workpiece release position and a closed workpiece clamping position in which the assembly clamps the two workpiece fixedly against each other with a clamping force determined by the pressure applied to the motor. The gripping assembly is movable mounted upon a base member fixed to the robotic arm.

Abstract: A plurality of clamps carried on an article support frame movable on a conveyor between successive work stations are mechanically actuated by push/pull cable assemblies connected between each clamp and a common actuator mounted on the support frame. A movable actuator member is driven by a drive screw to actuate the clamps via the cable assemblies and the threaded interconnection between the screw and actuator member locks the actuator member in its last actuated position to lock the clamps in their last actuated positions. A reversible rotary power drive may be drivingly coupled to the screw when the support frame is at a predetermined position at a work station.

Abstract: An automotive body framing system includes a clamping frame assembly for accurately positioning and clamping loosely assembled main body panels and header members in accurate alignment with each other to be welded into a rigid permanently assembled relationship. The loosely assembly panels and members are mounted upon a conveying sled upon which the floor panel of the assembly is accurately located. A clamping frame assembly including front and rear frame sections pivotally connected in end-to-end relationship with each other is movable into a clamping position overlying the body from front to rear and supported in an inverted V configuration by support posts which support the front and rear ends of the frame assembly. Clamps mounted on the front and rear frame sections are actuable to clamp the various components in accurately assembled relationship to each other while leaving the entire opposite sides of the body accessible to welding devices.

Abstract: A carrier is mounted for movement along a conveying path defined by a pair of conveying rails, one of which has a relatively short gap at a work station. A manipulator device is located at the work station and includes a relatively short conveying rail section which may selectively located to span the gap in the one rail or located in a position displaced from the rail. An article support frame is mounted upon the carrier for pivotal movement about an axis parallel to the rails between conveying position and a transfer position. A rail gripping device fixed to the support frame slides along the one rail to support the support frame in its conveying position during movement of the carrier along the rails.

Abstract: An automotive radiator core subassembly including a plurality of individual tubes disposed in uniformly spaced, parallel relationship with the opposite ends of the tubes seated in openings in spaced parallel headers joined into a rectangular peripheral frame by opposed side frame members with fins inserted between adjacent tubes is assembled by apparatus which includes a pair of finger assemblies operating at opposite sides of a support table. The finger assemblies each include a series of vertically disposed fingers interlinking to each other in a horizontally extensible chain. When the chains are extended, tubes are deposited between the fingers which are so spaced as to provide adequate room to deposit the fins between the tubes. Subsequent compression of the finger chains moves the tubes and fins into their final assembled relationship to each other and aligns the tubes with the openings in header members supported on header carriers on the machine frame.