Abstract: A proximity sensing assembly for sensing the proximity of a metallic workpiece to a work holding device includes Hall-effect sensor. The magnetic field generated by the magnet is altered when a metallic workpiece is in close proximity to a magnet. Due to an offset relationship between the sensor and the poles of the magnet, the polarity detected by the Hall-effect sensor is analogous to a reversal when a metallic workpiece is proximate the magnet rather than simply detecting a change in strength. Thus the polarity detected by the Hall-effect sensor sends a clearly defined signal indicating the presence or absence of a workpiece in the work holding device.

Abstract: A proximity sensing assembly for sensing the proximity of a metallic workpiece to a work holding device includes Hall-effect sensor. The magnetic field generated by the magnet is altered when a metallic workpiece is in close proximity to a magnet. Due to an offset relationship between the sensor and the poles of the magnet, the polarity detected by the Hall-effect sensor is analogous to a reversal when a metallic workpiece is proximate the magnet rather than simply detecting a change in strength. Thus the polarity detected by the Hall-effect sensor sends an clearly defined signal indicating the presence or absence of a workpiece in the work holding device.

Abstract: The present invention relates to a quick release mount for a suction cup and a locking member for releasably locking the suction cup within a housing. The suction cup mount includes a bayonet coupling which is attached to the suction cup. The bayonet coupling is received within a space located within the housing. The housing further includes a pair of semi-circular flanges for securing the bayonet coupling within the space. The locking member selectively engages the bayonet coupling when the bayonet coupling is moved from an unlocked position to a locked position. The housing also includes a button coupled to the locking member that can release the locking member from engagement with the bayonet coupling and permit unlocking of the bayonet coupling from the housing.

Abstract: An improved ball jointed link includes a male ball at one end which is received in a female socket in an adjacent link. A central aperture extends through each of the links between the male ball and the female socket. The male ball is preferably more resistant to radially inward deformation than the female socket. A clamp which secures adjacent links together may thus be tightened to support relatively great loads. The male ball may have a greater wall thickness than the female socket, or may be formed of hardened metal. In a further feature, the clamps used to secure adjacent links have a ledge which abuts an axially forwardmost edge of the female socket to ensure the clamp is properly positioned on the links.

Abstract: An improved tool mount structure allows the infinite placement of a tool along a generally elongate cylindrical member at an infinite number of locations. The elongate cylindrical member is fixed at each axial end to a generally rigid moving member such as a robotic arm boom or transfer bar. The cylindrical member is fixed in a bracket at one axial end, and into a quick-release mount at an opposed axial end. The cylindrical member may be quickly released from the moving member such that the tool may be easily changed. At the same time, by fixing the cylindrical member at each axial end, a secure rigid connection is provided.

Abstract: A breakaway connection for securely mounting a tool to a robot is disclosed. The breakaway connection incorporates a plunger that is spring biased from a moving member into a notch in a fixed member. Moment arm forces on the tool are translated to the connection between the plunger and the notch. Should those overload forces exceed the spring force on the plunger, the plunger moves out of the notch. At that time, the tool is free to pivot relative to the housing to a disabled position. This pivoting movement allows the tool to move away from an obstruction that might have caused the force. A universal joint connection is used between the moving member and its housing. The spring force on the plunger may be adjusted. In addition, a sensor may monitor movement of the plunger and communicate with a control for the robot to allow the robot to identify when the plunger begins to move.

Abstract: An improved sensor includes an inductor coil which is formed about a central axis. The inductor coil is configured to provide a magnetic field radially outwardly of the central axis. The monitor circuit monitors changes in the impedance of the coil, to in turn provide an indication of the amount of metal mass radially outwardly of the sensor. The monitor circuit is set to be triggered at a particular amount of metal mass, which would in turn be tailored to the particular application. In one desired application, the sensor is utilized to detect the presence of a nut in a metal plate. Metal plates as are typically utilized with vehicles will often include a number of holes which are to receive nuts. If the nuts are not received in the holes, then that particular metal plate should not be further assembled into the product. One widespread use of such a technique is with the assembly of vehicle bodies. The side sensor will detect the presence of a nut in the hole when positioned within the bore of the nut.

Abstract: A unique quick-connect receiver is disclosed for connecting an adapter to the receiver. A lock pin within the receiver is moved eccentrically to force the adapter further into the receiver, and lock the adapter. The adapter and receiver have mating Z-shaped surfaces which are forced to ride along each other as the adapter is moved to be locked within the receiver. The combination results in a high strength connection that may be quickly connected and disconnected.

Abstract: Proximity sensors for detecting the presence of metal objects such as sheet metal workpieces within workpiece engaging devices such as grippers and shovels. The proximity sensors are jacketed in a stainless steel casing, making them rugged and resistant to impact damage. Monitor circuits are used with the sensor which enable the devices to sense objects through their metal casing, these objects being disposed upon the sensor casing. A thresholding circuit and a delay circuit are further disclosed and which reduce erroneous indications of the presence of the metal objects upon the sensor. Other embodiments are disclosed which allow for the proper alignment of metallic workpieces within an area and for the determination of the height of a stack of workpieces.

Abstract: A mounting arrangement is disclosed to mount an arm. The arm has a pair of spaced enlarged sections and an intermediate recessed section. The mounting arrangement has a first mount portion with an upwardly facing opening that extends for a distance greater than the diameter of the recessed section, a second mount portion spaced rearwardly of the first, and an intermediate open portion. The recessed section of the arm is positioned over the opening in the first mount portion and moved downwardly. The arm is then moved rearwardly such that the first and second enlarged sections are received within the first and second mount portions, respectively. The improved mounting arrangement provides support over a sufficient axial distance of the arm, but does not require the arm to be slid within the mounting arrangement for the entire distance. Less space is required in front of the mounting arrangement, and less force must be applied to the arm in order to move it within the mounting arrangement.

Abstract: Proximity sensors for detecting the presence of metal objects such as sheet metal workpieces within workpiece engaging devices such as grippers and shovels. The proximity sensors are jacketed in a stainless steel casing, making them rugged and resistant to impact damage. Monitor circuits are used with the sensor which enable the devices to sense objects through their metal casing.

Abstract: A complex, load bearing structure which is formed from a series of steel links of a standard design which are joined to one another end to end. Each link has a ball portion on an end of an elongate central portion and a socket portion on the other end of the elongate central portion. The ball portion has a spherical or part-spherical outer surface and the socket portion has a part-spherical inner surface, and the ball portion and socket portion are so sized that the ball portion will fit snugly within the socket portion of a similar link for limited universal movement of the link and the similar link relative to one another. When the link and the similar link have been positioned in a proper relationship to one another, they are joined together by welding, soldering or adhesively. Preferably, each link is made integrally, in a single piece, from a steel tube which is copper plated on its exterior.