Abstract: A transporting apparatus having a main transport path and a plurality of incoming paths extending from the main transport path. Cases, each having a cover, are transported in the main path, with their covers facing to the right of the main transport path. A case-outlet section and a case-orienting mechanism are provided on each of the incoming paths. The case-orientating mechanism rotates a case such that the case is oriented, with its cover facing upward, when it is removed from the case-outlet section. Every case-orientating mechanisms rotates an article in the same direction, whether it is provided on an incoming path located on the right of the main transport path, or on an incoming path located on the left of the main transport path.

Abstract: A bucket type elevator having a head pulley and a boot pulley with a belt entrained about both pulleys is hydraulically driven. The drive mechanism comprises a hydraulic motor mounted in the boot pulley. It is connected, via flexible hydraulic lines, to an electric motor driven pump and fluid source located near ground level outside the boot housing, easily accessible for maintenance and replacement but far enough away from the elevator to avoid risks of explosion from the electrical power source. The elevator also includes a tensioning system for maintaining adequate and uniform tension across the width of the belt and for preventing slippage and miscentering of the belt on the boot pulley.

Abstract: An extendable material handling arm which is particularly suitable for use as a dipper stick of a back hoe digger. The arm has an outer member with a slot extending along its length, and an inner member provided with a digging bucket pivotally mounted adjacent one end. The inner member is encircled by the outer member for sliding therein to vary the effective length of the arm. A first support structure carried by the inner member adjacent the end remote from the bucket includes a support plate with a support surface for sliding contact with longitudinally extending portions of the outer surface of the outer member adjacent the slot.

Abstract: Apparatus for feeding cylindrical containers (cans) to a rotary filling machine having a turntable with a plurality of work stations (can stations) spaced around its border. Signal producing devices, such as cone-jet sensors, are provided to produce gate operating signals each time an inactive (malfunctioning) work station passes the signal producing device. The container feed apparatus includes a conveyor which receives containers into an elongated section wherein the containers form two parallel rows confined between parallel sides from which they pass into a funnel section wherein the containers form a single file and discharge sequentially to the infeed of a worm which delivers the containers sequentially to a transfer mechanism (star wheel) which transfers the containers to the work stations. A gate incorporated at the discharge end of the funnel section closes and opens to prevent containers from being fed to the inactive work station.

Abstract: An article manipulator for use with an industrial robot includes an upper frame adapted for fastening to the industrial robot and a lower frame coupled to the upper frame. A pair of lifting members operable for lifting an article are connected to the lower frame. At least one vacuum cup is coupled to the frame and is restrained to move in a plane substantially parallel to the lifting members. Sensing mechanisms are provided for sensing the position of an article relative to the manipulator and for generating electrical signals which are utilized by a controller to enable the vacuum cups to grip the article at one side and move the article onto the lifting members. Subsequently, the manipulator transfers the articles to a second position. The manipulator is suited for depalletizing and/or palletizing parallelepiped shape articles.

Abstract: A transport unit usable in a flexible assembly system and comprising an automatic guided vehicle and a work carrier positioned to the rear thereof. The work carrier is of a U shape with a pair of spaced legs extending from a base and having free ends, each of which rotatably mount tooling for engaging opposite ends of a component of the device to be assembled. Drive mechanism is provided for elevation of the work carrier and rotation of the tooling to orient the component at a desired height and at a desired rotative position for ease of assembly of components thereto. The tooling on the work carrier rotates about an axis and engages a component of the device to be assembled whereby the rotative axis is close to the center of gravity of the device to be assembled to minimize the power requirements in rotation thereof. The transport unit has additional structural features facilitating assembly operations and safety of operation.

Abstract: Proximity sensors are used to sense impending contact, i.e., a point of close approach, between a finger of a robot hand and an object. Each finger is equipped with force sensors so that finger touch force with the object can be measured and controlled. The hand is controlled by a dedicated microprocessor, which communicates with a robot arm controller through 8 digital input/output lines. A novel "bi-modal" control system uses information from the proximity sensors to control both solenoid (on/off) valves and a proportional servovalve which are alternatively switched into an operative mode in a pneumatic circuit which powers the pneumatic actuators of the hand. This control design achieves the two goals of rapid object acquisition and low interaction forces. Each finger of the hand is capable of implementing an acquisition strategy in which mislocated objects can be acquired.

Abstract: A new robotic system is provided in which the robotic tool is mounted for movement on a gantry above the work piece upon which the work is to be performed. The tool is supported on two carriages each of which is movable with respect to each other and with respect to the gantry so that the tool has the capacity to move through five degrees of freedom and permit a more accurate response to a sensing system which determines the position of the work piece relative to a master and then moves the tool to a working position in substantial operational compliance with the master position.

Abstract: In a robot including a first robot part which pivots with respect to a second robot part about a pivotal axis, a cable routing system includes a multitude of flexible cables which are retained at spaced apart positions by first and second retainers so that the cables are spaced around the outside of a cylinder whose axis coincides with the pivotal axis. A first connector mechanism connects that first retainer to the first robot part so that the first retainer rotates with the first robot part about the pivotal axis during pivoting. A second connector mechanism connects the second retainer to the second robot part so that the second retainer is movable axially toward the first retainer against the biasing action of a spring along the pivotal axis and prevented from rotating about the pivotal axis during pivoting. Each of the retainers includes a slotted disk which separates and guides the cables.

Abstract: The present invention provides an apparatus and method of utilization thereof of a robot with a floating arm. The floating arm aspect of the robot allows the robot to align its associated tooling with the workpiece in situations where the workpiece may be in a variety at different locations. By use of the present invention the requirement for use of a vision system to accomplish alignment between the robot and the workpiece is eliminated.

Abstract: A crowd control system for a hydraulic loader having three hydraulic pressure sensing switches that are electrically coupled to an electronic controller for overriding the operators commands and decreasing forward driving force when excessive crowding force is detected. The first switch is fluidically coupled to the output side of the hydraulic lifting pump. The second switch is fluidically coupled to the output side of the hydraulic lifting pump. The third switch is fluidically coupled to the extension input side of the boom-lift hydraulic actuator. When hydraulic fluid pressure exceeds the preset levels of each switch, the switches signal the electronic controller which overrides the operators controls and decreases the fluid output of the driving pump reducing the forward drive of the loader and decreasing crowd. The controller will maintain this decreased fluid output of the driving pump until either the second or third pressure sensing switch senses a decrease in fluid pressure below its preset level.

Abstract: An implement has ground working tools mounted thereon moved by hydraulic motors and cylinders with each of the hydraulic motors and cylinders being adjusted through a main control valve. The main control valves are, in turn, controlled by two sets of valves, one set being pilot valves manually adjustable at an operator's station on the vehicle and the second being electrohydraulic valves controlled from a remote area by radio signals received by a radio receiver on the vehicle. Safety switches are provided on the vehicle to block transmittal of the radio signals. The vehicle has a television camera mounted externally of the vehicle cab and directed internally thereof. The camera transmits images to a television screen at a remote area.

Abstract: A robot device for loading empty spools (b) and the unloading of filled spools (b') into and from wire winding machines arranged in a single file on one side of a path (4). The longitudinal axis of the path (4) is substantially parallel to the winding axes of the wire winding machines. The robot device comprises a transport carriage (2) movable along the path (4) and carrying a vertical supporting structure (1) on which is cantilevered a turret-like gripping frame (41-55) having an axis of rotation (10) which is horizontal and parallel to the path (4) and carries at least one pair of diametrically opposite self-centering clamps (P, P'), each clamp being adapted to grip a spool (B, B') the axis of which is parallel to the rotational axis (10) of the gripping frame (41-55), by clamping the end flanges of the spool (B, B').

Abstract: A vertical mass flow conveyor includes a vertical tube which has an inner surface fixed to the outer surface of a spiral ramp. The spiral ramp extends radially inward of the tube only a portion of the radius of the tube to leave the center section of the tube free and forming a vertical open space. The tube has an inlet to the spiral ramp and an outlet. A hopper or trough substantially surrounds the inlet of the tube for receiving material to be conveyed up the inside of the tube. One or more guide vanes or blades, face generally in the direction of the upward spiral of the spiral ramp, and disposed about the tube for directing the material radially inwardly toward the spiral ramp. The tube with a vibratory motion transmitting device, the trough and the vanes or blades are secured to a common base such that when a helical reciprocating movement is produced in the tube, bulk material either is vertically conveyed in a mass flow relationship or is blended and mixed in the tube.

Abstract: An industrial robot comprises a robot body having an operating portion (13), a driving motor (19) for driving the operating portion (13) and the a handle (29). A casing (21) of the driving motor (19) is secured to an outer wall of the robot body by bolts (25), and an output shaft (26) of the driving motor (19) is connected to the operating portion (13). An inner brake device of the driving motor (19) secures the output shaft (26) to the casing (21) when the driving motor (19) is stopped. If the driving motor (19) is stopped by a malfunction or the like, the bolts (25) are taken out and the handle (29) is attached to the casing (21) of the driving motor (19). By operating the handle (29), the output shaft (26) of the driving motor (19) is rotated together with the casing (21) and the operating portion (13) of the robot is moved.

Abstract: A vacuum deadplate is provided which has a surface with a low coefficient of friction and spaced longitudinal slots through which a vacuum can be drawn. The vacuum deadplate can be used in conjunction with a vacuum transfer device or a palletizing device and the position of the vacuum plenum slot under the longitudinal slots can be varied to provide optimum results.

Abstract: A materials handling system primarily for use in tunneling operations for transporting extracted material from a tunnel is disclosed comprising an overhead track from which are suspended an elongated conveyor and a train of mine cars or other transport units. The conveyor conveys materials from a loading zone to a discharge zone. The suspension arrangement for the conveyor and the train of mine cars is such that one mine car can be positioned at a materials receiving station beneath the conveyor for receiving materials discharging therefrom at the discharge zone while the remaining mine cars wait at a queuing station beneath the conveyor for movement in turn to the materials receiving station.

Abstract: An erectable manipulator placement system for use on a space station and comprising an elongate lattice-like boom having dual guide tracks attached to parallel chords thereof, a carriage-like dolly movable along said tracks, and a segmented maneuvering arm-like assembly pivotally mounted on and extending from said dolly. The system further includes a turntable base pivotally interconnected with the proximal end of the boom and positioned either on a part of a transferring vehicle, or on another payload component being carried by said transferring vehicle, or on the space station.

Abstract: A pick-up head especially for use in a machine for placing electrical components on a substrate comprises a tool holder having means for interchangeably mounting a pick-up tool with a datum face located at a predetermined position relative to a datum position. The datum position of each tool is defined by the nose length of each tool. The pick-up head further comprises a plurality of orienting jaws mounted for movement towards and away from a component carried by and abutting the datum face of the tool when the holder is in the datum position whereby the jaws can engage the component to orient the component. The jaws have a plurality of spaced sets of cooperating datum faces disposed generally transversely to the plane of the datum face of the tool in the holder. Each set of cooperating faces being disposed so as to be capable of orienting a component carried by a corresponding tool having its datum face located relative to the datum position of the holder.

Abstract: A workpiece elevator for moving plural workpieces from an intake station vertically to an elevated discharge station. The workpiece elevator includes a bucket assembly which is pivotable in response to engagement with cam bars such that in one rotated position, the bucket engages the workpieces and carries them to the discharge station where the bucket is rotated to a discharging position. The bucket assembly includes a pair of cam followers disposed on opposite sides of a plate which engage elongated cam bars affixed to the elevator frame. Means are also provided for limiting the angular range of motion of the bucket assemblies. The elevator in accordance with the second embodiment includes means for enabling the elevator to be easily modified to accommodate different configurations and sizes of workpieces. A pair of separated channels are mounted to the frame amd extend between the intake and discharge stations to laterally support the workpiece.