Patents Examined by Terrance L. Siemens
  • Patent number: 4636137
    Abstract: A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives the arm assembly on the upstanding support. An operating head includes a tool supported at the end of the manipulation arm assembly. A remote control mechanism operates the first and second motors and the operating head at a remote location. A first television camera is supported at the upper end of the upstanding support and adapted to scan a first image field in front of the manipulator. A second camera is supported by the manipulation arm assembly and adapted to scan a second image field including the operating head and an article to be operated on by the operating head.
    Type: Grant
    Filed: August 6, 1984
    Date of Patent: January 13, 1987
    Inventor: Jerome H. Lemelson
  • Patent number: 4634338
    Abstract: A workpiece conveying apparatus for a working machine including provided with a slider rail arranged vertically on the body of the workpiece conveying apparatus, a drive source, a parallel link consisting of the slider link which is fitted crossing at right angles to and slidably in said slider rail, a slider arm, a lower slider link carrying a work holder and a sub arm and being connected rotatably with each other, a rocking lever being connected to the middle portion of the slider arm rotatably and rocked by a driving mechanism at a predetermined angle, whereby the work holder can convey a workpiece into or out of the specified position along with the intentional locus settled selectively so as to reduce the operating range, and keep a continuous working operation of the working machine, resulting in the durability of the working machine.
    Type: Grant
    Filed: October 25, 1985
    Date of Patent: January 6, 1987
    Assignees: Toyota Jidosha Kabushiki Kaisha, Taiho Seiki Kabushiki Kaisha
    Inventors: Eiji Tsuge, Taminori Yanagisawa, Takaharu Yamaguchi, Hiroshi Fukatsu
  • Patent number: 4632630
    Abstract: A fork extension attachment for a boom-type forklift for use in loading and unloading a fragile cargo from commercial containers includes an extension portion pivotally connected to the outer end of the boom to allow pivotal movement of the extension in a vertical plane and a fork assembly having its inner end pivotally connected to the outer end of the extension portion to allow pivotal movement of the fork assembly in a vertical plane. The fork assembly includes at least two tines that are mounted for powered horizontal lateral movement relative to each other and relative to the longitudinal axis of the assembly. An electrical pendulum switch is provided for maintaining the fork assembly in a substantially horizontal position when desired.
    Type: Grant
    Filed: April 20, 1984
    Date of Patent: December 30, 1986
    Assignee: Koehring Company
    Inventors: Clyde M. Maki, Herbert Homann
  • Patent number: 4632632
    Abstract: A low cost, programmable industrial robot is provided which incorporates a simplified construction with relatively sophisticated movement capability. Preferably, the robot is pneumatically operated. The robot construction includes a series of simplified structures for both calibrating ease and providing relatively versatile movement in view of the overall product cost. The device provides four adjustable axes of movement and multiple axes mounting for an end effector. In the preferred embodiment, a rotary actuator provides rotational movement for the robot. Rotary movement is adjustable and a simplified structure is included for providing repeatable intermediate stop positions for the work arm of the device. An improved rotary manifold for a rotary actuator provides a conduit for pneumatically powering the remaining robot movement functions. Those functions include vertical reciprocal movement, horizontal reciprocal movement and rotary movement of a gripper device or some other end effector.
    Type: Grant
    Filed: August 30, 1983
    Date of Patent: December 30, 1986
    Assignee: Automation Equipment Company
    Inventor: Raymond J. Simone
  • Patent number: 4630992
    Abstract: A machine (1) (53) (75) for effecting the transfer of objects in the space between positions having predetermined co-ordinates, in which said objects are supported by a head (25) integral with a pinion (20) (60) mounted rotatable on a slide (12a) (59) sliding in a direction perpendicular to the axis of said pinion (20) (60); the pinion (20) (60) meshing by opposing means with teeth (21) (64, 65) (76, 77) extending along said slide (12a) (59) and axially moving under the bias of driving apparatus (41, 42) (68, 69).
    Type: Grant
    Filed: September 30, 1983
    Date of Patent: December 23, 1986
    Assignee: Prima Progetti S.p.A.
    Inventors: Luigi Gilli, Franco Sartorio
  • Patent number: 4629384
    Abstract: An apparatus for transferring a pallet with a plurality of workpieces into a gang machine and locating and clamping the workpieces while being machined. The workpieces are received and loosely retained on the pallet while being transferred and each workpiece is located and clamped in the machine independently of both the other workpieces and the pallet. Each workpiece is accurately positioned by locators carried by the machine and at least in part held while being machined by clamps carried by the pallet. The workpieces are moved into engagement with the locators by a lift which moves the pallet toward the locators.
    Type: Grant
    Filed: October 22, 1985
    Date of Patent: December 16, 1986
    Assignee: Lamb Technicon Corp.
    Inventors: James G. Beshke, Mark C. Tomlinson
  • Patent number: 4627785
    Abstract: An exchangeable multiple function end effector tool suitable for use on the distal end of a robotic end effector includes, in combination; a device for removably affixing the multiple function and effector tool onto a pair of extending fingers provided on a robotic end effector. The multiple function tool is provided with an apparatus for acquiring a first element or component and releasably retaining same and further incorporates a second gripping device which is capable of acquiring a second element or component and releasably retaining same in the tool. Provision is made for engaging and disengaging the elements either separately or in unison. Movement, assembly or disassembly of the elements remains a function of the end effector and its control mechanisms.
    Type: Grant
    Filed: May 14, 1984
    Date of Patent: December 9, 1986
    Assignee: Monforte Robotics, Inc.
    Inventor: Mathew L. Monforte
  • Patent number: 4627787
    Abstract: A method for removing selected integrated circuit dice from a wafer array of dice sequentially moves a striker above a tape to the underside of which the array is mounted and the knocks a die down from the array of dice into a receptacle for transport to further processing stages.
    Type: Grant
    Filed: March 22, 1984
    Date of Patent: December 9, 1986
    Assignee: Thomson Components-Mostek Corporation
    Inventors: Robert H. Bond, Steven Swendrowski, Michael A. Olla, Barry L. Morrison, Ricky Parkinson, Linn Garrison, John D. Pace
  • Patent number: 4626160
    Abstract: An unmanned transfer system for transferring necessary materials such as works or tools between the racks of an automatic warehouse and machining tools. The unmanned transfer system includes a plurality of machining tools which are arranged along the racks stored with the works to be supplied to the machining tools. Further included is a stacker crane which is adapted to run between the racks and the machining tools. A plurality of auto-pallet changers are interposed between the stacker crane and the machining tools for automatically transferring the works between the stacker crane and the machining tools.
    Type: Grant
    Filed: April 22, 1985
    Date of Patent: December 2, 1986
    Assignee: Murata Kikai Kabushiki Kaisha
    Inventors: Tadataka Shiomi, Kouichi Nabika, Takashi Kawagoe
  • Patent number: 4626167
    Abstract: A method for inverting and handling integrated circuit dice employs rotating apparatus for rotating a chip carrier by 180 degrees to invert and transfer dice from one set of receptacles to another; together with an apparatus for precisely aligning dice resting at random positions within a set of oversized receptacles.
    Type: Grant
    Filed: March 22, 1984
    Date of Patent: December 2, 1986
    Assignee: Thomson Components-Mostek Corporation
    Inventors: Robert H. Bond, Steven Swendrowski, Michael A. Olla, Barry L. Morrison
  • Patent number: 4624611
    Abstract: The box-like elongate main housing or body for automatic bar loaders/feeders comprises a lower portion carried on a bed and an openable upper portion. Each portion is comprised of an inner half-jacket, an outer half-case, and an intervening blanket of a sound-deadening and cushioning material. The two portions are arranged for sealed closure to enclose in the cavity defined between the half-jackets thereof a longitudinal bar guide, the cavity being connectable to a filling and oil lubricating system.
    Type: Grant
    Filed: May 21, 1984
    Date of Patent: November 25, 1986
    Assignee: I.E.M.C.A. S.p.A. Industria Elettromeccanica Complessi Automatici
    Inventor: Vladimiro Fabbri
  • Patent number: 4623294
    Abstract: An apparatus is disclosed for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells, more particularly hot cells of reprocessing plants for spent nuclear fuels. The position of damage zones is detected and ascertained with the use of coordinates. Replacement parts and tools are moved into the maintenance and work position in dependence upon the coordinate data, and the repair of maintenance work is automatically carried out under computer control, with remote operation and remote monitoring. For carrying out the work, computer-controlled handling machines and manipulators are used which are adapted to travel in controllable manner in the hot cell. The monitoring and detecting, using coordinates, of damage zones and defects may be carried out with the use of cameras and/or leak detectors.
    Type: Grant
    Filed: November 28, 1984
    Date of Patent: November 18, 1986
    Assignee: Deutsche Gesellschaft
    Inventor: Gunter Schroder
  • Patent number: 4621973
    Abstract: A tractor loader is described which has multi-adjustment mounting features provided thereon to enable the loader to be mounted on a wide variety of tractor makes and models. First and second mounting brackets are adjustably mounted at opposite sides of the tractor and are adapted to have the tower assembly of the loader selectively mounted thereon. The tower assembly includes a pair of towers having side frame members extending forwardly therefrom. The lower ends of the towers have a shoe adjustably secured thereto which is secured to the first and second mounting brackets. A slide block is selectively longitudinally mounted on each of the side frames of the tower assembly which is also adjustably secured to the first and second mounting brackets.
    Type: Grant
    Filed: September 6, 1985
    Date of Patent: November 11, 1986
    Assignee: Westendorf Mfg. Co., Inc.
    Inventors: Joseph W. Langenfeld, Neal W. Westendorf
  • Patent number: 4621965
    Abstract: A manipulator arm consisting of a plurality of annuli joined together by lengths of tubing having circumferential corrugations, two longitudinal webs extending the length of the manipulator arm and diametrically spaced with respect to the annuli, the webs being adapted to be flexible in a first plane but stiff in a second plane at right angles to the second plane, and so positioned that the first planes of the webs are coincident thereby to render the manipulator arm flexible in the first plane but stiff in the second plane, and means for causing the manipulator arm to flex in the first plane.
    Type: Grant
    Filed: February 6, 1984
    Date of Patent: November 11, 1986
    Assignee: United Kingdom Atomic Energy Authority
    Inventor: Peter D. Wilcock
  • Patent number: 4613277
    Abstract: The present invention relates to a robotic head that includes a pair of fingers that are adapted to be moved back and forth in parallel relationship between closed and open positions. In addition there is provided a group of interchangeable fingertip sets, with each fingertip set being formed to retrieve and hold a certain size or shaped object. Each fingertip set can be automatically attached and detached from the fingers of the robotic head. In particular, at one single work station, the robotic head through appropriate programming can automatically interchange fingertip sets such that the same robotic head can retrieve and set various types and sizes of elements or parts at one single work station.
    Type: Grant
    Filed: April 16, 1984
    Date of Patent: September 23, 1986
    Inventor: Roger G. Guay
  • Patent number: 4606694
    Abstract: Load skidding vehicles commonly include a grapple assembly (42) which under load conditions can pivot rearwardly about its support point (52) resulting in disproportionate loading of the rear wheels and consequently instability of the vehicle. A connecting member (62) is pivotally attached between the grapple (42) and a hydraulic cylinder (74) which is attached to the skidder (2). Operation of the hydraulic cylinder (74) causes the grapple (42) to rotate about its support pivot (52). The hydraulic cylinder (74) may be locked causing the grapple (42) to be locked in relation to the boom assembly (26). During load hauling operations this mechanism is used to lock the load in a position near the vehicle resulting in increased stability. The mechanism is also of use in positioning the grapple assembly (42) with respect to the load prior to grasping it.
    Type: Grant
    Filed: January 5, 1983
    Date of Patent: August 19, 1986
    Assignee: Caterpillar Inc.
    Inventors: Thomas C. Meisel, Jr., Lyle E. York
  • Patent number: 4600357
    Abstract: A gripper assembly for a robotic arm includes two opposing elements displaced by means of a worm gear arrangement for grasping an object positioned therebetween. The worm gear is driven by a rotary drive motor with a torsion spring coupling the drive motor shaft to the worm. First and second shaft encoders are respectively mounted to the drive motor shaft and the worm shaft. First and second pairs of optical sensors respectively coupled to the first and second shaft encoders detect the angular speed and displacement of the drive motor shaft and the worm. With the torsion constant of the spring known, the force applied by the gripper assembly which is proportional to the angular displacement of the worm may be accurately determined and controlled. In addition, the size of the object grasped by the gripper assembly may be determined. By comparing these operating parameters with selected values, the gripper assembly may be precisely controlled such as by means of a microcomputer.
    Type: Grant
    Filed: February 21, 1984
    Date of Patent: July 15, 1986
    Assignee: Heath Company
    Inventor: Russell G. Coules
  • Patent number: 4600358
    Abstract: A two axes manipulating device is provided for the movement of work pieces between two arbitrary desired points in a plane. The device comprises a carriage with guide tracks for two axes disposed at a 90 degree angle relative to each other. The drive is provided under computer control via gear rack and pinion. A position sensing transducer with a pulse generator is provided in each case for the control of the drive. The invention provides a simple and economic apparatus where the gripper can be rapidly and accurately positioned. The computer control comprises a position and a speed control circuit. The carriage comprises means for balancing weights capable of moving in a vertical direction. The balancing is preferably provided by a rotating air piston engine. An electrically disengageable brake can be provided at the vertical axis. The carriage can be a light weight product, for example made from carbon fiber reinforced plastic.
    Type: Grant
    Filed: May 16, 1983
    Date of Patent: July 15, 1986
    Assignee: Fraunhofer-Gesellschaft z.Ford.der angew. Forschung
    Inventor: Bernhard Graf
  • Patent number: 4599036
    Abstract: The problem of re-establishment of initial precision registration of end-effectors used in automatic robotic assembly following failed insertion attempts is avoided due to a positive registration compliant apparatus having a support member including a bearing mount spaced apart from a shaped seat. A holder for holding and mounting electronic components is movably mounted on the support member and extends through the bearing mount. The holder has a portion correspondingly shaped for mating engagement with the shaped seat. The holder is resiliently urged into engagement with the seat. A rotation limiter is provided for limiting rotation of the holder relative to the support.
    Type: Grant
    Filed: May 17, 1984
    Date of Patent: July 8, 1986
    Assignee: Sperry Corporation
    Inventor: Robert R. Tarbuck
  • Patent number: 4599033
    Abstract: A lifting device for cradle supported goods includes cradle engaging lifting arms pivoted to a wheeled chassis. A lever element located between one of the lift arms and the chassis is positioned by a winch and cable to raise the lift arms. An emergency stop block is provided in the event of cable breakage.
    Type: Grant
    Filed: February 6, 1984
    Date of Patent: July 8, 1986
    Assignee: Electra Mikun (Industries) Ltd.
    Inventor: Dan Raz