Abstract: A swivelling handle includes three reduction gear assemblies, each assuring the control of movement about the three axes of rotation. Each reduction gear assembly has a first reduction stage and a second reduction stage with coaxial drive. This arrangement makes possible great compactness. The third motor can be placed transversally, essentially in the axis of the second reduction unit. Thus a swivelling handle is obtained with three axes of rotation, with full electrical controls, in which the movements of rotation are created by three independent electric motors corresponding to each of the three axes of rotation. The unit is especially compact and adaptable to any type of industrial robot.

Abstract: A robot system for use with a machine tool having a spindle, comprising a robot having a body for being mounted on the machine tool, an arm pivotally mounted on the body and rotatable in a plane transverse to an axial direction of the spindle of the machine tool, and a hand mounted on a distal end of said arm for gripping a workpiece for transfer to the machine tool, and a workpiece feeder disposed adjacent to the robot and movably supporting a succession of pallets for carrying unmachined and machined workpieces thereon.

Abstract: An assembly robot comprises a breastplate adapted to be attached to the chest of a human operator, an upper arm member connected to the breastplate and adapted to be attached to the upper arm of a human operator, a lower arm member attached to the upper arm member and adapted to be attached to the lower arm of a human operator, a hand member having finger and thumb units into which the hand, finger and thumb of the human operator can be inserted, and a support structure taking the form of a movable chair to which the breastplate is attached and on which the human operator may sit. The robot members, their length, the joints between members, and the axes of these joints correspond to those of a human arm, hand and fingers whereby the robot can make the same movements as the human operator. Each joint is associated with a sensor-motor device.

Abstract: An apparatus for unloading a cured tire from a tire vulcanizing press, said apparatus including a tire support member tiltably mounted on a liftable support member; a mechanism for moving the tire support member horizontally toward and away from the center forming mechanism of the tire curing press for receiving and unloading a cured tire; a mechanism for tilting the tire support member toward a tire discharging side of the press at a lifted position over the center forming mechanism thereof; and a guide cam member fixedly located in association with the lifted tilting position of the tire support member for guiding the same toward a lower tire discharge point in a predetermined tilted posture.

Abstract: In one exemplar embodiment, an apparatus for handling and conveying materials is disclosed having a movable chassis, a longitudinally extendable conveyor assembly mounted on the chassis, the conveyor having a projecting loading end capable of limited longitudinal and arcuate vertical movement to a position immediately adjacent the location of the material being handled. An articulated boom assembly is rotatably mounted on the chassis with the movable free end carrying a pushing and pulling blade for loading the material unto the loading end of the conveyor.

Abstract: A positioning apparatus for positioning an arm of an industrial robot comprises a frame member connected to the robot arm and being movably supported by a frame-supporting member. The frame-supporting member is movably mounted within an upstanding hollow sleeve of a stationary base, and a bearing is formed between an outer peripheral surface portion of the frame-supporting member and an inner peripheral surface portion of the base hollow sleeve portion for slidably mounting the frame-supporting member to undergo linear and angular sliding movements relative to the base hollow sleeve portion. A rotary motor effects angular driving movement of the frame-supporting member, and a linear motor effects linear movement of the frame-supporting member to thereby accurately position the robot arm. By such a construction, the frame-supporting member is mounted for angular and linear sliding movements relative to the base hollow sleeve portion by a single bearing.

Abstract: A robot of the type having a housing and a manipulator mounted to the housing and movable along a plurality of predetermined axes of movement. A drive mechanism is associated with the each axis of movement for moving, upon actuation, the manipulator along its respective axis of movement. The actuation of the drive mechanisms is controlled by a program drum which is rotatably mounted to the housing. A plurality of cam segments are adjustably secured to the drum at both axially and circumferentially spaced positions thus forming a plurality of axially spaced, segmented cam rings. A plurality of cam followers are secured to the housing so that one cam follower registers with each cam ring. Each cam follower is connected with an actuator so that, when the cam follower engages a cam segment on the drum, the actuator activates the drive mechanism corresponding to the particular cam ring. Conversely, the actuator deactivates its associated drive mechanism when the cam follower disengages from the cam segment.

Abstract: An industrial robot is described having a movable arm, a wrist pivotally mounted for motion about an axis at the free end of the arm, and a cylindrical shaft perpendicular to said axis and rotatably mounted on the wrist. To enable it to be used for holding components subjected to forces, as during grinding operations, the robot is provided with a pair of jaws that can be clamped on the shaft and are able to prevent both the shaft from rotating and the wrist from pivoting. Movement of the jaws is controlled by shoes which are slidably mounted on a pair of circularly curved parallel rails having a common center coinciding with the pivotal axis of the wrist.

Abstract: A remote manipulator arm for positioning and operating tube sheet repair tools within a nuclear generator shell. The arm includes a number of arm segments linked serially, each having a remotely-controlled motor to pivot an elbow in the arm segment by way of gears. A mounting bracket passes through a manhole in the generator shell and provides a stable point of connection for the arm, both inside and outside the shell, as well as connections for power and control signals to the arm. A workhead is provided for mounting on the arm end opposite the bracket, and can carry a plurality of tools to conduct repair operations on tubes. The mounting bracket can be installed from without the shell and does not block the manhole, and the arm is self-installing, requiring no human presence within the generator shell.

Abstract: In accordance with the present invention an industrial robot (10) having a lifting or gripping arm (16) is provided with electrical switch means (44) whereby if a work piece extends too far into the lifting or gripping portion the machine is automatically turned off. In accordance with another feature of the invention, shear means (54, 56, 58, 60, 62, 64) are provided in the lifting or gripping arms (30, 32) whereby if one or both arms abut an obstruction with sufficient force, the arm will shear off causing only minimal damage to the robot and protecting valuable gear mechanisms and control apparatus.

Abstract: A robot arm attachment tool for handling workpieces, such as information recording disks. The tool is self aligning, has enhanced load handling load capacities and is able to handle workpieces having sensitive surfaces without damage to same. The tool is attached to the robot arm so as to allow the main portion of the tool to translate freely in a horizontal plane and to freely pivot about a center axis of the tool. The tool centers itself over a workpiece to be lifted, and has a pressurizable chamber having a piston for allowing powered removal of workpieces which is connected to housings which in turn engage workpieces to be lifted. In operation, the robot arm first generally centers and lowers the tool over the workpiece. The tool then precisely centers itself over the workpiece. The free attachment of the tool allows the tool to tilt and translate in a horizontal plane as the tool comes in contact with the workpiece, for a precise fit.

Abstract: A simple, low mass, low cost, articulating/articulating and rotating wrist assembly for use on automatic machine tools to provide two important degrees of freedom of movement of an end effector tool in the form of an articulating motion either alone or in conjunction with a rotating motion. Where both rotation and articulation are used the sequence is important in order to obtain new and different movements of the end effector tool for transcribing cones, etc. The fundamental articulating motion is achieved through the kinematics of a primary, parallelogram-type pantograph driven remotely from the automatic machine tool and employing a secondary restraining mechanism either in the form of a secondary parallelogram-type restraining pantograph or a cluster of sun, idler and planet gears.

Abstract: A telescopic remote manipulator includes a rotary passage block which passes through a partition, a telescopic master arm having upper and lower segments, and a telescopic slave arm having upper, intermediate and lower segments. The arms are articulated by their upper segments on the passage block by pins. A control handle and gripping member are respectively mounted on the free ends of the master and slave arms. Means are provided for transmitting to the gripping member movements of the handle and include cable means associated with the master arm and cable means associated with the slave arm, both coacting with a rotary shaft in the passage block to transmit the handle movements to the gripping member. The slave arm cable means pass over pulleys carried by a mobile carriage positioned externally of the slave arm and then on pulleys mounted on the slave arm in the vicinity of its shoulder pin.

Abstract: A robot hand changer for industrial robots, having a changer unit mounted fixedly on the industrial robots and a changer adapter holding a robot hand and being detachably fitted in the change unit. The changer unit has a fluid-operated piston and clamping balls urged toward a clamping position by the fluid-operated piston. The changer adapter is fitted in the changer unit and clamped by the agency of the clamping piston. A plurality of such changer adapters holding different kinds of robot hand are prepared.

Abstract: An extractor arm for a die cast machine providing improved linear movement of the claw supported by the arm. The arm includes a support portion, a knee portion, a claw portion, and two sub-arm assemblies--a first sub-arm assembly interconnecting the support portion and the knee portion and a second sub-arm assembly interconnecting the knee portion and the claw portion. The two sub-arm assemblies each define a flexing parallelogram, and structure is provided for maintaining the two flexing parallelograms in generally the same shape throughout movement of the arm. The claw portion is therefore geometrically transported along a linear path relative the support portion.

Abstract: A working apparatus is provided with a head support horizontally pivotably carried by a link mechanism having first and second link elements, which mechanism is operable for horizontally freely moving the head support. The head support is provided with a follower roller, which is horizontally moved along a guide track, so that a working head such as a workpiece loading and unloading device mounted on the head support can be moved along the guide track between first and second service positions which are respectively located over a machine tool and a workpiece conveyer. In order to secure contact engagement between the follower and the guide track, the follower in one specific configuration is constructed by a magnet roller and in another specific configuration, is constructed by a roller which is urged to contact the guide track by a pressure roller movable together with the roller along guide track.

Abstract: A telescoping manipulator arm and pivotable finger assembly are disclosed. The telescoping arm assembly (A) includes a generally T-shaped arm (18) having three outwardly extending fingers (18a, 18b, 18c) guided on the grooved roller guides (12, 14, 16) to compensate for environmental variations. The pivotable finger assembly (D) includes four pivoting fingers (50, 66, 70, 74). Arcuate teeth (52, 58, 60, 62) are formed on the ends of the fingers. A rack (54) having teeth on four sides meshes with each one of the fingers. One surface of the rack (54) includes teeth (56) along its entire surface which mesh with teeth (52) of the finger (50). The teeth (56) at the remote end of the rack (54) engage teeth (80) of a gear wheel (81). The wheel (81) includes a worm (82) which meshes with a worm drive shaft of the drive motor (86) providing a ninety degree self-locking drive (E) for locking the fingers in a desired position.

Abstract: A robotic system including a manipulator arm for moving a device to a predetermined point within a working volume under control of microprocessor based control unit. The manipulator arm includes various sections and joints defining a base, a shoulder, an arm and a wrist. The wrist is jointed to pivot about a pitch axis and a roll axis. The manipulator is arranged to pivot the arm about the base axis and shoulder axis, which axes intersect at a common point. The arm includes a section which is extendable through the use of telescoping links. The wrist is mounted on the end of the telescoping links, with the pitch and roll axes intersecting at a second point. The second point lies along the extension axis of the arm links and is spaced from the shoulder-base axis intersection point. The links forming the telescoping section are arranged to move in unison with each other. A motor and associated harmonic drives are provided to effect the motion at the joints.

Abstract: A work-performing manipulator robot having a base, a turret rotatable on the base about a vertical axis, a vertical arm rotatably mounted on the turret for rotation about a horizontal axis at a shoulder joint, and a horizontal arm rotatably mounted on the vertical arm for rotation about a horizontal axis at an elbow joint. The mounting of and angular position transducer for the turret/base joint is such that electrical cables and hydraulic fluid hoses can be coupled through apertures in the turret and the base to a channel in the vertical arm. The vertical arm is driven by a cylinder/piston assembly wherein the cylinder is pivotally attached to the vertical arm and the rod is pivotally attached to the turret, reducing the relative travel between the cylinder and the vertical arm.

Abstract: An articulating waveguide arm assembly, comprising long arm segments, (11, 12, 15, 17, 19) and short corner segments (13, 14, 16, 18) has a single-mode hollow dielectric waveguide located inside each segment and an optically reflecting device (33, 34, 37, 38, 39) located at the end of each segment. The waveguide assembly is mechanically affixed to a robot assembly having protruding side shields (65, 66). The robot assembly includes a pair of long arms (61, 62) corresponding to a pair of the waveguide arms (15, 17). Another waveguide arm segment (12) of the waveguide assembly passes over the protruding side shields and terminates in a pair of successive corner segments (13, 14) for enabling a laser beam propagating through this long arm segment to enter into one of the pair of long waveguide segments (61).