Abstract: A boom H for a vehicle A which carries a working implement K to enable operations to be carried out such as excavation or loading, comprises first (11) and second (10) parts, the first part (11) carrying the working implement (K) and the second part (14) being mounted on a body (B) of the vehicle, the first and second parts being connected together for relative pivotal movement about a generally horizontal axis (A 1), a fluid operated actuating means (18) acting between the first (11) and second (10) boom parts to effect relative pivotal movement at least in one sense of rotation, characterized in that the fluid operated actuating means (18) comprises two relatively movable members (20,23) which operate in tension, one member (20) being pivotally secured to one of the boom parts (14) and the other member (23) being connected via a flexible linkage (24) to the other boom part (11) to enable the two boom parts to be relatively pivoted to include a smaller angle between them than would be possible with a rigid l

Abstract: A quick coupler for attaching various material handling implements to a lift arm. The quick coupler includes an opening on one end for pivotal connection with the lift arm and a slotted end portion for selective engagement with a mounting pin on the implement. An intermediate portion of the quick coupler includes a mounting or coupler pin that extends laterally beyond the sides of the quick coupler. An actuating mechanism including a push-pull link is connected to the quick coupler for rotating it about the end of the lift arm. The quick coupler includes an element which may be used for lifting or positioning objects while the quick coupler is fully attached to the implement. Each implement is provided with a pair of opposed attachment members which include slots for receiving the outer laterally extending portions of the quick coupler mounting pin.

Abstract: A quick coupler for attaching various material handling implements to a lift arm. The quick coupler includes an opening on one end for pivotal connection with the lift arm and a slotted end portion for selective engagement with a mounting pin on the implement. An intermediate portion of the quick coupler includes a mounting or coupler pin that extends laterally beyond the sides of the quick coupler. An actuating mechanism including a push-pull link is connected to the quick coupler for rotating it about the end of the lift arm. The quick coupler includes an element which may be used for lifting or positioning objects while the quick coupler is fully attached to the implement. Each implement is provided with a pair of opposed attachment members which include slots for receiving the outer laterally extending portions of the quick coupler mounting pin.

Abstract: A machine which handles tea bags includes an elevator platform having a horizontal support surface adapted to support a stack of tea bags; a mechanism which moves the elevator platform from a first upper platform loading position to a second lower platform discharge position; a lead out member located at the discharge position; a pusher which pushes the stacks of tea bags from the platform when it is in the lower discharge position; a horizontal lead out surface on the lead out member; an inclined chamfer surface on the lead out member, the chamfer surface having a free edge; an inclined chamfer surface on the underside of the platform; and the platform and the lead out member being positioned and arranged so that when the platform is in the discharge position, the chamfer surfaces of the lead out member and the platform are in face to face overlappping contact, with the chamfer surface of the platform positioned above the chamfer surface of the lead out member and the horizontal support surface of the platfo

Abstract: A manipulator for handling objects within a sealed environment, such as an ultra-high vacuum chamber, is mounted on a port of the chamber so that an active portion of the manipulator terminating in a set of gripping jaws is located within the chamber, while an operating portion of the manipulator is located externally of the chamber. The gripping jaws are mounted at one extremity of a shaft for rotation through at least 360.degree. irrespective of whether they are in an open or closed configuration. The jaws are opened and closed from the exterior of the chamber by means of a sleeve which is axially slidable on the shaft by means of a drive ring located on the operating portion of the manipulator.

Abstract: This invention relates to a device for transferring objects from a gripping station to a depositing station, and is particularly applicable to the loading or unloading of panes of glass. The device includes at least one arm mounted perpendicularly to a shaft which drives it in rotation, with the arm being adapted to slide perpendicularly relative to the shaft. Gripping devices such as suction cups are mounted at each end of the arm, and a motor and indexer are provided for automatically controlling the rotation of the shaft, the sliding and locking of the arm, and the maneuvering of the gripping devices.

Abstract: A method of feeding a work station, which utilizes a robot to grasp workpieces one after the other at a charging station to which the workpieces are successively conducted to feed them to the work station and to transfer the workpiece worked upon to a discharging station. The robot grasps every workpiece arriving at the charging station by a workpiece holder that grasps the workpieces at a predetermined place thereon and holds them during all the time of transfer thereof and working thereon and releases the workpieces only when they arrive at the discharging station. At the work station, the workpiece holder is held in a very precise position by a gripping block rigidly fixed to a member in the work station. An apparatus for practicing this method comprises a workpiece holder adapted to the geometry of the workpieces to be processed, and a gripping block mounted on a member in the work station and arranged to receive the workpiece holder and to securely hold the same in a precise position at the work station.

Abstract: An adaptive compliance system wherein the movement of an orientation stat is controlled in combination with its interaction with an assembly robot to vary the stiffness between the two structures.

Abstract: An excavator has a number of different hydraulically powered functions that are controlled by a closed center hydraulic system that features a pair of variable displacement, engine driving hydraulic pumps, the displacement of which is responsive to the demands of the system. The flow to the various hydraulic motors is controlled by pilot operated load sensing control valves that direct fluid pressure to a load sensing line when one of the hydraulic motors in the system is being operated. The load sensing line is connected to the control system of the pumps to place the pumps in stroke when a flow of pressurized fluid is required. The flow of the load sensing pressure to the controls for one of the pumps can be optionally disconnected to place said pump in a standby condition and thereby reduce the flow capacity of the hydraulic system at the option of the operator.

Abstract: An excavator has a number of different hydraulically powered functions that are controlled by a closed center hydraulic system that features a pair of variable displacement, engine driven hydraulic pumps, the displacement of which is responsive to the demands of the system. The flow to the various hydraulic motors is controlled by pilot operated load sensing control valves that direct fluid pressure to a load sensing line when one of the hydraulic motors in the system is being operated. The load sensing line is connected to the control system of the pumps to place the pumps in stroke when a flow of pressurized fluid is required. The flow of the load sensing pressure to the controls for one of the pumps can be optionally disconnected to place said pump in a standby condition and thereby reduce the flow capacity of the hydraulic system at the option of the operator.

Abstract: A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit.

Abstract: This disclosure describes a mechanical hand constructed to simulate the range of motion of a human band. The mechanical hand provides a remote manipulator device capable of reproducing all of the motions of the human wrist, hand, fingers, and thumb in a compact in-line package. The configuration of the hand allows the motion of each finger or digit to be independent of the motion the wrist and of the motion of each other digit. Also the motion of each joint of each digit is independent of the motion of each other joint on the same digit and other joints of other digits. Also, the hand allows the amount of pressure applied to an object by the digits and the resistance to motion of the joints in the hand by an external applied force on the hand to vary under the control of features inherent in the hand's construction. Further, a method for the organization of actuators for the hand, that may be fluid-activated cylinders, is described.

Abstract: A pneumatically operated stop for advanced workpiece comprises a pneumatic cylinder with a displaceable piston rod on which a stop is secured. A limit stop coacting with the extended piston rod defines the setpoint position of the stop. A precision limit switch for sensing the setpoint position of the stop generates a command signal when the stop moves away from its setpoint position. This signal controls a valve which is connected with the pneumatic cylinder. This valve connects the pneumatic cylinder in an unpressurized manner with the ambient atmosphere when the stop is occupying the setpoint position and no workpiece is resting against the stop. Once the stop has been displaced from its setpoint position by an advanced workpiece, pressure is applied to the cylinder by this valve in order to return the stop together with the workpiece to the setpoint position, and this pressure is maintained for a preselected amount of time by the valve.

Abstract: An apparatus determining relative positions of arm elements of a manipulator having at least two relatively moveable arm segments uses image analysis and a model of the manipulator to analyze an image of the two arms to determine the joint angles between adjacent arms.

Abstract: Apparatus for removing plastic sprue slugs from the mold of an injection molding machine including a housing, a swivel arm rotatably mounted in the housing about a horizontal axis, a gripping arm pivotally mounted to the outer end of the swivel arm and having fingers for gripping and removing the slug, a steering rod for pivotting the gripping arm about the swivel arm as the swivel arm rotates about its axis and a cam for controlling movement of the steering rod, the cam, upon rotation of the swivel arm from an upper waiting position to a lower gripping position, causing the fingers to first trace a circular path until they reach a level approximately level with the top of the mold and then a path that extends substantially vertically downward along the front side of the mold until they reach a protruding sprue slug.

Abstract: A parts manipulator formed by a head and a robot (10) for attachment to a robot arm and rotatable therewith, the head including a rotatable mount (26) attached to the robot arm (19) and a plurality of gripper mechanisms (21) secured about the mount (26). Each gripper mechanism includes a set of finger portions (51), each selectively and independently of each other shiftable between first and second orientations on the mount to extend either parallel to and downwardly from, or outwardly from the mount (26), allowing flexibly programmed handling of a part.

Abstract: In a compliance apparatus wherein a movable plate movable in a direction perpendicular to the direction of insertion of a gripped part is provided on a portion in which a robot hand is mounted to a robot arm to thereby enable relative displacement of the robot hand and the robot arm, a plurality of cylinders of which the extended end positions are adjustable and of which the protruding force can be changed by a spring or fluid are opposed to one another as positioning devices for the movable plate and sandwich the movable plate therebetween.

Abstract: The rolling track comprises a series of rollers which are supported by a fixed reinforcement and on which travels the circular pedestal of the hopper. This circular pedestal is equipped with a toothed ring in order to be driven in rotary movement about its vertical axis. The rollers are grouped in pairs, and each pair of rollers is carried by an axle pivotable about a radial axis; with each of the rollers being carried in its axle by floating bearings mounted on springs.

Abstract: The hopper comprises a cylindrical side wall supported by an annular rolling ring so as to be rotatable about its vertical axis, and a funnel shaped bottom with a central outflow orifice controlled by a valve. To allow rapid removal of the rolling ring, the bottom is separated from the side wall and rests freely on an inner edge of the latter. An apparatus is provided for raising the bottom within the wall and for lifting the side wall slightly from the rolling ring.

Abstract: The bending and turning movements of the wrist are brought about by drive motors via at least one gear train, in which a cylindrical gear pinion drives a cylindrical gear wheel via an intermediate wheel. For adjusting the backlash, the intermediate wheel is journalled on a movable support which makes contact with a cylindrical guide surface in the wrist housing and can be displaced, by means of two adjusting screws, along a circular path, the center of which coincides with the axis of rotation of the gear pinion. The intermediate wheel is journalled on an eccentric bearing pin on the movable support.