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.

Abstract: A gripping mechanism for clamping a hydraulic cylinder is adapted to be releasably mounted on the fork of a fork lift truck and is adapted to be rotated to different angular positions about an axis extending longitudinally of the truck. The gripping mechanism also may be used to enable a chain fall to lift either a horizontally disposed cylinder or a vertically disposed cylinder.

Abstract: A pair of clutch-brake units each include a housing confining a cooling oil and rotatably supporting an input shaft and an aligned output shaft with interfitting clutch plates and discs for connecting the aligned shafts and interfitting brake plates and discs for connecting the output shaft to the housing. Each housing also encloses an axially movable non-rotating actuating piston for selectively engaging the clutch and brake plates and discs, and the input shafts of the clutch-brake units are driven continuously by a common electric motor. The output shaft of one clutch-brake unit is connected by a first drive mechanism to raise and lower or reciprocate a vertical shaft supporting a head member which carries a transfer arm, and the output shaft of the other clutch-brake unit is connected by a second drive mechanism to oscillate the vertical shaft, head member and transfer arm.

Abstract: A system for positioning an electronic test head of a test system with respect to an electronic device handler. A positioner assembly moves vertically and provides substantial movement in the horizontal plane with six degrees of freedom. The positioner assembly includes a section for attaching the test head. A counterbalancing assembly is coupled to the positioner assembly to provide a substantially weightless condition to the positioner assembly with the test head attached.

Abstract: A system for positioning an electronic test head of a test system with respect to an electronic device handler. A housing is provided having a vertical shaft. A positioner assembly moves vertically with respect to the shaft and provides substantial movement in the horizontal plane with six degrees of freedom. The positioner assembly includes a section for attaching the test head. A counterbalancing assembly is coupled to the positioner assembly and has a counterweight to provide a substantially weightless condition to the positioner assembly with the test head attached.

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 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: Panel-like members are aligned as they are transferred sequentially from a pick-up station to a discharge station by a primary carriage mounted for linear movement selectively to the pick-up position and to a position adjacent the discharge station. At least one extensible, secondary carriage is carried by the primary carriage and is rotatable about a vertical axis selectively to a transport position and to an aligned position and is movable linearly to an extended position and to a retracted position. The secondary carriage and a pick-up head carried thereby is movable selectively to an upper transport position and to a lower pick-up and discharge position. Linear movement of the primary carriage is stopped prior to its reaching the discharge station with the secondary carriage being movable toward an extended position after movement of the primary carriage is stopped.

Abstract: A revolving-ladle turret having a turret member furnished with a pair of ladle-carrying arms, mounted on a platform which rotates about a vertical axis. The turret member is supported by a pair of articulated linkages similar to parallelograms of the double-handle type. The upper or bridge sides of the parallelograms are horizontal and rigidly supported by the platform and extend parallel to the ladle-carrying arms. These parallelograms have their respective handles shaped at right angles and are linked to the turret member in positions which are symmetrical to it about the axis of rotation of the platform. The articulated parallelograms fundamentally constitute synchronizing devices for the displacements of all of the points of the turret member and of the attached ladle-carrying arms.

Abstract: A system for positioning an electronic test head of a test system with respect to an electronic device handler. A housing is provided having a vertical shaft. A positioner assembly moves vertically with respect to the shaft and provides substantial movement in the horizontal plane with six degrees of freedom. The positioner assembly includes a section for attaching the test head. A counterbalancing assembly is coupled to the positioner assembly and has a counterweight to provide a substantially weightless condition to the positioner assembly with the test head attached.

Abstract: A transfer station of a glass-forming machine includes a depositing plate for receiving at least two transversely spaced glass articles, such as bottles or the like, from the glass-forming machine. The depositing plate is mounted on a vertical shaft for turning therewith about the axis of the latter to move the glass articles thereon from a receiving to a transfer position, and the shaft with the plate is movable in vertical direction into the region of a transfer mechanism arranged to transfer the bottles from the plate to a conveyor adjacent to the plate.

Abstract: Apparatus for supporting, locating and transferring plate-like or disc-shaped workpieces between several stations or between several machines where each of two plane parallel surfaces of each workpiece is subjected to one or more treatments has at least two partially overlapping plate chucks. A workpiece which is introduced by one chuck into the space where the two chucks overlap is released by the one chuck and is then attracted by the other chuck so that the previously exposed surface of the workpiece becomes concealed and vice versa. The chucks can transport workpieces between successive stations of a series of stations where the surfaces of the workpieces can be subjected to a coarse and thereupon to a precision or final treatment such as grinding and polishing, lapping or honing. If the chucks are installed in a separate frame, they can be rotated through 180.degree. about an axis which is parallel to their work-contacting surfaces so that a workpiece between such chucks is inverted, i.e.

Abstract: A lifting and positioning apparatus particularly suited for use in the installation of wing-mounted airplane engines includes superposed upper and lower load-bearing support platforms that are connected to one another by means of a jack mechanism operable to raise and lower the upper platform while supported by the lower platform. The lower platform includes and is movably supportable on fluid cushion bearings. The upper platform supports a plurality of resilient elastomeric elevator bellows that are positioned and adapted to receive and support a heavy object, such as an aircraft engine, while cushioned against application of excessive lifting force. The bellows are independently inflatable and deflatable to effect raising and lowering of selected portions of the aircraft engine and thereby rotate the engine to desired angular orientations. Alternatively, the bellows may be actuated conjointly to effect uniform vertical raising or lowering of the aircraft engine.

Abstract: With such machine tool the tool magazine is arranged independent of the machine stand. To obtain a tool changer having a simple course of movement which, additionally, does not transmit any vibrations from the tool magazine to the work spindle, the tool changer consists of a slide or carriage which is movably arranged upon a rail. A drive is provided for the carriage for moving the latter upon the rail. The rail is attached at the tool magazine and is extended in length by an extension piece which is arranged at the machine stand.

Abstract: A handling equipment comprising a telescopic supporting assembly carrying a motorized orientation support for at least one articulated slave arm is disclosed. The orientation support includes a body pivotally mounted around a vertical axis at the end of the supporting assembly and at least one supporting member pivotally mounted around a horizontal axis on the body. A fixing device is provided between each slave arm and each supporting member to allow remote locking and unlocking of the slave arms. The supporting assembly bears at least one television camera for observing the free end of each slave arm.

Abstract: An apparatus for precisely locating a windshield at the take-off end of a conveyor for subsequent removal by a transfer apparatus. The locating apparatus includes a carriage having a lift device for raising the windshield off the conveyor up to a predetermined level. The carriage also is provided with a slide for moving the elevated windshield horizontally in a first direction against a first stop. The carriage is then actuated to move the windshield in a direction normal to the first direction against a second stop oriented 90.degree. from the first stop.

Abstract: A universal robot comprising an X-axis arm (3) which is mounted on a post (1) through a support member (2) movable in the vertical direction and is tiltable into a desired position, and a Z-axis arm (6) which is mounted on a slider (5) movable along the X-axis arm (3) and is tiltable into a desired position. With this arrangement, the transportation of a load to be moved in two-dimensional directions can be carried out by a single linear movement of the slider, so that not only the time required for the load transportation can be reduced but the accuracy of the transportation can be improved very much.

Abstract: A workpiece handling apparatus includes a workpiece gripper having gripping elements and capable of both internal and external gripping functions rotatably attached to a support arm of a manipulation system. The workpiece gripper is controlled by an actuator capable of overcoming spring tension which is applied to the gripping elements.

Abstract: A manipulator having at least one jib which can be swivelled about a vertical shaft is disclosed. The vertical shaft is arranged on a support member. The jib may carry a positioning unit having load-holding members mounted thereon.

Abstract: A load manipulating apparatus including a turnstile 10 supported for rotation about a fixed stub shaft 30 defining a substantially vertical axis, an elevating mechanism 12 supported for vertical reciprocating motion by the turnstile, and a rotatable operating arm 14 carried by the elevating mechanism including a mechanism 205 for releasably engaging a load receiving container 18. Support columns 22 defining a path of motion for the elevating mechanism include integral fluid reservoirs that form part of a fluid pressure operating system for effecting movements in the turnstile, elevator, operating arm, and container engaging mechanism.

Abstract: An apparatus for loading objects on a pallet has a first horizontal frame structure movable vertically relative to an upright support. The first frame structure supports a second horizontal frame which is movable horizontally in respect to the first frame structure. The second frame supports a carriage which is horizontally movable relative to said second frame in a direction perpendicular to the horizontal movement of the second frame and is provided with an angularly movable catching element such that said catching element by the displacement of the second frame in one horizontal direction and the displacement of the carriage in a horizontal direction perpendicular thereto may be located over an object located at a loading area within the area of said first frame structure, then lowering said first frame structure and activating the catching element, elevating said first frame structure and displacing the second frame and the carriage to the desired unloading position.

Abstract: A cam-driven, rotary-type, pick-and-place assembly apparatus for providing linear translation as well as rotary movement to a support member carrying a gripping mechanism, including a housing, motor-driven input shaft carrying two drive cams, a follower wheel assembly rotatably journaled on said housing and drivably oscillated by one of the drive cams, a main guide shaft and a secondary guide shaft slidably received within the follower wheel, the support member mounted stop the guide shafts, a connector plate joining the lower ends of the guide shafts, a follower wheel lift shaft assembly drivably oscillated by the other of the drive cams, the oscillated lift shaft assembly operatively connected to the connector plate and guide shafts by a toggle linkage assembly, which assembly permits simultaneous rotational and linear oscillation of the guide shafts.

Abstract: The invention is concerned with a machine for drawing yarn hanks from advancing hank carrying supports and doffing the drawn hanks on a carriage or container or conveyor belt. The machine comprises a pliers holder head wherein the pliers, each formed of two or more rods movable near one another, can be adjusted in spacing for adaptation to various dimensions of hanks. The head is rotatable about a horizontal axis to arrange the hanks in horizontal direction and is tiltable or upsettable about a further horizontal axis. Furthermore, the head is mounted to be movable parallel to the extension of the hank carrying supports, and preferably also parallel to the advancement or feeding of the hank carrying supports.

Abstract: A tool transfer assembly for automatic milling machines perform rapid but stable replacement of a tool on a spindle head under direct control by a cam groove formed in an axially turnable and vertically movable shaft operationally related to holding jaws for tool holders while effectively utilizing power derived from two pneumatic power sources, thereby avoiding dissipation of the power conventionally caused by dividing it during transmission.

Abstract: This disclosure relates to an object transport apparatus particularly useful for the high speed handling of semiconductor chips. Transport is achieved by driving a vacuum pickup, through a rotational motion toward an object resting at a first reference location while simultaneously driving a cam, restraining a spring loaded cam follower, so that the vacuum pickup is positioned proximal to the first reference position. Vacuum is applied to secure the object to the pickup. The cam and shaft are then simultaneously driven in the opposite direction to clear the other objects and obstruction by swinging the object through an arcuate motion while simultaneously elevating the object. As the pickup and object continue through the arcuate motion, the cam motion is reversed to position the object proximal to a deposition surface located at a second reference position. The cam is then further driven to contact the object with the deposition surface, the vacuum is released and the object is released.

Abstract: A tool is essentially an extensible mechanical arm adapted on one end to support equipment in a hostile environment while the arm is manually manipulated from its second end in a benign environment. The arm is pivoted at the entrance to an area containing nuclear radiation with its end projected into the radiation area, and adapted to install and remove equipment.

Abstract: A lift for use in such buffed tire processing operations as inspection, repair and cementing thereof has a carriage supported by a vertical post so as to be moved as by a ram between a lower inoperative position and an upper operative position. A pair of horizontal, motor driven shafts are connected to the carriage and in the inoperative shaft position, a buffed tire or tires supported by the free end of a hanger of a mobile rack may be brought into a position in which the shafts extend freely therethrough. In the operative position of the carriage, the tire or tires through which the shafts extend are supported entirely thereby so that they may be rotated and processed and the carriage then lowered until the processed tires are again supported by the hanger of the mobile rack.

Abstract: The remote docking apparatus comprises a support plate with locking devices mounted thereon. The locking devices are capable of being inserted into tubular members for suspending the support plate therefrom. A vertical member is attached to the support plate with an attachment mechanism attached to the vertical member. A remote access manipulator is capable of being attached to the attachment mechanism so that the vertical member can position the remote access manipulator so that the remote access manipulator can be initially attached to the tubular members in a well defined manner.

Abstract: A work changing mechanism for machine tools, especially lathes, designed for automatic change of works to be clamped by centers or chucks comprising a shuttle car movable in the direction of the spindle axis of the lathe, a slide vertically movable along the shuttle car and rotatably arranged on the slide and about a horizontal shaft extending transversely to the spindle axis is a gripping mechanism including two pairs of jaws which are horizontally displaceable parallel to the shaft on opposite sides thereof. The first jaw pair is adapted to feed work into the machine tool and the second pair to remove machined work from the machine tool. Loading and removing work pieces may be rapidly achieved because the work changing mechanism is controlled by computer.

Abstract: An automated device comprising an arm, a wrist which is rotatably held by the arm at predetermined angles and a hand which is rotatably held by the wrist, wherein the wrist includes an apparatus for varying the angle of the axis of the wrist with respect to the axis of the arm, and the varying apparatus has a device for adjusting the angle. In the above device, the wrist may be bent in all directions.

Abstract: A hank transfer apparatus for transferring hanks from a hank carrier (100) to a holding or transporting device, comprises, on a stationary structure (11, 12, 13) a movable head (72) carrying two parallel hank-holder rods (90, 91) extended therefrom, which can be moved near each other in a closing position for introduction into a hank hanging from a hank carrier, and moved away from each other to an opening position for removing a hank from its own hank-carrier; the head (72) is movable in three orthogonal directions and rotatable, by sliding members (25, 40, 70) and guides (15,16; 31,32; 63,64) and a rotational device (50).

Abstract: A method and a device for controlling operating processes applied to particles. The device comprises a number of operating stations, such as, lifting- and sluing conveyors to allow for feeding the particles to an indexing rotary plate and conveying of particles to a processing stage, e.g. a welding device. The operating processes of the operating stations are initiated according to a common, pre-set cycle, at least one of the operating stations is associated with a correcting process initiated by a sensor arrangement for detecting faults in the operating process, for shortening the outages and for increasing the total output. The operating process involving a fault detected by the sensor arrangement is immediately interrupted, whereupon the correcting process is initiated independently of the common, pre-set cycle. The common, pre-set cycle serves to initiate dependent subsequent or previous operating processes of the operating stations until the end of the correcting process.

Abstract: A truck is provided for transporting and lifting heavy metallurgical vessels from one place to another. The truck combines two functions ordinarily provided by two different trucks, in that the truck of the invention lifts and/or removes the vessel from its tilting mount for relining and when replacing it on the mount also refits the bottom plate and cover onto the vessel, the latter function usually being carried out by a separate truck. The arrangement includes a separate bottom plate carrying device configured to be positioned on the truck. The carrying device is positioned to be non-displaceable on the lifting mechanism and to be, when thus placed, subject to the centering and lifting mechanisms of the truck of the invention.

Abstract: A manipulator apparatus (10) for performing a plurality of motions is disclosed. The apparatus (10) includes a rotatable support shaft (14) supported on a frame (12) for rotary motion. A plurality of discrete cams (16-22) are supported in a spaced relationship on the support shaft. An individual coupling mechanism (26-32) couples each of the cams to a motion transmitting device. Each coupling mechanism (26-32) includes a cam follower (146, 280, 333). Individual force limiting mechanisms (158, 404) are provided for each of the coupling mechanisms (26-32) for uncoupling a respective coupling mechanism when a force beyond a predetermined level is reached in the respective coupling mechanism.

Abstract: A rotary pickup arm transfers objects from a fixed pickup station to a fixed deposition station during a first part of a work cycle and is returned to the pickup station during a second part of the work cycle. The pickup arm is carried by a head having a support mounted on an X-Y table movable relative to the pickup and deposition station by step motors along X and Y axes perpendicular to the axis of rotation of the pickup arm. The X-Y table can be adjustably displaced by predetermined amounts along the X and/or Y axes during the first part of the working cycle to place an object accurately at a desired location at the deposition station and displaced by an equal and opposite amount during the second part of the working cycle to pick up a further object from the pickup station.

Abstract: Apparatus for use in positioning a unit successively relative to a plurality of tubes of a regular array of tubes supported by a tube-plate within an enclosure provided with an access opening, e.g. relative to the boiler tubes of a steam generator of a nuclear power station, as described in U.S. Pat. No. 4,004,698 is adapted for association with transporting apparatus for placing the positioning apparatus in the enclosure, the transporting apparatus comprising a rectilinear guide rod for passing through the access opening and for guiding a carriage provided with a coupling assembly for releasably coupling the positioning apparatus to the carriage during movement thereof between the outside and the inside of the enclosure and which are disconnectable to permit movement of the positioning apparatus across the tube-plate.

Abstract: Apparatus for handling materials, such as robots, in which the transfer units are connected with drive that cause the swinging movement of the transfer units between two positions about a neutral position located therebetween. Retaining are disposed on the apparatus in the form of magnetic members for either engaging the respective transfer unit or repelling the same.

Abstract: Apparatus for transferring articles from the first station to a second station wherein the articles are rotated through 90.degree. as they are transferred. The apparatus includes plural lifting heads, each lifting head having two plates carrying depending gripping devices for grasping a pattern of articles and transferring them from the first station to the second station. During the transfer, the plates are spread apart to split the pattern in half and the plates are rotated through an angle of 90.degree. before the articles are deposited at the second station.

Abstract: Transport and assembly apparatus for a screw-tightening device having a carrier ring seatable on a pressure-vessel cover for loosening and tightening fastening screws thereon includes a lift truck having an elevating platform whereon a carrier ring is mountable, means for pivoting the carrier ring about a horizontal axis, and means for vertically adjusting the carrier ring with the elevating platform.