Abstract: There is disclosed a position detection method of a robot which provides two incremental position transducers mounted to a robot axis in interlocked relationship with each other and rotatably to produce pulse signals having the number different from each other in response to a moving distance of the moving robot axis and detects a difference between the numbers of pulses produced from the position transducers to detect the position of the robot. Further, a difference (P.sub.2i) of the pulse number between reference pulses produced from the two position transducers at any position of the moving robot axis is calculated and the pulse number (i) of a next reference pulse from a reference position is then calculated on the basis of i=(P.sub.1 -P.sub.2i)/(P.sub.1 -P.sub.2) where P.sub.1 and P.sub.2 are the numbers of pulses produced during one rotation of the position transducers, respectively, so that P.sub.1 .times.i is calculated to detect a position of the robot axis.

Abstract: The present invention relates to a device 32 for taking out a grown monocrystal rod 22 from monocrystal pulling up devices 10 to 14 and conveying them to a predetermined position. An object is to simplify the overall structure, which includes a plurality of monocrystal pulling up devices 10 to 14, and reducing the overall cost. A rail 31 is disposed along the monocrystal pulling up devices 10 to 14 and travelling portions 33 and 34 travel along the rail 31. The upper end portion of an upper cylinder 36 is fixed to the travelling portions 33 and 34, the upper portion of an elevational shaft 37 is inserted into the upper cylinder 36, the lower portion of the elevational shaft 37 is inserted into a lower cylinder 39 and a plate 44 is able to approach and move away from the lower cylinder 39. A plate 45 is able to rotate around a shaft 46 with respect to the position of the plate 44. Futhermore, the plate 45 has a receiving finger 53A and a holding finger 54A.

Abstract: A workpiece transfer device includes a mounting frame assembly having an upper fixed frame and an inner subframe slidably mounted to the fixed frame. The inner subframe supports a gear rack on its upper surface and a separate conveying system within its frame. A drive unit is mounted on top of the fixed frame and includes idler rollers and a drive gear. The drive gear engages the gear rack thereby moving the whole inner subframe assembly, including the conveyor system in a horizontal path between two presses. As the inner subframe moves along a horizontal plane, a locking plate assembly prevents the conveyor belt from traveling with the inner subframe. The end gears in the conveyor rotate along the stationary belt forcing a workpiece carrier to move from one end of the conveyor system to the opposite end in the same direction as the inner subframe. Therefore, as the inner subframe moves in a horizontal path, the carrier is simultaneously moved along the same path.

Abstract: A bottle handling device comprising a tool for grasping the sides of the bottles, the tool being tiltably mounted to one end of a flexible cord and the other end of the cord is coupled to a balancing device for balancing the grasping tool and developing a balancing force that is adjustable between two values depending on whether the tool is loaded or unloaded. The device also has a support table for supporting a plurality of bottles standing in a row, and a backing piece mounted along the table in order to accommodate the tilting of the bottles while the value of the balance force is changing.

Abstract: A method and an apparatus for positioning a workpiece to a pallet on a working line. The line transports plural kinds of workpieces. Plural positioning pins are provided at various locations on each pallet to enable all the plural kinds of the workpieces to be carried by the pallets. Each positioning pin has a set position and a reset position. All positioning pins are first reset to the reset position. Thereafter, a selected positioning pin is set to the set position to accommodate a particular kind of workpiece. The positioning of the workpiece is accomplished by fitting a positioning hole defined by the selected workpiece onto the selected positioning pin.

Abstract: Apparatus for booking an elastomer such as a rubber sheet is disclosed. A conveyor has a series of driven rollers. A stop member is positioned to stop the movement of the elastomer by contacting the front end. The stop member may be fixed on a transfer or grasp member, typically a vacuum head which is employed to transfer the elastomer on to a flatcar.

Abstract: The present invention provides an apparatus and method of utilization of the same of a fixture used for the placement of seats in a vehicle body or cab structure. The present invention provides a "C" frame which may be attached to an overhead lifting device, a first link pivotally connected to the "C" frame, and a second link angularly and pivotally connected to the first link for penetrating between the seat back and seat cushion. A lifting mechanism is provided for raising the second link thereby causing the seat to be captured by the fixture so that the seat can be transported by the lifting device.

Abstract: A movable body having a pair of parallel arms supported from the body and in turn supporting a pair of forks for movement for engaging and releasing the bottom of a stack of sheet material. A clamp is movably connected to the body above the forks for engaging the top of the material and holding the material between the clamp and the extended forks. A probe lifter is movably connected to the body and movable between a lower position below the forks and an upper position between the extended forks for removing the weight of the stack from the forks for allowing the forks to be retracted.

Abstract: A shelf service apparatus in the form of a crane for storage of rod-shaped material that is accommodated in self-supporting pallet boxes, it being possible for the pallet boxes to be lifted by supports on their end faces by carrying devices which can be moved vertically and horizontally by a crane bridge that can be moved in the longitudinal direction of the storeroom. Furthermore, at least one load cross-piece is arranged in the crane bridge parallel to the pallet boxes in such a manner that it can be removed by the carrying devices, which load cross-piece is of the same length as the pallet boxes and is provided on its end faces with supports in a manner corresponding to the pallet boxes.

Abstract: For the mounting of remote control apparatuses and loads in spaces which cannot be traversed, as for example, hot cells in industrial nuclear plants, an apparatus which is able to mount great loads and also manipulating apparatuses in such manner that only small forces and moments are supported in the resting position and in manipulation. is provided which consists essentially of a crane bridge having a crane carriage thereon and on a shaft there is mounted a crane hook roll. This shaft is connected with the crane bridge by cables and one or more telescopic arms connected to one or more travelling carriages.

Abstract: A textile machine for producing cross-wound bobbins includes a head end of the textile machine, a cycling conveyor disposed at the head end for transporting cross-wound bobbins in a given cycling direction, at least one bobbin frame accepting at least one cross-wound bobbin from the cycling conveyor, a device for moving the bobbin frame across the given cycling direction, the bobbin frame including at least one pair of mutually spaced apart carrier elements for supporting at least one row of cross-wound bobbins at least at one level, the carrier elements of each pair being disposed at substantially the same height above the cycling conveyor and being mutually spaced apart by a given distance, the cycling conveyor being narrower than the given distance, the bobbin frame having vertical openings formed therein permitting passage of the cycling conveyor, and at least one lifting device for adjusting the height of the bobbin frame relative to the cycling conveyor.

Abstract: Apparatus is provided for handling bobbins and transferring them from one location to another. The apparatus includes upper and lower housings connected by an articulated joint. The upper housing is supported by a fluid-operated, overhead hoist which is controlled by a manually-operated control mounted on the upper housing. The lower housing has an outwardly-extending, compact, fluid-operated gripper which extends into a central passage of the bobbin and has movable jaws engaging the inner surface. The articulated joint enables the lower housing to pivot relative to the upper one and move the gripper between horizontal and vertical positions. The articulated joint has a manually-operated locking pin locking the lower housing in either position, with a manual release handle located near the hoist control on the upper housing to enable both to be manipulated by one hand. The apparatus also includes a fluid interlock system which prevents accidental release of the bobbin from the gripper.

Abstract: A glove box with tubular lines for harmful fluids and with shutoff valves inserted in the tubular lines and, respectively, formed of an actuating member and a valve body includes an exterior wall forming part of the glove box, the shutoff valves being disposed adjacent one another on the wall, the valve bodies of the shutoff valves being located on the inside of the exterior wall, and the actuating members of the valve bodies being located on the outside of the exterior wall; and a drive for driving the actuating members also located on the outside of the exterior wall and having a device for docking with the respective actuating members, the drive means being guidably displaceable in a plane parallel to said exterior wall to the respective actuating members for docking with the respective actuating members.

Abstract: A conveyor system comprises a runway rail in the form of an extruded hollow body of oblong cross-section. The runway rail has a top portion which includes a pair of parallel surfaces including between them an angle. A similar pair of parallel surfaces is disposed at the bottom portion of the runway rail, which surfaces are parallel to respective surfaces of the top portion and include the same angle. A crab having load and guide wheels is disposed on the runway rail, the load wheels engaging the pair of surfaces at the top portion and at least one guide wheel engaging one of the surfaces at the bottom portion. A driving motor mounted to the lateral flange of the crab is adapted to drive the crab along the runway rail by engaging a stationary drive element mounted to a side rail of the runway rail. A hoist mounted to the crab serves to raise and lower work pieces.

Abstract: A high precision, high throughput submicrometer workpiece positioning system, particularly useful as a workpiece positioning means in electron beam lithography tools. The positioning system increases mechanical stability by essentially eliminating mechanical hysteresis, which allows state of the art electron beam lithography systems to provide the repeatable, accurate and dense circuit patterns that modern semiconductor trends demand.The positioning system in preferred form comprises a movable positioning table, a workpiece supporting superstructure which is elastically joined to the movable positioning table by three geometrically distinct kinematic support means and a two-stage coupling means which mounts a workpiece (i.e., semiconductor mask or wafer) to the workpiece supporting superstructure. A laser interferometer locating-positioning system is utilized to position the workpiece. The interferometer mirrors are integral with the workpiece supporting superstructure.

Abstract: A remote control apparatus for removing from one of a number of filter pits, and loading for protective storage in a disposal drum, radioactive filters used in nuclear power generating stations, and for replacing spent filters. The apparatus includes a transportable base adapted to be placed adjacent the respective filter pit and a hoist mechanism mounted on the base. The hoist mechanism includes a vertical tower or mast mounted on the base, a generally horizontal boom mounted on and extending outwardly from the top of the mast, a grab mechanism for engaging various specially adapted articles, including spent filters to be removed and new filters for replacement, means for operating the grab mechanism from a remote location, a lift mechanism for supporting the grab mechanism from the outer end of the boom and for raising and lowering it in a vertical path, and means for operating the lift mechanism from the remote location.

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: Manually controlled handling machine for filling or emptying cases for transporting stowed articles, including a carriage (7), displaceable between a station for supplying bottles lying head to tail and a station for loading containers, bearing a tackle-block (16), and a centering frame (17) adapted to cooperate with a plate (24) equipped with gripping suction cups (25). Carriage (7) rolls on a runway (1) which is curved in a semi-circle above the containers in order to allow the loading of one half and the other half of the containers, and an orientable guiding member (28) enables the position of the plate (24) during its rising and descending movements to be corrected.

Abstract: A tool changer for forging machines or the like is disclosed. The tool changer includes a carriage which is manually movable along a track between positions over a forging machine and a position over a tool storage area. Detents are provided to give an indication when the carriage is properly positioned at each station where a tool changing operation is required. A power lift supported by the carriage is turn supports a tool head for vertical movement. Mounted on the lift is a tiller which extends laterally from the tool changer. Controls for the lift are mounted on the tiller. The tiller and the controls mounted thereon are conveniently located to permit the operator to move the tool changer from an operator's position intermediate the machine and tool storage area and to control the operation of the tool changer from such position. A camming system operates to accurately position the tool changing head as it is lowered into an operative position at each work station.

Abstract: A work setting system associated with a group of machine tools arranged in a production line for setting workpieces on pallets. The system includes a setting table section providing a location for setting a workpiece on a pallet, a work centering and clamping unit arranged around the setting table section for driving positioning jigs and clamping members to be attached on the pallet, a measuring unit measuring the dimensions of the workpiece on the pallet and supplying signals to the work centering and clamping unit which represents the measurements of the workpiece as positioning signals, a handling unit for handling the pallets, the workpieces and the jigs, and a control unit for controlling the work setting table section, the centering and clamping unit, the measuring unit and the handling unit in a conversational mode and also supplying and receiving information exchanged between control unit for the group of machine tools and a central processing unit superposing the control units.

Abstract: A loader-unloader system for loading and unloading work pieces, particularly work pieces having thin portions, in a machine tool wherein each work piece is held in position for rotation about a longitudinal axis during which various machine operations may be performed by the tool comprising a loading conveyor adapted to deliver articles in succession to a loading position, an unloading conveyor adapted to receive work pieces, and a loader-unloader assembly. The loader-unloader assembly comprises a track extending along an axis parallel to the longitudinal axis of the machine, a trolley movable along the track and means for moving said trolley back and forth along the said track. A load-vacuum clamping head assembly is mounted on the trolley, and an unload-vacuum head assembly is mounted on the trolley.

Abstract: Several embodiments of material handling devices for moving a workpiece through a predetermined path. Each embodiment includes a gripping device for holding the workpiece and a supporting structure for permitting movement of the gripping device along two separate paths. A cam arrangement is also provided that includes at least one barrel cam and a second cam, both of which are fixed to a common shaft. Separate follower arrangements cooperate with each cam and operate to move the gripping device along each path of movement. In two embodiments, two barrel cams are employed. As a safety feature, an overload device is incorporated so that the mechanism will not be damaged in the event of jamming.

Abstract: A workpiece transfer apparatus for transferring a workpiece for a machine tool. A first crank arm is rotatably supported and rotatably supports a planet gear engaging with a stationary gear and a driven gear engaging with the planet gear. A second crank arm is secured to the driven gear and fixedly supports a crank pin. A connecting member for lifting and lowering a workpiece grip device is pivotably connected to the crank pin. The crank pin has a cam member secured thereto. An operating member is provided with a cam follower engaging with the cam member and is operatively connected to the workpiece grip device for opening and closing the same in accordance with the shape of the cam member.

Abstract: In press line operations, a workpiece conveyor device is necessary to carry workpieces from one press to another. Preferably, this conveyor should be readily removable for repairs, adaptable to a large number of presses, and readily reprogrammable to adapt to a variety of workpieces. To achieve this, a conveyor is provided having a cross member mounted on a movable carriage which moves along a track on a frame bridging the intermediate space between two presses. Horizontal movement of the carriage along the track, vertical movement of the cross member on the carriage, and movement of a positioning device for the workpieces is provided by setting drives controlled by a continuous-path numerical control unit. For repairs, the entire frame can be moved out of the intermediate space in a direction at a right angle to the direction of workpiece travel.

Abstract: A general purpose assembly machine of linear indexing type comprising a pallet guide for indexing a plurality of pallets, an elevator block making a rise and fall motion, and a pair of tool plates attached to the elevator block and making a linear and reciprocal motion in a direction parallel to or in a direction making a predetermined angle against an indexing direction of the pallets, wherein a plurality of working heads fixed at the tool plates make a combined horizontal and vertical motion thereby transferring parts from and onto the pallets.

Abstract: An automated device comprising an arm, a supporting case mounted on the end of the arm, a rotary actuator mounted on the end of the supporting case and a wrist with a hand rotatably held by the rotary actuator, wherein the rotary actuator has a replaceable stopper on the shaft thereof, and the supporting case has a pair of static members for setting the rotational range of the stopper. In the device, the rotary actuator stops rotating at two positions, i.e., the hand stops rotating at two positions.

Abstract: An end position control robot constituted by a compound robot comprising a weight control apparatus a weight control robot having a link arm robot and a position control apparatus of a position control robot, both the apparatus being mechanically associated. The weight control apparatus is constructed so as to bear vertical load to control a vertical position and the position control apparatus is constructed in such a manner that a working end portion of the weight control apparatus is moved in a horizontal direction to carry out positioning, which leads to a precise positioning of the end portion of the arm in the case of load being transferred.

Abstract: A device for picking up and placing articles on a moving conveyor or assembly line, comprising a conveyor including a support adapted to be moved in a first conveyor shaft, an article station adjacent the conveyor, an article handling device support assembly adjacent the conveyor, an arrangement mounting the article handling device support assembly for movement along an article handling path, and a reciprocating drive connected to the conveyor and to the article handling support assembly to move the article handling support assembly in timed relationship to the conveyor.

Abstract: Apparatus is provided for handling bobbins and particularly for transferring bobbins from one location to another. The apparatus includes a cart having parallel linkages pivotally mounted thereon and connected to a fluid-operated ram. A bobbin-engaging unit is carried at the ends of the linkages and engages the bobbin internally. After engagement, the linkages are manipulated to transfer the bobbin to another location with the weight of the bobbin and mechanism being offset by the fluid-operated cylinder. The cart is designed to be attached to a portable bobbin buggy so that both can then be pushed as a unit to move the buggy to a desired location from which the bobbins are transferred to a creel or rack, for example.

Abstract: Apparatus for loading and unloading a machine, such as a vertical spindle boring machine, comprising a transfer carriage, translatable in a forward and reverse path, mounting a turntable for movement therewith and for rotating movement relative thereto. The turntable includes a chuck for transferring at least one unmachined workpiece from a supply-discharge conveyor to a machine tool and another chuck for removing a machined workpiece from the machine tool and depositing the unmachined workpiece on the supply discharge conveyor.