Abstract: A manipulator consisting of a slave assembly, a master unit, and a control circuit. The movement of the various components of the slave assembly are actuated by electric stepping motors, and the slave assembly itself comprises a pantograph linkage having a wrist at one end of an extended link of the linkage. A jaw assembly connected to the wrist is arrranged to be operated by a fluid circuit which is pressurized by an electric pump and regulated by the action of a throttling device that has a plunger held over an opening by an electric solenoid. Movement of the plunger is detected by the change of impedance of a sensing coil as the plunger enters the coil.

Abstract: An industrial robot and a control system therefor are described. The robot generally consists of a base member, a post member rotatably mounted on the base member, fluid actuated means for rotating the post member relative to the base member, an arm assembly mounted on the post member, means for performing a work function mounted on the arm assembly, fluid actuated means for operating the arm assembly and the work performing means and a system for controlling the operation of the fluid actuated means. A fluid reservoir is provided having a compartment in the post member, and fluid lines intercommunicate the reservoir and the aforementioned fluid actuated means. A motor driven pump mounted on the post member supplies fluid from the reservoir under pressure to the fluid actuated means under the control of electrically operable valves mounted on the post member for that purpose.

Abstract: A dual-mode takeout mechanism is provided for use in, for example, an individual section glassware forming machine. In the normal mode of operation, the formed ware is transported in a fixed radius vertical arc from a molding station to a cooling station and released for further processing. In the reject mode of operation, defective formed ware is transported in an enlarging vertical arc from the molding station to a disposal station. An arm of the takeout mechanism is capable of extending in telescoping fashion, and is activated in the reject mode so as to begin the extension process as the takeout mechanism begins to transport ware from the molding station. A controller is provided to detect when the reject mode has been commanded. The reject mode can be entered for a desired number of cycles by computer command, sensor command, or operator command (manual entry). If the reject mode has been entered, the controller operates a solenoid controlled valve which extends the arm pneumatically.

Abstract: An automatic working apparatus having a route-controlled object to be controlled in respect of the route along which the object is moved is controlled by a point-to-point control system in which coordinates of three successively given bend points are used for automatically determining a bend angle at one of the given bend points and for automatically controlling the speed of the route-controlled object at the one given bend point as a function of the bend angle.

Abstract: Teach data for directing the operation of an industrial robot is entered from a teach operating panel and set in a teaching memory. Machine work identify, insufficient machine work detect and other similar external data and data, such as the current and teach positions of the robot, are set in a work memory. A processor accomplishes write/read control of the teaching memory and the work memory and processing of the various data. In accordance with the result of processing by the processor, the robot is controlled and, in accordance with the contents of the external data, the teach data or the sequence by which the teach data controls is modified, thereby to efficiently operate the robot.

Abstract: A break-away device includes a lower arm 15 pivotally connected to an upper arm 19 by a coupling 17. The lower and upper arms 15,19 are generally maintained in a rigid, colinear relationship by a spring-biased detent pin 39. When the lower arm 15 undergoes a lateral impact, the detent pin 39 is displaced from a grooved detent recess 37 of the lower arm 15 and rolled about an upper convex surface 31 thereof, thereby permitting the lower arm 15 to pivot about the coupling 17 and break away from the upper arm 19.

Abstract: The invention refers to a manipulating device, particularly for industrial obots, comprising an articulated gripping arm located and extending from a support, of the kind in which the articulated gripping arm comprises a lever system with at least a first, a second and a third member pivotally connected with the pivot axes parallel to each other, the first member being pivotally connected at the support. Such manipulating devices are equipped with at least two drive units to move a driven member to a predetermined angular relationship with respect to a preceding member or to the support as the case may be. A gripper or tool is located at the free end of the last (outermost) member. The invention particularly concerns manipulating devices for the purposes of the watch industry where relatively small parts must be precisely manipulated.

Abstract: An electrically operated and electronically controlled hollow glass article (glassware) handling apparatus responsive to I.S. machine synchronous operation may have mechanical robot operation consistent with, and identical to, ideal mechanical cam driven glassware conveyor delivery apparatus (GCDA) operation and may be adjustable for varying pushout cylinder time-position characteristics and automatically may correct for loss of synchronization and loss of initial or "home" position reference.

Abstract: A self adjusting actuator system (32/32') has an actuator housing (40), a telescoping piston (52) defining therewith head and rod end chambers (58,60), and a compression spring (66) disposed for biasing the piston (52) in a preselected direction against an external force. A control system supplies fluid selectively to either of the chambers (58,60) and includes control device (33/33') for selectively permitting egress of fluid from the rod end chamber (60) to permit the piston (52) to move in the preselected direction in response to a change in the external force. Such system is particularly useful in a log grapple (10).

Abstract: The electrical spot welding manipulator is assembled of a base, a rotary support on the base, an arm hinged to the support and rotatable at right angles to the support, a rotatable hollow member inside the arm, a column arranged inside the hollow arm for rotation about its axis, a working head mounted on the column and being rotatable about two secondary axes, movable welding grips mounted on the head, actuator elements, for activating respective movable members, and a welding transformer arranged in the arm and connected to the welding grips by flexible conductors.

Abstract: A method and apparatus for controlling a manipulator by establishing polynomials obtained, as the functions of two sets of command values, the one set representing the position and the other set representing the direction respectively of the manipulator hand, by approximating the values of angles of rotation prescribed for the drive mechanisms of the manipulator and the arm of the manipulator, subjecting the aforementioned polynomials to an arithmetic operation in electronic circuitry by use of the aforementioned objective-command values in conjunction with the coefficients of the aforementioned polynomials established in advance by calculation and thereby deriving angular magnitudes for the separate drive mechanisms of the manipulator and controlling the operation of the drive mechanisms based on the angular magnitudes.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goal site.

Abstract: In order to improve the grip and remote handling of an object by an "artificial hand" (or "slave hand") remotely controlled by the hand of an operator, the artificial hand is provided with sensors for sensing tactile parameters. The signals produced by these sensors are applied to actuators associated with a "master hand" in the form of a glove in which the hand of the operator is inserted, and the actuators apply tactile sensations to the hand of the operator. The operator thus apparently "feels" the object, as if handling it directly. The remote handling device of the invention is particularly useful for handling objects in a dangerous environment (in the nuclear or chemical industries for example) or out of the reach of the operator (under water or in space).

Abstract: A robot having a low-inertia manually actuated arm that functions as a teaching arm for a symmetrically similar powered operating arm disposed on the robot symmetrical thereto. The teaching arm is provided with compensating devices continuously balancing the combination of the teaching arm and a tool removably mounted thereon so that gravitational forces are continuously compensated. The teaching arm is in a state of continual equilibrium so that the tool thereon can be moved manually accurately and smoothly and substantially inertia-free. The teaching arm accordingly functions as a light-weight highly accurate programmer for the powered operating arm of the robot.

Abstract: An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving the instrument along a predetermined spatial track. The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.

Abstract: A hoisting apparatus mounted on the deck of a ship for picking floating objects from the sea having an articulated lifting arm which extends over the side of the ship and gripping device suspended from the end of the arm for grasping objects in the water. The arm is actuated by an hydraulic cylinder connected to a source of high pressure liquid which may be dumped into the cylinder instantaneously in response to the closing of the gripping device around the object. The liquid is pressurized by a compressed gas. The apparatus produces a high hoisting speed and lifts the object very quickly from the water.

Abstract: An industrial robot (1-10) is arranged to position workpieces (OP) in a unidimensional or multidimensional pattern or to collect workpieces located in such a pattern. The robot is first controlled to a predetermined preliminary position (e.g. P'.sub.O) and thereafter to its final position in the pattern by way of sensing members (9). The preliminary position for a workpiece is calculated with the final position of an adjacent workpiece as the starting point. To this position is added a vector corresponding to the spacing of the pattern. The spacing is calculated as the difference between the coordinates for the final positions of two workpieces located adjacent to the workpiece in question.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

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 industrial robot system comprises a pair of vertically spaced parallel guide rails rigidly supported from the ground, a slide member slidably mounted on the guide rails having upper and lower pivots, a robot arm structure having a housing pivoted at the upper pivot of the slide member, and an outer and inner shaft axially movable as a single piece along the longitudinal axis of said housing, the inner shaft being rotatable about the longitudinal axis. A tool holding arm is attached to the forward end of the housing for unitary axial movement with the outer shaft and for unitary rotation with the inner shaft. A fluid operated telescopic cylinder is pivotally connected between the lower pivot of the slide member and a lower end portion of the robot housing for pivoting the robot arm structure at a desired angular position.

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 system is described for guiding a claw to the proper distance and into the proper orientation in yaw and pitch, to engage a grappling fixture. The system includes four proximity sensors on the claw, that are arranged at the corners of an imaginary square, which sense the distance to the top surface of the grappling fixture. If a pair of sensors at opposite corners of the square sense a different distance to the top surface of the grappling fixture, then it is known that the claw is rotated about a corresponding axis with respect to the plane of the grappling fixture.

Abstract: The present invention relates to a safety mechanism for a multiphase forming machine, in which trigger signalling is used to automatically stop the machine by means of the insulation state formed between one leg of a clamp and a stock conveyor to which the clamp is attached as well as whether a nut stock is firmly held by the clamp so as to prevent any part of the machine from being damaged or destroyed.

Abstract: A loader for a forging press or the like comprising a transfer arm movable from a work pickup station to a work receiving station. A clamp is provided on the transfer arm for clamping and unclamping the work.

Abstract: A control system for programming operations of a spraygun robot for spraying paint comprises a mobile control structure having jointed parts of the robot, and also possesses transducers corresponding to transducers of the robot, for transforming electrical signals respectively from and into operations of the mobile structure and of the robot. The control structure is relatively light and mobile to facilitate manual operation. The robot is sufficiently massive and heavy to permit numerous operations of the joint devices thereof in a point-spray atmosphere.

Abstract: A manipulator comprises a carriage on which is mounted a peel having jaws for gripping a workpiece. The peel can move relative to the carriage longitudinally vertically and in tilt. Detectors give signals representing parameters on which the position of the peel depend and a circuit derives from those signals an indication of the position of the jaws, taking into account the angular attitude of the peel. The position indication can be used to control the peel jaws to a required position relative to the carriage.

Abstract: An air pressure counterbalance system is provided for an X Y Z orthogonal manipulator wherein the effect of gravity on a manipulator arm joint is counterbalanced both while hydraulic pressure is supplied to the hydraulic motors and also when the motive power is suspended. The air pressure counterbalance force is produced by a piston operating in an air cylinder in the direction of the gravity axis as the manipulator hand is raised or lowered. A selected constant air pressure is supplied to the counterbalance cylinder through an air pressure regulating system. In a preferred embodiment, a program-controlled counterbalance system is provided wherein the weights of various tools to be grasped by the manipulator fingers during a program are stored in CPU memory. The manipulator program selects the appropriate counterbalancing force to compensate for the predetermined tool weight and adjusts an air pressure regulator accordingly.

Abstract: A glass sheet is advanced into a sheet determining position with one side of the sheet intercepting two scan paths and the other adjacent side of the sheet intercepting one of the two scan paths. Light rays reflected from the portion of the scan paths occupied by the sheet are incident on selected photodetectors which generate a plurality of signals. The signals are acted on to determine orientation of the sheet relative to a reference plane. The information is forwarded to the program of an industrial robot to alter the path of the robot arm to position a pick up frame mounted on the arm over the sheet. Thereafter the frame engages the sheet to load same in a shipping container.

Abstract: A machine tool comprising a turret for receiving tools, a drum magazine for storing further tools, and an automatic device for conveying the tools from the magazine into a working position on the turret, in which the drum magazine is arranged coaxially to the turret. The tools of the turret may define a pitch circle and the drum magazine may be constructed as part of the turret within the pitch circle or it may be arranged in rotary manner within the said pitch circle. In another construction, the drum magazine has the shape of a circular segment and is arranged outside the turret.

Abstract: A robot comprising a chain of members connected in pairs and mobile with respect to one another under the action of drive device controlled by a computer, each of the members being operative to drive a terminal member of the chain in a movement determined by a monitoring device controlling the computer, a single motor for selectively actuating, via a selection device controlled by the computer, each of the mobile members separately, and a single monitoring coder for selectively determining the movement of the mobile members.

Abstract: This disclosure is drawn to a method of and an arrangement for controlling he rotational and translatory motions of a manipulator or industrial robot, which automatically for the entire motion and speed range, even when there is simultaneous movement of a plurality of motion actuators, permit uniform, selectible and disturbance-independent dynamic control properties for individual or all motion parameters. The invention is characterized in that for each rotational or translational motion parameter of the manipulator or industrial robot to be controlled the positioning signal of the associated motion actuator is in part generated by a control means with selectible dynamics. This controller output signal is amplified multiplicatively by the output signal of an arrangement which for a rotational motion reproduces the associated variable moment of inertia and for a translatory motion the associated mass, respectively, inclusive of the variable load mass.

Abstract: A protection device is provided for a machine which works sheet shaped material to stop the displacement of the machine when the protection device encounters an obstacle. The machine includes clamps which are displaced by the machine and which hold the material. The protection device includes two blades arranged parallel to each other and disposed on the machine in a loop shape surrounding each clamp. The two blades form a pair of normally open contacts of which at least the outer blade is flexible and resiliently deformable to allow the blades to be brought into contact with each other and close the contacts when the outer blade encounters the obstacle. A stop device is coupled to the normally open contacts to stop the displacement of the machine when the contacts are closed.

Abstract: A grapple tong system has first and second hydraulic lines for closing and raising the grapple tongs, respectively. A hydraulic system is provided for automatically, controllably passing fluid from the second to the first line in response to a preselected pressure in the first line and a higher pressure in the second line for automatically, controllably urging the grapples to a closed position.

Abstract: A carton filling machine for receiving a plurality of tapered wall containers from a serial conveyor and loading them into cartons. The containers are assembled in a collecting area within the machine and engaged by a clamp head assembly. The clamp head assembly is moved horizontally to a position above a case conveyor. Opened cases on the case conveyor are moved vertically into a container receiving position below the cup clamp assembly to receive containers therefrom.

Abstract: An improved machining center including an automatic tool changer adapted for boring, drilling, milling, tapping and tool changing operations under numerical control. The machine, which may be built in both horizontal spindle and vertical spindle configurations, includes a tool storage matrix and tool transport shuttle compactly arranged on the upstanding column and a two-handed transfer arm on the headstock. The toolholders are carried in tool cups having mechanical latches. The matrix and the shuttle are also provided with mechanical latches for the tool cups actuated as an incident to transfer of tools between the matrix, shuttle, and arm or vice versa. The machine is adapted to operate with toolholders interchangable with those for a current commercial vertical spindle machining center.

Abstract: An apparatus for transferring workpieces from a store to a machine tool and vice versa has an arm, with a gripper at one end to pick up a workpiece. The arm pivots so that the gripped workpiece moves in an arc from one location to the other. When the workpiece is being picked up or put back in the store, the grippers have to be opened or closed. To do this, the arm is allowed to fall below the horizontal, when it is positioned at the store. When the arm is then raised to the horizontal (either by lifting the workpiece in the store or by lowering the pivoted end of the arm) an actuating device is operated which actuates opening or closing of the grippers.

Abstract: A side shifter mountable on a conventional hook-type lift truck carriage. The shifter includes an upper hook which, through removable wear shoes, accommodates a sliding engagement between the shifter and the upper bar in such a carriage, and a rotary spherical-segment bearing disposed below the hook which accommodates a rolling point contact with the lower bar in such a carriage.

Abstract: A tool storage drum which is adapted to receive and store a plurality of toolholders is rotatably mounted on top of the upright of a horizontal machining center behind the spindle thereof. A tool changer carriage carrying a tool change arm is pivotally mounted on the upright above the spindle and is pivotable between a parked positon in which an end of the tool changer arm is adjacent to the tool storage drum and an exchange position in which an end of the tool changer arm is adjacent to the spindle. The tool changer arm is slidably mounted on the carriage for movement between an extended and a retracted position to remove toolholders from their sockets or insert them therein and is rotatable through 180.degree. to interchange its ends for the purpose of exchanging a tool in the spindle for a tool previously removed from the tool storage drum.