Abstract: The high speed rack loader/unloader system uses a two arm loading machine to allow flat pieces of material to be loaded on a horizontal conveyor from a vertical rack or to a vertical rack from a horizontal conveyor. The two arms are mounted on a single input, two output right angle gearbox. The outputs of the gearbox rotate in opposite directions so one arm is rotating up while the other arm is rotating down. The two arms are mounted at a roughly 90 degree angle from each other so one arm is at the conveyor while the other arm is at the rack. Each arm has a mechanism to allow the length of the arms to be positioned to four different lengths. Full extension, long extension, short extension and no extension. At the end of the arms are vacuum cups to hold the flat material during transfer. The rack is loaded on a moveable platform that indexes as pieces of material are added or removed.

Abstract: A device for controlling a tool shaft of a cutting machine includes a casing in which the tool shaft is rotatably and movably received therein, the casing having a first and a second detection member, a first, a second and a third switch member respectively thereto, two racks selectably engaged with a toothed section of the tool shaft and each of the two racks having a damping device disposed therein. The tool shaft has head portion connected to a cylinder and the head portion has two rods extending therefrom. When the first rod is detected by the first detection member, and the head portion actuates the first switch member and one of the racks rotates the tool shaft till the second rod is detected by the second detection member so as to lower the tool shaft. The other rack is therefore engaged with and rotates the tool shaft till the damping device in the rack actuates the third switch member to raise the tool shaft to let the first rod be detected by the first detection member.

Abstract: A device for handling syringe bodies stored in trays. The device has a transfer unit for the syringe bodies and a movable matrix that cooperates with it. Recesses for the syringe bodies are embodied in the transfer unit. To secure the syringe bodies in the recesses, the transfer unit has pins that are supported so they can rotate and are provided with securing catches. To press the tray away from the syringe bodies, in one embodiment of the invention, a number of press struts are disposed on the matrix. The device according to the invention has the advantage that the handling of the syringe bodies occurs very gently. Furthermore, the device can advantageously be coupled to a handling robot.

Abstract: The present invention is directed to a rotary object feeder, which feeds objects from a first location to a second. The object feeder feeds the object from a pick-up location to an off-loading location, by moving an object pick-up member along a trajectory formed by rotating the object pick-up member about a first axis of rotation; rotating this first axis of rotation about a second axis of rotation substantially parallel to the first axis of rotation and spaced therefrom; rotating the second axis of rotation about a third axis of rotation substantially parallel to the second axis of rotation and spaced therefrom. The invention is particularly suited for use in a rotary carton feeder having numerous suction cup pick-up members, used to feed cartons from a pick-up location, through an operating location to a drop-off location. The relative rates of rotation of the pick-up members may be chosen to minimize their tangential velocities at the pick-up, operating or drop-off locations.

Abstract: A machine tool center (10) displays at least one machine tool (11, 12, 13) which has a working area (17) accessible through an operator door (16) to process workpieces (21). Furthermore, a loading/unloading station (14) for the workpieces (21) and a loading device (22) which transports the workpieces (21) between the loading/unloading station (14) and the respective machine tool (11, 12, 13) and changes these at the machine tool (11, 12, 13) are also provided. In the new machine tool center (10) the loading device (22) is arranged below the working space (17) of the machine tool (11, 12, 13) (FIG. 1).

Abstract: An automated component placement apparatus for use in populating circuit boards with electronic components. The apparatus includes a plurality of toolheads for picking up and placing components, a plurality of component feeders, a transport means to move PC boards between PC board assembly areas for placement of components, and a plurality of gantry systems for moving the toolheads between the component supply stations and PC board assembly areas. A plurality of programmable controllers actuates both the toolheads to grip or release components and the gantry systems to move the toolheads between the component supply stations and PC board assembly areas.

Abstract: A polishing apparatus has a turntable and a top ring for gripping a semiconductor wafer to be polished by an abrasive cloth on the turntable. The polishing apparatus incorporates a loading and unloading unit having a supply holder for holding and supplying a semiconductor wafer to be polished to the top ring at a transfer position, and a reception holder for receiving a polished semiconductor wafer from the top ring at the transfer position. The reception holder and the supply holder are mounted on respective opposite ends of a support block which is angularly movable in a vertical plane by a turning mechanism for moving the supply holder and the reception holder alternatively to the transfer position.

Abstract: A loading device mounted to a collection vehicle is disclosed. The loading device may comprise several embodiments for scooping a soft-sided object through either a horizontal or vertical plane. The loading device is attached to a mechanized arm for compound angular displacement and operable between a stowed, extended, lift, and dump positions. A swivel mount interconnects the mechanized arm to the collection vehicle and further compounds the angular displacement and operating positions of the loading device.

Abstract: An armature manufacturing line includes one or more manufacturing cells, each having a winder facing a fuser and a rotatable armature transfer apparatus that transfers unwound armatures to the winder and wound armature from the winder directly to the fuser. An elevator at the fuser moves wound and fused armatures from the fuser to a conveyor. Different embodiments are disclosed.

Abstract: An angular conveyor for fragile cylindrical objects, particularly in cigarette packing machines, comprises a wheel (1) provided preferably with a plurality of peripheral cells (101) to house the cigarettes (G), these cells (101) being open at least at the perimeter of the wheel (1), and devices (12) for the at least partial closing of the open perimetrical ends of the cells (101), these devices consisting in particular of pairs of fingers mounted on finger-carrying elements (10) which can be moved alternately between a position of at least partial closure and one of opening of the said ends in synchronization with the steps of advance of the wheel (1), the oscillation of these elements being caused by annular cams (15) substantially coaxial with the wheel (1), these cams (15) being provided on both sides of the wheel (1) and being independent of the rotary motion of the wheel (1). According to the invention, the cams consist of what are known as three-dimensional cams (15).

Abstract: An improved conveying system in a parallel processing production line for dynamo-electric machine components having a magnetic core, the conveying system having a main conveyor extending along all of the processing machines of the production line and a load/unload device for transferring components between the main conveyor and a selected processing machine. Components to be processed are loaded directly from the main conveyor onto the load/unload device without the use of an intermediate conveyor. The load/unload device has a base platform with an alignment area at which transfer between the load/unload device and either the main conveyor or a selected processing machine occurs. Two component holders (e.g., collets) are movably mounted on the base platform for alternate positioning at the alignment area. The load/unload device alternately positions the gripping ends of the component holders adjacent the main conveyor and a selected processing machine.

Abstract: Disclosed is a tool clamping mechanism for use in a machining center, which includes a pivoting member having at opposite ends a pair of fingers for grasping a tool, the pair of fingers being connected by means of a hinge, a rotating block fixedly mounted on a shaft so as to be rotated clockwise and counter-clockwise in a given range by the shaft, the rotating block being rotatably positioned in the center of the pivoting member, a pair of sliders for respectively pushing and pulling the pairs of fingers to open or close, a pair of rotating block links for respectively connecting the rotating block with the pair of sliders, a pair of slider links for connecting each of the sliders with each pair of fingers, and an actuating means for rotating the shaft and thus rotating block, wherein the rotating block is rotated to push or pull the pair of sliders so as to open or close the pairs of fingers through the cooperation of the links.

Abstract: A two-sided clamp for manipulating heads of paper rolls,which includes an arm having one end attached to the wrist joint of a robot and another end that carries two grasping members which are aligned parallel and outwardly facing in opposite directions. Each of the grasping members has a base plate and multiple resilient suction cups which are mounted to the base plate. The grasping members are mounted to the arm so that the clamping center point of the first grasping member is farther removed from the wrist joint of the robot in the direction of the longitudinal axis of the arm than the clamping center point of the second grasping member. The grasping members are mounted in an asymmetrical manner to the arm, which asymmetrical structure of the clamp facilitates the two-sided structure of the clamp.

Abstract: A conveyor conveys boxes that are empty and boxes that are filled with articles in a horizontal plane past an article handling machine where articles of a first type are removed from some boxes and articles of a second type are inserted in empty boxes. The machine runs concurrently with the box conveyor in one direction so boxes from which the articles of the first type are conveyed beyond the machine and empty boxes in which articles of the second type are inserted are also conveyed from the machine in the same direction. The article handling machine has heads that are constrained to orbit in a generally circular path and the heads have grippers on them which are controllable to grip and release groups of articles at consecutive working stations along the orbital path of the heads.

Abstract: A robotic system for inserting cylinder liners into the cylinder block from an internal combustion engine includes an articulated robot arm for cycling an end effector between a dunnage unloading position and a cylinder insertion position. The end effector, which is attached to the robot arm, picks liners from dunnage and places the liners in the cylinder bores of the cylinder block. The end effector includes remotely deployable combination teeth for gripping the liners to permit removal from their dunnage and for aligning the end effector and liner into the cylinder bores to permit insertion of the liners.

Abstract: A rotary placer for picking, transferring and placing a carton from a stack of cartons or sleeves in a magazine to an assembly position. The rotary placer includes a frame driven for rotation about a first axis and supporting an arm having an inner end and an outer end. The outer end of the arm has vacuum cups for engaging and releasably retaining a carton for movement from the pick position to the place position. The arm is reciprocated from an extended position to a retracted position. The vacuum cups engage a carton when the arm is in the extended position and the arm retracts to remove the carton from the magazine and carry it toward the place position. The arm again is extended as it reaches the place position. A cam guide controls the movement of the vacuum cups so they move linearly away from a carton in the magazine.

Abstract: A method and apparatus for opening and closing a cover-plate on an automotive vehicle, wherein the plate lies in line with the vehicle outer body panel and can be swung between an open and a closed position about a vertical or horizontal hinge axis and covers the space in which the mouth of the vehicle refuelling pipe is located. The cover-plate is opened in two stages, wherein the plate is opened slightly to a limited open position by a first opening device in a first opening stage, thereby enabling a second opening device to be inserted between the cover-plate and the outer body panel, and wherein the plate is opened completely by the second opening device in a second opening stage. The cover plate is swung from its open to its closed position by the second opening device.

Abstract: A suction head having plural suction pads on both surfaces thereof is used to transfer a substrate of a compack disk and the like from one position to another for loading. The suction head is connected to a rotating shaft rotatable and movable in a vertical direction. The rotating shaft causes the suction head to turn over and move in an up-and-down direction. The suction pads on both surfaces of the suction head are connected to a pair of flexible pipes which are wound around the shaft and connected respectively to exhaust systems. Thus, the suction pads capture and release the substrate by suction control so as to load the same at a prescribed position. Further, a shock absorber is provided to relieve a shock upon the stoppage of the suction head in vertical and rotational reciprocating motions.

Abstract: An industrial robot is provided with robot hands (44, 46) capable of being moved by turning actions between a workpiece handling position to which a workpiece is transported and at which the workpiece is fed to the chucking device (10) of a machine tool and a standby position away from the workpiece handling position. The robot also incorporates a robot hand (42) capable of being turned in a plane at the workpiece handling position to align a workpiece with the chucking device (10) of the machine tool, and a pneumatic cylinder actuator (48) capable of linearly moving the robot hand (42) toward the chucking device (10) and away from the chucking device (10) so as to remove a workpiece from the chucking device (10). The industrial robot can be readily fixed to the bed of the machine tool by bolts, for example.

Abstract: Multiple electric motor parts are processed simultaneously by apparatus which removes the parts from a conveyor (on which the parts are side by side in a substantially horizontal plane), repositions the parts so that they are vertically above one another, processes the parts while they are thus repositioned, and then returns the parts to the conveyor in their original side by side relationship in a horizontal plane. In addition, a gripper apparatus for electric motor components that can be used to grip components of different sizes, and that can rotationally index electric motor components of different sizes, is provided. The gripper apparatus has two oppositely facing gripper arms with complementary V-shaped faces sized to accommodate a range of sizes of components. The arms are moved together in unison to center and grip the component. After the component has been gripped, an indexing pawl rotates the component.

Abstract: Unit (10) to feed and stack layer of sections, which is located downstream of a layer-forming platform (11) and upstream of a packaging assembly (32), the layer-forming platform (11) comprising a plurality of conveyors (29), the unit (10) consisting of a plurality of first manipulator arms (40) and a plurality of second manipulator arms (41) able to rotate about an axis (42) parallel to the lengthwise axis of the sections to be packaged, the manipulator arms (40-41) bearing layer manipulators (35-36) able to move lengthwise along the manipulator arms (40-41) in the transient state of rotation of the movable manipulator arms (40-41), the layer manipulators (35-36) having an engagement position (45) arranged substantially at the front of and external to their relative manipulator arms (40-41).

Abstract: An apparatus for loading and unloading a workpiece between a working position of a machine tool and a waiting position provided outside the machine tool. The apparatus comprises a rotational shaft which is supported to be rotatable about its axis extending in parallel with an axis of a work spindle, and is rotated in a clockwise direction or a counterclockwise direction within a required rotational angle by an actuator. On a bracket fixed on one end of the rotational shaft, there are installed a loading arm unit and an unloading arm unit. The loading arm unit and the unloading arm unit are arrayed in a direction of the axis of the work spindle, and extend in an up-and-down direction along a pair of lines, which intersect with each other at a predetermined angle so as to interact at the working position, respectively. Each of the loading arm unit and the unloading arm unit has a pair of gripping claws extending in a direction which is normal to the axis of the work spindle.

Abstract: A machine tool includes a table (24) movable in a first direction and a second direction for supporting a work holder (H), a work storage magazine (3) for storing a plurality of work holders (H), and a work changer for transferring work holders (H) between the work storage magazine (3) and the table (24). The axis of the work holder (H) supported in the table (24) is directed in a horizontal direction. Each axis of the work holders (H) stored in the work magazine (3) is directed in a vertical direction.

Abstract: Multiple electric motor parts are processed simultaneously by apparatus which removes the parts from a conveyor (on which the parts are side by side in a substantially horizontal plane), repositions the parts so that they are vertically above one another, processes the parts while they are thus repositioned, and then returns the parts to the conveyor in their original side by side relationship in a horizontal plane.

Abstract: A tool exchanger for programmed machine tools includes a device for the conveyance of selected tools between a tool room and a main spindle of the machine tool and with two grip devices moving along a prescribed rotation angle and arranged in a carrier support mounted to the conveyance device and able to rotate between an alternate position and at least one standby position. In order to achieve faster exchange operations of the tools in a horizontal and vertical machining spindle, the drives to open and close both tool grips are activated at the same time. The support mounted includes a locking device which blocks the tool grip to standby position in its closed condition.

Abstract: Herein disclosed is an exchange arm drive control system which is adopted as the automatic tool exchanger of a vertical quadruple spindle type machining center and enabled to contribute to sparing the space and improving the machinability. The drive control system is comprised mainly of means for clamping a tool and moving a tool holder in a Z-axis, means for rotating the tool holder by 180 degrees, means for turning exchange arms by 90 degrees and controlling the position of the tool holder; and means for moving the exchange arms on a Y-axis. Especially, in the 90-degree exchange arm turning and tool holder positioning means of those means, there is adopted a hollow shaft (16) for keeping a rotary shaft (2) away from associating with the 90-degree turn of the exchange arm (11) so that the tool can be conveyed with the tool holder being held in a constant position.

Abstract: A wafer boat has an upper projection, a lower projection, and a lower flange. A horizontal/vertical conversion handling apparatus for handling the wafer boat comprises a rotatable arm, and upper and lower hands provided at both ends of the arm. The arm is rotatable by at least 90.degree. in a vertical plane. The upper hand has boat contact portions for contact in horizontal and vertical modes, which are engaged with the upper projection on both sides thereof. The boat contact portions of the upper hand are vertically arranged such that the positions of the boat contact portions are reversed by the 180.degree. rotation of the upper hand. The lower hand has boat contact portions for contact in a horizontal mode, which are engaged with the lower projection on both sides thereof, and boat contact portions for contact in a vertical mode, which are engaged with the lower surface of the lower flange.

Abstract: A tool changing system for chip forming machine tools is described which with a simple construction ensures a tool change both in conjunction with horizontal spindles and vertical spindles and also spindles which adopt intermediate positions, which minimizes the flight circle or disturbing circle and ensures short change times. This tool changing system includes a double grasper arrangement which is linearly movable by means of a transport device, which can execute pivotal movements over different angular ranges and which has grasper arms which are directed parallel to the pivot axle of the double grasper arrangement and are symmetrically displaced relative to one another in two perpendicular directions relative to the pivot axle, with each grasper arm being adjustable perpendicular to its longitudinal extent over a predeterminable stroke.

Abstract: The invention method and device for the automatic mounting of connector shells (5) and electric conductors (8) discloses that connector shells (5) are put on with the aid of an industrial robot (1) onto the contact parts (8.1, 8.2) of an electric conductor (8). A gripper tool (4) of the industrial robot (1) is capable to grip simultaneously several connector shells (5). Each contact part (8.1, 8.2) of the electric conductor (8) is maintained in rest position by two independently controllable gripper pairs (11.1, 11.2) of a double gripper (11) at the end of a cable-processing line (9), after a centering module (19) has set the desired position of the contact parts (8.1, 8.2). Depending on the intended device, the two contact parts (8.1, 8.

Abstract: An apparatus for transferring a kinescope and a chassis, which are coupled by cabling, from one location to another includes probes which engage apertures in the chassis to pick up the chassis. A frame supports suction cups to pick up the kinescope. The probes are supported by a bar which is pivotably attached to the frame. The chassis and kinescope are thus separately engaged and released but are simultaneously moved.

Abstract: The invention relates to a manipulator for positioning workpieces with respect to an industrial robot (4) by which the work pieces, one after the other, are to be processed. The manipulator (2) comprises at least two fixture supports (26,27) each having fixture members for holding a respective work piece, a holder (16) for the fixture supports, movably suspended for moving one of said fixture supports from a loading position, in which exchange of a work piece held in said fixture members may take place, towards an operative position within the operating range of the robot, while simultaneously moving another one of said fixtures from the operative position towards the loading position. A turning servo motor (32) common to the fixture supports is drivingly engageable with a fixture support (26) held in the operative position so as to be able to rotate said fixture support, e.g.

Abstract: An improved apparatus for picking up, transferring and depositing lightweight articles. The apparatus includes a driven rotary member having a pluality of tubular arms extending from circumferentially spaced portions of the member. The ends of these arms pass through a portion of a receptacle in which the articles are stored and suction is set up on these arms at their ends as moved through the receptacle to attract articles thereto. An extracting mechansim is positioned in close proximity to the arc created by the ends of the tubular arms and applies a vacuum, greater than the vacuum applied by said tubular arms, to extract the articles from the tubular arms and transfer the articles to a point of deposit.

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: Apparatus for an automatic bottle handling machine (2) operating in conjunction with a bottling line (25), with light material bottles (23) initially orderly arranged on trays or several packings (22) stacked on a pallet (21), comprises a device (1) having grippers (9, 17) for gripping the groups of bottles (23) in a packing (22), transporting (5) the bottles and dumping them out of their packing into a hopper (18) to recover them in bulk, and discharging the packing, an automatic machine (2) to re-erect and align the containers, fed with the bottles in bulk from the device (1), and a bottling line (25) coupled to the automatic machine.

Abstract: A device is disclosed for handling and transporting workpieces such as sheet-like labels between a plurality of stations. The stations include at least are workpiece pick-up station in the form of a magazine, at least one workpiece treatment station at which a tag or sticker may be applied to the workpiece, and at least one workpiece deposit station. A workpiece is removed from the magazine by at least one suction device which holds the workpiece as it is transported to, and as it is treated by, the treatment station. The suction device then transports the treated workpiece to the deposit station at which point the suction device releases the treated workpiece. The plurality of stations are disposed equaliangularly about the handling and transporting device; and the suction device is rotated to each successive station such that its outer surface is normal to the presentation surface of each station when the suction device arrives at each station.

Abstract: A portal system is described which consists of two translational axes and two rotary axes which are so arranged and controlled that every point within a cubic working space can be computed and reached. As a result of this special kinematic construction the total complexity for the frame and also the mechanical complexity and cost are substnatially reduced in comparison to customery portal systems.

Abstract: In an apparatus for collectively holding a plurality of packages aligned in a row to supply them to pegs of a creel bogie, an apparatus for supplying packages to a warper creel includes a package holding mechanism and an empty take-up tube holding mechanism.

Abstract: The grip disclosed has a rotationally driven, threaded rod, with one part having a left-hand pitch while the other part has a right-hand pitch. The rod driving, by means of nuts and connection rods, has gripping arms that apply balanced forces to the object to be grasped. The arms and the threaded rod are floating with respect to the casing of the clamp, but can be locked as soon as the part is grasped.

Abstract: A suction lifting device for lifting and laying a layered plurality of individual slabs, bricks, stones and the like in unison to provide an exterior paved surface of a road, walk, roof or the like. A plurality of vacuum pucks are supported by the vacuum plenum of a frame through flexible tubular members which operably engage a similar number of slabs or bricks and move them in unison to a preselected and configured location. The frame is carried by a supporting means and a load-bearing member which can be mounted on a self-propelled apparatus.

Abstract: A chuck for transporting wafer carriers is designed to hold the wafer carriers in a cantilever manner and with support members supporting one sides of the wafer carriers. This enables the whole chuck to be extremely compact. This also enables the wafer carriers to be made freer fron any limit while they are being transported and prevents them from being damaged because they can be steadily transported.

Abstract: A robotic hand has two sections disposed 90 degrees apart. One section has a bobbin core-engaging device for the purpose of lifting and handling the bobbin. This section also has a bobbin transfer means for removing the bobbin from the bobbin core engaging device. The second section of the robotic hand has a first fixed finger and a second movable finger. The fingers are used for clamping at least one lamination thickness of paper from the bobbin therebetween and holding it while the robotic hand is indexed to thread a processing machine with the paper from the bobbin. The second section also has a bobbin core removing means formed by the first fixed finger and a movable third finger. The first and third fingers cooperate for engaging the bobbin core and removing it from the machine after all of the paper has been removed therefrom.

Abstract: A multigripper turret (26) for a part handling device (10) in which a circumferential array of gripper mechanisms (28) are each mounted for independent shifting movement in a convergent direction by an associated positioning mechanism (29) between an extended position centered on the axis of rotation of a rotary member (22) of the part handling device (10), and a radially outward retracted position. This enables a plurality of parts (20) to be handled by each motion of the part handling device (10).

Abstract: The end effector forms part of the relocatable space station remote manipulator system. The end effector has grappling capabilities and latching capabilities and may include a force moment sensor which can cooperate with the arm in order to align the end effector with a grapple fixture without the aid of a grappling mechanism. The function of the end effector, when two are installed, one on each end of a symmetrical manipulator arm is to provide the capability to interchange the wrist and shoulder functions of the arm, thus enabling the manipulator to be self relocatable. The end effector combines the snare and rigidizing features of existing end effectors with new latching and umbilical electrical power and signal transfer features.

Abstract: An arrangement for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm.

Abstract: A robotic assembly apparatus includes a robot (2), a component supply station (6) and at least one placement station (7, 8). Components are correctly orientated by means of feeder bowls (11, 12) and are serially presented to the supply station along tracks (9 and 10). A multi-head tool (5) simultaneously picks up a plurality of correctly orientated components and places them in their correct positions in or on the workpiece. Before or during their travel to the workpiece, the plurality of components are placed in their correct positions relative to one another. Preferably two placement stations are used per robot so that one can be used for removing an assembled workpiece and supplying a new workpiece while the other is having components inserted. The multi-head tool (5) consists of individually-pneumatically-operable actuators (27) carrying individual-operable component grippers which may be mechanical, vacuum or electromagnetic.

Abstract: Bale handling apparatus comprises a main frame including transverse supports and devices mounted on the main frame for picking up bales. These bale pick-up devices comprise a plurality of substantially identical modules which are transversely adjustably mounted on the transverse supports of the main frame so that the number and position of the modules can be varied. The bale pick-up devices each have movable tines which, in an operative position, engage a bale and, in an inoperative position, are retracted clear of a bale, and actuators associated with each respective bale pick-up device operable to move the movable tines thereof to and from the operative position. The actuators of the respective bale pick-up devices are connectable in parallel to a common drive and releasable locking devices are associated with the movable tines of each bale pick-up device for locking the movable tines in the inoperative position.

Abstract: A feed apparatus employs a vision controlled robotic manipulator in which components are dispersed into a single layer with a random orientation. The dispersing mechanism comprises a vibratory feed plate having an input hopper which receives components to be dispersed. The feed plate is controllably vibrated such that components are urged along its top surface. Located in the travel path of the components above the feed plate is a rotating cylindrical brush, which sweeps components as they are being vibrated by the feed plate and causes a single layer of components to emerge from beneath the brush and pass to a viewing/pick-up zone. This zone is backlighted, so that the components may be observed by a camera mounted directly above the backlighted layer. The camera image is analyzed by a video data processor to determine the location and orientation of a component. This information is applied to a manipulator control program for driving a robotic manipulator to pick-up a component for transport to a workpiece.

Abstract: An article control assembly and process for an article transfer mechanism of an article transfer device for moving articles to a predetermined location. The article control assembly has an articulated member for engaging the transferred articles. A synchronization structure for the articulated member is provided for controlling the movement of the articulated member with respect to the article control mechanism. The synchronization structure further has a rotational velocity control mechanism. A rotational acceleration control mechanism is further provided for the articulation member. The synchronization structure and the rotational acceleration control structure act on the articulated member to control the articles during transfer.

Abstract: A method and apparatus for fitting, by a manipulator, a cylinder head to an engine block in proper registry relative to each other through engageable locating pins and recesses prior to assembling rigidly with a plurality of coupling bolts into one whole integral body in an automatic assembling line. The engine block is formed with bolt engaging bores and is placed on the main assembly line. Coupling bolts are inserted through bolt receiving bores formed in the cylinder head with the bolts protruding. The cylinder head is brought from an auxiliary assembly line and set on the engine block while inserting the protruding coupling bolts into the bolt engaging bores and thereby the cylinder head is securely, albeit temporarily, held on the engine block pending tightening of the coupling bolts even if the locating pins and recesses are not perfectly aligned.

Abstract: A first end effector extends from a rotatable support in a first direction and has a tip portion extending in a second direction transverse to the first direction, and a second type of end effector extends in a third direction and has a tip portion extending in a fourth direction opposite the second direction, to enable contact insertion into a connector by either effector and regardless of the orientation in space of the connector.