Abstract: A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.

Abstract: The powered hand truck has a chassis supported at one end by a single axle with two independently operable drive wheels. A prime mover is provided generally medially on the chassis, driving the drive wheels and powering the forklift mechanism. There is no operator console housing for the powered hand truck, as it is intended to be remotely controlled. A transmitter provides for specific and precise control of each drive wheel independently of the other, by using two drive wheel control switches. The powered hand truck has a caster wheel actuation strut housing over the caster wheel end of the chassis. A storage rack and dolly may be installed upon a suitable transport vehicle for transporting the powered hand truck. The hand truck forks engage the storage rack dolly, with the dolly translating along the rack to allow the truck to be deployed from, or loaded onto, the transport vehicle.

Abstract: An article transport apparatus is provided with a path that is arranged along a plurality of article transferring locations and that has a first end and a second end, a plurality of article transporting vehicles that run along the path, and a controller that controls movement of the plurality of article transporting vehicles, and that processes transport request data that includes information specifying an article transfer location for transfer among the plurality of article transfer locations. The controller selects an article transporting vehicle for a transport process from the plurality of article transporting vehicles based on the transport request data, and moves the selected article transporting vehicle for a transport process to the article transferring location for transfer.

Abstract: In a device according to the invention for the automatic charging of processing stations (1) with printing cylinders (9) a number of charging stations (2) is provided, each being designed as input location for entering the printing cylinder (9) into the device, as storing location for storing the printing cylinder (9) before and after processing, and as output location for delivering the printing cylinder (9) from the device after processing. The printing cylinders (9) may each be supplied to the processing station (1) by means of a crane (3) without being required that the operator must wait at the device until the crane has terminated its operation.

Abstract: An electrically operated hoist control is provided which has an accessory to aid in lowering and raising a spare tire stored beneath the undercarriage of a vehicle, such as a pickup truck, van, or sport utility vehicle. The accessory includes a reversible, direct current motor and speed reducing gearing. The accessory is mounted to the underside of the vehicle proximate a conventional, manually operated spare tire hoist that has a rotatable, mechanical drive input. The output drive of the speed reducing gearing is coupled to the drive input of the conventional vehicle spare tire hoist in place of the conventional extension from the hoist drive input that is accessible at the rear bumper of the vehicle. The accessory includes an automatically resetting circuit breaker, such as a bimetal circuit breaker which trips when excessive amperage is drawn by the reversible direct current motor.

Abstract: A system is disclosed allowing non-invasive, continuous local and remote sensing of the internal environmental characteristics of transportable containers. The system utilizes a variety of sensors inside the container to sense internal environmental conditions.

Abstract: A lifting system for moving mobile homes that includes wheeled jack assemblies, jack units assembled from such assemblies and a segmented track for supporting such assemblies and units. Each jack assembly preferably includes a jack rollingly carried on wheels, and a roller head operatively connected to the working end of the jack to move from a lowered position to a raised position. The wheels allow lateral adjustment of the home, while the roller head allows longitudinal adjustment of the home. In the preferred embodiment, each jack unit includes two jack assemblies, with one of the assemblies further including a drive motor operatively connected to its wheels. Furthermore, the assemblies are interconnected by a hydraulic power unit in the form of a housing that encloses and protects the hydraulics for controlling each jack and drive motor. Each segment in the segmented track generally includes a pair of rails structurally interconnected, with a hole formed adjacent each end of the segment.

Abstract: A robotic mechanism which can be attached to a furnace hopper and includes a frame which supports a pole insertion mechanism for inserting a pole into a furnace hopper. The pole insertion mechanism is supported from the Fame by a gimbal and moves the pole axially. Hydraulic actuators rotate the pole insertion mechanism about the gimbal. A control system is associated with the mechanism and enables an operator to position the end of the pole within the hopper to remove clinkers.

Abstract: An apparatus having a vehicle frame with an end, a pivot arm pivotally connected to the vehicle frame and having a tire-receiving surface thereon, and a motor connected to the pivot arm. The pivot arm is movable between a first position aligned with the vehicle frame and a second position generally transverse to the vehicle frame such that the tire-receiving surface is below and adjacent the end of the vehicle frame. The motor serves to move the pivot arm between the first and second positions. The pivot arm includes a first arm pivotally connected at one end to one side of the frame, and a second arm pivotally connected at one end to an opposite side of the frame. The tire-receiving surface is a cross-member extending between the first and second arms. An actuator is connected to the motor so as to actuate the motor so as to move the pivot arm between the first and second positions.

Abstract: The computer-aided design system of the present invention is characterized in that a grasping force sensor 4 is mounted on that operating bar 3 at the front end of a manipulator 1 which is grasped directly and operated by an operator, and that the mechanical response characteristics of the system are varied on the basis of an output from the grasping force sensor 4. That is, the rigidity on the part of the manipulator is increased in response to a high grasping force during operation, since the rigidity of the hand is also high; and the rigidity on the part of the manipulator is decreased for a low grasping force during operation, since the rigidity of the hand is also low. In scenes in which a space on a computer screen defining no shapes is crossed by a cusor on the screen, a weak grip will lower the rigidity on the part of the manipulator, thus achieving the feeling of a smooth operation.

Abstract: An electric working apparatus includes a movable body which is driven by a movement mechanism, and the movable body is provided with a working mechanism such as an articulated robot. The movement mechanism, the working mechanism and etc. are driven by an electric power which is supplied through a power supply cord being extended from a cord reel mechanism fixed on a wall or floor within a working space of the movable body to be connected to the movable body. When the movable body moves in a manner that the movable body goes away from the cord reel mechanism, a tension detection switch is turned-off by a lever, a reel motor is turned-off, and clutch plates are released, and therefore, the power supply cord is wound from the cord reel mechanism by necessary length.

Abstract: An interactive control system for controlling the automatic packaging of contact lenses in a contact lens fabrication facility, the interactive control system consisting of a first robot device for periodically transferring individual arrays of a first predetermined amount of discrete contact lens packages each containing a contact lens therein from a first station to an intermediate conveyor where the individual arrays are conveyed to a second station, and a controller for initiating a time stamp for each individual array transferred from the first station and determining elapsed time data for each individual array and for generating position status data indicating a good array or a bad array of defective lenses for each individual array as it is conveyed to the second station, the controller shifting the elapsed time data and position status data for each individual array as it is conveyed on the intermediate conveyor for transfer to the second station.

Abstract: A reciprocating conveyor being switchable between an operation mode and an interrupt mode by an RF remote control. An electric valve communicates between a hydraulic drive pump and a reciprocating switch valve to provide a bypass for a pressurized fluid. A hand held transmitter produces a signal which is received by a receiver. The receiver cause the actuation of the electric valve between open and closed positions.

Abstract: A round bale handling apparatus is described for the lifting, transportation, and unloading of round bales in cooperation with a motor vehicle. The apparatus has an upper frame assembly attached pivotally to a lower frame assembly. A conveyor on the upper frame assembly adjusts the position of bales on the apparatus. Lift arm assemblies have two sections spaced apart to place bales on the trailer one at a time and stacked. A stack of three bales is moved rearward on the upper frame assembly by the conveyor to provide additional space for loading additional bales. Side rails are attached to the upper frame and are adjustable by eccentrics to adapt the trailer to the size of round bale being loaded and to move the side rails pivotally toward the center of the trailer to conform to public highway regulations governing trailer width.

Abstract: A method of remote control of a mobile carriage including at least one transmit and receive antenna for movement into an underground gallery connected to the surface by a shaft provided with an elevator for effecting deep storage of radioactive wastes. The method involves fitting the site with a plurality of waveguides from a control station which includes a signal generator and a signal receiver and being situated on the surface. The plurality of waveguides are disposed with at least one first waveguide at the surface extending from the control station to the entrance to the shaft. At least one second waveguide is disposed along the shaft and connected at its top end to the first waveguide. At least one third waveguide is disposed along the gallery and connected to the second waveguide in the vicinity of the entrance to the gallery.

Abstract: A mixer-settler is provided which is modulatable and permits use, manipulation and maintenance within a tight, shielded enclosure using a telemanipulator. The mixer-settler is constituted by several modules (M1, M2, M3), which can be reciprocally dismantled by using tight connecting means (19, 20, 21). The inlets and outlets (17, 18) for the heavy and light phases are located on the front face (40) of each module. Regulating members (9, 10, 11) issue onto the upper surface of each module close to the front face (40). Preferably, shield windows (12) make it possible in each case to see the interphase of a stage comprising a mixing chamber (1) and a settling chamber (2). This is completed by a motorization assembly (3) placed above the module. Application to the treatment of radioactive liquids.

Abstract: So as to be able to carry out various operations, especially for cleaning observation and simple interventions, on an installation placed in an active cell, the present invention provides a mobile intervention chamber including a caisson (40) adapted to be docked on an access orifice formed in an upper horizontal partition of the cell. The caisson (40) contains the modular elements (88) of an intervention pole (94), these elements being placed on a tool holder barrel (78). With the aid of auxiliary handling arms and a retractable support (110), a pole (94) of a suitable type and length is long-distance constructed on a mechanism (128) mounted on a rotary plate (120) integrated in the ceiling of the caisson (40). Shielding windows (232, 236) and lighting and display systems facilitate the carrying out of intervention operations.

Abstract: In a human-in-the-loop robotic control loop, the constrained forces and moments at the gripper (also called hand or end effector) of the manipulator are measured by a force-mement sensor. The resulting force and moment signals are scaled and fed as input voltages to motors in a hand controller to provide torques which oppose deflection of the hand controller. Thus, the operator feels the opposing torques which are proportional to the magnitude of the constrained forces and moments. The force feedback loop may be opened to selectively provide a passive control loop. In either the active or passive mode, the hand controller position signals may be selectively mapped to either gripper position signals or gripper velocity signals in order to control movement of the gripper in the desired manner.

Abstract: To program a robot, without requiring action by specially qualified staff, electronic cards (called chip cards) are used. A handling workman stacks chip cards in an automatic distributor. These chip cards correspond to a set of tasks to be performed. The robot is designed to come and stand in queue before this distributor to receive the chip card which is located at the bottom of the stack and has the program of instructions which it has to carry out.

Abstract: A covering for a mechanical linkage comprises a material which is substantially impermeable to both liquid and particle contaminants and conforms to the outer surface of the mechanical linkage. Because the covering conforms to the surface of the mechanical linkage, the covering does not have loose portions that billow and rub together as the mechanical linkage operates. This lessens the possibility of pieces of the covering and contaminating material detaching and falling from the mechanical linkage. The covering also comprises access openings whereby the mechanical linkage can be serviced without removing the entire covering. In a preferred embodiment, the covering comprises a plurality of sections, each section having fasteners for securing the sections about the mechanical linkage. The separate sections can be individually removed and replaced in a relatively short period of time.

Abstract: The present invention relates to a device for securing a boat to a trailer. The mechanism for securing the boat is electrically driven and may include a motor driven reciprocating pin. The device is remotely actuated for example by a radio transmitter.

Abstract: A mobile transport unit for independently operating within an enclosed environment. The transport unit is adapted for carrying a robotic manipulator arm and cargo within the environment, and includes an infrared communications transmitter/receiver for communicating with an extra-vehicular central processing unit. The transport unit includes electric motors for driving and for steering the unit. A laser docking module precisely determines the vehicle's location relative to a fixed point within the environment. Ultrasonic sensors placed about the vehicle can detect objects within a preselected range for collision avoidance and safety purposes. The vehicle is controlled by a central computer which receives inputs from the infrared communications system and from on-board sensors including directional sensors, distance measuring sensors, a gyroscope, the ultrasonic sensors, and the docking module.

Abstract: Apparatus for handling unitary loads, such as containers, concrete elements, plate-shaped objects and the like, include a prime mover, such as a power vehicle or the like, which is equipped with a mechanism for engaging and raising one end of the load from the surface to which it rests, and an auxiliary device equipped with wheels which is separate from the prime mover and which supports the load during the handling operation. The auxiliary device is self-propelled and is controlled by an operator who can be situated in a cab of the prime mover. In operation, one end of the unitary load is raised from the base surface on which it rests by means of the engagement members of the prime mover whereupon the auxiliary device is positioned beneath the load to engage the same. The auxiliary device is propelled towards the opposite end of the load so that the latter is raised from the base surface with the load being supported on its underside by the auxiliary device so that the load can then be moved.

Abstract: A drum dumper attachment for fork lift trucks carries its own power plant eliminating all heretofore required hose and other connections to the truck and controlled from the truck operator's seat by a demountable switch connected to the power plant through a single extension cord. The dumper attachment has hollow shoes receiving the truck forks, a rotatable clamp receiving a drum, a hydraulic jack rotating the clamp, an electric motor driven hydraulic pump for the jack, a battery energizing the motor, an electrically controlled valve selectively flowing fluid to and from opposite ends of the jack, and a double pole switch positionable adjacent the operator to energize the motor and the valve for causing the jack to rotate the clamp in opposite directions. The switch may be anchored to the truck by a magnet and the extension cord may be coiled to accommodate positioning of the switch.

Abstract: Apparatus for lifting and transporting a unitary load, such as a material containing container, comprises transport apparatus, such as a truck provided with gripping members for lifting one end of the load from a surface, and a separate auxiliary device provided with wheels for carrying the opposite end of the load during transport. The apparatus includes a control for directing the movement of the auxiliary device to the opposite end of the load. The auxiliary device includes apparatus for gripping and then lifting the opposite end of the load for subsequent transport thereof. The auxiliary device may be arranged to move over the top of the load to the opposite end thereof for lifting the same from the surface for subsequent transport of the load.

Abstract: A straddle-lift carrier for transporting long heavy loads, having adjusta width for accommodating various size loads and for compacting the carrier for storage. The adjustable width allows the carrier to negotiate relatively narrow passages. A high degree of maneuverabiltity is achieved by utilization of independently driven and steered traction wheels. Raising and lowering of loads is accomplished by hydraulically operated forklift mechanisms disposed on either side of the carrier. Operation of the carrier is controlled by a handheld remote control unit.

Abstract: Remote manipulating assembly of the type comprising a movable platform carrying a telescopic supporting or carrying assembly at the end of which a remote manipulation arm can be displaced within an enclosure, wherein the platform is located within a wall of the enclosure, at least one opening being provided in the wall to permit the introduction of the telescopic carrying assembly of axis AA into the enclosure, and wherein the platform is provided with a hood within which the telescopic carrying assembly and the remote manipulation arm can be completely contained, the hood also being provided in its opening part with means for the tight connection to the wall of the enclosure cooperating with sealing means provided in the opening, and having at its other end means for controlling the displacements of the telescopic carrying assembly, while also having connection and supply means for the displacements of the remote manipulation arm, together with its operation and the operation of its tools.

Abstract: A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau..At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.).The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.

Abstract: A control lever structure for a mechanical finger clamp having a grip and first and second members projecting therefrom in opposite directions from each other. The mechanical finger clamp comprises a mounting member, and a plurality of articulate fingers pivotally connected to the mounting member, each articulate finger having a base portion and a leading end portion pivotally connected to the base portion. Pivotal movements of the articulate fingers are caused by hydraulic cylinders. A plurality of switches are mounted on the grip and the first and second members for selectively operating the hydraulic cylinders via solenoid-operated control valves. The arrangement of the plurality of switches is such that the movements of operator's fingers for operating the switches are similar to the movements of the articulate fingers.

Abstract: Apparatus primarily for use in extracting and re-inserting heat exchanger tube bundles in chemical processing plants. An elongated frame structure having first and second pairs of spaced parallel beams is provided, with a carriage attachable to the tube bundle and moveable along the frame structure first beams in response to actuation of extraction cylinders. No portion of the frame structure extends above the first parallel beams, and an arm is mounted on each corner of the structure, pivotal about an axis perpendicular to the direction of tube withdrawal, and a cable extending from a central crane is mounted on each arm. A cylinder pivots each arm about its axis to change the position of the supporting crane back relative to the center of gravity of the structure. A pair of moveable side arms with clamps are provided for engaging a flange on the heat exchanger shell, and attitude control slings are also provided.

Abstract: Subject system is a permanent fixture of the vehicle to which attached and is electrically driven (AC or DC) for moving cargo along the floor of a cargo body. Lanyard structure is rigged upon one wall of the cargo body for remotely operating an electrical switch which enables the movement of the conveyor to readily be controlled from any location along the length of the cargo body. A series of load-bearing flaps are hingedly attached to the floor of the cargo body along a common hinge axis which extends along the length of the conveyor and parallel with the travel thereof. Each of the flaps may be swingably moved between: (1) a load-bearing position wherein each one overlays a portion of the conveyor, and (2) a conveyor exposed position wherein each one overlays a portion of the floor along side the conveyor. The flap arrangement is constructed so as to be capable of supporting cargo when in the load-bearing position, although, movement of the subjacent conveyor structure remains unhindered thereby.

Abstract: The present invention relates to a track vehicle. The vehicle is comprised of a lightweight frame having a platform or deck portion and first and second track guiding portions. Drive drums are provided, located at one end of each of the track guiding portions. First and second electric motors are connected, via gear reducers, each to one of the drive drums. Idler rollers are located at the other end of each of the track guiding portions. First and second tracks are provided, each encircling and operatively associated with one of the drive drums, one of the track guiding portions and one of the idler drums. Each of the track guiding portions has a bottom portion with each bottom portion having a longitudinally oriented strip of low friction material fastened thereto to provide a sliding surface for each of the tracks when the vehicle is in motion. In another embodiment of the invention the deck portion and track guiding portions are blow-formed from sheet plastics material.

Abstract: Improved apparatus for communicating information between a movable rack entry vehicle and a reference station by means of optical radiation, such as infrared radiation. A universal asynchronous receiver-transmitter is located on both the vehicle and the reference station so that information originating in parallel form can be communicated in serial form.

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: 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.