Abstract: A direct-acting actuator for an industrial robot has an elongate ball screw or feed screw which is attached or detached quickly and safely in a narrow working space. In attaching the ball screw, upper and lower end portions of the ball screw, diagonally inserted in the inside space of a column (10), are respectively fitted into holes (12a, 33a) of a column top plate (12) and a plate member (33) of a slider (30) through a passage (12b), formed in the top plate and opening in a slider-side end face of the same plate, and a passage (33b), formed in the plate member and opening in the distal end face of the same member. Then, the lower end of the ball screw is coupled to a reduction gear (52), and a bearing unit (22) mounted on the upper end of the ball screw and a ball nut (34) threadedly engaged with the ball screw are respectively fitted into the holes (12a, 32a) so that the bearing unit and the ball nut are fixed to the top plate and the plate member, respectively.

Abstract: A robotic apparatus, and components thereof, which is characterized by a high degree of modularity, enabling complex robotic mechanisms to be assembled on a customized basis from relatively standardized components on an efficient and economical basis. Individual numbers of a multi-axis device may be comprised of inverted channel-like support members, cut to predetermined length and provided at the extremities of their flange walls with opposed, longitudinally extending track strips. A movable carriage mounts series of guide rollers engageable with and guided and confined by the track strips for movement along a predetermined axis defined by the support member. A drive sprocket, driving by a digitally controlled stepping motor, with a drive sprocket, is mounted at one end of the support member and an idler sprocket at the opposite end.

Abstract: A manipulator for material removing tools and their adapters, particularly in machine tools and matching centers, has a horizontal rail for a reciprocable carrier which supports an elongated vertical holder which is movable up and down and the lower end of which carries one end of a horizontal link. The link is turnable relative to the holder about a vertical axis and its other end supports an arm which is turnable about a vertical axis and supports two tongs. The tongs are angularly offset relative to each other by 180.degree. about the horizontal axis and at least one jaw of each tongs is movable relative to the other arm in the direction of the horizontal axis. The movements of the carrier, holder, link, arm and movable jaws are regulated by numerical controls.

Abstract: A palletizing robot for displacing stackable objects, particularly for printed products arranged in stacks, including a gripping device arranged at an arm driven to rotate about a vertical axis, a horizontally oriented transverse member including a track along which the rotatably mounted arm is guided so as to be displaceable in the direction of the transverse member and a bearing rotatable about a vertical axis for the gripping device. The part of the arm extending in the horizontal direction is here disposed below the transverse member and the gripping device is furthermore arranged so as to be vertically displaceable by a predetermined lifting movement, particularly a lifting movement of a few centimeters, in the horizontally extending arm.

Abstract: An apparatus and method for computer controlled stereotactic surgery is disclosed. This method utilizes an imaging device, a robotic arm and a means for controlling the robotic arm. Stereotactic surgery on integral body parts, e.g. the brain, spine, knee or other joint, breast, etc. may be accomplished with relatively greater precision and smaller incisions. The imaging device, which may be a computerized tomography (CT) axial imaging system, a magnetic resonance imaging (MRI) device, or any suitable image-providing means, provides information regarding the structure of the bodily location to be operated on. The robotic arm is utilized to precisely orient the surgical tools or other implements used in conducting the surgery or related procedure. The control means, such as a computer, utilizes information received from the imaging device, alone or together with other information, to control the robotic arm.

Abstract: The invention is an apparatus for transporting a limp material segment, such as cloth, along a reference axis parallel to a planar work surface. The apparatus includes a base member positioned above a work surface. A four-bar linkage assembly couples a segment coupling assembly to the base member. The four-bar linkage assembly includes first and second elongated bar assemblies, each being pivotally coupled to the base member. The length of the second bar assembly is controllable within a predetermined range. A third elongated bar assembly is pivotally coupled at a first end to the segment coupling assembly, at a second end to the second bar assembly, and at an intermediate point to the first bar assembly. In addition, the apparatus includes a rotary actuator for selectively rotating the second bar assembly about a pivot axis extending through its point of connection to the base member.

Abstract: A resist process apparatus of the invention serves to load/unload a semiconductor wafer in/from the respective process mechanisms. The apparatus includes a wafer holding member for holding a semiconductor wafer, and X, Y, Z and .theta. driving mechanisms for conveying the wafer holding member to a resist coating mechanism and the like. The wafer holding member includes a support frame which is larger than diameter of a semiconductor wafer, and a plurality of support members, arranged on the support frame, for supporting the semiconductor wafer in partial contact with the peripheral portion of the semiconductor wafer. Since the contact area between the support members and a semiconductor wafer is small, changes in temperature of the semiconductor, when it is held, are small.

Abstract: A robot program checking method for editing a robot program accurately and rapidly. When types of a controller and a robot body to which an edit program is to be applied are specified after the edit program is created, a format table indicative of a format suitable for the controller and movable range data for an operating section of the robot body are transferred from a floppy disk to a working memory together with the edit program. If the edit program which is read out one block by one block is not stated in accordance with a predetermined format, or if a position data contained in the edit program and indicative of a target moving position of the operating section of the robot body falls outside the movable range, an error message indicative of a block number and a reason for the error are printed out. With reference to the error message, an operator corrects the edit program.

Abstract: A two arm robot for selectively manipulating a workpiece comprising an elongated cross beam assembly having an elongated axis extending between opposed ends, a frame assembly supported by the cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about the elongated axis, the elongated axis being parallel to the X axis and the X, Y and Z axis being orthogonal, a pair of arm assemblies supported by the cross beam assembly for selective independent linear movement parallel to the X and Y axes, a wrist assembly operatively supported by each arm assembly and including a motor for selectively moving the wrist assembly about a rotation axis parallel to the Z axis, and motor and mounting structure for moving the arm assemblies relative to the cross beam assembly parallel to the X and Y axes.

Abstract: A robotic apparatus for positioning a tool or work hand that incorporates a compliant wrist effective to adjust to delicate but misaligned portions of the workpiece, comprising (a) structure for magnetically supporting a positioning member carrying a gripper tool; (b) pneumatic structure for selectively separating and floating the positioning member from said supporting structure to permit lateral adjustment of the positioning member in response to small forces received from the gripper tool as it carries out gripping; and (c) structure for locking the positioning member to the supporting structure upon completion of the desired lateral adjustment.

Abstract: A robot gantry has longitudinal beams supported by support elements. To fasten the longitudinal beams to the supports, the latter have brackets with binding post holes for binding screws. To make possible the adjustment of the brackets housing the beams, the walls of the supports have holes, which are large enough that the binding screws can move in them by the amount required for adjustment. To adjust the brackets, L-shaped adjusting devices are fastened to the supports by screws. The L-leg of the adjustment apparatus has in the power portion horizontal and vertical holes with nuts for set screws. In the upper portion of the L-leg the adjustment device has a vertical slot for a pendulum set screw which can move in the slot. The pendulum set screw is protected by a nut from unintentional falling out, and extends with its threaded portion into a threaded hole in the bracket.

Abstract: An injection molding machine has a pedestal having front and rear vertical walls extending in a longitudinal direction and defining interior chambers, a mold carried by the pedestal, a clamping unit mounted on the pedestal and horizontally operable to open and close the mold, an injecting unit including a plasticizing cylinder and being mounted on the pedestal, two horizontal carrying bars, one being a front bar and the other being a rear bar, interconnected by crosspieces and supported by the pedestal, and a front protective covering carried by the pedestal and including a stationary protective carrier and two vertical protective doors. There are further provided stationary tracks mounted on the front bar and being adapted to guide the protective doors in the longitudinal direction of the injection molding machine. Further, track rails are mounted on each of the carrying bars and extending at least in part above the clamping unit.

Abstract: Two embodiments of assembly devices particularly adapted for assembling components such as IC chips on a printed circuit board. The arrangement includes a pair of carriages each of which supports gripping means and the supporting and driving arrangements for the carriages permits a very compact assembly and prevents interference between the carriages during their movement. The carriage has an improved supporting arrangement that prevents binding and embodiments are shown wherein the gripping devices carried by the carriages may either pick up units from one or both sides of the device.

Abstract: A reciprocating drive apparatus for an automatic molding removing machine designed to remove a molded product from a molding machine by moving a chuck member, at least, in the longitudinal direction with a traveling member which is supported on a machine frame so as to be movable in the longitudinal direction.

Abstract: A work piece support device features two pincer members which can be moved toward and away from each other and which can be varied in length in manner to accomodate different shaped work pieces. The device is mounted on a manipulator which selectively displace the same in three mutually opposed directions. Location and locking probes can be used in combination with the support device to locate and/or lock the work piece in place.

Abstract: Multi-jointed robot for use in a clean room specifically applicable during the production of semiconductor devices where contaminant material must be eliminated to the extent possible. The robot includes a sectional body defined at least in part by a plurality of arm members wherein a plurality of pivotal joints are provided to pivotably connect adjacent arm members with respect to each other. The arm members and the pivotal joints are hollow such that an uninterrupted air passage is provided in the robot extending through each of the pivotal joints and the arm members of the sectional body thereof. The robot includes a terminal arm member located at one end of the sectional body which has an opening on the exterior surface thereof defining one end of the air passage through the robot. A rotary fan is mounted in the robot at the other end of the air passage and is operable upon rotation to exhaust air through the air passage within the interior of the sectional body of the robot.

Abstract: Apparatus for automatically taking out a molded product, includes an elongated main frame, a laterally movable body supported on the main frame and movable in the longitudinal direction of the main frame, a first drive device for reciprocally moving the laterally movable body relative to the main frame. A frontward-backward movable body is supported on a frontward-backward frame which is connected to the laterally movable body, the frontward-backward movable body being movable in a direction which is substantially perpendicular to the longitudinal direction of the main frame. A lifting device is provided, which includes a drive member connected to the frontward-backward movable body and having a vertically directed axis, a first driven member connected to the frontward-backward movable body and also connected to a rotary member which is rotatably supported on the movable frame. An attachment frame is supported on the movable frame and is movable in a vertical direction.

Abstract: A linear axis (cantilevered beam) is longitudinally displaceable relative to its support which, in turn, is displaceable laterally along an overhead frame so as to provide X-Y positioning for pick and place spindles and similar tools which are attached to the beam. A particular structural combination for accomplishing this involves a low inertia servomotor driving a speed reducer which, in turn, directly drives a short endless timing belt which, in turn, intermeshes with and drives a toothed rack in order to provide reliable, with zero backlash, high accuracy X-Y positioning of the tools. Features of the structural arrangement allow the use of component parts requiring much less precision, and thus much less cost, of manufacture than prior art, zero backlash, linear axis positioning systems.

Abstract: A mounting assembly is provided for supporting an elongated flexible member, such as an electrical signal cable, connected between relatively movable termination points, for example, between a stationary frame and a mobile carriage. The mounting assembly comprises one or more track units each including a guide channel having one side opening toward an adjacent, generally parallel roller-supported belt. The flexible member is anchored at a first termination point generally at a longitudinally centered position within the channel and extends along the channel before rolling back upon itself through a turn of 180 degrees to contact the belt, with the channel-belt spacing being less than twice a natural radius of curvature for the flexible member whereby the belt applies a force against the flexible member in the region of the turn. The flexible member extends from the curved loop along the belt and is secured thereto at a second termination point.

Abstract: A method is provided for controlling the movement of an object 1, 61, in an environment 64. The method involves making predictions of collisions, given the outlines of the object and the environment, so that avoiding action can be taken. The object and environment are modelled as clusters of interpenetrating spherical bubbles, the model comprising the relative positions of the centers 6, 7, 8, 9, and 21 to 28 inclusive of the bubbles and their respective radii. The model simplifies the prediction of the point of collision of two such modelled objects by examining the collisions between bubbles only. An early, safe, approximate prediction of the collision can be obtained using Newton's approximation.

Abstract: A direct-teaching playback type polishing robot comprising a first arm and a second arm, a polishing tool suspended from a free end of said second arm, horizontal high-lead ball screws having nuts connected to said arms, respectively, and a servo-motor and an encoder mounted at a free end of threaded shaft of each of said ball screws in such a manner that rotation of said servo-motor advancing the corresponding nut to swing the corresponding arm independently of the other arm.

Abstract: An apparatus for handling a large-sized article such as a window assembly for a car has a carriage movable three-dimensionally in X-, Y- and Z-directions, and a vacuum holding device tiltably and fixably secured to the carriage. This apparatus conveys the article to a remote place and holds it while it is being secured to an object such as the wall of a car, thus improving the efficiency and safety of the work.

Abstract: A robot positioner for a device which is positioned within a compartment having an open top and including first and second supports mounted above the compartment to move the device along "X" and "Y" coordinates. A flexible cover means associated and movable with each of the first and second supports is provided to in effect provide a movable ceiling for constantly covering the open top of the compartment regardless of the position of the device in the compartment as controlled by the supports.

Abstract: A vehicle automatic fueling assembly having an automatic teller-type control command center which is energized by insertion of money or credit card by the vehicle driver from within the vehicle to select and pay for the amount of fuel desired. A computer control assembly is provided in operative command control engagement with the automatic teller-type command center so as to selectively actuate a robot controlled fueling assembly having an automatic cut-off fueling nozzle assembly into mating fueling engagement with an automatic cut-off fuel receiving valve assembly provided in associated with the modified gasoline tank of a vehicle. The vehicle automatic fuel assembly is also provided with wheel stop lock means and windshield cleaning and drying means which are also automatically controlled by the computer control assembly.

Abstract: Transfer mechanism to pick up an object such as a wafer used in the manufacture of semiconductor chips from one location, lift the object, transfer the same laterally, lower it and later deposit the same in another location. A horizontal feedscrew mounted in a stationary base controls horizontal reciprocation of a transverse housing. A vertical feedscrew mounted in the transverse housing controls vertical reciprocation of a second housing. Supported by the second housing are one or more lifts. Each lift has guide rods fixed relative to the second housing and a stop on its lower end. Parallel and adjacent the guide rods is a reciprocating rod carrying a gripper on its lower end. At the end of the vertical movement of the second housing the reciprocating rod moves the gripper away from the stop so that a wafer may rest on the guide rods. As the second housing moves up, the gripper clamps the wafer against the stop. Motors drive the feedscrews to lift the wafer, move it transversely and lower it.

Abstract: An automatic coating apparatus has a plurality of nozzle devices movable in X-, Y-, and Z-axis directions along tracks over a workpiece to be coated. One of the nozzle devices is displaceable with respect to the other nozzle device. Different coating materials are ejected from the nozzle devices toward the workpiece. Each of the nozzle devices has a nozzle which can be opened and closed by a valve operated by a cylinder mechanism. While a coating material is being ejected from one of the nozzle devices, the other nozzle device is closed. By thus selectively opening and closing the nozzle devices, the different coating materials can be coated successively on the workpiece.

Abstract: An apparatus for the inspection of a stack of cylindrical objects such as roller bearings, uses an eddy current probe. The probe is positioned at an angle with respect to the surfaces of the objects in order to achieve an acceptable signal and then the objects are rotated while the probe is advanced along them to fully scan the surfaces.

Abstract: An upper fixed plate (3) can have an annular fixed plate (4) attached, where both are disposed at the lower end of a work arm (1) of an industrial robot. A spring-supported receiver disk (5) with an attachment ring (5a) for a gripper (2) can be supported on the upper fixed plate (3) and on the annular fixed plate (4). The upper fixed plate (3) and the annular fixed plate (4) each can have four engagement-catch recesses for ball-shaped locking elements (6). The engagement-catch recesses can be of conical shape and can have an opening angle of about 120 degrees and can have a depth of about 3 mm. In addition, the upper fixed plate (3) can be provided with two centering bores (3c) for motion-limiting pins (9). The motion-limiting pins (9) protrude into the motion-limiting bores (5c) of the spring-supported receiver disk 5. Next to the motion-limiting bores are disposed threaded bores (5b) with a threaded socket ( 7) for the ball-shaped locking element (6).

Abstract: A system for moving a robot manipulator being mounted on a carriage over a track system which includes a pair of rail carriers for rails and being interconnected to extend parallel to each other in spaced apart relationship; a carrier carriage runs on these rails with unequally large rollers and the manipulator carriage runs on a rail on the carrier carriage; all of the rails are mounted by means of a plurality of nonstraightness compensating support bars being adjustably bolted to the rail carriers, at least two per carrier, as well as on the carrier carriage and in aligned relationship as to each carrier to establish straight rail mounting facilities.

Abstract: A method and device for improving orientation and/or location accuracy of a programmable robot with respect to a target object. The method consists of calibrating the position of a terminal control frame associated with a robot end-effector which is coupled to a robot distal link. Separated reference positions external from the robot are identified, as to geometry and spatial data. This identification data is stored for later recall and comparison for use in determining a localized relative frame of reference. The robot end-effector is moved to a first reference position and a rigid body error correction is determined. This correction is stored in computer memory for application to later computer movement.

Abstract: A bidirectional transfer mechanism is provided for independent or simultaneous X-axis and Y-axis precision displacement of a mobile component, such as a video cassette pick-up unit for retrieving or returning video cassettes from a cassette library. The transfer mechanism comprises an upright column assembly supported on a machine frame for X-axis displacement and carrying the pick-up unit for Y-axis displacement. A first drive cable is connected to the upper and lower ends of the column assembly and threaded over a first set of pulleys on the machine frame, with a portion of the first cable being wrapped about a motor-driven winding drum for displacing the column assembly in the X-axis direction. A second drive cable has a portion thereof wrapped about another motor-driven winding drum and is threaded about a second set of pulleys on the column assembly and the pick-up unit, whereby drum rotation displaces the pick-up unit along the column assembly in the Y-axis direction.

Abstract: In a gantry arrangement or mechanical guidance assembly for an industrial robot, a carriage supporting the robot is mounted on an elongate guide element of circular cross-section extending parallel to the robot travel path. Rotation of the robot carriage about the circular guide element is prevented by the bracing of the carriage against an elongate guide element having a rectangular cross section, the bracing being effectuated by at least two rollers rotatably mounted to the carriage and rollably engaging the rectangular guide element.

Abstract: A new robotic system is provided in which the robotic tool is mounted for movement on a gantry above the work piece upon which the work is to be performed. The tool is supported on two carriages each of which is movable with respect to each other and with respect to the gantry so that the tool has the capacity to move through five degrees of freedom and permit a more accurate response to a sensing system which determines the position of the work piece relative to a master and then moves the tool to a working position in substantial operational compliance with the master position.

Abstract: The present invention provides an apparatus and method of utilization thereof of a robot with a floating arm. The floating arm aspect of the robot allows the robot to align its associated tooling with the workpiece in situations where the workpiece may be in a variety at different locations. By use of the present invention the requirement for use of a vision system to accomplish alignment between the robot and the workpiece is eliminated.

Abstract: An apparatus for feeding a piece of sheet material to a tool utilizes a set of grippers on telescoping arms of a mean trajectory control system for displacing the sheet material in accordance with a predetermined trajectory. Local correction is effected by passing the piece of sheet material between two discs, one of which is rotatable about a horizontal axis but swingable about a vertical axis while the other, on the opposite side of the sheet, is rotatable about a vertical axis coincident with the first vertical axis. A line is marked on the sheet material with a substance stimulated by ultraviolet and emits a wavelength to which photodetectors are responsive to control the local correction device.

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: In the commercial production of licorice bites, each about 1 inch long, a group of extruded 54-inch licorice strips are lifted by a programmable controlled robot from the discharge end of a lower conveyor and deposited at the input end of an upper conveyor which carries the strips to a cutting station. The robot hand has a lower stainless steel blade for insertion under the group of licorice strips to wedge the sticky strips from a board on which they are being carried by the lower conveyor. The robot hand includes an upper bar. The bar is moved relative to the blade after insertion of the blade under the licorice strips, thereby clamping the strips between the bar and the blade. The arm of the robot then lifts the hand and clamped group of licorice strips and deposits the front ends of the strips at the input of the upper conveyor.

Abstract: The machine comprises a tower, driven horizontally along two rails, on either side whereof loading and unloading stations are located. The tower carries pairs of guides, adapted for supporting lateral side members, movable in vertical and horizontal directions with respect to the tower. The lateral side members have at their bottom ends supporting members adapted for supporting the bin bases. The movable members of the machine being operatively linked to sensors effective to sense the presence of bins at the stations and to a selector unit for selecting the loading and unloading stations.

Abstract: Apparatus for automatically picking up and positioning packs of individual signatures comprises a rigid framework which defines a bridge crane including a pair of parallel fixed support rails for guidance of a pair of movable rails on which is slidably supported a transfer head assembly including a jaw assembly having two jaws which can be moved towards or away from one another to pick up or release packs of signatures. The jaw assembly is movable up or down with respect to that part of the transfer head assembly mounted on the rails of the bridge crane, and is automatically controlled by a microprocessor to pick up a pack of signatures from a stack on a pallet, transport the pack to a treatment station, rotate it about a vertical axis to orientate it correctly before lowering, release it and then move to another stack to load a different treatment station.

Abstract: The invention is a further development of the gear-head unit for a manipulator described in German Open Patent Application No. 34 28 748. In order to increase the radius of action and range of applicability of the gear-head unit a structural arrangement with three concentric drive axes and four allowed rotational motions of front, intermediate and rear segments of the manipulator is set forth. These front, intermediate and rear segments are pivotally mounted together about first and second inclined pivot axes which are inclined to each other and to the main drive shaft axis. Along these inclined pivot axes two hollow drive shafts connected with each other extend which are supported by reduction gears in the front and/or intermediate segments. Because of that simultaneous opposing rotational motions of the intermediate and rear segments can be obtained from a single drive motor.

Abstract: An examination unit which is particularly suitable as an ophthalmologic examination unit for the examination of a patient by an ophthalmologist, comprises a storage region for an examination apparatus, wherein the storage region is defined by a wall, and an opening in the wall for passing the examination apparatus therethrough from the storage region. In order to ensure an easy transfer of the examination unit to the patient a support frame is provided in the storage region having a pivot bearing with a pivot axis. A swivel arm is pivotable around the pivot axis from a rest position in which the swivel arm is positioned within the storage region, into an operating position in which the swivel arm has the free end thereof laterally swung out of the storage region through the opening. Furthermore, the examination apparatus is suspended at the free end of the swivel arm.

Abstract: A robot apparatus is operable in a Cartesian coordinate system for moving a workpiece gripped by a hand thereof. The robot apparatus includes a self-propelled X-axis slide unit movably mounted on an X-axis rail unit extending in the direction of the X-axis of the Cartesian coordinate system. A Y-axis slide unit extending in the Y-axis direction normal to the X-axis direction has one end fixed to the X-axis slide unit. A self-propelled Z-axis slide unit is movably mounted on the Y-axis slide unit, and a slide base to which the robot hand is attached is mounted on the Z-axis slide unit. Lead wires connected to drive mechanisms for driving the X-axis slide unit, the Y-axis slide unit, and the Z-axis slide unit pass through case members, and are housed in the X-axis rail unit and connected to a terminal box secured to an end of the X-axis rail unit.

Abstract: An apparatus for removing injection molded articles from the opened injection mold of an injection molding machine. Two carriages traveling in directions perpendicular to each other are used for moving a grasping member for the molded articles. Pneumatic linear drives are used for moving the carriages. To prevent undesired oscillations of a linear drive, a braking device is used which is disengaged when the linear drive is actuated and is engaged when the liner drive is not actuated.

Abstract: A remotely-operable positioning and carrier arrangement for mounting and itioning remote handling apparatus is described for use in large-area cells containing process equipment particularly in radioactively-charged large-area cells of facilities for reprocessing irradiated nuclear fuels. In such large-area cells, the process components are disposed in racks. Maintenance and servicing work is carried out on the process components and the racks using the remote handling apparatus. The positioning and carrier arrangement which is used for this purpose has a vertically movable support. For a more precise positioning, the positioning and carrier arrangement is transportable and can be suspended on the particular rack at which work is to be done. The positioning and carrier arrangement has a table-like main frame which, in turn, has legs which are disposed horizontally when the frame is suspended on the rack. The ends of the legs are supported against the rack.

Abstract: An industrial robot has a head movable in first and second orthogonal directions within a working area to manipulate a workpiece. The industrial robot comprises a stationary base extending along the first direction, an intermediary base slidably disposed on the stationary base to move along the first direction, and a slider slidably disposed on the intermediary base and to move along the second direction. The slider has a supporting portion which extends towards the working area and which supports the head thereon so that the supporting portion positions the head within the working area remotely from the stationary base and the intermediary base.

Abstract: The invention provides a modular robotic wrist system for use with an industrial manipulator or the like. The individual modular units comprise a mounting bracket, an A axis module which is attachable to the mounting bracket and provides rotational movement about a first axis, a B axis module which is mountable either directly to the mounting bracket or to the A axis module to provide either rotational movement about a second axis or additional rotational movement about the second axis in conjunction with the rotational movement provided by the A axis module about a first axis and tool-mounting flanges which can be used in conjunction with the B axis module to provide rotational movement of an end effector either on the second axis or radially spaced about the second axis. Each of the modular units has a rotating member which is driven by a high-speed, low-torque DC motor coupled to a harmonic drive unit.

Abstract: There is disclosed a system for handling or positioning of structural parts or tools on a guide track for an intermediate carrier provided with a displacing device and a positioning device. The guide track for the intermediate carrier has its end portions mounted in carrier plates. These end plates are joined by bracing plates extending parallel to the guide track and defined by two guide posts arranged in a plane extending obliquely to the vertical.

Abstract: A robot control system comprises a hand movable along a plane according to position command data determined based on an absolute coordinate system arranged along the plane, and rotatable around an axis vertical to the plane according to angular command data determined with respect to a base axis of the absolute coordinate system for working a workpiece at a certain working point thereof with a certain angular position of the hand. Input means inputs working point data representative of the working point in terms of a local coordinate system arranged on the workpiece, angular position data representative of the angular position of the hand at the working point determined with respect to a base axis of the local coordinate system, and position data of the workpiece located along the plane in terms of the absolute coordinate.

Abstract: Horizontally and vertically actuable apparatus for loading/unloading workpieces from a work station. The workpiece holder is contained on a driven workpiece holding tower having in one embodiment a laterally floating bearing coupled to an endless drive assembly whereby up/down motion is imparted relative to a controlled rotary motion in one direction. Horizontal motion is controlled via a driven endless notched belt and associated magnetic transducing and counting apparatus for determining relative horizontal position. Alternative embodiments of a driven pivoting roller arm and a driven lead screw are also disclosed for imparting respective vertical and horizontal motion.

Abstract: A press machine has a transfer device for transferring blanks to be machined from a blank supply station to a blank machining station. The transfer device includes a rail extending in the longitudinal direction of a bed of the press machine and mounted in front of a press machine body through brackets fixedly secured, respectively, to side faces of the press machine body, a main body located in front of the press machine body so as to be movable along the rail, a lift member mounted on the main body so as to be movable in the vertical direction, a transfer unit fitted to the lift member so as to be movable back and forth with respect to the press machine body, and drive units for driving the main body, lift member and transfer unit, respectively.