Abstract: An industrial automation robot including a locating member (e.g., a robotic arm), a gripper movable by the locating member to a position aligned with a workpiece, and a pair of jaws attached to the gripper's slides for engaging the workpiece. A driving interconnection between the gripper's slides and the gripper's drive assembly moves the slides towards each other when a drive rod is rotated in a first direction and moves the slides away from each other when the drive rod is rotated in a second direction. The driving interconnection between the slides and the driving assembly preferably further insures synchronous movement of the slides, and thus the jaws, relative to the frame when the drive rod is rotated.

Abstract: A counterbalance mechanism for use with a multijoint manually positionable measuring arm of a three dimensional coordinate measurement system provides a reversible and adjustable counterbalancing force to offset the weight of the arm and facilitate its movement. The counterbalance mechanism of the present invention acts within the plane of the joint minimizing the moment arm created by the joint and allowing for low overhung loads transmitted from the arm to the base.

Abstract: A counterbalance mechanism for use with a multi-joint manually positionable measuring arm of a three dimensional coordinate measurement system provides a reversible and adjustable counterbalancing force to offset the weight of the arm and facilitate its movement. The counterbalance mechanism of the present invention acts within the plane of the joint minimizing the moment arm created by the joint and allowing for low overhung loads transmitted from the arm to the base.

Abstract: A robot arm is supported by a pillar (14) rotatable about a vertical axis (A) and rotated by a reversible electric motor (88). The output shaft (90) of the motor (88) is connected to the pillar (14) by means of a mechanical reduction transmission which comprises a pair of planetary reduction units (62, 64). 7he driving members of both reduction units (62, 64) are fixed angularly to the output shaft (90) of the motor (88). The driven members (68, 70) of both reduction units (62, 64) are fixed angularly to the pillar (14). When the device is in operation, the peripheral rings (72, 74) of both reduction units (62, 64) are fixed to a structure (42) which supports the pillar (14). The angular position of at least one of the peripheal rings (72) is adjustable about the vertical axis (A) relative to the other ring (74) to enable the play in the internal gearings of the reduction units (62, 64) to be cancelled out.

Abstract: A two-axis Cartesian robot comprising a vertically disposed Y-axis support having a traverse carriage selectively vertically movably mounted thereon. An X-axis support is movably mounted on the carriage. A reversible drive motor is mounted on the carriage and has a driven shaft extending therefrom upon which is mounted a planetary gear drive including an X-axis drive gear and a Y-axis drive gear which are in engagement with gear racks on the X-axis and Y-axis supports, respectively. A Y-axis brake is provided for selective engagement with the Y-axis drive gear for selectively preventing rotation of the Y-axis drive gear and an X-axis brake is provided for selective engagement with the X-axis drive gear for selectively preventing rotation of the X-axis drive gear. A workpiece manipulator is secured to the X-axis support for movement therewith.

Abstract: In an industrial robot having a rotatable robot main body 3, a first robot arm 5 which is mounted, via a first joint portion 4, on an upper end of the robot main body 3 so as to be vertically swingable, and a second robot arm 7 which is mounted, via a second joint portion 6, on a front end of the first robot arm 5 via a second joint portion 6 so as to be vertically swingable, the assembling is facilitated and the miniaturization of the robot is attained. The first and second joint portions 4, 6 are arranged in a cantilevered construction in which each of the first and second robot arms 5, 7 is supported on the robot main body 3 and the first robot arm 5, respectively, in a cantilevered manner via a driving reduction gear Ry, Rw of each of the first and second robot arms 5, 7, respectively. The driving reduction gears Ry, Rw are disposed so as to cross an identical central plane "a" that includes an axis of rotation of the robot main body 3.

Abstract: In a transmission gear for transmitting two rotary motions from a driving mechanism to a working mechanism, the transmission gear comprises a cylindrical support member, a flexible cylindrical member fixedly supported by the cylindrical support member, first and second input shaft members, and first and second output shaft members. The first and second input shaft members have non-circular peripheral portions, respectively. The first and second output shaft members have internal circular portions radially opposite to and spaced apart from the non-circular peripheral portions of the first and second input shaft members, respectively. The flexible cylindrical member interposes between the non-circular peripheral portions of the first and second input shaft members and the internal circular portions of the first and second output shaft members.

Abstract: A manipulator with six degrees of freedom includes a moving plate having three points arranged with substantial equal angles therebetween, a fixed plate having three protruding portions arranged with substantial equal angles therebetween, the fixed plate being positioned under the moving plate and being spaced apart from the moving plate, and three frames rotatably mounted on the protruding portions, respectively, each of the three frames having a first and a second points opposite from each other about the protruding portion.

Abstract: A drive train for transmitting torque produced by a motor to a load comprises a planetary gear arrangement mounted concentrically with respect to a tubular shaft. The planetary gear arrangement cooperates with a pair of driven gears which are also coaxial with the tubular shaft, the planetary gear arrangement and the pair of gears being located within an outer housing. The tubular shaft provides an unobstructed, large diameter passage through the drive train, the passage being available for the routing to a load connected to one of the driven gears of movable shafts, conduits or electrical conductors.

Abstract: A deployable and retractable ramp assembly includes at least three Z-foldable ramp sections which are pivotally connected to each other and to a railroad car. A number of mechanical deployment and retraction facilitating elements--preferably gears--are mounted to the ramp sections and operatively connected to a plurality of actuators--preferably linear actuators such as hydraulic cylinders--mounted on and completely contained within ramp sections. Using a linear actuator on the railroad car the ramp sections, once folded, can be pivoted into a position substantially completely supported by the railroad car. The ramp sections (typically six in number and pivotally connected to a lever on the railroad car) may be automatically and positively deployed in less than twenty minutes, and once deployed allow railroad equipment to be moved to and from the railroad tracks.

Abstract: A joint driving structure for an industrial robot includes a first arm having a box-like end portion, a second arm having a box-like end portion, and a bearing between the end portion of the first arm and the end portion of the second arm. A driving motor is disposed at the end portion of the second arm, the driving motor having a rotational shaft, and a reduction gear mechanism coupled to the rotational shaft and operable to rotationally drive the second arm. The driving motor has a fixing portion, the driving motor further having an opposite-to-load side bracket fixed to the fixing portion of the driving motor. The reduction gear mechanism has a fixing portion fixed to the fixing portion of the drive motor, the reduction gear mechanism having an output portion fixed to the end portion of the first arm.

Abstract: An industrial robot is provided with a plurality of elements articulated to each other, whose rotation is driven by respective electric motors by reduction gear units which are integrated in the structure of these elements.

Abstract: A disengageable free wheel includes a shaft and a ring which can rotate only in a free direction with respect to the shaft. The free wheel includes a motor for rotating the shaft in its free direction, whereby the ring can rotate at most as fast as the shaft in the direction opposite to its free direction.

Abstract: A planetary type speed reducer provides a large central hole for passing electric and service lines for a robot therethrough. The speed reducer may be used in either a self-motorized or an externally-motorized rotary joint. In a predetermined embodiment, the speed reducer includes a cylindrical carrier and multiple compound gear planets which are rotatably mounted on their respective shafts some of which, in turn, are eccentrically mounted on the carrier. A method for manufacturing the gear planets is also provided. Each of the gears has two sections or parts which are shifted angularly relative to each other and are adapted to engage adjacent fixed output gears of the rotary joint.

Abstract: This invention relates to a mobile robotic arm which is adapted to grasp objects at low-level, intermediate level and high reach areas of a domestic dwelling. The device generally comprises a mobile base having a robotic arm rotatably and pivotally connected thereto. The robotic arm comprises lower arm, mid-arm, and forearm components which are pivotally interconnected and selectively extensible and retractable through the utilization of a controller which is preferably disposed upon an arm rest portion of a wheelchair.

Abstract: An actuator module for inducing the relative motion of robot members joined in a robot joint includes a Ferguson epicyclic gear train, integral motor and integrated control means. The gear train comprises a plurality of base gears connected to the robot members and a plurality of planet gear carriers, each planet gear carrier having a plurality of planet gears rotatably mounted therein. A motor integrated with certain gear train components induces the rotation of the planet gear carriers about or within the base gears. Because of the Ferguson paradox, this induces the motion of base gears connected to one robot member relative to those connected to the other robot member, which in turn causes the relative motion of the robot members. The actuator module can be configured as dual substantially symmetric systems and may comprise multiple stages of epicyclic gearing.

Abstract: An end-of-arm tooling device for a robot or like manipulator is provided which, in a preferred embodiment, includes a differential separating a first torsional input into first and second torsional outputs, and two jaws for interacting with a workpiece powered by a separate one of the first and second torsional outputs, and wherein, upon interaction with the workpiece at a predetermined torque level by one of the jaws, the jaw's motion will be stopped and torque will be continually transferred to the remaining jaw.

Abstract: An articulated direct drive robotic manipulator providing rotation of first and second arms about first and second parallel axes including first and second motors for driving the rotation of the first and second arms. A pedestal is mounted on a base, the first motor is directly coupled to a rotatable column in the pedestal for providing a first robot arm with a first degree of freedom, a second motor is coupled to a rotatable column coaxial to the first column for providing the manipulator with a second degree of freedom by rotation of the second arm. The distal end of the second arm includes support for an end effector for movement about a third axis which is a vertical axis and a fourth axis which is a rotational axis and support for a quill. Also included is a modular device adapted to be coupled to the end of the quill which can move within horizontal planes passing through the third axis to provide a fifth degree of freedom.

Abstract: A motorized rotary joint for robots integrates a joint bearing with a power transmission, such as a planetary type speed reducer, and provides a large central hole for passing electric and service lines therethrough. The rotary joint includes a built-in rotor and stator arrangement within the same joint housing structure, thus allowing the electric motor to share the same bearings and housing structure with the speed reducer. Preferably, the rotor also carries planets of the reducer and the stator is either integral or coupled to a housing of the reducer. The rotary joint also accommodates an encoder, a circuit board having electronic components thereon and a built-in brake to provide a totally integrated, intelligent rotary joint. A method for constructing a modular robot using the rotary joint is also provided, wherein several such rotary joints are coupled to simple structural elements by means of bolted interfaces to construct a multi-joint robot of an articulated structure.

Abstract: An improved robotic arm which is capable of accurately manipulating a testing device beneath the tube sheet of the steam generator and accurately and consistently return to a selected tube location is provided. The robotic arm includes a base which is adapted to be fixedly secured to a support beam which initially positions the robotic arm within the steam generator, a first extension arm which is rotatably mounted on the base forming a primary rotation joint and which extends essentially parallel to the tube sheet. A second extension arm is rotatably mounted at the end of the first extension arm forming a secondary rotation joint and further extends therefrom. The testing device such as an eddy current inspection tool is positioned at a distal end of the second extension arm.

Abstract: A wrist unit for an industrial robot includes an arm member with a motor installed therein and having a pair of integral guide portions. Holes are formed in respective guide portions, the holes being coaxial. A wrist member having receiving portions is disposed in a space formed between the guide portions. Two intermediate members are attached by fasteners to the wrist member and project into bearings mounted in the holes. A pair of cover members are fastened on opposite sides of the guide portions in order to retain the bearings.

Abstract: A magnetic drive device comprises a hollow cylindrical outer rotor, an inner rotor inserted in the outer rotor so as to proejct at least at one end thereof beyond an end of the outer rotor and supported rotatably relative to the outer rotor, two magnetic bearings arranged around the outer rotor and spaced apart axially thereof for holding the outer rotor radially thereof, a first magnetic coupling having a drive portion disposed around the outer rotor for transmitting a torque to the outer rotor, and a second magnetic coupling having a drive portion disposed around the inner rotor at a portion thereof projecting beyond the end of the outer rotor for transmitting a torque to the inner rotor.

Abstract: A planetary roller speed reducer includes a sun roller mounted rotatably on a pedestal and a plurality of planetary rollers having a central portion with a narrowed diameter and mounted rotatably on the pedestal. The sun roller circumscribes large-diameter portions of the planetary rollers which work as a first reduction part, and an outer ring working as an output shaft circumscribes a small-diameter portion working as a second reduction part. A rotary driving system comprises a support fixed to the pedestal and disposed within the outer ring on an extension of the sun roller, and a turning angle detector fixed to the outer ring detects a turning angle between the support and the outer ring.

Abstract: A precision robot apparatus (10) is disclosed which has an arm supporting cylinder (16) capable of being moved vertically by means of a lead screw (24) which rotates within a lead screw nut (38) attached to the arm supporting cylinder (16). A linear guide rod (44) is positioned parallel to the arm supporting cylinder (16) with an anti-rotation plate (42) therebetween. An arm drive belt (74) transfers rotational power from the linear guide rod (44) to the arm supporting cylinder (16). Rotational motion of the arm supporting cylinder (16) relative to a fixed arm pulley (92) is employed to power an arm portion (14).

Abstract: A substrate transfer apparatus includes two transfer arms pivotably arranged on a support table on opposite sides from each other with respect to a center of the support table. Each of the transfer arms includes: a first set of parallel links, a second set of parallel links, and a substrate holding member. The first set of the links is pivotably connected to the second set of the links at one ends thereof. The other ends of the first set of the links are pivotably connected to the support table. The substrate holding member is provided on the other end of the second set of the links. The each of the substrate holding members moves outward from the support table by stretching of the transfer arms and returns to the support table by bending of the transfer arms, and the transfer arms are bent in an opposite direction to each other with respect to the support table.

Abstract: A semiconductor wafer transfer device includes a rotary member, a driving member which rotates coaxially with the rotary member, a driven member which is driven by the driving member and a frog leg linkage having a first link with an end fixed to the driving member, a second link with an end fixed to the driven member, a third link having an end pivotally joined to another end of the first link, and a fourth link having an end pivotally joined to the other end of the second link. A wafer support plate is supported on the other ends of the third and fourth links. An auxiliary escape mechanism is provided for moving the frog leg linkage out of its dead point. The mechanism includes a first pulley coaxillary fixed to the rotary member with the driving member, a second pulley rotatably supported on a pivot shaft pivotally joining the first and the third links, and a belt wound around the first and second pulleys.

Abstract: A transfer robot for removing molded pieces provides a telescoping robot arm having a pneumatically activated gripping device mounted to a remote end. The robot arm comprises two tubes mounted coaxially inside a housing. The first tube is driven outwardly of the housing by a rodless cylinder drive; the second tube is mounted coaxially to the inside of the first tube and is itself driven by a rack and pinion arrangement which doubles the projecting speed of the second tube with respect to the projecting speed of the first tube. The robot arm is movably mounted to a cantilever rack which is itself rotatably mounted to a supporting stand.

Abstract: An articulated robot having a swivel base supported on a support base for swivel movement about a vertical axis, a first arm pivoted on the swivel base for swing movement about a first swing axis perpendicular to the vertical axis and a second arm pivoted on the forward end of the first arm for swing movement about a second swing axis parallel to the first swing axis, wherein a servomotor for moving the second arm is mounted on the swivel base. The robot is provided with a gear train transmitting the rotation of the servomotor to the second arm, and the gear train is composed of a drive gear rotated by the servomotor to be rotated about the first swing axis, a driven gear fixed to the second arm for rotational movement about the second swing axis together with the second arm, and three idler gears disposed between the drive gear and driven gear for transmitting the rotation of the drive gear to the driven gear.

Abstract: An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.

Abstract: A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).

Abstract: Apparatus for transferring a workpiece from a first predetermined location to a second predetermined location. Workpiece is transferred using one continuous motion, wherein the workpiece is transported through space in a trochoid arc. This is achieved by having a pickup arm mounted to a body having a cylindrical surface which rolls along a second surface. Pickup arm picks up the workpiece in a first predetermined location of the body and deposits the workpiece at a second predetermined location of the body.

Abstract: A rotary actuator suitable for a robotic arm or servo drive, which is capable of large loads and large speed reductions is disclosed. The device includes an input shaft that drives an epicyclic transmission integral with the articulation. The transmission is contained in a fixed arm housing and an end housing. An input shaft has eccentrics that rotate two primary external spur gears which are engaged with two primary internal gears. The two primary external gears are fastened on both faces of the external secondary gear. The external primary gears and external secondary gear rotate about the axis of an eccentric, and orbit the input shaft axis. A secondary external gear transmits its rotary motion to an internal secondary gear affixed to an output arm. Large speed reductions are possible due to the differential action of the primary and secondary gears.

Abstract: A robot of a cylindrical structure with vertical axes of rotation comprises a base for support on a ground surface; a column mounted on the support for rotation about an axis; a support element for linking and for driving, which is flexible and inextensible and closed in a loop, mounted on and along the column; a first assembly including a carriage fixed to one of the vertical sections of the element, a horizontal bracket mounted on the carriage for rotation about a second axis, a head mounted on the bracket for rotation about a third axis; a second assembly including a second carriage fixed to the second section of the element, a second bracket, a second head mounted on the second bracket; and a control arrangement for driving and controlling so that the two assemblies are displaced synchronously along the column in opposite vertical directions to one another.

Abstract: Plural article transfer mechanisms are operated in timed sequence by an electronic control synchronized to a main drive shaft. Each article transfer mechanism transfers articles from a dead plate to a moving conveyor. An extensible-retractable pusher arm engages, moves and releases the articles between 90.degree. positions under control of a fluid motor mounted on a turntable. Operation of the fluid motor is based on rotary alignment of a pair of turntable ports with a pair of fluid supply channels in a turntable drive body. The turntable is stepped in rotary increments between 90.degree. positions by an electric stepping motor. The angular speed profile of the pusher arm between the 90.degree. positions is governed by a programmed electronic control, including a PROM, which drives the stepping motor. An adjustable finger clip assembly is snap-fitted on the pusher arm and provided with a handle for ease of replacement.

Abstract: An electro-mechanical grasping device that simulates the movements of a human hand suitable for use as an artificial hand prosthesis that is lightweight, agile and includes a firm grasp. A lightweight platform houses a plurality of very small high torque electrical motors, each having its own linear gear rack, all of which is connected by suitable wire-like actuating member to a plurality of jointed members each of which represents a particular digit of the hand. A stiff cable is connected between all the simulated digits and the gear racks, the cables being mounted through eyelets that act as harness guides for providing the proper strength and movement of each of the digits. Control of the artificial hand and the digits may be through the receipt of myogram signals from the human muscles in the appropriate situation while power is received from a small DC battery.

Abstract: A telescopic manipulation arm includes a module formed by two segments and a toggle joint. All movements of the toggle joint are transmitted across the module by identical mechanisms in such a way that the friction and inertia are the same for each movement. These mechanisms incorporate shafts positioned equidistantly of an axis in the lower segment and shafts positioned equidistantly of the axis in an upper segment. Shafts are provided for carrying identical pinions, which engage on identical toothed gears, and which are also engaged on substantially identical pinions rotatable with the shafts.

Abstract: This invention relates to an articulated robot comprising at least two control arms (4), (7), and two speed reducers provided at articulated portions of the two control arms (4), (7) on the same axis in opposed relation to each other. The two speed reducers comprises first and second harmonic drive speed reducers which include a common circular spline (60) fixedly secured to the articulated portion of one of the control arms (4), (7), and a bracket (40), (50) mounted on one end of the common circular spline (60) for angular movement relative to the common circular spline (60) and connected to the articulated portion of the control arm (4), (7). The number of component parts can be reduced, the assembling operation can be facilitated, a stable high accuracy can be maintained, and an inexpensive articulated robot can be obtained.

Abstract: A rotational driving apparatus with frictional engagement includes a base, a rotating member having rigidity and axially supported on the base, at least one frictional roller having rigidity and at least one driving roller which are in rolling contact with the rotating member, a motor for rotating the driving roller, and a pressing mechanism for pressing the frictional and driving rollers against the rotating member, thereby transmitting a driving force of the driving roller to the rotating member to rotate it.

Abstract: A stack of blanks is guided between pile guides. Disposed on a support are holding members which can be laid against an exposed blank in the stack in order to grasp it and to be moved, with it, away from the stack. In the course of this, the support is movable over a path which, starting from the stack, extends transversely to the plane of the blanks, then changes over into a direction at least substantially parallel to the plane of the blanks and leading to a pair of conveying members and finally again extends transversely to the plane of the blanks. The conveying members grip the blanks delivered to them by the support, at both sides and convey it onwards.

Abstract: An apparatus for providing a reciprocating motion. The apparatus has a housing block that contains two movable arms in spaced apart relationship to one another. The movable arms each contain a rack gear connected to a common pinion gear. One movable arm is driven by a fluid actuated cylinder. The driven movable arm then produces an equal and opposite motion in the other arm because of the interconnection of the pinion gear. Tools for altering of a workpiece may be attached to one or both ends of the movable arms. An embodiment utilizes the rotation of the pinion gear shaft to cause a translation of the entire apparatus away from a workpiece.

Abstract: Angle transducer unit of the multiturn measuring type for absolute measurement of the angular position of a rotatable shaft. A first transducer (10) of the absolute angular measurement type with a drive shaft (3) is non-rotatably mounted on the rotatable shaft. A second angle transducer (11) of the absolute angular measurement type has a driven shaft (4). There are gear wheels (1,2) mounted on the drive and driven shafts, these gear wheels being mutually in mesh to form a gear for up or down gearing of the rotational rate of the drive shaft. The two angle transducers, e.g. resolvers, are intended for being conventionally connected to an apparatus for measuring the differential angular position of the shafts. Novel to the angle transducer unit is that the gear wheels include an internally toothed gear wheel (2) and an externally toothed gear wheel (1).

Abstract: A machine tool head comprises a fork fitted to a support having a plurality of degrees of freedom, and a tool unit hinged to the fork. The tool unit contains equipment designed to control a tool carrier so that it can traverse along an axis, and equipment designed to perform controlled tool rotation around that axis. The tool carrier is in the form of a shaft which is mounted on a bushing to which a crown gear is connected. The crown gear engages a first pinion which meshes with a second pinion that is connected to a gear motor. The gear motor and the first and second pinions are mounted as a unit on a hinge to the structure which supports the bushing and a biasing mechanism is provided for urgening the first pinion into meshing engagement with the crown gear.

Abstract: In semiconductor vacuum processing, it is desirable to minimize the material handling mechanisms that must be located in the evacuated process chamber. To accomplish this, a mechanism has been designed that locates the necessary power elements such as motors (12-16) outside the chamber (32). Power is transmitted to the mechanism via commercially available rotary vacuum feed-through devices (30) mounted in the chamber walls (28) and the separable, zero backlash couplings (44) located within the chamber. These couplings (44) allow easy removal and replacement of the handling mechanism without the need for physical access and tools.

Abstract: A drive unit on the pedestal of an industrial robot includes a gear unit having a hollow output gear shaft driven by a drive motor, and the base of the industrial robot includes a bearing on which the pedestal is rotatably mounted and whose axis of rotation is essentially coincident with the axis of rotation of the output gear shaft, and a torsionally rigid but otherwise flexible shaft coupling connects the output gear shaft to the base.

Abstract: An apparatus for transporting a machine tool such as a robot arm comprises: upper and lower track rails each having a square or circular cross-sectional shape which are horizontally arranged in parallel so as to be away from each other in the vertical direction; and a casing slidably inserted therebetween. Rack tooth trains are formed on the lower surface of the upper track rail and on the upper surface of the lower track rail. The casing has an almost H-shaped cross-sectional shape and comprises a casing main body and two side plates attached at both end surfaces thereof. Rail side track grooves and casing side track grooves are formed on the inner wall surfaces of the track rails and casing main body. Balls are inserted between the corresponding opposite track grooves.

Abstract: A slider holding apparatus includes a slider holder for holding thereon a slider, and orientating means for angularly moving the slider holder on its vertical axis to adjust the orientation of the slider held on the slider holder.

Abstract: A dual axis transfer mechanism comprising a pair of motors mounted onto a frame for independently rotating a pair of threaded shafts fixed in parallel relation. Each of the shafts is threaded into a carrier member connected to one end of a respective arm, the opposite end of each arm being connected at a common pivot point. Rotation of each shaft caused by its respective motor causes movement of the carrier member threaded thereon which effects movement of the common pivot point to which a tool is attached.

Abstract: A rotational driving apparatus with frictional engagement includes a base, a rotating member having rigidity and axially supported on the base, at least one frictional roller having rigidity and at least one driving roller which are in rolling contact with the rotating member, a motor for rotating the driving roller, and a pressing mechanism for pressing the frictional and driving rollers against the rotating member, thereby transmitting a driving force of the driving roller to the rotating member to rotate it.

Abstract: Plural article transfer mechanisms are operated in timed sequence by an electronic control synchronized to a main drive shaft. Each article transfer mechanism transfers articles from a dead plate to a moving conveyor. An extensible-retractable pusher arm engages, moves and releases the articles between 90.degree. positions under control of a fluid motor mounted on a turntable. Operation of the fluid motor is based on rotary alignment of a pair of turntable ports with a pair of fluid supply channels in a turntable drive body. The turntable is stepped in rotary increments between 90.degree. positions by an electric stepping motor. The angular speed profile of the pusher arm between the 90.degree. positions is governed by a programmed electronic control, including a PROM, which drives the stepping motor. An adjustable finger clip assembly is snap-fitted on the pusher arm and provided with a handle for ease of replacement.

Abstract: A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.