Abstract: An apparatus for receiving and holding tools, specifically resistance welding units, carried by a robot programmed to execute certain movements including the placing of these tools at a specific location, including a base, for a vertical frame having a series of radial supports which can be rotated about a vertical axis and immobilized in positions in which the radial supports are disposed opposite various work stations, and respective mechanisms for decoupling a tool from the robot and for coupling a tool to the robot, so that at any one time the robot only carries one tool while other tools which may be used by the robot are freely available for repair and maintenance without interrupting the operation of the robot.

Abstract: An exchangeable multiple function end effector tool suitable for use on the distal end of a robotic end effector includes, in combination; a mechanism for removably affixing the multiple function end effector tool onto a pair of extending fingers provided on a robotic end effector. The multiple function tool is provided with a first gripping device for acquiring a first element or component and releasably retaining it and further incorporates a second gripping device which is capable of acquiring a second element or component and releasably retaining it in the tool. Provision is made for engaging and disengaging the elements either separately or in unison. Movement, assembly or disassembly of the elements remains a function of the end effector and its control mechanisms.

Abstract: The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective.

Abstract: A device is provided for spraying an anti-corrosion agent into the hollow spaces of a vehicle body wherein one spraying nozzle, selected from a set of spraying nozzles which are each specific to a portion of the vehicle body, can be selectively coupled fluidically and mechanically by means of a quick change slip-on coupling to a spraying nozzle holder apparatus. To facilitate quick spraying nozzle changes by one hand operation and to make it possible to employ robots for the purpose of changing nozzles, all spraying nozzles are retained next to one another in a defined manner by retainers on a support so as to be fixed but detachable from said retainers. This arrangement permits the coupling component part of each nozzle to be easily accessible to the spraying nozzle holder apparatus.

Abstract: A micromanipulator system for precisely positioning an object in an xz plane and then grossly moving the object in the y direction into a hole z is disclosed. The micromanipulator system includes a base and a platform mounted to the base having five different degrees of movement (in the x direction, y direction, z direction, about the x axis, and about the z axis). Suitable moving mechanisms are provided for reversibly moving the platform in the five degrees of movement. Four of the degrees of movement being for fine or precise positioning of the platform and the fifth degree of movement in the y direction being a coarse positioning movement. A device for holding the obejct to the platform is then provided such that after precisely positioning the platform in the xz plane, the object is coarsely moved in the y direction toward the hole. Preferably, a device is provided for detecting an opposition force to the coarse movement of the object in the y direction.

Abstract: A turret is rotatably secured to a housing adapted to be secured to a robot wrist having a reference orientation and axis. The turret has a plurality of interchangeable lead processing devices which are selectively aligned to the reference orientation and axis. When so aligned a lead processing device is engaged with a selected component and operated to cut and bend the lead of that component. A second component's lead may be processed by the same or a different lead processing device secured to the turret. The latter device is aligned to the reference orientation and axis prior to processing the second component's lead. The robot is programmed to align the reference axis and the corresponding processing device to the selected component whose lead is to be processed.

Abstract: A method for changing the tooling in a robot-based material transfer system is disclosed as well as a system utilizing the method. The tooling is changed to accommodate the transfer of material such as automotive parts having different configurations within the system. Initially, end effectors of gantry robots and/or transfer beds of the system are placed in at least one container which is indexed through the work envelopes of the robots. Then, at least one specially designed container containing new tooling is indexed into the work envelopes. The robots are controlled to remove the new tooling from the containers and to place the new tooling in operative positions in the system. In the disclosed embodiment, one of the robots utilizes a special transfer bed gripper to replace the old transfer beds with new transfer beds. Preferably, an automatic guided vehicle system (AGVS) moves containers to and from loading and unloading stations in the material handling system.

Abstract: An improved adapter is provided for an interchangeable robot end-of-arm tooling system. The quick change adapter is made from modular components including a body, an interface package, and a robot adapter plate with locator system.

Abstract: Self-contained apparatus able to move along a non-horizontal surface and comprising a first train and a second train (48) connected to the first train by devices allowing to obtain a relative displacement by translation and rotation in a plane parallel to the surface, and first and second holding devices (2) carried respectively by the first and the second trains and able to fix removably the apparatus on the surface, wherein the holding devices carried by at least one of the trains are connected to the train through devices capable of displacing said train with respect to the holding devices in a direction perpendicular to the surface. Preferably, the holding devices (2) of the first train are comprised of a plurality of adherence devices forming a polygon and arranged outside the center of the holding devices of the second train, and the apparatus further comprises a processing or inspection tool (60) mounted so as to pivot with respect to the first train.

Abstract: An end effector move is executed by transforming the end effector position and orientation into joint coordinates at a large number of points on the end effector trajectory. On-line joint trajectories are determined in real time by looking ahead a few points on the end effector trajectory and generating points along the different joint trajectories. The current point and the look-ahead points are referred to as a block. An initial estimate of the slope at the block end points is made and then improved by overlapping the next block with the current block. The coefficients of the polynomials converting the points in the joint trajectories are interpolated to provide position commands to a servo control associated with the robot joint to control robot joint motion.

Abstract: The apparatus effects transfer and connection of tools between a tool holder and at least one bracket of a robot hand. A pin upon the tool holder and a pin upon the bracket are received during tool transfer within a bore extending through the tool shank, one of the pins entering the bore from one end thereof and the other pin entering from the other end of the bore. The free ends of the pins abut during transfer of the tool between the tool holder and the bracket. Two tools may be simultaneously transferred in the preferred embodiment of the apparatus. The connection between the bracket and the tool permits limited movement of the former relative to the latter, and a sensor may be provided to detect such movement.

Abstract: A hand changing device for industrial robots, having a changer body (10) designed to be attached to the robot arm (92) and a changer adapter (50) carrying a robot hand. The changer body (10) and the changer adapter (50) are separate components designed to be coupled detachably. The changer adapter (50) carrying the robot hand (74) is clamped by the changer body (10) by the engagement of a plurality of clamping balls retained within the changer body (10) and a ball engaging part formed in the changer adapter (50). The changer body (10) is provided with a fluid-driven piston (20) to move the clamping balls between two positions, namely, the clamping position and the idle position.

Abstract: A collision sensor and compliance device for use with computer controlled robotic arms adapted to have a robotic hand disposed on the distal end thereof includes a housing affixed to the robotic arm on one end with a robotic hand affixed upon the other end thereof. The front and rear walls of the housing includes triangular-shaped apertures disposed in a common plane with the apex of each of the triangularly-shaped apertures being positioned equally distant from the lower edges of each of the walls. Light emitting diodes are centrally disposed in one pair of the oppositely disposed walls with photoelectric light sensors disposed in the robotic hand support bracket. The robotic hand or support bracket includes at least a pair of bearings (preferably two pair) disposed at right angles to each other and adapted to be received and cooperate with a pair of the triangularly-shaped apertures provided in the housing.

Abstract: A scoop for picking up particulate, granular, or penetrable solids. The scoop itself is a rugged one-piece construction that has a bucket member which is pushed into solids to be scooped in a normal "open" position. The scoop is constructed in the shape of a wedge to facilitate entry into the mass of solids and allows the force exerted on the scoop by the solids to assist in closing of the scoop.

Abstract: A robotic tool changing system which is compatible with manipulators (20) of the type having a pair of opposable vise-like end-effector "fingers" (22,24) formed on an end-effector (21) is disclosed which may be used to grip and manipulate a wide range of different tools (42,44,45) and wherein the end-effector (21) includes: (i) alignment ports (29,30,34,35) formed on the gripping fingers (22,24) for reception of alignment pins (29',30',34',35') formed on the tools (42,44,45); (ii) a resistor (R1) embedded within each tool (42,44,45) which is uniquely representative of that tool; (iii) a tool comparator circuit (50) having at least one reference resistor (R2) for enabling identification of the particular tool gripped by the end-effector (21) and for generating a control output signal capable of selecting, defining and enabling and requisite utility(ies) and utility control line(s) required for proper operation of the gripped tool; (iv) electrical contact means (31,32) formed in at least one finger (22) for coo

Abstract: A tool changer for use with the manipulator arm of a robot or the like. A tool changer in which the manipulator arm is engaged with the end effector carrying the tool by a simple linear motion, and disengaged by a linear motion in the opposite direction, without requiring any separate control functions such as switch actuation or the like. A tool changer which also provides for transmitting mechanical, electrical or fluid power and/or control between the manipulator arm and the end effector, and one which can be utilized with any type of tool, sensor, transducer, and the like.

Abstract: A tool for picking up and releasing washers which uses a retractable rod member that is insertable into the washer and directs jets of pressurized air alternately onto the bottom surface of the washer to cause the latter to be picked up and onto the top surface of the washer to cause the latter to be released.

Abstract: An apparatus for gripping a thin flexible object located within a gripping plane having a transverse axis and a longitudinal axis perpendicular to each other and to a linear axis which is perpendicular to the gripping plane, includes first and second sets of gripper claws for gripping the object. The sets of gripper claws are located on opposite sides of the longitudinal axis and are movable between closed and open positions. Means are provided for restricting the motion of the gripper claws in a direction perpendicular to the longitudinal axis so that the gripper claws are prevented from excessive inward movement toward the longitudinal axis beyond a desired predetermined amount.

Abstract: The robotic assembly of a keyboard using a multiplicity of keys of a plurality of distinct types, such As key caps on a sculptured keyboard, can be substantially increased in speed by the use of a multifacted rotatable turret for picking up and installing the key caps onto the keyboard. A programmable robot, having a robotic arm is provided with a rotatable multifaceted turret. Each facet of the turret includes a key handling member which is molded to accept a distinct type of sculptured key. The types of sculptured keys are segregated in a pick-up position. The turret is manipulated by the robotic arm in the pick-up position to pick up a multiplicity of keys of one given type on each of the facets of the turret. Thus, each turret picks up one type of keys. The turret is then translated by the robotic arm to an assembly position. The turret is once again rotated and advanced to assemble the key caps on to key stem projected from the keyboard.

Abstract: This invention has as its object a six-axis head for correction of movements equipping a mobile tool (12) for mating assembly of an element on a support. The head comprises an upper frame (10) fastened to the mobile assembly tool defining a first geometric plane P.sub.1, an intermediate frame (16) defining a second geometric plane P.sub.2 and connected to the upper frame (10) by first drive means (M.sub.1, M.sub.2, M.sub.3) making it possible to perform two translations and a rotation of plane P.sub.2 in relation to plane P.sub.1, a lower frame (18) defining a third geometric plane P.sub.3 and connected to the intermediate frame (16) by second drive means (M.sub.4, M.sub.5, M.sub.6) making it possible to perform a translation and two rotations of plane P.sub.3 in relation to plane P.sub.2, means (20) for holding the element being fastened to the lower frame (18). It has application in automated placing of glazing elements (windscreens) on a motor vehicle body.

Abstract: A robot hand changer for industrial robots, having a changer unit mounted fixedly on the industrial robots and a changer adapter holding a robot hand and being detachably fitted in the change unit. The changer unit has a fluid-operated piston and clamping balls urged toward a clamping position by the fluid-operated piston. The changer adapter is fitted in the changer unit and clamped by the agency of the clamping piston. A plurality of such changer adapters holding different kinds of robot hand are prepared.

Abstract: A robot wrist of an industrial robot having a wrist housing supporting two orthogonally arranged rotating output shafts therein, each of the shafts being connected to a robot hand, and a built-in fluid conveying means provided for distributing pressurized air introduced from the outside of the robot wrist toward the robot hand attached to one of the rotating cutput shafts. An output end of each of the two rotating output shafts may either be plugged by a plug element or closed by a stop valve when the output end is not connected to the robot hand.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.