Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.

Abstract: A heat resisting robot hand apparatus suitable for use within a highly-heated and pressure-reduced chamber in which radiant heat emitted from a heat stage and a material to be heated, such as a semiconductor wafer, is reflected and intercepted, and in which the heat from the material conducted to an arm section is reduced. The heat resisting robot hand apparatus includes a hand section supporting a material to be heated and a heat reflection plate reflecting radiant heat, parallel and adjacent to the portion of the hand section for supporting the material with an intervening gap. The heat reflection plate is supported on the hand section by heat-insulating supports with a gap for accommodating heat distortion. The hand section is connected to the arm section by heat-insulating fitting means with a heat-insulation space. Seats of the hand section contact the material independent of the hand section. Further, the heat reflection plate is cooled by cooling structure.

Abstract: A bifurcated, orbital replacement unit interface comprises a body and two pairs of fingers extending outwardly from opposite sides of the body, wherein each pair of fingers provides a bifurcation between their inner sides in the form of an inwardly tapering recess. All of the inner sides of the fingers are bevelled for aligning a correspondingly shaped anvil in the tapering recess.

Abstract: A gripping device for grasping and releasing articles by freezing and thawing water between a gripping surface and the article. The device includes a base plate, a mesh like gripping surface, a water passage to the gripping surface, a freezing element for freezing the water and bonding the gripping surface to the article and a thawing element for melting the frozen bond for releasing the article. The cooling and thawing elements use semi-circular tubing extending from the base plate and adjacent the gripping surface, through which are introduced a coolant for freezing the water and a heated liquid for thawing. Upon movement of the water via an atomizer to the gripping surface, coolant is introduced into the tubing to freeze the same. Upon freezing, the article and gripping surface become bonded. To release the article, the heated fluid is moved through the tubing so as to thaw the frozen bond.

Abstract: The robotic end-effector system comprises a mounting bracket assembly attached to a manipulator arm of a robot. A dual shaft motor is attached to the mounting bracket assembly. The motor has first and second rotatable output shafts. The first shaft is for mounting an encoder for providing position data. A mechanical drive mechanism is connected to the motor and to the mounting bracket assembly. The mechanical drive mechanism converts rotational motion of the second output shaft to translational motion. A passive compliance system is connected to the mechanical drive mechanism. A load sensor system is supported by the compliance system for providing force data. An end-effector end piece is connected to the load sensor system. A closed loop computer control system is in communication with the motor for processing the position data and the force data for providing micro positioning of the end-effector end piece and for providing an active system compliance, thereby achieving the desired end-effector function.

Abstract: A wafer boat rotating apparatus is disclosed, which includes a boat holding portion for holding both ends of the wafer boat, a vertical rotation drive mechanism for rotating the boat holding portion on a vertical plane, and a horizontal rotation drive mechanism for rotating the boat holding portion on a horizontal plane. A wafer holding member is disposed on the boat holding portion and adapted to keep the wafers held in the wafer boat apart from a bottom portion of the wafer boat by a small distance. Thus, compensation for the difference of coefficients of thermal expansion between the wafers and wafer boat during heat treatment can be made easily.

Abstract: A small and light weight microconical interface fitting may be attached to the surface of a space vehicle or equipment to provide an attachment device for an astronaut or robot to capture the space vehicle or equipment. The microconical interface fitting of the present invention has an axisymmetrical conical body having a base portion with a torque reaction surface for preventing rotation of the interface grasping tool; a cavitated, sunken or hollowed out intermediate locking portion which has a cavity shaped for receiving the latches of the grasping tool and an upper guiding portion for guiding the grasping tool into axial alignment with the microconical interface fitting. The capture is accomplished with an interface grasping tool. The grasping tool comprises an outer sleeve with a handle attached, an inner sleeve which may be raised and lowered within the outer sleeve with a plurality of latches supported at the lower end and a cam to raise and lower the inner sleeve.

Abstract: An attaching device for attaching a tool to a tool manipulating arm is disclosed having a first attachment member affixed to the tool manipulating arm which is adapted to engage a second attachment member affixed to the tool. The first attachment member includes a locking device which is engageable with a cam surface formed on the second attachment member such that the engagement urges a seating surface defined on the first attachment member and a mounting surface defined on the second attachment member into sealing contact with each other. The seal effected by the contact of these surfaces hermetically seals the locking device such that it is not susceptible to contamination by the dust, water, sand, chips, oil, etc. which may be present in the working environment in which the robot is located.

Abstract: A split spline screw type payload fastener assembly including three identical male and female type split spline sections. The male spline sections are formed on the head of a male type spline driver. Each of the split male type spline sections have an outwardly projecting load baring segment including a convex upper surface which is adapted to engage a complementary concave surface of a female spline receptor in the form of a hollow bolt head. Additionally, the male spline section also includes a horizontal spline releasing segment and a spline tightening segment below each load bearing segment. The spline tightening segment consists of a vertical web of constant thickness, having at least one flat vertical wall surface which is designed to contact a generally flat vertically extending wall surface tab of the bolt head. Mutual interlocking and unlocking of the male and female splines result upon clockwise and counter clockwise turning of the driver element.

Abstract: A tool fastening apparatus for industrial robots comprises a coupling unit attached to the arm of a robot and a coupling unit attached to a tool to be used with the robot. When the two coupling units are joined together, their relative position can be easily and accurately fixed by means of positioning couplings comprising ball rings carrying a set of annularly arranged balls slightly sticking out from the plane of contact between the two coupling units. Accurate positioning is achieved by bringing the balls on the two ball rings into engagement, which, in turn, is achieved by fitting each ball on one ball ring into between two adjoining balls on the other ball ring.

Abstract: A robot end effector (10) for holding a fabric workpiece (64) against a working surface (74) has a rigid backing member (11), a facing strip material (13) arranged to contact the workpiece (64) around its periphery and a resilient intermediate layer (12) between the backing member (11) and the facing strip material (13), the width (w) of the facing strip material (13) being no greater than the thickness (t) of the intermediate layer (12).

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

Abstract: A production line which includes a shuttle conveyor extending between two work stations. A first transfer device for transferring a workpiece from one of the work stations to the conveyor and a second transfer device for transferring the workpiece to the second work station all equipped with workpiece gripping or supporting devices which may be rapidly changed when the line is shifted from the production of one form of workpiece to the production of another workpiece having a different configuration. Replacement workpiece gripping devices are supported adjacent the shuttle conveyor upon holding pedestals. Upon line changeover, the transfer devices locate their workpiece gripping devices upon empty holding pedestals and actuating devices on the pedestal release the gripping devices from their transfer devices. The empty transfer devices are then shifted and coupled to new workpiece gripping devices supported on other holding pedestals.

Abstract: A gripping unit includes a generally U-shaped frame fixed to a shaft which is rotatably connected to a manipulator arm. The actuator frame has a pair of spaced apart actuator arms. A generally U-shaped payload frame has a bracket member for attaching to a payload and a pair of payload arms extending from opposite ends of the bracket member. Each payload arm is pivotally coupled to a corresponding one of the actuator arms so that the payload frame is pivotal with respect to the actuator frame about an axis which is perpendicular to the axis of the shaft. A cam mechanism is operable to releasably hold the payload frame in certain orientations. A brake device prevents rotation of the actuator frame about the axis of the shaft.

Abstract: A captured nut member is located within a tool interface assembly and being actuated by a spline screw member driven by a robot end effector. The nut member lowers and rises depending upon the directional rotation of the coupling assembly. The captured nut member further includes two winged segments which project outwardly in diametrically opposite directions so as to engage and disengage a clamping surface in the form of a chamfered notch respectively provided on the upper surface of a pair of parallel forwardly extending arm members of a bifurcated tool stowage holster which is adapted to hold and store a robotic tool including its end effector interface when not in use. A forward and backward motion of the robot end effector operates to insert and remove the tool from the holster.

Abstract: An end-effector apparatus, used in combination with a machining device and robotic arm, for use in template-guided robotic machining a workpiece. The end-effector apparatus includes a holding means which holds a guide bushing against the machining template in a consistent orientation with a constant force independent of the orientation of the end-effector apparatus. The end-effector apparatus further includes two separate means for translational travel of the machining device. This translational travel allows the machining device cutting element to controllably follow substantial contour changes along the periphery of the template with a minimal number of spatial coordinates required to be programmed within an interfacing computer.

Abstract: A five degree-of-freedom positioning device includes a manipulator shaft for manipulating an object to a desired position and orientation. Two sets of stator permanent magnets are spaced along an axis of the manipulator and arranged in parallel planes transverse to the manipulator axis so as to provide therebetween magnetic fields substantially extending along the axis. Interposed between the sets of permanent magnets are axially spaced sets of electrically energizable coils also arranged in parallel transverse planes. The coils are energized to produce coil fields that interact with the magnetic fields of the permanent magnets for generating the Lorentz force which acts on the manipulator shaft to effect two translational movements of the manipulator shaft along two mutually orthogonal axes perpendicular to the manipulator shaft axis and three rotational movements about the three mutually orthogonal axes including the manipulator shaft axis.

Abstract: With this device for an automatic mounting of connector shells (5) and electric conductors, in each case, a connector shell (5) is mounted, with the aid of an industrial robot (1), onto both contact parts (8.1, 8.2) of an electrical conductor at the end of a cable-processing line. Each end of the electric conductors is gripped by the first double gripper (11) of an additional transfer module (40) and, in a mounting position (32), is transferred to a stationary gripper (20). Before this transfer, if the electric conductor is gripped by the first double gripper (11) alone, then the conductor shells are mounted onto the contact parts and the mounting force is tested. After the stationary gripper (20) takes over the electric conductor, the first double gripper carries out a reverse cycle motion into a transfer position (30) in order to grip a new electric conductor.

Abstract: A coupler body 12 with a socket 44 therein is attached to nuclear stream generator tools to be mated with an arm 22 of a remotely controlled manipulator. A plug 16 for insertion in socket 44 is mounted with a ball detent lock actuating air cylinder 18 on L-shaped bracket 20 attached to the end of arm 22. Cam surfaces 62 on body 12 and 64 on bracket 20 align the plug 16 and socket 44 for insertion to mate and couple the tools and arm 22.

Abstract: A payload retention device (10) for grappling and retaining a payload (14) in docked position on a supporting structure (18) in the cargo bay of a space vehicle. The device comprises a two-fault tolerant electromagnetic grappling system comprising electromagnets (30A,30B) for attracting and grappling a grapple strike plate (20) affixed to the payload when in proximity thereto and an electromechanical latching assembly comprising a pair of independent latching subassemblies. Each subassembly comprises a set of latching pawls (29) which are driven into latching and unlatching positions relative to a grappled payload by a pair of gearmotors (40), each equipped with a ratchet clutch drive mechanism (75, 76) which is two-fault tolerant with respect to latching such that only one gearmotor of the four needs to be operational to effect a latch of the payload but is single fault tolerant with respect to release of a latched payload.

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

Abstract: According to the present invention, there is provided a tool changing device for a robot comprising a piston reciprocating in a cylinder, a supporting block provided at the distal end of a piston rod, a pair of links interconnecting the supporting block to a pair of cramp members cramping a tool mounting plate.Even in a case where the supply of a pressurized fluid is interrupted during the cramped state, and outside uncramping force is applied to the cramp members, a side surface of each cramp member abuts against a side surface of the supporting block, and the cramping members are thereby held in the cramping state.

Abstract: Wafer handling apparatus operating under the Bernoulli principle to pick up, transport and deposit wafers, which apparatus includes a plate having a plurality of laterally oriented outlets and a central outlet for discharging gas in a pattern sufficient to develop a low pressure enviroment to pick up the wafer while bathing the wafer in radially outflowing gases to prevent intrusion and deposition on the wafer of particulate matter in suspension.

Abstract: For grasping objects having a limited weight and a random shape, a pneumatic gripper is proposed, which has an approximately U-shaped support (10) and a compressed air ejection nozzle (12), mounted on one of the end branches (10b) of the support and oriented towards the intermediate branch (10a), in the vicinity of the bend (10d) connecting the latter to the other end branch (10c). Rails (22) channel the compressed air jet from the nozzle (12) to the end of the branch (10c). The object (O) is attracted by the pressure drop or vacuum formed in the vicinity of the bend (10d) and can then be raised and manipulated.

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: An assembly of three major components including a wrist interface plate which is secured to the wrist joint of a robotic arm, a tool interface plate which is secured to each tool intended for use by the robotic arm, and a tool holster for each tool attached to the interface plate. The wrist interface plate and a selected tool interface plate are mutually connectable together through an opening or recess in the upper face of the interface plate by means of a notched tongue protruding from the front face of the wrist interface plate which engages a pair of spring-biased rotatable notched wheels located within the body of the tool interface plate.

Abstract: A single purpose robot arm end effector having a ring shaped frame positioned around the periphery thereof with a plurality of extendable drivers mounted in the frame for movement between a nonfunctioning position and an operative position. Each of said drivers can be tooled up for unique or dedicated applications so that the arm will be performing many different functions during most of a manufacturing cycle, instead of only performing one function for a short period of time during the manufacturing cycle.

Abstract: Stable compliance control at a high speed is achieved by cooperation between a manipulator and a wrist body which is located at the end of the manipulator arm.

Abstract: An end effector (10) is pivotally affixed to a robot arm (12) and comprises a platform (28) and a catcher (42). In operation, the end effector (10) picks up an integrated circuit slice (S), tilts the platform (28) away from the horizontal, causing the slice (S) to slide into an indexing surface (47) of the catcher (42). This places the slice (S) in a predetermined position relative to the robot arm (12) allowing for precise placement of the slice (S) at a workstation (106).

Abstract: An apparatus for fixing and changing tools on movable working machines, e.g. robot arms, comprising a retaining element (A) with a fixing trunnion (2) fixed to the working machine part and on which are formed retaining groove (4) at right angles to its axis; a fixing element (B) fixed to the tool and having a reception opening (9) for the fixing trunnion (2) and with fixing slides (6) engaging positively in the retaining grooves (4) and displaceable in the direction of the latter in opposition to the tension of springs (7) and which have in each case one fixing opening (8) aligned in the tool change position with the reception opening (9); a change element (C) for receiving the locking element (B) in the change position with a motor (operating cylinder (13)) displaceable change fork (14) for moving the fixing slides (6) out of the fixing position and into the change position in opposition to the tension of springs (7).

Abstract: A quick change tool holder including two basic component assemblies, the first component assembly having a central boss portion and the second component assembly having a recess to receive the boss portion when the two component assemblies are attached together. A channel formed in the boss portion is engaged by a pivotally mounted lock bar member when the component assemblies are attached together. The lock bar is moved out of the channel which permits separation of one component assembly from the other by the action of air pressure against a piston.

Abstract: An apparatus for detecting an orientation flat of a wafer and centering the wafer includes a hand base, a pair of guide rollers mounted on the hand base, and a stopper mechanism mounted on the hand base. The hand base is operable to be located in opposed relation to one of opposite faces of the wafer, and has an axis therealong. The guide rollers serve to support the wafer located in opposed relation to the hand base, and are symmetrically disposed with respect to the axis of the hand base. The stopper mechanism cooperates with the pair of guide rollers to center the wafer, and are movable along the axis of the hand base and engageable with the orientation flat of the wafer.

Abstract: The grapple fixture, with improved docking and engaging capabilities, is provided for use with, for example, a relocatable space station remote manipulator system. The grapple fixture is for use with an end effector having grappling capabilities and latching capabilities and which may include a force moment sensor which can cooperate with the arm in order to align the end effector with the grapple fixture without the aid of a grappling mechanism. The grapple fixture comprises a base, having a flange and a cylinder with an end effector abutment face, a plurality of end effector latching trunnions extending radially from the cylinder, a cone-shaped, grapple fixture aligning body with a cylindrical, end effector locating base portion attached to the abutment face, and a plurality of laterally extending, grapple fixture recess engaging, rounded shoulders spaced around the cylindrical base.

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

Abstract: The video image of the end effector (26) and work surface (32) in the vicinity of the end effector is converted into a series of continually generated digitized images (132), which are further processed to detect and track the relative motion between the end effector and the work surface. After calibration (126), whereby an index of coordinates and arm orientation is established for a known positioning of the end effector relative to a known reference feature (28a) on the work surface, the tracking (168) of the motion of the end effector is utilized to continually update the index (104) to indicate the actual coordinate and orientation of the end effector relative to the work surface. The updated index is displayed on a live video monitor (44), and can be used as input to the feedback circuit (94) of the manipulator control system.

Abstract: A robot arm comprises a robot arm unit, and an assembly flange provided with a unit for centering and fastening of tools, the assembly flange being formed as a wall of a housing member fastened to the robot arm element and having an interior space through which line portions for power supply and control on a robot arm element side can pass, the wall having a plurality of sides and being provided on the sides with openings, a plurality of cover plates arranged to cover the openings, at least one of the cover plates being provided with internal connections for the line portions on the robot arm element side, and also being provided with a unit for connecting the internal connections with further elements.

Abstract: Selective compliance in up to six degress of freedom in a magnetically levitated fine motion device, or robot wrist, with limited motion in X,Y,Z, ROLL, PITCH, YAW, is provided by controlled actuation currents applied to six electrodynamic forcer elements. The wrist has a stator support base defining a dual periphery, carrying a number of stator magnet units. A shell flotor unit nests within the stator support base dual periphery, and carries forcer coils at locations corresponding to respective magnet units. The magnet unit and related flotor coil form a forcer element. There are a number of forcer elements. The vector sum of all the translational forces and rotational torques established at the forcer elements determines the X,Y,Z, ROLL, PITCH, and YAW motion of the flotor. The flotor carries an end effector which may be a tool. Position and orientation of the flotor is monitored by light emitting diodes and lateral effect cells.

Abstract: An automatic handling apparatus for plate-shaped objects, including a height-adjustable magazine having compartments lying horizontally, one above the other, and a manipulator which can be moved in a linear manner and is swivelable. The manipulator is equipped with interchangeable gripping arms. The gripping arms and the plate-shaped objects are deposited in compartments of the magazine. The compartments include a coding for the size and shape of the plate-shaped objected and the associated gripping arms. A control device controls the manipulator as a function of the coding of the plate-shaped object or gripping arm to be handled.

Abstract: A wafer transferring hand is so constructed that at least three seats made of a soft low-friction material are provided in an integral manner, a groove having a width slightly wider than the thickness of the wafer is formed in the laterally arranged seats, the bottom of the groove being arcuated in a manner conforming to the periphery of the wafer, while a similar groove having an adjustable width is provided in the seat arranged at the center, the bottom of the groove being spaced apart outwardly from the periphery of the wafer, and at least two cut-away portions are provided between the seats so as to provide a gap between the periphery of the wafer and the bottom of the cut-away portion.

Abstract: In order to manipulate semiconductor wafers with high functional reliability, a tactile sensor based wafer handling apparatus designed to attach to a commercially available industrial robotic arm is herein described. The apparatus has three rod-like projections called fingers, one finger of which is extendable, the other which are fixed. All fingers are instrumented with strain gauge sensors in order to allow the monitoring of all forces applied to the fingers during wafer handling operations. All sensors provide proportional data. The wafer handling apparatus enables a monitoring computer to direct the motions of a satisfactorily equipped robot arm to operate in the following modes of operation. Force controlled grasping of the wafer can be provided to insure adequate grasp for transport and to limit forces exerted on the wafer. Force monitoring while releasing a wafer can be provided to insure safe hand off to another device or surface thus minimizing the likelihood of dropping a wafer.

Abstract: The present invention provides a quick disconnect coupling for a work tool to a machine. The invention in its preferred embodiment provides a coupling having fluid and electrical connections and also providing alignment independent of the locking mechanism. The present invention also is advantageous in that the locking mechanism is protected from the environment when the coupling halves are not mated and also prevents a false lock-up unless the halves of the coupling are mated and aligned.

Abstract: A device is disclosed for mounting a plurality of assembly tools such as grippers or the like on the end of a robot arm. The device includes a turret head for supporting a plurality of grippers and a turret head support member which is shiftably mounted relative on the end of the robot arm. The turret head is rotatable about an axis at an acute angle to the axis of the robot arm. Two angularly disposed pusher arms are carried by the turret support member and extend into a chamber in the turret head. A shaft extends from the end of the robot arm into an opening in the turret support member. A weight compensating member and a position sensor are mounted in the turret support member for cooperation with the shaft.

Abstract: An end effector, which is adapted to be disposed on a movable industrial manipulator arm, is capable of placing a holed object having an opening therethrough onto a stud member. The end effector includes a tool adapted to centrally releasably support the holed object and a support mount slidingly connected to the tool for mounting the tool to the industrial manipulator arm. A first sensing system is utilized for sensing when the holed object has been aligned with, and is disposed about, the stud member, and a second sensing system is used for sensing when the holed object is misaligned with the stud member. A third sensing system is provided for determining the amount of misalignment between the holed object and the stud member in one of two planar directions, and a fourth sensing system is included for determining the amount of misalignment between the holed object and the stud member in the other of the two planar directions.

Abstract: An automatic tool-changing device for industrial robots includes a gripper member located at the end of the robot arm and a coupling flange to which a tool is fixed. The gripper member has radially-movable engagement teeth adapted for insertion in projecting appendages carried by the flange, upon automatic clamping of the tool. The movement of the engagement teeth is driven by a pressurized-fluid jack housed in the gripper member.

Abstract: An apparatus for holding and transporting semiconductor material cassettes during processing of the semiconductor material. There is a tray having at least one cassette station thereon. This cassette station comprises a cassette supporting surface, a first pair of substantially parallel cassette guides on the supporting surface, and a second pair of substantially parallel cassette guides on the supporting surface located between and substantially at right angles to the first pair. The first and second pairs of parallel cassette guides form a generally rectangular boundary. A handle neck extends upwardly from the same side of the tray as the cassette guides. A handle crosspiece is connected to the handle neck and has a bearing surface oriented substantially parallel to the plane of the tray. A picker is also disclosed for engaging the handle neck and handle crosspiece, and can be used as the end effector of a robot arm that provides lifting power and transport motion.

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: A grabbing device intended to be mounted on the end of the arm of a robot and comprising a plate equipped with a pair of claws mounted in facing relation on the plate, with one claw being slidably mounted on the plate and the other claw being pivotably mounted thereon. The fastening between the robot arm and the plate comprises first and second mutually parallel pivot axes (Y.sub.1, Y.sub.2), the pivot axes being perpendicular to the surface of the plate. The grabbing device of the present invention also includes a mechanism for pivoting the plate about at least one of the axes, a mechanism for blocking or releasing the plate relative to the other of the axes, and a sensor for measuring the pivoting angle of the plate about each of the axes (Y.sub.1, Y.sub.2). The grabbing device is particularly well suited for handling refractory bricks in a robotized apparatus for repairing a metallurigical convertor.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

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.