Abstract: Automatic service apparatus for fast printers (10) including a store (12) containing reams of papers to be printed, a mechanical arm (16), equipped with pliers (24), movable among a plurality of boxes (14) for drawing reams from the store (12), unpacking and aligning sheets from the ream, depositing one of the reams into a sheet feeding seat of a printer (10), drawing groups of sheets from the output of the printer (10) and transferring the groups to an after-treatment station (60). The pliers can be provided with a static device for aligning the reams.

Abstract: A stringer clip end effector (21) suitable for use with a computer-controlled (CC) machine tool is disclosed. The stringer clip end effector (21) includes a pair of jaws (45,47) for picking up a clip (23) at a presentation location. After being moved by the CC machine tool to an insertion location adjacent to a hat-shaped stringer (31), a pair of cams (60a, 60b) located on opposite sides of the clip (23) are extended into the stringer cavity (25) and rotated to spread the stringer walls (27,29). Thereafter, the clip (23) is positioned in the stringer cavity (25). Then, the cams (60a, 60b) are rotated to a nonspread position, and clamp elements (49a, 49b, 51a, 51b) are actuated to press the walls (27, 29) of the stringer (31) against the clip (23). Next, drill bits (57a, 57b, 59a, 59b) that face the outer surface of the stringer walls (27, 29) are energized and moved toward the stringer walls. After holes are drilled through the stringer walls and the clip, the drill bits are withdrawn.

Abstract: This invention relates to an end effector device for robotic or teleoperated type systems for remotely handling various items which includes an inflatable bladder surrounding a rigid cylindrical spine either on its outer surface for grasping the inner bore of deep holes, or on the inner surface of a rigid cylindrical spine for grasping the outer surface of cylindrical objects. The device may be inserted into a hole or natural bore of an item, or, in the configuration having the bladder on the inner surface of the rigid cylindrical spine, may be placed over a cylindrical item or portion of an item to be manipulated by the robotic or teleoperated system. Application of pressure to an inflating fluid inflates the bladder, grasping the item securely with a uniform force. The item is released by releasing the pressure within the bladder, causing it to contract.

Abstract: A robot gripper module having a housing pivotally mountable to an end of a robot arm. The housing encloses a first motor for pivoting the housing about a pivot joint, and a second motor operating a rack-and-pinion gear arrangement for extending and retracting fingers. Two opposed groups attached to a rack on opposite sides of a pinion gear. Turning the pinion gear causes the fingers to move toward or away from one another. The motors which may operate independently of the robot arm, may be either servo or stepper motors. The gripper module provides additional degrees of freedom from that of the robot arm, enabling it to work with many kinds of robot arms.

Abstract: A gripping apparatus has at least two elongated piercing elements which slide in elongated collars or sleeves between open retracted positions and closed gripping positions. The piercing elements define an angle and they move toward the vertex of the defined angle when they move from the open position to the closed position. The orientation of the piercing elements and their path of travel are such that objects are reliably and securely held when the piercing elements are in their closed positions and positively released when the piercing elements are in their open positions. A sensor may be provided with the gripping apparatus to sense the presence or condition of the gripped object. The gripping apparatus is especially useful in grasping the root masses of plants for transplanting purposes.

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: A device for exchanging simple tools that do not need utility service is adapted to facilitate coupling one such tool to, and uncoupling it from, a movable robotic arm. The device comprises an attaching member attachable to the tool, a supporting member connected to the arm and having an open slot therein and a recessed upper surface adjacent to the slot, and a retaining member movably mounted to the arm above the supporting member and spring-biased toward the supporting member slot and upper surface. The attaching member, attached to the tool, is received by the open slot, supported by the recessed upper surface, and yieldably retained there by the spring-biased retaining member during use. The attaching member is then withdrawn from the slot, upper surface, and retaining member, and returned to a storage rack located nearby.

Abstract: Disclosed herein is an instrument for inoculating bulb scales which comprises an instrument line, a scale sucking finger having a suction tube, and a scale gripping finger, with one end thereof rotatably joined to the instrument proper and with an intermediate part thereof connected to the instrument proper with a spring made of shape memory alloy.

Abstract: A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location.

Abstract: A chuck for transporting wafer carriers is designed to hold the wafer carriers in a cantilever manner and with support members supporting one sides of the wafer carriers. This enables the whole chuck to be extremely compact. This also enables the wafer carriers to be made freer fron any limit while they are being transported and prevents them from being damaged because they can be steadily transported.

Abstract: A multigripper turret (26) for a part handling device (10) in which a circumferential array of gripper mechanisms (28) are each mounted for independent shifting movement in a convergent direction by an associated positioning mechanism (29) between an extended position centered on the axis of rotation of a rotary member (22) of the part handling device (10), and a radially outward retracted position. This enables a plurality of parts (20) to be handled by each motion of the part handling device (10).

Abstract: This invention relates to an automatic staining apparatus for staining many slide specimens such as tissue specimens by dipping them sequentially into a large number of chemical solution containers while they are mounted in a slide holder basket.Conventional automatic staining apparatuses have a problem in the staining efficiency because a basket is attached manually to a clamp member of the apparatus, and also have another problem that remaining chemical solution cannot be sufficiently removed from slide specimens.In order to solve these problems, an automatic staining apparatus according to the first present invention has the clamp member which can automatically engage with, and disengage from a basket, so that the staining efficiency is much improved. Preferred embodiment of the invention has a tilting mechanism for the clamp member, so that chemical solution is sufficiently removed from slide specimens.

Abstract: The open end of the shaft (10) of the slave arm of a telemanipulator carries two fixed hooks (50) able to encircle two spindles (52) projecting on either side of a toggle joint (16) supporting a gripper (18). Hooks (50) and spindles (52) form a pivot axis, which is displaced from the side of the pivot pin (34) of the gripper with respect to a plane parallel to the pivot axix and containing the longitudinal axis of shaft (10a). On the side of the plane opposite to the hooks (50) and the spindles (52), a latch (54) locks the case (16a) to the end of the shaft, thus, formed coupling device (15).

Abstract: Apparatus for repairing broken stringers of wooden pallets and a method involving the use of the apparatus is disclosed. The apparatus comprises a pair of interconnected jaws having pads mounted on one end with magnets to secure studded repair plates to the pads. A broken stringer is inserted between the pads and the jaws are swung together to imbed the studs in the wood with the plate extending across the break effecting the repair. The pads are provided with limiting pivoting movement to insure proper alignment of the plates with respect to the stringer sides irrespective of the angle of the jaws when the studs contact the wood. A jack is used to adjust the vertical positions of the jaws for convenient use of the apparatus.

Abstract: A method of feeding a work station, which utilizes a robot to grasp workpieces one after the other at a charging station to which the workpieces are successively conducted to feed them to the work station and to transfer the workpiece worked upon to a discharging station. The robot grasps every workpiece arriving at the charging station by a workpiece holder that grasps the workpieces at a predetermined place thereon and holds them during all the time of transfer thereof and working thereon and releases the workpieces only when they arrive at the discharging station. At the work station, the workpiece holder is held in a very precise position by a gripping block rigidly fixed to a member in the work station. An apparatus for practicing this method comprises a workpiece holder adapted to the geometry of the workpieces to be processed, and a gripping block mounted on a member in the work station and arranged to receive the workpiece holder and to securely hold the same in a precise position at the work station.

Abstract: In a system comprising a gripper (9) and a number of gripping objects (7), and with fluid-communication couplings for establishing temporary fluid communication between the gripper (9) and the gripping object (7) being gripped, the novel feature consists in that the coupling comprise at least one tubular member (30) with at least one open end being adapted to be pressed against and to make fluid-tight contact with a plane surface (37) on the gripping object (7) having fluid-transfer openings (39) with somewhat smaller diameter than the open ends of the tubular member (30). With this arrangement, the risks of damage and other problems associated with previous coupling arrangements based on the male-female principle are avoided.

Abstract: An apparatus and method is described for inserting pins in holes wherein either the pin or the hole is chamfered or beveled. One part is vibrated with respect to the other in a plane orthogonal to the direction of insertion. One part is incrementarlly moved in the direction of insertion. When interference caused by the contact is sensed, the magnitude of the interference is determined and used to reposition the center-line of the one part in the orthogonal plane until the pin is fully inserted.

Abstract: An apparatus and method is described for inserting pins in holes wherein either the pin or the hole is chamfered or beveled. One part is vibrated with respect to the other in a plane orthogonal to the direction of insertion. One part is incrementally moved in the direction of insertion. When interference caused by the contact is sensed, the magnitude of the interference is determined and used to reposition the center-line of the one part in the orthogonal plane until the pin is fully inserted.

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: The present invention provides a catching head of apparatus for catching parts, having a tube expansible by a fluid such as air, etc. hermetically fixed at both the ends thereof to a hard base end and free end, respectively, of a core member. When in use, the tube of the catching head is expanded by air to catch a part or any other object to be handled. The one end of the tube attached to the free end of the core member is fitted as folded back to the free end of the core member. A passage is formed in the base end of the core member to supply air into the tube hermetically sealed.

Abstract: A tinning station for axial lead electronic components includes a presentation system for arranging a plurality of axial lead components in an elevated linear array with adjacent components lying parallel to each other. A pair of grippers, have a pair of parallel bars each having a longitudinal slot and a length at least as long as the length of the component array. These bars are moved toward or away from each other by an actuator which is mounted on a robotic arm. This arm is programmed to position the grippers adjacent to the array so that the actuator can cause the grippers to clamp the ends of the bodies of the components in the array. Then the arm dips the leads on each side of the array into the solder flux and subsequently into molten solder, thereby tinning the leads. The thickness of the grippers defines an untinned length of each component lead. A release fixture is used to dislodge any components which do not fall from the grippers when the grippers are separated.

Abstract: Apparatus for confirming the clamping conditions of a clamping device which is used to clamp workpieces of different sizes. Signals corresponding to the kind of workpiece being clamped are derived from the flow rate of pressurized fluid used to drive the actuator of the clamping device. These signals are used to confirm the clamping conditions and also the kind, and the presence or absence, of the workpiece.

Abstract: A gripper for holding a manufactured part in a X-ray inspection system. The gripper includes a stationary jaw, a slidable jaw, a gripper base, a wear plate, a centering bushing an end plate, and a cam actuated spring mechanism for opening and closing the jaws. Both jaws are removable and adjustable in a keyway. Set screws are used to hold the jaws in place for a predetermined separation and allows a part to be positioned off center. The removable aspect allows for various jaw configurations. The centering bushing includes a cam shaped opening for accepting an end of an pneumatic activated ball plunger of a numerically controlled part manipulator. The centering bushing aligns the gripper to the longitudinal axis of the part manipulator.

Abstract: A double-hand apparatus for an industrial robot, in which a first and second hand are mounted on a common frame. Two supporting arms are pivotally supported at respective ends on a pair of rotary shafts on the common frame and at their other ends at two respective points on a base such that the two arms extend parallel to each other so as to constitute a parallel link. At least one of the supporting arms is pressed at one end by an energizing spring. Thereby the two supporting arms in a normal state are held in a predetermined parallel link attitude by the spring force by the energizing spring. When either the first or the second hand receives a reaction force from a workpiece that is being set on a table, this reaction force deforms the parallel link of the supporting arms against the force of the energizing spring to thereby lessen the effect of the reaction force.

Abstract: A gripper comprises two supporting coupling members (18) each adapted to be coupled with an exchangeable gripping jaw (20) and clamped together by a coupling plug (26), a transversely displaceable locking member (36) and a spring assembly (60) in the longitudinal direction of the coupling plug (26). The locking member (36) has two opposed surfaces (52,54) for application of external forces by which it is movable into release and locking positions and further includes a wedge surface (40) which cooperates with a limiting surface (32) formed at the coupling plug (26) when the locking member (36) is moved into locking position, tensioning the spring assembly (60). In the operating range of the gripping jaws (20) there is provided a jaw deposit (70) against which both locking members (36) are adapted to be pressed selectively by one each of their two surfaces (52,54) so as to be moved into the release position or into the locking position.

Abstract: The position sensor senses the position of a movable finger in relation to a cooperating finger. The position sensor includes a variable reactance device including two cooperating relatively movable reactance elements. One of the reactance elements is mechanically coupled to the movable finger and the other one of the reactance elements is mechanically coupled to a cooperating finger. The relative movement between the reactance elements is effective to vary the reactance of the variable reactance device. An oscillator circuit is connected with the variable reactance device so that the frequency of the oscillator circuit varies to provide a variable frequency output which represents the position of the movable finger with respect to the cooperating finger.

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 apparatus for changing jaw assemblies 1 on manipulators comprises a support frame having a carriage 24 movable between location blocks 30, 31 for the jaw assemblies. The carriage has an opening 29 to permit passage therethrough of a jaw assembly 1 and to receive a displaceable collar on the arm which encloses a releasable coupling between the jaw assembly and the end of the arm. The coupling is engaged or disengaged upon movement of the carriage on rods 25 relative to the location blocks and on the application of a force on the manipulator arm towards the assembly 1. The coupling may be a T-section slidable in a channel member biassed by a spring into the collar which is slidable on the arm 2.

Abstract: A gripper device which includes a piston and cylinder assembly wherein the piston rod extends through one end of the cylinder, and which cylinder end is defined with a concave slot. Connected to the end of the piston rod is a gripper formed as a resilient member defining a pair of opposed finger portions and an interconnecting flexible web portion. The flexible web portion extends transversely of the outer concave slot. The arrangement is such that the actuation of the piston draws flexible web portion toward the concave slot surface of the cylinder causing the finger portions to flex between a gripping and non-gripping position; and whereby the gripper maintains a spring bias on the piston.

Abstract: An electromagnetic gripper assembly formed of a housing having an electromagnetic coil and armature reciprocally mounted thereon. A pair of gripper members are pivotally connected to the armature which is normally spring biased. The respective gripper members have a finger portion and a connected rocker lever portion, the latter having overlapping end portions by which they are pivotally connected to the armature to be actuated thereby as the electromagnetic coil is energized.

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 gripper mechanism for feeding a pair of elongate strips such as a pair of slide fastener stringers has a pair of gripper holders supporting a pair of grippers for gripping the slide fastener stringers, respectively, and a pair of sliders joined to the gripper holders, respectively, and slidably disposed in a housing for independent movement therein. In response to engagement with a cam on a feed path, the grippers are opened to grip or release the slide fastener stringers. The grippers are normally urged by a spring to clamp the slide fastener stringers. A pinion is angularly movably supported on a slide block in the housing and held in mesh with a pair of racks, respectively, of the sliders. A spring acts between the housing and the slide block for normally urging the slide block in a direction to move the gripper holders into abutment against the housing. The gripper holders can be moved relatively to each other toward and away from the housing.

Abstract: A robot installation for performing a plurality of assembling or machining operations at a work or assembly station comprises a robot with a rotatable tool support, e.g. a ring or disc, carrying a number of tools. The turning and positioning of the tool support are controlled by control equipment of the robot. The tools are adjustably positioned on the tool support.

Abstract: A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.

Abstract: A hazardous material handling apparatus capable of being remotely controlled so as to allow the operator to safely handle hazardous materials. The apparatus utilizes electric motors in order to provide for three-dimensional movement of the gripper. A television camera and remotely located television monitor may be utilized in order to facilitate remote control of the apparatus. A manually operated gripper is provided to allow for simple and inexpensive construction.

Abstract: A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably mounted on one of the cases and which are able to occupy a coupling position in which they bear against pins fixed to the other case. This couples the toggle joint to the end of the arm and the latches can also occupy a position in which they are disengaged from the pins in order to disconnect the toggle joint. The retractable locking means normally immobilizes the latches with respect to the case supporting them when the latches occupy the coupling position. The invention also provides a disconnection support for the coupling device.

Abstract: A gripper system for a programmable manipulator includes a gripper arm (10) and an assembly station for holding a finger element (2) releaseably for mounting on the arm. The finger element (2) is held by latches (21, 22) against a tray (20) of the station which can be displaced with respect to a rack plate (1) of the station. The arm is conditioned to move on a predetermined path with respect to the station so that cooperative parts (3, 11) of the arm and a finger element, held at the station, become inter-engaged. When the finger element and the arm are inter-engaged movement of the arm relative to the station causes the finger element to be released. The gripper comprises an arm and a finger element dedicated to a specific handling task. The arm and the finger element have cooperable parts which are inter-engageable to mount the finger element detachably on the arm.

Abstract: An apparatus for automatically opening and closing a door of a vehicle body which is transferred by a conveyor or is stopped at a predetermined position in a manufacturing process. The apparatus accurately control the opened angle of the door with the guidance of the combination between an engagement member and an opening thereof.

Abstract: A multiple-function hand useful in automated laboratory operations, particularly liquid transfer operations. A gripper and a piston operated syringe are made compatible on a single function by mounting such that their mechanical actuating mechanisms are operated parallel to one another, while the operating vector of the syphon, i.e., the direction of piston movement and direction of gripper lift are at right angles one to the other.

Abstract: Apparatus for assembling different size parts in a vertical assembly is provided which includes a pair of fingers attached to and extending from the gripper of a manipulator in parallel relationship and moveable toward and away from one another under control of the gripper. Different diameter curved outer sections extend around the periphery of and are stepped along the length of the fingers. The smallest diameter curved section is located at the outer end of the fingers and successively wider diameter sections are located along the fingers as the inner end is approached. One of the predetermined diameter sections has a predetermined slope, each part to be assembled has an opening therein of a diameter slightly larger than a diameter of a section of the fingers along the length thereof.

Abstract: An exchangeable multiple function end effector tool suitable for use on the distal end of a robotic end effector includes, in combination; a device for removably affixing the multiple function and effector tool onto a pair of extending fingers provided on a robotic end effector. The multiple function tool is provided with an apparatus for acquiring a first element or component and releasably retaining same and further incorporates a second gripping device which is capable of acquiring a second element or component and releasably retaining same 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: A dual axis gripper for use with a robot arm having a rotatable wrist is provided with a first and second gripper. A bracket couples the first gripper to the robot arm in line with an axis about which one form of robot wrist rotation occurs. The bracket also couples a second gripper to the robot arm perpendicular to the first axis of rotation. The wrist rotation also includes rotation about a horizontal axis perpendicular to the first axis of rotation. Both the grippers are provided with a fixed jaw and a linearly actuated movable jaw so that both grippers form compliant type grippers. By rotating the grippers through the first axis of rotation and about the second axis of rotation, the two grippers may interchange positions and are capable of moving parts between any locations within a defined work envelope adjacent the end of the robot arm.

Abstract: A tool for positioning a lower guide tube of a reactor for replacement of old split-pin assemblies by new split-pin assemblies. The lower guide tube has an upper and a lower flange and has a length typically between 124 and 150 inches. The split-pin assemblies are secured in counterbores in the lower flange. The tool includes an upper deck and a lower deck. The LGT is suspended from the upper deck from pins which engage holes in the upper flange. With the LGT so suspended the lower flange extends into the lower deck in position to be processed for the replacement. A rotary hydraulic cylinder is provided in the upper deck to rotate the LGT in positions to be processed by other tools involved in the replacement and also so that both of the old split-pin assemblies which are spaced 180.degree. around the periphery of the LGT may be replaced by a single set of robotic tools. A hydraulic lift cylinder is also provided at the upper level to raise the LGT so that it clears the pins when the LGT is to be rotated.

Abstract: A device for changing tools, pick-ups, welding torches, and other implements that can be handled by industrial robots. It consists of an upper and lower part. In order to obtain optimal cost effectiveness a linear drive mechanism guides a hook-shaped structure in the upper part along a guide in such a way that the structure initially carries out a curved motion essentially perpendicular to the linear closing or opening motion during the closure process. The curved motion is appropriate for making the bottom of the device engage an associated implement even when the latter is stored in an imprecise position. The structure then carries out a strictly linear motion during which the upper part and lower part are exactly aligned by guides integrated into the device and by guide bevels even in the presence of counteracting forces. A motion that can be made as precise as desired can be executed to obtain a closed and mechanically prescribable final position.

Abstract: A manipulator having a grasping mechanism for grasping an object and an arm mechanism for lifting the grasped object, is disclosed. A weight detector is provided which detects a force that the top of the arm mechanism receives in the gravitational direction when the grasped object is being lifted. In order to find the minimum grasping force sufficient to lift the object, a grasp detector is provided for detecting, from the output of the weight detector, that the object cannot be lifted up with the present grasping force and a desired grasping force selector for selecting successively a desired value of grasping force starting from a predetermined minimum desired value until it is detected that the object is lifted. A grasping force control circuit controls the grasping force to the selected desired value.

Abstract: The present invention relates to a robotic head that includes a pair of fingers that are adapted to be moved back and forth in parallel relationship between closed and open positions. In addition there is provided a group of interchangeable fingertip sets, with each fingertip set being formed to retrieve and hold a certain size or shaped object. Each fingertip set can be automatically attached and detached from the fingers of the robotic head. In particular, at one single work station, the robotic head through appropriate programming can automatically interchange fingertip sets such that the same robotic head can retrieve and set various types and sizes of elements or parts at one single work station.

Abstract: A robotic apparatus and method of acquiring jumbled objects or workpieces from a bin, and transferring them to a final site, or to an intermediate site for quality inspection. A video camera system produces a video signal representing a brightness image of the jumbled objects. An intermediate amplitude range of the video signal is selected, expanded, stored, and quantized into digital pixels. A computer enhances the image using histogram techniques, performs edge suppression, performs repeated shrinking with progressively-increased pixel thresholds until an area limit is reached, performs clustering of closely-spaced pixels, and commands movement of the robot gripper to a computed grip site on a recognized object. The gripper may limit its gripping pressure as a function of the deformation of the object gripped.

Abstract: A gripper for a manipulation installation such as an industrial robot characterized by a gripping arrangement including a gripping element movable into a receiving bore to enable gripping a cylindrical part. In order to compensate for misalignment between the bore and the cylindrical part and for tilting of the part, the cylindrical bore is provided in a slidable member and has a frusto-conical opening facing toward the part to act as a centering bell so that upon engagement of the part with the surface of the frusto-conical opening the slidable member moves to the desired position to allow insertion of the part into the bore. To enable exact positioning of the part after it is grasped by the gripping arrangement and removed from a rack or storage facilities, the gripper includes a centering arrangement to precisely center the movable member in the housing.

Abstract: A mechanical interface for joining a gripper to a robot wrist of the type having a shaft projecting outwardly as the distal member of a robot arm. The interface includes a sleeve having an internal nut or flange for properly locating the sleeve with respect to the shaft. At this location, a bevel gear at the end of the shaft engages a similar gear within the sleeve so that the sleeve is locked to the shaft. The bevel gear within the sleeve is supported by a spring so that outward force from the sleeve allows separation of the gears and disconnection of the coupler from the shaft. Internal fluid passageways within the sleeve allow transmission of fluid pressure from the shaft to a connected gripper for transmitting power, control signals or sensing signals between the robot arm and the gripper.

Abstract: Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.