Proximity Patents (Class 901/35)
  • Patent number: 4885833
    Abstract: A robot having a robot arm swingable from a position outside a car body conveying line to the line and movable in the directions of length, width and height of the car body is provided with a support frame carrying a jig for holding the window glass. The frame is tiltably mounting on the arm via a tilting shaft. A first detector is mounted on the frame for detecting a deviation the car-width direction of the jig with respect to the window portion. A pair of second detectors are provided on the frame at positions which are symmetrical with respect to the car width direction center line of the jig for detecting deviations in the plane of the window opening. First, deviation detected by the first detector is corrected by moving the jig in the car width direction. Then, deviation in tilt detected by the second detectors is corrected by tilting the jig. Finally, deviation in height detected jointly by the second detectors is corrected by raising or lowering the jig.
    Type: Grant
    Filed: October 5, 1988
    Date of Patent: December 12, 1989
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Shigehiro Umegai, Teruhisa Noguchi, Hirobumi Morita, Takashi Uehara, Takayuki Hoshino
  • Patent number: 4868472
    Abstract: A servo control operates in a control loop for a robot control system and performs control support tasks and calculation tasks for the control loop for all of the robot joint motors. The servo includes first and second microprocessors. The first microprocessor performs calculation tasks including the computation of output control commands from stored algorithms for the one control loop for each joint motor. The second microprocessor supervises the operation of the servo control and performs servo control support tasks in the one control loop for each joint motor including the routing of control command, status and feedback data to and from the first microprocessor.A communication interface couples the first and second microprocessors so as to enable the servo control to operate the one control loop for each joint motor and control the controlled variable for the one control loop.The communication interface includes a first memory bank and a second memory bank.
    Type: Grant
    Filed: April 5, 1988
    Date of Patent: September 19, 1989
    Assignee: Unimation Inc.
    Inventor: Kenneth E. Daggett
  • Patent number: 4852237
    Abstract: Windshields are automatically mounted on automobiles on the assembly-line by advancing a gripping device carrying the windshield and associated position sensors relatively towards the automobile, moving the sensors over a windshield opening in the automobile body shell and across edges of the shell defining such opening to provide signals indicating the position of such edges. Such measurements take place firstly on a gross scale and subsequently on a fine scale along at least four axes during the mounting process. The gross position of the windshield opening is first detected using the gross sensors. Starting from a reference point determined in the course of the gross measurement, a gripping device is then moved towards the upper edge of the windshield opening until a first of two fine sensors moves across such upper edge when the gripping device is pivoted around the detected point until the second fine sensor also moves across the upper edge.
    Type: Grant
    Filed: December 23, 1987
    Date of Patent: August 1, 1989
    Assignee: Kuka
    Inventors: Hans-Richard Tradt, Hans Schillmeier
  • Patent number: 4850631
    Abstract: Application of tension simultaneously to three cords extending through respective coil springs and attached off the axes of the springs causes movement of tactile members on the ends of the springs to grasp, lift and rotate a workpiece. A capacity sensitive sensor positions the coil assembly relative to the object so that the tactile members will grasp the workpiece in a uniform manner irrespective of workpiece size.
    Type: Grant
    Filed: May 22, 1987
    Date of Patent: July 25, 1989
    Inventor: Martin Dotsko
  • Patent number: 4832543
    Abstract: The device, which controls operation of the loading magazine in an automatic machine tool and is capable of measuring the handling diameter of single workpieces fed into the machine, comprises a set of jaws located between the magazine and the automatic feed facility, and a transducer which monitors the distance separating the jaws when encompassing the workpiece and relays a corresponding information signal back to the unit which controls the operation of the machine tool as a whole.
    Type: Grant
    Filed: August 6, 1987
    Date of Patent: May 23, 1989
    Assignee: C.I.M.A. Costruzioni Italiane Macchine Attrezzi S.p.A.
    Inventors: Roberto Negri, Mario Serra
  • Patent number: 4766322
    Abstract: A robot hand having six optical approach sensors each including a light emitting element and a light sensing element is disclosed. Each optical approach sensor is adapted to detect an object in the vicinity of the robot hand such that the object may be picked up or avoided. The sensor units are adapted to detect objects by reflecting light therefrom, receiving a portion of the reflected light and providing an output signal, the magnitude of which is proportional to the intensity of received light. An output circuit is responsive to the sensor output for determining the magnitude of the sensor output signal, and hence the distance which separates the approach sensing unit and the object. The output circuit thus provides a plurality of control signals which are used by a motion control processor to control the speed at which the robot moves.
    Type: Grant
    Filed: March 14, 1986
    Date of Patent: August 23, 1988
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Hideaki Hashimoto
  • Patent number: 4730861
    Abstract: A positive indication of the closure state of a fingered gripper is provided by a sensor having a first element mounted for motion responsive to the primary finger driver and a second element operable in conjunction with the first element to provide, between the two, a positive indication of the gripper state.
    Type: Grant
    Filed: February 25, 1987
    Date of Patent: March 15, 1988
    Assignee: Barry Wright Corporation
    Inventor: R. Mark Spencer
  • Patent number: 4723884
    Abstract: An apparatus for unloading individual reels from a carrier member on which a plurality of reels are stacked next to one another in several rows, and one on top of the other in several layers. An unloading mechanism is supported on a height-adjustable frame in such a way as to be movable relative to the frame. Linear drives are provided for moving the unloading mechanism, in a plane, in two directions that extend at an angle of 90.degree. relative to one another. Sensors are disposed on the frame for detecting reels in a given layer or plane, and for controlling the height adjustment of the frame. Further sensors are disposed on the unloading mechanism for alignment of the latter relative to a reel that is to be unloaded. With such an apparatus, the reels can be unloaded directly and fully automatically from a conventional transport device, such as a pallet, and can be supplied to a packaging machine, where they are also fully automatically secured and threaded.
    Type: Grant
    Filed: January 10, 1986
    Date of Patent: February 9, 1988
    Assignee: Maschinenfabrik Fr. Niepmann GmbH & Co.
    Inventors: Alfred Brinker, Uwe Dreyer
  • Patent number: 4695963
    Abstract: A pressure sense recognition control system having at least one pressure sensor module for detecting the two-dimensional distribution of the component forces in the three directions in the rectangular coordinate system of a force applied to the pressure receiving surface of the pressure sensor modules. The pressure sensor module has at least one pressure sensor cell having a pressure sensing member made of single crystal silicon, and a plurality of diffusion type strain gauges provided on the surfaces of the pressure sensing member which are substantially perpendicular to the pressure receiving surface and for detecting the three component forces applied to the pressure surfaces in response to the changes of an output of a bridge composed of the strain gauges. These members are mounted on an object, the drive of which is to be controlled.
    Type: Grant
    Filed: April 10, 1985
    Date of Patent: September 22, 1987
    Assignee: Fuji Electric Corporate Research and Developement Ltd.
    Inventors: Shinobu Sagisawa, Teizo Takahama, Mitsuo Kobayashi
  • Patent number: 4631689
    Abstract: A multi-joint arm robot apparatus which includes a multi-joint arm in which a plurality of unit arms are connected in tandem through joints, a driver mechanism arranged in the multi-joint arm to drive each of the joints, a state detecting mechanism arranged in the multi-joint arm to detect the state of each of the joints, and a signal processing mechanism for driving the joint driver mechanism to move the multi-joint arm on a proper path responsive to the state detecting mechanism. For the purpose of reducing the number of signal transmission lines in the multi-joint arm, the signal processing mechanism transmits time-division control signals to the state detecting mechanism in each of the joints through a common control signal line arranged in the multi-joint arm, and the state detecting mechanism transmits state detecting signals to the signal processing mechanism in a time division manner through a data transmission line arranged in the multi-joint arm in response to the time-division control signals.
    Type: Grant
    Filed: March 20, 1984
    Date of Patent: December 23, 1986
    Assignee: Tokyo Shibaura Denki Kabushiki Kaisha
    Inventors: Yoshiaki Arimura, Masao Obama, Yutaka Hitomi
  • Patent number: 4623296
    Abstract: An end effector apparatus for attachment to an industrial robot for transferring prepressed windshields to an autoclave tub. Vacuum cups engage and secure the windshield to the end effector for transfer of the windshield from an upender conveyor to the tub. A combination spacer clip sensing device and spacer clip retaining device senses the presence of a spacer clip on the top edge of the windshield and holds the clip in place during transfer.
    Type: Grant
    Filed: August 7, 1984
    Date of Patent: November 18, 1986
    Assignee: PPG Industries, Inc.
    Inventors: Kenneth J. McGuire, John R. Dahlberg, Charles J. Hyatt
  • Patent number: 4615615
    Abstract: An optical positional sensing apparatus for providing precise position and approach angle of a mobile assembly with respect to a fixed assembly. The apparatus includes a light source and optics to produce a rotating horizontal beam. Optics and a transducer are included which can detect the light beam when reflected back on itself. A corner reflector is affixed to a piece of equipment to which the mobile assembly will travel. The beam is rotated by means of a drive motor. Light hitting the corner reflector is reflected directly back under three circumstances, i.e. when the beam strikes either corner or when the beam is perpendicular to the reflector. A rotary encoder is coupled to the drive mechanism and supplies continuous angular positional data to a microprocessor. The transducer is also coupled to the microprocessor which generates data sets of angular location for each transducer signal. Simple trigonometric calculations provide the desired position and approach angle data.
    Type: Grant
    Filed: September 27, 1984
    Date of Patent: October 7, 1986
    Assignee: Flexible Manufacturing Systems, Inc.
    Inventors: Michael Krolak, Michael R. Biche
  • Patent number: 4603897
    Abstract: Apparatus that uses a suction engagement element to transport semiconductor wafers between processing boats and detects when suction engagement has not occurred despite the engagement element having been moved toward a wafer a distance sufficient to enable said engagement, and then adjusts the position of the engagement element relative to the object (e.g., by backing up and trying again or by pivoting the engagement element) to facilitate the suction engagement.
    Type: Grant
    Filed: May 20, 1983
    Date of Patent: August 5, 1986
    Assignee: Poconics International, Inc.
    Inventors: Richard F. Foulke, Kenneth A. Winchell
  • Patent number: 4590578
    Abstract: Machine operations are performed by a robot at a plurality of locations on a workpiece based on off-line data. The off-line data is corrected based on two levels of workpiece/robot alignment. First the robot determines the orientation of a fixture to which the workpiece is mounted by "touching-off" on known reference points (touchblocks) on the fixture. Coordinate data for the location of local features on the workpiece is corrected based on the first level of alignment and the positions of the local features are then sensed to provide a coordinate transformation for subsequent application to nominal machine operation location coordinates. The local features may be preassembly rivets and provide for individualized robot response on a workpiece-by-workpiece basis.
    Type: Grant
    Filed: July 11, 1983
    Date of Patent: May 20, 1986
    Assignee: United Technologies Corporation
    Inventors: John J. Barto, Jr., Peter M. Walsh, Peter R. Fitzpatrick, Richard F. Dondero, Kenneth P. Demers, Stephen M. Gardner
  • Patent number: 4575802
    Abstract: A robot "touches off" on the orthagonal touchblock faces of a workpiece holding fixture and the coordinate of the touches along axes nominally normal to the faces provide significant data from which a coordinate transformation indicative of the orientation and location of the touchblocks in the robot frame of reference can be determined. The coordinate transformation is subsequently applied to workpiece coordinates indicative of the location and orientation of the workpiece and/or points thereon.
    Type: Grant
    Filed: July 11, 1983
    Date of Patent: March 11, 1986
    Assignee: United Technologies Corporation
    Inventors: Peter M. Walsh, Stephen M. Gardner
  • Patent number: 4561825
    Abstract: An apparatus for fetching a component part, with the apparatus including a finger unit pivotally supporting a plurality of fingers adapted to catch a component part. A first detection unit detects a catch of a component part and a first drive opens or closes the fingers. A holding unit swingably supports the finger unit and has a slider which is slidable in a horizontal direction by a drawback force. A second detection unit detects the slider at an end of the sliding motion. A moving unit supports the holding unit and moves the holding unit at least in the vertical direction by a second drive. A drive control is provided for controlling the first and second drives in accordance with signals produced by the first and second detection units so as to enable a catching of the component part.
    Type: Grant
    Filed: March 25, 1983
    Date of Patent: December 31, 1985
    Assignee: Hitachi, Ltd.
    Inventor: Tomoaki Sakata
  • Patent number: 4541771
    Abstract: Described is a robot having a proximity sensor which is based on the reentrant-loop magnetic effect. In one embodiment this sensor in a robot hand can detect the position and orientation of magnetized objects within about a 5 cm range, independently of the speed of approach.
    Type: Grant
    Filed: March 31, 1983
    Date of Patent: September 17, 1985
    Assignee: AT&T Bell Laboratories
    Inventors: Gerardo Beni, Susan Hackwood, Lawrence A. Hornak
  • Patent number: 4505468
    Abstract: This invention pertains to pins carried by and in a retainer head member with the pins actuated when and as the head member and an associated contact member reaches the outermost portion of a paperboard member whereat the pins are caused to move obliquely to this surface and penetrate the paperboard sufficiently to engage and retain the paperboard. These pin ends by latch members are maintained in the desired penetrating position during transfer. This latch is actuated to release the projected pins when transfer is completed. The paperboard is conventionally of corrugated paperboard construction and the extent of pin end protrusion is carefully controlled so that the pin ends in the penetrating position do not protrude and penetrate the rear panel or wall of the paperboard so that only one penetrated paperboard member is transferred. The embodiments shown are adapted for use with paperboard which is not supple or flexible as is cloth or leather.
    Type: Grant
    Filed: May 16, 1983
    Date of Patent: March 19, 1985
    Inventor: Raymond A. Heisler