Abstract: A robot hand gripping device intended for equipping the end of the wrist or arm of an industrial robot or robotized appliance, comprising grasping members or fingers and hydromechanical controls for spreading the grasping members apart from one another and/or bringing them closer to one another. It is formed by assembling together two identical parts with an intermediate piece between the parts, connectors being provided in the intermediate piece for connecting the two identical parts to at least one drive-energy source, such as compressed air, oil or the like.

Abstract: A compound toggle robotic gripper mechanism employs a pair of spaced, opposed gripping jaws, each pivotally mounted to a base and interconnected to an actuator, such as a hydraulic cylinder-piston assembly, by a compound toggle mechanism. The compound toggle mechanism preferably includes a first toggle interconnecting the actuator and second and third toggles. The second and third toggles interconnect the actuator through the first toggle to each of the spaced, opposed gripping jaws respectively so that extension of the actuator rod urges the first, second and third toggles from their released positions simultaneously into a locking position as the gripping jaws are moved into gripping engagement of a workpiece or tool.

Abstract: A parallel robotic gripper is illustrated having a vertically moveable member for opening and closing parallel gripping members which are carried on master jaws having lateral longitudinally extending slots therein for minimizing machining necessary to provide effective mounting for the slideable master jaws on longitudinally aligned horizontally spaced rails.

Abstract: A machine tool comprises a spindle stock (11) that can be moved about several axes relative to a work plate. Tools can be transferred, preferably by means of gripper arms, from a magazine position in the tool magazine into a working position in a tool carrier of the spindle stock (11), or vice versa. At least one of the tools is designed as a handling element. The working space of the spindle stock is provided with at least one work magazine for accommodating workpieces.In order to be able to machine the workpieces in various ways, in particular along several axes, the handling element is designed as a gripper element (29) and provided with externally operated clamping jaws (66) for gripping one or more workpieces (30) contained in the work magazine and transferring them into a machining station designed for holding and/or positioning a workpiece during or for machining of the workpiece (30).

Abstract: The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

Abstract: A wide-throw parallel-action gripper of the split-rail design is disclosed. The gripper includes a pair of preloaded linear bearings which engage the outward surfaces of each rail and two roller bearings spaced on either side of a pinion, all mounted onto a pinion shaft, which engage the inward sides of each rail. A single finger is mounted at opposed ends of each rail and an actuator is connected either to one of the rails or to the central pinion. The actuators can include a pneumatic cylinder of electrical stepping motors or D.C. servo motors.

Abstract: A robot gripper jaw assembly includes a support plate having front and rear faces. Jaw mounts extend from the front face and cooperating jaws are pivotally mounted to the jaw mounts for gripping work. The support plate has an opening therein generally centrally disposed relative to the jaw mounts and a cylinder and piston assembly is secured to the support plate rear face in alignment with the opening. The piston of the cylinder and piston assembly extends through the opening and is engagable with the jaws so that forward and rearward movement of the piston causes cooperative pivoting of the jaws for closing and opening the jaws for gripping and releasing work. The support plate and the cylinder and piston assembly have a central rotational axis and the robot includes an assembly for simultaneously rotating the support plate and the cylinder and piston assembly on the rotational axis.

Abstract: The present invention provides an end of arm tooling device (EOAT) for a robotic arm. The present invention may be adjusted to modify the gripping force exerted by the EOAT without a change of force by the actuator. The present invention also provides an EOAT which can be adjusted to handle workpieces of various dimensions and shapes.

Abstract: A pneumatic actuated cam driven parallel gripper includes a supporting bracket adapted for attachment to the end of an arm of a robot or a pick and place system. A cam comprising a cylindrical member is supported for rotation in the bracket and has at its outer periphery diametrically opposed pins, with a lever attached to the cam. A pneumatic actuator is coupled to the lever and adapted to rotate the lever and cam between a first and second position. First and second slides with attachable fingers are supported for sliding movement on shafts extending from the two sides of the brackets. First and second compliant arms have one end attached to one of the pins on the cam cylinder and another end attached to one of the slides for converting rotation of the cylindrical member into linear movement of the slides.

Abstract: A driving device having tactility includes at least one set of two elastic extensible and contractible bodies having one ends connected to a stationary portion of the device and the other ends connected to a driven member driven by contractive force in axial directions of said elastic bodies caused by expanded diameters by introducing pressurized fluid into the elastic bodies. The driving device comprises detecting means for detecting movements of said driven member, valve means for supplying and exhausting the pressurized fluid into and out of the respective elastic bodies, positioning means for actuating the valve means in response to output signals from the detecting means to position the driven member in predetermined positions, and control means for comparing output signals from the detecting means produced by external actions on the driven member positioned in at least one predetermined position with a reference level to control the positioning means.

Abstract: Gripper apparatus for stacking a batch of sheets, for example glass sheets, comprises a gripper head having a sheet support for movement to grip the batch of sheets. A roller stop at the bottom of the sheet support engages behind one side of the batch and at least one clamp is movable to grip the batch against the support between that clamp and the stop. Tilting members at the bottom of the support are operable, when the support is in a substantially vertical position, to lift the batch over the roller stop as it is stacked.

Abstract: An industrial robot is disclosed which is movable about six revolute axes, and which is modular in nature, to permit it to be configured to efficiently operate in a number of different applications. The robot includes a support stand defining a first primary axis, a waist which is rotatable about the first axis and which defines a second primary axis disposed perpendicular to the first axis, an inner arm fixed to the waist for rotation about the second axis, an outer arm fixed to the inner arm for relative rotation about a third primary axis, and a hand assembly mounted at the end of the outer arm. In addition, the outer arm includes a simplified drive arrangement composed of three concentric tubular members and respective drive motors, for moving the hand assembly of the robot about three additional axes of movement.

Abstract: A fluid power apparatus particularly useful for an industrial robot which includes a pair of expansible chamber devices each having a pair of control chambers in fluid communication with each other to intensify the working fluid output pressure and a working chamber that expands to receive a charge of working fluid and contracts to expel working fluid therefrom. A working fluid circuit includes a first line connected with one of the working chambers and a second line connected with the other of the working chambers. A fluid actuator is connected with the circuit and has a moveable element that moves in response to flow of working fluid in the circuit to the actuator. The apparatus has a static condition in which the one working chamber is contracted with the moveable element of the actuator stationary in a first position.

Abstract: A universal gripper particularly adapted for handling parts such as axial leaded electronic components. The gripper includes a pair of jaws with depending fingers mounted on a baseplate for linear motion equally about the centerline of the baseplate. A long stroke cylinder is mounted between the jaws and is adapted for opening and closing the gripping fingers through a relatively long stroke. A short stroke cylinder is affixed to one of the jaws and includes a yoke portion extending to the other jaw. Locking apparatus is provided for selectively locking the yoke portion to the other jaw. When the locking apparatus is activated, the short stroke cylinder opens and closes the fingers through a relatively short stroke. In this way, electronic components can be handled without crushing the leads. Because of the provision of the short stroke cylinder, the disclosed gripper can be used in tight areas. A center push cylinder is provided for ejecting parts from the gripping fingers.

Abstract: An automatic centering and gripping apparatus which includes a housing in which is slidably mounted a longitudinally movable operator body. A pair of gripper arms are slidably mounted on the operator body. Each gripper arm carries a gripper member engageable with a workpiece. The gripper members are moved longitudinally and laterally into gripping engagement with a workpiece when the operator body is moved in one longitudinal direction, and they are correspondingly disengaged from the workpiece when the operator body is moved in the other longitudinal direction.

Abstract: A gripping apparatus including a housing in which is slidably mounted a longitudinally movable operator body. A pair of gripper arms are slidably mounted on the operator body. Each gripper arm carries a gripper jaw engageable with a workpiece. The gripper jaws are moved along straight line travel paths into gripping engagement with a workpiece when the operator body is moved in one longitudinal direction, and they are correspondingly disengaged from the workpiece when the operator body is moved in the other longitudinal direction.

Abstract: A gripping apparatus which includes a housing in which is slidably mounted a longitudinally movable gripper operator. A pair of gripper arms are rollably mounted on the gripper operator. Each gripper arm carries a gripper jaw engageable with a workpiece. The gripper jaws are moved along straight line travel paths into gripping engagement with a workpiece when the gripper operator is moved in one longitudinal direction, and they are disengaged correspondingly from the workpiece when the gripper operator is moved in the other longitudinal direction.

Abstract: Tool-holder B f6r gripping and changing tools for an industrial robot suitable for fixing to a rotary wrist-joint (5) of a robot arm, intended to carry one tool at a time. This tool-holder B comprises an upstream part C able to be fixed to the wrist-joint (5), a downstream part D able to be fixed to a tool (E1, . . . ) and remaining integral with the latter at each tool change, the two parts C and D being equipped with additional means for assembly and for rapid locking as well as unlocking and with detachable connectors (28, 32; 29, 37) for supplying the tool (E1) with fluid and electricity, the upstream part C containing a jack (7, 22) capable of displacing the locking and unlocking components (25, 41, 42, 14, 15, 16), and the downstream part D can be arranged in a tool magazine with the associated tool. The one-piece nature of the tool gripped in the tool-holder B ensures ease and speed of the robot's arm movements in space, maximum robot reliability, as well as rapid and powerful locking and unlocking.

Abstract: A low cost, programmable industrial robot is provided which incorporates a simplified construction with relatively sophisticated movement capability. Preferably, the robot is pneumatically operated. The robot construction includes a series of simplified structures for both calibrating ease and providing relatively versatile movement in view of the overall product cost. The device provides four adjustable axes of movement and multiple axes mounting for an end effector. In the preferred embodiment, a rotary actuator provides rotational movement for the robot. Rotary movement is adjustable and a simplified structure is included for providing repeatable intermediate stop positions for the work arm of the device. An improved rotary manifold for a rotary actuator provides a conduit for pneumatically powering the remaining robot movement functions. Those functions include vertical reciprocal movement, horizontal reciprocal movement and rotary movement of a gripper device or some other end effector.

Abstract: A robotic hand is provided with an array of movable spring loaded fingers and an assembly opposed to the fingers. An object to be grasped by the hand is pushed by the assembly toward and into contact with the fingers. An electrical signal is produced when each finger is contacted by the object. The time intervals between various finger contacts are measured and used to calculate the distance that the object moved during those intervals. These distances provide information about the shape of the object which can be used to differentiate between objects of various shapes.

Abstract: A chuck for a robot or the like of a parallel opening/closing type. A piston is slidably supported in a cylinder, slidable in a first direction. A pair of slide pawls are slidably mounted so as to be movable in a second direction, perpendicular to the first direction, for performing opening/closing movement. The pawls are biased in the opening direction. A pair of action levers are rotatably supported on the cylinder, abutting an end of the piston and engaging with respective ones of the pawls. A pair of shafts are provided on the cylinder for guiding fulcrums of the action levers and the slide pawls. Each of the pawls has a reference portion projecting upwardly, two elongated holes, and a slot portion at a center portion thereof for receiving corresponding ones of the action levers. The reference portion of one of the slide pawls, the action levers, and the reference portion of the other one of the slide pawls are supported side by side on these shafts.

Abstract: A releasable tool holder (75) for quickly interchanging tools usable by a conventional robot (50) having one or more articulatable arms (60, 65, 70). The tool holder (75) is mounted to an arm (70) of the robot (50) and is provided with a plurality of variable fulcrum clamping levers (110) capable of engaging a surface (215) of a ring (205) mounting a preselected tool. A fluid motor (95) is connected to a translatable center link (105) that is pivotably attached to the variable fulcrum clamping levers (110) whereby when the motor (95) causes the link (105) to translate, the variable fulcrum clamping levers (110) engage the surface (215) of the tool mounting ring (205). A novel tool mounting ring (205) and a releasable fluid coupling (125) are also provided.

Abstract: A gripper head for attachment to the Z axis shaft of a robot or a pick and place machine to pick up objects and position them on a workpiece, comprises a body from which projects a pair of gripping jaws which are slidable horizontally relative to the body by first and second pneumatic piston and cylinder units, respectively. A hold down and tamper member is vertically movable between the jaws by a third piston and cylinder unit so as to hold down an object to be picked up while the jaws are being closed about it and to tamp the object down against the workpiece. A brake is provided for stopping the piston of one of the first and second piston and cylinder units in a desired position. The hold down and tamper member may be arranged also to act as a vacuum pick up device.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily connected displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed-volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders includes ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: A manipulator (10) including a compliant suction means (215 and 220) and two pairs of independently operable jaws (55, 60) precisely and delicately locates a workpiece (300) for delivery thereof to a location remote from that at which the piece is picked up.

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: A robotic apparatus having five degrees of movement with a mounting plate, a first stage platform movably mounted on the mounting plate to shift in the X direction, and also rotate about the X axis, a second stage platform movably mounted on the first stage platform to shift in the Y direction, and also rotate about the Y axis, a third stage platform movably mounted on the second stage platform to move in the Z direction, and powering means to move and rotate the aforementioned elements in the manner described.

Abstract: An end effector suitable for use on a robotic arm associated therewith and coupled to a computer includes a universal mounting plate permitting the end effector to be mounted on the distal end of a robotic arm; a gripper mechanism slideably retained within the end effector is responsive to electronic command signals permitting the finger members disposed therein to cooperate with and removably retain a plurality of tools and components upon receiving computer controlled electronic command signal. The electronic command signal controls the driving power from a power source which is coupled to the end effector.

Abstract: A mechanized hitch comprising a telescopic device including a first and a second hollow lever slidable one into the other between a nested position and an extended position, the free end of the first lever being connected to a stationary bracket for pivotal movement of the device in a plane between an upright position wherein the levers are in the nested position and an inclined position wherein the levers are in the extended position. A hook is mounted at the free end of the second lever to allow pivotal movement thereof in a plane perpendicular to the pivot plane of the device between a hooking position in which the hook lies in the pivot plane and a release position in which the hook lies outside the pivot plane, and a jack housed within the telescopic device and pivotally mounted at one of its ends to the bracket while being likewise pivotally mounted at the other of its ends to the hook to pivot the said hook.

Abstract: A versatile robotic gripper is easily and quickly adjusted to grip objects of different geometrical shapes without changing parts and under complete machine control. Opposing jaws have a matrix of axially movable pins each of which is mechanically locked in any axial position. Actuation of an operating mechanism to move the jaws together to grasp an object depresses the pins and they collectively conform to the shape of the object; the jaws retain this shape upon release of the object. A plate is raised to unlock the pins which are returned by springs to a fixed coplanar position.

Abstract: An apparatus for transferring elongated parts travelling on a first conveyor to a receptacle travelling on a second conveyor, the parts being placed singly in consecutive rows in the receptacle in a substantially vertical position. The apparatus comprises a part pick-up unit having a part pick-up member mounted on a slide. The part pick-up unit is positioned such as to enable the part pick-up member to pick up a part at the end of the first conveyor, and the part pick-up member, mounted on the output shaft of a rotary actuator, is rotated such as to rotate the part from a horizontal position to a vertical position during travel of the part pick-up unit and of the slide from the part pick-up position to the part-loading position.

Abstract: A robot hand provided with fingers driven by a double acting cylinder and supplied working liquid pressure through two, 2-position, 5-port-type, single solenoid, electromagnetic valves, wherein: (a) an outlet of a first electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is connected with the inlet of a first chamber of the double acting cylinder; (b) an outlet of a second electromagnetic valve is connected with the inlet thereof in response to the OFF position of a second chamber of the double acting cylinder; (c) an outlet of the first electromagnetic valve is connected with the inlet thereof in response to the OFF position of the solenoid thereof and is plugged; (d) an outlet of the second electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is plugged; and (e) a working liquid pressure source is connected with the inlet of the first and second electromagnetic valves.

Abstract: An apparatus and method for transferring parts travelling in a single row on a first conveyor to a receptacle travelling on a second conveyor, the parts being placed in the receptacle in consecutive rows of a plurality of the parts. A part loader, comprising an elbow-joint arm having a pivotable first arm and a second arm mounted on the end of the first arm pivotable relative to the first arm, supports a part pick-up member mounted on the end of the second arm which picks up at least one part from the end of the first conveyor and transfers the part to the receptacle on the second conveyor. Alternatively, the part pick-up member is adapted to pick up a row of parts from the first conveyor and to place one row of parts in the part receptacle, or to rotate a part during transfer from the first conveyor to the part receptacle.

Abstract: The invention is a flexible gripper for industrial robots and the like through the use of articulated ball joint linkages and an industrial brake. The gripper can orient itself to an object and adapt to irregular surfaces while engaging the object. In other words, the gripper matches the orientation of the grasped part. With the object so engaged, the gripper is locked rigidly so that the orientation of the part is preserved as it is manipulated by the flexible gripper and its associated robot.

Abstract: Apparatus for lifting a load through an arc includes two pivotally connected, overlapping housings which are pivoted relative to each other by a fluid operated piston disposed between the housings. The housings have overlapping sides provided with oppositely inclined cam tracks. Rollers driven by the piston and captured within the cam tracks transmit force between the sidewalls of the housings, thereby causing the housings to pivot relative to each other. One of the housings is adapted to have the load mounted thereon.

Abstract: The present invention provides a computer controlled robotic arm unit having a fixed body and a carriage which is linearly movable to the fixed body along a first horizontal orthogonal cartesian axis. An elongated column is vertically movably mounted to the carriage along a second vertical cartesian axis while an elongated arm is carried at the upper end of the column. This arm includes a work performing member at one end and is linearly movable along a third and substantially horizontal orthogonal cartesian axis which is perpendicular to the first axis.

Abstract: A device for operating a hand of an industrial robot is so constructed that fluid pressure cylinders (43, 44) are provided as a driving mechanism of the hand (4) of the industrial robot, branch passages including a pressure-reducing valve (47) are provided in a fluid supply passage to the fluid pressure cylinders (43, 44), the supply of fluid is switched by solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4), and the switching of the solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4) is carried out in accordance with the selected grasping force which has been selected in the teaching mode of the industrial robot, whereby the grasping force of the hand can be controlled stepwisely.

Abstract: This gripper is applicable more particularly to textile machines and includes a gripping clamp and an apparatus for opening and closing the clamp. The clamp proper includes a fixed central member provided laterally and on either side with a resilient portion, two arms crossing each other for constituting a pair of gripping jaws, each arm being provided with a key preferably in the outer extension of the resilient portion. The opening and closing apparatus includes a pair of vertically movable fingers, by reason of one per arm, which are adapted in their lower position to depress the keys in order to cause the distortion of the resilient portions and thus modify the degree of crossing of the jaw forming portions.

Abstract: In a robot machine, a hand is rotatably mounted on one end of an arm. The hand is provided with two sets of grasping units each including a pair of opposed fingers which are used to grasp or release an article, for example, a workpiece to be machined by a machine tool. A piston-cylinder assembly is provided for rotating the hand through a ninety degree angle.

Abstract: A rotatable lever and an initially transversely disposed adjustable linkage echanism for attachment in predetermined relation to at least one movable work-performing arm and operable such that upon rotation of the lever and linkage mechanism responsive to pivotal rotary movement of the lever portion thru a designated travel arc of at least approximately 90.degree., the movable arm moves much more rapidly during the first approximate one-half to three-quarters of its designated travel arc, and thereafter continues to move progressively slower in a firm positive manner thru the remainder of the travel arc, while moving from its transverse relationship to a generally parallel or linearly aligned relationship. This simplified mechanism is non-servo in character and relatively low cost compared to servo devices embodying continuous sensing and feedback circuitry. Among various uses are easy association with various known industrial type robot devices embodying programmed control of articulated mechanical arms.

Abstract: A hand (34) of an industrial robot for gripping a workpiece (14) and the like comprising: a hand base plate member (36) connected to a wrist portion (32); a plurality of pairs of opening and closing gripping fingers (38a and 38b, 38d) arranged on the palm face (36a) of the hand base plate member (36), and; an actuator (48 or 48') being arranged for each pair of the opening and closing fingers (38a and 38b, 38c and 38d) to actuate the fingers. The hand (34) is capable of securely and stably holding a workpiece having a heavy weight and/or an angular shape, or other complicated shape.

Abstract: An elephant nose type arm for a programme controlled manipulator, comprises a cylindrical rod, a flexible arm coupled at one end thereof to the rod, an actuator mounted on the other end of the flexible arm, and a tool attached to the other end of the flexible arm and rotated by actuation of the actuator.