Abstract: The invention relates to a device for transferring thin sheet material which comprises: a face, a spine which is positioned adjacent to the face, a plurality of ribs which radiate away from the spine and are used to support the face, an apparatus for connecting the device to a machine arm, and a mechanism for providing vacuum over a substantial portion of a thin sheet material, wherein the face is configured in the same shape as the thin sheet material.

Abstract: A method and apparatus for processing and assembling a plurality of small parts weighing under five pounds using a robot employing a rotatable pallet for holding an array of small parts. Said rotatable pallet being held in place on the robot wrist head, which moves the pallet through a plurality of stationary work-stations located within the operating envelope of the robot, and rotates the pallet at each work-station to index the pallet and to present it to the work-station for an operation on a specific part or parts. Said robot participates in the work-station tasks by moving the rotatable pallet in the X, Y, and Z directions as needed. Movable data pins are used to indicate conditions of individual parts in nests, and of the pallet taken as a whole.

Abstract: A vertical wafer compact flip chip feeder device includes a loading station for providing a loading location where a flip chip wafer having first and second planar surfaces is received such that the first and second planar surfaces are substantially perpendicular to a first plane. The flip chip feeder device further includes a pick-up station for providing a pick-up location where individual flip chips are retrieved from the flip chip wafer. A wafer translating assembly translates the flip chip wafer between the loading and pick-up stations with the first and second planar surfaces of the flip chip wafer remaining substantially perpendicular to the first plane. A chip pick-up assembly retrieves the individual flip chips from the flip chip wafer at the pick-up station and flips the individual flip chips to a flipped position such that first and second planar surfaces of the individual flip chips are substantially parallel with the first plane.

Abstract: Apparatus for the automatic fuelling of vehicles. A robot head that carries a fuel filler tube is movable to enable it to be brought into position to engage with a vehicle fuel-tank pipe. The robot head carries an opening device for opening a fuel-tank cover plate of a vehicle. The positioning of the robot head is effected by a positioning system that includes a transceiver unit carried by the robot head and that preferably operates at microwave frequency. A passive transponder is carried by the vehicle and includes a simple code which the transponder is intended to modulate on a signal transmitted by the transceiver and is reflected by the transponder. The signal received by the transceiver from the transponder is decoded and is used to access a robot head movement plan that corresponds with that code, to automatically steer the robot head to the fuel tank pipe and thereby enable the vehicle to be fuelled.

Abstract: In a vacuum chuck apparatus for chucking an article, a plurality of movable suction cups are mounted on a support member to be movable up and down relative to the support member between an operative position where each of the movable suction cups can attract the article by suction and a retracted position above the operative position. A plurality of air cylinders move the respective suction cups independently from each other between the operative position and the retracted position. An article size designating circuit outputs a size signal representing the size of the article to be chucked, and a controller controls the air cylinders according to the size signal so that a part of the movable suction cups which are not necessary for chucking the article of the size represented by the size signal are held in the retracted position and the other suction cups are held in the operative position.

Abstract: An IC transportation mechanism is provided with a transportation mechanism having a first and a second groups of suction units. When the first group of suction units retain ICs on a first supply stage by suction or release ICs on a first storage stage, a second group of suction units press ICs on IC sockets concurrently. When the second group of suction units retain ICs on a second supply stage by suction or release ICs onto a second storage stage, the first group of suction units press ICs on the IC sockets concurrently. As a result, it is possible to provide a high-speed IC transportation mechanism which concurrently takes in and out ICs during a reciprocation cycle of the transportation mechanism.

Abstract: Apparatus and method for automatically interfitting a part and mount utilize a housing having a chamber and an inwardly tapered alignment surface. A piston reciprocates in the chamber and has a gripper end that moves out of and into the housing, past the alignment surface, when alternating spring and air pressure forces act on the piston. Such movement of the piston accurately positions a gripped part, and the housing then reciprocates so that the alignment surfaces accurately position a mount. The piston then moves the part to an interfit with the mount.

Abstract: A semiconductor wafer processing system for processing wafers from a wafer storage cassette includes a wafer transfer chamber; a wafer storage elevator within the transfer chamber; one or more wafer processing chambers; and a wafer transfer apparatus for transferring a wafer between a standard storage cassette adjacent and outside the transfer chamber and the elevator, and between the elevator and the processing chamber. The environment of the storage chamber varies in pressure between atmospheric when accepting wafers from outside, and a subatmospheric pressure when transferring wafers to or from a processing chamber.

Abstract: A windshield assembly system for assembling windshield assemblies for vehicles includes a conveyor for delivering at least two plys of glass to an assembly station, a first robot for lifting one of the two plays from the conveyor, a second robot for gripping and removing at least one adhesive sheet from a stack of adhesive sheets and placing the removed adhesive sheet adjacent the other one of the two plys, whereby the first robot places the one of the two plys adjacent the removed adhesive sheet to assemble the windshield assembly. The apparatus includes a sheet edge separator such as a knife or blade movable along a longitudinal edge of the top sheet for separating at least a portion of the top sheet from the stack of adhesive sheets.

Abstract: In a photolithography system, baking and cooling of semiconductor substrates is done in a thermal process module that uses a unique mechanism including pulleys to route vacuum tubing to a transfer arm. Specifically, the mechanism includes a pair of pulleys and a vacuum tube wrapped around the pulleys. The vacuum tube has a movable portion connected to the transfer arm which is reciprocable between the pair of pulleys. The vacuum tube also has a stationary portion that is connected to the movable portion to form an endless loop. The stationary portion of the vacuum tube is rigidly connected to a vacuum supply line in the housing of the thermal process module.

Abstract: To attract a workpiece with a limited contact region, e.g., a doughnut-shaped compact disc having a central circular hole, a skirt of a substantially arcuate attractor is held against an annular land extending around the central circular hole. Suction forces are applied through a plurality of suction holes surrounded by the skirt to attract the annular land for attracting and carrying the compact disc. A mini disc having an annular step along a peripheral region around a central hole thereof may stably be attracted and carried by an attractor having inner and outer annular contact members which axially project different distances to contact the peripheral region and an area, respectively, that is radially spaced from the peripheral region by the annular step.

Abstract: An apparatus for replacing a cop in an automated weaving machine is provided. A single, multi-joint robot is situated near the cop replacing position of a shuttle which is reciprocated between warps. A hand stand is provided for supporting first through third hands which can be detachably mounted on the robot arm. The first hand is provided with fingers for individually handling the new cop and the new weft. The second hand includes fingers for handling the old cop and the old weft. The third hand is provided with a suction pad for engaging the shuttle with vacuum suction when transferring the shuttle, and with a hook for raising and lowering the bobbin fitted on a tong of the shuttle. The three hands allow various work steps to be carried out each in an optimum fashion without requiring additional hands to be carried by the robot arm at the same time.

Abstract: A two-sided clamp for manipulating heads of paper rolls,which includes an arm having one end attached to the wrist joint of a robot and another end that carries two grasping members which are aligned parallel and outwardly facing in opposite directions. Each of the grasping members has a base plate and multiple resilient suction cups which are mounted to the base plate. The grasping members are mounted to the arm so that the clamping center point of the first grasping member is farther removed from the wrist joint of the robot in the direction of the longitudinal axis of the arm than the clamping center point of the second grasping member. The grasping members are mounted in an asymmetrical manner to the arm, which asymmetrical structure of the clamp facilitates the two-sided structure of the clamp.

Abstract: A tool that loads magnetic heads onto the disk of a hard disk drive. The tool has a first arm which has an alignment block and a plurality of fingers. The first arm cooperates with a second arm which has an alignment slot and a plurality of second fingers. The arms are coupled to an actuator which moves the arms in opposite directions to separate the first fingers from the second fingers. Movement of the arms also causes a first alignment surface of the alignment block to engage a second alignment surface of the alignment slot. The alignment surfaces are essentially parallel with the fingers and insure that the fingers translate relative to each other without any relative rotational movement.

Abstract: An automated storage library having the ability to store and manipulate data storage elements in three dimensions. Data storage elements such as tape cartridges are stored in storage compartments separated by low-friction downward sloping sliding planes each capable of holding a plurality of data storage elements. The automated storage library further includes a magnetic picker apparatus having two electromagnetic coils. In one embodiment, the two coils are energized simultaneously with the first coil used to reposition an L-shaped flipper. This flipper raises a roller gate positioned at one end of a storage compartment to release a stored data storage element. The second electromagnetic coil supplements the gravitational pull on the data storage element by attracting a steel strip on the face of the data storage element and an associated coil carriage retrieves the data storage element from the compartment.

Abstract: A method and an apparatus for electrically processing vacuum pressure information in a vacuum unit. The apparatus basically comprises a vacuum supply mechanism, a detecting device, a determining device, a failure precognition signal generating device and a pressure setting-up device. In the apparatus, pressure values are first detected, and a desired pressure value lower than the maximum pressure value of the detected pressure values is digitally displayed on a display unit. Then, the desired pressure value is stored in a storage unit, and pressure values relative to vacuum, which are detected from the detecting device held in front of a passage which communicates with a vacuum port, are converted into digital signals. Thereafter, the digital signals thus converted are digitally displayed on the display unit. Further, the desired pressure value stored in the storage unit is compared with each of the detected pressure values.

Abstract: An automated storage and retrieval system includes an accessor device to magnetically hold a stored item while the item is transported within the system. To sense the presence of a magnetically attractable label on the item, the device generates a pulsed signal having a first strength. The reluctance of the magnetic field is compared with a base value; if the comparison indicates that a label is present, the device generates another pulsed signal having a greater strength to "lock" the item against the accessor. The device then generates another pulsed signal having a reduced strength to maintain and hold the item against the accessor during transportation. Less power is used and, therefore, less heat generated.

Abstract: A rotary placer for picking, transferring and placing a carton from a stack of cartons or sleeves in a magazine to an assembly position. The rotary placer includes a frame driven for rotation about a first axis and supporting an arm having an inner end and an outer end. The outer end of the arm has vacuum cups for engaging and releasably retaining a carton for movement from the pick position to the place position. The arm is reciprocated from an extended position to a retracted position. The vacuum cups engage a carton when the arm is in the extended position and the arm retracts to remove the carton from the magazine and carry it toward the place position. The arm again is extended as it reaches the place position. A cam guide controls the movement of the vacuum cups so they move linearly away from a carton in the magazine.

Abstract: An apparatus including a vacuum nozzle including an elongated inner bore that defines an elongated vacuum conduit that is coaxial with the inner bore; a nozzle tip connected to the end of the vacuum nozzle and adjacent the vacuum conduit; a reciprocally movable sleeve located within the vacuum conduit and retained by the vacuum nozzle and extendable beyond the nozzle tip; and structure for applying a restorative force to the movable sleeve, the structure for applying a restorative force to the movable sleeve being located within the vacuum conduit and in contact with the movable sleeve.

Abstract: Apparatus for turning a sheet-like workpiece, e.g. a rectangular sheet of glass, and for applying a sealing strip continuously along its edges, includes an air flotation/section support bed (14, 15) covered by an air-permeable mat (16), a sealing strip applicator (32, 59) on a carriage (33), suction cup assemblies (63, 72) mobilely mounted on respective mutually perpendicular slides (24, 25) for gripping the sheet (22) at two adjacent corners thereof, the movement of the assemblies (63, 72) being coordinated such that, while gripping the sheet (22), one assembly (72) is moved towards the initial position of the other assembly (63) and simultaneously the latter (63) is moved towards the corner diagonally opposite the corner at which the first assembly (72) was initially disposed.

Abstract: A vacuum-type gripping apparatus includes a frame which is movable between a retracted position, in which the frame is remote from an item stored in a storage bin, and an extended position, in which the frame is proximate to an item stored in the storage bin. The apparatus includes a vacuum-type gripping mechanism which grips the item to be extracted from the storage bin prior to and during the extraction operation. The vacuum-type gripping mechanism employs a redundant vacuum source which improves the operating reliability of the apparatus. A lifting mechanism, which is adapted to engage a bottom surface of the item to be extracted, cooperates with the vacuum-type gripping mechanism during the extraction operation.

Abstract: A connecting member is connected to a working arm of a robot body, a first member is fixed to the connecting member and a second member is attached to the first member to move in one direction. A first cylinder is attached to the second member to rectify the motion of the first member to the second member and a base member is attached to the second member to move at a right angle to the motion of the first member. A second cylinder is attached to the base member for rectifying the motion of the second member to the base member. Supporting bars are attached to the base member and a plurality of suction pads are attached to the supporting bars.

Abstract: A method and apparatus for opening and closing a cover-plate on an automotive vehicle, wherein the plate lies in line with the vehicle outer body panel and can be swung between an open and a closed position about a vertical or horizontal hinge axis and covers the space in which the mouth of the vehicle refuelling pipe is located. The cover-plate is opened in two stages, wherein the plate is opened slightly to a limited open position by a first opening device in a first opening stage, thereby enabling a second opening device to be inserted between the cover-plate and the outer body panel, and wherein the plate is opened completely by the second opening device in a second opening stage. The cover plate is swung from its open to its closed position by the second opening device.

Abstract: A transfer device especially suitable for transferring a minute electronic component part from a first location and position to a second location and position, the component part having critical facet sides of high integrity and at least one non-critical side, is disclosed. The transfer device comprises a non-destructive engaging means, a control means, and a decoupling means, whereby the integrity of the essential facet sides of the component part is maintained.

Abstract: A suction-type metering robot hand comprising (a) a hollow suction pad having a gas-permeable obstacle at an opening of the suction pad; and (b) a main body of the robot hand supporting the suction pad and having a vacuum passage communicating with the suction pad. According to the robot hand of the present invention, the provision of the net on the opening of the suction pad makes it possible to suck fragile articles such as a fried cutlet, roasted bean curd, a piece of bread and the like to a desired place.

Abstract: The present invention includes a method for transporting articles (24), and a pick and place apparatus (10) for implementing the method. The apparatus includes a suction tube (12) coupled to a pickup cam (11) and a pin (22) coupled to a hold-down cam (18). The pickup cam (11) and the hold-down cam (18) share a common cam shaft (15). In addition, the suction tube (12) is coupled to a pressure reduction apparatus (16) which is enabled throughout the transport process. The cam shaft (15) is rotated in a first direction to couple the article (24) to a suction cup (14). The article (24) is transported to a desired location and released by reversing the direction of rotation of the cam shaft (15). The article (24) is released by the pin (22) pushing the article (24) away from the suction cup (14).

Abstract: A gripper assembly for a robotic device includes a first vacuum nozzle (260) having a gripping surface (262), and a second vacuum nozzle (270) having a gripping surface (272). The first nozzle (260) is positioned within the second nozzle (270).

Abstract: An end effector having an individually positionable piston formed directly onto a movable pipe with one end of the movable pipe connected to a common plenum chamber and the other end to a bellows-shaped collapsible vacuum cup with the movable pipe forming an elongated air evacuation chamber to permit quick evacuation and pickup of an article located proximate the bellows-shaped collapsible vacuum cup and a stabilizer located proximate the bellows-shaped collapsible vacuum cup to act as a stop to prevent swaying of the article as the bellows-shaped collapsible vacuum cup is moved from one position to another.

Abstract: A suction head having plural suction pads on both surfaces thereof is used to transfer a substrate of a compack disk and the like from one position to another for loading. The suction head is connected to a rotating shaft rotatable and movable in a vertical direction. The rotating shaft causes the suction head to turn over and move in an up-and-down direction. The suction pads on both surfaces of the suction head are connected to a pair of flexible pipes which are wound around the shaft and connected respectively to exhaust systems. Thus, the suction pads capture and release the substrate by suction control so as to load the same at a prescribed position. Further, a shock absorber is provided to relieve a shock upon the stoppage of the suction head in vertical and rotational reciprocating motions.

Abstract: A robotic placement device (FIG. 1) comprises a programmable end-effector (200) for picking and placing component parts. The programmable end-effector (200) comprises a cylinder (201) having a piston (202) including a first (203) and second (208) shafts coupled together. The first shaft (203) of the piston is larger than the second shaft (208). A controller (102) controls a pressure applied to the cylinder (201) and the piston (202) including the first (203) and second (208) shafts of the programmable end-effector (200) establishes a predetermined placement force at the programmable end-effector (200) while placing component parts. A control circuit 118 senses the pressure and in response thereto generates a signal. A processor 108 coupled to the controller (102) processes the signal and in response thereto varying the pressure for maintaining a substantially constant placement force at the programmable end-effector (200) while the programmable end-effector (200) moves vertically.

Abstract: An NC machine surrounded by a housing provided with a door on a front surface of the housing so that a workpiece may be loaded into the housing and unloaded therefrom when the door is in an open condition. An articulated robot, for replacing the workpiece, is provided so as to be laterally movable along an opening and closing direction of the door. Such a laterally movable function of the articulated robot permits a hand of the robot to grip a desired one of the workpieces arranged in lateral and longitudinal directions on a stock table. The articulated robot is provided with a sensor for detecting a dog provided on the door and an air cylinder for connecting the robot to the door when the dog is detected by the sensor. Accordingly, after the robot is connected to the door by the air cylinder, the door can be opened and closed by the lateral movement of the articulated robot.

Abstract: A robotic load device gripper for picking up an edge of a disk, and more particularly, pertains to a robotic load device for outer diameter pickup of a disk, either selected or randomly selected, such as at quarter inch spacings, from cassettes, containers, or in groups of disks for predetermined placement.

Abstract: A chip mounter provided with an image processing system for recognizing as an image a chip sucked by a suction bit, the tip surface side of the suction bit being formed of a material which does not cause an erroneous image recognition of the image of the chip by the image processing system.

Abstract: Method and system are provided wherein a process robot moves the door of a vehicle to an open position, performs a robotically controlled process within the vehicle and then moves the door back to a closed position. A separate, two-axis programmable arm holds the door in the open position. In particular, the process robot has attached thereto a tool extension whereby the process robot goes in through a window opening of the door of the vehicle, executes a door open path where the door contacts the inner panel of the door and opens the door over a magnetic holder positioned on the two-axis programmable arm below the bottom of the door. The magnet is of sufficient magnetic strength to accurately hold the door at the programmed holding position of the two-axis arm. The process robot then performs a production operation (i.e. painting, priming, sealing, etc.) within the vehicle.

Abstract: The invention concerns a vacuum lifter to transport loads with an adhesion surface, comprising at least one suction head suspended from a hoist, said suction comprising at least one annular seal projecting from its suction side, the vacuum chamber(s) enclosed by the annular seal(s) communicating with a vacuum source, a valve furthermore being provided which can be switched between a suction position wherein the vacuum source communicates with the pressure chamber or vacuum chambers and a venting position wherein the communication with the vacuum source is interrupted and the vacuum chamber(s) is (are) vented or fed with compressed air.

Abstract: A component mounting apparatus includes a holding section for holding a plurality of component mounting heads, each head having a component sucking nozzle. One of the component mounting heads selectively held by the holding section can be mounted on a component mounting section. A storage section, provided on each component mounting head, stores information of each component mounting head, and a reading section, provided on the component mounting section, reads the information of the storage section.

Abstract: Apparatus for engaging and holding a non-oriented hot glass container of predetermined square cross sectional contour and closed end that includes a chuck having an open end for receiving the container and an internal valve plate for abutment with the end of the container received in the chuck. The chuck is coupled to a cam-operated arm for lowering the chuck over a container. A transition plate has a square opening contoured to be closely received over the square cross section of the container, and is mounted for free rotation adjacent to the open end of the chuck. Guide fingers project from the plate away from the open end of the chuck so as to engage the container end as the chuck is lowered over the container, and to rotate the plate relative to the chuck so that the plate opening is aligned with the square cross section of the container end. A vacuum is applied to the valve plate within the chuck for holding the container end against the valve plate.

Abstract: A manipulating device includes a gripper (11) for gripping workpieces (19) by way of a negative pressure. A suction pump for generating and feeding the negative pressure as well as at least one valve (24) are disposed in a casing (14). The casing is connected with the suction gripper (11). The negative pressure can be applied to the suction gripper (11) by means of the valve (24).

Abstract: The invention relates to a process and a conveying device for the removal of objects, in particular square objects, preferably cardboard boxes, from a base, in particular of objects from a pack formed from identical objects. There are provided a process and a conveying device, by which the objects can be removed from the base even if the objects cannot be gripped from the top and are relatively unstable, such as for example open cardboard boxes, and the base is secure against slipping by increased friction resistance. Each object to be removed is tilted at one bottom edge opposite to its free side and is then removed.

Abstract: A wafer transfer method and mechanism in a vertical CVD diffusion apparatus and a control device for the method and mechanism. The vertical-type CVD diffusion apparatus has a boat containing many wafers in a horizontal orientation, stacked vertically. Product wafers are transferred to the boat five by five, dummy wafers are transferred five by five or a fraction less than five, and monitor wafers are inserted one by one between a block of the product wafers and another block of the product wafers, or a block of the dummy wafers.

Abstract: Disclosed herein is an apparatus for holding by suction and conveying. The apparatus comprises a pipe joint connected to a vacuum and suction source through a tube; a cylindrical connector connected to a suction pad; and a connecting member through which the pipe joint is coupled to the connector. The connecting member includes a cylindrical member angularly movably surrounding the outer periphery of the connector, and between the cylindrical member and the connector, is provided structure inhibiting the movement of the cylindrical member in a direction of the longitudinal axis thereof.

Abstract: A suction lifting head for use in the lifting and transport of generally flat workpieces is designed to conform to its use with workpieces varying in size and produce activation of such suction ports therein as necessary to perform the lifting of the workpiece. The lifting head is constructed with a body having an outer suction port(s) at a surface of the body, a valve chamber(s) connected to the outer suction port and intervening an inner suction port which in turn is in communication with a vacuum main connection at a side of the body remote from the surface having the outer suction port(s). A valve disk with multiple holes for air flow is located inside the valve chamber. These holes are located in the valve disk to be positioned radially beyond the circumference of the outer suction port and such that circumferential portions of the valve disk will be supported on a stepped section in the valve chamber when a workpiece is lifted against the outer suction port.

Abstract: Apparatus for introducing rolled steel into the entrance of a processing machine such as a cold shear or straightening machine including a roller path for carrying the steel sections at a speed of transport in a direction of transport toward one of the shear and straightening machine.

Abstract: The device mounted at the end of an operating arm comprises one or more suckers for supporting objects, for example refractory bricks for the brick-lining of a metallurgical converter, means for linear and angular displacement of the suckers, sensors for monitoring and controlling automatically the means of displacement in order to grip and position the objects in a predetermined location, after immobilization of the operating arm. The suckers are provided on a sucker-carrying plate which in its turn is supported by a pair of blocks which can slide in transverse slide bars of a carriage which comprises a pair of longitudinal slide bars, perpendicular to the transverse slide bars and housed in sliding fashion in a central support attached to the end of the operating arm with a degree of angular freedom and a degree of linear freedom orthogonal to the axes of the longitudinal and transverse slide bars.

Abstract: An apparatus operable for inserting an arcuate thrust metal insert into an arcuate gap defined by a surface of a crank arm of a crankshaft and an arcuate groove formed on an end face of a bearing portion of a cylinder block, when the crankshaft is positioned on the cylinder block such that a journal formed adjacent to the crank arm of the crankshaft is fitted on an arcuate concave bearing surface of the bearing portion. The apparatus includes a device for holding the insert and positioning the insert at a circumferential position of the journal opposite to the arcuate bearing surface of the bearing portion diametrically of the journal, such that the insert is substantially concentric with the arcuate groove.

Abstract: A sheet workpiece manipulating apparatus for delivering, supporting, and removing large sheet workpieces to a sheet bending press includes a plurality of rotationally and linearly translatable support arms. A gripping device is disposed on each free end of each support arm. The sheet workpiece is captured and rigidly restrained by the paired gripping devices, such as opposing suction cups operationally connected to a vacuum source, which are detachably attached to the support arms in a magnetically cooperating arrangement. Large gripping forces are developed by the gripping devices, which are separately replacable with alternate gripping devices sized to accommodate workpieces of different sizes, shapes, and materials, as well as a particular manipulation procedure. Perforated as well as imperforated sheets may be manipulated by the apparatus due to the paired, opposing relationships of the suction cups.

Abstract: This invention relates to a self aligning, vacuum end effector which is capable of picking up objects which have a pick up surface which is not planar with the pick up surface of the end effector. The end effector is comprised of two parts: a nozzle base which fixedly attaches to an automatic assembly device, such as robotic arm; and a nozzle tip, which is the part of the end effector which actually comes in contact with the object to be picked up. The nozzle base and nozzle tip are secured together by a retention spring. The nozzle tip has a generally, semi-spherically shaped ball portion which is partly inserted into a bore within the nozzle base and rests against a quad ring which is secured within the bore. Consequently, when the nozzle tip makes contact with an object which is to be picked up and moved, the semi-spherical ball portion of the nozzle tip slides against the quad ring and the nozzle tip pivotally moves and aligns itself with the plane of the surface of the object to be picked up.

Abstract: A suction pad for attracting a workpiece under vacuum has a cylindrical base to be connected to a vacuum source, and a skirt integrally joined to the base, for developing a vacuum therein to attract the workpiece. The suction pad can be kept at a temperature suitable for the workpiece, by an electric heater which is controlled in response to a temperature signal from a temperature sensor embedded in the skirt. The suction pad with the controlled temperature does not cause problems which would otherwise result from the different temperatures of the suction pad and the workpiece.

Abstract: Herein disclosed are a method and an apparatus for indexing a moving portion of a robot to a mechanical origin. First and second reference holes are formed respectively in the moving portion and a holding portion supporting the moving portion relatively movably. A plug gauge used has a foot to be fitted in the first reference hole and a probe attached to the foot and sized to be inserted into the second reference hole. The plug gauge is fitted in the first reference hole, and the moving portion is then moved in a first direction relative to the holding portion by operating a drive unit. This relative movement of the moving portion is stopped when the probe of the plug gauge comes into contact with the inner wall of the second reference hole.

Abstract: An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A, 15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils.