Abstract: It is an object of the present invention to provide a technology capable of plating satisfactorily even when wafers with a seed metal is plated in sequence by utilizing a cup-type plating apparatus. Plating solution adhered on a support 2 is removed between an initial and a subsequent plating processes by a cleaning apparatus 5 for a support 2 on a cup-type plating tank. The cleaning apparatus 5 comprises a first arm 9 of which distal end is positionable at the center of an upper portion of an opening of a plating tank 1, and a second aim 12 which is mounted at one end thereof to the distal end of the first arm 9, is provided at the other end thereof with a cleaner 11 and is pivotal about the distal end of the first arm 9.

Abstract: The present invention is designed to realize structure having high rigidity in any direction and to realize a parallel mechanism machining device having good chip removal property. According to the present invention, forked adjustable joints 28 are provided at two positions near the tip end of a movable body 20 and near the rear end thereof, respectively, two first links 36 and two second links 37 are attached to the movable body 20 and the tip ends of these links are extended in X and Y axis directions and coupled to a machine-side fixed platform through adjustable joints, respectively. A link 5 extending in Z axis direction is attached to the rear end of the movable body 20 and a restriction link 6 is attached to the back of the forked adjustable joint 28 near the tip end.

Abstract: The motor-actuable coupler is used for connecting workpiece grippers with a manipulating device, in particular a robot, which passes on workpieces from one stamping press to the next. The coupler consists of a fixed element (12, 66, 80, 38) on the drive side and a connecting element (10, 54) on the gripper side. Since normally a very large number of different workpiece grippers are employed and the connecting elements on the gripper side entail great costs, it is proposed that the fixed element of the coupler has a collet chuck (66, 74, 80, 38), and that the connecting element (10, 54) is a tube section, which can be centered in the fixed element (12, 66, 80) spaced apart from the clamping area (at 68, 76) located at the front end of the collet chuck. The tube section (10) is preferably centered by clamping faces (70, 78) and/or by cone surfaces (58) at its end which can be inserted into the collet chuck (14).

Abstract: In known hexapodal machining centers, a movable support is supported and the individual struts are articulated on the support in one plane. For permitting a greater movability of the support, especially in the rotational degrees of freedom, and for improving the absorption of the forces, a hexapodal machining center having a stationary frame and a movable support is provided, in the case of which the six connecting struts of adjustable length are articulated on the support. Three articulation points respectively define a common plane of application so that two separate planes are defined. Also, the articulation of the struts on the frame is effected in two separate planes of application.

Abstract: A stitching apparatus and end effector system particularly suited for stitching composite preforms includes a six-degree-of-freedom manipulator arm and an end effector that is releasably coupled to the end of the manipulator arm by a quick-change coupler system. The end effector comprises a C-shaped bow having a pair of spaced-apart legs the free ends of which support a stitching head and a bobbin in opposing relation so that a workpiece to be stitched can be received between the stitching head and bobbin. In accordance with a preferred embodiment of the invention, a plurality of bows of different configurations are provided, each having a quick-change coupler on each leg for releasably coupling the stitching head and the bobbin to the bow.

Abstract: Axes used for posture alignment are selected from the axes of a work coordinate system W and a tool coordinate system T, and an angle of intersection between those selected axes are set. A robot is then driven so that the selected axes intersect with each other by the set angle of intersection in response to a posture alignment instruction, causing the tool to assume a target posture with respect to a workpiece. Further, angles for rotating the work coordinate system about each axis thereof are set, then the robot is automatically moved so that a coordinate system produced by rotating the work coordinate system by the set angle in response to a posture alignment instruction. Further, the tool coordinate system set at a movable part of a tool is automatically reset according to an amount of movement every time the movable part of the tool move, and the robot is manually fed based on the tool coordinate system thus reset.

Abstract: Provided is a rectangular coordinate type robot, in which spaced-apart first tables are provided with respective first moving units that are guided along the first tables, and a second table has its one end connected to the first moving unit provided for one of the first tables and the other end connected to the first moving unit provided for the other first table. The end portions of the second table and the first moving units are connected with each other via connecting members that have a rigidity in the movement direction of the first moving unit and a resiliency in the direction extending along the second table.

Abstract: Tool assembly for riveting parts, comprising: a first and a second frame (2, 5) capable of being mounted on a shaped structure "C" or on separate robot arms (60, 61); a pair of sheet-holding devices (3, 6) each mounted on one of the frames and at least one of each is provided with a device (11) for displacing it relative to the corresponding chassis with a force corresponding to the clamping provided for holding the parts to be riveted during drilling; at least one drill (20, 21) mounted on a frame, a device (41) for placing a rivet (40) in a hole drilled by the drill, this device being carried by a frame; a percussion riveting hammer (51) carried by a frame and an associated counter-piece (54) carried by the other frame, integral with a reaction dolly (52). The elements carried by each frame are all capable of being displaced between an active position and a rest position.

Abstract: The device serves for moving a movable platform (2) in respect to a base (1). The connection between platform and base is established by six legs (4a-4f), which are connected to the platform in articulated manner. At the base side, they rest in articulated manner on sliding carriages (6a-6f). The sliding carriages can be displaced along parallel guiding tracks (7a-7c), by means of which position and orientation of the platform can be adjusted. Two sliding carriages are running independently of each other on each guiding track, allowing a movement with a total of six degrees of freedom. Since two sliding carriages share one guiding track, the design is simplified and some drive components can be dispensed with.

Abstract: When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.

Abstract: An end effector (30) adap ttachment to and accurate positioning by a robot is provided for positioning a channel-shaped workpiece (10) at a desired position and drilling an accurately located positioning hole in the work piece, even if the workpiece is curved or has a compound contour. The end effector (30) includes a conventional speeder assembly (68) with a taper that can be grasped by the robot and rotated for transfer of torque to the speeder assembly. A flange base (54) is attached to the speeder assembly (68) and has a central opening to accommodate a drill bit (67). A housing assembly (50) is slidably mounted around the flange base (54) through a linear bearing (109). An index shaft (32) is slidably mounted partially within the housing assembly (50) through a second linear bearing (110). A collet (36) is concentrically mounted slidably about the index shaft (32). The collet (36) is adapted to expand radially when it is forced over a wider portion (34) of the index shaft (32).

Abstract: A tool attachment and release system for robotic arms which using a magnet for supplying the attractive force to hold the tool to the robotic arm while allowing separation of tools from the robotic arm without manual intervention. A series of tools are held at predetermined locations in a tool rack allowing the robot to automatically deposit therein or acquire therefrom a particular tool. Permanent magnets are mounted between steel inserts in the tool attachment block. The steel insert are used to direct and concentrate magnetic flux to the tool attachment surface and also to each of two shunt bar contact surfaces. During the attach and disconnect operations, magnetic flux shunt bars are placed in close proximity to the two shunt bar contact surfaces to thereby provide an alternative path for the magnetic flux. This greatly reduces but does not eliminate the attractive force between the tool adapter plate and the attachment block.

Abstract: In an automatic wiring connection apparatus, position detection marks 221; 231 are disposed on matrix boards 220; 230, respectively, as shown in FIG. 8. Position data of a desired crosspoint hole included in anyone of areas 227.sub.-- 1, . . . , 227.sub.-- 5; 237.sub.-- 1, . . . , 237.sub.-- 4 as assembly of crosspoint holes is corrected in accordance with a difference between design values of the position detection marks 221; 231 and measured values. A pin insertion and pulling out robot is operated in accordance with the corrected position data.

Abstract: An industrial robot has a mounting bracket and a servo motor secured to the mounting bracket for rotation relative thereto about a first axis offset from the vertical by 60.degree.. A sensor plate is mounted on one end of the motor, a position sensor is mounted on the bracket and interacts with the sensor plate to sense the rotational home and overtravel positions of the motor. A tool changer is coaxially mounted on the other end of the motor and has means for mounting a turret for coaxial rotation by the motor. A turret having a plurality of circumferentially-spaced tools is mounted on the tool changer for operation on a second axis offset 60.degree. from the first axis, such that each tool is rotatable about the first axis to a vertical working position.

Abstract: A system is disclosed for operating an automated refueling system, the system including: a source of vacuum; a suction cup, the suction cup being capable of mating with a hinged vehicle fuel cap cover and the suction cup having an inside which is in communication with the source of vacuum through a suction system; an extension mechanism effective to laterally extend the suction cup toward a vehicle's hinged fuel cap cover; a vacuum actuated means to swing open the hinged fuel cap cover when a pressure within the suction system approaches the pressure of the source of vacuum; and a vacuum actuated cylinder to extend a filler tube into fuel tank inlet after the hinged fuel cap door is swung open. The system of the present invention minimizes the number of electrical components that are in the vicinity of the refueling nozzle.

Abstract: A polishing apparatus comprises a polishing member for polishing a workpiece and a manipulator for manipulating the workpiece and having a base disposed at a coordinate origin of a base coordinate system. The polishing member and workpiece define therebetween a contact surface having a contact surface coordinate system relative to an initial coordinate system defined when the polishing member and the workpiece initially contact one another at the contact surface but before a force is exerted on the contact surface to polish the workpiece. A first control device successively updates a position and attitude of the contact surface coordinator system with respect to the initial coordinate system on the basis of a deviation between preselected values of force and moment acting on the workpiece and detected values of force and moment acting at the contact surface between the polishing member and the workpiece when a force is exerted on the contact surface to polish the workpiece.

Abstract: A handling robot (13) for holding a part or a core by electrical discharge machining, and for taking a part or a core out of an electrical discharge machine is attached integrally to a front-side panel (11) of a submerged tank (9) of the machine. Thus, the handling robot (13) need not be controlled in concert with table feed for the electrical discharge machining. When the front-side panel (11) is swung open, the handling robot (13) swings to a retreating position.

Abstract: An arm mechanism includes a drive control mechanism that uses an end effector coordinate system and has an end effector drive control mechanism. The drive control mechanism includes an end effector rotational drive control mechanism and an end effector coordinate system translational drive control mechanism. The rotational drive control mechanism has three rotational actuators for driving end effector rotation about each axis separately. The end effector coordinate system translational drive control mechanism has an end effector coordinate system translational actuator to drive translational motion of the object. The drive control mechanism further includes an orientation maintenance mechanism that maintains the orientation of the target object on the absolute coordinate system and two absolute coordinate system translational actuators supported on the orientation maintenance mechanism for providing translational motion of the object along two orthogonal axes on the absolute coordinate system.

Abstract: The present invention relates to a versatile apparatus for securely storing and retrieving a variety of tools. A tool holding rack according to the present invention has a plurality of tool-holding clamping units. The tool-holding clamping units are mounted in a horizontal array, and a robot arm can access the units from below for retrieving and storing tools on the units. Consequently, the rack can be mounted above a work area, thereby increasing the working space available on the work area for manufacturing operations. In one embodiment of the present invention, each tool holding unit has a first jaw and a second jaw, with at least the second jaw being open at the bottom. The second jaw is movable relative to the first jaw. The tool-holding clamping units have a clamped mode in which the unit is adapted to clamp a tool in place on the rack, and an open mode in which the first jaw is spaced from the second jaw such that the unit is adapted to permit removal of a tool from the rack.

Abstract: A sewing machine for producing a seam along a three-dimensional bent curve including first and second carriers for supporting a needle system and a looper system for translation along and rotation about three coordinate axes and first control means for synchronizing needle and looper drives and second control means for operating positioning devices for positioning the needle system and looper system to provide a differential spatial relationship between the needle system and the looper system before and after the sewing operation and for synchronizing the positioning devices.

Abstract: An end effector storage station that stores end effectors in a horizontal and cantilevered position, each end effector being stored in a known location in space relative to a robotic manufacturing tool. The storage station comprises a plurality of storage cells, wherein an end effector holder is installed within each of the said storage cells. The storage station further including and end effector transport cell that includes an end effector transport cart and transport cart lift to accurately position the transport cart and attached end effector holder to a known and predetermined location in space.

Abstract: An improved drilling device for drilling normal holes in a workpiece surface is carried and positioned by an automatic control arm. The improved drilling device includes a compliant drill head generally comprising a drill housing and a pressure foot. The pressure foot for contacting the workpiece surface is connected to the drill housing at a universally swiveling joint. The drill housing encloses a drill drive means that advances and rotates a drill tool about a drill axis. Both the pressure foot and the drill housing have axial chambers and holes for permitting the drill tool to advance to the workpiece surface. Linear gauges mounted to the drill housing probe the orientation of the pressure foot relative to the drill housing.

Abstract: The present invention is a mobile tool positioning system including a support assembly, a mobile multi-axis, numerically controlled robotic tool, and a multi-movement control device coupled to the mobile multi-axis tool. The support assembly is located adjacent a workpiece and has a plurality of engagers. The mobile multi-axis, numerically controlled robotic tool has proximity sensors removably attached to the engagers. The mobile tool can therefore be detachably coupled to the support assembly. The proximity sensors precisely locate and align the mobile tool with the support assembly before being coupled. In addition, the mobile tool can have a self leveling system with a configurable memory. As such, precision tooling operations can be performed on the workpiece.

Abstract: An automated component placement apparatus for use in populating circuit boards with electronic components. The apparatus includes a plurality of toolheads for picking up and placing components, a plurality of component feeders, a transport means to move PC boards between PC board assembly areas for placement of components, and a plurality of gantry systems for moving the toolheads between the component supply stations and PC board assembly areas. A plurality of programmable controllers actuates both the toolheads to grip or release components and the gantry systems to move the toolheads between the component supply stations and PC board assembly areas.

Abstract: The invention is directed to a remote center positioner used to support an instrument and provide a center of spherical rotation, remote from any bearings or mechanical supports, at a desired location of the instrument. The remote center positioner is particularly useful in laparoscopic surgery to constrain a surgical instrument to move around a fixed center of rotation remote from any bearings or mechanical supports and coincident with an entry incision in the abdominal wall.

Abstract: A robotic turret tool for use with an industrial robot is mountable onto the spindle of the robot and capable of having multiple tools mounted thereto. The turret tool includes a mounting bracket adapted to be affixed to the spindle of the industrial robot, the mounting bracket including a locking element support. A turret shaft affixed to said mounting bracket. A turret head is rotatably supported on the turret shaft with multiple tools attached to the turret head allowing the robot to select which tool to use through rotation of the turret head. A locking element is slidably mounted in the locking element support. The locking element including an upper electrical supply connector and an upper pneumatic supply conduit path. The locking element is movable from a locked position engaging said turret head to an unlocked position away from said turret head.

Abstract: An automatic tool mounting assembly for robotic equipment that includes a base mounting member and a tool carrier member. Radially extending locking posts are radially aligned with the seal between the base and tool carrier. Pneumatic connections within the base and tool carrier provide a seal at the interface surface of the two connector sections so as to avoid the use of sockets and O-ring seals. The pneumatic connection interfaces are also radially aligned with the locking posts and seal in order to accommodate a wide tolerance for misalignment during connection and disconnection of the base and tool carrier.

Abstract: A compliant end effector particularly suited for use with a robotic arm for accurately cutting and trimming the edges of a hot molded sheet of flexible plastic. The compliant end effector includes a mount secured to the robotic arm, an adjustment assembly pivotally attached to the mount, a guide that engages the plastic sheet near the area to be cut and trimmed, a tool for cutting and trimming the flexible sheet, and a pneumatic cylinder that biases the guide into engagement with the flexible sheet and presses the sheet against a rigid surface. The pneumatic cylinder moves the guide and tool through a range of positions as the robotic arm moves along a single path of travel down the length of the flexible sheet. The guide remains in contact with the flexible sheet despite warping or other imperfections in the stabilizing surface. The tool is fixed a predetermined distance from the guide to ensure that the plastic sheet is cut and trimmed within specific tolerances.

Abstract: A robot for removing an unnecessary portion on a workpiece, comprises a tool for removing the unnecessary portion, a tool positioning apparatus which contains a reference coordinate system, carries the tool attached thereon, and is movable to change a position and a posture of the tool in the reference coordinate system, a jig on which the workpiece is securely fixed to maintain a desired position and a desired posture of the workpiece with respect to the reference coordinate system of the tool positioning apparatus, and an arithmetic unit for calculating a movement path and a posture of the tool moved by the tool positioning apparatus on the basis of a position of the unnecessary portion on a desired shape of the workpiece, in which the arithmetic unit corrects the movement path and the posture of the tool not in accordance with the position of the unnecessary portion on the desired shape of the workpiece, but in accordance with a shape of at least one of the workpiece, the tool and the jig.

Abstract: A method for automatically removing a tool from a rotational shank shaft of a three-dimensional robot by indexing the shank shaft, disposing a tool tightening member provided in connection with the indexed shank shaft to a releasing device by movement of the robot, the releasing device being disposed during this operation inside the movement range of the robot; using the releasing device to release the tool; and removing the tool from the shank shaft of the robot by a movement of the robot.

Abstract: When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.

Abstract: An automatic, controlled manipulator includes a power supply controlling motion of a tool head and providing power to a removeable powered tool supported at the end of the arm. The manipulator may be moveable in multiple or all directions. A storage for remotely generated control signals can be accessed to control motors causing 3D motion of the tool head, attachment of the tool, and (if applicable) motion of the manipulator, and also to control power to operate the tool.

Abstract: A moving member 2 is rotatably and slidably arranged in a holder 11 having a spherical inner surface 11a. An inertia body 5 is connected to the moving member 2 via a supporting member 4. At a location opposite the inertia body 5, an arm 3 extends so that it is directed outwardly via an opening of the holder. A piezo electric actuator 63 is arranged between the rotating member 2 and the supporting member 4. An elongation of the actuator causes a relative swing movement between the inertia body 5 and moving member to occur in one direction such that a reaction force in the moving member 2 due to the inertia of the inertia body 5 exceeds the frictional force between the moving member 4 and the holder 11, which allows the moving member 4 to be displaced with respect to the holder 11.

Abstract: An interface for incorporation between an articulated arm robot and a cutting nozzle for cutting a circular opening in a workpiece. The interface includes apparatus for moving the cutting nozzle independently of the arm robot. The interface includes a first moving mechanism for moving the cutting device linearly to an offset position with respect to an axis extending through a center of the opening to be cut, and a second moving mechanism for moving the offset cutting nozzle in a circular path around the axis to cut the opening.

Abstract: A robotic system that moves a surgical instrument in response to the actuation of a control panel that can be operated by a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to a patient. The system includes a computer which controls the movement of a robotic arm in response to input signals received from the control panel. The robotic system is mounted to a cart which can be wheeled to and from an operating table. The cart has a clamping mechanism which attaches the cart to the table. The system also contains a spring loaded mount plate that allows the robotic arm to be rotated and adjusted relative to the cart and the patient. Both the robotic arm and the control panel are encapsulated by protective bags that prevent the system from being contaminated.

Abstract: A new generation of hybrid form multi-axis machine tools is described. The hybrid machine tools comprise a position mechanism and an orientation mechanism. Both mechanisms are three-DOF parallel mechanisms that can be connected either in series to form a hybrid parallel-serial manipulator, or in parallel to form a cooperating machine. The position mechanism is used for manipulating the position and the orientation mechanism is used for manipulating the orientation of an object. Six-axes machining of a workpiece is achieved by coordinating the motions of the position and orientation mechanisms. This approach has several important advantages. First of all, a high stiffness, low inertia, and high speed machine tool is realized by using the parallel construction. Secondly, its direct and inverse kinematic solutions could be solved in closed forms which would greatly simplify the control and path planning problems. Thirdly, it has a relatively large workspace in comparison to fully parallel platform manipulators.

Abstract: A manipulating device for handling, in particular for orientating, workpieces, tools or the like, includes a workpiece head provided with a device for supporting at least one workpiece, a tool or the like, having at least one characteristic axis and drive device for rotating the workpiece head about a pre-established axis of rotation. The workpiece is supported so that the characteristic axis has a pre-established orientation, in other words a pre-established colatitude and longitude relative to a three-dimensional Cartesian reference frame which is defined by three mutually perpendicular axes, while the workpiece head can rotate about an axis of rotation which is inclined with respect to all three axes of the three-dimensional Cartesian reference frame and has a colatitude and a longitude other than those of the characteristic axis of the workpiece or of the tool.

Abstract: Apparatus for the automatic refuelling of vehicles, primarily cars, including a robot which includes a robot head that is movable in relation to the robot so as to bring the robot head to a predetermined position in relation to the vehicle fuel tank pipe. The positioning of the robot head is effected by a positioning system which includes a first part located on the robot head and a second part placed in a predetermined position on the vehicle, wherein the robot head includes an outer tube and an inner tube which can be moved within said outer tube and extended out of said tube. The outer tube is resilient or yieldable, and the free, front end of the outer tube has the shape of a truncated cone that docks with a correspondingly conical part of an adapter attached to the upper orifice of the vehicle fuel tank pipe during said positioning operation.

Abstract: A refuelling system is provided, the system comprising: a plurality of vertically telescoping elements, the telescoping elements containing a constant length of flexible conduit for transfer of fuel; at least one vertically movable pulley to maintain a constant length of flexible hose within the telescoping elements; an overhead gantry capable of moving the vertically telescoping elements in two horizontal essentially perpendicular axes; and a rotating lower portion of the telescoping elements capable of rotating about an essentially vertical axis and supporting a fuel nozzle. The refuelling system of the present invention does not result in significant segments of unsupported lengths of conduits for fuel, compressed air, vapor recovery, electrical power or control or sensor signals. It is relatively simple and utilizes readily available components and parts, and does not required significant machining of components. This results in an installation that is economical to install and operate.

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

Abstract: A tool change device for manipulators, which have a rotary connection for fluidic supply lines of the tool. The rotary connection comprises a fixed part and a rotary part, whose contact plane is directed at right angles to the power take-off axis of rotation of the manipulator. The rotary and fixed parts have ring channels, which are arranged in concentric circles around the power take-off axis of rotation and open into cross channels. The rotary and fixed parts are flatly in contact with one another and are held together in the housing of the manipulator-side coupling part along the power take-off axis of rotation in an adjustable tensioning connection.

Abstract: An automatic, controlled manipulator includes a moveable tool head on an arm and a tool supported at the end of the arm. The manipulator may be moveable in multiple or all directions. A storage for remotely generated control signals can be accessed to control motors causing 3D motion of the tool head, attachment of the tool, and (if applicable) motion of the manipulator, and also to control power to operate the tool. Video signals generated at the manipulator are used to identify the workpiece, to select one of a plurality of stored control programs, and to select the tool operations applied.

Abstract: When a deburring tool encounters a large burr near point P'.sub.1 in the process in which the tip of the tool moves from point P.sub.1 to point P.sub.2 on a workpiece, the cutting resistance increases suddenly until it exceeds the present threshold Xth, the robot retracts the deburring tool in the direction in which the cutting resistance is reduced and brings the tool tip from point P'.sub.1 to point Q.sub.1. After that, the robot controls the movement of the tool so that the tool tip moves from point Q.sub.1 to point P.sub.2 (pattern I). When the cutting resistance exceeds the threshold Xth during the movement of the tool tip from point Q.sub.1 to point P.sub.2, a similar retraction movement is executed (pattern II, III). As long as the tool does not encounter such a large burr, the moving speed is controlled to a value corresponding to the cutting resistance.

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 window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.

Abstract: A manipulator with at least one arm on which a handling device is fixed by means of a coupling piece, characterized by the fact that sliding bolts, which can be operated from outside, are located in the coupling piece for releasing a locking mechanism between coupling piece and handling device.

Abstract: Disclosed is a control robot having a machining tool comprising a rotatable tool for grinding at the distal end of the robot arm thereof so as to carry out grinding work with pressing the machining tool against the surface of a work to be machined under predetermined pressure, comprising a posture control shaft for controlling the posture of the machining tool provided at the robot arm; a rotation shaft of the rotatable tool; and arrangement in which the posture control shaft and the rotation shaft of the rotatable tool are respectively arranged in different axial directions.

Abstract: The process comprises the steps of creating three reference points at an object and taking a tomogram of the object such that the three reference points define a first set of positional data in the tomogram. The object is then non-rigidly placed on a support for operation thereupon by an instrument which is mounted at a flexible arm containing sensors for sensing the movements of an instrument tip. The instrument tip is placed at the three reference points in order to create a second set of positional data which are in a fixed relationship to the first set of positional data. When the instrument is inserted into the object placed on the support, the positional data of the instrument tip during the insertion movement are sensed and related to the first set of positional data via the fixed relationship between the first and second sets of positional data.

Abstract: The present invention relates to an automated random, orbital abrading apparatus and a method and apparatus for positioning the back-up pad of the apparatus at a known location within its range of motion at the end of an abrading cycle.

Abstract: The present invention is a method and apparatus for defining the critical characteristics of a pallet, or tray, used to supply workpieces to an automated, flexible assembly station or workcell. Once the characteristics are described and stored in memory, they may be used to uniquely identify workpieces which are determined to be defective during the automatic assembly operations.