Abstract: The invention is directed to a remotely-operable positioning and carrier aratus for remote-handling equipment for use in large-area cells containing process components. The apparatus is mounted on a lifting device of an overhead bridge crane. The apparatus achieves good positioning of the particular remote-handling equipment even at locations which are poorly accessible. The apparatus includes a horizontal beam which is fixed at an eccentric position thereon to the bottom sheave unit of the lifting device so that the horizontal beam defines a long lever arm and a short lever arm. A receiving lever is pivotally connected to the end of the longer lever arm. The receiving lever has an equipment receiving device at its free end. A displaceable counterweight is arranged on the short lever arm for altering the position of the center of gravity of the apparatus. This apparatus makes it possible also to operate in spaces beneath components present in a rack.

Abstract: A counterbalance assembly for use with a rotatable arm in a robotic manipulator, wherein such arm is rotated about a rotation axis. The assembly further includes one or more compression springs for providing resistance to compressive forces, and converting apparatus for translating the rotational movement of the rotatable arm about the rotation axis into linear deflection of such compression spring, whereby resistance of the compression spring to linear deflection in either direction along its longitudinal axis establishes an effective counterbalancing force which reduces the load bearing on the arm drive regardless of the direction in which the rotatable arm is rotated.

Abstract: A variable compliance manipulator comprising a five linkage structure in which one stationary segment and at least four moving segments are connected with one another through joints each having one degree of freedom, and actuators disposed on two or three of the joints and having a variable-stiffness property, wherein the stiffness of motion of the manipulator in working can be adjusted by detecting and delivering the change in angle of the moving segments to a servo system for controlling the actuators.

Abstract: A robot including a balancing mechanism or balancer with a compression spring which flexes to compensate for the gravitational moment between an arm assembly and a base of the robot. The compression spring is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection which pivotally supports the arm assembly on the base of the robot for movement about a pivotal axis. The mechanism can be adjusted for various arm assembly lengths and/or payloads. The mechanism includes a spring support, a connecting rod having a longitudinal axis and connected to the spring support for communicating motion of the spring support to the arm assembly at an attachment point offset from the pivotal axis. The resulting balancing mechanism is relatively compact, which lends itself to robotics applications where space is limited.

Abstract: The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18).

Abstract: A conveying apparatus for an industrial robot in which a first arcuate rail is fixed to a ceiling and extends parallel to a turning locus of a robot arm suspended form a ceiling surface. A second linear rail is attached to the first rail and is rotatable therearound while maintaining an orientation normal to the first rail. A gripper mounted on a forward end portion of the robot arm is suspended by a balancer from the second rail, or alternatively by a first link having one end rotatably fixed to the ceiling and connected at its other end to one end of a second link with the gripper suspended by a wire from a balancer mounted on the other end of the second link. With this arrangement, not only is the vertical load due to objects conveyed by the robot reduced, but the horizontal load due to the same is also reduced, even in a horizontal conveying operation.

Abstract: A joint mechanism for a manipulator movable in the manner similar to human shoulder and elbow joints is disclosed. The joint mechanism comprises three actuators mounted on a shoulder frame, a first gear assembly for moving the shoulder frame back and forth when the first actuator is driven, a second gear assembly for moving the upper and lower arms clockwise or counterclockwise when the second actuator is driven, and a third gear assembly for moving only the lower arm back and forth or up and down when the third actuator is driven. Further, a balance weight and its gear assembly are attached and driven by the third actuator to keep weight balance of the moved lower arm. A fourth actuator and its gear assembly are disclosed for further moving the shoulder frame right and left.

Abstract: A working structure having a support and an arm assembly pivotally connected to the support. The arm assembly includes at least two arm members pivotally connected to each other and each pivotally moved by a respective actuator. The second arm member has an external load applied to its front end or working point.

Abstract: A system for positioning an electronic test head of a test system with respect to an electronic device handler. A positioner assembly moves vertically and provides substantial movement in the horizontal plane with six degrees of freedom. The positioner assembly includes a section for attaching the test head. A counterbalancing assembly is coupled to the positioner assembly to provide a substantially weightless condition to the positioner assembly with the test head attached.

Abstract: The invention is a system to counterbalance the static torque produced by a weight mounted to a beam member which in turn is rotatably mounted to a frame member, the beam member rotatable about the axis of rotation which is substantially aligned with the longitudinal axis of the frame member. The system comprises a support member rotatively mounted to the frame member and coupled to the beam member for simultaneously rotation about the axis of rotation. A pressurizable power actuator having a first end pivotally mounted to the frame member and a second end having an output shaft for producing an output force proportional to the pressure level within the actuator. A coupling device is included connecting the output shaft to the support member. A pressure level control system is provided for maintaining the pressure level within the actuator to produce a torque sufficient to counterbalance the torque produced by the weight.

Abstract: A robot installation in a production line includes at least one robot (1) of pendulum type, the arm system (10, 14) of which is pivotable about at least one axis (12). The secondary arm (14) of the robot and a counterweight (16) are so displaceably arranged on the primary arm (10) of the robot that the centre of gravity of the arm system lies on or in immediate proximity to the pivot axis (12) independently of the position of the secondary arm (14) on the primary arm (10). To this end, the counterweight (16) and the secondary arm (14) are movably interconnected by means of a rope (18) running around rope wheels (20) at the ends of the primary arm (10). When mounting several robots of this kind on a stand (34, 35) positioned across the production line (31), the robots are mounted symmetrically in pairs on opposed side walls of the overhead stand part (35).

Abstract: A new type of robotic device is disclosed, using several cable trussed compression members in concert. The cable trussed compression members are deformed along the length of their central compression mast, by the lengthening and shortening in concert of all of the cables of each cable trussed compression member, through the use of motors. Weights traveling on tracks, or fluid filled hoses, are used in addition to the deformation of the cable trussed compression members, to change the location of the center of gravity of the entire assembly, thereby enhancing the balancing and stability of the robotic device. Additional known mechanical and electrical devices may be used in conjunction with the several cable trussed compression members.

Abstract: An apparatus connected to an arm in a robot system removes injection molded and die cast products while compensating for the load on the piston rods of the apparatus. A chuck for grasping the products is moved up and down by a pair of pneumatic cylinders on a frame and intermediate frame. The pneumatic cylinders carry the load of the various elements of the apparatus. In order to eliminate variations in the load carried by the cylinders and absorb the shock at the ends of the cylinder strokes, the apparatus includes surge tanks connected to the cylinders. Compressed air is provided through the surge tanks to provide an upward pressure offsetting the load on the cylinders.

Abstract: A robot including a balancing mechanism with a spring assembly which exerts a variable force to compensate for the gravitational moment transferred to the mechanism during relative rotation between an arm assembly of the robot and the rest of the robot about a pivotal axis. A spring of the spring assembly is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection that pivotally supports the arm assembly on the rest of the robot for movement about the pivotal axis. The spring assembly has a longitudinal axis which extends towards and is substantially perpendicular to the pivotal axis. The moment arm is connected to the arm assembly at an attachment point offset from the pivotal axis. A first sprocket wheel is mounted on a drive gear of the arm assembly to rotate therewith and a second sprocket wheel is pivotally mounted at the free end of the spring assembly.

Abstract: A mechanism for handling and manipulating a load including a horizontal work beam formed of a parallelogram linkage with a pair of arms interconnected by links. The work beam is pivotally mounted on a retaining part which is adjustably vertically mounted on a rotatable pillar. A counterweight is provided on the work beam for counterweighting its weight. A roller is movable horizontally in a trackway and connected to the work beam with the trackway elevated by a piston and cylinder along the pillar.

Abstract: A robot, including an arm assembly and an energy-storing balancing mechanism which is connected to the arm assembly at a pair of attachment points so that the arm assembly is substantially balanced within a quadrant of arm assembly motion on both sides of a neutral position of the arm assembly relative to the rest of the robot. The balancing mechanism includes a spring assembly having a longitudinal axis which extends towards and is substantially perpendicular to a pivotal axis about which the arm assembly pivots from its neutral position. The spring assembly is preferably connected by a pair of internally slotted links for slidably and pivotally connecting the spring assembly at the attachment points. Each attachment point is only effective (i.e. experiences the pulling force of the spring assembly) during a single quadrant of arm assembly motion.

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

Abstract: A direct drive robot based upon a closed loop parallel link arm with a hand mechanism mounted at the outer end thereof has a prime mover for driving the hand mechanism positioned such that mass and position parameters of a specific equation are satisfied by the parallel link arm, whereby interfering forces which would otherwise act between first and second prime movers driving the parallel link arm are eliminated.

Abstract: An uncontrolled angular displacement compensating device for compensating an uncontrolled angular displacement of a robot hand mounted on a robot hand mounting link of a robot hand shifting linkage of an industrial robot, resulting from the expansion or contraction of the robot hand shifting linkage. The uncontrolled angular displacement compensating device comprises a pair of identical sprockets fixed to a first shaft supported on the free end of the robot hand mounting link and on a second shaft rotatably supported on the basal end of the same link, respectively, a driving bevel gear fixed to the first shaft, a driven bevel gear rotatably mounted on a robot hand mounting member pivotally joined to the free end of the same link and engaging the driving bevel gear, and an endless chain extended between the sprockets.

Abstract: A handling apparatus for work pieces such as sheet metal pieces which are to be formed in a sheet metal press. The handling apparatus is designed to pick up a work piece from a first location which may comprise a stack of sheets, and to then move the work piece to a second location which may comprise the tool of the forming press. In the course of movement, the work piece will generally travel laterally, however, a vertical component of movement is imposed in at least one location, for example, when placing the work piece in position at the forming station. The drive means for moving the gripping means comprises a driver and a first shaft supporting a primary arm. A connection is provided between the first shaft and the driver so that the driver oscillates the primary arm. A pivoting follower is also associated with the driver so that movement of the driver simultaneously controls movement of the follower.

Abstract: A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means (21) for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means (15) for controlling a velocity of the balancer (2) in response to a signal from the force sensor.

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 joint type robot comprises a fixed bed, a swivel base on the fixed bed, a motor base on the swivel base, an upper arm capable of elevating on the motor base, a front arm capable of elevating at the tip of the upper arm, a wrist at the tip of the front arm, and so forth. The upper arm extends rearward beyond the center axis of rotation of its elevating motion. The rearwardly extending portion can enter a notch of the motor base. A driving motor for turning the swivel base is disposed at a position deviated from the center axis of rotation and in parallel with the center axis of rotation. The pair of driving motors for the upper and front arms are mounted on the motor base parallel to each other yet oriented in opposite directions to keep the robot as small as possible. The wrist driving motors are mounted on the upper arm in similar fashion. All the features of the robot are designed to keep the robot as small and as light as possible.

Abstract: The counter-balancing device incorporates a rigid auxiliary component hinged about a second horizontal axis parallel to the rotation axis of the robot arm. This auxiliary component incorporates two transverse arms whose distal ends are capable of bearing against a portion of a component which is movable in translation and is subjected to a return force proportional to the distance between an initial position and the position instantaneously occupied by this component.

Abstract: A spray gun carriage assembly is disclosed which provides rapid and accurate reciprocating vertical movement of a spray gun mounted on the assembly, with the stroke of the gun movement being readily adjustable. The spray gun carriage is also movable in two additional axes, i.e., in a horizontal plane. A horizontally extending boom is reciprocated vertically to move the spray gun up and down relative to a workpiece, such as a workpiece being conveyed past the carriage assembly. A first shock absorber mechanism dampens the moment of inertia of the boom, and a second shock absorber mechanism dampens the linear inertia associated with vertical movements of the boom, thus providing for quick and accurate spray gun movements and faster and more efficient spraying. A mechanism is further provided for pivoting spray guns mounted adjacent the end of the boom to yield still further adjustment of spray direction. A quick change flight bar facilitates rapid changeover of the spray guns used with the assembly.

Abstract: A robot wrist for introducing a male part into a bore, the end of the part and/or the opening of the bore being chamfered, and which has an arm connected to the robot, an end piece adapted for carrying the part and connecting elements fixed to the arm and the end piece allowing free movement of the end piece with respect to the arm, and ensuring self centering of this end piece. The connecting elements are magnetized in the direction of their axis and are interposed between the arm and the end piece, disposed so as to attract each other mutually and separated from each other by balls.

Abstract: A means for counterbalancing a mass (9) in mechanisms such as a robot arm (1), wherein the robot arm (1) has a fixed support point (2) and is attached to one end of a spring (3) for counterbalancing arm loading. The other, remote point of attachment (6) for the spring (3) is movable in relation to the fixed support point (2) for the arm (1), so that the distance between said remote point of attachment (6) for the spring (3) and the fixed support point (2) for the robot arm (1) can be varied for altering the geometry of the system, according to the weight of the mass, the tool (9), attached to the end of the robot arm (1), whereby the robot arm (1) can be counterbalanced in all positions and can be adjusted to different masses without reducing the dynamic properties of the robot arm (1).

Abstract: A gravity offsetting device for offsetting the gravitational moment of a rocking arm, mounted between a fixed point located above a pivotal point of the rocking arm at a predetermined distance a and substantially in vertical alignment therewith, and an arbitrary point on the rocking arm, the gravity balancing device including: a compression spring having a spring constant k of a value corresponding to the load W at the arbitrary point as divided by the distance a, and a free length corresponding to the sum of the length l between the fixed and arbitrary points and the initial set length l.sub.s of the compression spring, and adapted to apply a counterbalancing tensile force varying in proportion to the distance between the fixed and arbitrary points.

Abstract: A horizontal multi-link type robot has servomotors for rotating first and second arms, respectively. These servomotors are mounted to a first arm support shaft so as to be symmetrical with respect to this shaft. The first arm is mounted to the first arm support shaft so as to be rotatable in a horizontal plane. The second arm is mounted to a second arm support shaft, which extends parallel to the first arm support shaft and is rotatably held to the first arm. A tool holding shaft extends parallel to the second arm support shaft and is rotatably held to the second arm.

Abstract: A robot includes a generally cylindrical stationary table adapted to be fixed on a floor, and has an outer peripheral surface formed with a circumferential gear. A rotary table is supported rotatably about the outer peripheral surface of the stationary table. A motor for rotating the rotary table is provided on the rotary table, and is connected to a motor gear meshing with the circumferential gear on the stationary table. An upper arm is supported tiltably on the rotary table, and has an upper end on which a front arm is supported. The front arm carries at its free end a working member, such as a welding torch. Another motor is provided on the upper arm for tilting it. A tension spring is disposed in the stationary table and has one end connected to the lower end of the upper arm, and another end connected to the stationary table at a point thereof about which the rotary table is rotatable. The tension spring serves to reduce the load on the motor which tilts the upper arm.

Abstract: A wire storage and feed system for a robotic welding system in which the wire storage and feed system is mounted on the movable robot arm which has the welding gun disposed at the extending end of the robot arm. The wire storage and feed system includes a wire storage reel and wire feed drive which are movably mounted on the robot arm. A constant force spring is attached to the movable portion of the wire storage and feed system to maintain a constant tension on the welding gun, with counterweight connected to the movable portion, with the counterweight moving opposite to the movable portion of the wire storage and feed system to permit accurate positioning of the welding gun irrespective of robot arm movement and position.

Abstract: An industrial robot control method and apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control circuitry for positionally controlling the industrial robot in such a manner that said difference approaches zero, compensation being effected for an amount of bending .DELTA.Z of an arm when a workpiece of weight W is gripped. The industrial robot control apparatus includes a memory for storing an amount of bending .DELTA.Z.sub.o of the arm when a workpiece having a predetermined weight W.sub.o is gripped at an arm length l.sub.o, an arithmetic circuit for computing an amount of bending .DELTA.

Abstract: A system for positioning an electronic test head of a test system with respect to an electronic device handler. A housing is provided having a vertical shaft. A positioner assembly moves vertically with respect to the shaft and provides substantial movement in the horizontal plane with six degrees of freedom. The positioner assembly includes a section for attaching the test head. A counterbalancing assembly is coupled to the positioner assembly and has a counterweight to provide a substantially weightless condition to the positioner assembly with the test head attached.

Abstract: A robot forearm is counterbalanced by a drive arm. A main arm has two parallel sections whose ends are pivotally connected to the forearm and drive arm to maintain a parallel relationship between the forearm and the drive arm. A medial portion of one main arm section is pivotably mounted on a turntable pedestal. A drive motor and drive system mounted on the drive arm are connected to the other main arm section for moving the drive arm relative to the main arm. The drive system includes a harmonic drive speed reducer.

Abstract: There is disclosed a multijoint in which the primary moment force caused by a combined gravity of the lower arm which is supported by an elbow joint portion for pivotting the upper and lower arm together and a distal mechanism fitted to the distal end of the lower arm, is minimized by imparting a force opposite the primary moment force thereby reducing the load of an electric motor for driving the elbow joint portion.

Abstract: A telescopic telemanipulator of the master-slave type, wherein the slave arm is equilibrated by means of at least one counterweight mounted on a link articulated to the traversing block on the master arm side, the counterweight moving along the link when an offsetting is introduced between the length of the slave arm and that of the master arm; at least a second counterweight is mounted adjacent the first counterweight on another link, such counterweight moving along the link when a variation in the length of the slave arm is controlled from the master arm.The telemanipulator has application for the remote-controlled handling, among other things, of radioactive products.