Abstract: This invention pertains to a robotic tool end assembly used to transport a blade of a jet engine to a specific workstation and then to transfer this blade to this workstation. It encompasses gripping means to grip the blade and coupling means that couple with the workstation prior to the exchange of the blade between the workstation and this robotic tool end assembly.

Abstract: Apparatus for inserting a semiconductor wafer in a slot of a holding post including a wafer support member or paddle for supporting the wafer and inserting it into a slot and rotation device for rotating the support member by the angle necessary to cause edges of the wafer to be received at the centers of the slots.

Abstract: A shared system for robot control including integration of the human and autonomous input modalities for an improved control.Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level.In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which relfect how each input's signals modality is weighted.

Abstract: The invention method and device for the automatic mounting of connector shells (5) and electric conductors (8) discloses that connector shells (5) are put on with the aid of an industrial robot (1) onto the contact parts (8.1, 8.2) of an electric conductor (8). A gripper tool (4) of the industrial robot (1) is capable to grip simultaneously several connector shells (5). Each contact part (8.1, 8.2) of the electric conductor (8) is maintained in rest position by two independently controllable gripper pairs (11.1, 11.2) of a double gripper (11) at the end of a cable-processing line (9), after a centering module (19) has set the desired position of the contact parts (8.1, 8.2). Depending on the intended device, the two contact parts (8.1, 8.

Abstract: An industrial robot system comprising a single working machine, and a plurality of robots arranged so as to transfer a work to and from this working machine. The operation of these robots and the working machine is controlled by a single control unit, and the operation of all the robots is controlled in a realtime manner in synchronism with the operation of the working machine, thereby ensuring the smooth operation of the overall system while obviating waiting time of each robot and the working machine without using a conventional mutual interlock system.

Abstract: An apparatus and method for computer controlled stereotactic surgery is disclosed. This method utilizes an imaging device, a robotic arm and a means for controlling the robotic arm. Stereotactic surgery on integral body parts, e.g. the brain, spine, knee or other joint, breast, etc. may be accomplished with relatively greater precision and smaller incisions. The imaging device, which may be a computerized tomography (CT) axial imaging system, a magnetic resonance imaging (MRI) device, or any suitable image-providing means, provides information regarding the structure of the bodily location to be operated on. The robotic arm is utilized to precisely orient the surgical tools or other implements used in conducting the surgery or related procedure. The control means, such as a computer, utilizes information received from the imaging device, alone or together with other information, to control the robotic arm.

Abstract: The invention relates to a manipulator for positioning workpieces with respect to an industrial robot (4) by which the work pieces, one after the other, are to be processed. The manipulator (2) comprises at least two fixture supports (26,27) each having fixture members for holding a respective work piece, a holder (16) for the fixture supports, movably suspended for moving one of said fixture supports from a loading position, in which exchange of a work piece held in said fixture members may take place, towards an operative position within the operating range of the robot, while simultaneously moving another one of said fixtures from the operative position towards the loading position. A turning servo motor (32) common to the fixture supports is drivingly engageable with a fixture support (26) held in the operative position so as to be able to rotate said fixture support, e.g.

Abstract: A machining apparatus for machining a work piece wherein the work piece is held above the work stations of the machine tool base so that chips will fall downwardly during machining operations. The tools are successfully indexed to the work station so that chip removal need be accomplished only at a single place and to make the arrangement more compact.

Abstract: Apparatus for transporting and handling piece goods (4), containing a stand; a transport rail (10) carried by the stand; a trolley (17) which can be moved along the rail (10) by a separate drive (19); and a gripping device (22) which is pivotally mounted on the trolley and contains structure to hold the piece goods (4). A rotatably journalled guide shaft (28) of non-round cross-section extends substantially parallel with the transport rail (10); and a follower (30, 31) is rotatably arranged on the trolley (17) and connected to the guide shaft (28) so as to be slidable therealong but torsionally rigid in a radial direction. The guide shaft (28) is rotated by a motor (29); and an angular rotation transmission (23-27) converts rotation of the guide shaft (28) to swinging movement of the gripping device (22).

Abstract: A transfer device for use in treating a work product is disclosed, in which a first gripper assembly rotates about a pivot point located between an input conveyor and a station, and a second gripper assembly rotates about a pivot point positioned between the station and an output conveyor. The rotation of each gripper assembly may be accelerated or decelerated at predetermined points in the rotation cycle by use of a cam, roller, and linkage mechanism.

Abstract: A catridge changer for carrying a cartridge to a utilization position and returning it to its initial position after the utilization thereof has a cartridge containing chamber for containing a number of cartridges therein, a hand member for gripping a selected cartridge, a hand moving device for moving the hand member gripping the selected cartridge to the cartridge containing chamber and the utilization position to carry the cartridge, and a correcting device for correcting the posture of the cartridge gripped by the hand member to a regular posture.

Abstract: A device for locating a datum reference on a partially assembled structural object, such as an automobile body frame. The device has a base structure for rigid mounting to a floor member, a transfer platform is attached to the base structure so that the transfer platform has freedom of movement in a first horizontal direction, a support structure is attached to the transfer platform so that it has freedom of movement therewith in a horizontal direction perpendicular to the first horizontal direction, a vertical slide support mechanism attached to the support structure and moveable therewith in a vertical direction, fluid actuated stop members for locking the horizontal and vertical movements of the device when a certain location in space, as dictated by the automobile body, has been attained. A work performing tool attached to the vertical slide support mechanism so that the tool can move into and out of engagement with the automobile body.

Abstract: A wafer positioning apparatus includes at least first, second and third optical position detectors for detecting a circumference portion of a wafer. The first to third optical position detectors are arranged on a circumference of a circle having a diameter identical to that of the wafer. A transportation robot is used for holding the wafer and moving the held wafer with respect to the first to third optical position detectors. A control circuit controls the transportation robot in accordance with output signals of the first to third optical position detectors so that all of the first to third optical position detectors detect the circumference portion of the wafer at the same time.

Abstract: A robotic transport and assembly system includes a worktable upon which are supported a printed circuit board conveyor, a controllably displaceable circuit component feed mechanism and a robotic manipulator, mounted on the worktable and having a multi(four)-axis end effector, for controllably seizing an electronic circuit component from the component feed mechanism and placing the seized component on the printed circuit board for surface mounted attachment. The controllably displaceable circuit component feed mechanism, which includes a component feed device and an associated feeder device positioning table, is mounted on the worktable at a position adjacent to the position whereat a printed circuit board is supported for the pick and placement operation of the robotic manipulator. The component feed device controllably supplies a plurality of the components to be seized by the end effector and placed on said workpiece by the robotic manipulator.

Abstract: There is disclosed a robot used in a clean room and adapted to transport a wafer cassette containing semiconductor wafers. The robot includes: a guide rail disposed in the clean room; a robot body slidably connected to the guide rail for movement along the guide rail; and a first drive mechanism for driving the robot body along the guide rail. The robot body includes: a clamping hand for releasably clamping the wafer cassette; an arm assembly, extending between the guide rail and the clamping hand, for controlling the position of the clamping hand; and a wrist assembly, interposed between the arm assembly and the clamping hand, for adjusting the orientation of the clamping hand.

Abstract: A transfer platform for the conveyance of objects by a manipulator includes a bed frame and saddle clamp secured along an edge of the bed frame and adapted so as to secure the bed frame to a horizontal crosspiece of the manipulator. The platform may thus move with the manipulator in a reciprocal linear path defined by a guide rail. A bed insert may be provided for the support of conveyed objects and a lifting bail may be provided to permit the manipulator arm to install the bed frame upon the crosspiece under remote control.

Abstract: A wafer transport system includes a mobile frame, a wafer cassette conveyor, a wafer support table, and a wafer transfer assembly. The wafer cassette conveyor carries a plurality of wafer cassettes and presents them successively to a transfer location. The wafer transport assembly, including a robotic arm and a vacuum pickup element, is then able to transport individual wafers from the cassettes to the support table. By rotating the support table, a plurality of wafers can be placed in a desired order. The wafer support table may then be moved to a location proximate a processing chamber, such as a chemical vapor deposition reactor, and processed and unprocessed wafers efficiently exchanged by the transport assembly.

Abstract: An apparatus for testing electronic components, on which a testing device can be mounted, provided with a connecting plug for electrical connection of the electrical leads and couplings. Each coupling is provided with a fixed and movable coupling member for mechanical connection, with the couplings securing the testing device in the apparatus in a centered position by the inclined plane method. Stable coupling of the test device to the apparatus is desirable and is achieved by arranging at least three couplings in the form of a star on the appropriate attachment side.

Abstract: The preparation of a wound golf ball core is accomplished with an automatic machine. The machine has a plurality of winding stations serviced by one mechanical arm. The winding station has a cooling tower for holding frozen centers, a winding machine and tension device for performing the actual winding operation and an exit chute for wound cores. The specific steps for preparing the core are further disclosed.

Abstract: A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit.

Abstract: Synchronous operation of a multi-joint robot and a rotating table is facilitated by the provision of a multi-joint robot controller. The robot controller detects the position of an arm of the multi-joint robot relative to a coordinate system assigned to the multijoint robot and the position of a specific point on the rotating table relative to the same coordinate system. The spatial relationship of the table relative to the multi-joint robot is calculated based on the coordinates of a plurality of positions of the specific point on the rotating table.

Abstract: A system and method for handling and delaminating a bobbin of sheet-like material, such as tipping paper, comprising a delaminator apparatus (100), a robotic arm assembly (182) having a robotic hand (185) connected thereto and a control console (212) for controlling the delaminator apparatus (100), the robotic arm assembly (182) and robotic hand (185) connected to the robotic arm assembly (182).

Abstract: A system and method for determining the precise location of a moving object such as a semiconductor wafer relative to a destination position, using an array of optical sensors positioned along an axis generally transverse to the path of movement of the wafer. The sensor trigger points along the path of movement are used to calculate the center position of the wafer relative to the destination position.

Abstract: Collars for surrounding the nipples of an anode bar are produced from a coil of aluminium sheet material. Sheet metal strips are separated from the coil, and are then pre-shaped to substantially U-shaped parts in a bending unit. These U-shaped parts are then pushed over the nipples of the anode bar, and their overlapping ends are fixed to one another by means of a fixing device, to form closed collars.

Abstract: A component insertion end effector for robotic equipment is disclosed. The end effector is particularly adapted for printed circuit insertion of electrical component whose relationship between component body and leads varies from the nominal dimensions. The end effector compensates for variations in body-to-lead configurations to permit components to be precisely placed without damaging the component body or its leads. The effector comprises a pneumatic gripping mechanism which is coupled to the robot arm by a compliance mechanism. The compliance mechanism is operable in two states, the first state in which the gripping mechanism is freely movable throughout a predetermined range of movement with respect to the robot arm, and a second state in which the gripping mechanism is fixedly secured in relation to the robot arm.

Abstract: A system for transferring, positioning and machining a workpiece includes a transfer device for transferring the workpiece to a prescribed position, a positioning device disposed in the prescribed position for positioning the workpiece, a machine tool for machining the workpiece, and a delivery robot disposed in the prescribed position for delivering the workpiece to the machine tool. The positioning device is used to position workpieces successively. Therefore, it is not necessary to provide positioning devices which would otherwise be associated with respective workpieces. The positioning device includes a positioning pin which is displaceable toward and away from a workpiece. Since the positioning pin is not held against the workpiece at all times, the positioning pin is prevented from being damaged or broken by physical interference with surface irregularities of the workpiece.

Abstract: An apparatus for feeding a piece of sheet material to a tool utilizes a set of grippers on telescoping arms of a mean trajectory control system for displacing the sheet material in accordance with a predetermined trajectory. Local correction is effected by passing the piece of sheet material between two discs, one of which is rotatable about a horizontal axis but swingable about a vertical axis while the other, on the opposite side of the sheet, is rotatable about a vertical axis coincident with the first vertical axis. A line is marked on the sheet material with a substance stimulated by ultraviolet and emits a wavelength to which photodetectors are responsive to control the local correction device.

Abstract: An apparatus for positioning a plurality of semiconductor substrates on a movable, support in a desired pattern, in a semiconductor vapor phase growing apparatus. A memory is provided for storing two dimensional data corresponding to the desired pattern. The desired pattern is predetermined by the sizes of the substrates and the space available on the flat support. A loading/unloading device loads and unloads the substrates on the support at positions corresponding to the two-dimensional data read from the memory. A positioning device positions the support so that the substrates can be loaded and unloaded at the predetermined positions. A control device synchronizes the movement of the loading/unloading device and the positioning device in accordance with the selected position so that the substrates are loaded and unloaded on the flat support in the desired pattern.

Abstract: A tinning station for axial lead electronic components includes a presentation system for arranging a plurality of axial lead components in an elevated linear array with adjacent components lying parallel to each other. A pair of grippers, have a pair of parallel bars each having a longitudinal slot and a length at least as long as the length of the component array. These bars are moved toward or away from each other by an actuator which is mounted on a robotic arm. This arm is programmed to position the grippers adjacent to the array so that the actuator can cause the grippers to clamp the ends of the bodies of the components in the array. Then the arm dips the leads on each side of the array into the solder flux and subsequently into molten solder, thereby tinning the leads. The thickness of the grippers defines an untinned length of each component lead. A release fixture is used to dislodge any components which do not fall from the grippers when the grippers are separated.

Abstract: A system for feeding production and/or packing material onto manufacturing lines, which system has compartment for storing the material; guide tapes for mobile trucks traveling between a storage area and manufacturing lines. The guide tapes define routes selectively traveled along, in use, by the mobile trucks for transporting and feeding the material to the manufacturing lines. A computer controls the position and operation of the mobile trucks; and a number of mobile trucks having an independent electricity supply and designed to supply operating-arm units are connected at least temporarily to the mobile trucks.

Abstract: An apparatus for removing injection molded articles from an opened injection mold of an injection molding machine. The apparatus has a low structural weight and provides exact control of the movements of a grasping member for grasping the injection molded articles. The apparatus has a guide bed and a carriage movably mounted on the guide bed. The guide bed is aligned parallel to the direction of operation of the closing unit of the injection mold. The carriage includes a cantilever which extends transversely of the guide bed. The cantilever carries a slide member longitudinally movable on the cantilever. An adjustable support member is mounted on the slide member. The grasping member is mounted at the lower end of the support member. The grasping member is adjustable relative to the support member about at least two joints extending perpendicularly to each other.

Abstract: In a robotic system for efficient serialization of processing a number of samples by a robotic manipulator through an identical sequence of processing steps with a plurality of the samples being processed through the sequence at a given time, such that they must share the services of the manipulator, the improvement wherein a computer control means 92 operates a schedule-control feature which forms means both(a) to relate (1) the time within said sequence required to carry out all said steps which do not require the robotic manipulator (22) to (2) the time within said sequence which does require the robotic manipulator and the minimum number of processing spaces (305) for samples in non-robotic-manipulated time steps; and(b) to provide a priority of action for manipulator such that the sample which is both ready for further processing and most advanced in the sequence is given priority for further completion when said manipulator (22) is available for said further processing.

Abstract: A tracking robot apparatus has a robot for performing a predetermined operation, a movable device for moving an object of interest, a signal input device for designating operations of the robot and the movable device, an operation device for calculating an operation instruction value of the movable device in response to an input signal from the signal input device, a controller for driving the movable device in accordance with the calculated operation instruction value, an operation device for calculating a position/posture instruction value to keep relative position and posture of the robot and the movable device unchanged upon operation of the movable device, and a controller for driving a robot in accordance with the calculated position/posture instruction value. The movable device is operated in response to the signal from the signal input device, and at the same time the robot is operated such that the relative position and posture of the robot and the movable device are kept unchanged.

Abstract: A process is described which makes use of a folding press and a numerically controlled manipulator device provided with mechanical pincers; the sheet metal to be worked is gripped by the manipulator device and carried against an abutment shoulder disposed in front of the press; the alignment of the front edge of the sheet metal with the abutment shoulder is then tested by means of microswitches, and then the sheet metal is carried under the blade of the folding press utilizing, as reference co-ordinates for the movements of the manipulator, those of the abutment shoulder.

Abstract: An automatic system for changing the electricity supply source on a mobile unit with an operating arm the system comprising a station for storing the electricity supply sources, means for prearranged positioning of the mobile unit in relation to the station, and means for activating the arm for picking up the rundown electricity supply source and replacing it with a new electricity supply source withdrawn from the storage station.

Abstract: A method and apparatus for fabricating sheet metal parts using workpiece manipulators to transfer a workpiece from one work station to another and position the workpiece for each operation to be performed. The invention eliminates the need of individual operators and can be managed under microprocessor control using known positions along selected X and Y axes about which programming is performed.

Abstract: An electrical control system is provided for controlling a number of different operations in a transfer apparatus for transferring parts from one die to another. The controls of the operations are independent of each other and need not be made in cascade. Adjustments of any one of the operations may be made without directly affecting the other operations.

Abstract: A safety method in a robot system including at least a robot (1), peripheral equipment (2-5) serviced by the robot, a robot control unit (6) which causes the robot to execute predetermined services for the peripheral equipment, and a teach control panel (9). A door (11) is provided at the entrance to a robot operating zone, and the door is provided with a safety switch (12) for terminating automatic operation of the robot when the robot is in an automatic operating state. When the safety switch is actuated by opening the door, robot motion in the automatic operating state is decelerated and stopped. During the time that the safety switch is in the actuated state, the robot is placed in a playback operation state to enable control that is performed through the teach control panel.

Abstract: An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.

Abstract: A working arrangement for performing multiple operations with a robot comprises a plurality of working stations at each of which a predetermined operation with a tool is performed to an unfinished work, a shifting unit provided in connection with each working station for holding the tool so as to be movable between a predetermined reference position and an operating position in each working station and for shifting the tool to the reference position from the operating position, and a robot provided to be movable in relation to the working stations for causing the tool to move from the reference position to the operating position in each working station.

Abstract: A manipulator for positioning a series of workpieces relative to a robot. The manipulator contains at least two separate fixture supports. The fixture supports are alternately transferred between a loading position and an operative position adjacent the robot by a transfer motor. The fixture supports are rotated by a single turning motor which is alternately placed into engagement with each fixture only when that fixture in the operative position.

Abstract: The transportable robot system comprising a plurality of robot working areas, an unmanned transporter for transporting a robot mounted thereon and moving between the robot working areas and a travel track for the unmanned transporter to provide a communication between the areas. The unmanned transporter provides a base to which to robot is mounted and secured, and a locating station for the base is provided near a machine tool in the working area so that the base may be put on the locating station at a predetermined position.

Abstract: A control device provided between a master device having a given articulation configuration and a given degree of freedom and a slave manipulator having a given articulation configuration and a given degree of freedom, for causing faithful operation of the slave manipulator according to operation command signals from the master device, comprising: a first position coordinate converter for converting signals of position information concerning articulations of the master device into signals of position information concerning a hand of the master device in a common operating space coordinate system; a selector for selecting specific signals from the output signals of said first position coordinate converter; a second position coordinate converter for converting the signals supplied by said selector into signals of position information concerning the articulations of the slave manipulator; a first controller for giving drive force signals to actuators for the slave manipulator according to the differences between

Abstract: An electrical connector pick-up station for use in feeding electrical connectors from a magazine into an electrical connector transfer nest, for transfer to a work station, comprises a cable supporting the magazine, a seat for the nest having guide rollers for guiding the nest onto the seat, and a feed ram which is movable under the base of the magazine to insert a connector into the nest. The ram is provided with an end for engaging the connector to insert it, and a guide plate extending beyond that end for guiding the connector into a predetermined position in the nest, in which position it is releasably latched in the nest. Where the connectors are provided with mating covers, the guide plate acts as a separator which extends between the connector and its cover so that these are inserted into the nest in properly spaced relationship.

Abstract: In order to execute a series of operation sequence including synchronization and exclusion for an automatic machine such as a robot by combining pretaught or preprogrammed unit operations, there are provided first memory for storing a start sequence of the unit operations to be synchronized or excluded, second memory for storing operation status of the unit operations and third memory for storing operation command to start the unit operations. The unit operations to be started are determined by referring the start sequence and the operation status of the unit operations read from the memories, and the corresponding operation commands are read out of the third memory to squentially start the unit operations.In order to execute an repetitive operation of similar works, there is provided fourth memory for storing basic operation patterns common to the repetitive operation in a non-repetitive manner.

Abstract: A machine tool with multiple spindles and tool supports operable independently and simultaneously under independent working programs is provided with a tool support synchronizing system to produce synchronized operation of plural tool supports. Each of the working programs produces as a special synchronizing command a predetermined single character or symbol. Control circuits which control the shifting of a respective tool support in response to commands from a respective working program are synchronized with one another in response to the receipt of the special synchronizing command received from the working programs.

Abstract: A rotational apparatus for molding dolls including an automatic control mechanism, a mold holding mechanism, a robot mechanism having a mold cover opening and closing means for opening and closing the mold, mold releasing means for releasing a molded product from the mold, mold release detecting and cleaning means and a raw material charging means, a heating means and a cooling means.

Abstract: An end effector apparatus for attachment to an industrial robot for transferring prepressed windshields to an autoclave tub. Vacuum cups engage and secure the windshield to the end effector for transfer of the windshield from an upender conveyor to the tub. A combination spacer clip sensing device and spacer clip retaining device senses the presence of a spacer clip on the top edge of the windshield and holds the clip in place during transfer.

Abstract: Apparatus and methods for inserting leads of an electric circuit component into correspondingly arranged holes in a printed wiring board by (a) holding the component by a robotic arm adjacent the board so that its leads contact the board under pressure and are in nominal registration in the X and Y directions, and (b) subjecting the board to the combined effect of two vibrating motions which are respectively directed in these two directions, and of which one is superimposed on the other. These two motions are each controlled in frequency and amplitude and differ from each other in a motion characteristic whereby the leads sweep in two-dimensional patterns over board areas respective to their corresponding holes and centrally including them until the leads substantially exactly register with the holes to become inserted therein by the pressure on the leads.

Abstract: This invention relates to a cellular type robot apparatus consisting of a plurality of robot cells each having intelligence, wherein each robot cell controls its own operation on the basis of information exchange with adjacent robot cells. The operations of the robot cells are as a whole coordinated, and each robot cell can be controlled without the necessity of change of hard- and soft-wares even when one or more of the robot cells are out of order or when the robot needs to be expanded. Each robot cell can be provided so that the robot can be increased or decreased in a building block arrangement. More definitely, each robot cell has arms corresponding to hands and feet, and is able to control its own operation. As the robot cells are connected and combined through transmission routes so as to be able to exchange information, they can operate cooperatively as a group to perform a manpulative action.