Torin Corporation

General Time Corporation

Durstin Machine & Manufacturing, Inc.

George Joseph Yagusic

Bernard P Lampietti

Richard A Boronosky

Michael F Durstin

A control for an electric motor which drives a robotic appendage toward and into engagement with an object. In one embodiment, the control causes the robotic appendage to approach the object initially at a relatively high speed to expedite the work operation and then at a relatively low speed prior to impact to protect the object and the motor. A timer is used to determine when to alter the motor speed.

Control for electric motor that drives a robotic appendage

A solid state electrical component is packaged within a housing and after connection to a terminal board is potted by an encapsulating medium. The solid state electrical component includes a chip area and a plurality of terminals connected to the chip. These terminals are connected to a terminal board which provides support for additional terminal members which extend from the housing and adapted for connection in an electrical circuit. The housing and device are supported by a frame serving as a heat sink.

Packaging of a semiconductor

A spring coiling machine with an auxiliary drive and control has a feed roll driving clutch with inputs from both a main machine drive and from the auxiliary drive. The main drive is set to rotate feed rolls to advance a length of wire an increment less than that required for a coil spring of a predetermined configuration and dimension. The final increment of wire feed is then accomplished by the auxiliary drive, the clutch acting to render the latter effective as main drive rotational velocity drops off. An optical sensor responsive to the position of a leading end portion of the wire in the spring being coiled thereafter signals the auxiliary drive control to terminate wire feed. A fast response servo motor is employed as an auxiliary drive and a precise termination of wire feed is thus achieved to provide for precise end positioning. The clutch employed is unidirectional and termination of auxiliary feed may be accomplished by terminating forward drive or by reversing the servo motor. A bistable device maintains an 'on forward drive' signal pending receipt of an 'off forward drive' or 'reverse' signal, the latter being supplied by said optical position sensor. The 'on' signal for the servo motor may be provided in either event by a cam shaft position sensor operable when a main drive actuated wire feeding operation is partially complete.

Spring coiling machine with auxiliary drive and control

An electro-mechanical drive for use between mechanically independent master and slave rotary elements, as for example the cam shaft and spring winding spindle of a spring winding machine of the type commonly known as a torsion spring winder. A harmonically cut cam on the cam shaft operates a follower which in turn drives adjustably interconnected first and second slides respectively driving a rack and an associated pinion and an oscillable lever. The lever in turn imparts axial movements to the winding spindle as may be required for pitching torsion springs wound thereon. The pinion operated by the rack in turn drives a direct current tachometer generator which provides a variable voltage signal having a cyclically repetitive wave form with sloped leading and trailing edges and, more particularly, a voltage at least approximately in the form of a sine wave. The sine wave is rectified to provide for a half wave form voltage signal to a servo motor and controller in turn connected in driving relationship with the slave rotary element or winding machine spindle. The spindle is thus operated to wind springs thereon and the relative angular velocity of master and slave, or cam shaft and spindle, is controlled by a manually adjustable potentiometer which varies the amplitude of the half wave signal to the servo motor and controller. A desired number of turns of the spindle is thus provided for each cam shaft revolution and the desired characteristics of the spring are obtained.

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Litchfield, CT, United States of America

George Joseph Yagusic