Abstract: In a gripping device, a displacement-type force sensor is provided on a side of a driving mechanism opposite fingers to which the driving mechanism is connected to form a grip section. The driving mechanism is supported on a housing with an elastic member being disposed therebetween at a position closer to the fingers than the center of gravity of the grip section.

Abstract: The invention relates to a modular pouch transfer system, in which a gripper mount bar is rigidly mounted an drive arms, which are driven by driving means and mounted to them such that gripper means moves along a circular path. With the continued rotational cycle in one direction there is no reversal of direction reducing stress on the drive components and gears, providing smoother and more reliable operation. The motion at the transfer where the pouch is loaded into the bag clamp is near vertical allowing for the height of the pouch in the bag clamp to be easily adjusted for alteration of pouch height in the bag clamps during active machine operation. This reduces the need for other methods to adjust the pouch height by other means. The transfer gripper means opening and closing occurs during the rotational cycle.

Abstract: A redundantable robotic mechanism is disclosed for improving reliability of tranport equipment. The redundantable robot assembly typically comprises independent robots with separate controls, motors, linkage arms, or power, thus providing the capability of operation even if parts of the assembly are not operational or when parts of the assembly are removed for repair. The redundantable robot assembly can be also designed to allow in-situ servicing, e.g. servicing one robot when the other is running. The disclosed redundantable robot assembly provides virtual uninterrupted process flow, and thus greatly increases the yield for the manufacturing facility.

Abstract: A tractor includes a mounting plate, a protruding tube, a boom supporter, and a boom. The mounting plate is attachable to a frame on a side surface of a vehicle. The protruding tube is connected to the mounting plate, and shaped to protrude from a portion in which the protruding tube is connected to the mounting plate, toward the outside of the vehicle. The boom supporter is connected to a distal end portion of the protruding tube, and shaped to protrude upward from a portion in which the boom supporter is connected to the distal end portion of the protruding tube. The boom is coupled to the boom supporter via a boom coupler, and formed to extend from the boom coupler toward the front side of the vehicle. In a side view, an imaginary straight line extending vertically downward from the boom coupler is located rearward of the protruding tube.

Abstract: A loader vehicle includes a main frame, a lift arm, and a lift cylinder. The lift arm is connected to the main frame. A working implement is attached to the lift arm at the front end thereof. The lift cylinder is connected to the lift arm and the main frame. The lift cylinder includes a piston, a piston rod fixed to the piston, and a cylinder tube. The piston rod is connected to the main frame. The cylinder tube has a bottom portion and a side wall portion. The cylinder tube is connected to the lift arm by a connecting portion. The connecting portion is provided at the side wall portion of the cylinder tube.

Abstract: The present invention is directed to a control circuit for automatically bringing a hydraulically operated work arm into a particular position without having to manually reverse the direction of the hydraulic operating system.

Abstract: A double-arm working machine has an upper swing structure, an operator cabin, left swing post and right swing post provided in front of the upper swing structure, and a left work front A and right work front B provided on the left swing post and the right swing post, respectively, such that the work fronts A, B each sway vertically. An interference prevention controller generates an output signal to swing the swing posts 7a, 7b pursuant to a differential angle between the left and right work fronts A, B and to a command signal from an operating device. A differential angle range in which the left and right work fronts A, B are likely to come into contact with each other is defined as an interference danger area (N), and an assigned differential-angle range contiguous to the interference danger area is defined as a semi-interference danger area.

Abstract: A removable grapple apparatus for a loader bucket is disclosed, and comprises a grapple assembly comprising at least one grapple arm having an inboard end and an outboard end, and a grapple fork mounted on the grapple arm toward the outboard end thereof. The apparatus includes a mounting assembly configured to removably mount the grapple assembly to the bucket when the mounting assembly is mounted on the bucket. The grapple assembly is pivotally mounted on the mounting assembly to permit pivot movement of the grapple assembly with respect to the mounting assembly. The apparatus includes a grapple movement assembly configured to pivotally move the grapple assembly with respect to the mounting assembly. The mounting assembly comprises at least one mount structure including an arm mount mounted on the grapple arm and a base mount configured for mounting on the bucket, and the arm mount and the base mount are releasably coupleable together.

Abstract: The present invention discloses a cable-driven manipulator comprising an operating unit having a drive motor, and a pulley rotated by the drive motor. An upper arm is coupled, through a joint, to one side of the operating unit. A forearm coupled, through a joint, to the other side of the upper arm by the cable. A gripper of an end effector operably coupled to the forearm, a cable compensation device is installed between the upper arm and the forearm so as to maintain constant the length of the cable that transmits the power of the operating unit to the end effector during the pivoting of the forearm. It is thus possible to prevent the variation of tensile force due to the variation of the length of the cable for operating the end effector during the pivoting of the forearm or the unintended malfunction of the end effector.

Abstract: An articulated robot includes a first arm which is horizontally angularly movable, a sectorial support plate coaxial with a center about which the first arm is angularly movable, an auxiliary arm parallel to the first arm, and a joint member connected to respective distal ends of the first arm and the auxiliary arm. An arcuate rail is mounted on the support plate. The first arm, the auxiliary arm, and the joint member make up a parallel link mechanism. The arcuate rail engages an engaging assembly mounted on an upper surface of the first arm. A second arm is angularly movably connected to the joint member, and a third arm is angularly movably connected to the distal end of the second arm. An end effector for attracting a workpiece is connected to the distal end of the third arm.

Abstract: A method of operating a working machine of the kind including a body, a ground engaging structure, the body carrying a superstructure which is rotatable relative to the body about a first generally upright axis, the superstructure providing a mounting for a working arm which permits the working arm to be pivoted up and down about a generally horizontal axis and to be rotated about a second generally upright axis, the working arm including a mounting structure for releasably carrying at an outermost end thereof, a working implement, the method including providing on the machine a working implement holding device, and rotating the superstructure relative to the body about the first generally upright axis, and manipulating the working arm about the generally horizontal axis and the second generally upright axis to bring the working implement carried by the working arm into holding engagement with the holding device whereby the holding device holds the working implement, releasing the working implement from the m

Abstract: Bosses extending in the boom width direction are provided in a front end part of a main boom body rotated upward, and hooks opening downward are provided in a base end part of an extension boom body rotated downward. The above hooks and the bosses are arranged so as to satisfy a condition that at the time of second relative rotation by a two-step pin hole matching method of matching pin holes in order from the upper side and with a different center, the hooks and the bosses are moved away from each other while lower pin holes are matched with each other.

Abstract: A control system for a machine which includes a load handling apparatus for moving a load relative to a body of the machine. The machine includes a pivot about which a tipping moment is produced by the load. The load handling apparatus includes an actuator capable of moving the load to a position at which the tipping moment is at a threshold value. The control system is responsive to a tipping moment sensor to control operation of the actuator to progressively reduce the speed of movement of the load as the threshold value of the tipping moment is approached.

Abstract: A wheel loader includes a bucket boom including a pair of left and right side members; a front frame to which the base ends of the pair of side members are coupled; and a boom cylinder of which a base end is coupled to the front frame and a distal end is coupled to the side members. A base-end interval between the pair of side members is smaller than a distal-end interval between the side members. A face section that inclines towards a middle as extending in an upwards direction is provided on the left and right extremities of the front frame. A mounting boss to which the base end of the boom cylinder is attached is provided on a lower side of the face section while a mounting boss to which the base ends of the side members are attached is provided on an upper side of the face section.

Abstract: A grappling fork attachment system for attaching a grappling fork to a conventional bucket, where the grappling fork does not interfere with the normal use of the bucket. The grappling fork attachment system includes a support frame pivotally attached to a tractor between a bucket unit and a pair of loader arms, wherein the support frame may securely attach to either the bucket unit or the pair of loader arms. An extension frame is pivotally attached to the support frame and a first drive assembly mounted proximate the extension frame for pivoting the extension frame about the support frame. A grappling structure is pivotally attached to the extension frame for grabbing and securing a load within the bucket of the tractor and a second drive assembly mounted proximate the extension frame for pivoting the grappling structure about the extension frame.

Abstract: A device (1) for moving a book (2) with a clamping device (3) moved by a first drive (22, 23) and having two clamping jaws (3a, b) that can be displaced in a parallel to open and close the clamping device, with a gear mechanism (8) on the moving clamping device (3) that converts a rotative movement into a linear adjusting movement for the clamping jaw (3a, b) which can be displaced in parallel, with a controllable second drive (21) that is arranged stationarily, and with a permanent driving connection (13, 14, 15) between the second drive (21) and the gear mechanism (8). The second drive (21) is not arranged on the moving system, such that the clamping device (3) can be realized in a lightweight construction. Pneumatic and electric connecting lines and signalling lines (35a, b) for the second drive (21) can be permanently installed.

Abstract: The present invention provides a plate material stocker facility with a simplified pallet loading and unloading mechanism. The plate material stocker facility includes a plate material stocker 4 in which pallets 9 each allowing a plate material to be stacked thereon are stored, and a pallet slide device 2. The plate material stocker 4 has a plurality of pallet support portions 10 arranged in stages in a vertical direction, the pallet support portions slidably moving the respective pallets 9 in a front-back direction, and supporting the respective pallets 9 and switchably moving the pallets 9 between a first position 4a and a second position 4b, and a plurality of posts 11, 12 supporting the pallet support portions 10. A gap is present between the adjacent pallet support portions 10. The posts 12 located at a rear end are arranged inside respective lateral ends of the pallet support portions 10.

Abstract: A conduit connector assembly for attachments on a loader includes a mounting plate with at least one coupler section mounted on the plate and secured rigidly to a forward end of one of the lift arms of a loader. The coupler section or sections are connected with conduits to power or electrical signal sources on the loader. The coupler section or sections on the lift arm are connectable to mating coupler sections attached to conduits from an attachment that requires power and/or control signals for operation. The coupler sections are supported to one side of the lines of vision that an operator in an operator's cab of the loader needs for watching the attachment.

Abstract: An industrial robot may include a robot hand structured to mount a transfer object, a multi-joint arm section having at least two arms including a robot hand supporting arm structured to support the robot hand to be rotatable; and a main section structured to support the multi-joint arm section to be rotatable. The robot hand may include a grasping part structured to contact and grasp the transfer object and a biasing member structured to bias the grasping part in a direction for grasping the transfer object. The robot hand supporting arm may include an eccentric member fixed to the robot hand supporting arm at a position being eccentric from a turning center of the robot hand in relation to the supporting arm.

Abstract: A manhole lifting apparatus comprising a base support assembly and a lifting mechanism. There is a beam structure which extends over the manhole, with a pivot support at one end of the beam structure, and a mobile support at the opposite end of the beam structure. The lifting mechanism is at the central part of the beam structure. The lifting mechanism lifts the manhole cover, and the support assembly is rotated about the pivot support to remove the manhole cover from the manhole.