Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes: a first set of wheels arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system of the grid, the second direction being perpendicular to the first direction. The vehicle body includes walls on all sides forming a footprint defined by horizontal peripheries in the X and Y directions of the vehicle body.

Abstract: An automated storage and retrieval system includes a rail system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction. The first and second sets of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each adjacent grid cell includes a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; and a plurality of stacks of storage containers arranged in storage columns located beneath the rail system. Each storage column is located vertically below a grid opening.

Abstract: An object handling coordination system includes a plurality of transporting vessels arranged as a three-dimensional cluster of transporting vessels. The plurality of transporting vessels is addressable and the cluster has a self-reconfigurable physical topology. A relocatable transporting vessel is configured to be relocatable within the. A motion control system is configured to determine a path from a start location of the relocatable transporting vessel within the cluster to a destination location within the cluster and arranged to execute movement of the relocatable transporting vessel within the cluster using the determined path.

Abstract: A system and method for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility. A facility having pathways arranged in a grid-like structure above stacks, the transporting devices being configured to operate on the grid-like structure. A control unit configured to determine at least one task to be performed by at least one transporting device, wherein the at least one task is determined based on at least one of: transporting device battery condition, transporting device damage, transporting device maintenance issues, and transporting device service issues.

Abstract: A stocker is disposed above a processing device and includes: a plurality of shelves provided in multiple stages in an up-down direction, to place articles thereon; and a crane to place an article on the shelves or take out an article placed on the shelves. The shelves include: a carry-in/out port used for an overhead transport vehicle to place an article thereon; and storage shelves used for the crane to place an article thereon. The carry-in/out port has a vertical dimension that allows a grip of the overhead transport vehicle to place the article from above. More storage shelves are provided than the carry-in/out port and are provided to have a smaller vertical dimension than that of the carry-in/out port. The crane places an article on the carry-in/out port onto the storage shelves or place an article on the storage shelves onto the carry-in/out port by a transfer device.

Abstract: An overhead transport vehicle system includes an overhead transport vehicle to convey an object, and a teaching unit to teach transfer of the object by the overhead transport vehicle to a load port on which the object is to be placed. The teaching unit includes a body including a detector to be brought into contact with a positioning pin on the load port to detect a position of the positioning pin, and a flange movable up and down with respect to the body and to be held by a holder to be raised and lowered by an elevator of the overhead transport vehicle.

Abstract: A workstation having a cantilevered crane system that includes one or more cantilevered header assemblies, with each cantilevered header assembly including an upright column and a horizontally oriented header, with the header extending from the column with a free end distal from the column. The headers support a pair of runway rails, with at least one bridge rail movably mounted to the runway rails and supporting a moveable hoist. The cantilevered crane system defines a workstation area bounded by the columns and headers, with the workstation area including an open side adjacent the free ends of the headers.

Abstract: A system and method for controlling movement of transporting devices arranged to transport containers stored in stacks arranged in a facility having pathways arranged in a grid-like structure above the stacks, the transporting devices being configured to operate on the grid-like structure. A movement optimization unit is configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device. A reservation unit is configured to reserve a path on the grid-like structure for each transporting device based on the determined route. A clearance unit is configured to provide clearance for each transporting device to traverse a portion of the reserved path.

Abstract: There is provided a home-use crane game machine whose operation of a rotation transmission mechanism can be restored with ease that includes a plurality of motors 91, 92, 93 having a drive shaft to which a gear is fitted, rotation transmission mechanisms having a plurality of gears which are rotated by the plurality of motors 91, 92, 93, a catcher 65 for grabbing a prize 6 which is moved up and down by the rotation transmission mechanisms, a crane main body 54 having the motors 91, 92, 93 and the rotation transmission mechanisms internally, and rollers 68, 69, 70 connected to the rotation transmission mechanisms via input gear mechanisms.

Abstract: Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems and computer-readable media for controlling the movement of transporting devices configured for fully—and/or partly automated handling of goods and/or controlling operations conducted at various workstations.

Abstract: A method of moving a component or a material to and within a level of a shaft boring system. The shaft boring system is positioned within a shaft and the method comprises lowering the component or the material inside a cage into the shaft and to a level of the shaft boring system. The method further comprises suspending the component or the material from a transport system within the level of the shaft boring system. In addition, the method comprises moving the component or the material within the level of the shaft boring system using the transport system. The component is a component of the shaft boring system and the material is a material for forming the shaft boring system.

Abstract: A robotic gripping device is provided. The robotic gripping device includes two opposable fingers and an actuator having a motor and a shaft, wherein the shaft is coupled to a first finger. The robotic gripping device also includes a torsion spring surrounding the actuator, the torsion spring having first and second ends, wherein the first end is coupled to the motor of the actuator and the second end is coupled to a second finger. Further, the actuator is configured to rotate the shaft relative to the motor by a first amount to move the two opposable fingers toward each other to contact the object. The actuator is also configured to further rotate the shaft relative to the motor to wind up the torsion spring when the two opposable fingers are both in contact with the object and the object prevents the fingers from further movement toward each other.

Abstract: An article transport facility includes a support member capable of supporting a second support component from below while allowing a vertical movement of a first support component with respect to the second support component, in a projected state in which the second support component is located in a projected position. The support member is supported directly or indirectly by a ceiling.

Abstract: A wafer transportation pod includes a body, a main compartment enclosed by the body, the main compartment to provide a controlled environment, a holding device within the main compartment, the holding device to hold a plurality of semiconductor wafers, a top latching mechanism configured to connect to another pod or a carrier mechanism of an overhead hoist transfer (OHT) system, a bottom latching mechanism configured to connect to another pod, the bottom latching mechanism being similar to the latching mechanism on the carrier.

Abstract: Systems, methods, and machine-executable coded instruction sets are disclosed for fully- and/or partly automated handling of goods. For example, the disclosure provides improvements in storage and retrieval of containers in systems such as order processing systems.

Abstract: A grappler overload protection system uses a load-measuring device to provide a first load indication for preventing the grappler from bearing an unsafe load when the first load indication exceeds a first limit. A grappler overload protection method determines a spread of grappler arms based on information from a first sensor, determines an expected weight of the load based on the spread of the grappler arms, and compares the expected weight to a first limit for preventing the grappler from bearing an unsafe load. The method may optionally determine an angle of a boom supporting the grappler for determining an expected torque on the boom based on the boom angle and the expected weight of the load. The method may take preventative measures to prevent the grappler from bearing the load when the expected weight exceeds the first limit or when the expected torque exceeds a second limit.

Abstract: The present invention relates to the automatic removal of value document stacks from a container with the aid of a gripper. For separating different value document stacks, the container is subdivided into several storage regions by separator elements. Since the separator element positions of different value document containers may be different, for the container to be respectively processed it is ascertained at which positions along the container the separator elements are arranged. Ascertaining the separator element positions is effected independently of the gripper at a time before the gripper is moved toward the container. The ascertained information items about the separator element positions belonging to the container are then transferred to a gripper control device of the gripper, which is configured for controlling the motion of the gripper in order to remove value documents from the container.

Abstract: A hold crane (6) for elongate elements (4), such as a pipe hold crane for a pipefeeder vessel (1), includes a main frame (7) and support elements (9-12) supporting the main frame above a hold which is carried out for containing the elongate elements. The support elements allow displacement of the main frame in a longitudinal direction of the hold. Hoisting members are provided which are carried by the main frame for lifting an elongate element from the hold vice versa, the hoisting members including at least two hoisting elements spaced apart in the longitudinal direction of the hold. The hoisting elements are suspended from the main frame and are provided coupling elements for coupling onto an elongate element. Stabilizing elements, which cooperate with the hoisting elements, prevent movement of the coupling elements in transverse direction with respect to the main frame while allowing vertical movement of the coupling elements.

Abstract: Various embodiments include a service apparatus for a turbomachine. The service apparatus can include: a frame for coupling to an opening in the turbomachine; a bridge member operably coupled to the frame and spanning a width of the frame, the bridge member being substantially movable along a length of the frame; and a crane member operably coupled to the bridge member, the crane member being substantially movable along the width of the frame, wherein the crane member includes at least one attachment device for attaching to an object within the turbomachine.

Abstract: A method for controlling a hoisting or lowering movement of a load, which is suspended from a hoisting mechanism of a crane by means of at least two hoisting cables trained round cable sheaves on the load, by monitoring the position of the load and braking and/or stopping the hoisting mechanism upon detection of an undesirable position, wherein the cable sheaves are each connected to the load for pivoting about a horizontal axis, and the position of the load is monitored by detecting a pivoting movement of at least one of the cable sheaves.

Abstract: A gripper device for a transport vehicle includes a base plate, a guide rail provided on an upper surface of the base plate, a pair of guide blocks arranged to be movable in a substantially horizontal direction toward and away from each other along the guide rail, and a pair of gripping parts. Each of the gripping parts includes a horizontal portion fixed to an upper surface of one of the guide blocks and arranged to extend substantially parallel to the upper surface of the base plate, a vertical portion arranged to extend downward from the horizontal portion to a position lower than that of the base plate, and a claw section provided on a lower end of the vertical portion and arranged to grip an object.

Abstract: A bridge or gantry crane, in particular for handling ISO containers, includes a crane cart that can move along a crane support in the direction of travel of the cart. The cart supports at least one mast that can move in a vertical lift and lowering direction, and a load supporting means for containers being suspended at the mast. In order to optimize the handling rate of a bridge or gantry crane, at least one second mast is provided including a second load supporting means disposed behind and at a distance from a first mast as seen in the direction of travel (K) of the cart.

Abstract: An apparatus for picking and placing a layer of product, comprising: a frame, the frame movable from a first position above and clear of the layer of product to a second position over and enclosing the layer of product; paddles mounted on internal sides of the frame, each paddle moveable from a first position in which the paddle is clear of the layer of product to a second position in which the paddle engages and grips a respective side of the layer of product by applying mechanical force thereto; a vacuum duct mounted in the frame over the layer of product, the vacuum duct moveable from a first position in which the vacuum duct is clear of the layer of product to a second position in which the vacuum duct engages and grips a top of the layer of product by applying vacuum force thereto; and, a control system adapted to selectively control respective mechanisms for positioning of the frame, paddles, and vacuum duct to thereby pick and place the layer of product.

Abstract: A machine for uploading and positioning rails on crossties in railway tracks includes an inverted U-shaped gantry (1-2), with side branches finished at the lower part in respective caterpillar tracks (4) of movement on the ballast of the beam on both sides of the platform of crossties. The gantry (1) supports a pair of clamps (8) with jaws (16), for fixing the rails by the core thereof, and preventing pitching, which clamps (8) close by means of respective hydraulic cylinders (10) movable in height actuated by another hydraulic cylinder (15) through a deformable parallelogram (12), while at the same time they are longitudinally movable by the actual movement of the machine. The machine thus moves forward towards the rail carrier train located at the end of the track under construction, grasps a pair of rails with its clamps, and pulls them without contact with the ground until they are arranged on their assembly position, the rails serving for the forward movement of the rail carrier train.

Abstract: A bottom block assembly includes a block having a central vertical axis, a hook secured to the block for attaching a load to the block, a first pair of sheaves rotatably attached to the block, a first rope reeved about the first pair of sheaves, a second pair of sheaves rotatably attached to the block, and a second rope reeved about the second pair of reeves. The first and second pairs of sheaves are each equally spaced about the central vertical axis. The first pair of sheaves are located higher on the block than the second pair of sheave so that a portion of the first rope located between the first pair of sheaves crosses over a portion of the second rope located between the second pair of sheaves. If either rope fails, the other rope ensures the block remains level with a full load attached to the hook.

Abstract: A hoist for a low space crane is disclosed, which comprises a hoist frame in which a load point transferred to a girder is positioned at a vertical surface of one side of the girder, and a balance of a biased load is maintained for thereby decreasing an entire weight of the system, and an equal distribution unit which is installed between the hoist frame and the guide rail for absorbing an impact load transferred to the hoist frame and equally distributing the entire vertical load. A buckling phenomenon does not occur at the girder even when a relatively heavy object is transferred by providing the first and second support wheel parts on the first vertical surface of the girder.

Abstract: A gantry crane (10) is configured in a panel turner application. The gantry crane (10) generally includes a gantry crane structure (14) having a first cross-beam (28) and a second cross-beam (30). A first main hoist mechanism (40) and a first auxiliary hoist mechanism (42) are coupled to the first cross-beam (28), and a second main hoist mechanism (44) and a second auxiliary hoist mechanism (46) are coupled to the second cross-beam (30). The crane (10) includes a hydraulic system configured to reduce the lift capacity of the first and/or second main hoist mechanism (40, 44), and to equalize the hoist capacity between the first and second main hoist mechanisms (40, 44) or the first and second auxiliary hoist mechanisms (42, 46) in certain applications. The auxiliary hoist mechanism (42, 46) are configured for powered movement along the respective cross-beams (28, 30).

Abstract: The invention relates to a winch (6) for raising and lowering persons, of the type that comprises a housing with an attachment member (16), an electric motor (39) driving a reel (27), a lifting strap (7) connected to the reel for winding and unwinding the lifting strap whereby the lifting strap is guided through one of two openings (17,19) formed in the housing.

Abstract: A mandrel segment loader provides a reliable means of assembling the segments of a large multi-piece mandrel designed for the lay-up of composite materials in the manufacture of large structures such as one-piece fuselage barrels for wide-body aircraft and can also be used for removing the mandrel from the finished fuselage barrel by disassembling the segments. The mandrel segment loader provides transport and multi-axis positioning for the segments, which may weigh as much as 25,000 pounds, with linear positioning resolution in the realm of 0.002 inch and rotational positioning resolution in the realm of 0.005 degree. The mandrel segment loader is also more generally useful as a material handling system that can perform many useful manufacturing functions, such as loading passenger floors into a fuselage barrel when assembling an aircraft. Self-locking grippers prevent accidental self-release of a load.

Abstract: Structure and procedures for lifting, transferring and moving a person, such as a bed ridden person or one requiring the use of a wheelchair, involve a frame (393) supported on wheels (394, 395), a horizontal load supporting beam (392) in an upper part of the frame, and a motor-powered winch (391) supported by the frame (393) for movement along the beam. Med winch (391) can be arranged to synchronously raise and lower a pair of horizontally spaced couplings by which a carrier (480) for a person can be connected to the winch (391). The beam (392) can be of variable length. The frame (393) can include a pair of beam-supporting legs (406, 407), one of which can be movable along and removable from the beam as extended from a minimum length state in which the frame (393) can be moved through a doorway.

Abstract: An installation is described for hardening tubular concrete workpieces (1) in chambers (2) which are open at the top, can be closed with cover plates (3) and can be subjected to vapor and which can be charged with the aid of an overhead travelling crane (6) bearing a hoist (9) for workpieces (1). In order to achieve an advantageous construction constellation it is recommended that the overhead travelling crane (6) for the workpieces (1) has a gripping device for the cover plates (3) of the chambers (2).

Abstract: An automated load handling apparatus is provided for handling loads fastened to a spreader having corners and a load suspension mechanism. The load handling apparatus includes a lifting yoke having a horizontal supporting framework that may be suspended at its comers to the spreader, four axially displaceable pendulum supports arranged between the lifting yoke and the spreader for supporting the lifting yoke, a rigid load guide including a lifting mechanism having ropes corresponding to comers of the lifting yoke that may be fastened to the load suspension mechanism of the spreader, and a cylinder pair 7.1, 7.2 arranged toward an end of the lifting yoke. The cylinder pair 7.1, 7.2 provides torque support to the lifting yoke relative to the load guide and is capable of displacing and/or pivoting the lifting yoke relative to the load guide. A sensor mechanism is arranged in the cylinder pair for detecting relative orientation of the lifting yoke relative to the spreader and/or the load guide.

Abstract: A crane system for carrying a load while suspending it from a portal-shaped body frame via wire ropes includes first and second wire ropes on both sides, in a right-and-left direction, of an upper portion of the body frame for fixing the suspended load, and means for taking up and paying out the first and second wire ropes. The system also includes means for winding the first and second wire ropes in opposite directions, or winding them in the same direction. The first and second wire ropes may be looped together with the means of taking up and paying out the wire ropes. Connection points or sheaves may be provided on the suspended load. It is also permissible to route the first and second wire ropes parallel to each other. Further, the above takeup and payout means may be in a tapered drum form.

Abstract: A work transport system having an overhead travelling carriage that runs along a rail arranged near the ceiling, arranged with a storage rack member upon which work may be loaded, between the floor and the rail. As the storage rack member upon which work may be loaded is arranged between the floor and the rail, the space of the processing station and floor may be decreased and the transfer time of the work by the overhead travelling carriage may be reduced.

Abstract: Apparatus and systems for transporting a generally cylindrical package include: (a) a frame including a support device having at least one compressible support member and a pivot device for pivoting the support device about a generally vertical axis, the support device being movable along the generally vertical axis between (1) a first predetermined position spaced apart from and below an outer surface of a generally cylindrical package which is removably telescoped upon a generally horizontal member of a support at a first predetermined location and (2) a second predetermined position in which the compressible support member contacts and supports at least a portion of the outer surface of the generally cylindrical package; and (b) a carriage assembly connected to and supporting the frame, the carriage assembly including a carriage for moving the frame between (1) a first predetermined position proximate the support and (2) a second predetermined position horizontally spaced apart from the first predetermined

Abstract: A lifting device intended to support a load without pendulum movement has at least six hydraulic control cylinders connected by individual articulations to a horizontally movable support above the load and to a load lifter below that support. At least four of the control cylinders are mutually oblique. The articulations in each case allow swiveling action about two mutually perpendicular axes.