Abstract: A mobile robot with one or more deployable scanning wands that advantageously mounts each scanning wand for movement from a storage position in or adjacent to a wall of the mobile base unit to a deployed position extending outwardly from the robot adjacent ground level. Preferably, the robot includes two or more deployable scanning wands and a holonomic drive function is provided in the mobile base unit. This drive allows controlled linear and rotational movement of the robot to provide an effective scan area. Sensors can be provided in the sides of the mobile base for assistance in control of the drive and/or further scanning of a vehicle, trailer or object of interest.

Abstract: A robotic tool changer for machining center includes a drive mechanism, a first motor, and a rotary seat which are mounted on a body. The drive mechanism includes a first rotating shaft, a second rotating shaft, a first swing arm, a second swing arm, and a linkage member. The first rotating shaft and the second rotating shaft are arranged in parallel. The first swing arm is connected to the first rotating shaft while the second swing arm is connected to the second rotating shaft. Two ends of the linkage member are pivotally connected to the first swing arm and the second swing arm respectively. An end of the second rotating shaft is fixed to the rotary seat. Thereby, when the first motor drives the first rotating shaft to rotate, the rotary seat is driven to turn over.

Abstract: A mounting and dismounting system for a battery assembly is disclosed. The system may be located onboard of an electric vehicle powered by a battery pack disposed in the battery assembly. The system includes a pair of four-bar linkages that can be used to raise and lower the battery assembly. Each four-bar linkage includes a pair of hooks with different vertical positions. The hooks are positioned to grasp horizontal mounting bars that are disposed on the battery assembly. Using vertically displaced hooks ensures the battery can be raised and lowered without rocking.

Abstract: A live working robot for replacing insulator string comprises four parts including a locating mechanism, a clamping mechanism, a transmission mechanism and working condition indicating lamps. The robot is supported to operate in a horizontal plane by an insulating pole. The robot is hung in a vertical plane to support operation by an insulating rope. The locating mechanism can grip a socket accurately, which can be indicated in place by a horizontally positioned lamp and a vertically positioned lamp. The clamping mechanism can clamp a W-pin for disassembling and assembling. The transmission mechanism can transmit the clamping mechanism to clamp, release, advance and retreat the clamp. Placement and clamping of the clamp can be indicated with a clamping position lamp and a limiting lamp. The live working robot can replace the insulator string without the need of power cut, is in simple structure, works reliably and accurately and is time and labor saving.

Abstract: A detection link of a spill guard link mechanism is pivoted and connected to a bucket bracket in a position proximate to a bucket pivot support axis rotatably supporting a bucket and above a lower surface of a boom.

Abstract: Positional relationship among the first link support shaft (85), the second link support shaft (86), the first arm support shaft (88) and the second arm support shaft (89) is set such that an upper portion of the first lift link (81) comes into substantial agreement with a rear end of the machine body (1), when the upper free end of the first lift link (81) is pivoted maximally rearward in the course of transition of the arm (77) from a lowermost state realized lifting down the arm (77) to an uppermost state realized by lifting up the arm (77).

Abstract: A method for controlling the raise/extend function of a work machine is provided. The method comprises sensing the lateral orientation of the work machine, comparing the sensed orientation to a desired orientation and controlling the raise/extend operation in response to the actual verses the desired position.

Abstract: The present invention relates to a wheeled shovel loader that comprises a boom (3) capable of pivoting about an axis (4) as well as loading shovel (13) that can be actuated by a tilting structure (11, 12). According to this invention, at least one additional arm (7) connecting the boom (3) and the loading shovel (13) is hinged so as to be capable of displacement in the same way as a parallel linkage or parallelogram on said arm (3) under the action of at least a first connecting rod (8) and at least a second connecting rod (9). The shovel loader of the present invention comprises means for controlling the displacement of the additional arm (7) according to the angular position of the boom (3) relative to its pivot axis (4), as well as means for maintaining the loading shovel (13) in a horizontal position.

Abstract: In the case of a mobile loading machine with front-end loading equipment, in particular a construction machine, having a lifting frame (1) which is rotatably mounted by the rear end on a front frame part (13) of the loading machine (L) in a lifting-frame pivot point (14) and which can be raised and lowered by means of at least one lifting cylinder (2), a working shovel (5), fork (5′) or the like being coupled to the front end of the lifting frame (1) in a shovel pivot point (6), and a tipping lever (3) being coupled in a central region of the lifting frame (1) in a tipping-lever pivot point (15), the lower end of which lever is connected in a tipping-cylinder coupling point (8) in an articulated manner to a tipping cylinder (7) which is coupled at the other end in a tipping-cylinder pivot point (18) to the frame part (13) and whose upper end is coupled in a tipping-rod pivot point (17) to a tipping rod (4) which is coupled by its other end to the working shovel (5) in a tipping-rod coupling point (21) a

Abstract: In the operation of a wheel loader, the linkage arrangement that mounts the bucket to the machine must provide components with adequate loading capabilities while maintaining good visibility to the bucket for an operator. The present linkage arrangement includes a tilt lever with a pair of spaced side walls and a tilt link with a pair of spaced side rails. Each spaced side rail of the tilt link has a pair of legs, respectively, which straddle one of the pair of spaced side walls of the tilt lever in a connection which improves visibility while possessing superior strength capabilities.

Abstract: The present invention includes a box boom loader mechanism utilizing a box boom lift arm assembly with a single plate steel top wall and a bottom wall connected with a non-transverse weld to a pair of single plate steel inner side walls to define a rectangular cross section therealong. The connection of the top and bottom walls and the inner side walls defines a bifurcated second end portion straddling a central portion of a frame and being connected therewith. A tilt linkage means is connected to the box boom lift arm assembly and includes a tilt lever, tilt link and tilt cylinder. The connection of the components of the tilt linkage means achieves high visibility and optimal linkage performance. The connection of the bifurcated second end portion to the frame and the non-transverse weld improves strength and fatigue characteristics of the box boom loader mechanism without increasing the weight of the machine.

Abstract: A working unit of construction equipment with an attachment self leveling function is disclosed. The working unit includes an attachment self leveling linkage. The linkage automatically maintains the desired angle of the attachment relative to the reference or ground surface, thereby maintaining the horizontal position of the attachment without any motion for controlling the bucket cylinder while lifting up the attachment from the initial position to the uppermost position by the arm-up motion during the operations of construction equipment. The attachment self leveling linkage has a simplified construction, thereby being easily produced and installed at a lower cost and lightening the weight of the working unit. The linkage thus improves the operational efficiency of the working unit.

Abstract: A working unit of construction equipment with an attachment self leveling function is disclosed. The working unit includes an attachment self leveling linkage. The linkage automatically maintains the desired angle of the attachment relative to the reference or ground surface, thereby maintaining the horizontal position of the attachment without any motion for controlling the bucket cylinder while lifting up the attachment from the initial position to the uppermost position by the arm-up motion during the operations of construction equipment. The attachment self leveling linkage has a simplified construction, thereby being easily produced and installed at a lower cost and lightening the weight of the working unit. The linkage thus improves the operational efficiency of the working unit.

Abstract: Foldable link rod system to be placed on a travelling frame comprises pivotally suspended link rods (16, 18) for raising and lowering an operation platform (14). A rotating stool (20) constitutes the connection between two link rods (16 and 18) which are placed in continuation to each other. The one part of the rotating stool (20) is linked to the free end of the first link rod (16) which at its opposite end is pivotally linked to a swinging rod system (26, 28, 30, 32). The second link rod (18) is linked to the other part of the rotating stool and at its other end it is linked to the operation platform (14). The two link rods are pivotal by means of each of their swinging devices (54-70) which are supported on the travelling frame (10, 12) and the rotating stool (20), respectively.

Abstract: Apparatus for lifting round bales of hay including a pair of arms which project forwardly from the front end of a tractor. These arms support a pivotal structure which includes a spear for impaling a round bale of hay and thereafter tilting the bale up off the ground. Another embodiment includes a device similarly attached to the forward end of a tractor; however, the latter embodiment involves a spear which can be elevated with respect to the ground while remaining parallel to the ground. A third embodiment involves a bale lifting device which is similar to the second embodiment but which can be attached to a conventional 3-point hitch on a tractor or to the rear of a flatbed trailer. A still further embodiment includes a square frame supported from a tractor by means of a 3-point hitch connection. The square frame rotatably supports an elongated rectangular frame which has impaling spears at the opposite ends thereof.

Abstract: A lifting device incorporating first and second arm assemblies with associated rotatable shafts and a platform rotationally connected to the second arm assembly so as to maintain a fixed relationship to a reference surface as the first and second arm assemblies are angularly moved from one position to another. The shaft associated with the first arm assembly is rotated about its axis as the first arm assembly is angularly moved so as to impart similar angular movement to the platform through a rotatable shaft of the second arm assembly; thereby maintaining the platform's fixed relationship to a reference surface. A second embodiment of the lifting device provides an additional device to adjust the angular orientation of the platform with respect to the reference surface, which allows the platform to be maintained in a level orientation when traversing an inclined reference surface.

Abstract: A self-feeding device for automatically lifting food off of an eating surface of a plate to an eating position located above the device includes a plate and a plate support. A spoon support mechanism moves a spoon from an upper eating position to a lower food receiving position and causes the spoon to travel along a predetermined path on the eating surface of the plate to load food located along the path on to the spoon as the spoon moves from the upper eating position to the lower food receiving position.

Abstract: A portable bucket loader attachment can be operated by a conventional garden tractor or pickup truck. The loader has a wheel mounted frame having a forwardly extending boom carrying a bucket rotationally mounted at the end of the boom. A rotational control device mounted on the frame is operated by one or more cables which are operatively connected to a pair of electric winches. The rotational control device is connected to the bucket by connecting rods which control the rotational position of the bucket about the boom, thus controlling the "scoop" and "dump" functions of the bucket. Elevation of the bucket is controlled by a winch which retrieves and releases cable connected to the rotational control device, the cable also passing over a sheave mounted at an upper portion of the frame.

Abstract: A mechanism for use on a boom-type vehicle includes load lifting forks carried by a low profile twist-resistant carriage which is one link in a low profile parallelogram linkage attached to a fly section of the boom and maintained level in all positions of the boom by a slave cylinder connected between the boom and a slave link which constitutes a member of the parallelogram linkage. The mechanism can be adjusted to many positions while automatically maintaining the relative position of the forks with respect to the vehicle frame for any boom angle. The mechanism can be adjusted to provide a long reach over or under obstructions in order to remove or place a load. It may also engage loads below ground level. Load pick-up or placement can be performed in confined areas which are unreachable by conventional forklift trucks.

Abstract: A machine for excavating work such as an oil-pressure shovel comprising a boom, an arm, and bucket. The turning shaft for an arm turning device provided on the arm is made capable of turning in the vertical plane including the boom, and this turning shaft is equipped with a turn control device effective for keeping the turning shaft vertical irrespective of the vertical movement of the boom.

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 heavy load lifting machine for elevating heavy loads off of and transporting heavy loads along the ground is disclosed. The machine includes a load lifting linkage having a special configuration for the linkage arms and lift rams to accommodate lifting objects in the range of forty tons or more and transporting the objects over the ground with minimal sway of the object during transport.

Abstract: Highly flexible extensible apparatus for employing an end-use work tool for one of multiple purposes characterized by combinations of a pivotal base; main support structure; pivotally mounted support structure; extensible base unit having first and last respective pairs of booms and levers; attachments for the work tool; and a plurality of extension units each comprising respective pairs of booms and levers. Preferably, the base comprises an upper base plate that is rotatably mounted on a lower base plate to afford 360.degree. of rotation. In a still more flexible embodiment, a second pivotal support structure can be employed at the end of the extensible apparatus extending from the first either fixed or pivotally mounted support structure. Respective extensible units such as hydraulic rams are preferably employed for extending and changing the angle of support of the main boom.

Abstract: An automatic ladling apparatus for conveying molten metal from a furnace to a die casting machine or the like. The ladle dipper is carried through its ladling cycles by means of cooperating link assemblies mounted on an upright base or pedestal. The assemblies include a motion generating link assembly having a generating arm with an outer end adapted to move through a generally horizontal path with a downwardly curved vertical portion at one end. The other end of the generating arm is connected to a crank arm mounted on a crankshaft that is turned by an appropriate drive through a Geneva motion mechanism. The motion of the generator arm is further controlled by a rocking link connected between the arm and the base. The outer end of the generator arm is connected to a second link assembly that includes a main link connected at one end to the base and a carrier link connected to the main link at one end and adapted to carry the ladle dipper at its other end. The attitude (i.e.

Abstract: An attachment assembly for adjustably securing the control arm and bellcrank arm of an anti-rollback linkage for material handling buckets. The anti-rollback control arm includes a generally flat planar arm portion and a position adjusting shaft with the longitudinal axis of the position adjusting shaft being perpendicular to the longitudinal axis of the arm portion. The bellcrank arm is generally U-shaped in cross-section and includes openings through side wall flanges for receiving an end portion of the position adjusting shaft. The shaft end portion is adjustably secured to the bellcrank arm by a U-bolt fastener which extends in a direction perpendicular to the axis of the position adjusting shaft and which is attached to the bellcrank arm. The position adjusting shaft end portion includes spaced apart knurled peripheral band areas which are separated by at least one smooth peripheral area.

Abstract: A self-leveling linkage assembly for maintaining a bucket in a level condition and for preventing the bucket from being rolled rearwardly beyond a predetermined maximum rollback position as the lift arm for the bucket is moved to an extreme raised position. The self-leveling linkage assembly includes a control arm rotatably mounted to a tractor frame at a location forwardly of the lift arm pivot, a position link connected between the control arm and bucket, a control valve for actuating a bucket cylinder, and a linkage connected between the control valve and a manually operable control handle. If the bucket rolls back beyond a predetermined position, the position link causes the control arm to rotate which in turn actuates the control valve for the bucket cylinder thereby rolling the bucket to a level position.

Abstract: A load handling and transporting vehicle is provided with a load handling apparatus movable from a compact low profile position to an extended position. The load handling apparatus has a main lift beam pivotally connected to a link and control beam. A second link connects the control beam to the frame. Piston and cylinder assemblies connected to the main lift beam and frame operate to move the main lift beam, links, and control beam from adjacent nested positions to extended positions. A cargo container carrier is mounted on a third link pivotally connected to the forward ends of the main lift beam and control beams.

Abstract: An industrial robot of the articulated type including a swivelling pedestal capable of swivelling about a vertical axis by force of a drive motor, a first brachium supported for pivotal movement about a first axis disposed horizontally on the pedestal, a lever supported for pivotal movement about the first axis, a second brachium connected at one end to a pivoting end of the lever for pivotal movement, a forearm connected to the other end of the second brachium and a pivoting end of the first brachium for pivotal movement and cooperating with the first and second brachiums and the lever to constitute a quadric parallel motion mechanism, and a wrist mounted on one end of the forearm.

Abstract: A motor vehicle equipped with lift arms and a bucket for handling material. The vehicle has a fluid power system including piston and cylinder assemblies to pivot the lift arms between down and up positions and tilt the bucket relative to the lift arms. A bucket leveling control apparatus operates a fluid control valve in response to the pivotal movement of the lift arms to control the flow of fluid to the bucket tilting piston and cylinder assembly to maintain the bucket substantially level during the movement thereof between down and up positions. The fluid control valve is operable to supply fluid under pressure to the bucket tilt piston and cylinder assembly to move the bucket to a dump position.

Abstract: A linkage system for automatically maintaining the orientation of a bucket of a loader while the lift arms are moved between raised and lowered positions is disclosed. A pair of articulated links are added to the linkage producing the self-leveling function to increase or decrease the amount of tilt applied to the rolled back bucket relative to the tilt applied to the bucket by the cross link alone. The articulated links are also used to maximize the force applied to the bucket to rotate it from the dig position to the rolled back position. The combination of a self-leveling feature together with a loader applying the maximum available force to roll back the bucket results in a loader arrangement which optimizes the efficiency of the loader and the productivity of the operator.

Abstract: A self-feeding device for automatically lifting food from the eating surface of a plate to an eating position located above the plate. The plate is supported by a plurality of rollers which are capable of rotating the plate about a predetermined axis. A pusher arm having a food pushing surface depending therefrom is rotatable about a second axis, parallel to and spaced from the first axis, such that the food pushing surface moves from a first to a second position along a predetermined path which traverses a portion of the eating surface of the plate in such a manner that food located on the eating surface of the plate along the predetermined path is moved by the pushing surface. A spoon support and lifting arm supports the spoon and is capable of moving the spoon between a lower position in which food moved by the food pushing surface is moved onto the spoon and an upper position in which food moved on the spoon by the pushing surface is located at the eating position.