Abstract: A well system includes a well platform including a rig floor, a first rig floor robot and a second rig floor robot positioned on the rig floor, wherein the first rig floor robot is configured to guide a lower end of a pipe stand towards a setback position on the rig floor and the second rig floor robot is configured to guide a first pipe joint of the pipe stand into a first mouse hole formed in the rig floor, a mast extending from the rig floor, a racking board coupled to the mast, the racking board configured to secure an upper end of the pipe stand between a pair of finger boards of the racking board, a racking board robot positioned on the racking board and configured to position the upper end of the pipe stand between the pair of finger boards.

Abstract: A drilling rig having a lift arm, which may be an auxiliary lift arm provided in addition to a primary lifting cable system of the drilling rig. The lift arm may be configured to hoist and/or manipulate drill collar, drill pipe, or other drilling pipe or conduit. The lift arm may be coupled to a mast of the drilling rig and may have a cantilevered boom extending therefrom. The boom may be configured to pivot between alignment, or near alignment, with well center and a racking board. The lift arm may additionally have a pipe engaging element coupled to the boom. The pipe engaging element may be configured to couple to stands or lengths of drilling pipe. The pipe engaging element may be raised and lowered together with or relative to the boom via a lift line controllable via a hydraulic cylinder, winch, or other suitable mechanism for withdrawing and releasing the line.

Abstract: A drive mechanism of a transfer tool configured to drive a swing axis and tilts the workpiece includes: a motor; a speed reducer including an output shaft arranged in parallel to the swing axis and configured to reduce speed of rotation of the motor; and a link mechanism configured to couple the swing axis with the output shaft, in which the link mechanism includes a first link portion fixed to the output shaft at a middle portion in a length direction thereof; a second link portion fixed to the swing axis at a middle portion in a length direction thereof; a third link portion that couples one end portions of the first link portion and the second link portion with each other in a rotatable manner; and a fourth link portion that couples other end portions of the first link portion and the second link portion with each other in a rotatable manner, in which the first link portion and the second link portion are arranged in parallel to each other, and in which the third link portion and the fourth link portion ar

Abstract: A guide arm with dual guiding functionality is disclosed. The guide arm comprises two parallelogram mechanisms with a slew drive in between. The first parallelogram mechanism may move the guide arm between different travel positions. The slew drive may rotate the second parallelogram mechanism between different clock positions. The second parallelogram mechanism may extend and retract the guide arm. The guide arm may be mounted to a belly board or to a derrick wall rather than on a drill floor. A first guiding functionality may include guiding the lower end of a pipe stand in transfer between a drilling rig well center and a storage position. A second guiding functionality may include guiding the pin end of a single tubular between a drilling operation and a catwalk.

Abstract: A system and method for the treatment of invasive pests includes an irradiation device that can generate an electron beam that is applicable to a tree infected by an invasive pest, wherein the electron beam provides an in-situ treatment for the tree infected by the invasive pest by killing the invasive pest via electron beam irradiation. One or more temperature sensors can be used to track the internal temperature of a tree surrogate. A differential temperature difference tracked by temperature sensor can be used to ensure that a reduction in temperature of the tree is attributable to the electron beam rather than increase in heat.

Abstract: The present disclosure relates to systems and methods for automated drill pipe handling operations, such as trip in, trip out, and stand building operations. A pipe handling system of the present disclosure may include a lifting system for handling a load of a pipe stand, a pipe handling robot configured for engaging with the pipe stand and manipulating a position of the pipe stand, and a feedback device configured to provide information about a condition of the pipe stand, the lifting system, or the pipe handling robot. In some embodiments, the pipe handling robot may be a first robot configured for engaging with and manipulating a first end of the pipe stand, and the system may include a second pipe handling robot configured for engaging with and manipulating a second end of the pipe stand.

Abstract: The present invention relates to the field of vehicle safety crash test dummies, and discloses an arm for a crash dummy, a control method, a device and a storage medium. The arm comprises: a first motor (1), a coupling (2), a capstan shaft (3), a first bevel gear (4), a second motor (5), a first capstan (6), a capstan bearing (7), an elbow joint base (8), a forearm (9), a first elbow joint bearing (11), drive lines (13), a second pulley (14), an elbow joint shaft (16), a first fixed sleeve (17), a second fixed sleeve (18), a second elbow joint bearing (20), an elbow joint connection block (22), a power source connection block (24), a second bevel gear (27), two sets of pulleys, a second capstan (28) and a power source bracket (29). The arm provided in this embodiment has an active function.

Abstract: An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

Abstract: Methods and apparatuses for detecting the fill height of a pre-filled cone and closing the cone are disclosed. A height detector, such as a laser rangefinder, detects the height of a pre-filled cone. A gripper then grips the pre-filled cone at the height plus a predetermined offset, the offset calculated to result in an optimum packing of cone fill material. The gripper then closes the cone by rotating to form a twist, which is then trimmed to the height plus the predetermined offset. Other embodiments may be described and/or claimed.

Abstract: A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg each with a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of the sub-legs, and the proximal end of the link. A joint provides two or more rotational DOFs at the distal end of the link and connects the distal end of the link to one end of the parallel mechanism. Joints in the sub-legs provide DOFs to the sub-legs and connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the sub-legs to control movement of the link.

Abstract: The transfer apparatus transfers an article, which is a package, to a container while holding an upper face of the package. A control apparatus performs both a transfer control to cause the transfer apparatus to transfer the article to the container and a first pressing control to cause the pressing apparatus to press, from above, the article that has been transferred to the container through the transfer control if the article to be transferred by the transfer apparatus is a type 1 article, and performs only the transfer control, of the transfer control and the first pressing control, if the article to be transferred by the transfer apparatus is a type 2 article.

Abstract: A high trip rate drilling rig has first handling equipment to transport stands in/out of setback, second handling equipment to deliver stands to/from well center, and a hand-off position to set down stands for exchange between first/second equipment. Second equipment can include a top drive and a delivery arm translatable along the mast past each other, and a clasp on the arm slidable on the stand for constraint below the upper end, which can allow the top drive to engage/disengage the constrained stand above the arm. A high trip rate method transports stands in/out of setback, delivers stands to/from well center, and sets down and hands off stands at hand-off position between the setback transportation and well center delivery. The delivery can include engaging/disengaging the top drive and a stand constrained by the clasp.

Abstract: A wellbore drilling system includes a drilling tower and a drill floor; a drilling tubulars storage rack adapted to store multiple drilling tubulars; a tubular racking device mounted on the drilling tower having first and second tubular racking assemblies; and a well center tools storage structure. The motion arm of the a first tubular racker assembly is provided with a connector, and well center tools and a tubular gripper member are provided with complementary connectors. The well center tools storage structure is arranged such that the well center tools stored therein are within reach of the first tubular racker assembly so as to allow connection of a well center tool to the motion arm while the well center tool is stored in the well center tools storage structure. With the at least one well center tool connected to the motion arm of the lower tubular racker assembly, the well center tool is operable above the drill floor.

Abstract: Disclosed is a two-turn-one-movement parallel mechanism with a large turning angle, comprising a machine frame, a movable platform, a first branch and two second branches, characterized in that the first branch comprises a machine frame turning pair, a first moving pair slider, a first moving pair guide rod and a first universal joint; each one of the second branches comprises a second moving pair guide rail, a second moving pair slider, a second universal joint, a connecting rod and a movable platform turning pair; in the two second branches, the axis of the first turning pair of each one of the second universal joints is superimposed with and parallel to the axis of the machine frame turning pair in the first branch, and the axis of each one of the movable platform turning pairs is parallel to the second turning axis of the first universal joint in the first branch.

Abstract: A remote controlled, tele-operated welder includes a multi-axis robot arm, video cameras, sensors a specialized control station that allows an operator to perform flood-fill welding operations at a remote location to avoid the heat, smoke and other environmental effects produced through typical flood-welding operations. The operator accesses the control unit (OCU) using a GUI and mouse, keyboard, joystick, or other custom controls, and observe the piece via the cameras (visual, thermal, or other) placed in the welding station via a feed displayed on the OCU display(s). Audio, video, and/or tactile feedback may be provided to indicate arm, welder, or other system status, for collision warning and arm motion singularity avoidance. Augmented reality informational graphic/textual overlays may provide guidance to an operator, and the apparatus may further include the ability to repeat series of steps needed to handle flood-weld on a given piece, repeatedly across many pieces.

Abstract: A transfer tool includes a substantially strip-shaped frame; a wrist-side slider provided on one side of the frame in a thickness direction in a manner capable of moving along a longitudinal direction of the frame; a workpiece-side slider provided on another side of the frame in the thickness direction in a manner capable of moving along the longitudinal direction; and a distal-end swing shaft attached to the workpiece-side slider. The shaft includes a support section supported by the workpiece-side slider in a manner capable of swinging around an axis line extending in a width direction of the frame and supporting a workpiece, and an actuator attached to the workpiece-side slider and causing the support section to swing. The actuator includes a motor, and a pair of gears that transmits driving force of the motor to the support section. At least one of the gears is formed into a fan shape.

Abstract: The present invention relates to a transfer device (1) for a workpiece (11), said transfer device including a frame (2) as well as a first pivot arm (3). The first pivot arm (3) is connected to the frame (2) so as to be pivotable by means of a first rotational axis (6). Furthermore, a first slide (9) is mounted so as to be linearly displaceable on the first pivot arm (3). The transfer device (1) further includes a holding device (10) for a workpiece (11) which is connected to the first slide (9) so as to be rotatable relative to the pivot arm (3) by means of a third rotational axis (12). The first pivot arm (3) is connected to the frame (2) so as to be rotatable in a second region by means of a second rotational axis (13) which is mounted on the frame (2) so as to be displaceable substantially in the horizontal direction.

Abstract: The present invention provides a transfer robot which has a simple structure and a small occupied area in an operation. A transfer robot of the present invention includes a support member fixed to a side wall or the like, a transfer arm by which a hand member is held capable of linear movement, and first and second link members. One end portions of the first and second link members are rotatably linked to the support member, respectively. Another end portions of the first and second link members are rotatably linked to the transfer arm, respectively. The hand member holds/transfers a work. A rotational driving force applied to a linking portion between the support member and the first link member is transmitted to the transfer arm by a predetermined mechanism and linearly moves the hand member. The transfer arm moves by rotating the first link member or the second link member.

Abstract: A wafer handling robot includes a body and an arm having a plurality of links. A wafer holder is provided on one end of the arm. A base of the arm serves as a drive link and is rotatably connected to the body. The arm is configured such that, when the drive link is rotated by a motor, the arm end is constrained to move along a straight or curved trajectory. A starting point and an end point of the trajectory are located equal distantly from a center of rotation of the drive link. Further, the direction of the arm end at the starting point is a mirror image of the direction of the arm end at the end point with respect to a straight reference line passing through the center of rotation and a middle point between the starting and the end points.

Abstract: A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Abstract: A rotary actuator equipped with a sensing mechanism includes a motor and a reducer concentrically disposed inside a cylindrical housing; a scale for detecting the rotational position of a rotary arm, the scale being disposed on the circular outer face of the cylindrical housing; and a position sensor mounted in the facing section of the rotary arm that rotates along the circular outer face, the facing section being in a facing arrangement with the circular outer face. A detection mechanism includes the scale and the position sensor detects the rotational position of the rotary arm capable of rotating within a finite angular range along the circular outer face of the cylindrical housing. The components are concentrically disposed. The actuator is suitable for use as a digital joint unit.

Abstract: A transfer apparatus which performs long-distance transfer at a high speed, while preventing dimensions of the apparatus from increasing. Specifically, a transfer apparatus transfers a work to a pressing machine The transfer apparatus is provided with a base section, a follower arm, which is connected to the base section on the base-section end side such that the follower arm can rotate and vertically slide, and a first driving arm which is rotatably connected to the base section on the base-section end side. The transfer apparatus also includes a driving arm, which is rotatably connected to the first driving arm on the base-section end side and rotatably connected to the follower arm on the leading end side, and a holding apparatus arranged on the leading end side of the follower arm for holding the work.

Abstract: A protected hollow glassware take-out device having a support equipped with drive means; a first arm fitted in rotary manner to and projecting from the support, and which is connected to and rotated by the drive means with respect to the support; a second arm, equipped with grippers, which is fitted in rotary manner to and projects from the first arm; and means for rotating the second arm synchronously with respect to the first, and in turn having a shaft, which is coaxial with a rotation member of the first arm, and is secured at one end to the support, and at the opposite end to the first arm; and a kinematic mechanism carried by the first arm and connecting the shaft to a rotation member of the second arm; controlled-yielding angular connecting means being located between the shaft and the support; and the rotation member of the first arm being connected to the first arm indirectly via torque transmission means with a predetermined break load.

Abstract: A clamping apparatus includes a frame and a pair of opposing clamping arms mounted on the frame for movement towards and away from each other to grasp or release a load. In one embodiment, each clamping arm is guided for movement with respect to the frame by an adjustable bushing which can be rotated to adjust the position of the bushing with respect to the clamping arm. In another embodiment, each clamping arm defines a four-bar linkage which controls the angle with respect to the vertical of a contact portion of the clamping arm. The clamping apparatus may be mounted on a lift truck or other support member by a connector which permits the angle of the clamping apparatus with respect to the horizontal to be adjusted and which enables the clamping apparatus to pivot about an axis between a position in which it is disposed outboard of the axis and a position in which is it disposed forward of the axis.

Abstract: An apparatus with a central housing, a top housing slidably movable relative to the central housing and a bottom housing slidably movable relative to the central housing is provided. The central housing is provided with an area for user input. A first portion of the area for user input is concealed by the top housing when it is in its retracted position and a second portion of the area for user input is concealed by the bottom housing when it is in its retracted position. The first portion of the area for user input is unconcealed when the top housing is in its extended position and the second portion of the area for user input is unconcealed when the bottom housing is in its extended position. The top housing and the optimum housing move in unison between their retracted and extended positions.

Abstract: The present invention generally comprises a tool load device for transferring a container between a container transport system and a processing tool. The tool load device may service a single load port or multiple load ports. Regardless, the tool load device is preferably located between the load port of the processing tool and the section of the container transport system passing the processing tool. The tool load device provides an improved method of moving containers between a conventional load port and, for example, a conveyor. In another embodiment, the tool load device is coupled with an x-drive assembly that moves the tool load device along a path that is substantially parallel to the container transport system passing in front of the load port—allowing the tool load device to service multiple load ports.

Abstract: A parallel gripper for handling multiwell plates in an automated analysis system, moves individual multiwell plates between a plate storage array unit (i.e., plate hotel) and an imaging station. More particularly, the gripper has two parallel plate-gripping arms that move in equal, but opposite linear directions and are controlled using a stepper motor. Each of the arms has a shelf that provides support for the corresponding side edge of a multiwell plate.

Abstract: A grapple apparatus of a type having arms that pivot about parallel axes of a frame for grasping and releasing objects and wherein the entire grapple, including the grapple arms, pivots about a pivotal axis transverse to such parallel axes, and more particularly to a grapple which is pivotally adjustable about such pivotal axis between a first position and can be locked in at least the first and second positions thereof. A heel is fixed to the frame for supporting an object being grasped by the grapple when the grapple is in the first pivotal position thereof. A tooth is also optionally attached to the frame for permitting manipulation of the position of an object when the grapple itself is not being used.

Abstract: A robotic device for moving at least one object between locations, including a servo motor system having a single servo axis for effecting motion in at least two directions of motion. The robotic device includes a link arm rotationally coupled to said servo motor system for lifting and placing said at least one object, a head assembly having gripper arms for gripping and releasing said at least one object at said locations. The head assembly includes a leveling mechanism for maintaining said at least one object in a desired orientation, and a split ring sensing mechanism, disposed between said gripper arms, for determining the presence of said at least one object.

Abstract: An apparatus and associated method, the apparatus comprising a controlled element (10), such as a robotic manipulator, and a dynamically updatable control system (11). The control system (11) uses a control system equation (eq. (1)) to determine control signals (dq/dt) for controlling the controlled element (1) given any required inputs (q, V) to the control system equation (eq. (1)). The control system (11) is dynamically updatable in that in response to a script file indicating a code structure (11d) preferably having linked nodes (12a 13a-c) and representing at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)), the control system (11) creates the code structure (11d), at run-time, and does so such that the nodes (12a 13a-c) can be queried (i.e. are executable logic) to provide values for at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)).

Abstract: An articulated-arm transport system, provided in particular for the automation of press lines and large-component transfer presses, is distinguished by a design which permits components or workpieces to be inserted or removed even when there is a small clearance between an upper and lower tool.

Abstract: A feeding device for use by persons with limited or no use of their arms, wherein a spoon is mounted on supporting and counterbalancing levers and is associated with a mouth-piece in such a manner that the user can manipulate the spoon to lift food from a dish, can then place the spoon on a fixed support and then adjust the spoon to a position for convenient eating of the food. The spoon mounting includes an adjustable support for a counterbalancing spring. All the parts are mounted on a flat base which is adapted also to support the food dish.

Abstract: A system which can both be adapted to existing single point lift mechanisms, and constrain a hoisted load in all six degrees of freedom, includes a suspension point, an assembly, a lateral tension lines member, and a control system. The assembly includes first and second platforms connected by a plurality of control cables which can precisely control the position, velocity, and force of a hoisted element in six degrees of freedom. The position or tension of the control lines can be controlled either manually, automatically by computer, or in various combinations of manual and automatic control. Advantages associated with the system include not only the ability to control the position, velocity, and force of the attached load, tool, and/or equipment in six degrees of freedom using position and tension feedback, but its ready adaptation to existing single point lift mechanisms and relatively light weight, and its flexibility, ease, and precision of operation.

Abstract: A plate member carrier is constructed to include a suction device adapted to suck and transfer the workpiece, a first four-bar linkage adapted to keep the suction device in horizontal, a second four-bar linkage adapted to prohibit the suction device from transverse displacement, and a cam adapted to control vertical movement of the suction device subject to a simple harmonic motion curve.

Abstract: The invention relates to a machine-tool, especially a milling center, comprising a housing (2), a holder (54) for tools and/or workpieces, a coupling guide departing from the housing (2) to guide the holder (54) and a drive device departing from the housing (2) to move and fix the holder (54) guided by the coupling guide. The invention is characterized in that the coupling guide has first means for guiding the holder (54) on a first plane where it brushes over the surface and second means for pivoting the holder 54) on a second plane where it cuts the first plane, wherein the drive device has third means for moving and fixing the holder (54) guided by the coupling guide in an area.

Abstract: A first base-side pulley is disposed at the base portion of a first arm portion; a first distal-side pulley is disposed at the distal portion of the first arm portion; a second base-side pulley is disposed at the base portion of a second arm portion; a second distal-side pulley is disposed at the distal portion of the second arm portion; the first base-side pulley is fixed to the support base; the chuck is fixed to the second distal-side pulley; the first distal-side pulley and the second base-side pulley are connected to each other via a connection shaft; the first base-side pulley and the first distal-side pulley are connected to each other via a first rotation transmission section; and the second base side pulley and the second distal-side pulley are connected to each other via a second rotation transmission section. Thus, an articulated robot arm having first and second arm portions is constructed.

Abstract: A robot for a production machine includes a parallel link mechanism including opposed first and second shorter-side links and opposed first and second longer-side links which form a parallelogram. A chuck is supported on the first shorter-side link. A guide rail is fixed to a base arm in order to movably support the second shorter-side link. The base end of a drive link is rotatably attached to the base arm, and the distal end of the drive link is attached to an intermediate portion of one of the first and second longer-side links. A drive mechanism is provided in order to rotate the base end of the drive link. This structure simplifies the mechanical system and the control system, reduces a space required in the vertical direction, and increases operation speed such as product removal speed.

Abstract: A workpiece positioner is provided which is adapted to move a workpiece from a load/unload zone to a work zone spaced from the load/unload zone. The workpiece positioner comprises a first stationary frame, a second frame coupled to the first frame so as to be rotatable relative to the first frame about a first axis, a first drive device for effecting rotation of the second frame about the first axis, and a first workpiece holder adapted to releasably receive a workpiece. In accordance with a first embodiment of the present invention, the first holder is rotatably mounted to the second frame so that the workpiece holder and the workpiece are maintained in a substantially constant orientation relative to the first frame as the second frame is rotated about the first axis. In accordance with a second embodiment of the present invention, the workpiece positioner further includes a second drive device coupled to the second frame so as to move with the second frame.

Abstract: Apparatus are shown for handling molded leadframes comprising, in combination, a gripper portion for grasping a molded leadframe from atop a first magazine holding a first plurality of molded leadframes and for releasing the molded leadframe when placed atop a second plurality of molded leadframes in a second magazine, and a mover portion coupled to the gripper portion for moving the gripper portion back and forth in a substantially semicircular motion between the first and second magazines. The mover portion includes a linking member coupled to the gripper portion, a first member rotatably coupled at a first end thereof to the linking member, a second member rotatably coupled at a first end thereof to the linking member, and a driver portion rotatably coupled to an opposite end of each of the first and second members for moving the gripper portion in a back and forth, substantially semicircular motion between the first and second magazines.

Abstract: A loader arm assembly (10) includes a primary arm (11) pivotally mounted on a refuse collector (13) at or adjacent one of its ends, a secondary arm (15) connected to the other end of the primary arm (11), a grab assembly (17) connected to the other end of the secondary arm (15) and means for pivoting the primary arm (11) including a ram (31) connected to the point at which the primary arm (11) is connected to the refuse collector (13) and a cylinder (30) which has one link (32) connecting it to the refuse collector (13) and another link (33) connecting it to the primary arm.

Abstract: A handling apparatus can be used with particular advantage as a pallet moving apparatus, and includes a machine frame with an extension arm, movable in the vertical direction and in the horizontal direction, on which is provided an engaging element for receiving a gripping device. The extension arm has a first rocker element that is mounted on the machine frame and is driven rotatably about a horizontal rotation axis, and at its free end a second rocker element is arranged rotatably and is positively coupled to the first rocker element via a linkage in such a way that when the first rocker element rotates, the engaging element describes a locus curve with largely linear horizontal and vertical sections. Preferably the two rocker elements are positively coupled in such a way that an imaginary rotation of the first rocker element through 360 degrees results in a substantially square locus curve in a vertical plane.

Abstract: A method of adjusting the height of the takeout mechanism in a glassware forming machine comprises setting a takeout arm of the mechanism at a predetermined angle by use of a jig member adjusting a piston and cylinder device so that it is in a predetermined lowermost position when the takeout arm is so set, using a second jig member appropriate to the desired height of the takeout mechanism with respect to a set of moulds, setting the whole mechanism to the appropriate height and adjusting a scale to indicate the height to which the mechanism is set.

Abstract: A parallel structure manipulator device for displacing an object in a cylindrical work space about a predetermined axis (X) includes at least three drive mechanisms (A, B, C) interposed between a base (2) and a moving element (1). Two of the mechanisms (A, B) each include: mover (V) movable along a circular path (L) in a transverse plane perpendicular to the axis (X); a connecting rod (7) extending between the mover and the element (1) and connected thereto by a hinge (8) capable of two-directional rotation; and an attitude transmission member (9) associated with the connecting rod for maintaining the element (1) parallel to the transverse plane. The mechanisms (A, B) act together on the element (1) to define its angular position about the axis (X) and its distance (D) from a notional axis (W) passing through those ends of the connecting rods that are connected to the mover. A third mechanism (C) is free to rotate relative to the base about an axis parallel to the axis (X) and away from the transverse plane.

Abstract: An apparatus for excavation of earth around a pole embedded in an earth surface comprises a hollow auger in the form of a cylindrical drum with a helical flight about the outer wall thereof. The hollow auger is constructed in two halves to enable movement between an open position and a closed position embracing the pole. The hollow auger is rotatably journalled in a support frame and is driven by a drive motor engaging a spur gear around the upper position of the auger. The support frame is slidably mounted on a frame to enable extension and retraction of the auger.

Abstract: A method and system are provided for quickly and efficiently transferring a workpiece from a first work station including a first sheet metal press to a second sheet metal press by providing a pendulum-type robot, including an arm assembly mounted on a support structure to swing about a first axis located above and between the first and second presses. The arm assembly not only swings about a first axis but also rotates about a second axis orthogonal to the first axis and a third axis which is orthogonal to the second axis. During swinging movement of the arm assembly about the first axis, rotation of the arm assembly about the second and third axes allows a center of gravity of the workpiece to follow a substantially straight line path between the first and second presses. The arm assembly includes first and second four-bar linkages, which are pivotally connected together to rotate about the second axis. Preferably, a wrist mechanism is provided to permit rotation of the part between the presses.

Abstract: The bin grabbing nipper (22) of a refuse loader arm is held at a constant angle to limb (15) by a parallelogram linkage having pivots (26, 17, 19, 25). Thus, pivoting of limb (15) leads directly to inversion of the raised bin and no separate operation of a special bin tilting ram is required to bring a bin to dumping position. The nipper consists of two opposed, jointed fingers which are separately pivoted to a wrist member (21). All finger joints and wrist joints of the nipper are pivoted by separate hydraulic cylinders supplied by a common source. By sensing back-pressure in each cylinder they can be made to exert equal force. Pivoting at limb joints (17) and (19) is by opposed hydraulic cylinders acting on a rack meshing with a gear wheel. Both these joints may be controlled by a single joystick.

Abstract: A take out device for a multi gob glassware forming machine comprises at least two take out tongs and adjusting means to alter the spacing of the tongs as the take out device moves from its pick up position to its deposit position. The adjusting means comprises a gear segment which is caused to rotate as the take out arm moves and, through a link, causes appropriate movement of a tong.

Abstract: An improved drive apparatus for use with linear pick-and-place assembly devices is disclosed, which drive apparatus includes a movable carriage having an improved guide track assembly. The guide track assembly comprises a series of V-rollers and mating V-tracks to provide the vertical and horizontal translational movements for a linear pick-and-place assembly device's output member. The guide track assembly includes V-roller elements which can be eccentrically adjusted to create a tight, pre-loaded sliding engagement with the mating V-tracks, all so as to substantially eliminate any undesired end play movement within the movable carriage.

Abstract: A robotic arm for moving product from a first handling station to a second handling station is disclosed. The robotic arm includes a support structure and a driven shaft mounted to the support structure. The driven shaft is adapted for rotation about a first axis. A device is provided for selectively oscillating the shaft through successive, selected arcs of rotation. A crank arm is secured to the driven shaft at a first point such that the crank arm is rotated about the first axis. A linkage member is rotatably secured to the support structure for rotation about a second axis. The linkage member is rotatably secured to the support structure at a first linkage pivot point on the linkage member. The crank arm and the linkage member are interconnected by an elongated boom member having a first end, a cranking point and a product handling end. The boom member is pivotally connected at its first end to the linkage member. The boom member is further pivotally connected at its cranking point to the crank arm.

Abstract: A take out mechanism for a glassware forming machine comprises a parallel linkage for effecting movement of the takeout tongs. To enable adjustment of the position of the takeout tongs, the position of one of the fixed pivots of the parallel linkage may be adjusted.