Abstract: This invention describes a steering apparatus for a tramming conveyor having at least one end articulated about a vertical axis so that said articulated end can deviate angularly in either direction about the longitudinal axis of the conveyor. The steering apparatus basically comprises a control apparatus which is coupled to an external apparatus in a manner to communicate a deviation of the articulated end of the tramming conveyor from alignment with the external apparatus. The control apparatus generates an output responsive to the steering apparatus which will result in a deviation of the articulated end either to the right or left of the external apparatus, such steering apparatus will continue the deviation of the articulated end of the tramming conveyor until the tramming conveyor is again realigned with the external apparatus.

Abstract: An articulated head for an industrial robot has three axes of rotation and three frames, the movements of rotation of which are controlled by only two driving elements carried by the fixed portion of the wrist which is connected to the robot arm.

Abstract: A vehicle for aerial working includes a vehicle, a rotary base disposed at a rear portion rearwardly of a frame of the vehicle, a folding arm assembly on the rotary base for vertically extending its arm, a boom assembly having an axially extendable first jib supporting at its distal end an aerial platform, a front axle disposed at a front portion of the frame, and a rear axle disposed at the rear portion and rearwardly of the rotary base, the rear axle having a pair of wheels oppositely sidewardly projecting beyond a pair of wheels of the front axle. The boom assembly also has a second jib disposed in parallel with the first jib and supporting at its distal end a counterweight to balance with the weight of the aerial platform, wherein the second jib axially slides to move toward and away from the first jib to an extent same as the latter moves.

Abstract: A device for an automatic interchange and coupling of grippers on robots or manipulating devices includes a mounting member connectable to a robot and a gripper-holding interchanging plate which is formed with recesses receiving locking balls or pins interpositioned between the interchanging plate and an actuation cone of an axially movable piston positioned in the mounting member. The movement of the piston causes the actuation cone to push the locking balls or pins to move radially outwardly into the recesses of the interchanging plate to lock the latter with the mounting member.

Abstract: A rotating, vertically adjustable wheel is positioned above a linear conveyor chain in an operative position to move containers from a linear conveyor chain to an off-line station and then back to the linear conveyor chain downstream of the off-line station. The rotating wheel is movable to an inoperative position away from the linear conveyor chain when it is not desired to divert the containers from the linear conveyor chain. A base plate positioned adjacent to the linear conveyor chain adjustably supports flexible support bands in spaced relation to the peripheral face of the center of the rotating wheel. The bands are biased toward the rotating wheel so that when a container moving in a linear conveyor chain contacts the face of the rotating wheel, it is engaged by the edge of the wheel and the bands and is moved to the off-line station. The flexible support bands are adjustably positioned to accommodate various sizes and shapes of containers so as to preclude change of parts and downtime.

Abstract: In a fork-lift truck comprising a wheeled structure carrying a lifting arm with a first part articulated at its rear end to the structure and a second part projecting downwardly from the front end of the first part and carrying a forked loading platform, and a jack for raising and lowering the arm, the lifting arm is supported by the wheeled structure so as to be orientable about a substantially vertical axis and two adjacent caliper units located in a general V configuration are provided to move the forked platform linearly relative to the lifting arm. Each caliper unit includes two plates having one mutual hinged articulation end and opposite articulation ends respectively hinged to the second part of the lifting arm and to the forked platform, the hinged articulations of the caliper units having respective axes which diverge downwardly and are substantially perpendicular to each other. Actuators are interposed between the two plates of each caliper unit for opening and closing them simultaneously.

Abstract: A bin infeed system for a surge or blending bin or the like including an endless belt trained about a pair of rolls at opposite ends of the bin, a track assembly providing a pair of transversely spaced tracks longitudinally spanning the bin laterally flanking and below the belt movable longitudinally over the upper surface of the upper flight of the conveyor belt and a movable plow assembly including a plow carriage having a carriage frame and wheels rolling on the tracks, and a V-shaped blade member rigidly fixed to the carriage frame and having its apex aligned substantially with the center line of the belt. A pair of wing-like diverter members extend below and from the opposite sides of the carriage providing downwardly and outwardly inclined plate portions of substantially L-shaped cross-section opening toward one end of the bin with the bottom plate portion having a rearwardly inclined front edge.

Abstract: A conveyor chain link with ribs on the load-bearing side has the ribs designed substantially parallel and extending in the direction of travel and comprising two connected parts being offset relative to each other by one rib width, and has the ribs designed with different overall lengths so that the outer ribs have the greatest overall length and decreasing length towards the center rib being the shortest. Some of the rib ends have an oblique cut by a vertical, plane cut at an angle of about 111/2.degree.. The cut is greatest at the outer ribs and decreasing towards the center.

Abstract: The body of a vehicle is provided at a side portion thereof with a mount frame having a mount portion for a front loader. The front loader has a mast removably attachable to the mount portion, a lift arm supported by the mast, a lift cylinder connected between the mast and the lift arm, a working portion pivotably supported by the front end of the lift arm, a work cylinder connected between the lift arm and the working portion, and a brace removably connectable between the mast and a front side portion of the vehicle body. When the front loader is to be attached to or removed from the vehicle body, the brace is removably attached to the lift arm or to the working portion, and with the brace and the working portion placed on the ground, the work cylinder is extended or contracted, lowering or raising the lift arm and the mast, whereby the mast is shifted between an attached position on the mount portion and a removed position thereabove.

Abstract: Apparatus for positioning the seam of a welded tube comprises a plunger rod of a diameter less than the tube having a first longitudinal axis supported and journaled upon its first axis for reciprocal and rotational movements. A radial knife edge projects from the plunger which is adapted for advancing on its axis into a welded tube having a seam rotatably supported upon the first axis. Successive rotation of the plunger causes the knife edge to operatively engage the seam and rotate the tube a predetermined angle, there being preset angular final seam position for the tube, the knife edge having a preset initial position clockwise ahead of the desired seam position. Rotation of the knife edge is counterclockwise.

Abstract: A method and apparatus for calibrating a computer guided robotic apparatus. At least one camera mounted on the robot arm or fixed at the work station views a target comprising a pattern of at least three dots fixed to the other of the robot arm or work station, such viewing taking place as the robot arm approaches the work station to carry out the intended operation. The sensing of any deviation relative to a predetermined target pattern is transmitted to the computer to reset the robot's computerized guidance system.

Abstract: The two-axes wrist assembly of the chain-drive system for an industrial robot has a base wrist unit (12) disposed on one side of the robot arm (11). A hollow shaft (13) is fixed at one end thereof to the base wrist unit and is supported at the same end on one side wall of the free end of the robot arm so as to be rotatable about a first axis (.beta.) intersecting the longitudinal axis of the robot arm at right angles. The other end of the hollow shaft is positioned opposite to the inner surface of the other side wall of the free end of the robot arm. A fore wrist unit (16) is supported on the base wrist so as to be rotatable about a second axis (.alpha.) intersecting the first axis at right angles. A through shaft (17) is provided rotatably within and coaxially with the hollow shaft. The fore wrist unit is interlocked with the hollow shaft by a pair of bevel gears (18, 19). A first sprocket (22) is provided on the other end of the hollow shaft coaxially with the same within the free end of the robot arm.

Abstract: A support vehicle particularly for use with aircraft wherein the vehicle, in a non-operative mode is maintained at low overall height and size for ease of transport and storage but includes an extendable main boom having attachment means at its free end enabling a plurality of different service facilities to be releasably secured thereto and a pivotable draw bar and hitch assembly enabling the hitch assembly to be operable at a plurality of different heights.

Abstract: A gripping hand for a manipulator which consists of several hollow elements, simulating the human hand, which are linked to one another by articulations, whereby each member has a corresponding, reversibly actuated positioning drive and a sensor. For programming, the sensors detect the movements of the elements which are derived from a human hand inserted in the gripping hand, and the signals from the sensors determine the program which the elements perform, controlled by the relevant positioning drive. The gripping hand is associated with an arm which can be programmed by the movements of the gripping hand, if a human hand describing these movements is inserted in the gripping hand, and this arm can perform movements in three mutually perpendicular axes and rotary movements.

Abstract: A machine for raising parts vertically from a pick-up station, for shifting the parts horizontally toward a delivery station, and for lowering the parts vertically into the delivery station. The machine includes a parts handling head pivotally supported on the lower end portions of a pair of parallel links whose upper end portions are pivotally connected to a vertically movable slide. A crank is oscillated back and forth by a reciprocating actuator and acts to effect pivoting and vertical shifting of the links while a cam follower is connected to one of the links and coacts with a slotted cam plate to control such pivoting and shifting. In one embodiment, reciprocating motion of the actuator is converted into oscillating motion of the crank by a rack and pinion and, in another embodiment, the motion conversion is effected by cogged belts coacting with toothed sprockets.

Abstract: A space spider crane 15 is provided for the movement, placement, and/or assembly of various components on or in the vicinity of a space structure 120. Space spider crane 15 is comprised of a small central body 16 to which manipulators 24 and legs 25 are attached. The legs 25 are equipped with constant pressure gripping end effectors 29 to safely grip space structure 120. Walking by legs 25 or repairing and placing by the manipulators 24 may be controlled either by computer software 140 or a remotely situated human operator 135, who maintains visual contact with the space spider crane via television cameras 22 located at strategic positions on space spider crane 15. One possible walking program consists of a parallel motion walking program that results in small central body 16 alternatively leaning forward and backward relative to end effectors 29.

Abstract: An apparatus for manipulating radar drive mechanisms is provided with a workpiece support assembly including a generally horizontal base and at least two sides extending vertically from the base to form a chamber for receiving a bottom portion of the drive mechanism. An adjustable height vertical member extends from the support assembly base and is capable of being secured to various components of the drive mechanism. An alignment saddle positioned below the support assembly is used for adjustment of angular orientation of the support assembly and associated drive mechanism, and is pivotally mounted on a support structure to permit rotation of the drive mechanism for disengagement from the radar tower pedestal. The support assembly, alignment saddle, and saddle support structure are mounted on a forklift which provides convenient vertical motion.

Abstract: A load carrying apparatus designed to be very low relative to its length, to be capable of crawling under a string of loaded pallets in a crawl mode, to be capable of carrying the string of loaded pallets in a walk mode, and to be capable of moving a string of loaded pallets forward or backward relative to the apparatus.

Abstract: A gripper for holding a manufactured part in a X-ray inspection system. The gripper includes a stationary jaw, a slidable jaw, a gripper base, a wear plate, a centering bushing an end plate, and a cam actuated spring mechanism for opening and closing the jaws. Both jaws are removable and adjustable in a keyway. Set screws are used to hold the jaws in place for a predetermined separation and allows a part to be positioned off center. The removable aspect allows for various jaw configurations. The centering bushing includes a cam shaped opening for accepting an end of an pneumatic activated ball plunger of a numerically controlled part manipulator. The centering bushing aligns the gripper to the longitudinal axis of the part manipulator.

Abstract: A transfer apparatus operable in connection with the reciprocating movement of a press to grasp and successively hold and move workpieces operated upon by the press comprising a plurality of opposed longitudinally spaced gripping members mounted to move transversely for gripping a plurality of workpieces, moving the workpieces longitudinally and thereafter releasing the workpieces so that the gripping member can be returned for successive cycles. Each of the movements is controlled by a vertically movable cam and a cam follower urged against its respective cam and interconnected by mechanical linkage to cause the gripping members to move inwardly to engage workpieces, longitudinally to move the workpieces, and outwardly to disengage the workpieces.