Abstract: A remote manipulator arm interconnects a manipulator tool (13) to a support (1). The arm comprises three independent motorized arm components (7,17 and 11). Conventional arm components are arranged for end-to-end coupling with a fixed end coupling at one end and articulated coupling disposed in a fork (10) at the other end. The present invention provides at least one intermediate component (17) which further includes at least one fixed coupling (21) arranged at 90.degree. to its end coupling. Such a right-angled component provides greater flexibility in the design of a remote manipulator arm assembled from such components.

Abstract: A lock for holding a boom in a storage position on a boom support is disclosed herein. The lock consists of a first member or vertical pin that is carried by the boom support, a second member or locking ring that is pivoted on the boom about a horizontal axis and that has an opening for receiving the first member, and a deformable biasing element or spring interconnecting the first and second members. The second member is biased to a first position by the spring and engages the vertical pin when the boom is moved to its storage position. When the opening in the locking ring and the vertical pin are axially aligned, the spring returns the second member to the first position latching the first and second members together.

Abstract: This rotary loader and side coupling system for transfer of semitrailers or containers has a vertical pivot post with one or more load handling lobes or turntables each mounted on a horizontal flat lobe on an end of a frame or arm which is hinged to a slip collar on the post and supported and propelled on wheels on a concentric cam track to revolve thereabout and lift and lower on slopes in the cam track to transfer a load on the lobe or turntable. The turntable is fronted with a bumper or face sloped or rounded or disc wheel to engage between pedestals or locators or into openings on a vehicle under the load. The turntable has two depending fingers spaced on opposite sides of the table's pivot for engaging the side of a vehicle or curb to turn the table to align with the vehicle or driveway for transfer.

Abstract: This rotary loader has two vertical posts each with a rotary arm radiating therefrom with a load platform centered an equal distance out on each arm. The arms are coordinated to revolve parallel and move under and lift or lower together to transfer a load such as a cargo container or railway car body separable from its chassis. Each arm supports the end of a load on a pivot or turntable central of the width of the load. The turntables can be connected to form one platform and the pivots be above or below the load. Preferably the turntables are round and on a lobe of equal diameter on the end of each arm with a rubber rimmed disc wheel of slightly larger diameter of the pivot's axis below the arm to guide the arms of the loader to roll between pedestals or rabbets across the car's platform to couple and align the loader and car for transfer. The loader is vehicle mounted to engage stationary cars or load berths.

Abstract: A loader-unloader system for loading and unloading workpieces into a machine tool wherein each workpiece is held in position about an axis during which various machine operations may be performed. The tool comprising a loading chute or conveyor adapted to deliver articles in succession to a loading position, an unloading chute or conveyor adapted to receive workpieces, and a loader-unloader assembly. The loader-unloader assembly comprises a track extending along an axis parallel to the longitudinal axis of the machine, a carriage movable along the track and means for moving said carriage back and forth along the said track. A loader-unloader head assembly is mounted on the carriage, and includes a head having a multiplicity of fingers movable radially inwardly and outwardly for gripping a workpiece.

Abstract: A manipulator has an end effector with a tool end movable with respect to a reference base by means of a multi-axis joint system. The joint system is contained within a housing to provide the relative movement through a mechanical power train. Fluid ducts are provided through both a first, duct component and a second, end effector power train component having an internal duct, extending into a housing plenum at first and second points, thereby providing fluid communication between the plenum and end effector. The housing has relatively movable sealed sections, and sealing means are provided at the interface of said first and second duct components with the housing.

Abstract: A vehicle for removing slash from steep logging slopes includes an anti-skid propulsion system characterized by a power winch for reeling in an uphill-anchored cable and a pair of crawler tracks (or large tires) driven in synchronization with the winch. The vehicle has an articulating tail boom for working against the cable to assist in maneuvering the vehicle along the slope and stabilizing the vehicle during slash gathering operations. A knuckle boom which is extendable from the vehicle has a grapple for gathering slash within a relatively large area around the vehicle. Removal of slash from the operating site of the vehicle is accomplished by transporting the slash to an access landing using a mobile slash wagon or by chipping the slash using a chipper mounted on the vehicle and then pneumatically carrying the chips through a pipe to a storage van at an access landing remote from the vehicle.

Abstract: This disclosure relates to an object transport apparatus particularly useful for the high speed handling of semiconductor chips. Transport is achieved by driving a vacuum pickup, through a rotational motion toward an object resting at a first reference location while simultaneously driving a cam, restraining a spring loaded cam follower, so that the vacuum pickup is positioned proximal to the first reference position. Vacuum is applied to secure the object to the pickup. The cam and shaft are then simultaneously driven in the opposite direction to clear the other objects and obstruction by swinging the object through an arcuate motion while simultaneously elevating the object. As the pickup and object continue through the arcuate motion, the cam motion is reversed to position the object proximal to a deposition surface located at a second reference position. The cam is then further driven to contact the object with the deposition surface, the vacuum is released and the object is released.

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: An apparatus for unloading molded articles from a molding machine having a reciprocally mounted unloader assembly. The unloader assembly is provided with a plurality of slotted bars to receive a plurality of molded articles between adjacent pairs thereof. The molded articles retained between adjacent pairs of unload bars are moved to a position at which cam followers coupled to the moveable unloader assembly contact respective fixed stop plates. Upon contact, the unloader assembly swings about a pivot rod to deposit the molded articles into a collection element.

Abstract: A tool is essentially an extensible mechanical arm adapted on one end to support equipment in a hostile environment while the arm is manually manipulated from its second end in a benign environment. The arm is pivoted at the entrance to an area containing nuclear radiation with its end projected into the radiation area, and adapted to install and remove equipment.

Abstract: A vacuum lifting device having a plurality of chambers, each chamber having an isolating member within to control communication between a common vacuum plenum and a sheet engaging surface. Each isolating member is controllable independent of the presence of an article adjacent the sheet engaging surface to allow for lifting selected ones of a plurality of articles. Those chambers which overlie at least a portion of a selected article and which overlie no portion of an unselected article are activated, or, alternatively, those chambers which overlie a single selected article completely within the peripheral boundaries thereof are activated.

Abstract: This loader has one or more frames mounted to travel around a central pivot post. Each frame has preferably two fork arms extending radially out and curved inward like a gear or sprocket tooth profile to mesh between pedestals on a vehicle moved tangentially past the loader with a slope to transfer a load thereto or from according to the direction of movement. Grooved wheels support the frame on a circular cam track concentric about the pivot and are mounted on legs that swing to switch between concentric tracks having reverse slopes to transfer to or from a vehicle in either direction. Cradles on the forks have fingers to engage the side of the vehicle to align for transfer. The vehicle can have side couplers which engage behind the forward fork arm on its inner curve to gradually accelerate the loader into alignment for transfer or the loader can be powered or started to mesh its forks between the pedestals.

Abstract: A work feed method and apparatus for feeding workpieces to and from the die of a press comprises a feed rack having a workpiece clamping device thereon is disposed within the press gap and reciprocates horizontally between positions where it picks up pieces from a supply stage at the die and transfers them simultaneously to the die and discharge stages. The feed bar is operated by a drive unit driven by an electric motor and having a rocking arm mechanism connected to the feed bar to reciprocate the latter horizontally and a slide mechanism at each end of the feed bar to reciprocate the feed bar vertically which is operated by a camming mechanism through a ball crank device which is operated by a lift rod driven through a camming mechanism by the drive motor.

Abstract: This invention relates to a public works machine such as a self-propelled hydraulic shovel. This machine comprises a lower chassis provided toward one end with a pair of carrying wheels mounted on wheel-carrying arms that may be adjusted and raised, and toward the other end with raisable stabilizers. A superstructure is mounted on this lower chassis by a positioning ring. The superstructure carries, on the one hand, working equipment of the machine and, on the other hand, a pair of carrying wheels mounted on raisable arms. The control of the machine is effected by pivoting of the two parts about the positioning ring. This machine permits travelling on uneven ground while the machine remains level.

Abstract: A scrap removal apparatus (35) for retrieving scrap material (32,33) from a two-piece table (19) includes a programmed lift arm assembly (37) movable between the table (19) and scrap accumulating areas (82,83) and has remotely actuable mechanical gripping devices (45) for positively clamping onto the scrap material (32,33). One form of gripping device is a clamp (50) having a finger (57) and an enlarged pad (54), the fingers (57) of the respective clamps (50) movable through slots (70) defined in the outer table edge (21) to grip the overlying outer scrap (32). Another form of gripping device includes a blade (80) for pinning the inner scrap (33) against a stop (73) near the table center.

Abstract: A counterbalance device for operation with the manipulator of a laser knife in which the moment of the knife is maintained in a balanced state over the entire range of movement of the knife so that the movement of the knife is smooth over its entire range and its operability highly increased. A counterbalance device of the invention is coupled to the manipulator at a fulcrum point. The centers of gravity of the manipulator and counterbalance device are in the same vertical plane. The center of gravity of the counterbalance device is moved in parallel with the movement of the center of gravity of the manipulator. In preferred embodiments, the counterbalance device includes arm sections which are geometrically similar to the arm structure of the manipulator device. A rotatable arm of the counterbalance device is coupled through rotatable links to the corresponding rotatable arm of the manipulator so as to maintain dynamical balance.

Abstract: A backhoe arrangement is described wherein overcenter forward movement of the boom and boom cylinder provides a transport configuration for the backhoe, and the backhoe operator's view of the bucket is enhanced. A swing tower is attached to the rear of the machine and serves as a support that embraces an asymmetrically mounted or offset boom assembly wherein the longitudinal axis of the boom and the longitudinal axis of the hydraulic actuator operating the boom are offset from the vertical axis of rotation of the swing tower. The boom hydraulic actuator flanks the boom in a clearance relationship that permits the boom to assume a substantially vertically directed neutral intermediate position. An offset boom and actuator improves the center of gravity of the backhoe and allows the boom actuator to be protected by the boom.

Abstract: An apparatus for automatically handling palletized poultry coops containing live birds to empty the birds from the coops for hanging. A pallet loaded with tiers of poultry coops after removal from the livehaul truck by a forklift is placed on a conveyor to move automatically to the input end of a coop infeed conveyor extending transverse to the pallet conveyor. Upon alignment of the pallet with the coop infeed conveyor, a limit switch stops the pallet conveyor and an extractor is actuated which pushes a tier of coops off the pallet and onto the coop infeed conveyor. The tier of coops is moved along to an unstacker comprising a lay-down unit having a rotor with coop support arms arranged in quadrature such that the coops are laid down on an inclined conveyor with each quarter of a revolution. The inclined conveyor moves each of the coops in succession to a dumping unit that empties the coop.

Abstract: A load stabilizer for a forklift truck is disclosed which includes pivotal mounting means formed for selective movement between a deployed position over the forklift tines to a stored position in front of the forklift mast. The hydraulic drive means used to raise and lower the clamp structure also enables powered movement of the clamp structure between the deployed and stored positions.