Abstract: Refuse collection apparatus including a collection container grasping mechanism and a lifting and dumping mechanism. The grasping mechanism includes a pair of grasping arms mounted for movement between an at-rest position and a grasping position, springs attached to the grasping arms so as to bias the grasping arms into the at-rest position, and a first hydraulic cylinder attached to an activating element for moving the grasping arms from the at-rest position into the grasping position. The lifting and dumping mechanism is coupled to the grasping mechanism for moving the grasping mechanism from a refuse container grasping position to a dumping position. The lifting and dumping mechanism includes elongated linking arms and a driving hydraulic cylinder coupled in a four point movement for simultaneously lifting and rotating the grasping mechanism from the refuse container grasping position into the dumping position.

Abstract: A multi-scoop grab, having at least one grab scoop (10) with at least one prong, wherein at least one wear element (16, 18, 20) is arranged at the at least one grab scoop (10) such that the main wear regions are covered by the at least one wear element (16, 18, 20) (FIG. 1 ).

Abstract: A prehensor is provided comprising embodiments of a variable mechanical advantage mechanism, the prehensor including a first mechanical advantage for sizing an object, and a second mechanical advantage for gripping the object. Embodiments of the variable mechanical advantage mechanism include a brake assembly and multiple embodiments of a brakeless assembly. Additionally, multiple embodiments of a selectable voluntary opening/voluntary closing mechanism are provided, whereby a single prehensor can be switched back and forth between a voluntary closing mode and a voluntary opening mode. Additional embodiments include a safety clutch, an improved prehensor tendon, replaceable digits, and self decontaminating digits.

Abstract: Pipe lifting tongs are utilized for lifting cylindrical sections of pipe, where the pipe sections may have different diameters but the jaw assemblies of the lifting tongs do not need to be changed out. The lifting tongs comprise first and second jaw members, where each jaw member may match the other. The jaw members comprise interiorally facing arcuate gripping members. The jaw members are pivotally connected together with a central fastener. Each jaw member comprises a mounting member rigidly joined to its respective gripping member. The mounting member may comprise a pair of parallel plate members, where a spaced defined between the parallel plate members. Each plate member comprises a plurality of apertures, including both circular and slotted apertures. When the first and second opposing jaw members are pivotally connected together, the parallel plate members may be sandwiched together, such that many of the apertures in the parallel plate members are aligned.

Abstract: An approach is disclosed for providing a humanoid joint for a robotic system. A joint apparatus includes a supporting part, a rotating part and a pair of joint part, wherein the supporting part and the rotating part are coupled in which the joint part is disposed, wherein a rotational force is initially driven by a joint part and the rotational force is transmitted to the other joint part using a sliding motion generated at an abutted surface of each joint part, wherein the surface is formed at the end of the joint part, wherein the transmitted rotational forces can be converted into a motion by the restriction of movement of joint part occurred within the limited space formed by the coupling of rotational part and supporting part.

Abstract: A device for gripping products including a first gripper arm having a first gripper pad, and a second gripper arm having a second gripper pad, the first gripper pad having a bore and an outer surface being eccentric with respect to the bore. A method is also provided.

Abstract: A gripping device for gripping a printed product including a rotatable first gripper arm having a first gripper pad and a pivot, a rotatable second gripper arm having a second gripper pad and a pivot, a first link connecting the first gripper arm and second gripper arm and a second link having a spring connected to the first link. A method is also provided.

Abstract: A robotic hand and arm where the fingers are driven by rotational motors with drums, and pulled with cables using rolling friction. The hand extends into a robotic arm through a wrist wherein the wrist is controlled by pneumatic cylinders. Each finger preferably is provided with four manufactured parts and a single pulley. The thumb is provided with three pulleys for independent distal movement. Cables wraps around or over pulleys, eliminating tight bends. A glove is provided about the robotic hand which provides a compressive, liquid resistant membrane.

Abstract: A gripping device has a holder, two gripping elements movable relative to one another between an inoperative position in which the gripping elements are distal from one another and an operative position in which the gripping elements are proximal to one another so as to grip an object located between them, two first and two second connecting elements each connecting a respective one of the gripping elements to the holder, each of the connecting element having a first end connected to the holder pivotally and connected with a respective one of the gripping elements pivotally, so that each of the gripping elements is turned about two axes to move between the operative and the inoperative positions.

Abstract: The present invention relates to a dual stem active camming device including a plurality of compression springs independently coupled to a plurality of cam lobes. The compression springs are positioned between the trigger and the clip-in point of the cam to protect the springs from damage and allow the trigger to compress the springs upon retraction. A flexible stem tube is positioned over the portion of the dual stem between the trigger and the cable terminals. The flexible stem tube shields the trigger wires from debris and abrasion. A rigid yoke is also positioned over the dual stem between the stem tube and cable terminals. The rigid yoke prevents uneven lateral bending on the head of the camming device that may otherwise cause the device to pull out of a placement. The cable terminals are positioned between the outer cam lobes and on either side of the inner cam lobe.

Abstract: A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.

Abstract: The present invention relates generally to restraint systems for cargo on cargo transporting vehicles, such as trucks, having designated cargo-carrying space. In particularly, the present invention relates to a system for restraining cargo in the bed of a truck, such as a pick-up truck, or the like; or the interior load-carrying compartment of a van or station wagon. The restraint system contains clamp having two opposing members that are attached a pivot point to form a pair of jaws at one end and a topside at the opposing end. The topside is attached to a rotatable device that is rotated to close or open the jaws depending on the direction of rotation. The rotatable device closes the jaws by urging the topside of the opposing members apart to pivotably close the jaws.

Abstract: A device (12) picks up at least one semi-conductor wafer (11) from a container (14) of wafers fitted on one side (15) of an aperture (13) in the transfer station (10) of a semi-conductor wafer processing plant. The device is on the opposite side (17) of the aperture and the pick-up is effected through it. The device incorporates a shutter (1) movable between open and closed positions. A wafer picking up means (2) is attached to the shutter and is designed to enter partially within the container below a wafer and seize the wafer by its edge. A pick up moving means (3) moves the picking up means (2) back and forth through the aperture (13).

Abstract: A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

Abstract: There is provided a multi-finger hand device which can perform smooth bending and stretching operations of finger mechanisms in holding work of an object or the like while reducing the number of actuators as driving sources of the bending and stretching operations of the finger mechanisms. Wires 29a and 29b, and wires 30a and 30b extending from the finger mechanisms 2b to 2e biased to the stretching side by springs 16 or the like are joined to joining element 32 and 33, respectively. A wire 31 provided extensionally from the finger mechanism 2a is wound onto a pulley 36 and drawn from the base side of the hand 3. The joining elements 32 and 33 are rockably held by a holding element 43 via spindles 44 and 45. The holding element 43 is provided movably and rockably around a spindle 42. The pulley 36 is held by the holding element 43 and moves together with the holding element 43. By pulling the wire 31, the bending operations of the finger mechanisms 2a to 2e are performed collectively.

Abstract: A fluid-powered tool assembly having first and second tool members, a body, and first and second rotatable shafts. The first shaft is attached to the first tool member for rotation therewith about a first axis, and the second shaft is attached to the second tool member for rotation therewith about a second axis. A linear-to-rotary force transmitting member is mounted for reciprocal longitudinal movement in response to selective application of pressurized fluid thereto.

Abstract: A wood handling clam having a pair of hollow curved jaws constructed of side walls and inside and outside covers welded thereto. A hollow carrier housing on which the jaws are pivoted at their upper ends has a downwardly extending center portion received into a slot formed into the upper end of each jaw. A tubular pivot pin extends through each upper end of each of the jaws and a pair of carrier housing side plates, as well as the through the down central portion of the carrier housing. Tubular cross shafts in the jaws and housing anchor devises for mounting each end of a power cylinder for each jaw extending into the slot in the upper end of each jaw.

Abstract: A tool handling device for a machine tool with a support construction movable along at least two coordinate axes by means of a motor and a gripper arrangement mounted to the support construction. The grippers have two gripper claws pivotable against each other as well as a locking mechanism for fixing the gripper claws in their closed posture. Each gripper has opposed openings for a lateral insertion and extraction of a tool post. Operating elements are provided for pivoting the two gripper claws during the insertion and extraction of a tool post through one of the two openings.

Abstract: An apparatus for moving large objects such as nursery stock incorporate two elongated arms, each including a handling member with a horizontal portion and a downwardly extending portion being attached to the end of each arm. When the arms are moved in relation to one another the handling members can encircle and support a load thereby allowing stable movement and loading of large objects such as nursery stock.

Abstract: A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking.

Abstract: A grapple assembly for attachment to a boom assembly of a front end loader is provided. The grapple assembly includes a first pinching arm having a first end constructed for grappling an article and a second end constructed for attachment to the boom assembly at a first attachment arm connection, the first pinching arm having a first pinching arm connection. The grapple assembly also includes a second pinching arm having a first end constructed for grappling an article and a second end constructed for attachment to the boom assembly at a second attachment arm connection, the second pinching arm having a second pinching arm connection. A rotation arm constructed for attachment to the boom assembly at an attachment cylinder connection is provided, the rotation arm having a first rotation arm connection and a second rotation arm connection.

Abstract: A method and system for picking and placing vessels are provided. The system includes a gripper assembly mounted on a positioning mechanism. The gripper assembly includes a cylinder, a plurality of flexible gripping members extending from the cylinder in a spaced-apart relationship for receiving therebetween a vessel and holding it by friction, a piston slideably inserted inside the cylinder, and a plunger connected to and movable with the piston and extending between the gripping members for engaging the vessel. The method includes the steps of positioning the gripper assembly, picking up and transferring a vessel, and placing, seating and releasing the vessel. The contents of the vessel may also be mixed simultaneously during the transferring of the vessel.

Abstract: A hand device for working robot which can be downsized is provided. The device consists of a robot hand 10, a link means 40 and a workpiece drop prevention means. The robot hand 10 includes a hand base 20, a pair of fingers 21, 21 protruding from the hand base 20 and a movable core 25 provided with a cylinder 24. The link means 40 includes a lever and a connecting pad 43 for connecting the lever and the movable core 25. A workpiece drop prevention means 60 includes a protrusion stick 50 which is supported by a supporting rail 51, a coil spring and an air cylinder for recess 53.

Abstract: An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 90° or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.

Abstract: A device for the lifting and positioning of a turkey or other food products such as roast, or ham, which is adapted to easily and safely lift the food product to and from a conventional cooking pot. The device generally comprises first and second clamping elements which are interconnected via a disengagable hinge in order to provide a clamping action to the food product being lifted. The disengagable hinge provides enhanced utility by allowing for individual placement of each of the first and second clamping mechanisms around the sides of the food product as well as for the relatively dense storage of the device when not in use. A novel handle is also disclosed that is ergonomically designed to enable transferring of the squeezing action of the hands of a user to the clamping action of the first and second clamping elements.

Abstract: An apparatus and method for gripping containers, each having a circumference, for dumping material in a material collection vehicle including more than one gripping mechanisms, wherein each of the gripping mechanisms can engage a container around at least one-half of the circumference of the container. In one embodiment, the gripping mechanism is attached to a base member and includes an outer gripping member pivotally attached to the base member and an inner gripping member pivotally attached to the base member and an actuating mechanism for moving at least one gripping member toward the other gripping member.

Abstract: A palm mechanism for a high-speed robot hand has a fixed-side articulated finger unit that projects forward from an upper side of a vertically positioned palm plate, and moveable-side articulated finger units disposed on both sides thereof. The left and right articulated finger units are capable of turning along two short sides of the rectangular palm plate from upper end positions on the palm mechanism. The articulated finger units are capable of bending up and down about joint portions thereof. A variety of operations, including gripping, picking, and throwing, can be performed rapidly and reliably by controlling relative positions of the three articulated finger units and controlling bending operations of the articulated finger units.

Abstract: Method and device for gripping one or more elongated element(s), which device includes two main gripping arms (1, 2) adapted to hold the element(s) between them. At least one first hydraulic cylinder (6, 7) is provided for moving the main gripping arms relative to one another. The device also has at least one auxiliary gripping arm (3, 4) and at least one second hydraulic cylinder (8, 9) for moving the auxiliary gripping arm relative to the main gripping arms in order to press the element(s) against the main gripping arms. The second hydraulic cylinder (8, 9) is connected operationally to the first hydraulic cylinder (6, 7) in such a way that the movement of the auxiliary gripping arm (3, 4) is initiated only when the piston of the first hydraulic cylinder reaches a predetermined position.

Abstract: The invention provides an apparatus and method for reducing warpage of a substrate undergoing a molding process, comprising a conveying device for transporting the substrate during molding and pressure means adapted to act on the substrate whereby to maintain the flatness of the substrate. Using the invention, it is possible to provide an apparatus and method which are usable with conventional substrates and which reduce reliance on material formulation to maintain flatness of the substrate.

Abstract: A two sided wafer handling end-effector provides for the efficient loading and unloading of wafers into and out of a wafer processing apparatus. Each side of the end-effector includes spaced apart rotatable catch mechanisms between which a wafer is firmly grasped. When the end-effector is positioned beneath the wafer processing apparatus the catch mechanisms are rotated to an open position and a lifting surface on the catch mechanisms lifts the wafer into the wafer processing apparatus. When the catch mechanisms are in the open position the wafer is centered on the end-effector by rotatable rocker assemblies that contact the edge of the wafer. As the end-effector is raised into contact with the processing apparatus, the rocker assemblies rotate to a lowered position in the end-effector while arcuate surfaces on the assemblies maintain contact with the wafer edge.

Abstract: A casing slip lifter includes a frame, upper and lower lift arm assemblies, at least one air cylinder connected to a pipe that rotates to pivot the arm assemblies, and a wrap arm to which the slips are attached and which is coupled to the arm assemblies by a hinge. The arm assemblies include mutually pivotable plates, one of which may be latched to enable the arm assemblies to be raised into one of two raised positions, depending on which the lower arm assembly is locked. The higher position permits the casing lifter to be used when centralizers are installed on the casing.

Abstract: A gripper for lifting a stack (30) of boxes, trays or such substantially rectangular articles, the gripper being provided with a gripper frame (11, 12; 51, 52) and two flat gripper leaves (21) which are movably connected to the gripper frame (11, 12; 51, 52) so as to be movable from an open position to a closed position, the gripper leaves (21) being substantially flat and each being provided near a lower end thereof with a carry strip (20, 22), which carrying strip (20, 22) is hingedly connected to the gripper leaves (21) so as to be movable from a release position in which the carrying strip (20, 22) extends in the same plane as the associated gripper leaf (21) to a carrying position in which the carrying strip (20, 22) is substantially perpendicular to the gripper leaf (21) and is located between both griper leaves (21), the gripper being provided with control means (14–19, 23) for controlling the gripper leaves (21) and the carrying strips (20, 22).

Abstract: The invention relates to a holding device for wafers in an arrangement for wafer inspection, comprising two grippers (11, 12), each of which, in the closed state of the holding device (8), encloses a subsection of the wafer circumference and which are connected to a drive device (27) and, when the latter is driven, the grippers (11, 12) move away from each other for the purpose of opening the holding device (9) and move toward each other for the purpose of closing the holding device (8), and a holding arm (13), on which the two grippers (11, 12) are pivotably mounted. In this case the holding arm (13) is mounted such that it can rotate about an axis (A) which lies substantially in the plane covered by the wafer (W), so that after a rotation through 180° about the axis (A), a wafer (W) held between the grippers (11, 12) has been turned.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: Tongs for operations with one hand have a pair of arms hinged at one end. A spring biases the second, grasping ends apart. When the arms are closed, magnetic elements on the inner aspects of the arms together to hold the arms closed and locked. To unlock the arms without the use of another hand or other accessories, a finger or thumb of the holding hand is inserted between the arms, forcing the magnetic elements apart enough to release their hold. A mechanism is provided for inactivating the magnetic lock mechanism when desired.

Abstract: A gripping device has a holder, two gripping elements movable relative to one another between an inoperative position in which the gripping elements are distal from one another and an operative position in which the gripping elements are proximal to one another so as to grip an object located between them, two first and two second connecting elements each connecting a respective one of the gripping elements to the holder, each of the connecting element having a first end connected to the holder pivotally and connected with a respective one of the gripping elements pivotally, so that each of the gripping elements is turned about two axes to move between the operative and the inoperative positions.

Abstract: An automated container loader for mounting to the side of a vehicle adapted for collecting the contents of curbside residential waste containers. The vehicle has a vehicle body longitudinally attached to the vehicle chassis. The automated container loader is attached to the vehicle chassis by a slide and positioned adjacent the side of the vehicle body. The container loader is equipped with a lift arm having a gripping element having a gripper housing having an opposing pair of gripping jaws. The gripping jaws are pivotally attached to the gripper housing on opposite sides to their respective arms, thereby creating a cross-pivoting arrangement. The distance between the free ends of the gripping jaws is thereby reduced when in the open position. The cross-pivoting arrangement further allows the container loader to have a thin overall width, accomplished through use of a non-folding single-section gripping jaw.

Abstract: A robotic arm and hand for imitating the human hand. The robotic arm and hand includes a motor member being coupled to a frame member. The motor member is designed for being operationally coupled to the control system and a power source whereby the control system is for controlling power from the power supply to the motor member. A drive assembly is operationally coupled to the motor member whereby the drive assembly is rotated by the motor member. A plurality of cable assemblies are coupled to the drive assembly whereby each of the cable assemblies is actuated by the drive assembly when the drive assembly is rotated by the motor member. A plurality of phalange assemblies are coupled to the cable assemblies. Each of the phalange assemblies is designed for being moved like the fingers of a human when the cable assemblies are actuated by the drive assembly.

Abstract: A method and robot-based automation system are provided for cryogenic crystal sample mounting, for example, for use for cryogenic crystal sample mounting in the x-ray crystallography station at an x-ray source. The system includes a robot arm carrying a handset. The handset includes a pair of elongated fingers for sample mounting, and each finger carrying a set of strain gauge arrays for providing force sensing. A slim finger design allows a sample mounting process with no interference with the beam stop, cryostreem and x-ray detectors. The handset can detect the contact force intensity and direction; provide a precise gripping action; and feel the results of the gripping. The finger design incorporates a mechanism to maintain the sample temperature well below the cryogenic safety margin for the crystal viability. A Dewar container is provided with an ice control system and liquid nitrogen flow control. A triangular sample magazine maximizes the Dewar space usage.

Abstract: A two sided wafer handling end-effector provides for the efficient loading and unloading of wafers into and out of a wafer processing apparatus. Each side of the end-effector includes spaced apart rotatable catch mechanisms between which a wafer is firmly grasped. When the end-effector is positioned beneath the wafer processing apparatus, the catch mechanisms are rotated to an open position and a lifting surface on the catch mechanisms lifts the wafer into the wafer processing apparatus. When the catch mechanisms are in the open position, the wafer is centered on the end-effector by rotatable rocker assemblies that contact the edge of the wafer. As the end-effector is raised into contact with the processing apparatus, the rocker assemblies rotate to a lowered position in the end-effector while arcuate surfaces on the assemblies maintain contact with the wafer edge.

Abstract: A quick connect/disconnect tank lifting brace which lifts a tank from an overhang of it's top lid or cover. The brace includes a crossbar, preferably adjustable, with pivotal end clamps at opposite ends of the crossbar. A pair of clamp pivoting assemblies are provided. Each clamp pivoting assembly pivots a respective one of the pivotal end clamps between an open position and a closed position and biases the pivotal end clamp to an open position for quick connection and disconnection. Pivoting is accomplished using an actuating rod parallel to the crossbar and coupled to the pair of pivoting assemblies. Articulation of the actuating rod effectuates, in unison, pivoting of each pair of pivot arms via the pivoting assemblies to a closed position. The pivoting assemblies generally utilize a push to close and pull to open motions.

Abstract: A barbecue tongs is provided wherein the arms are yieldingly outwardly biased. The tongs incorporate an arm pivot limiter for each of outward pivotal movement and inward pivotal movement as well as an arm lock that holds the arms in an almost fully jaws closed configuration for convenient storage. The tongs utilize a slidable U-shaped sleeve at the rear end which can have either one of two positions selected by a user. In one position, the arm lock is operational while in the second position the outward pivot limiter is operational.

Abstract: A clamp device (1) is intended for connecting a tarpaulin (23) to a movable beam assembly (25) in a tarpaulin handling machine. The clamp device (1) has as its clamping member a freely rotatable, eccentric roller (4) adjacent a base member (7), the tarpaulin being inserted between the roller and the base member and held there by the roller.

Abstract: A clamp attachable to a vehicle for remotely stopping gas leaks in a gas line is provided. The clamp includes a first boom having a first end, a second end and a pipe engaging portion adjacent the second end. The first boom is provided with a mounting portion adjacent the first end operable to couple the clamp to a mounting structure for manipulating the clamp. The clamp also includes a second boom having a first end, a second end and a pipe engaging portion adjacent the second end. The first and second booms are coupled such that the pipe engaging portions of the first and second booms are positioned to cooperate about a leak portion of a pipe. The clamp has an actuator to selectively engage the first and second pipe engaging portions about the leak portion of the pipe.

Abstract: A power switching mechanism for selectively connecting a robotic system having two-degrees-of-freedom power input to a robot tool having a plurality of actuators. The two-degrees-of-freedom power input comprises a translation power input and a power shaft rotation input. The switching mechanism comprises an axially displaceable connector mounted to the power shaft rotation input for rotating therewith. An indexing mechanism is connected to the power shaft rotation input and is axially movable sequentially between a neutral position and an actuator engaging position for each actuator. The axially displaceable connector engages any one of the actuators in response to movement of the axial translation of the two-degrees-of-freedom power input.

Abstract: The invention relates to a gripper device. According to one aspect, the gripper device includes fingers with grasping ends. The gripper device includes a mechanism to cause the grasping ends to open and close. When the mechanism is engaged, the grasping ends open and close to define a circumference. According to another aspect, the gripper device includes fingers, an upper flat member, and a lower flat member. The fingers have grasping ends. The fingers are inserted into the upper flat member and lower flat member. When the upper flat member is rotated relative to the lower flat member, the grasping ends of the fingers open and close. According to another aspect, a gripper assembly has a gripper device with fingers and a rotating member. The gripper assembly also has a motor and mechanism for rotating the rotating member. The gripper device opens or closes the grasping ends in response to the rotation of the rotating member.

Abstract: A rail pulling system for efficiently drawing the ends of two rails together. The rail pulling system includes an elongate frame, a control unit, a first sliding unit and a second sliding unit, a pair of first actuators attached to the first sliding unit, a pair of second actuators attached to the second sliding unit, a plurality of third actuators attached to the frame, a pair of first engaging cams rotatably attached to the first sliding unit, and a pair of second engaging cams rotatably attached to the second sliding unit. The cams are rotated to engage a first rail and a second rail respectively by actuating the first actuators and the second actuators thereby causing an engaging portion of the cams to engage pillow blocks on the third actuators. The third actuators then draw the first sliding unit and the second sliding unit together thereby drawing the rails together.

Abstract: A device for positioning sheets in a station of a sheet-processing machine comprising a movable bearing surface for holding at least one edge zone of a sheet, actuators driving the bearing surface in the plane thereof, sheet grippers accompanying the motion of the bearing surface and adapted to grip or release the edge zone of the sheet between sheet grippers and the bearing surface. The sheet grippers are connected to the bearing surface by at least one joint comprising a number of levers forming a parallelogram articulated around horizontal pivot axes. A piston comprising a permanently compressed spring eliminates the radial clearance between the pivot axes. Lateral clearance thereof is eliminated by a spring strip which is rigid in the transverse direction.

Abstract: Device at tool holder (10) of the kind comprising an essentially C-shaped frame preferably having a long inner range, which frame at its free shank ends carries said tool, for instance a riveting, a glueing or a welding unit. The holder (10) comprises a truss or frame work, which includes an outer and an inner C-shaped frame (11, 23) and a number of slewing brackets (27-32) connected to these. The frames (11, 23) and the slewing brackets (27-32) are arranged to form a number of connected triangular sections, which connection points (18-22, 37) are designed as intersections or joints. The outer C-shaped frame (11) is arranged only to support thrust forces and the inner frame (23) thrust and tensile forces and the slewing brackets (27-32) substantially tensile forces.

Abstract: Preform gripper comprising a handling arm (1) and a preform support plate (2) that has at an extremity thereof a semi-circular aperture (7) that is adapted to accommodate a cylindrical portion (28) of the collar of the preform. Hinged on said plate there are provided two parallel side gripping members (5, 6), two end portions of which (13, 14) are in the shape of an arc of a circle and are adapted to elastically move closer to each other up to a pre-established position. The gripper is adapted to, enable said cylindrical portion (28) of the collar of the preform to be fitted into and removed from, with a snap-like action, said semi-circular aperture (7) by pressing and pulling, respectively, the preform against two opposite, elastically enlargeable outer edges (31, 32) of said two side gripping members (5, 6).