Abstract: A robot which incorporates a body, arms with a hand grip, legs, several sensors, light elements, an audio system, and a video system. The sensors allows the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. The light elements allow the robot to express moods. The audio system allows the robot to detect and transmit sounds. The video system allows a user to remotely view the area in front of the robot. Additionally, the robot may operate in a plurality of modes, including modes that allow the robot to operate autonomously. The robot may operate autonomously in an automatic mode, a security mode, a greet mode, and a monitor mode. Further, the robot is manipulated remotely.

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 clamping element for a flat work piece, with a first clamping jaw with a first clamping surface and a second clamping jaw with a second clamping surface has an optical sensor for the measurement of the distance between the two clamping surfaces. The optical sensor is partially integrated into the clamping jaws. The optical sensor comprises an opto-transmitter, a first light guide and a second light guide and at least one photosensor. The first clamping jaw has a drill hole which accommodates an end of the first light guide and the second clamping jaw has a drill hole which accommodates an end of the second light guide.

Abstract: A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed.

Abstract: A positioning structure for grill tongs. The positioning structure includes a lever plate positioned over the intersection of the tong bodies that are capable of levering. Two tongs bodies are located on opposite sides of the connection portion and are formed with notches each at top and bottom sides. The grill tongs structure can move the lever, thus making two sides of lever plate capable of being fitted in the notches of the tong body ends so that the two tong bodies can operate. The lever plate can be put in a middle position so that two sides of the lever plate will be blocked by the middle portion of the tong body ends, making them unable to be opened.

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: 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 parts gripper having a continuity switch to determine the presence of a part or workpiece held between the jaws of a parts gripper comprising a parts gripper having a yoke, a pair of jaw members, a pivot pin, a cover plate, a side impact plate, and an electrical lead conductively connected to the first attachment portion of the pivot pin. The pivot pin is conductively connected to the jaw members and connects the jaw members to the yoke of the gripper body. The pivot pin includes a shaft, a neck portion, a stepped portion, and a first attachment portion. The shaft connects the jaw members to the yoke. The cover plate has a keyed through-hole for mating with the neck portion of the pivot pin. The side impact plate has a slot for mating with the stepped portion of the pivot pin to prevent the pivot pin from rotating.

Abstract: The present invention relates to an arrangement (1) for gripping and holding or releasing a material (M), such as material held in a lathe chuck. The arrangement includes a piston-cylinder assembly (2) and a plurality of material gripping and holding or releasing elements, so-called gripping element arrangements (3). The gripping elements are movable between two positions, an open position and a closed position, in response to movements of the piston-cylinder assembly (2). The cylinder-part (22) of the piston-cylinder assembly (2) includes a circular groove (22a) for co-action with rolling support surfaces (12c) associated with said gripping element arrangement (3). The arrangement also includes a separate gripping member (50) which can be readily fitted to the free end-part (3a) of the gripping element (3′) and readily removed therefrom.

Abstract: A gripper includes a body, an actuator movably supported by the body and a first hub rotatably supported by the body where the first hub rotates about a transverse axis. The gripper also includes a drive arm having a camming surface. The drive arm is coupled to the first hub so as to be rotatable about the transverse axis. A member drivingly interconnects the camming surface and the actuator such that an arm coupled to the first hub operably moves in response to the actuator.

Abstract: A multifinger hand device has a plurality of finger mechanisms extending from a palm unit. The finger mechanisms include a finger mechanism corresponding to a thumb and other finger mechanisms. Joints of the finger mechanism corresponding to the thumb include a joint closest to the palm unit and having a rotational axis about which the joint is rotatable, the rotational axis extending substantially perpendicularly to the rotational axis of a joint, closest to the palm unit, of one of the other finger mechanisms. The joints, closest to the palm unit, of the other finger mechanisms have respective rotational axes about which the joints are rotatable and which are slightly inclined to each other and extend substantially perpendicularly to a main palm plate of the palm unit. The other finger mechanisms have link mechanisms closest to the palm unit which are fixed to the palm unit with their respective rotational axes being inclined to each other.

Abstract: A gripper assembly is provided which supports a substrate in a vertical orientation. The gripper assembly's end effectors contact only the edge of the substrate. In a first aspect the end effectors each comprise a first pair of opposed surfaces and an second pair of opposed surfaces, all of which simultaneously contact the substrate, holding the substrate in a clamp-type manner. In a second aspect the end effectors each comprise a lower pair of opposed surfaces which simultaneously contact the substrate, and an upper pair of opposed surfaces, larger than the thickness of the substrate, which limit the substrate from horizontal tilting. In the second aspect the end effectors can close at a first elevation where they do not contact the substrate, and can then elevate to gently contact and support the substrate in a pocket-like manner.

Abstract: This invention provides an actuation system for a highly underactuated gripping mechanism with ten degrees of freedom, which requires only two actuators, one for actuating the opening and closing of three fingers and the other for the orientation of two rotatable fingers with synchronization. Underactuation between the fingers is provided by a one-input/three-output differential which is associated with an orientation mechanism so that an orientation-fixed finger is deactivated when the two orientatable fingers are rotated to face each other for a pinch grasp. Each finger is enabled to be self-locked in its closing and opening action when the power is off. This feature is important, especially for the fingers actuated by a differential mechanism for the underactuation between the fingers. In one embodiment of the invention, planetary gearing system is used for the differential.

Abstract: An actuation device uses, for the active element, a flexible bellows operated by a pressurized fluid (usually, but not necessarily, at a pressure higher than the ambient one). The bellows is housed, for the most part of its length, inside a cylindrical cavity having the inner diameter slightly larger than the outer diameter of the bellows, so that the bellows is free to vary its length, but is restrained to bend sideways and therefore can be operated by high pressure.

Abstract: A gripper assembly is provided which supports a substrate in a vertical orientation. The gripper assembly's end effectors contact only the edge of the substrate. In a first aspect the end effectors each comprise a first pair of opposed surfaces and an second pair of opposed surfaces, all of which simultaneously contact the substrate, holding the substrate in a clamp-type manner. In a second aspect the end effectors each comprise a lower pair of opposed surfaces which simultaneously contact the substrate, and an upper pair of opposed surfaces, larger than the thickness of the substrate, which limit the substrate from horizontal tilting. In the second aspect the end effectors can close at a first elevation where they do not contact the substrate, and can then elevate to gently contact and support the substrate in a pocket-like manner.

Abstract: An essentially C-shaped tool holder (10), preferably having a long inner edge, which holder at its free shank ends can carry a tool such as a riveting, glueing or 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 plurality of slewing brackets (27-32) connected to the C-shaped frames. The frames (11, 23) and the slewing brackets (27-32) are arranged to form a number of connected triangular sections, defined by connection points 18-22, 37) which are designed as intersections or joints. The outer C-shaped frame (11) is arranged to support only thrust forces; the inner frame (23) is arranged to support thrust and tensile forces, and the slewing brackets (27-32) are arranged substantially to support tensile forces.

Abstract: A grapple for releasable attachment to a manipulator arm of a vehicle. The grapple unit comprises a central framework to which are pivotally mounted a pair of spaced, opposed gripping fingers to define a grasping region between the fingers. The fingers are movable to open and close the grasping region in order to grasp an object within the region. There is a joint assembly adapted to rotatably mount the central framework to the manipulator arm that includes a first planar bearing surface releasably connectable to the manipulator arm and a second planar bearing surface formed on the central framework and extending parallel to the first planar bearing surface. A sheet of low friction material is inserted between the parallel bearing surfaces to engage both surfaces. A shaft intersects the bearing surfaces to define an axis for rotation of the central framework with respect to the first planar bearing surface.

Abstract: A clamp assembly for attaching a pile to a pile driving apparatus for inserting and/or extracting the pile, comprising a housing; a first pivot assembly pivotably attached to the housing; a first gripping assembly rotatably attached to the first pivot assembly; a second pivot assembly pivotably attached to the housing; a second gripping assembly rotatably attached to the second pivot assembly; a first actuating assembly for displacing the first pivot assembly and the first gripping assembly such that first gripping assembly moves towards the second gripping assembly; and a second actuating assembly for displacing the second pivot assembly and the second gripping assembly such that second gripping assembly moves towards the first gripping assembly; wherein as the first and second gripping assemblies move towards each other, the pile is gripped between the first and second gripping assemblies to inhibit relative movement between the housing and the pile.

Abstract: The invention provides a grapple device and a method for manipulating, i.e., grabbing, holding and releasing objects. The grapple comprises two parallel rollers with gripping surfaces, where the rollers are pushed towards each other with sufficient force to hold a graspable portion of a deformable object. When the grapple comes onto contact with any portion of the deformable object, a signal activates a set of gears causing the rollers to rotate in opposing directions so that a graspable portion of the object is dragged between the rollers. When sufficient material is caught between the rollers, a signal activates a brake automatically stopping the rotation of the rollers, whereby the rollers then hold the graspable portion of the object allowing the object to be moved to a desired location. When the object is properly located, a signal is generated which causes the rollers to rotate in the opposite direction to release the object.

Abstract: A grip device for an artificial or prosthetic arm, including at least two opposable digits and a drive linkage powered by a drive motor. When the drive motor is powered it enables the two opposable digits to grip. The drive linkage includes a drive and transmission attached to the drive motor. A backlock is connected to the drive and transmission. Surrounding the backlock is a backlock housing which contains the drive, selected transmission elements, and a backlock. A stop element is also included for holding the backlock housing fixed with respect to ground. The stop element can be released to allow the backlock housing to move freely and to avoid power transmission without disrupting the operating structure of the transmission.

Abstract: A device for gathering of logging waste in particular, by whose means logging waste is gathered from the ground by means of a dragging movement. The device that is substituted for a device that gathers waste by means of a grasping movement includes an arm (2) that has been connected with the arm of a crane (1) by the intermediate of an articulated joint (3), which arm (2) is pivoted by means of a power unit (4) around the articulated joint (3) against a backup plate (5) so as to incline the grab into a dragging position. The arms (6b) of the grab may also be provided with an arm (7), which, when it has been pivoted to the side (7a), prevents penetration of the grab arms (6b) below the ground surface and which, when they have been pivoted downwards (7b), permit compacting by means of the grab by means of a grab opening movement.

Abstract: A gripping device for positioning a component (47) on a substrate, comprising three fingers (1, 2, 3) arranged in a triangle (7), and a drive device for moving the fingers along parallel paths (4, 5, 6) relative to each other to grip or release a component. A middle finger (2) is movable in opposite directions with respect to the outer fingers (1, 3).

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: A reticle transfer system is disclosed for transferring reticles between a reticle-carrying SMIF container and a process tool. The reticle transfer system according to the present invention includes an arm assembly having a transfer arm and a gripping mechanism affixed to the end of the transfer arm. Once the container carrying the reticle has been opened, the gripping mechanism is rotated and translated to a position adjacent the reticle so that it may access the reticle and transfer it into the minienvironment through an access port in the minienvironment. In order to precisely, easily and repeatedly position the gripping mechanism in the desired location to grip and transfer the reticle, the gripping mechanism includes four downwardly extending posts spaced apart from each other so as to contact an outer rim of the container door as the gripping mechanism is lowered into position to grip and transfer the reticle.

Abstract: A multifinger hand device has a plurality of finger mechanisms extending from a palm unit. The finger mechanisms include a finger mechanism corresponding to a thumb and other finger mechanisms. Joints of the finger mechanism corresponding to the thumb include a joint closest to the palm unit and having a rotational axis about which the joint is rotatable, the rotational axis extending substantially perpendicularly to the rotational axis of a joint, closest to the palm unit, of one of the other finger mechanisms. The joints, closest to the palm unit, of the other finger mechanisms have respective rotational axes about which the joints are rotatable and which are slightly inclined to each other and extend substantially perpendicularly to a main palm plate of the palm unit. The other finger mechanisms have link mechanisms closest to the palm unit which are fixed to the palm unit with their respective rotational axes being inclined to each other.

Abstract: A gripper apparatus for a transfer robot includes a pair of grippers which are disposed in parallel in a common plane, and which are rotatable so as to move toward and away from each other to grip, and release, a workpiece. A lead screw, disposed in parallel with the rotational axis of the grippers, rotates in forward and reverse directions. A first slider is coupled to lead screw for reciprocal movement along the rotational axis of the lead screw, responsive to rotation of the lead screw. A linkage arrangement disposed between the pair of grippers converts the reciprocal movement of the first slider into rotational movement of the grippers. A drive unit provides the forward and reverse rotation of the lead screw. This configuration results in a gripper apparatus which is vertically compact and thus uses space in an efficient manner.

Abstract: A self-propelled, steerable straddle carrier (10) includes a main frame (12) supported on transport wheels (14) with a tong table (20) and a plurality of hydraulic lift actuator (34) for raising and lowering the tong table (20) relative to the main frame (12). A pair of front and rear slab tongs (42, 44) are pivotally mounted on the tong table (20) with a pair of front and rear pinch cylinders (43, 45) for opening and closing the slab tongs (42, 44). A pair of coil tongs (52) arm disposed between the front and rear slab tongs (42, 44) with a pair of inverted yoke assemblies for pivotally supporting the coil tongs (52) and a center pinch cylinder (60) for opening and closing the coil tongs (52). A pair of hydraulic actuators (34) interconnect the yoke assemblies and the main frame (12) for raising and lowering the coil tongs (52) relative to the slab tongs (42, 44) to permit the straddle carrier (10) to transport either stacks of steel slabs or a steel coil.

Abstract: A segmented gripper is provided, having two arms (2;3) which are operated for closing and opening movement in an operational plane. The arms are flexible in the way of a finger; i.e. the geometry is variable to adapt to the external shape of the article to be gripped. This is accomplished by providing a structure for the arms, wherein an outer row of pivotally connected links (6) is interconnected with an inner row of pivotally connected links (7), the interconnecting elements (8) being pivotally attached to the link connecting points of each row of links. The lengths of the interconnecting elements are successively decreasing towards the free end of each arm, so that the arm displays a claw-like configuration. The arms are pivotally attached on a support, so that when an actuating force is applied tangentially to the outer row of links, the arms are operated for a closing motion.

Abstract: An automated actuation device for releasing items within a confined space, particularly an automated pickup head and gripping plate assembly which is used to grip egg cartons or trays and place those egg cartons or trays in stacks in a shipping container or basket. The actuation device includes a pickup head which may be mounted on any known or conventional apparatus for moving and orienting the pickup head and gripping plates to grasp individual items such as, e.g., egg cartons or trays, and to transfer those items to, and insert those items within, a confined space such as, e.g., a shipping container or basket. Mounted on the actuation device is a pickup head and gripping plate assembly. This assembly is actuated by an air cylinder connected to the assembly by a spider arm and an actuating bar. The gripping plate itself is connected to the pickup head by a first link and a second link.

Abstract: A light bulb remover for removing and replacing light bulbs of various sizes. The light bulb remover includes a pole portion and a claw portion. The pole portion has a first end and a second end. The claw portion includes a base plate. The base plate has a top side, a bottom side and a peripheral wall extending therebetween. The base plate is removably securable to the second end of the pole portion. A plurality of finger portions is coupled to the base plate. Each of the finger portions is elongate and has a distal portion and a proximal portion. Each of the distal portions is coupled to the peripheral wall of the base plate such that each of the fingers extends upwardly above the top side. The finger portions are spaced from each other. A first of the finger portions has a break therein. The break is between the distal and proximal portions. The distal portion of the first finger portion is hingedly coupled to the proximal portion of the first finger portion.

Abstract: A variable leverage mechanism for variably leveraging the force of a piston and cylinder assembly in a high-pressure rubber bale clamp. The device may include a toggle or cam or other suitable variable leverage mechanism. The device compresses rubber bales immediately after manufacture so as to facilitate packaging and transport.

Abstract: An object holding device has a base plate, first and second claws, base ends of which are pivoted at the first and second pivotal points on the base plate, respectively, free ends of which hold an object detachably, a driving device, first and second driven members to be rotated around the first and second pivotal points, respectively, by a driving device, and first and second spiral springs wound around the first and second pivotal points, respectively, for connecting the first and second driven members with the first and second claws, respectively, in order to urge the claws in a closed position. An angular position of the claw is detected, and an original position is set when the claws are opened fully. The object is held by a holding force according to the difference between the rotary angles of the driven member and the claw.

Abstract: A substrate handling apparatus includes a transfer elevator and a process station disposed inside a load lock chamber. The process station includes a top module, a bottom module, and a seal ring which is disposed between the top module and the bottom module and is movable to open and close the process station. The transfer elevator has an upper station spaced above a lower station. A transfer device having a pair of transfer arms is used to transfer substrates between the transfer elevator and the process station. The transfer arms are movable toward one another to support a substrate and apart from one another to release the substrate. The transfer arms are mounted to rotate between the transfer elevator and the process station. When a substrate is being processed inside the process station, the transfer arms are disposed on opposite sides of the process station.

Abstract: A grapple includes a ferrous body with a plurality of tines pivotally connected thereto. A magnetic coil is disposed within the ferrous body. When the magnetic coil is energized, it creates a magnetic field within the area defined by the tines. The tines are also magnetized by the field. Additional magnetic coils may be added to one or more of the tines.

Abstract: A grapple prong comprising an elongate member terminating in a grapple prong and having a connecting formation thereon for connecting the tong head for pivotal movement about a pivotal axis. The tong is provided with a secondary prong thereon which is radially offset from the prong with respect to the pivotal axis. An attachment for converting a conventional grapple prong into a tong having two prongs is also provided.

Abstract: A set of locking tongs comprising a first arm and a second arm each comprising a hinge end and a grasping end. Hinge members are provided for pivotably connecting the first and second arms together at the hinge ends, so that the arms can pivot between an open position and closed position. Spring members are included for biasing the arms in an open position. The locking member comprises a captured pin attached to the first arm and an aperture member attached to the second arm. The captured pin has a pin that moves under the effects of gravity within a contained range of motion, limited by a bracket. The second arm has an aperture located on a surface. When the tongs are held in an attitude such that gravity can act upon the pin, the pin will engage the aperture and prevent the tongs from opening. The outward force applied by the spring acts to retain the pin in its locked position through frictional forces thus resisting opening.

Abstract: Locking tongs (10) have an upper arm (12) and a lower arm (14) pivotally mounted to each other for grasping items, such as food. A pivot pin (24) extends through aligned openings (27) in side flange extensions (20, 22) of arms (12 and 14) to connect arms (12 and 14) for pivotal movement. Torsion spring (28) urges arms (12, 14) apart. A channel-shape slidable locking member (32) has side flanges (36) with transversely aligned slots (40) therein receiving pin (24). Hook (39) has a hook portion (42) which may be easily gripped for sliding movement of channel-shaped locking member (32) between a locked position of arms (12, 14) shown in FIG. 1 and an open position of arms (12,14) shown in FIG. 4. Hook (39) is also utilized for hanging tongs (10) in a vertical position from a wall or rack.

Abstract: A gripping tool for gripping a suspension assembly component of a disc drive includes a first planar gripping member connected to a second planar gripping member. The first and second planar gripping members each have respective first and second gripping surfaces that share common respective edges with respective first and second non-gripping surfaces. The first and second non-gripping surfaces having larger surface areas than the first and second gripping surfaces, respectively.

Abstract: An automated device for releasing items within a confined space, particularly an automated pickup head which is used to grip egg cartons or trays and place those egg cartons or trays in stacks in a shipping container or basket. The device includes a pickup head which may be mounted on any known or conventional apparatus for moving and orienting the pickup head to grasp individual items such as, e.g., egg cartons or trays and to transfer those items to, and insert those items within, a confined space such as, e.g., a shipping container or basket. Mounted on the pickup head is an actuation device such as, e.g., two air cylinders, each having one end connected to the pickup head and another end connected to a first link. The first links are pivotally mounted on the pickup head, and are pivotally attached at one end to an upper end of a gripping finger. A biasing element biases the gripping fingers to an open position.

Abstract: The invention provides tongs for manually grasping items having two elongate tong members pivotally joined together with a hinge pin. The tong members pivot between an open position and a closed position, each member having a forward grasping end, a hinged portion adjacent and projecting rearward of the hinge pin, and an inner channel extending forwardly and rearwardly from the hinge pin. A novel bow spring has two arms each sliding in the channels between a forward position engaging the channels forward of the hinge pin, and a rearward position engaging the channels in the hinged portion adjacent the hinge pin. The spring resiliently biases the tong members to the open position when the bow spring is in the forward position, and retains the tong members in the closed position when the bow spring is in the rearward position.

Abstract: A lifting ring assembly is designed for lifting barrels that have at least a partial circumferential radial extension above an outer diameter. The lifting ring comprises a split ring and a cross brace. The split ring comprises two half ring segments having mutually attachable ends. The inner diameter of the split ring is smaller than the outer diameter of the partial circumferential radial extension. The cross brace comprises first and second rigid arms having top ends and bottom ends. The top ends are mutually pivotally connected by a pivoting mechanism. The bottom ends are fixedly connected to a midpoint of the half ring segments, respectively, such that the cross brace is perpendicularly oriented to the split ring and the rigid arms pivot in a vertical plane. The lifting ring may be modified to lift with a fork lift truck with a cable loop that extends from the pivoting mechanism.

Abstract: An attachment device for releasably attaching a grapple to the end of a boom. The device includes a grapple body which mounts main and linkage pins which releasably couple with double pin mounting structures of different sizes and configurations. Hydraulic actuators within the housings on either side of the grapple are operated to open and close the jaws of the grapple under influence of an hydraulic control circuit. Tapered lock bushings are provided to releasably mount the main pins within openings in side walls of the housings. Adapter blocks are provided for mounting the ends of the linkage pins to the housings walls. A fastening arrangement for securing the adapter block enables the linkage pin to be mounted at different separation distances from the main pin to accommodate different types of pin mounting systems that may be encountered on vehicles at different job sites.

Abstract: An attachment device for releasably attaching a grapple to the end of a boom. The device includes a grapple body which mounts main and linkage pins which releasably couple with double pin mounting structures of different sizes and configurations. Hydraulic actuators within the housings on either side of the grapple are operated to open and close the jaws of the grapple under influence of an hydraulic control circuit. Tapered lock bushings are provided to releasably mount the main pins within openings in side walls of the housings. Adapter blocks are provided for mounting the ends of the linkage pins to the housings walls. A fastening arrangement for securing the adapter block enables the linkage pin to be mounted at different separation distances from the main pin to accommodate different types of pin mounting systems that may be encountered on vehicles at different job sites.

Abstract: A gripper assembly of the invention for a baking pan stacking and unstacking device includes a pick-up bar and at least one holding assembly carried on the pick-up bar. In one embodiment of the invention, the gripper assembly includes a first holding assembly having a first finger element pivotally mounted on the pick-up bar. A second holding assembly is provided having a second finger element pivotally mounted on the pick-up bar. A mechanical linkage is pivotally connected to the first and second finger elements such that pivotal movement of the first finger element causes pivotal movement of the second finger element. In another embodiment of the inventions the gripper assembly includes one pivotal holding assembly and one reciprocally movable holding assembly.

Abstract: A pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint imparts force thereto at an acute angle. A third joint is used with a flexible drive tape partly internal thereto. A gripping system having an orthogonally rotatable base effector is supported by this joint using a pair of linear actuators to position the base effector as desired. A counterpart system having an orthogonally rotatable base follower orthogonally rotatable on a pair of linear actuators uses the actuators to null out forces occurring thereon.

Abstract: A spooled hay dispenser apparatus for unrolling spooled hay from a tractor. The apparatus provides a slotted tube at the ends of and perpendicular to a cross bar for rotatably mounting spiked arms which hold a cylindrical hay bale. An upright locking bracket lets the operator pick up a roll of hay at the storage area, carry it to the feeding area, and completely unroll it without having to adjust the turnbuckle of the tractor's three point hitch at all. This bracket is of heavy construction design so as not to bend in use; this enhances the maintaining of control of the invention, even when handling uneven hay rolls (e.g., large on one end and small on the other). Also, the centered bracket on the cross bar maintains the arms horizontally when the bale is almost completely unrolled to prevent gouging the ground surface with the hexagonal bale holding plates.

Abstract: A chuck device has a pair of grippers pivotally supported in a recess defined in an end of a body for angular movement about a predetermined angle, a joint member connected to a piston reciprocally movably disposed in a cylinder chamber defined in the body, and a pair of rollers engaging respectively in grooves in the grippers and angularly movably mounted on the joint member. Linear movement of the piston can be transmitted as angular movement to the grippers through the rollers while the rollers are angularly moving with respect to the joint member. A cover is mounted on the end of the body in closing relation to the recess.

Abstract: An apparatus and method having short stroke motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke, generally arcuate motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.

Abstract: A grapple including a central mounting member for attachment to a swivel mount of a boom and a pair of grapple jaws pivotally connected to and depending from the mounting member is modified by the addition of a pair of end engagement plates for engaging and locating ends of the logs when grasped for lifting, the plates defining inwardly facing parallel surfaces arranged substantially at right angles to the axes. The end engagement plates are mounted on a pair of horizontal slide beams for inward and outward movement and are attached by sleeves sliding on vertical rails of the plates for movement vertically relative to the central mounting member.

Abstract: Grasping devices including arms pivotally connected to a support member and moved by actuators pivotally connected between the arms and the support member are described. The arms may be either single or multiple member limbs shaped to engage a variety of geometrically shaped objects. Multiple member embodiments include an outer member pivotally connected to an inner member which is pivotally connected to the support member. Each arm may carry a suction cup. The support members of each embodiment may be connected to any lifting device, such as a compound arm attached to a refuse truck.