Abstract: A collet to be used in conjunction with a container capping device used primarily in the packaging industry, more particularly for gripping threaded container caps in preparation for the rotation of the caps onto threaded containers. The structure comprises separately pivoting segments for engaging the container cap without significant flexture of the segments.

Abstract: An improved wafer holder with spindle assembly and wafer holder actuator is disclosed. In one embodiment, the vertical motion of a shaft drives an arm positioning member in a rotational motion. The arm positioning member is coupled to a first position of an arm such that the arm moves in a horizontal motion when the arm positioning member rotates. A substrate holding member is coupled to the arm at a second position, such that the horizontal motion of the arm moves the substrate holding member between an open and a closed position. The shaft of the above described embodiment is moved in a vertical motion by an actuator. A first cylinder of the actuator expands and engages a spring which moves the shaft upward and a second cylinder of the actuator retracts to disengage the first cylinder thereby moving the shaft downward.

Abstract: A pair of elongate, segmented gripping members are carried by the lifting member of a refuse collection vehicle. Each of the gripping members includes an inner arm movably carried by the lifting member and an outer arm movably extending from the inner arm. The gripping members are movable between a retracted position in which the inner arms extend in generally opposite directions, fore and aft along the side of the vehicle, and an extended position in which the inner arms extend in generally the same direction laterally outward from the vehicle. Each outer arm is inwardly movable relative the respective inner arm to draw a container into the embrace of the gripping members. A pair of elongate flexible members engage the container to supplement the grip of the gripping members.

Abstract: An apparatus for gripping and weight-dependent clamping of workpieces, bar guides and the like that are to be held or moved relative to a location, particularly in connection with a hand-guided handling device that has a control switch. The apparatus includes a carrying frame to which are linked upper hinge-bolt pairs for respective superimposed pairs of parallel rods, which are detachably attached by pairs of lower hinge-bolts to a connection piece for gripping elements. A pair of struts, each of which is linked to one lower hinge-bolt, is jointly attached in articulated fashion to a control bolt centrally adjustable between the rods in a guide slot on the carrying frame.

Abstract: An apparatus is provided for lifting balled and burlapped trees. The apparatus has a pair of jaws that can open and close, grabbing the earth ball of a tree at its top and bottom. The front jaw has two separate arms with hinged pads at their lower ends adapted to fit on the top of the earth ball of tree, with one on either side of the tree trunk. The rear jaw has a blade extending across it to fit on the bottom of the earth ball. The apparatus is asymmetric in profile to facilitate grasping and maneuvering of a balled tree with its trunk extending at an angle from vertical.

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: This invention provides a finger with three phalanges and three degrees of freedom for a flexible and versatile mechanical gripper which uses only a limited number of actuators. The finger is robust, can provide large grasping forces and can perform power grasps as well as pinch grasps. The mechanism used in the finger has an additional mechanism maintaining the last phalanx orthogonal to the palm in order to allow the gripper to perform pinch grasps on objects of different sizes. For purposes of fine control, tactile sensors as well as potentiometers are included in the finger. The mechanical gripper designed using these fingers allows the stable grasping of a wide class of objects while specifying only two coordinates (the force or position for closing the whole finger and the orientation of the finger) for each of the fingers. The mechanical gripper has three fingers and three phalanges per finger.

Abstract: There is provided a gripping device with lifting arms mounted for relative rotational movement on a slider and having free ends spaced from each other and adapted to receive a load there-between. An arm link assembly coupled to the arms is movable between a gripping position and a release position to respectively close the arms to grip a load and to separate the arms to receive a load. An over-center clamp is incorporated into the device to move the arm link assembly between the gripping position and release position and to hold the arm link assembly in the release position for the arms to receive a load.

Abstract: A portable belt clamping and pulling apparatus is provided to grip and pull belt ends together for splicing belt ends of a conveyor belt. A pair of belt ends are clamped between respective pairs of I-beams, the clamped belt ends are pulled together by a come-along mechanism, and the free ends of belt between the I-beams are maintained held together in a tension-free environment to allow fastening together of the belt ends. The preferred clamping jaws are in the form of at least one clamping lever pivotally mounted on a central frame having a central opening through which the I-beams are inserted. The clamping lever is connected to a pulling device that pivots the clamping lever to cause the clamping members to tightly grip a belt end between the I-beams. The clamping jaws include respective pre-tightening screws for clamping the I-beams to the belt prior to the initiation of pulling by the chains so as to eliminate slippage of the belt from between the I-beams during the initial pulling.

Abstract: A universal engaging mechanism for handling collection containers of a variety of sizes and shapes. The mechanism includes two arms rotatably mounted to a base and movable between open and closed positions, and a retainer located adjacent the base and between the arms. As the arms close about the container, the arms urge the container in a transverse direction toward the base, until the container abuts the retainer. The arms and the retainer also cooperate to inhibit longitudinal movement of the container and container sway during handling. A method for using the universal engaging mechanism of the present invention to handle containers of a variety of sizes and shapes using the universal engaging mechanism is also described.

Abstract: A tool magazine having a plurality of grips for gripping tool holders for use in a machine tool. The tool holder gripped at the grip is transferred to a holder portion of a spindle of a machine tool, or the tool holder held in the holder portion is transferred to the grip. The magazine has a magazine disk rotatable about a horizontal axis for tool indexing operation. The tool holder extends in the horizontal direction when it is gripped by the grip, and the spindle also extends in the horizontal direction. Each grip includes a pair of first and second arm members pivotally supported on the magazine disk and extending in a radial direction of the magazine disk. The first and second arm members has tool gripping portions movable toward and away from each other for gripping and releasing the tool holder. A compression spring is provided between the pair of first and second arm members for normally urging the first and second arm members to their tool gripping positions.

Abstract: The present invention provides back-up power tongs for holding a tubular member against rotation of a connected tubular member. The back-up power tongs comprise a body with a front section for receiving the tubular member and a plurality of jaw members for engaging the tubular member. The jaw members are positioned to form a substantially closed perimeter around the tubular member and at least one of the jaw members is a pivotal jaw, moving in a pivotal path to engage the tubular member. An alternate embodiment provides two pivoting jaws and a locking mechanism attached to the end of the pivoting jaws such that the pivoting jaws can be securely interlocked. The improved back-up tongs should not require that the tong body to virtually enclose the pipe and thus will allow the improved back-up tongs to be considerably smaller. The smaller size of the tongs will allow more versatile use since the tongs can operate in areas with less clearance than prior art tongs.

Abstract: An end effector for a robot for material handling of a stack of carton blanks or other items is disclosed. The end effector includes a pair of movable abutment members which engage opposing side edges of the blanks to thereby lift, transfer or manipulate the carton blanks for transfer to another material handling operation or station. Even though the individual blanks may be flexible, the end effector according to this invention grasps the stack of blanks on opposing side edges thereof to lift the stack of blanks without the need for inverting or otherwise repositioning the stack as required by prior art end effectors. A tab or other feature on the blanks may be utilized by the abutment members when engaging the blanks in order to assist the lifting of the stack.

Abstract: There is disclosed a gripper having improved cone and point jaw inserts wherein a single part can be used for both types of insert, thereby doubling the life thereof. Also disclosed is a simple insert retainer which can mount and secure a plurality of inserts with a single fastener, and a one-piece mount for universally mounting a gripper to a support bar using a single fastener.

Abstract: The present invention provides a novel grapple type of device for removing bulky materials from containers such as rail cars. The invention conforms to the general shape of rail cars and is able to enclose the bulky material from all sides. Therefore a grapple is provided comprising a housing which has a side and an end, with the end being shorter in length than the side. The grapple also has an attachment device positioned on the housing for attaching a tension member to the housing. A plurality of tines are pivotally attached to the housing along the side and at least one fine is pivotally attached to the housing along the end. There are further a plurality of fine actuating devices, each of the actuating devices having a first end attached to the housing and a second end attached to one of the tines. Additionally, the grapple contains a fluid supply mechanism operatively attached to the tine actuating devices, the fluid supply mechanism being positioned on the grapple.

Abstract: A portable claw device includes a cylindrical housing having a pair of diametrically opposed vertical slots formed therein. A pair of gripping claws are coupled together by a cross bar with the cross bar slidably received within the pair of diametrically opposed vertical slots of the cylindrical housing. The cross bar has a vertical support bar extending upwardly from a central portion thereof.

Abstract: A robotic grasping manipulator includes a support base, a pair of fingers disposed on the base which extend forwardly a certain distance therefrom, and a two-degree of freedom elongate thumb. The thumb is pivotally attached at a proximal end to the base to extend generally forwardly therefrom, and terminates in a distal end tip which may be moved vertically and laterally with respect to the fingers to thereby enable holding objects between one or both fingers and the thumb. The fingers are moveable in a plane toward or away from each other, and include tip sections which are pivotable downwardly in a direction generally normal to the plane of movement of the fingers. A unique linkage apparatus intercouples the fingers with the base such that a non-pivotal, back-and-forth-moving piston rod can be used to move the fingers. The fingers contain gripping structure including rigid, pointed protuberances interleaved with flexible, blunt protuberances which are longer than the rigid protuberances.

Abstract: A wafer holder which grips a wafer by its edges is disclosed. The wafer holder is mounted on a spindle assembly which spins the wafer so held, for example, to spin dry both the front and back side of the wafer. The wafer holder includes two pairs of wafer holding bumpers, each pair coupled to one end of a reciprocating arm which swings each pair inward and outward to define an open position for releasing or loading a wafer, and a closed position for holding the wafer. Each arm is coupled to an insert and thrust bearing allowing for rotation to provide the reciprocating motion. After the insert and thrust bearing have toggled past a predefined position while the wafer holder is in the closed position, further motion is prevented, to lock the wafer holder in the closed position. Further, the insert member rotates back and forth in response to up and down movement of a rod within the spindle to allow for opening and closing of the wafer holder.

Abstract: A grapple comprising a grapple head to which is pivotally mounted left and right tongs. Two double acting hydraulic cylinders extend between the tong pivot points and the other tong. The piston side of the hydraulic cylinders are hydraulically coupled together by a closed center flow divider valve. A cross over relief valve assembly is mounted in parallel with the flow divider valve.

Abstract: The invention features a remote-controlled device for selectively positioning a medical instrument within a predetermined region of space. The remote-controlled device has a motor which provides mechanical energy to the remote-controlled device, a driver that is coupled to the motor and that has a predetermined relationship with the motor. The driver physically engages the medical instrument and converts the mechanical energy into controlled motion of the medical instrument. The remote-controlled device receives control signals from a remote location that direct the motor to supply a predetermined amount of mechanical energy, whereby the driver, with the predetermined relationship with the motor, selectively positions the medical instrument within the region of space.

Abstract: There is disclosed a gripper having improved cone and point jaw inserts wherein a single part can be used for both types of insert, thereby doubling the life thereof. Also disclosed is a simple insert retainer which can mount and secure a plurality of inserts with a single fastener, and a one-piece mount for universally mounting a gripper to a support bar using a single fastener.

Abstract: An improved clamp arm and bracket design for a hay handler and unroller apparatus which accommodates a wide range of varying lengths of hay bales is disclosed. The improved clamp arm includes an improved bracket design which is connected to a frame which in turn is connected to a tractor via a three point hitch. Each bracket can be mounted to the frame in one of two possible positions where the bracket is rotated 180.degree. from a first position where the bracket extends inwardly to obtain a second position where the brackets extend outwardly. These alternate positions enable the apparatus to provide for varying distances between said clamp arms by allowing for three possible arrangements of the brackets, namely, both brackets in the first position to accommodate shorter bales, both brackets in the second position to accommodate longer bales, and one bracket in the first position and the other bracket in the second position to accommodate bales of an intermediate length.

Abstract: An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.

Abstract: A micromanipulator comprises a pair of hand modules each of which includes a circular base plate with three connection points, an end-effector consisting of a circular moving plate and a finger attached to the moving plate, the moving plate being disposed above the base plate and having three connection points offset 60 degrees from those of the base plate, six metal links disposed between the base plate and the moving plate, six actuators provided on the six metal links for extending and contracting them, six first metal wire members connected between one end of the six metal links and the three connection points of the base plate so that two wire members are connected with each connection point of the base plate to be inclined in opposite directions, and six second metal wire members connected between the other end of the metal links and the three connection points of the moving plate so that two wire members are connected with each connection point of the moving plate to be inclined in opposite directions.

Abstract: This invention provides a hydraulically-actuated pipe clamp for sealing leaks in pipe lines located in remote or hazardous places. The pipe clamp consists of a split block having hinged jaws that may be clamped around a pipe by a hydraulic actuator. The jaws are then mechanically latched in place so that the clamp will remain closed after the hydraulic source has been disconnected.

Abstract: A finger module includes a first link module rotating around a first joint shaft; first through third drive modules respectively fixed to the first link module and each having an electric motor, reduction means and output means; a second link module driven and rotated by the second drive module; and a third link module driven and rotated by the third drive module. In a finger module structure of the above finger module, the first through third drive modules and the second link module are separately provided in the first link module, and the third link module is provided in the second link module. A robot hand includes at least two of the finger modules side by side.

Abstract: The grab bucket of the present invention comprises the grabbing claws provided for opening and closing around the main body suspended from a crane, the electromagnet provided movably upward and downward from the ordinary location just underneath the main body to the dredging position on the bed and the side claws provided movably upward and downward to prevent the scrap from overflowing so as to increase the amount of the scrap to be loaded and unloaded. The side claws prevent the side plates and bed surface from being damaged. In the case of dredging the scrap on the bed, only the electromagnet proceeds unloading, thus the bed is not damaged by the grabbing claws.

Abstract: Gripping apparatus for gripping articles or objects such as refuse bins including a support frame carrying a first pivotally mounted arcuate support arm carrying a flexible element and a second pivotally mounted arcuate support arm carrying a flexible element, the elements being secured to the frame. The arms may be actuated to move towards each other so that the flexible elements partially wrap around the article or object to grip same.

Abstract: A rotatable hydraulic grapple apparatus comprises a yoke assembly having attached to it a hydraulic motor and having within it a channel. A housing is rotatably connected to the yoke assembly and is capable of being rotated by movement of the hydraulic motor. The housing is centered along the longitudinal axis of the yoke assembly such that the longitudinal axes of both the yoke assembly and the housing are collinear. The channel in the yoke assembly communicates with a manifold in the housing. The housing has rigidly attached to it a plurality of chambers, each chamber containing an hydraulic actuator rigidly attached within the chamber. Attached to each hydraulic actuator is a grapple tine. A pressurized fluid supply provides fluid to the yoke assembly channel which communicates the fluid to the housing manifold. The fluid is then communicated from the manifold to each actuator for movement of the actuator which in turn moves the grapple tines.

Abstract: A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers.

Abstract: A robot finger structure includes a first joint member, a second joint member, a fluid pipe, and a third joint. The first joint member has a fluid path. The second joint member has a fluid path and is pivotally supported by the first joint member while the fluid path of the second joint member communicates with the fluid path of the first joint member, pivotal movement of the second joint member being stopped upon abutment with the first joint member. The fluid pipe supplies a fluid to the fluid path of the first joint member. The third joint member is pivotally supported by the second joint member, is pivoted upon reception of a pressure of the fluid supplied to the first and second joint members through the fluid paths, and is brought into contact with the second joint member.

Abstract: A tie exchanger assembly is mounted upon a truck and is used for removal and insertion of ties in a railroad roadbed. A boom is mounted to a rail clamp table which is vertically movable between an upper stored position and a lowered operable position. The boom is mounted to the center of the rail clamp support table and is rotatable 180.degree. about a vertical axis so that the boom may be used for manipulating ties on both sides of the vehicle. Rail clamps and rail engagement wheels are mounted to the underside of the rail clamp table. The boom is pivotable about a horizontal pivot axis. A tie clamp is mounted at a distal end of the boom. A self-aligning tie clamp may advantageously be used so as to clamp concrete ties or other ties with irregular or concave surfaces.

Abstract: An apparatus for lifting a cylindrical barrel includes a first arm having a lifting frame at one end and a chime gripping arch at the other end. A second arm is pivotally connected at one end thereof to the lifting frame and includes a second chime gripping arch at its other end. During operation, the chime gripping arches are placed on the barrel outer surface just under the barrel chime and by lifting the lifting frame, the two chime gripping arches are forced toward one another and against the barrel surface just under the chime. A locking arm is pivotally connected to the first arm and is selectively pivotable for engaging the second arm and creating a locking triangle. The locking arm effectively, selectively locks the first and second arms with respect to each other preventing radial movement thereof and preventing movement of the chime gripping arches away from the barrel.

Abstract: A tool comprising tongs with two pivoted arms and a release system. The two arms each bear, at their respective ends, pressure members. A drive motor causes the arms to pivot with respect to one another, either to close them and thus permit the pressure members to grip the part to be treated, or to open them and permit the release of the part with respect to the tongs after treatment. This tool in addition includes a release system which insures that the two pressure members are well separated from the part after actuation of the opening of the arms. The release system includes a coupling device adapted to actively control the opening and closing of the arms using a fraction of the power of the drive motor. Preferably, this coupling device is an electrically controlled clutch.

Abstract: A child's toy is a mechanical hand having at least articulated fingers, and perhaps an articulated thumb, associated with a palm section. A control compartment attached to and extending from the palm section includes fingertip controls which selectively move the articulated fingers. A clip-on special effects box, also operated by fingertip control, may be added to the mechanical hand in order to provide a weapon, sound effect, laser beam, or the like. In the embodiment described herein, the weapon is a set of four claws which may extend from or retract into the box.

Abstract: A wafer processing system includes an autoloader mounted within a load lock for providing batch, cassette-to-cassette automatic wafer transfer between the semiconductor processing chamber and cassette load and unload positions within the load lock. The system provides rapid, contamination-free loading and unloading of semiconductor wafers.

Abstract: Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement couples the motor directly to the drive shaft through a slip clutch for rapid digit positioning for light load or no load conditions on the digit, then alternatively through an oscillating sprag clutch arrangement for incrementing the drive shaft at a substantially different gear ratio for low speed, high force movement of the digit when substantial loads are encountered. High breakaway friction prevents back drive of the drive shaft without the need for braking apparatus. The motor also rotatably drives a turret in which the digit is mounted through a second slip clutch until a desired rotational position is reached.

Abstract: Tongs for the gripping of articles to be displaced and operable between an open relation in which an article to be displaced can be received and a collapsed relation in which a received article is seized between cooperative gripping members for displacement. Comprising the tongs is a pair of L-shaped lifting arms pivotally secured at their upper ends to a central lifting eye. Lower legs of the lifting arms extend parallel and spaced apart from each other and extend to opposite gripping members at their distal ends. The gripping members are biased toward a collapsed relation in which to grip a received article by a pair of oppositely connected springs in tension. Opposing collapse of the lifting arms and gripping members are a pair of trigger arms each laterally secured from an opposite lifting arm and both pivotally secured to an intervening arm-stop which also restricts displacement of the gripping members between the open and collapsed relation of the tongs.

Abstract: An articulated robot has a pincer-like attachment with a central part and two pivoting parts articulated to the central part, the attachment serving to connect the robot to a support beam in a fixed or slidable manner.

Abstract: A tool is provided for use in applying support stockings and other types of socks to an individual's feet and legs. The tool includes a tongue positioned between side rails which are connected to handles that can be manipulated to cause lateral movement of the side rails and stretching of the stocking. The tongue is moveable laterally when the side rails are pivoted inwardly to facilitate application of the stocking to the tool. The tongue includes an extension which is engaged by the handles to cause centering of the tongue between the side rails when they are pivoted laterally outward.

Abstract: A device for the grasping, moving and/or turning of articles having axial symmetry, preferably round and/or tubular articles, consisting of a drive unit and a plurality of gripper elements connected with it which are each arranged on a pivotally movable part the parts being movable together with the gripper elements either annularly in the same direction and simultaneously concentrically towards the center or in likewise manner towards the outside. In order to provide a device for the dependable grasping and moving of articles having axial symmetry, preferably round and/or tubular articles, which, upon central grasping, makes possible also the turning of the article grasped, the gripper element (18, 19, 20, 41) is fastened in the outer edge region of a planet wheel (11, 12, 13) of a planet gearing mechanism which has at least two planet wheels and one sun wheel (10) and that the planet wheels (11, 12, 13) and the sun wheel (10) and frame are arranged on a shaft (16) which is connected to the drive unit (6).

Abstract: An assembly for the controlled programmed handling of articles includes autoguided and robotized vehicles and a plurality of work stations and storage areas. There is a computer communication system between a host computer, the vehicles, and the work and storage areas. The vehicles have manipulator devices to move articles from the vehicle to the work stations and storage areas and vice versa. The work stations include a receiving area, a work area, and an output area with detector devices for detecting articles in each area and for communicating same to the computer. Each vehicle has a non-traction wheel and an encoder device communicating with the non-traction wheel for converting rotation of the non-traction wheel into distance travelled by the vehicle.

Abstract: A pair of elongate, segmented gripping members are carried by the lifting member of a refuse collection vehicle. Each of the gripping members includes an inner arm movably carried by the lifting member and an outer arm movably extending from the inner arm. The gripping members are movable between a retracted position in which the inner arms extend in generally opposite directions, fore and aft along the side of the vehicle, and an extended position in which the inner arms extend in generally the same direction laterally outward from the vehicle. Each outer arm is inwardly movable relative to the respective inner arm to draw a container into the embrace of the gripping members. A pair of elongate flexible members engage the container to supplement the grip of the gripping members.

Abstract: A pair of locking tongs for grasping items which includes two arms, each with a hinge end and a grasping end. A hinge pin is provided for pivotally connecting the two arms together at their hinge ends so that the arms can pivot between an open and closed position. A locking plate is provided for locking the arms in the closed position slidably disposed at the hinge ends of the arms. The locking plate is movable from a first unlocked position to a second locked position whereby the locking plate engages the hinged ends of the arms and prevents the arms from opening.

Abstract: A head unit for a semiconductor lead frame leader including a vertical operating portion, a clamping portion having two pairs of jaws for clamping the lead frame and with the clamping portion interlocking with the vertical operating portion, a fixing portion with a pair of jaws secured thereto, an adjusting portion with a pair of jaws secured thereto for adjusting the distance separating each pair of jaws in order to accommodate different sizes of lead frames and which interlocks with the adjusting portion upper plate is disclosed.

Abstract: A grab for a sugar can loader suspended from the boom of a tractor having an improved fastening system formed of two mechanical arms that automatically elevate the grab during its closing movement, so that the tips of the grab's tines trace a path parallel to and along the surface of the ground. This avoids ground penetration by the grab's tips, decreasing the pick up of soil and other undersirable materials with the can during its loading.

Abstract: The device comprises a gripper (15) whose arms (16, 17) hold at their free end an on-loading mechanism (18, 19) designed to engage a load (13) by gripping accessories (14). Two connecting rods (21, 22) constitute a deformable diamond with the upper part of the gripper (15). The lower ends of connecting rods (21, 22) are hinged to a shoulder (27) of a guide column (28) on which moves a slide (29) forming the head of the gripper (15). Two jacks (45, 46) control the opening and closing of the gripper (15). A connector arm (30) links the shoulder of column (28) to a turning grappling rope (10) and allows the center of gravity to be corrected by a jack (52). This gripping device is intended for use with raising devices such as turret slewing cranes.

Abstract: The present invention is a tool for installing a restrictor plate 14 in a shock strut cylinder 10. It includes a first tool member 12 having an elongated handle 24 with proximal 22 and distal 38 ends and a longitudinal axis. The distal end 38 includes a controllable attachment 25 for providing an axially-centered locking grasp on a restrictor plate 14. A first control 36 which is operable by a user from the proximal end 22 controls the attachment 25. The distal end 38 includes a pivoting head 40 for movement of the restrictor plate 14 between a first position which is in axial alignment with the handle 24 and a second position which is transverse to the axis of the handle 24. A second control 20 is operable by a user from the proximal end 22 to control the position of the pivot head 40. A second tool member 28 has a hollow elongated handle 32 with proximal 114 and distal 116 ends and is sized to axially telescope over the elongated handle 24 of the first tool member 12.

Abstract: A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers.

Abstract: There is disclosed a lifting device particularly suited for lifting plastic drums or barrels while maintaining the same vertically upright and transporting the same to another location. The lifting device is unique in that it employs a locking bar which is capable of locking the device in both the open position preparatory for securing the barrel, and the grasping/lifting position. It maintains either of these locked positions regardless of whether an upward force is exerted upon the pair of pivotal tongs. Unlike other pivoted lifting devices or tongs, the present invention uses a minimal amount of friction force to lift a barrel, such that the fragile resilient sides of a plastic barrel are not damaged.