Abstract: A container handling apparatus for refuse containers of various sizes includes a frame mounted on an elevating and dumping mechanism disposed on a refuse collection vehicle. The apparatus includes opposed primary container engaging arms pivotally secured to the frame and secondary container engaging arms pivotally secured to the frame inboard of the pivot points of the primary arms. Hydraulic cylinder actuators are operable to move the primary arms from a retracted position substantially within the normal clearance width profile of the vehicle to a position for engaging and gathering the container to be grasped between the primary and secondary arms. The configuration of the primary and secondary arms provides for grasping containers of various diameters and for tolerating misalignment of the apparatus with respect to a container during driveby pickup operations.

Abstract: A tool for extracting a microelectronic chip carrier from a receptacle to which it is connected. It includes left and right arms, each having coextensive members in the form of a substantially rigid tong and a flexible leg. Both arms are pivotally mounted at a common axis for relative movement. A distant end of each tong terminates at a chip carrier engaging hook and is slidably received in a channel formed in a tong support at a far end of the leg. Each leg has a bearing surface at its extreme end and a hinge member intermediate its ends and is bowed outwardly of its associated tong. With the bearing surface engaged on the receptacle, the arms are opened sufficiently wide that the hooks which are extended from the bearing surface when the tool assumes its relaxed condition, straddle the chip carrier.

Abstract: A power operated gripper in which both the gripping and releasing movements of the gripping elements are made under power. The gripper comprises a thrust member which is extended and retracted in a linear motion by the power means, gripper arms which swing in an arc to grip and release a workpiece, a cam and roller structure to convert the linear motion of the thrust member to arcuate movement of the gripper arms and adjusting screws which engage the walls of a V-shaped groove in the thrust member to control the extent of its movement in each direction. The parts are constructed and arranged to permit adjustment of the gripper while it is operating so that precise control of the gripping and releasing motion of the gripper arms may be attained under actual operating conditions.

Abstract: A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.

Abstract: A device for gripping, lifting and releasing a member, such as a package or individual article, used in automatic handling apparatus where two gripping arms are pivotally mounted so that they can be pivoted into and out of gripping relation with a member. The device can grip the member and place it carefully on a surface where it is surrounded laterally by similar members. In the placing operation the member gripped and the laterally surrounding members are not deformed. The gripping arms are pivoted at one end and grip the member at the other. The pivoted ends of the gripping arms can be moved away from or toward one another while being pivoted for effecting gripping or releasing of the member.

Abstract: A robot hand for stacking boxes in which lower ends of a pair of forks opposed to each other to support flanges at upper ends of a box are set at a predetermined level difference in a vertical direction.

Abstract: The invention relates to a device for gripping electronic parts, particularly IC's with a pincer grip of which the gripping jaws are moveable towards and away from one another. Its object is to design the device so that the dimensions of the pincer grip can be adapted at will to those of the part to be gripped, without the need for exchanging the grip. This is achieved by dividing the pincer grip into a plurality of pincer sections arranged in a row, at least one of the sections being moveable in a first guide between a retracted stand-by position and an advanced operating position.

Abstract: A gripper assembly for incorporation in a programmable machine comprises a gripper having a peripheral portion defining a plurality of different shaped object-receiving recesses therein, a member for supporting the gripper, an arrangement for securing the gripper to the supporting member for rotation relative thereto, and apparatus responsive to an electrical signal for rotating the gripper relative to the supporting member. A programmable machine incorporating two such gripper assemblies is also disclosed.

Abstract: A lead clamping apparatus clamps and mounts to an electronic circuit board an electronic element having a plurality of leads which are arranged in two rows and are oriented in the same direction. The apparatus includes a plurality of pairs of clamping members arranged in the same direction as the two rows of leads, a support slidable in a direction perpendicular to the direction of pivotal movement of the clamping members to abut against a desired number of the clamping members, whereby allowing the same to perform a clamping action, a drive source for slidingly driving the support, a piston for opening and closing the clamping members through the support, and a pusher slidable in the same direction as the support and for biasing the electronic element to insert the same into the circuit board. Accordingly, it is possible to selectively use the clamping members, of which number corresponds with that of the leads of the electronic element.

Abstract: A gripper for fitting to a robot and adapted to grip circular work pieces or work pieces comprising a circular bore, comprising a support, articulated parallelograms which are disposed in planes converging towards an axis X--X and a first arm of which is mobile with respect to said support, parallel to said axis X--X, the opposite arm being mobile in a direction perpendicular to said axis but fixed in the direction of this latter, and having a clamping finger, and means carried by said support for moving the first arms of said parallelograms having said clamping fingers are provided with at least two rollers disposed on each side of said support, in contact with tracks provided thereon.

Abstract: A gripper having at least two gripper arms (1, 3) which are arranged mirror-symmetrically around a center line (5) and a first end (7, 9) of which follows approximately a straight line (19) which is perpendicular to the center line (5), while the second end (21, 23) is displaceable along a circular track (33, 35). A gripper arm (1, 3) is supported between the first end (7, 9) and the second end (21, 23) in a rotatable sliding guide (41, 43) occupying a fixed position with respect to the center (29, 31) of the respective circular track (33, 35). The dimensions of the gripper mechanism described are such that a minimum tolerance of the position of the first ends (7, 9) parallel to the center line (5) is obtained. The gripper requires a considerably reduced calculation capability from the processor to be used for positioning the gripper arms (1, 3).

Abstract: A robot arm includes an outer casing and three rotating members of different diameters coaxially disposed in the outer casing for relative rotation and rockably supporting the proximal end portions of three fingers. These fingers are rocked against the rotating members in a plane including a central axis of the outer casing and rotated to change the relative angles between the fingers by selectively rotating the members around the central axis of the outer casing to prescribed positions.

Abstract: A coil removal apparatus for a dynamoelectric generator. This apparatus directs a radial pulling force on the legs of a coil to be removed from stator core slots during rewinding operations. The apparatus includes a frame including a frame member of predetermined length. A pair of gripper members are provided with grippers jaws to grasp each leg of a coil to be removed. The gripper members are connected to the frame member. The frame member is connected to a pulling mechanism that applies a horizontal force to the frame member to pull the coil out of the slots without binding in the slots.

Abstract: Gripping apparatus includes a supporting body having a pair of spaced generally parallel jaws independently mounted thereon for movement toward and away from each other. An actuating device is reciprocably mounted in the supporting body and between the jaws and is operably connected to the end portions of the jaws to move them toward and away from each other upon reciprocal movement of the actuating device. The body is in the form of a cylinder and a fluid operated, doubleacting piston is reciprocably received therein and connected to the actuating device for the reciprocation thereof. The jaws extend longitudinally of the cylinder on diametrically opposite sides thereof and the actuating device extends axially of the piston.

Abstract: A gripper assembly for a robotic arm includes two opposing elements displaced by means of a worm gear arrangement for grasping an object positioned therebetween. The worm gear is driven by a rotary drive motor with a torsion spring coupling the drive motor shaft to the worm. First and second shaft encoders are respectively mounted to the drive motor shaft and the worm shaft. First and second pairs of optical sensors respectively coupled to the first and second shaft encoders detect the angular speed and displacement of the drive motor shaft and the worm. With the torsion constant of the spring known, the force applied by the gripper assembly which is proportional to the angular displacement of the worm may be accurately determined and controlled. In addition, the size of the object grasped by the gripper assembly may be determined. By comparing these operating parameters with selected values, the gripper assembly may be precisely controlled such as by means of a microcomputer.

Abstract: A container chassis handling attachment for a lift truck having a lift carriage includes a frame for attachment to the lift carriage. It also includes a pair of upper and lower laterally-spaced forks independently mounted to the frame by separate four-bar linkages and movable by separate hydraulic cylinders. A clamp-positioning means cooperates with the forks to rotate the forks and any chassis gripped thereby through 180.degree.. The attachment is used to store a chassis by clamping from one side opposing top and bottom surfaces of the chassis, lifting the chassis, rotating the chassis about 90.degree. to a substantially upright position, and depositing the chassis in such position against a support. Alternatively, the chassis may be rotated 180.degree. to an upside-down position and deposited onto an underlying right-side-up chassis, eventually to form a stack of alternating right-side-up, upside-down chassis.

Abstract: In a gripper device including a power frame of a motor 10, shaft 12, sun gear 14, planetary gear 16, gripper assembly shaft 18, gripper lever 20, gripper finger 22, a clutch 24 is interposed in the power train to each gripper finger and is controlled to provide a low force coupling transmittal when the fingers are moved in a position to contact the object 26 to be gripped, and after all fingers have contacted the object, the clutch provides for the transmittal of a relatively higher force adequate to permit handling the object without slipping.

Abstract: In combination with an actuating unit including a cylinder, a head and a reciprocal piston rod and a gripper head having a body terminating in a mount flange, a pivotal gripper assembly and a reciprocal rod end in the body connected to the gripper assembly. A quick disconnect device comprises an apertured protrusion block mounted upon the cylinder head including a pair of opposed undercut assembly slots. An apertured quick disconnect body of U-shape is secured upon the mount flange and upon its interior has a pair of opposed stop ledges. The disconnect body is projected into the assembly slots with the protrusion block nested upon the stop ledges. The actuating unit and gripper head are aligned with the piston rod axially connected to the rod end. A detent pin is removably projected through corresponding aligned transverse bores in the disconnect body and protrusion block.

Abstract: A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece. The hand apparatus comprises a main frame which is mounted to a wrist member through a plurality of damper couplings. Pivotally mounted to the main frame are a pair of four-point-articulated link arms each having two arms extending parallel to each other. A sub-frame having a finger mounted thereon for pivotal movement in every direction is pivotally mounted to the leading end of the respective link arms. A pair of hydraulic cylinders are provided for moving the link arms in a gripping operation.

Abstract: Apparatus for cleaning each threaded marginal end portion of large pipe. The apparatus has a cleaning head assembly which includes a rotatable member having circumferentially spaced cleaning brushes adjustably mounted thereon so that the cleaning brushes can engage and clean the opposed pipe surface at the opposed marginal terminal ends of a joint of pipe. Spaced plate-like members are axially arranged along a common shaft, and the opposed faces of the plate members have the cleaning brushes adjustably mounted thereto and arranged so that the common shaft can be rotated in a horizontal plane, thereby bringing the brushes of one of the plate members into cleaning engagement respective to the pipe threads, and thereafter the assembly is rotated 180.degree.0 in a horizontal plane, thereby bringing the other set of brushes into cleaning relationship respective to the opposed pipe end.

Abstract: A gripper assembly for use on robotic type devices for performing repetitive operations on machine parts that require pick-up and/or transport of such parts. The gripper assembly comprises a housing having a fluid actuated piston and a connected cam operating on a pair of slide bars to effect laterally displacement thereof so that fingers connected to the opposed ends of the slide bars close onto or grip a part to be grasped thereby. A sensor and target therefore is provided to sense the presence of absence of a part between the fingers.

Abstract: A hand-held and hand-operated gripping device for extracting live rockets from rocket launch tubes is disclosed. The device has the ability to engage and grip an extraction bar extending across the exhaust end of a rocket motor and extract the rocket from the launch tube by a straight pulling action along the axis of the rocket. Jaws of the rocket extracting device are pivotally held on a frame member and are resiliently biased open. The jaws are closed by movement of a separate elongated finger grip bar toward a parallel bar of the frame member while the finger grip bar is in engagement with convergent cam faces of the pivoted jaws. The finger grip bar is captively held in free-floating relationship to the jaws and frame member.

Abstract: A robot hand comprises first and second parallel main shafts fixed to a pair of parallel support plates. First and second finger member-driving mechanisms are respectively provided on the first and second main shafts to face each other. The finger member-driving mechanism includes first and second bevel gears separately set and rotatably supported on the main shaft, an auxiliary shaft rotatably supported on the main shaft, and a third bevel gear supported on the auxiliary shaft to be rotated about an axis perpendicularly intersecting the main shaft and meshed with both first and second bevel gears. Finger members are fixed to the third bevel gears, so that the finger members may be rotated around the main shaft and auxiliary shaft by rotating the first and second bevel gears.

Abstract: An apparatus for automatically mounting an electronic circuit element on a printed circuit board which is capable of dealing with an electronic circuit element having two lead wires of the large interval, that having two lead wires of the small interval, and that having three lead wires. The apparatus includes a mechanism for holding and transferring an electronic circuit element to a printed circuit board which comprises a fixed pawl formed with a central recess and a pair of side steps, and a pair of movable pawls openable with respect to the fixed pawl wherein the movable pawls are adapted to be in cooperation with the fixed pawl to securely interpose lead wires of an electronic circuit element positioned in the central recess and one of the side steps between one of the movable pawls and the fixed pawl.

Abstract: A curb lifting device including a frame adapted to be positioned over the top of a curb. The frame includes a fixed jaw as well as a movable jaw, the movable jaw being supported at the bottom of a pivotally mounted support. The first and second supports are provided with lever pairs which are upwardly pivotably movable at a center connection by means of a longitudinally extending shaft to which actuation means normally in the form of an upwardly movable cable is attached. The frame is initially positioned in its open position over the curb and thereafter upward force exerted upon the lever pairs centrally thereof so as to force the second support and its jaw into grasping contact with the opposite side of the curb.

Abstract: A robot gripper for grasping objects. The gripper has a pair of fingers slidably mounted on a hand so the fingers may be moved in opposite directions along parallel axes. Each finger has a rack attached, and each rack is, in turn, drivingly engaged by a pinion. The pinions are rotatably mounted in the hand, and each has a link pivotally connected to the outer perimeter of the pinion. The other ends of the links are attached together and to the piston rod of a fluid cylinder. As the piston rod is moved, the links rotate the pinions in opposite directions, driving the racks and fingers together or apart, to selectively grasp or release objects.

Abstract: An industrial robot hand having swing fingers (18a and 18b) for gripping a work pivotally mounted on a hand base member (10) which is attached to the free end of a wrist unit, said swing fingers being members formed of a sheet metal through a pressing process in a U-shaped cross-section, and said swing fingers having a U-shaped cross-section and a hydraulic actuator (24) linked together with chain pin links (32a and 32b).

Abstract: A compact low-cost drive for a robotic gripper system is disclosed having a rotationally driven shaft connected to an energy source for transmitting energy provided by the energy source to the gripper. An epicyclic gear arrangement is coupled to the shaft to convert the rotational motion of the shaft into a linear motion. At least one of the pins connected to the gears is linearly translateable in two directions under the control of the energy source. Fingers are recessed in the pins to facilitate gripping and releasing objects to be handled by the gripper system. A feedback means coupled between the energy source and the fingers can also be used to sense and control the position of the fingers.

Abstract: An electrical disconnect tool (10) for insulatably gripping and removing a high voltage terminator (41) from a connector (43) is disclosed. The terminator (41) has a removal hook (40). The tool (10) includes an elongate tube (14) having first and second ends. A working head (13) is cooperatively connected to the second of the elongate tube. The working head (13) includes a plurality of opposed jaw members (23a) through (23c) for gripping the terminator (41). Means for moving the working head (13) between opened and closed positions is provided. A ratchet assembly (12) is axially spaced from and cooperatively connected to the tube (14). The ratchet assembly (12) includes a ratchet rod (31) with first and second ends. The second end being axially spaced from the working head (13) whereby operation of the ratchet assembly (12) causes the working head (13) to be moved away from the second end of the ratchet rod (31). Also provided is means for engaging the removal hook (40) of the terminator (41).

Abstract: A roll clamp for handling of rolls or other loads carried by a lift truck. The clamp includes a rotator having a rear base plate for being mounted upon the lift mast of the truck, permitting it to be raised or lowered to a vertical position. A frame is gimballed to the rotator front plate. Extending forwardly from the clamp assembly is a pair of clamp arms which are swingably disposed, or pivot relative to the frame for closing and opening by movement toward and away from each other. The rotator rotates the frame relative to the mast about a clamp rotation axis. Hydraulic cylinders selectively open and close the arms, which have clamp pads at their distal ends for engaging the load surfaces. The rotator base plate carries a swash ring defining a plane skewed relative to the axis of clamp rotation.

Abstract: A gripper device having a body formed with a piston chamber in which a piston is reciprocally mounted. Connected to the body are a pair of spaced fingers. A cross bar is connected to the piston and oppose toggle links interconnect the ends of the cross bar to the adjacent fingers so that actuation of the piston effects the operation of the fingers between an open and closed position. A first sensor device is disposed between the fingers to measure the lateral distance therebetween, and a second sensor is disposed between the body and a movable cap supported thereon to measure longitudinal displacement between the cap and associated body.

Abstract: In a resistance welding apparatus of a detachable grip type an improvement consists in that each pipe grip has a bracket (16) whereon two double-arm levers (18), one per side member (3), are pivoted. Similar arms of each lever (18) are interconnected by an extension spring (19), while the other arms are operatively associated with swinging jaws (14) adapted to abut against the pipe surface in their operating position. Each side member (3) is provided with a stop (21) for limiting the movement of the levers (18) relative the corresponding side member (3) in the direction of the action of the extension spring (19).

Abstract: A special purpose grab adapted specifically for on-site employment in clamping and up-ending relatively narrow width reels of coiled strip material for the turning thereof from either an axis vertical-to-horizontal configuration, or visa versa.

Abstract: A rotatable lever and an initially transversely disposed adjustable linkage echanism for attachment in predetermined relation to at least one movable work-performing arm and operable such that upon rotation of the lever and linkage mechanism responsive to pivotal rotary movement of the lever portion thru a designated travel arc of at least approximately 90.degree., the movable arm moves much more rapidly during the first approximate one-half to three-quarters of its designated travel arc, and thereafter continues to move progressively slower in a firm positive manner thru the remainder of the travel arc, while moving from its transverse relationship to a generally parallel or linearly aligned relationship. This simplified mechanism is non-servo in character and relatively low cost compared to servo devices embodying continuous sensing and feedback circuitry. Among various uses are easy association with various known industrial type robot devices embodying programmed control of articulated mechanical arms.

Abstract: A base frame supports pairs of parallel compressing arms having a pivoted depending support on an upper extension. These arms are operated between open and bale forming positions by fluid operated cylinders. An article holding cartridge has upstanding ribs arranged to confine articles therebetween for baling. The ribs are spaced such that upon moving the loaded cartridge into place on a cross conveyor, the compressing arms thread through the ribs and compress the articles. The upper extension has powered lifting and lowering means for operation of the compressing arms in a baling sequence and also to open the arms rearwardly for ejecting the bale. Upper straps are associated with the compressing arms to compress the top portion of the bale, and banding mechanism is supported on the frame for applying bands around the bale. The base frame is supported on a wheeled chassis and has longitudinal adjustment on the chassis for positioning between a rear baling position and a forward road traveling position.

Abstract: Mechanically operated tongs for gripping round objects comprise a pair of uniformly swivelable tong arms the forward ends of which have gripping surfaces adapted to engage the round objects. The gripping surfaces of each tong are comprised by two surfaces disposed at an obtuse angle to each other. The surface farthest from the pivot point of the tong is concave and the surface closest to the pivot point of the tong is convex, with such a configuration that the distance from a line interconnecting the contact points of the two concave surfaces to the center of the round object is substantially equal to the distance from the center of the object to a line interconnecting the contact points of the two convex surfaces, over a wide range of different diameters of round objects. The convex and concave surfaces can be smoothly curved or else comprised of a plurality of short linear portions.

Abstract: Fireplace tongs comprising a pair of levers connected to one another between their respective ends by means of a first pivot in the manner of scissors, this first pivot defining on one side thereof operating arms and on the other side thereof extensions of the operating arms. One of the extensions constitutes a first jaw for the tongs while a second jaw, similar to the first jaw, is pivotally mounted at one of its ends to the end of the other extension away from the first pivot. A connecting link is provided of which the ends are pivotally mounted on the jaws respectively on one side and on the other side of the first and of the second pivot and adjacent thereto, whereby closing in of the arms causes tightening of the jaws and, alternatively, spreading apart of the operating arms causes loosening of the jaws.

Abstract: A container handling apparatus adapted to be supported on a rear loading refuse truck and for gripping a container and for causing the container to be dumped into the refuse truck. The apparatus includes a pair of clamping arms supported for movement between a first position spaced from opposite sides of the container and a clamping position where they clampingly engage the container. Apparatus is also provided for causing such movement of the clamping arms, that apparatus including a fluid cylinder including an extendable piston, the clamping arms being moved from the first position to the clamping position when the extendable piston moves from the retracted position to an intermediate position, and the clamping arms moved from the container gripping position to the dumping position as the piston moves to an extended position.

Abstract: An apparatus is provided for use on a refuse truck and for gripping a container and for causing the container to be dumped into the refuse truck. A pair of grabber arms are supported on a pivotable lifting arm, the grabber arms being adapted to surround a container for gripping the container. One of the grabber arms is pivotally joined to the lifting arm such that it is pivotable about a first axis from a container clamping position wherein the arm extends generally horizontally from the lifting arm, to a position wherein the grabber arm releases the container, and to a position wherein the grabber arm is in a retracted generally vertical position. The second grabber arm is similarly pivotable about a single axis from a generally horizontal clamping position to a generally vertical retracted position. The grabber arms are pivotable about their respective axes between the container gripping positions and the generally vertical positions in continuous uninterrupted motions.

Abstract: The gripping apparatus described comprises a four-bar linkage arrangement for so controlling movement of the two pairs of parallel beams and fingers operatively connected thereto as to cause the gripping surfaces of the fingers to concurrently move in rectilinearly aligned paths and remain parallel throughout their excursion during gripping and releasing of an article and apply a constant gripping force to the article irrespective of the extent to which the fingers are moved toward each other into gripping contact. The beams are pivotally connected directly at their one ends, and also intermediate their ends via links, to a fixed member; and the beams at their opposite ends have a pin-in-slot connection with the fixed member. When force is applied to the links to operatively cause the fingers to grip the article, the links will rock and the arc described by each beam will be accurately cancelled by the arc generated by each link.

Abstract: A drill pipe carousel is pivotal within a drilling mast between retracted and operating positions. The carousel contains a plurality of drill pipe receptacles for holding sections of drill pipe. Each of these drill pipe receptacles includes an upper and lower set of clamps that selectively clamp around a section of drill pipe within the receptacle to retain it in place, and open to release the pipe section. In the carousel operating position, a section of drill pipe is in alignment with the drill hole and a rotary head mounted on the drilling mast for linear movement along the mast. The rotary head attaches to this drill pipe section and rotates it to drill into the drill hole as the rotary head moves along the mast.

Abstract: A grip attachment to an implement arm of construction or industrial equipment via a swivel coupling comprises three interdigitating, articulate fingers, two pivotable about a first axis and the other pivotable about a second axis parallel to the first. Each finger consists of a first segment pivotable about the first or second axis and a second segment pin-jointed to the first segment. Hydraulic cylinders are employed to cause pivotal motion of the fingers about the first and second axes, and of their second segments relative to the first segments. An additional hydraulic cylinder acts to cause pivotal displacement of the second axis about the first axis, so that the finger pivotable about the second axis can be extended and contracted with respect to the other two fingers.

Abstract: An electronic parts mounting apparatus using a band carrier for feeding electronic parts incrementally, the carrier being a strip having many recesses disposed at equal intervals each holding an electronic part and a tape covering the recesses. The apparatus has a support for horizontally supporting the carrier with the coating tape on the top side; a separator for separating the tape from the carrier; and a pickup device for picking up the electronic parts one by one from the recesses in the carrier and by carrying the electronic parts and placing them in position on a circuit board for continuously and stably mounting the electronic parts on the circuit board.

Abstract: A lift truck rotatable paper roll handling clamp of the pivoted arm type for clamping paper rolls of varying diameters and shifting the position of the roll relative to the lift truck between a position of unequal extension, wherein the forward end of one clamp arm extends a greater distance forwardly than the forward end of the other clamp arm, and a position of equal extension wherein the forward ends of the clamp arms extend a substantially equal distance forwardly of the lift truck. The clamp has a rotatable frame upon which a subframe is mounted by a first pivotal connection for selective tilting of the subframe relative to the rotatable frame. Mounted upon the subframe are a pair of clamp arms, each being pivotally connected to the subframe at spaced pivotal connections located on either side of the first pivotal connection. One clamp arm is longer than the other, and pivots with respect to the subframe through a greater maximum angle than does the other arm.

Abstract: A lift truck load clamp, for handling cylindrical loads such as paper rolls, having an automatically adjustable load positioner extending between the clamp arms which moves forwardly in response to closure of the clamp arms and rearwardly in response to opening thereof to assist the lift truck operator in positioning the clamp arms with respect to rolls of different diameters such that the contact pads of the clamp arms automatically grip such differently-sized rolls in diametrically-opposed relation. The load positioner is particularly adapted for use with clamps wherein both clamp arms are movable with respect to a clamp frame, because each end of the positioner is separately movable forwardly or rearwardly with respect to the frame in response to movement of the respective adjacent clamp arm.

Abstract: An upper head connector for support from a crane boom is provided and has a depending head journaled therefrom for reversible continuous rotation relative thereto about an upstanding axis. A rotator (motor) is supported from the head connector and includes an upper portion supported from the head connector and a lower rotatable portion supported from the upper portion for reversible continuous rotation relative thereto about an axis at least substantially coinciding with the first mentioned axis. Connecting structure is provided establishing a driving connection between the lower portion of the rotator and a lower level portion of the head for rotary drive of the latter by the rotator independent of support of any appreciable downward loading of the weight of the head or a load supported therefrom on the rotator lower portion.

Abstract: A workpiece gripping mechanism for an industrial robot is described. A support member having a first jaw member mounted on it for pivotal movement about a first axis is provided. The support assembly and the first jaw assembly define a first rotary fluid-actuated motor operable to pivotally displace a jaw member in the first jaw assembly relative to the support member about the first axis. A second jaw assembly is also mounted on the support member for pivotal movement about the first axis. The support member and the second jaw assembly define a second rotary fluid-actuated motor operable to pivotally displace a jaw member in the second jaw assembly relative to the support member about the first axis whereby the first and second fluid-actuated motors may be operated independently to pivotally displace the jaw members relative to each other for gripping and releasing a workpiece and to displace the jaw members relative to the support member.

Abstract: This invention relates to an attachment for the dipper stick of a backhoe and more particularly relates to a grapple rake for mounting on the end of the dipper stick.

Abstract: A grasping arm subassembly article has an inner arm pivoted to a frame with an outer arm pivoted between its ends to the inner arm. The outer arm is pivotally moved graspingly in response to pivotal movement of the inner arm by a linkage mechanism including serially pivoted first, middle, and second links. The second link is pivoted to the outer arm and the first link is pivoted to the frame. Advantageously, the middle link is pivoted to the inner arm at a point between its own ends and between the ends of the inner arm. A hydraulic cylinder is pivoted to the frame and to the arm subassembly for powering the arm.A grasping device suitably uses two or more such arm subassemblies movable inwardly and outwardly about the frame. In a specific example of a refuse container collection function, the grasping is done by a collection vehicle. The device for grasping the containers comprises a telescopically extensible boom assembly adapted to be mounted to the chassis frame of the vehicle.

Abstract: Apparatus for picking up a flat workpiece from a flat surface by an industrial robot where vacuum and magnetic devices are not practicable. A tined end-effector is plunged into a unique compliant surface formed of upstanding bristle-like elements with the workpiece being positioned thereon. The end-effector is moved under the workpiece which is then rigidly grasped and lifted off the surface without disturbing the original orientation and presented at the goal site.