Abstract: An improved log grapple having a pair of grapple arms each supported on a head by a drive link or lever and a driven link. The levers are pivotally supported between their ends on a common central pivot on said head and the driven links are each pivotally supported on said head outboard of the common lever pivot. Each link and lever then cross to define an X-linkage with the lower ends pivotally connected to the upper end of one grapple arm, with the driven link connections inboard of the lever connections. A drive means then rotates the upper free ends of the levers to relatively close the grapple arms, then lifting the arm ends to securely embrace logs received therebetween.

Abstract: A self-energizing cargo tie-down gripping anchor assembly is disclosed for anchoring a tie-down guy to a conventional track having a plurality of spaced apart openings in the rail portion thereof. The anchor assembly includes center body apparatus having a transversely extending pin received by one of the openings in the track. The anchor assembly also includes a pair of gripping members which are pivotally mounted to the center body apparatus and which underline the rail portion of the track to grip the rail both laterally and vertically with serrated edges. Each gripping assembly includes a hook member which extends above the corresponding gripping assembly and towards the opposite gripping assembly such that the pair of hook members define a guy-receiving opening therebetween. The hook members are purposely configured such that a vertical force component acting on a guy is shared by both hook members and is transmitted to the serrated gripping edges of the gripping assemblies.

Abstract: A device for manipulating a hot blank relative to a forging tool in a drop hammer comprises a plurality of gripping jaws carried by a unit connected to a rotatable tongs arm, said jaws being pivotably mounted for selective movement through a limited arc toward and away from one another, and each of said jaws including a gripping claw adapted to be longitudinally displaced relative to its associated jaw. Movement of the tongs arm and associated movement of the gripping jaws and their respective gripping claws is employed to selectively position the several claws within cup-shaped recesses formed in the forging tool at positions underlying the flash of a hot blank in the tool. The unit further includes counter-holders which are positioned to overlie the forging tool in spaced relation to said flash whereby the simultaneous coaction between the gripping claws and blank and between the counter-holders and forging tool operate to break a forged blank loose from said tool.

Abstract: A grappling apparatus for gripping full length trees is disclosed herein. The grappling apparatus includes upper and lower frames that are rotated relative to each other and the lower head has transversely spaced fixed grapple heels located on opposite sides of the pivot axis between the frames. The lower frame has a pair of grapple arms pivoted thereon and the arms are interconnected by a link so that a single fluid ram can be used to pivot the arms between open and closed positions.

Abstract: A rotational grapple adapted for attachment to the boom of a construction machine possesses both lifting and downward pressure capabilities through a unique thrust bearing arrangement. A rotational sleeve component capable of carrying grapple jaws or a lifting magnet is swiveled to a relatively stationary shaft structure which is suspended from a crane boom or the like through a universal pivot. A drive flange on the rotational sleeve component is engaged frictionally by a hydraulically powered motor wheel which is suspended floatingly on the non-rotatable shaft structure and urged into engagement with said drive flange by adjustable tension spring means. Grapple jaw operating cylinders on the rotational component are included in hydraulic circuits through the sleeve component and within said relatively stationary shaft structure.

Abstract: An automatic tool changer mechanism for a machine tool in which the tool is supported in an adapter having a tapered spindle-engaging end and an opposite tool-engaging end, and provided with a generally annular-shaped flange, intermediate its ends, having a generally V-shaped groove in the circumferential face thereof, a plurality of adapters being disposed in a magazine from which they may be selectively withdrawn and transported by means of a suitable transport mechanism to the spindle of the tool machine for use thereat, in which the adapter is supported, both in the magazine and during transport by means of cooperable jaws associated respectively with the transfer mechanism and the magazine, with such jaws being adapted to engage and support the adapter at such flange.

Abstract: An attachment for construction or excavation equipment of the type having means to raise and lower the attachment and to position the attachment at a predetermined and preselected site. The attachment comprises a mounting plate with connectors for connecting the mounting plate to the construction equipment. A turntable depends from the mounting plate and is rotatably connected thereto. A first hydrualic actuator is connected intermediate the mounting plate and the turntable for effecting angular displacement or rotation of the turntable with respect to the mounting plate. A beam is pivotably connected to and depends from the turntable and a second hydraulic actuator interconnects the beam to the turntable for effecting predetermined movement of the beam.

Abstract: A screw is blown through a flexible tube and into the jaws of a transfer mechanism which is associated with a hand-held screw driving gun. Thereafter, the jaws are advanced to deliver the screw into telescoping relation with a retractible tubular finder which surrounds the driving bit of the gun, the jaws holding the screw during initial driving of the screw and then returning to receive another screw from the tube.

Abstract: The carriage of the skidder is equipped with an elongated boom and a haulback cable, and there are power driven means on the boom for paying out the attachment end of the cable to the site of the logs, and power driven means on the carriage for hauling in the cable after it has been attached to the logs. There are also means on the boom whereby an operator can use the boom to attach the cable to the logs, and/or to transport himself to and from the site of the logs, so that in the alternative, he may attach the cable to the logs. If the boom is used to attach the cable, the pay out means is adapted so that the operator can detach the boom from the cable, and actuate the haul-in operation, from a point adjacent the haul-in means, such as from a point on the carriage.

Abstract: Improved bits for ingot tongs, an improved tong-and-bit combination, and an improved method of handling ingots. The bits are formed of a durable metal, such as a nickel alloy or a cobalt alloy, and are rotatably fastened in the tong arms. Protrusions from the outside faces of the tong arms are avoided to prevent damage to parts struck by the tongs. The distance by which the points on the bits protrude from the inside faces of the tong arms can be adjusted for different sizes of ingots. The method includes a step of rotating the bits through a small arc each time an ingot is set down, whereby a fresh area is presented upwardly after each use and wear on the bit point is distributed around the circumference.

Abstract: A grapple unit of a type suited for arrangement upon a movable arch of a log skidding vehicle, the grapple unit including a structural plate assembly providing enclosed support for a pair of grapple arms and a hydraulic jack, the grapple arms preferably being operable by a single hydraulic jack through an interconnecting link with the grapple arms closing towards a gripping surface on the structural plate assembly in order to secure logs and the like of varying sizes.

Abstract: A recovery tool is designed to be actuated by the manipulator of an under vehicle. The undersea vehicle approaches an object to be recovered and its manipulator arm grips a pair of spring biased actuators. Linkage or lever arms extend from each of the actuators to off-center portions of a pair of pivotally mounted tongs. Squeezing the actuators together separates the tongs and they are placed about the object. When the pressures are released, the actuators force the tongs to grasp the object. A hoisting cable, coupled in a centrally in-lined position with respect to the tongs, hauls the object upward which causes the tongs to grip the object more securely.

Abstract: In a finger mechanism of an industrial robot of the type comprising a plurality of fingers for clamping an article to be manipulated and mounting bars for connecting the fingers to a source of drive, cushion mechanisms are interposed between respective fingers and mounting bars so as to prevent the forces applied to the fingers from transmitting directly to the drive source.

Abstract: An improved material grasping apparatus such as a grapple especially adapted for grasping and moving irregularly shaped, fragile material such as refuse packed in plastic bags or the like. The grapple includes a pair of jaws pivotally connected to each other and each having confronting material receiving cavities. Each jaw has spaced, rigid end members and a flexible, deformable material engaging element extending between and connected to the end members to at least partially close the respective material receiving cavity. Each such element is substantially unbacked whereby it may deform to the shape of a fragile, irregularly shaped object when the jaws are closed thereon. The invention contemplates the provision of a power source for opening and closing the jaws as well as mounting of the grapple on a boom which, in turn, is mounted on a refuse collecting truck.

Abstract: A bale loader comprising an elongated grab essembly along one side of a towed platform. As the platform moves forward, the grab assembly moves over a row of bales and is eventually actuated to grab a number of bales in a single operation. The overall length of the grabbed bales corresponds substantially to the length of the platform and is subsequently deposited on the platform. The grab assembly retains the grabbed bales in a slightly inclined position at the time of depositing the bales, to accomplish a tight stack of bales on the platform. The grabbing and releasing operations are effected automatically and are controlled by a special mechanical lock.

Abstract: A manipulator is shown of the type which includes an effector, such as a hand, comprising a pair of jaws relatively pivotally movable between open and closed positions under operation of power means such as an electric motor. Sensing means, for sensing both magnitude and direction of forces along three mutually orthogonal axes intersecting at the wrist and for sensing magnitude and direction of torques about said axes, are provided at the wrist intermediate to the manipulator hand and hand supporting means. The sensing means includes a plurality of sensing units radially spaced from the longitudinal axis of the manipulator at equal distances therefrom. In an exemplary arrangement, four such orthogonally located sensing units are employed, each of which includes a radially extending opaque pin carried by the manipulator arm or hand. Each pin extends into a clearance hole formed in an energy source and detector housing carried by the other of the arm and hand.

Abstract: A material handling vehicle, especially a log skidder, having articulated front and rear sections and a boom mounted on the rear section which pivotally supports a material handling member such as a grapple adapted to seize the ends of logs to be moved by the skidder. The grapple hangs from the end of the boom on a selfcentering mechanism which includes a plurality of first circular discs, a plurality of second circular discs interleaved therewith with the uppermost disc being fixed and interacting between discs, a plurality of spring elements which resist rotation of the grapple in either direction about the grapple turning axis tending to return it to a normally centered position relative to the centerline of the vehicle without operator assistance.

Abstract: A gripping device for use in an industrial robot or manipulator including a pair of clamp arms mounted on a base plate of the device and connected with a clamp arm operating rod through a pair of links and a cylinder-piston assembly having a misgrip detecting mechanism. One of the pair of clamp arms is shorter than the other clamp arm and is provided with an additional cramp arm swingable with respect to the short clamp arm. The misgrip detecting mechanism is operated by the action of a pressure switch provided in a hydraulic fluid conduit connected between the hydraulic fluid supplying source and a pressure chamber formed within the cylinder-piston assembly. Thus, the gripping device can positively and effectively grip a workpiece.

Abstract: A hooked clutch for use with a crane, a hoist or the like is disclosed which includes a pair of clutching arms pivoted to a pantagraph on top of which is attached a ring. A pair of slide plates are mounted on the body of the clutch to be slidable along the body for a limited distance. The clutching arms are coupled by chain with the slide plates, which are coupled to, and uncoupled from, the ring. Simply by lifting and lowering the ring, the clutching arms can be automatically closed and opened to cause the hooks at their ends to engage, and disengage from, a member to be transported.

Abstract: An improved tree harvesting method is performed by a machine which includes a pair of booms mounted on a vehicle. A clamp assembly is mounted on a first boom for gripping a standing tree which is then severed close to the ground by a shear assembly which is also mounted on the first boom. The severed tree is positioned relative to a delimbing mechanism mounted on the second boom by moving the clamp assembly to place the tree in a generally horizontal position. The tree and clamp assembly are then pivoted about a longitudinal axis of the first boom to position the tree for engagement by the delimbing mechanism. The severed tree is delimbed by extending the second boom to move the delimbing mechanism along the trunk of the tree while the tree is gripped by the clamp assembly.

Abstract: An automatic loader for depositing parts in work holders mounted on a movable support for movement continuously and in succession relative to a station at which operations are to be performed on the parts while held by said work holders, comprising instrumentalities for receiving parts to be operated upon, move them in synchronism with the respective work holders and while so moving them deposit them in the work holders. Following deposit of each part the instrumentalities are returned to their initial positions for receiving a succeeding part. The loader is controlled by programming to operate cyclically once its operation at any stage of operation in a cycle of operation in the event that a part is not present, and there are safety releases operable under pressure or jamming of any parts during the operation to stop the loader.

Abstract: A pipe guide head for well pipe racking apparatus has plural slides defining different sizes of pipe receiving guide openings, extensible from retracted positions within the body to extended positions for receiving pipe, each slide being connected with a lever arm pivoted on the body to close the lever arm across the pipe opening upon extension of the slide and open the lever upon retraction of the slide. Fluid pressure operated actuators are connected with the slides to extend and retract them.

Abstract: An apparatus for severing the root system of a tree from the tree trunk during tree felling comprising a grapple mechanism for gripping the tree which, in operation, is clamped to the tree trunk and a cutting part suspended from the gripping mechanism for cutting the roots. The cutting part includes cutting knives arranged to encompass the tree trunk and movably mounted relative to the gripping part for cutting the roots. The power mechanism interconnecting the tree gripping mechanism and the tree cutting part moves the latter relative to the gripping mechanism in a direction longitudinally of the tree during a severing operation. The device may also be used to sever limbs from trees.

Abstract: The upper ends of a pair of grapple tongs are joined through means of a pair of cross link assemblies and an extensible and retractable hydraulic actuator. A pair of suspension link assemblies respectively have lower ends pivotally connected to the upper ends of the pair of tongs and have upper ends pivotally connected to a yoke which is connected to an output shaft of a rotary joint. The geometry of the pivotal connections of the cross and suspension link assemblies with the pair of tongs is such that the actuator undergoes very little vertical translation during the operation thereof and a pair of relatively short fluid hoses extend between the lower end of the rotary joint output shaft and the actuator and pass through the yoke.