Abstract: A grapple device includes a torque tube, a pivot, a rod and cylinder, a pivot link, and a tooth. The torque tube has first and second torque pivot points and is adapted to be mounted on a bucket. The pivot is rotatably connected to the first torque pivot point at a pivot cross tube located at a second end of the pivot, and the pivot further comprises a pivot collar at a first end, and first and second pivot faces adjacent the pivot collar. The rod and cylinder are operatively connected to the second torque pivot point, includes a rod and a cylinder, and has a rod pivot at a first end of the rod.

Abstract: A cooking utensil includes a handle having a proximal end and a distal end, a shaft having a first end in contact with the proximal end of the handle and a second end distal to the first end, the second end including a food contact implement. The proximal end of the handle includes a first and a second foot. The distal end of the handle includes a third foot. The first, second, and third foot are configured to elevate the handle from a surface and maintain the food contact implement in an elevated position when the cooking utensil is placed on the surface.

Abstract: A protective device is provided for a gripping device on a handling apparatus, e.g., a handling robot. The gripping device has gripping parts in the form of gripping fingers, which gripping parts are movable using a transmission mechanism. The gripping device has at least one overload safety device as the protective device which, in response to the exceeding of a certain force on the gripping device, has the effect of an evasion of the gripping device. The protective device responds exclusively in response to forces which occur from a direction and which act upon the gripping parts outside a direction of forces required for gripping objects.

Abstract: A lift truck clamp arm assembly for engaging large cartons, which may contain large household appliances. Pivoting clamp pad support assemblies are adjustable to vary a radial spacing between a pivot pin and a clamp pad supported on the clamp arm assembly by attachment to the adjustable clamp pad support assembly, to provide desired pressure concentrations at selected parts of a carton to be gripped.

Abstract: Aspects of the subject technology relate to a robotic finger digit including a distal finger joint coupled between a distal finger part and a middle finger part, a middle finger joint coupled between the middle finger part and a proximal finger part and an extend tendon coupled at a first end to the distal finger joint, and coupled at a second end to an actuation device. In certain aspects, the robotic finger can further include a flex tendon coupled at a first end to the distal finger joint, and coupled at a second end to the actuation device, wherein the actuation device is configured to move the extend tendon and the flex tendon substantially the same distance in order to flex and/or extend the robotic finger digit.

Abstract: A robot hand includes a first finger unit and a second finger unit, a driving unit that causes the finger units to perform an opening and closing action, and a finger-unit moving mechanism that changes a direction in which the opening and closing action of the first finger unit and the second finger unit is performed. The finger-unit moving mechanism includes a worm wheel, a motor, and a worm. A first gear that rotates in a direction different from the rotating direction of the worm in association with the rotation of the worm is provided in the first finger unit. A second gear that rotates in a direction opposite to the rotating direction of the first gear in association with the rotation of the worm is provided in the second finger unit.

Abstract: A finger-gesticulation hand device includes a base frame representing a metacarpal part of the human hand, and at least three digits mounted on the base frame and appearing to be a thumb and at least two fingers. Each digit has at least two phalange portions respectively linked by two joints which permit a flexing movement of the phalange portions between extended and flexed positions. An actuating cord passes through each digit and is actuated by a solenoid actuator unit to pull the phalange portions of the respective digit to the flexed position. The hand device is simple in construction and capable of making hand gestures in a simple manner.

Abstract: A grabber assembly has a base to secure with the refuse collection device. A pair of arms is pivotally coupled with the base. The pair of arms moves between a grasping position and a release position. Belts are coupled with the arms. The belts contact the refuse container in the grasping position. A tensioning device tensions the belts to provide a variable force rate to tension the belts.

Abstract: A severe duty grapple with an upper jaw and a lower jaw. A hollow tubular pivot is attached to an inner end of one of the jaws. Two lug plates are mounted on an inner end of the other jaw. Each lug plate having an eyelet. The eyelets are alignable with the open ends of the tubular pivot. A pivot pin is passed through the tubular pivot and eyelets and secured thereat.

Abstract: A manhole tube holder can hold lengths of tubes secure while being extended with additional lengths of tubing. The manhole tube holder includes a clamp region that can hingedly move between open and closed positions. A locked position can cause the clamp region to secure tubing therein. A plurality of legs extends from the clamp region to rest on a rim of a manhole while tubing is extended down into the manhole. The legs can telescope to allow for easy storage and for adjusting to various sizes of manholes.

Abstract: A seat assembly machine includes a plurality of grippers useful for securing a piece of trim to a seat cushion. In a disclosed example, each gripper includes a plurality of prongs that are moved between neutral, closed and released positions that each facilitate a different portion of the assembly process. In one example, each gripper includes a sleeve within which the prongs are moveable so that the prongs are manipulated between the neutral, closed and released positions. A disclosed example sleeve includes an interior channel having a contour that manipulates the prongs between the different positions based on the location of the prongs within the sleeve.

Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract: A robot includes a base, a plurality of link mechanisms, at least one drive device, and a controller. The plurality of link mechanisms are provided on the base. Adjacent link mechanisms among the plurality of link mechanisms are connectable to each other. The at least one drive device is to bend and extend the plurality of link mechanisms. The controller is configured to control the at least one drive device.

Abstract: A pipe gripping assembly for handling a pipe includes at least two gripping members, wherein each gripping member comprises a pipe engaging portion engageable with the outer circumference of a pipe, wherein at least one gripping member is rotatable about a pivot axis, and wherein the pipe gripping assembly further comprises actuation means to rotate the at least one rotatable gripping member such that the pipe gripping assembly is movable between an open position for receiving a pipe and a closed position in which the pipe engaging portions engage with a pipe, wherein each rotatable gripping member further comprises a locking body engaging portion and the pipe gripping assembly further comprises a movable locking body and associated displacement means to move the locking body such that the pipe gripping assembly is lockable in the closed position by moving the locking body to a locking position.

Abstract: The manual lifting device has a first and second arms, pivotally connected to each other, each having a downward projection from a distal end thereof, extending generally vertically when in use. A handle is mounted on one of the arms, extending generally over the center of gravity of the device. Positioning the device so that the downward projections loosely contact edges of an object to be lifted, and then lifting the handle, causes the arms to pivot downwardly relative to each other, thereby causing the downward projections to rotate inwardly to grasp the object. Alternatively, there is a central handle, and the two arms pivot downwardly from opposite ends of the handle.

Abstract: A robotic gripper (10) has fingers (12) that are configured to grasp an object, and an actuator (20) for driving the fingers. The actuator has a drive train (30) connected to the fingers for driving the fingers, an impact mechanism (40) mechanically connected to the drive train for driving the drive train, and a motor (50) connected to the impact mechanism for driving the impact mechanism. The impact mechanism generates a series of impacts that are delivered to the drive train when the impact mechanism is loaded beyond a threshold torque. The drive train is a back-drive inhibited drive train provided by a worm drive (32, 34) that is mechanically coupled to the impact mechanism.

Abstract: A lift truck clamp arm assembly for engaging large cartons, which may contain large household appliances. Pivoting clamp pad support assemblies are adjustable to vary a radial spacing between a pivot pin and a clamp pad supported on the clamp arm assembly by attachment to the adjustable clamp pad support assembly, to provide desired pressure concentrations at selected parts of a carton to be gripped.

Abstract: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Abstract: A self-supporting chopsticks utensil. In one aspect, the invention can be a utensil comprising: a base comprising: a first body having a first bottom surface; and a second body having a second bottom surface, the second body rotatably coupled to the first body, the first and second bottom surfaces collectively defining a support plane: a first elongated rod extending from the first body and terminating in a first distal portion; a second elongated rod extending from the second body and terminating in a second distal portion; and wherein the utensil is weighted to be self-standing so that when the support plane is positioned atop a substantially horizontal support surface, each of the first and second distal portions of the first and second rods are maintained a distance above the substantially horizontal support surface.

Abstract: A remotely operated joint elevator for use in handling a tubular is provided. The single joint elevator including a housing having an access opening configured to receive the tubular. The single joint elevator further including at least one closure member connected to the housing via a hinge pin. Additionally, the single joint elevator including a power assembly configured to rotate at least one closure member around the hinge pin to selectively open and close the access opening. In another aspect, a method of handling a tubular using a remotely operated joint elevator is provided. In yet a further aspect, a remotely operated joint elevator for use in handling a tubular.

Abstract: A modification to a robot end of arm tool to improve the retention of pail goods during transport by the tool includes affixing to the lower surface of a of rigid, planar, substrate, one or more pail lifting apparatus, each apparatus including a plurality of pail engaging fingers and a spacer block mounted to the substrate between the plurality of fingers. Each finger includes a flipper arm that is selectively, hydraulically controllable to move from a vertical to a horizontal position. When the flipper arm is in the horizontal position, it is able to physically engage the outer surface or ledge of an associated pail to provide support to the pail. The spacer block, located above the lid of the associated pail, when the pail is engaged by the plurality of fingers, restricts vertical movement of the pail during transport. The combination of fingers and a spacer block form one pail lifting apparatus. Multiple such apparatus may be affixed to the tool substrate.

Abstract: A gripping device includes a gripping-device body mounted to an end of a working arm; two gripping members pivotably supported by this body in an opening-closing direction; and a driver that drives the gripping members to open and close them. At least one of the gripping members includes one of various kinds of detachable sections each including a gripping segment; a holding section pivotably connected to the gripping-device body about a central pivot shaft and selectively holding the detachable section in a detachable manner; and a coupling member for detachable coupling. The detachable section has a restrained segment having a detachable-section through-hole extending parallel to the central pivot shaft. The holding section has an opening-closing-direction restraining segment that restrains the restrained segment in the opening-closing direction and a holding wall to which the restrained segment is fastened with the coupling member from a direction parallel to the detachable-section through-hole.

Abstract: A gripper having contact members arranged to be positioned against the sides of a roll to be lifted. A gripping force is provided on the contact members at substantially gripping height against the roll to be lifted by tensioning a binder connecting the contact members.

Abstract: Embodiments described herein provide methods, apparatuses, and systems for moving, loading, and/or sorting logs. A log grapple may include opposing arm assemblies and independently positionable drive wheels disposed between the arms. The log grapple may be operable in a grapple mode, in which the arms are in a closed position and the drive wheels are in an open position, and a feed mode, in which the arms and the drive wheels are in closed positions. In feed mode, the first and second drive wheels may be rotated to drive the log through the arms. The log grapple may be further configured to delimb, measure, and/or cut logs in the feed mode. A log grapple may also include a measuring wheel assembly. Optionally, the measuring wheel assembly may include a hydraulic actuator configured to retract the measuring wheel and a gas spring configured to extend the measuring wheel.

Abstract: A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.

Abstract: A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit.

Abstract: A gripper mechanism for machines, robots and manipulation devices comprises at least one moving gripping finger, operated by coupling to an operating mechanism by two drive shafts. As a result of operating the gripping finger by two connecting bars, in turn each driven by the drive shafts, it is possible to move the gripping finger through a rotation over 180° through the path or range thereof and hence securely transmit forces and torques without tipping or getting in an unstable position. The drive shafts are divided axially into at least two parts in order to be housed completely in an enclosed and unitary gripper housing, protected from dust and dirt and hermetically sealed. The different parts of the drive shafts are centered on one another and positively connected by means of axial toothing, in the form of pinion gears and pins, and have a carrier support bearing.

Abstract: Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.

Abstract: A grapple mechanism is connected to a post driver on one side, rather than in the front of the post driven The grapple connects to the post driver via a hinge which allows substantially 90 degrees of rotation between a horizontal position for picking up posts, mid a vertical position for driving the post into the ground. A spring or other biasing mechanism preferably biases the grapple mechanism toward its horizontal position. However, the spring is preferably hot so strong as to hold the grapple mechanism in the horizontal position eves when, a post is grappled. Preferably, the weight of a grappled post is sufficient to overcome the spring, causing die grapple mechanism to pivot about the hinge and into the vertical position. The grapple mechanism is therefore preferably sized, shaped and weighted so as to swing to a substantially vertical position when a post is grappled and lifted.

Abstract: A hydraulically-operated grapple attachment for the scoop bucket of a skid steer loader comprises a mounting bar running the length dimension of the bucket along a top rear edge thereof and pivotally attached to the mounting bar by tubular steel arms is a crossbar member having perpendicularly oriented tines projecting downward therefrom where at least one of the tines is hydraulically displaceable in a direction forward from the crossbar. Actuation of the hydraulically-movable tine serves to prevent the skid steer loader from becoming mired.

Abstract: An improved robotic hand in which the palm section enables it to be capable of a wide range of movement with the ability to have good precision and control. The palm section consists of a plurality of parts which are able to move or flex relative to each other. Preferably, it is constructed as five bar spherical linkage having two degrees of freedom.

Abstract: A pipe flange lifting device for supporting and leveling a blind flange during installation onto a pipe end. The device comprises a pair of closed fittings having a plurality of apertures through which to place a first and second lifting bolt. The fittings are positioned on opposing sides of a pipe flange and rotate freely with respect to the pin prior to installation, whereafter the lifting bolts fitted through the flange and opposing fittings for stable support during operation. The lifting bolts comprise a pair of bolts inserted into eyes of the flange prior to the lifting operation. Spacers along the pin allow the fittings to be separated by a desired distance and prevent pinch points due to fitting inclination. The pin includes an attached crane hoist fitting for lifting the assembly and a secured flange during flange installation.

Abstract: A pipe flange lifting device for supporting and leveling two holes of a blind flange during installation onto a pipe end. The device comprises two L-shaped claws connecting to a common pin, forming an overall triangular-shaped device having a crane hoist fitting. The claws are positioned on opposing sides of a pipe flange and rotate freely with respect to the pin prior to installation, whereafter the claws are fitted beneath lifting bolts fitted through a flange for stable support during operation. The lifting bolts comprise a pair of bolts inserted into eyes of the flange prior to the lifting operation. Spacers along the pin allow the claws to be separated by a desired distance and prevent pinch points due to claw inclination. The design of the claws provides stable support for two lift bolts of a pipe flange and assists in the installation process.

Abstract: An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

Abstract: An industrial gripper includes a base plate, at least three finger units to be moved relative to the base plate, a supporting unit to support the finger units, a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object, and a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units. Each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.

Abstract: A robot hand may have an improved structure so that movements of some of joints of a finger structure do not influence operations of other joints. A meta phalangeal (MP) roll joint unit rotated in a roll direction and an MP pitch joint unit rotated in a pitch direction of an MP joint unit are separately arranged to form an offset. Movable angles of the respective joint units are widened, and the joint units are precisely controlled. Overall friction within the robot hand is reduced, and a robot having the hand is stabilized.

Abstract: A package moving system has a jaw device movable between an open and a closed position. The jaw has a pair of opposite support structures that each support at least one support arm. The at least one support arm moves between a first and second position. In the first position, it receives a package. In the second, it supports the package. At least one retaining member is biased downward to engage the package when the jaws are in a closed position. The retaining element urges against an upper surface of the supported package to retain the package in the support arms.

Abstract: An end effector for a mobile, remotely controlled robot includes first and second fingers; each finger fixed to a gear segment for rotation therewith; and a drive subsystem driving the gear segments and the associated fingers between open and closed positions.

Abstract: Gripping pliers (1) are provided for grasping and holding an object. The gripping pliers include at least two gripping jaws (2), movable in reference to each other, along with a drive for an opening and closing motion of the gripping jaws (2). At least one of the gripping jaws (2) includes several fingers (3), arranged side-by-side in reference to each other with each being individually adjustable against a restoring force, approximately in an opening and closing direction. The gripping jaws (2) are each embodied in one piece with their respective fingers.

Abstract: This disclosure discloses a robot hand of underactuated mechanism. The robot hand includes a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion, three finger portions each including a plurality of links having bases coupled to the palm portion and coupled being capable of flexion, and a shape-fitting mechanism which is provided in at the finger portion, and which enables to grasp an object to be grasped in an enclosing manner with the finger portions by performing providing torsional displacement to the links.

Abstract: A body jewelry applicator includes a gripping member adapted to receive and retain the backing of a piece of body jewelry within a hole or opening. The gripping member may be made of a foam and have one or more holes in the ends thereof for receiving the backing. The body jewelry applicator may also include a body or handle to which the gripping member is secured. A release rod may be slidably positioned within the body and movable between a first position and a second position, movement of the release rod from the first position to the second position causing the release rod to engage and expel the backing from the gripping member.

Abstract: A robot hand is configured such that a plurality of finger mechanisms are disposed on base and operate so as to cause fingertip portions thereof to get close to each other and separate from each other. At least one of the plurality of finger mechanisms is constituted by a Chebychev link mechanism including a driving link configured to be rotated about a base end portion thereof supported by the base, a driven link having a base end portion coupled to the base so as to be swingable, and an intermediate link having a base end portion coupled to a tip end portion of the driving link so as to be swingable and a center portion coupled to a tip end portion of the driven link so as to be swingable. The fingertip portions are respectively provided at tip end portions of the intermediate links.

Abstract: The present invention is concerned with a locking arrangement having a first wall defining a first surface and a second wall defining a second surface, with the first and second surfaces abutting each other; a mechanism for locking the first wall against the second wall; and a movable member. The first wall and the second wall are configured to define an enclosed channel for accommodating the movable member such that the movable member is slidable within the channel, and wherein the locking arrangement may assume one of two configurations, in that in one of the two configurations said walls are prevented from moving relative to each other by said movable member and in the other configuration said walls and hence said arms extended therefrom are movable relative to each other.

Abstract: A robotic finger is provided that includes a base joint connected to a base member. By way of the base joint, a main finger member is connected to the base member for pivoting movements of the main finger member in two planes. The base joint has two driven main bevel gears opposite one another, and two likewise opposing intermediate bevel gears disposed between the main bevel gears. The main bevel gears are mounted rotatably at the base member and can be driven independently of one another through electric motors and an intermediate toothed belt. The two intermediate bevel gears are each rotatably mounted at support members connected to the main finger member. To protect the base joint, a curved cover bracket is provided.

Abstract: This invention is an assembly and method for releasably connecting a gripper finger to a robotic arm with only manual manipulation. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.

Abstract: An apparatus for grabbing and lifting a case having side walls each formed with a hole has a plurality of grabs each having a plurality of pivotal lift arms each having a lower end provided with a horizontally projecting finger engageable into one of the holes. The fingers of each grab are vertically offset from one another.

Abstract: A gripping apparatus for gripping containers may comprise a gripping element which has two gripping parts that can move relative to one another and a carrier on which the gripping parts are arranged. At least one portion of the container to be gripped can be received between these gripping parts. The gripping apparatus may comprise a detachment mechanism for detaching the gripping parts from the carrier, wherein this detachment mechanism can be actuated manually and without the aid of a tool in order to detach the gripping parts from the carrier.

Abstract: Clamp (1) for holding a container (2) by a neck (3) in a container handling machine, said clamp (1) comprising a pair of resilient arms (5) and a pair of neck grippers (7) provided at respective ends (6) of the arms (5), said arms (5) and said neck grippers (7) being configured to allow the container neck (3) to be laterally engaged between the neck grippers (7), each neck gripper (7) being pivotally mounted on the corresponding arm (5) about a rotation axis (8), and having at least two gripping jaws (9a, 9b) of different dimensions, configured to cooperate with container necks (3a, 3b) of different sizes.

Abstract: A severe duty grapple with an upper jaw and a lower jaw. A hollow tubular pivot is attached to an inner end of one of the jaws. Two lug plates are mounted on an inner end of the other jaw. Each lug plate having an eyelet. The eyelets are alignable with the open ends of the tubular pivot. A pivot pin is passed through the tubular pivot and eyelets and secured thereat.

Abstract: A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.