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: The invention relates to an arrangement (6) which functions to grip and hold, or release, material (3) with the aid of a number of movable gripping devices (51, 52). A part (57c) which is intended for coaction with the gripping device (51) has a first supportive surface (57g) and a first through-penetrating hole (57h), and the gripping device includes a narrowed part (51a) which, among other things, provides a second supportive surface (51b) which can face towards the first supportive surface (57g). The two supportive surfaces are adapted to abut one another. The gripping device also has a second through-penetrating hole. The centre line (71, 71') of the two holes can be coordinated for common coaction of the holes with a screw (72).

Abstract: A robotic gripper with two fingers for friction gripping. The fingers are self-locking in that an increased resistance to a pulling force results in an increased gripping force. The fingers are mounted onto a thumb that slides in a sleeve. A post extends into slots in the fingers so that movement of the post relative to the thumb causes the fingers to rotate around pivot points on the thumb. The friction force required to move the thumb relative to the sleeve is greater than the friction force required to move the post relative to the thumb. Therefore, movement of the post typically results in rotation of the fingers and a stationary thumb, but there are several ways in which the post can be locked relative to the thumb to provide movement of the thumb relative to the sleeve. The sleeve also includes features so that if an object is being gripped as the post is moving away from the sleeve, the fingers do not grip when the post is retracted.

Abstract: A drawing device which may be vertically or horizontally disposed in operation has a single rigid formed or extruded length as a bed. To one end of the bed is affixed a manual winch using a belt for applying tension to the workpiece. The belt is affixed to the upper end of a draw block with a lower end pivoted to two inverted lateral link arms each extending outward with an incline upwards to one distal end of the two straight, non-crossing jaw arms. The tension applied to the draw block is translated by the inverted lateral link arms into force directed outward upon the distal ends of the jaw arms which closes the jaws. The mechanical leverage obtained allows a reduction in overall length and weight of the draw tongs. Between the draw block and a stop bracket to which the jaws are pivoted, a stop bolt extends with a spring about it in compression biasing the jaws shut and facilitating manual loading of the workpiece.

Abstract: A utility model of a staff for collecting wastes of domestic animals such as dogs and cats, which consists of a tubular socket with another interior tube and a central rod with handles which operate with springs and with several hinges fastened to a box in the lower part of the staff with two side bolts and one central bolt which go through holes made in the base of the container which recollects the waste by activating the handles which release the hinges with which the container is closed, which is released by activating the handle on the central rod.

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: Gripper apparatus for gripping a row of glass containers moving on a lehr conveyor. The apparatus includes a pair of elongated gripping members arranged parallel with one another and relatively movable toward one another to grip a row of glass containers. Actuating means is connected to the gripping members for controlling their relative movement and thus gripping and releasing of the containers. The actuating means may include a series of actuating devices spaced apart along and connected to the gripping members. Those actuating devices are actuable, at least substantially following movement of the gripping members to grip containers on the lehr conveyor, to move the gripping members in a direction away from the lehr conveyor so as to move the depending gripped containers clear of the conveyor.

Abstract: A clamp has a clamping arm pivotally mounted to a base frame for swinging between clamping and unclamping positions. An actuator, such as a pneumatic cylinder, provides bidirectional forces for swinging the arm. The arm is driven by the actuator by way of an articulated linkage system including at least one spring link and one rigid link. The spring link preferably has a C-shape.

Abstract: The present invention provides a rotary gripper for robotic use including a support portion for connection to a robotic apparatus, a gripper head movably mounted on the support portion and carrying a pair of opposed gripping fingers, a first drive mechanism for opening and dosing the gripper fingers and a second drive mechanism for rotating the gripper head. The drive mechanisms are generally transverse relative to each other and each includes at least one pneumatically driven, reciprocating piston. In the first drive mechanism, a pinion gear is operably connected to the piston for reciprocating movement therewith. The piston in the second drive mechanism is operably coupled to a rack engaging the pinion gear to turn the gear, thereby moving the gripper head relative to the support portion.

Abstract: Disclosed is a tool clamping mechanism for use in a machining center, which includes a pivoting member having at opposite ends a pair of fingers for grasping a tool, the pair of fingers being connected by means of a hinge, a rotating block fixedly mounted on a shaft so as to be rotated clockwise and counter-clockwise in a given range by the shaft, the rotating block being rotatably positioned in the center of the pivoting member, a pair of sliders for respectively pushing and pulling the pairs of fingers to open or close, a pair of rotating block links for respectively connecting the rotating block with the pair of sliders, a pair of slider links for connecting each of the sliders with each pair of fingers, and an actuating means for rotating the shaft and thus rotating block, wherein the rotating block is rotated to push or pull the pair of sliders so as to open or close the pairs of fingers through the cooperation of the links.

Abstract: A litter and refuse retrieval device for sanitarily and single-handedly cleaning up after a pet. The device includes an outer frame having a handle at one end and outer nipples at the other end for pivotally mounting two scoops. Each scoop includes extended disk portions with holes therethrough that overlap with the disk portions of the other scoop placing the holes in alignment for insertion of the outer nipples of the outer frame. An inner control frame is carried by the outer frame and includes linkage arms having outwardly extending cylindrical portions having nipples extending therefrom for pivotally mounting the two scoops adjacent to the outer nipples. In operation, the inner control frame is squeezed by the user toward a stop potion of the outer frame, causing the scoops to pivot in opposite directions. Also provided is a spring biasing mechanism for closing the scoops after the user has released the inner control frame.

Abstract: A gripper is provided for mounting to a distal end of a robotic arm for gripping a workpiece having a pair of spaced apart longitudinally extending contoured faces and at least two extending cylindrical bores, each cylindrical bore having an inner surface, the gripper including a base, a pair of spaced apart longitudinally extending stabilizing members each affixed to the base, each of the stabilizing members having an engagement surface adapted to abutting engage a respective contoured face of the workpiece, at least one pair of opposing clamping arms, each clamping arms being pivotal from a first position wherein the clamping arm is disposed adjacent a respective cylindrical bore to a second position wherein the clamping arm abuttingly engages the inner surface of a cylindrical bores, a pair of biasing cylinders means connected to one of said pair of clamping arms for moving said one clamping arm from said first position to said second position, a pair of spaced apart compliant devices affixed to the base f

Abstract: A drum is introduced into an interlock chamber and the interlock chamber is sealed. A door leading to a transition chamber is opened and the drum is moved into the transition chamber. The transition chamber is contained within a spool valve which includes a pair of drum grips. The drum grips are actuated to grasp the drum. The drum grips are rotatably coupled to an inner element of the spool valve. The inner element is rotated with respect to a housing and a drum manipulator grasps an end of the drum. The drum is displaced from the transition chamber toward a treatment chamber. The drum is cut into a desired shape and/or number of pieces with the drum and the material contained therein being deposited into the treatment chamber.

Abstract: A gripper mechanism having at least one pair of opposing and co-acting gripper fingers that can be actuated to move from a non-gripping to a gripping position and vice versa upon application of a control signal to the gripper and the subsequent motion of the gripper actuator being applied to move the gripper fingers. The gripper provides an assembly to adjust the spacing between each of the pairs of opposing and co-acting gripper fingers, thus providing an adjustability feature to the gripper permitting thereby the ability of the gripper to grip parts of different sizes and of irregular geometries. One or more grippers as previously described may be incorporated with a material-handling apparatus having controls, power sources, platforms and other features appropriate to handle, orient, operate on, move and otherwise process parts in any fashion, where the gripper provides the apparatus with the adjustability to grip, hold, handle, orient and move parts of different sizes.

Abstract: A picker mechanism (80) selectively grips and transports a data storage cartridge (62) in an automated library (30). The picker mechanism (80) has a picker frame (400) comprised of two half shell members (402, 404). Substantially all active elements of the picker are mounted to a base half shell (402) over which a cover half shell (404) mates for enclosing substantially all active picker elements. The active picker elements include a pair of gripper fingers (406) pivotally mounted to the picker frame. Each gripper finger (406) has a portion thereof configured to engage a data storage cartridge. The picker frame also carries a displacement path (e.g., leadscrew 418) along which a carriage member (e.g., leadscrew nut 426) travels. A motor (414) is provided for driving the carriage member (426) along the displacement path. A pair of biasing springs (432), one for each gripper finger (406), are provided for biasing the gripper fingers in a direction toward the displacement path.

Abstract: The invention relates to a gripper mechanism for a manipulator or the like, having at least one movable gripper finger (6) swingable around a slide axis, as coupler of a kinematically multi-member positive guide mechanism (1, 2, 3, 4, 5, 6), which contains at least one slider/crank mechanism (1, 2, 3, 4) as actuating unit which has a crank (2) acting at one end on a first link (3) and pivoted at the other end on a slide rod (1), and a slide (4) which is guided on the slide rod (1) and abuts against the first link (3), a second link (5) being supported axially displaced therefrom on the slide (4) and both links (3, 5) of the guide mechanism acting on the gripper finger (6), the slide rod (1) carrying out no movement in the direction of the slide axis upon the movement of the gripper, and its strives for and achieves a flexurally as well as torsionally stiff development of such a gripper mechanism by a slide rod (1) which is formed of several decentrally arranged rods (7) as cage.

Abstract: A pulling device for removing weeds or other undesirable vegetation from a ground surface. The inventive device includes an engaging assembly having a pair of gripping feet which selectively engage the weed to be pulled. A handle assembly is mounted to the engaging assembly to facilitate manual manipulation and removal of the weed.

Abstract: A compact, light weight, back packable winch and power source, including a cable quick release device to facilitate single handed use of the winch. The power train and cable retrieval mechanisms are mounted on one side of a back pack frame or platform, and straps and padding enabling the mechanism to be carried like a back pack are mounted on the other side of the frame together with folding legs that assist in supporting the assembly during operation. A substantial quantity of small diameter cable is wound onto the winch spool by a level wind mechanism. The spool and level wind mechanism are powered, through chain and sprocket assemblies, by a hydraulic motor. The hydraulic motor is powered by a compact gasoline engine that operates a hydraulic pump to supply hydraulic fluid to the hydraulic motor, controlled by a flow control valve.

Abstract: A single wafer processing apparatus includes a portable processing head that can be a portable module or a movable unit mounted to a supporting machine frame. The processing head has movable fingers adapted to grip a wafer. The fingers protrude from a protective wafer plate. Indexing and rotation monitoring assemblies are provided for automation of the wafer processing steps. A complementary processing base includes an upwardly-open bowl that receives a wafer held by the portable processing head. It has a full-diameter movable bottom wall for rapid draining purposes. Liquid and/or gas jets and nozzles supply fluids required within the bowl for processing of wafers.

Abstract: A telescopic pick-and-place robotic mechanism used to retrieve and deposit magnetic tape cartridges from a remote position, configured to be mounted to a typical robotic assembly located in proximity of a storage area for computer data or other storage media. The present invention has a reduced cross-sectional area due to its telescopic nature.The pick-and-place mechanism includes a base connected to the robotic arm and a number of slider plates coupled to the base which telescopically extend and retract relative to the base in a single axis of movement to reach the remote location. The slider plates are coupled to each other by slider means for enabling each of the slider plates to translate relative to each other along the single axis of movement. Each slider plate is controlled by a crank and slider mechanism which converts a incoming rotational force to a linear force in the direction of the single axis of movement.

Abstract: This invention comprises an instrument for peritoneal approximation following the application of mesh in a laparoscopic herniorrhaphy or for approximating any tissues that could physically reach each other during the performance of any laparoscopic procedure. The Maritsa Tissue Approximator comprises an elongated cylinder which is divided into two elongated compartments by a central plate which extends outwardly from the bottom of the cylinder. The head of the instrument comprises the outwardly extending fixed plate and two independently controlled jaws which close separately over the fixed central plate. The jaws are pivotally mounted onto a lateral extension of the center plate by pin-means about which they rotate thus opening or closing over the fixed central plate. The rotation about the pin is caused by a control wire which extends through a compartment of the cylinder and is affixed to a pivotal member at the other end of the instrument.

Abstract: A tool structure including an outer sleeve, having a slide rod slidably directed coaxially of the sleeve, having a slide rod jaw fixedly mounted to the rod exteriorly of the sleeve, with a pivot jaw pivotally mounted to the slide rod jaw, the pivot jaw having an extension rod including an actuator link. with the actuator link mounted pivotally to the sleeve, whereupon pulling of the sleeve effects directing of the pivot jaw to the slide rod jaw for the grasping of a cable.

Abstract: The invention relates to a pneumatic prehension device or pincers constituted by a body pierced with a cylinder-forming boring inside which a piston can slide under the action of pressurized air. Two fingers are movably mounted on the body so that they can assume all of the positions found between an extreme open position and an extreme closed position. A shackle comprises a governing mechanism for opening and closing of the fingers. When it slides, the piston is capable of driving the shackle in translation so as to govern the opening or the closing of the fingers. The shackle (12) has a cylindrical head (13) provided to slide and be guided inside a bore (3), the axis of which is the same at the axis of bore (2) that receives piston (5). The shackle also comprises a coaxial rod (17) at the end of which piston (5) is assembled with radial play.

Abstract: A mechanical hand assembly for use in prosthetic and robotic applications includes multiple fingers pivotally attached to a palm subassembly. The fingers are operatively attached to a central actuating plate so that movement of the actuating plate in opposed directions causes the fingers to bend and straighten. An electric motor drives the actuating plate through a pivotable or tiltable linkage so that when one of the fingers engages an object to be manipulated, the plate tilts and continues to move any opposed fingers toward engagement. Each finger includes a base, a lever arm and multiple phalanges operatively interconnected by gears. Pivotal motion of the lever arm is transmitted to the phalanges through the interconnected phalanges and lever arm and rotation of the gears.

Abstract: A remotely operable drum punch for puncturing a drum or container containing hazardous waste, chemicals, or acid consists of a drive which drives a punch head and self-admixing arms for securing the drum punch to the drum. The drive is remotely operable to drive both the self-affixing arms and the punch head so that the drum punch may be secured to the drum from afar. The punch head includes a collar, which may be movable, to form a seal with the top of the drum. The punch head also includes bores to allow the sampling, testing and exhausting of the drum's contents or to introduce agents, such as neutralizing or foaming or gelling agents, into the drum to neutralize or solidify the drum's contents. Inert gases can also be introduced into the drum.

Abstract: A tool structure includes an elongate frame member having a forward end and a rear end, with the forward end pivotally mounting a plurality of jaws relative to the forward end, and the frame including tubular slide legs, each having a resilient connection relative to one of the jaws such that a sliding of the slide legs towards a rear end of the frame effects opening of the jaws permitting their securement of a can for lifting.

Abstract: In the packaging art, palletizers (23) serve for transporting, i.e. lifting, conveying and depositing cartons (10) and the like. A gripper (27) is located on an articulated arm (24) and is provided with upright carrying arms (29, 30) and carrying legs (31, 32) arranged thereon for grasping the cartons (10) at their bottom side. The carrying legs can be pivoted from a horizontally directed carrying position to an essentially vertical release position which allows a trouble-free lifting of the gripper after a carton has been deposited, even if there is little space. The carrying arms 29, 30 of the gripper 27 are themselves pivotable from an essentially upright position to an inclined position in which they are spread apart in order to be able to grasp cartons when the carrying legs (31, 32) are horizontally directed.

Abstract: Process and apparatus for transporting stacks of blanks for producing (cigarette) packs. For the production of (cigarette) packs made of blanks (10) of thin cardboard, the blanks are delivered in the form of blank stacks (15), mainly in containers (cartons 16). Specially designed cassettes (32) are used for mechanically and mostly automatically conveying the blank stacks (15) to the packaging machines. The cassettes (32) are designed for holding the contents of a carton (16) of blank stacks (15). The cartons (16) are mechanically opened by a cutting unit (39) by way of cutting out a side wall (30). Special extraction units (59) pull out the blank stacks (15) through the open side of the carton and directly deposit these in an adjacent cassette (32). Centrally emptying the cartons (16) and mechanically transporting the blank stacks (15) by means of special implant cassettes (32) result in a mechanized transport circuit for the packaging material.

Abstract: A refuse collecting device includes a frame configured with a longitudinal channel, an actuating member, a disposable container, and U-shaped retaining members. The actuating member is positioned within the channel and freely slides through the channel. The U-shaped retaining member releasably retains the disposable container to the actuating member. The disposable container is attached to the frame by sliding the container hinge over the U-shaped retaining member. After the container is attached, sliding the actuating member upward within the channel causes the container to close thereby picking up the refuse. The container is self-locking when closed and can be removed by sliding the container off the U-shaped retaining member.

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 mechanism for gripping drill rods in a carousel of a drilling rig provides a dual function of extending and gripping in a single movement of a pair of opposed gripper arms pivotally connected to each other about a first, longitudinally movable pivot pin. A pair of opposed link arms is pivotally connected to each other about a second, fixed pivot pin, each link arm being also pivotally connected at an outer end to a gripper arm. A piston moves the pivot pin longitudinally in the housing, the gripper arms first spread apart from each other and then close toward each other, while simultaneously moving along the housing.

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: The gripper mechanism includes two fingers hingeably attached to a support and operable by means of a spring to grasp an object with a predetermined amount of force and a solenoid to open the fingers and release the object The gripper mechanism is enclosed by a substantially rectangular box-like enclosure which includes a plurality of compliant guides to align and support an object retrieved from an object storage location by the finger gripper mechanism. Each of these four guides consist of an elongated L-shaped guide finger that is attached to the enclosure by a spring mechanism to enable the guide finger to translate in directions that are normal to the opening in the enclosure. The end of the guide fingers adjacent the opening in the enclosure support the object as it is being retrieved and are tapered in order to provide a funneling capability to account for misalignments between the object that is retrieved and the precise center lines of the enclosure.

Abstract: A clamp comprising first and second pivotally connected jaws, each having an inner surface facing the other. According to the invention, in the closed position of the tool, the inner surfaces of the jaws, define between them, a crimping profile in the shape of an elongate "V"-shaped gap.

Abstract: A tool gripper to remove a tool from and position the tool in a work spindle or a tool magazine, respectively, includes two tong-like gripper arms, a support attached to a tool changer on which the two gripper arms are mutually movably mounted, and an operating device to open and close the two gripper arms. To achieve a simple construction with only a few individual parts, and to avoid technically complicated hydraulic or pneumatic driving mechanisms, according to the invention a first spring is disposed between the two gripper arms to provide a closing force. Further, the support having a bore therein, is motor-driven and movably arranged on a column. A pin inserted in the bore, which is axially parallel to the column, may be shifted against a second spring, and a locking member laterally attached to the bore engages between the rear legs of the two gripper arms.

Abstract: A medical instrument including a tubular extension within which and to which two movable end effectors, such as jaw members, are rotatably attached by a pivot. The proximal end of each end effector is pivotally attached to and butts against a drive surface of its respective arm of a dual action drive member also located within the tubular extension. As the dual action drive member is moved proximally or distally within the tubular extension, the distal ends of the end effectors rotate or counter rotate about the pivot in opposition to one another. The dual action drive member paired arms have end surfaces which transfer, to the end effectors, the force required to rotate the end effectors toward one another, thereby reducing the shear force applied to pivot posts on the arms used to open the jaws. The dual action drive member may be used with a variety of different end effector devices including but not limited to medical grippers, hole punches, dissectors, extractors, scissors, and clamps.

Abstract: Gripper jaws (38) for bottles are movable between a gripping and a release position. Passage to the release position is controlled by a slide (42) through the action of a ramp (48) and via tenons (44) connected to the slide (42) and sliding in slots (46). The reverse movement is controlled by the same members through the action of a return spring acting on the slide (42). The transmission of movement effected by the systems comprising tenons (44) and slots (46), is irreversible so that the neck (2) of a bottle held between the jaws (38) cannot be disengaged therefrom: a force (F1) applied to the jaws (38) does not enable the slide to be moved in the direction of opening of the jaws (38). Utilization for producing high-speed machines without increasing the clamping force on the objects (bottles) treated.

Abstract: An adapter is provided for a device which is used to pick up and transport objects. The device has a number of fingers which extend from a hollow piston. The adapter has an engaging portion which is inserted into the piston; a stopping piece for preventing the engaging piece from being inserted too far into the piston; and a receiving piece which has a cavity for receiving an object. The receiving piece and stopping piece each have openings which allow the fingers to pass through and grip the object while in the cavity.

Abstract: An attachment for a fork lift is provided. The attachment includes two arcuate members which are pivotally connected. The arcuate members have gripping surfaces which approximate a radius of curvature of a cylindrical drum of known dimensions. The gripping members are pivoted together to pivot between open and closed positions. In the closed positions, the gripping surfaces assume the external surface of the drum.

Abstract: A bi-directional feeding gripper device including a single cylinder and upper and lower cylindrical cap members mounted to upper and lower ends of the cylinder and provided with pneumatic pressure passages communicated with the interior of the cylinder, respectively. An upper lifting piston having a driving rod and a lower gripping piston spaced from the lifting piston are disposed in the cylinder. A compression coil spring is disposed around the driving rod between the lifting piston and the gripping piston. The driving rod extends through the gripping piston such that its lower end is protruded beyond the lower end of the lower cap member. The gripper device also includes a gripper fixed to the lower end of the gripping piston to move vertically together with the gripping piston and provided with a pair of fingers each having one end pivotally mounted to the gripper and the other end pivotally mounted to the protruded lower end of the driving rod.

Abstract: A manually operable weed remover consists of a cluster of pivotable spikes attached to a handle. When positioned over the center of a weed and downward pressure is applied, either by pushing on a bar handle or stepping on a foot rest, a bottom flange is forced up by the ground surface as the spikes are forced into the ground around the weed. The spikes are directed through apertures in the moveable flange and movement of the flange causes the spikes to close around the root of the weed. The weed may then be pulled from the ground by upward pressure on the tool.

Abstract: In the installation of underground utilities it is common to utilize an earthmoving machine, such as hydraulic excavator, to dig a trench and aid in the placement of the individual pipe segments that comprise a conduit or pipeline. Normal placement of the pipe segments requires communication between the excavator operator and laborer that is positioned adjacent the pipeline in the trench. As the pipe segments are lowered into position, the laborer insures a proper connection of each joint and the overall support beneath the pipeline. The requirement of another individual in the trench is both inefficient and represents a significant increase in the cost of laying the pipeline. The present invention utilizes a grapple assembly to grasp the individual pipe segments to maneuver them into and within the trench. The grip on the pipe segment is sufficient to permit its insertion into the unfinished pipeline.

Abstract: A gripping and manipulating apparatus is mounted on a conveying vehicle and comprises an articulated arm and gripping member. The gripping member is disposed at the moving end of the articulated arms and comprises a multi-element lazy-tongs mechanism having two receptacle retainers. The movement of the retainers is produced by a drive element, a part thereof acting on guide elements. The guide elements are pivotally connected to the retainers. The gripping member can fold down to a reduced dimension and its three pivots lead to a compact construction for the conveying vehicle. Also, a securing device is included for securing the end of a band or sheet or the like of textile material and is disposed on the articulated arm or on the gripping member and is movable therewith. The space required between the vehicle and the textile machines and between the individual receptacles is reduced.

Abstract: A fluid pressure actuated gripper including a fluid pressure actuated motor including a cylinder and a piston with the piston being fixedly mounted by a purality of support rods upon a fixed base. The support rods are slidably and sealingly received in the rear end wall of the cylinder and passages through the support rods are employed to conduct fluid under pressure to and from the opposite ends of the piston chamber. A piston rod projecting from the front end of the cylinder is pivotally coupled to linkage operatively connected to gripper jaws pivoted on extensions of the cylinder. In operation, the piston remains stationary and movement of the cylinder relative to the piston is employed to open and close the jaws. The jaws are carried upon pivots which move horizontally with the cylinder, hence horizontal displacement of the jaws relative a fixed reference point is substantially increased as compared to grippers in which the jaw pivots are stationary during operation.

Abstract: A tool for more effectively gripping and handling fish which includes a generally cylindrical tubular housing defining a handle having a hand grip thereon with a pair of pivotal gripping jaws actuated by a slidable sleeve that is spring biased away from the handgrip by two light coil springs to enable the sleeve to be retracted by the use of one finger or thumb of the hand which is used to grip the handgrip in order to open the jaws. The jaws, when open, are placed over the bottom lip of the fish and the sleeve is released with the light spring causing the jaws to grip the lip of the fish in order to lift the fish. The jaws include a pin and cam slot connection between the sleeve and jaws with the weight of the fish causing the jaws to more tightly grip the lip of the fish.

Abstract: A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.

Abstract: A fluid pressure actuated clamp or gripper includes a mechanism housing mounted upon and projecting forwardly from the front end of the fluid pressure motor housing to define a passage loosely enclosing the projecting portion of the piston rod of the motor. The mechanism housing is split from front to rear into two separable halves and aligned bores through the housing halves detachably receive the opposite ends of a pivot pin upon which elements of the clamp or gripper mechanisms are mounted. A carrier fixedly mounted on the piston rod within the mechanism housing passage detachably mounts resilient bumper members engageable with the front end wall of the motor housing to define a resiliently cushioned rearward end limit of movement of the piston rod.

Abstract: Apparatus for facilitating the collection and disposal of solid pet wastes. It includes a long-handled reciprocable implement having a pair of jaws at the distal end and a pair of handles at the proximal end connected to open and close the jaws. A disposable container having a pair of clamshell-shaped halves adapted to releasably receive mating retaining portions of the jaws is adapted to be manipulated by the jaws so as to open and close while picking up pet waste deposits. When it is ready for disposal, the edges of the container are secured together and manipulation of the jaws releases the container for dropping into a waste repository.

Abstract: A farm implement for transporting fallen trees. The implement is attached to a tractor. A pair of hydraulically operated arms have grabbing jaws near the end thereof and close against the roots of a fallen tree. The implement is then raised by the tractor, and the tree may be easily transported.

Abstract: A robotic gripper is described having opposed fingers which are positively opened and closed through the use of a bushing, powered for a limited stroke up and down by fluid pressure, wherein the bushing is carried within a recess closely conforming thereto in the fingers, and an overlapping or over-gripping action of the fingers is provided by reason of slightly tapering opposed engaging surfaces carried by the grippers.