Abstract: Dry adhesive microstructures may be post-treated to comprise mushroom-like flaps at their tips to interface with the contact surface. In some aspects, a change in material composition of the microstructures in a dry adhesive may affect mechanical properties to enhance or diminish overall adhesive performance. For example, conductive additives can be added to the material to improve adhesive performance. In other aspects, microstructures comprising conductive material may allow for pre-load engagement sensing systems to be integrated into the microstructures.

Abstract: The invention relates to a linking device for coupling working equipment, such as a head for harvesting trees, to the end of a crane boom on a working machine, said end comprising crane ears, wherein the linking device comprises a linking device body that supports a first rotation shaft defining a first rotation axis and a second rotation shaft defining a second rotation axis that runs substantially transverse to the first rotation axis, wherein the linking device is intended to be suspended by the first rotation shaft between the crane ears for free rotation of the linking device around the first rotation axis on the crane boom, wherein the linking device comprises first braking means for braking the rotational movement of the linking device around the first rotation axis, wherein the first braking means are arranged to move at least one of the crane ears towards the other to clamp the linking device body between the crane ears.

Abstract: The purpose of the present invention is to provide a safe device with which, by forcibly braking the rotation of a grapple by means of an external force, it is possible even for an unskilled operator to bring the rotation to a halt and further to prevent accidents due to such rotation. Another purpose of the present invention is to provide such a device at lower cost. According to the present invention, a grapple has a lower frame that has claws for gripping timber and an upper frame that rotatably holds the lower frame, and is provided with a rotation braking means that applies a brake on the rotation of the lower frame.

Abstract: According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A granular material is provided in an interior of the gripper. The gripping tool grips a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece. The gripper includes a first portion contacting the workpiece, and a second portion opposing the first portion. The granular material is provided in a first space between the first portion and the second portion. A hardness of at least a portion of the first portion is less than 46.9.

Abstract: A pipe lifter for carrying one or more pipes including a slidably extendable elongate member and two sets of two laterally extending arms on each side of the elongate member. Each set of the two laterally extending arms are opposed to each other. Each of the laterally extending arms is pivotally fixed to the elongate member and moveable between a folded position where the arm is adjacent and parallel with the elongate member and an operational position where the arm extends laterally substantially at ninety degrees with respect to the elongate member. There are two or more L-shaped support members attachable to the laterally extending arms. There is also a hydraulic or pneumatic ram operationally configured to extend and shorten the length of the elongate member.

Abstract: A pipe gripping assembly to selectively engage and disengage a pipe segment includes first and second jaws configured to clamp together around the pipe segment, at least one splined shaft fixedly housed in each of the first and second jaws; and at least one self-aligning piston housed in each of the first and second jaws and configured to slide and to rotate along the splined shaft. The self-aligning pistons each include a piston body, a cam, and a roller assembly coupled to the piston body and to the splined shaft. Each one of the roller assembly is configured to rotate relative to one of the cams.

Abstract: According to one embodiment, there is provided an exposure method. The method includes attaching a thin film sheet thermally shrinkable onto a rear face of a wafer. The method includes heating the wafer provided with the thin film sheet attached thereon, and deforming the wafer into a shape projecting on a front face side of the wafer. The method includes fixing the deformed wafer onto a stage by vacuum suction holding from a rear face side of the wafer. The method includes performing exposure to the fixed wafer.

Abstract: A magnet chuck includes, for example, four permanent magnets of a first permanent magnet through a fourth permanent magnet, serving as an attracting and retaining member for attracting and retaining a workpiece. In the first permanent magnet and the third permanent magnet, the magnetic polarity of a workpiece magnetic attracting surface facing the workpiece is of an N-polarity. On the other hand, in the second permanent magnet and the fourth permanent magnet, the magnetic polarity of a workpiece magnetic attracting surface is of an S-polarity. More specifically, in this case, combinations of the N-pole and the S-pole on the workpiece magnet attracting surface are formed in two pairs, and the N-pole and the S-pole, which are of different polarities, are adjacent to one another.

Abstract: A robotic arm of an industrial robot includes successive links connected by joints having respective drives and associated transmissions for moving the links. First and second links have respective first and second housings that transfer forces and moments arising from the weight of the robotic arm, or a load carried by the arm, to adjacent links. A first drive rotatably connecting the first and second links includes a drive housing, a rotor, and a stator connected to the drive housing. The drive housing is fastened to the first housing of the first link and forms an external wall of the robotic arm. The transmission associated with the first drive includes an input link that is joined with the rotor of the first drive. An output of the first drive is connected to a flange that is fastened to the second housing and rotatable relative to the drive housing.

Abstract: An industrial robot with parallel kinematics comprises a robot base; a carrier element used to receive a gripper or a tool; an elongated hollow body, having a continuous cavity, which is moveably connected directly or indirectly to the robot base, with a hollow joint, having a continuous cavity, with several degrees of freedom, via which the elongated hollow body is moveably connected to the carrier element; and the cavity of the joint adjoins the cavity of the elongated hollow body, wherein the elongated hollow body cavity and the hollow joint cavity form a channel from the robot base to the carrier element, with at least one supply line for a gripper or a tool arranged on the carrier element, which at least one supply line is guided from the robot base to the carrier element through the cavity of the elongated hollow body and penetrates the hollow joint.

Abstract: A system for sensing, orienting, and transporting wafers in an automated wafer handling process that reduces the generation of particles and contamination so that the wafer yield is increased. The system includes a robotic arm for moving a wafer from one station to a destination station, and an end-effector connected to an end of the robotic arm for receiving the wafer. The end-effector includes a mechanism for gripping the wafer, a direct drive motor for rotating the wafer gripping mechanism, and at least one sensor for sensing the location and orientation of the wafer. A control processor calculates the location of the center and the notch of the wafer based on measurements by the sensor(s) and generates an alignment signal for rotating the wafer gripping mechanism so that the wafer is oriented at a predetermined position on the end-effector while the robotic arm is moving to another station.

Abstract: A compact and portable hydraulic apparatus for extracting and installing a tight fitting vehicle component may include a main hydraulic cylinder having an open proximal end, a cover attached to the open proximal end of the main hydraulic cylinder, a grip holder attached to the main hydraulic cylinder, a plurality of grip members affixed to the grip holder and spaced from the main hydraulic cylinder, and an actuating member statically mated to the main hydraulic cylinder. In this manner, the actuating member is capable of being engaged with an existing shaft of an existing pulley. Advantageously, the actuating member is axially reciprocated through the open proximal end of the main hydraulic cylinder, relative to a stationary position of the grip holder and the grip member respectively.

Abstract: An engagement head for engaging a porous substrate includes at least two pin sets, each pin set including a plurality of pins arranged in a plurality of parallel pin rows at a predetermined pin angle, wherein pins of immediately neighboring pin rows are arranged such that pin angles for the pins in a pin row are inversely symmetrical to pin angles for the pins in a neighboring pin row. The pins of a pin row move collectively in the same direction when a pin set is extended, which direction is determined by the pin angle of the pin row, whereby neighboring pin rows move in opposite longitudinal directions from one another when the pin set is extended. The pin sets may be extended and retracted in unison by a single actuation source.

Abstract: A grasper includes a base, a finger, a tendon cable and a magnetic breakaway mechanism. The finger has a proximal end connected to the base by a proximal joint. The tendon cable is configured to move the finger relative to the base. The magnetic breakaway mechanism releasably couples the finger to the base.

Abstract: A regenerative hydraulic circuit for a clamping attachment limits the clamping force applied to a clamped load.

Abstract: A device is presented in which individual sample containers can be conveyed from a start position to a target position. The role of start position and target position is interchangeable. The movement of a gripper is a combined lifting movement and translation movement. With the aid of a simple drive, the gripper is moved along a movement path that is mechanically defined.

Abstract: A mechanism for clamping workpieces includes a base body, a first clamping unit, a second clamping unit, and an inserting member. The base body includes at least two elastic members. Both the first clamping unit and the second clamping unit include a splint assembly movably sleeved on the base body and a moving member. The inserting member is coupled to the base body. When the inserting member is withdrawn from or inserted into a space between the two moving members, the two splint assemblies can be moved away from each other to release a workpiece, or brought together to clamp a workpiece.

Abstract: A gripper assembly includes an actuator, at least one gripper jaw, a sensor member and at least one position sensing device. The actuator has a first actuator portion, a second actuator portion, and a fixed portion. The first actuator portion and the second actuator portion are moveable in unison between a first position and a second position. The at least one gripper jaw is disposed forward of the fixed portion of the actuator and is moveable with respect to the fixed portion of the actuator in response to movement of the first actuator portion. The sensor member is disposed rearward of the fixed portion of the actuator and is coupled to the second actuator portion for movement therewith. The position sensing device is disposed rearward of the fixed portion of the actuator and is operable to detect proximity of the sensor member.

Abstract: A clamping apparatus includes a support, a fixing shaft fixedly mounted on the support, a driving mechanism supported by the support, and at least two clamping assemblies positioned on the fixing shaft and the moving shaft. The driving mechanism includes a driving member fixed on the support, and a moving shaft assembled to the driving member. Each clamping assembly includes a first clamping member, a second clamping member, a first connecting member, and a second connecting member. The first clamping member and the second clamping member are pivotally coupled with the fixing shaft, the first connecting member is hinged with the first clamping member and the moving shaft, the second connecting member is hinged with the second clamping member and the moving shaft. The first clamping member and the second clamping member of each clamping assembly are capable of moving toward each other for clamping a workpiece.

Abstract: A gripper for gripping a workpiece includes a jaw assembly having an actuator with a housing and an elongate member axially slidably movable within the housing. A force-multiplying mechanism is interconnected between the elongate member and the housing. The force-multiplying mechanism is configured to add a mechanical force to the jaw assembly and thereby increase a gripping force on the workpiece during operation of the gripper.

Abstract: A self-aligning piston is configured to selectively engage and disengage a pipe segment to permit a top drive output shaft to be coupled to the pipe segment. In one embodiment, the self-aligning piston includes a piston body configured to rotate between a first position and a second position, at least one resilient, energy-storing member coupled to the piston body, a roller assembly coupled to the piston body, and a cam disposed between the at least one resilient, energy-storing member and the roller assembly. The resilient, energy-storing member is configured to bias the piston body into the first position by rotating the roller assembly along the cam.

Abstract: A system, mechanism, and method for physically manipulating media, especially in a data storage environment.

Abstract: A robotic finger includes a shape-memory alloy and a shape-memory polymer connected to and adjacent to the shape-memory alloy. Heating the shape-memory polymer causes it to soften, heating the shape-memory alloy causes the alloy to bend in the direction of the shape-memory polymer to press the shape-memory polymer against an object to be grasped, and cooling the shape-memory polymer causes it to stiffen and to retain its shape. An opposing member is positioned to cooperate with the finger to grasp an object positioned between the finger and the opposing member. A selectively controllable heat source is capable of applying heat to the finger.

Abstract: A robot includes a robot arm. A robot hand is disposed at a distal end of the robot arm and grips an object. The robot hand includes an air chuck device including a pair of pistons and an air cylinder. The air cylinder opens and closes the pistons in parallel to one another. A pair of first gripping members are disposed at a first side of the pistons and move close to and apart from one another within a first movable range on a movable plane. A pair of second gripping members are disposed at a second side of the pistons and move close to and apart from one another within a second movable range different from the first movable range on the movable plane. The robot hand pivots relative to the distal end of the robot arm about a pivot axis approximately perpendicular to the movable plane.

Abstract: A release device (160, 160a, 160b) for releasing a medical implant (155) from an insertion device (120), said release device comprising a body (10, 10a, 10b) with a proximal end (12) and a distal end (14), wherein a first grip segment (34, 34?), a second grip segment (34, 34?) and at least one actuator (26) are provided between the proximal and the distal end (12, 14), wherein the at least one actuator (26) is manually operable and can be brought substantially into at least the first grip segment (34) substantially axially displaceably in order to effect an intended relative movement in the longitudinal direction (22) between the first and the second insertion element (140, 145) of the insertion device (120).

Abstract: The present invention provides an apparatus and a method for lifting a single Joint of pipe. The single joint elevator of the present invention comprises, in one embodiment, a pair of deployable jaws cooperating with a pair of static jaws to secure a pipe within the slot of a generally horseshoe-shaped body. The deployable jaws of the single joint elevator of the present invention may be rotatably deployable or translatably employable, or both. In one embodiment, each jaw, including the static jaws and the deployable jaws, comprises a pipe slip movably disposed within the jaw to secure a pipe segment within the slot and to self-tighten as the weight of the pipe segment secured within the single joint elevator is transferred to the slips and the jaws.

Abstract: A lithographically structured device has an actuation layer and a control layer operatively connected to the actuation layer. The actuation layer includes a stress layer and a neutral layer that is constructed of materials and with a structure such that it stores torsional energy upon being constructed. The control layer is constructed to maintain the actuation layer substantially in a first configuration in a local environmental condition and is responsive to a change in the local environmental condition such that it permits a release of stored torsional energy to cause a change in a structural configuration of the lithographically structured device to a second configuration, the control layer thereby providing a trigger mechanism. The lithographically structured device has a maximum dimension that is less than about 10 mm when it is in the second configuration.

Abstract: A clamping mechanism includes a mounting member, three sealing assemblies, three clamping assemblies, and six adjusting valves. The mounting member defines a receiving hole axially and three mounting holes radially, the three mounting holes communicate with the receiving hole. Each sealing assembly includes a top seal and a bottom seal sealing opposite ends of corresponding mounting hole. Each clamping assembly includes a holding member and a piston, a first end of the holding member extends through the axial hole and is received in the receiving hole, the piston is fixed to the holding member and divides the mounting hole into a first chamber and a second chamber. The six adjusting valves respectively communicate with the first chambers and the second chambers of the three mounting holes.

Abstract: A grasper includes a base, a finger, a tendon cable and a magnetic breakaway mechanism. The finger has a proximal end connected to the base by a proximal joint. The tendon cable is configured to move the finger relative to the base. The magnetic breakaway mechanism releasably couples the finger to the base.

Abstract: Methods and apparatus are provided for running tubulars into and out of a wellbore.

Abstract: A device for gripping an object including a gripper head, an actuator, and a cable assembly. The gripper head includes at least one movable jaw. The actuator is located remotely from the gripper head. The cable assembly connects the gripper head to the actuator and is configured to drive the gripper head by the actuator.

Abstract: The gripping device is provided with a rod portion which is movable vertically along a rod axis, to the lower end is mounted a connecting block. A pair of opening and closing lever portions is disposed to face each other along the direction of a fore-to-aft or lateral axis, with intermediate portions which are pivotal about a fulcrum support shaft portion parallel to a left-right or longitudinal axis. A link mechanism connects the connecting block and the upper ends of the pair of the opening and closing lever portions and pivots the pair of the opening and closing lever portions in the direction of the fore-to-aft axis in response to the vertical movement of the rod portion. The pair of the opening and closing lever portions is formed with a cutout or notch at least extending from the intermediate portions to upper ends and is disposed against each other with the rod portion.

Abstract: The grasping apparatus includes a grasping portion for grasping a workpiece. This grasping portion has i) pawl portions having squeezing portions that squeeze the workpiece, and ii) contact portions, each of which has an inner bag made of elastic material, and a granular substance that is filled in the inner bag. The contact portions are attached to portions of the squeezing portions that contact the workpiece, and harden the granular substance while keeping it in an appropriate shape by increasing a volume ratio of the granular substance to an inner volume of the inner bags. Retaining portions that have concavo-convex shapes are formed on the attaching surfaces that are portions of the squeezing portions that the contact portions attach to.

Abstract: The present invention relates to a micro-gripper comprising tweezers, designed to be used for the harvesting of fragile sub-millimeter samples from their production or storage medium. The tweezers may be equipped with removable soft ending elements to prevent the deterioration of the sample. When coupled to a robotic arm, this micro-gripper allows automated flow of operations in a continuous and automated process, from harvesting to sample preparation and analysis. The present invention is particularly used in X-ray crystallography.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: A robot claw includes a base seat, more than one elastic assemblies, and at least two first clamping assemblies. The base seat includes a first fastening surface and a second fastening surface opposite to the first fastening surface. Each first clamping assembly includes a sliding unit fastened to the first fastening surface of the base seat and a clamping member fastened to the sliding unit. The sliding unit includes a guide rail. Two elastic assemblies are loaded at two opposite ends of each guide rail; when each of the clamping member slides to one end thereof, one elastic assembly elastically resists with an air cylinder to drive the air cylinder with the clamping member to slide towards the other end of the guide rail of the sliding unit.

Abstract: The invention is a new container clip or clamp in a container conveying apparatus which is designed to have only a single clamp out of a group of clamps to release a container in the case of a failure of the single clamp thereby allowing the remainder of the system to continue. The invention includes a bearing block having holding elements and in the event of exceeding a lateral pivoting range the holding elements are at least partially detached from the bearing block to be released so as to pivot sideways.

Abstract: In one embodiment, a tubular handling apparatus is provided with a wedge lock release mechanism that creates a clearance to allow movement by the mandrel having mating wedge surfaces relative to the tubular to release the wedge slips. In another embodiment, a tubular handling apparatus for handling a tubular includes a mandrel; a carrier coupled to the mandrel; a gripping element for engaging the tubular; an engagement member coupled to the carrier for engaging an upper portion of the tubular; and an abutment device adapted to engage the engagement member, wherein a length of the abutment device is adjustable to allow movement of the engagement member.

Abstract: The invention relates to a pneumatic gripper which comprises a gripper body (21,121), at least two pneumatic control pistons (23) operating within at least one chamber (22,122) defined by the gripper body and movable in opposite directions with respect to each other by a driving fluid supplied to the chamber, at least two guide columns (34) associated with each piston and emerging from the ends of at least the chamber, and at least two jaws (37) movable with the pistons between an active position for gripping a work-piece and an inactive position for releasing the work-piece. The guide columns (34) are attached directly in front of and inside the profile of a respective piston (23), and each gripping jaw (37) may be attached directly to the ends of the columns of a relevant control piston.

Abstract: In some aspects, a magnetic workpiece handling device includes a housing, a housing bottom having an end face, a magnetic piston, and a fluid connection for delivering a working fluid into the housing for moving the piston between an operating position and a rest position. The working fluid is delivered at at least first and second working pressures, the first working pressure transferring the piston into the operating position near the housing bottom and the second working pressure transferring the piston into the rest position away from the housing bottom. The handling device includes a detection device to detect the presence of a workpiece and to determine a pressure of the working fluid. The piston has a vertically movable holding magnet that faces the housing bottom for holding the workpiece. The holding magnet controls a valve arrangement of the detection device.

Abstract: Apparatus and method for engaging an article. The apparatus has a longitudinal centerline, a disengaged configuration and an activated configuration. The apparatus further includes a base portion, first and second engaging arm portions joined to the base portion, first and second moveable portion operatively associated with the first and second engaging arm portions, respectively, and one or more engaging arm bands extending between the first and second moveable portions and the first and second arm portions, wherein at least one of the arm bands bends away from the longitudinal centerline of the engaging arm when the apparatus is changed from the disengaged configuration to the activated configuration.

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: In one embodiment, a tubular handling apparatus is provided with a wedge lock release mechanism that creates a clearance to allow movement by the mandrel having mating wedge surfaces relative to the tubular to release the wedge slips. In another embodiment, a tubular handling apparatus for handling a tubular includes a mandrel; a carrier coupled to the mandrel; a gripping element for engaging the tubular; an engagement member coupled to the carrier for engaging an upper portion of the tubular; and an abutment device adapted to engage the engagement member, wherein a length of the abutment device is adjustable to allow movement of the engagement member.

Abstract: A method and device for manipulating an object is provided. In an exemplary embodiment, a gripping device configured to grasp the object includes a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

Abstract: A gripper assembly for use with a media cartridge includes a gripper support and first and second gripper members supported by the gripper support. The gripper members are moveable asymmetrically with respect to the gripper support for gripping the media cartridge.

Abstract: A robot hand is provided, the robot hand including three finger sections, a supporting section which supports a proximal end of each of the three finger sections, and a circumferential movement section which circumferentially moves a second finger section and a third finger section of the three finger sections about a position where the three finger sections are supported on the supporting section is provided. The circumferentially moving second finger section and third finger section are circumferentially movable in a range of 180 degrees or greater in a circumferential direction substantially around a hand axis of the robot hand, about the position where the three finger sections are supported on the supporting section.

Abstract: A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.

Abstract: An aerodynamically controlled grapple assembly includes a frame member secured to an associated load line and a streamlined body mounted to the frame member. The streamlined body includes a main lifting surface extending away from the body in a first direction and a vertical stabilizer extending away from the body in a second direction. A pair of grapple arms are movably connected to the frame member.

Abstract: A robot claw includes a base seat, more than one elastic assemblies, and at least two first clamping assemblies. The base seat includes a first fastening surface and a second fastening surface opposite to the first fastening surface. Each first clamping assembly includes a sliding unit fastened to the first fastening surface of the base seat and a clamping member fastened to the sliding unit. The sliding unit includes a guide rail. Two elastic assemblies are loaded at two opposite ends of each guide rail; when each of the clamping member slides to one end thereof, one elastic assembly elastically resists with an air cylinder to drive the air cylinder with the clamping member to slide towards the other end of the guide rail of the sliding unit.

Abstract: A supporting device for supporting a load includes a body including a load supporting device for supporting the load in relation to the body, a remotely controlled actuator including a first stopping device and a first actuator element, a connection interface fastened to the body, where the connection interface is configured to be engaged with the remotely controlled actuator by providing the connection interface with first and second rails configured for receiving the first actuator element of the remotely controlled actuator between the first and second rails, and a first guiding device connected to the first rail and a second guiding device connected to the second rail for guiding the remotely controlled actuator towards the connection interface, where a distance between the ends of the first and second guiding device is larger than a distance between the rails.