Abstract: An article gripping apparatus selectively grips a first article having a functional surface and a non-functional surface, and an elastically deformable second article. A first contact mechanism contacting the first article includes a plurality of contact members contacting the non-functional surface of the first article, and a suction member which chucks the first article at a position where the suction member does not contact the functional surface of the first article in a state wherein the contact members are in contact with the first article.

Abstract: A feeding apparatus for transferring eggs from a pile of egg trays to an egg depositing position on a supply conveyor of an egg processing machine comprises at least three units which each comprise lifting and retaining heads for lifting all eggs from an egg tray and transferring the eggs to the depositing position and releasable grapplers for transportng the egg trays. The units move in a closed path between a first operational position where a pole of egg trays is located, a second operational position where emptied egg trays are received and a third operational position where the egg depositing position is located. The units are vertically movable at each of these operational positions between an operational level and a conveyance level. The grappler releases retained egg trays at the second position of operation, whereas the units retain the eggs for transfer to the egg despositing position.

Abstract: A linear tweezers for automatically placing a component on a printed circuit board. Two pairs of mutually orthogonal, oppositely-directed, linearly-actuated tweezer legs center a component along perpendicular transverse axes with respect to a projecting axis. Each opposing pair of legs is connected by a flexible inelastic drive belt, assuring that the legs approach the projecting axis at the same rate. The component is located between the legs and is precisely centered by the legs as they approach the projecting axis. The component is then gripped by both pairs of legs and transported to a desired location. A vacuum gripping chuck grasps the component and moves along the projecting axis away from the tweezer legs to place the component without disturbing any nearby unsecured parts.

Abstract: A zipper operating device is provided for manipulating a slide fastener having a sliding operator member and a tab member connected to the sliding member. The zipper operating device includes a tang member which may be received within a hole in the tab member whereby the zipper operating device may engage the sliding member for manipulation thereof. The zipper operating device is shaped generally like a key and includes a head portion and a shank portion extending therefrom. A hole is provided in the head portion distal from the shank portion such that the device may be attached to a key ring or key chain.

Abstract: A method of creating a protocol for oil extraction or for enhancing oil extraction from oil reservoirs. A process of devising and applying a customized electromagnetic irradiation protocol to individual reservoirs. Reservoir samples are tested to determine their content, molecular resonance frequencies and the effects of electromagnetic field on their compounds. Electromagnetic field frequencies, intensities, wave forms and durations necessary to heat and/or crack individual molecules and produce plasma torches is determined. Equipment are selected and installed according to the results of the laboratory tests and the geophysics of the mine. Dielectric constant of the formation is reduced by draining the water and drying it with electromagnetic energy.

Abstract: A copy machine paperclip and staple retrieval device with a rigid longitudinally-extending elongated member having a cross-sectional area extending transversely across its longitudinal axis with its cross-sectional area diminished toward its distal end, a permanent magnet having a transverse cross-sectional area smaller than the member's distal end's cross-sectional area, and a cap member of compressible composition with an inner space having the permanent magnet received and seated therein after insertion through the cap's open upper end, and the open end size having the distal end received therein with the compressible composition compressibly secured onto the distal end, the cap member having a small cap cross-sectional area, with the bottom end having an outer surface substantially columnar with a blunt outer bottom surface having rounded edges, the cap member being columnar in shape, the cap's top open end having an inner circular surface, the elongated member at its diminished cross-sectional area being

Abstract: There is herein described an improved surface mounted component placement mechanism head structure which automatically accepts a very wide size range of such components.

Abstract: An article holding hand apparatus of this invention grips a plurality of types of articles having different gripping modes. The apparatus includes at least two casings with a varying distance therebetween, first driving mechanisms for moving the casings to vary the distance therebetween, and a first holding mechanism attached to each casing and having at least two first finger members. The first holding mechanism opens and closes the first finger members to clamp a first article by movement of the casings through the first driving mechanism. The apparatus also includes a second holding mechanism, attached to each casing, for holding a second article, the second holding mechanism having second finger members slidably guided by the first finger members, with the distal end of each second finger member serving as a holding portion for holding the second article, and second driving mechanisms, housed in the casings, for sliding the second finger members.

Abstract: This pick and place device and method for arranging components on a printed circuit board utilizes a placement head having an articulated, compliant tip for facilitating proper alignment of the component lead plane on the substrate, for example, in a fine pitch component placement machine where extreme accuracy must be achieved in matching the component leads to the circuit land pattern. In general, the articulating tip is fitted within a cavity or opening in the lower end of a spindle. Compressed air may be introduced into the cavity generating an air bearing, thus causing the articulating tip to comply with the upper surface of the component, or else the weight of the tip itself can be used to create the desired compliance. A vacuum force is then created within said opening sufficient to pick-up the component once the compressed air has been turned off. Various configurations of the articulating tip and various methods of air and/or vacuum application are provided.

Abstract: Disclosed herein is an instrument for inoculating bulb scales which comprises an instrument line, a scale sucking finger having a suction tube, and a scale gripping finger, with one end thereof rotatably joined to the instrument proper and with an intermediate part thereof connected to the instrument proper with a spring made of shape memory alloy.

Abstract: A robotic tool is provided for temporarily positioning shearclips against structural members. The device incorporates a movable jaw linkage which provides sufficient clamping force for withdrawing a shearclip from an adhesively retained position in a storage tray. After a shearclip is removed from the storage tray, the movable jaw is displaced to a non-clamping position and vacuum retention of the shearclip is relied upon. The present robotic device achieves two time-saving objectives in the assembly of aircraft. It permits rapid preparation of shearclips as well as rapid mechanical-handling deployment of a prepared shearclip for utilization with a structural member.

Abstract: A tool for precisely positioning a workpiece upon a related component part that includes a housing having reciprocally mounted therein a piston and an associated piston. Connected to and mounted for relative movement therewith is a nozzle which is arranged to attach to a workpiece when a negative pressure is imparted to the nozzle. Circumferentially spaced about the housing are at least two pairs of complementary fingers that are sequentially actuated to effect the sequential positioning of the workpiece held on the end of the nozzle along a first and second axis relative to the nozzle. The arrangement is such that the precise positioning of the workpiece on the end of the nozzle is effected in translating the workpiece from its pick-up position to its deposit position where the workpiece is precisely positioned upon its receiving component part.

Abstract: The end effector forms part of the relocatable space station remote manipulator system. The end effector has grappling capabilities and latching capabilities and may include a force moment sensor which can cooperate with the arm in order to align the end effector with a grapple fixture without the aid of a grappling mechanism. The function of the end effector, when two are installed, one on each end of a symmetrical manipulator arm is to provide the capability to interchange the wrist and shoulder functions of the arm, thus enabling the manipulator to be self relocatable. The end effector combines the snare and rigidizing features of existing end effectors with new latching and umbilical electrical power and signal transfer features.

Abstract: A pick and place machine having an electronic component feed device wherein the feed device feeds electronic components to various pick up locations with such high positional accurracy that alignment jaws on the pick up head are not necessary. Elevated tracks run parallel to a printed circuit board conveyor belt. These elevated tracks support an arm which in turn supports the electronic component pick up head. The feed device is positioned under the elevated tracks so that an operator can replenish the supply of electronic components in the feed device without reaching over the tract.

Abstract: The present device is directed to a nozzle tip for the head of a pick and place device for arranging electronic components as desired on a substrate. The tip permits both first and second vacuum areas to be selectively generated, thus facilitating the pick-up of components of widely varying sizes and shapes with a single tip.

Abstract: An end effector for automatically removing an IC chip from its holder has locating pins to be inserted into holes formed in the holder to properly position itself with respect to the IC chip and shoving pins attached to horizontally movable grippers so as to be able to shove and bend parts of the holder holding the chip to thereby release the chip from the holder. A vertically movable tube connected to a vacuum pump above contacts the chip at the bottom and pulls it out of the holder by suction.

Abstract: Die attach pickup tools for relocating a flexible die attach. The pickup tools comprise a head portion connected to an end portion. The head portions have a face for contacting a die attach and at least one hole in the face. Passage means extend from the hole(s) through the tool for connection to a vacuum source.

Abstract: Apparatus (10) for centering an integrated circuit device (12) along X and Y axes (95, 97) with respect to a Z axis (39). First and second jaw pairs (98, 100), are actuated so that corresponding jaws of each pair are, at all times, disposed along their respective axis at equal distances from the Z axis (39). Corresponding jaws of each pair (98, 100) are, concurrently, moved toward and away from the Z axis, therefore. In a preferred embodiment, actuation is effected by means of linear extender rods, (70, 72) which, in turn, in effect rotation of discs (26, 28) and their corresponding turnstiles (106, 114). Turnstile (106, 114) rotation, in turn, effects linear movement of track riders (84, 86) to which the jaw pairs, (98, 100) are mounted.

Abstract: An apparatus for insertion into the urethra for attachment to and removal of an in-dwelling urinary continence device comprises generally a tubular body having a longitudinal bore with a slidable shaft therein. Slidable jaws are connected to a first end of the shaft and are normally retained in a closed position within the bore. The shaft may be longitudinally displaced within the bore to cause the jaws to protrude therefrom and assume an opened position. A magnet, slidable within the jaws, protrudes from the jaws when they are in their opened position to attract a ferrous ball for retraction into the jaws. The apparatus employs a method for removing an intraurethral device wherein anchoring members holding the device in place may be collapsed and the device removed with a single insertion of the tool. The device may also be used for retrieving objects from body passages other than the urethra, for example, arteries.

Abstract: An SMD pick-and-place head for picking an SMD (Surface Mounting Device) and placing it on a predetermined location of a PC board automatically. An SMD pick-and-place head also automatically centers a picked up SMD, so as to place the SMD at a predetermined location precisely. The SMD pick-and-place head comprises a body shell, a nozzle device, a vacuum source, an elevating device, two couples of centering links, a centering link drive mechanism, and a nozzle rotation drive mechanism.

Abstract: A robotic gripper head includes mechanically actuated gripping fingers having gripping surfaces which are arcuately shaped to perpendicularly contact opposed grip ends of a flat part.

Abstract: A collapsible sand rake assembly may be stored within the shaft of a golf club and selectively extended from an upper end of the club for use. The sand rake assembly includes a post which has a limited range of sliding movement with respect to the golf club, a rake back which is pivotally connected to the post, and a plurality of tines which are pivotally connected to the rake back. The rake back may be pivoted to extend perpendicualr to the post, and likewise the tines may be pivoted to extend perpendicular to the rake back, to configure the golf club for use as a sand rake by the golfer. The tines and the rake back may then be retracted to lie substantially parallel and adjacent to the post, for insertion within the shaft. The sand rake assembly is held within the golf club shaft in a manner which minimizes contact between the assembly and the shaft, to permit normal use of the golf club.

Abstract: A lamp replacement tool which provides for positively captivating lamps for ease of removing or inserting lamps from or into the type of a lamp housing that forms part of a flush mounted push button switch used in aircraft cockpit control panels. The lamp is mounted behind a display legend formed on the face of the push button and for lamp replacement the push button portion of the switch unplugs from the switch body and hinges down to expose the rear of the lamp. A friction fit maintains the lamp in the lamp housing. The lamp replacement tool includes upper and lower blades extending from a handle member in spaced apart parallel relationship. The lower blade is formed with a forked end portion having a u-shape for engaging with a flange formed on a base portion of the lamp and for embracing the base portion. The upper blade is formed with either a v-shaped portion or an aperture for engaging with a base contact protruding from one end of the lamp. The upper blade terminates in an angled lead-in.

Abstract: A pick-up head (10) of the apparatus has three alternative pick-up surfaces (24,34,64) formed respectively on a body (16), a first piston member (30), and a second piston member (60). The first piston member (30) is slidable in a cylinder (22a) formed in the body (16) and the second piston member (60) is slidable in a cylinder (48a) formed in the first piston member (30). The piston members (30,60) are movable between projecting postions and retracted positions. When both piston members are retracted, the surface (24) of the body (16) is used, when only the second piston member (60) is retracted, the surface (34) of the first piston member (30) is used, and, when neither piston member is retracted, the surface (64) of the second piston member (60) is used.

Abstract: A method of transferring a collation of flexible packages from a first location to a second location employs a loading head comprising an enclosure having an opening and a permeable barrier extending across the opening. The method comprises the steps of bringing the opening and the collation together at the first location, applying suction to the enclosure, thereby drawing air into the enclosure through the permeable barrier, drawing the packages against the barrier by the air drawn through the permeable barrier, and thus expanding upper regions of the packages towards one another by sub-atmospheric air pressure created by the suction. The packages tend to seal against one another and to prevent flow of air through the collation, so that the collation is held by suction against the barrier. The enclosure is transferred to the second location and the suction is removed to release the collation from the enclosure.

Abstract: In a system comprising a gripper (9) and a number of gripping objects (7), and with fluid-communication couplings for establishing temporary fluid communication between the gripper (9) and the gripping object (7) being gripped, the novel feature consists in that the coupling comprise at least one tubular member (30) with at least one open end being adapted to be pressed against and to make fluid-tight contact with a plane surface (37) on the gripping object (7) having fluid-transfer openings (39) with somewhat smaller diameter than the open ends of the tubular member (30). With this arrangement, the risks of damage and other problems associated with previous coupling arrangements based on the male-female principle are avoided.

Abstract: A method and apparatus for cubing paving stones or similar stones which are not adapted to forming a self-supporting unit through the means of pressure applied to opposite sides of a tier of such stones. In the present invention, the stones on a flat pallet are contacted with side pressure to bring the stones into a compact unit on the pallet. While the stones are so clamped, the pallet is clamped along its opposite side edges and transported, with the tier of stones thereon, to a location above a previously deposited tier of such stones or a pallet. When so positioned, the pallet is withdrawn from its supporting position beneath the stones and the stones settle gently onto the previously laid tier or pallet. The force applied to the stones on the pallet is chosen to be less than the force that would be required to urge the stones against one another to form a self-supporting unit.

Abstract: An accessory attaches to the bail of a paint can. It provides a wiping edge for wiping excess paint from the bristles of a paint brush. It also provides a brush-holding device for holding a paint brush that permits paint from the brush to drain into the container. The accessory further provides a paint-free carrying handle that lifts the can by the bail for balanced carrying while the brush is held in place.

Abstract: A vacuum adsorption hand and a composite hand mechanism attachable to the arm or the like of a material handling industrial robot are disclosed. The vacuum adsorption hand includes a sponge-like element on the outer surface of a perforated plate defining a vacuum chamber to prevent the ports or perforations in the plate from being obstructed by packaging film on an article to be handled. The composite hand mechanism of the present invention includes grasping mechanisms for grasping the sides of an article to be held in addition to an adsorbing mechanism. The grasping mechanisms have first members adapted for transverse movement to apply an adjustable transverse grasping force and second members which are vertically movable with respect to the first members. The grasping mechanisms ensure that the article will be held securely despite the effects of horizontally-oriented forces acting on the article held by the composite hand mechanism.

Abstract: The utensil has a handle with a spoon/ladle assembly at one end and a spatula assembly at the other. The handle comprises two hollow telescopically engaged parts held in engagement by an elastic cord enclosed in the handle parts. The utensil is collapsed (folded) by disengaging the handle parts against the tension of the cord and folding the two assemblies to nest with each other, held in the collapsed mode by a detent with the cord functioning as a hinge. The spatula assembly is adapted to serve as a spatula, a grater, a cutter and a strainer. The spoon/ladle (spadle) assembly is adapted to function as a spoon, ladle, measuring container, and pot lifter/holder. When folded but not held folded by the detent the utensil functions as tongs. The handle is marked to serve as a linear measuring instrument.

Abstract: A pick and place machine has two pairs of centering jaws slidably mounted in rectilinear slots of a shift plate, with each jaw pair being driven by a pair of scissor links respectively pivoted to a pair of nuts mounted on a dual reverse threaded shaft.

Abstract: An article manipulator for use with an industrial robot includes an upper frame adapted for fastening to the industrial robot and a lower frame coupled to the upper frame. A pair of lifting members operable for lifting an article are connected to the lower frame. At least one vacuum cup is coupled to the frame and is restrained to move in a plane substantially parallel to the lifting members. Sensing mechanisms are provided for sensing the position of an article relative to the manipulator and for generating electrical signals which are utilized by a controller to enable the vacuum cups to grip the article at one side and move the article onto the lifting members. Subsequently, the manipulator transfers the articles to a second position. The manipulator is suited for depalletizing and/or palletizing parallelepiped shape articles.

Abstract: A device for bringing plate-shaped objects to and removing said objects from a suspended frame, by means of which the objects are suspended in a galvanization bath, comprises pneumatically operated suction caps engaging the objects to be galvanized and a plurality of grippers engaging a respective plate-shaped object and applying to the object a force acting in a vertical direction to lift or lower said object. The suction cups engage side surfaces of the object and secure object against a lateral tilting motion.

Abstract: A head assembly for a burn-in board loader and unloader comprises a mounting block having a generally vertical track. A main body is mounted on the mounting block and afforded vertical movement along the track. The main body has a vertical bore through which a vertically movable plunger extends. The main body also comprises at least three vertical mounting wire holes spaced-apart around the bore. A floating crown having a vertical bore through which the plunger extends is mounted on the upper end of the main body by mounting wires which are fixedly attached at their upper ends to the crown and extend downwardly into the mounting wire holes. The mounting wires are fixedly attached at their lower ends to the main body at the lower ends of the mounting wire holes. The crown is preferably mounted to provide a gap between the crown and main body of about 0.005 inch.

Abstract: A method of stacking boxes, cases, cartons, crates or the like using a computer-controlled apparatus having a lifting grab fitted with two independently movable grippers between which a box to be lifted may be clamped. In a first step, the grab is positioned at a loading station, the grippers are relatively separated and then the grab is lowered over the next box to be stacked. One gripper is then moved to a datum position and the other gripper is moved towards said one gripper so as to clamp a box therebetween. The grab is raised and moved together with the clamped box to a stacking station whereat the grab is finely positioned to have the box correctly placed in the stack under assembly with said one gripper alongside a previously stacked box. The lifted box is released by moving said other gripper away from said one gripper and then the grab is raised clear of the stack without disturbing the placement of the last-lifted box.

Abstract: A pick-up head especially for use in a machine for placing electrical components on a substrate comprises a tool holder having means for interchangeably mounting a pick-up tool with a datum face located at a predetermined position relative to a datum position. The datum position of each tool is defined by the nose length of each tool. The pick-up head further comprises a plurality of orienting jaws mounted for movement towards and away from a component carried by and abutting the datum face of the tool when the holder is in the datum position whereby the jaws can engage the component to orient the component. The jaws have a plurality of spaced sets of cooperating datum faces disposed generally transversely to the plane of the datum face of the tool in the holder. Each set of cooperating faces being disposed so as to be capable of orienting a component carried by a corresponding tool having its datum face located relative to the datum position of the holder.

Abstract: The device for picking and transporting components of different size has a gripping casing (1) which comprises a plurality of concentrically arranged, axially movable gripping elements (4, 8, 11). The elements move telescopically relative to each other, and each have a suction opening arranged at the end and connected, according to the working position, with a vaccuum inlet (3). For picking up a small part, only the innermost, smallest gripping element operates. In picking up a middle-size part, the innermost gripping element (11) and the middle gripping element (8) work together, while in the gripping of a large part, the outermost gripping element (4) is additionally actuated.

Abstract: Pressures applied to a component for pickup and placement thereof are each selectable, according to introduction of gas under pressure into a piston and cylinder configuration defined by a tool, such as a vacuum spindle, telescopically supported in a tool holder. An actuator with closed loop velocity and displacement control moves the tool holder to and fro along a longitudinal axis according to a known programmable controller. Thus, compression of the gas and relative displacement between the tool and holder allows controlled pick and place pressures to be varied and monitored programmably. The pressurized gas also acts to prevent dirt contamination of the bearing surface between the tool and holder and consequent impairment of telescoping and rotational movements therebetween.

Abstract: A chip mounter for automatically mounting an electronic part onto a substrate. The chip mounter has a sucker for vacuum-holding the electronic part, at least one pair of fingers capable of reciprocatively moving between an electronic part clamping position and a release position and of also moving vertically, and a guide for guiding the fingers so that they perform linear reciprocative movement. Positioners for clamping the electronic part are disposed on the respective distal ends of the fingers in such a manner that their positions are adjustable in the clamping direction.

Abstract: An end effector suitable for manipulating articles such as mail flats is disclosed. This end effector has parallel reciprocating arms having suction cups for gripping the article to be manipulated and mechanical grippers mounted on the arms outboard of the suction cups. These mechanical grippers may be actuated to provide a mechanical grip on a manipulated article in addition to the suction grip.

Abstract: Disclosed is an apparatus for holding an electronic part including a rod coupled to a part-absorbing nozzle at one end thereof and coupled to a vacuum device at the other end portion thereof, the rod being axially movable. Also included is a sleeve member movable along the axis of the rod in response to the movement thereof. A pair of chucking jaws for chucking the electronic part are coupled through a transmission mechanism to the sleeve member. The transmission mechanism comprises a pair of curved levers each providing a connection between the chucking jaws and the sleeve member and a pair of guide members which are respectively engaged with the pair of chucking jaws and radially extend at right angles to the axis of the rod, and is arranged to allow the pair of chucking jaws to be moved at right angles to the axis of the rod member in opposite directions to each other in response to the movement of the sleeve member.

Abstract: A lifting magnet with a gripping mechanism generally comprises a lifting magnet capable of electrically magnetized for gathering and attracting magnetic articles, such as scraps of dismantled machines, broken automobiles and electric washing machines, a main power cylinder, and a plurality of gripping arms mounted on the lifting magnet and each comprising a first arm pivotally joined at one end to the lifting magnet, a second arm pivotally joined at one end to the other end of the first arm, an auxiliary power cylinder for operating the first arm for gripping operation, and locking means for locking the second arm to the first arm when the first and second arms are folded and when the second arm is opened relative to the first arm for gripping operation. In one aspect of the present invention, only two among a plurality of the gripping arm assemblies can be used for gripping elongate articles.

Abstract: A compact spindle assembly for surface mounting and insertion of electrical components comprises a unitary casing in which electric rotary and linear displacement motors are housed in order to provide for actuation of a vacuum nozzle and easily interchangeable tool assemblies such that components may be picked from a supply, squared and/or centered during transfer to a placement station, and placed at a particular position on a circuit board or the like.

Abstract: A robotic gripper tool pivots under the force of gravity to orient itself to enable the actuation of a selected gripping surface. The self-pivoting action is accomplished solely by the force of gravity acting upon the mass distribution of the tool with respect to the pivot axis of the tool. Several different gripping surfaces are provided on the tool whereby time consuming tool changes are substantially eliminated. The gripper tool is pivotally connected to a robotic arm. By pitching the robotic arm, the self-pivoting tool will be positioned by the gravitational force acting upon it.

Abstract: An exchangeable multiple function end effector tool suitable for use on the distal end of a robotic end effector includes, in combination; a device for removably affixing the multiple function and effector tool onto a pair of extending fingers provided on a robotic end effector. The multiple function tool is provided with an apparatus for acquiring a first element or component and releasably retaining same and further incorporates a second gripping device which is capable of acquiring a second element or component and releasably retaining same in the tool. Provision is made for engaging and disengaging the elements either separately or in unison. Movement, assembly or disassembly of the elements remains a function of the end effector and its control mechanisms.

Abstract: A pick-up head especially for use in a machine for placing electrical components on a substrate comprises a tool holder mounted for movement, conveniently by a lead screw driven by a motor, between a plurality of datum positions and further positions remote therefrom, having means for interchangeably mounting a pick-up tool with a datum face of the tool located at a predetermined position relative to the tool holder. The head further comprises a plurality of orienting jaws mounted for movement towards and away from a component carried on the datum face of a tool on the tool holder when the holder is in one of the datum positions whereby the jaws can engage the component to orient the component.

Abstract: A survival knife is disclosed including hook members which are securable to the knife and angled rearward toward the handle. A ring is provided for securing a line to the pommel of the handle, thereby making the knife become a grapple. Several variations of location of the hook members are disclosed including the handle, the quillon and the blade. The hook members are fixed or pivotal and may be telescoping. A skeletal knife is disclosed, with openings for securing a line, and hook members to produce a grapple.

Abstract: In known pick-up heads for orienting electrical components the component, supported by a pick-up tool, is engaged by a plurality of pairs of opposed jaws to urge the component into a desired orientation. When the components become oriented, the pairs of jaws exert a slight gripping force on the component which can damage fragile components, for example so-called "chips". In the invention, a datum face of the pick-up tool against which the component is supported has the same peripheral shape as the component but each dimension is slightly larger than the corresponding dimension of the component and orienting faces of the jaws are disposed to engage the periphery of the pick-up tool when the component is oriented so that the components are not gripped between the pairs of jaws. Likelihood of damage is thus reduced.

Abstract: The invention provides a process for gripping a layer of standing containers (23) such as bottles, and a head for gripping a whole layer of such containers. The process is characterized in that the layer of containers (23) is framed by four simultaneously actuated jaws (12 to 15), the jaws being movably positioned to nip or bear against the outer container of the layer while subjecting the jaws to vibrations, thereby causing the containers to align themselves in rows, bearing against each other. The rows are offset from each other in a longitudinal direction by a direction such that the containers are disposed in a staggered or quincunx arrangement. The rows of containers are acted upon in the direction in which they bear against each other with a nipping force (F.sub.1, F.sub.2). The nipping force (F.sub.1, F.sub.2) may be greater than the force (f.sub.1, f.sub.2) with which the containers are acted upon in the direction in which they bear against each other in their row.

Abstract: A pick-up head especially for use in a machine for placing electrical components on a substrate comprises a tool holder mounted for movement, conveniently by a lead screw driven by a motor, between a plurality of datum positions and further positions remote therefrom, having means for interchangeably mounting a pick-up tool with a datum face of the tool located at a predetermined position relative to the tool holder. The head further comprises a plurality of orienting jaws mounted for movement towards and away from a component carried on the datum face of a tool on the tool holder when the holder is in one of the datum positions whereby the jaws can engage the component to orient the component.