Abstract: A clamp having an adjustable tip assembly is provided. The adjustable tip assembly includes a finger, wedge and spreader. The finger is configured to engage the workpiece. The wedge is configured to engage the finger. The spreader is configured to engage the wedge, and applies a force against the wedge. The wedge, in turn, applies a force against the finger to hold the finger while engaging the workpiece.

Abstract: The nano-gripper of the present invention comprises (i) a pair of arms 71 and 71 disposed side by side, each arm 71 having a face at its front end, the front-end faces of the arms 71 and 71 facing each other, (ii) and a protrusion 72 with a tip formed on the front-end face of each arm, the tips of the protrusions 72 and 72 facing each other, the radius of curvature of each tip being 50 nanometers or less. Each protrusion 72 is a triangular-pyramidal silicon crystal with (001), (100), and (111) side faces.

Abstract: A sanitary refuse collecting and pouching device having an actuator handle and a housing unit that can be configured to have a movement mechanism, material shaft rollers for dispensing replaceable collection pouch material, formation rollers, and a cutting unit. The movement mechanism drives the formation rollers causing the refuse to be enveloped and sealed in the collection pouch material. The cutting unit thereafter severs the sealed pouch, which can be stored in the housing unit until disposed.

Abstract: A pincer system is comprised of an array of pincers. Each pincer includes an inner disk having legs that are pushed downwards onto a pliable material to cause protuberances, while an outer disk is rotated to simultaneously squeeze the extruded material between its legs and those of the stationary inner disk. Tracks provide for slideable movement of the individual pincers. The system, carrying an attached micro-satellite, translates across a pliable material covering a spacecraft by coordinating the movement of the pincers with their grasping of the pliable material. This abstract is provided to comply with the rules requiring an abstract, and is intended to allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: An apparatus is provided for gripping nano-scale objects, wherein the apparatus includes a probe including a base portion and a terminal portion. First and second nanotubes are secured to the base portion of the probe, wherein each of the first and second nanotubes include a protruding portion which extends past the base portion and the terminal portion of the probe. First and second electrodes are formed on the base portion of the probe and electrically connected to the first and second nanotubes. A third electrode is disposed on the terminal portion of the probe. A control circuit applies a voltage to the first, second and third electrodes to close the protruding portions of the first and second nanotubes by charging the first and second nanotubes to a first polarity and charging the third electrode to a second polarity opposite to the first polarity.

Abstract: A laminated-type multi-joint portion drive mechanism includes a bone member having at least two elastic deformation portions, a laminated-type pneumatic tube member having at least twoline-tubes which are stacked on the bone member and which are connected to a pneumatic drive source, and a planar-type joint-portion deformation member which is stacked on the laminated-type pneumatic tube member and has pneumatic operation chambers which are placed at joint portions confronting the deformation portions, respectively, and which are connected to the tubes, wherein when pneumatic pressure is applied to one of the pneumatic operation chambers, the joint portion corresponding to the pneumatic operation chamber to which the pneumatic pressure is applied is deformable.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: An end-effector that loads disks into a pallet of a sputtering machine, for example, has a two-piece mandrel with a rigid inner core and a plastic outer sleeve slideably axially mounted on the core. The sleeve is attached to the core with a coupling providing a predetermined attachment force. A breakaway force exerted on the sleeve that exceeds the attachment force causes the sleeve to separate from the mandrel, this separation being sensed by a breakaway sensor.

Abstract: Device at tool holder (10) of the kind comprising an essentially C-shaped frame preferably having a long inner range, which frame at its free shank ends carries said tool, for instance a riveting, a glueing or a welding unit. The holder (10) comprises a truss or frame work, which includes an outer and an inner C-shaped frame (11, 23) and a number of slewing brackets (27–32) connected to these. The frames (11, 23) and the slewing brackets (27–32) are arranged to form a number of connected triangular sections, which connection points (18–22, 37) are designed as intersections or joints. The outer C-shaped frame (11) is arranged only to support thrust forces and the inner frame (23) thrust and tensile forces and the slewing brackets (27–32) substantially tensile forces.

Abstract: A method and apparatus for facilitating the connection of tubulars using a top drive which, in one aspect, the apparatus includes a body connectable to said top drive. The body includes at least one gripping element radially displaceable by hydraulic or pneumatic fluid to drivingly engage a tubular to permit a screw connection between said tubular and a further tubular to be tightened to the required torque.

Abstract: In a robot hand according to the present invention, a first-type grasping claw driven by a servo motor on a hand base and a second-type grasping claw having no actuator are used with the grasping claws mounted on each holding unit. The second-type grasping claw is movable in a direction perpendicular to a moving direction of the first-type grasping claw. The robot is operated so that an external force is applied to the grasping claw by bringing the grasping claw into contact with a contact surface of a stationary stand member, thereby to change a position of the grasping claw relative to the hand base and that grasping claw is locked at that position by a brake mechanism. Each grasping claw is adapted to be able to be mounted or dismounted on or from the holding unit using a pull bolt and a retaining mechanism, and can be automatically changed by the robot operation. By attaching the pull bolt to the workpiece in advance, the retaining mechanism also can be used for holding the workpiece.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: Electric tweezers 1 includes a gripping member 13 for releasing/gripping an object, a base member 11 having an engagement portion to be engaged with the one end portion of the gripping member, a holder member 62 for fixedly coupling one end portion of the gripping member 13 and having a penetrating hollow cylindrical portion, a switch 57 for rotating and stopping a motor, a transformation mechanism 30 coupled with a shaft 52a of the motor 52 for transforming a rotation of the motor 52 in one direction into a quantity of translational displacement in a predetermined reciprocating direction with respect to the other end portion 13g of the gripping member, and an attaching section for attaching the base member 11 to a plurality of different positions relative to the holder member 62.

Abstract: A gripper comprises a motor 25, contained within a case 32, for driving a translational nut 23 that is moved in translation, a finger 20 having one end connected to the translational nut 23, with the other end being connected to the case 32, in which when the one end is pulled upon a movement of the translational nut, the finger is expanded in the amount of displacement at a top end, a plate-like stopper member 26 connected to one end of the finger 20 and having a projecting piece 26b around the outer periphery thereof, a holder member 22 for inserting loosely the projecting piece 26b, a locating nut 28 for adjusting a predetermined gap from the stopper member 26 by being threadingly engaged with a threaded portion of the holder member 22, and a spring 29 for pressing the locating nut 28.

Abstract: The operation method of nanotweezers including the steps of: confirming the position of a nanoscale material by way of imaging the surface of a specimen by a scanning type probe microscope; moving the nanotweezers to the position over the nanoscale material; descending the nanotweezers which are in an opened state and then closing the nanotweezers so as to hold the nanoscale material; raising the nanotweezers that hold the nanoscale material and then moving the nanotweezers to an objective position; and descending the nanotweezers that hold the nanoscale material and then opening the nanotweezers, thus releasing the nanoscale material on the objective position which is on the surface of the specimen and is where a nanoscale construction is constructed.

Abstract: A handling device includes a gripping member and a support structure that supports the gripping member. The gripping member includes a flexible, substantially toroidal wall member having an outer wall portion and an inner wall portion that defines an axial passageway through the gripping member. A fluid fills the volume enclosed by the wall member. The support structure includes a drive mechanism that engages the wall member and is constructed and arranged to provide relative axial movement between the inner and outer wall portions.

Abstract: A pick-and-place tool releasably retains a part during a pick-and-place operation by an automated device. The pick-and-place tool includes a front structure having a first bore disposed therein for receiving a shaft extending from the part. A plurality of locking mechanisms is disposed within the front structure. The plurality of locking mechanisms are evenly spaced around the inner surface and are in fluid communication with a common fluid source. Each locking mechanism in the plurality of locking mechanisms includes a bearing disposed proximate an aperture in the inner surface, and a piston in mechanical communication with the bearing. Movement of the piston in response to a fluid pressure at the common fluid source forces the bearing to extend through the aperture and retain the shaft within the first bore. In one aspect, a resilient member is disposed between the front structure and a tool holder coupled to the automated device.

Abstract: A device for gripping, holding, releasing, and conveying objects of varying sizes and shapes, comprising an elongated torus (120) enclosing a fluid material (121), an outer roller assembly (136), and an inner roller assembly (134). Torus (120) may be made of a flexible membrane and able to seal in fluid material (121). Fluid material (121) can be a gas, liquid, solid particles, semisolid particles, or mixtures of these. Central channel (128) of torus (120) is collapsed due to pressure of fluid material (121) within torus (120). Gripping and conveying action is achieved by rolling motion of roller assemblies (134) and (136) which move collapsed channel (128) along the longitudinal (elongated) axis of torus (120). This causes front portion of the torus to slide radially inward to grip objects. Further movement of the roller assemblies can cause the object to be pulled completely inside the collapsed channel (121) and conveyed to the rear portion of the collapsed channel and out of torus (120).

Abstract: Diode-type nanotweezers including a first arm and a second arm that project from a holder and are opened and closed by an electrostatic force so as to hold a nanosubstance. The first arm is formed by a gate nanotube fastened at its base end to the holder, and its tip end protrudes from the holder. The second arm is formed by a nanotube diode fastened at its two base ends to the holder and have a diode characteristic portion at its tip end. Diode current and diode voltage applied between the base ends of the arms shows a non-linear diode characteristic such as varistor and rectification. When a gate voltage is applied between the gate nanotube and the nanotube diode, the arms are controlled and a grip strength for a nanosubstance held by the arms is detected by changes in the gate voltage or the diode current.

Abstract: A bending apparatus for bending and transporting an aluminum metal sheet. The bending apparatus includes a central retaining portion that has gripping elements mounted on the central retaining portion for retaining an aluminum metal sheet. There is also included a bending mechanism that is mounted to the central retaining portion. The bending mechanism is capable of axial movement in relation to a central axis of the central retaining portion for imparting a curvature to an aluminum metal sheet. There is also included a method of stretch forming an aluminum metal sheet including the steps of heating an aluminum metal sheet in an oven, transferring the heat of an aluminum sheet to a hot forming tool, bending the heated aluminum sheet during the transfer step to conform the sheet to a shape of the hot forming tool, and then placing the bent metal sheet in the hot forming tool and forming an A-shaped part.

Abstract: A gripper device for loosening, tightening or gripping objects. The gripper device has a support structure with a fixed, object contact surface, that preferably has a high friction surface. One end of a pivot arm is pivotally attached to the support structure. The pivot arm has a free end. A cinch strap with two ends is provided. On end of the cinch strap is attached to the free end of the pivot arm and another end of the cinch strap is fixed to the structure. By moving a jar or other cylindrical object into turning contact with the cinch strap, that object will be captured and held in place.

Abstract: The present invention is a gripper comprising a motor 12 for driving a connecting nut 126 that is translated, a gripping finger 103 having at least two sides of substantial V shape and a shared portion 103g for joining one ends of the two sides, and provided with the other ends of the sides, a base member 110 with a notch 110c for engaging the other end portion of the gripping member 103, a holder member 145 having a groove 145e for engaging the base member 110 detachably and the hollow portions 145m and 145h that are penetrated, and a magnetic member 128 composed of a permanent magnet inserted into the hollow portions 145m and 145h of the holder member 145, with one end connected to the connecting nut 126, and the other end magnetically connected to the shared portion 103g of the gripping finger 103.

Abstract: An integrated robot end effector for use in a robotic manufacturing environment. The integrated robot end effector generally includes a circular body having a generally circular rim on an edge thereof. The integrated robot end effector also includes a plurality of orifices through a surface of the body. A plurality of ports extend through a predetermined section of the rim or body of the integrated robot end effector. A plurality of grooves in a surface of the body connects the orifices to the ports within the robot end effector. A cover is secured to the rim of the robot end effector by a retainer. The robot end effector internalizes and integrates all external lines servicing associated vacuum cups or grippers located on the outer surface of the robot end effector.

Abstract: The invention is drawn to a retractable guard for use in a sewerage or drainage line having a plurality of prongs with hooked ends are disposed within a sewage pipe downstream of a toilet. The opposite ends of the prongs are connected to a tubular member which, in turn is slidable within a housing connected to the pipe. These prongs can be used to trap articles which can then be easily removed to rectify stoppage problems or prevent contraband from being distributed through the drainage lines. For convenience in cleaning, the guard device can also be provided with a quick-release connection which separates from the pipe with a simple twist. The prongs can also be magnetized to trap metal objects. The prongs may also be mounted on a pivoting shaft to enable mounting within an angled pipe. For convenience in inspection, the guard device can be provided with a clear portion to enable visual inspection of the interior of the guard device.

Abstract: A rotating inner member is used to drive operation of a retrieval tool connected to a dual-member drill string. The retrieval tool preferably has a gripping assembly adapted to receive rotational energy from the inner member. In a preferred embodiment, an electric actuator assembly operates the gripping assembly of the retrieval tool. In another preferred embodiment, the gripping assembly of the retrieval tool is mechanically operated by a screw driven cam assembly. In yet another embodiment, the retrieval tool is adapted to grip both the inside and outside of the object to be retrieved.

Abstract: A device for gripping, holding, and releasing objects of varying sizes and shapes, which comprises an elongated torus (30) enclosing a fluid material (31), an external control rod (40), and an internal control rod (38). Torus (30) may be made of a flexible membrane and able to seal in fluid material (31). Fluid material (31) can be a gas, liquid, solid particles, semisolid particles, or mixtures of these. Central channel (34) of torus (30) is collapsed due to pressure of fluid material (31) within torus (30). Both control rods are securely attached to torus (30), with rod (38) attached to the interior portion of the torus along collapsed central channel (34), and rod (40) attached to the exterior portion of the torus on outer surface (32). Gripping action is achieved by differential linear motion of control rods (38) and (40) along the longitudinal (elongated) axis of torus (30). This causes front portion (36) of the torus to slide radially inward or outward to grip objects.

Abstract: A gripping apparatus for pick and place handling of articles, wherein the apparatus comprises: a supporting frame (100); and a pair of gripping fingers (2a, 2b) mounted directly or indirectly to the supporting frame and moveable towards each other so as to grip an article (3) therebetween or moveable apart for conventional release of the article, each finger being faced with a respective facing material web (7a, 7b) which is powered to be moveable over the surface of the finger, whereby an article gripped between the gripping fingers may be picked up, released and/or moved therealong, in use, by movement of the facing material webs and independently of movement of the grippping fingers toward or away from each other.

Abstract: To provide nanotweezers and a nanomanipulator which allow great miniaturization of the component and are capable of gripping various types of nano-substances such as insulators, semiconductors and conductors and of gripping nano-substances of various shapes. Electrostatic nanotweezers 2 are characterized in that the nanotweezers 2 are comprised of a plurality of nanotubes whose base end portions are fastened to a holder 6 so that the nanotubes protrude from the holder 6, coating films which insulate and cover the surfaces of the nanotubes, and lead wires 10, 10 which are connected to two of the nanotubes 8, 9; and the tip ends of the two nanotubes are freely opened and closed by means of an electrostatic attractive force generated by applying a voltage across these lead wires.

Abstract: To provide nanotweezers and a nanomanipulator which allow great miniaturization of the component and are capable of gripping various types of nano-substances such as insulators, semiconductors and conductors and of gripping nano-substances of various shapes. Electrostatic nanotweezers 2 are characterized in that the nanotweezers 2 are comprised of a plurality of nanotubes whose base end portions are fastened to a holder 6 so that the nanotubes protrude from the holder 6, coating films which insulate and cover the surfaces of the nanotubes, and lead wires 10, 10 which are connected to two of the nanotubes 8, 9; and the tip ends of the two nanotubes are freely opened and closed by means of an electrostatic attractive force generated by applying a voltage across these lead wires.

Abstract: A tool magazine system and a gripper for a machining spindle. The gripper should be fed to the tool laterally with respect to the rotational or longitudinal axis of the tool, particularly substantially at right angles to that axis, and should grasp the tool.

Abstract: A gripper device for loosening, tightening or gripping objects. The gripper device has a support structure with a fixed, object contact surface, that preferably has a high friction surface. One end of a pivot arm is pivotally attached to the support structure. The pivot arm has a free end. A cinch strap with two ends is provided. On end of the cinch strap is attached to the free end of the pivot arm and another end of the cinch strap is fixed to the structure. By moving a jar or other cylindrical object into turning contact with the cinch strap, that object will be captured and held in place.

Abstract: An integrated robot end effector for use in a robotic manufacturing environment. The integrated robot end effector generally includes a circular body having a generally circular rim on an edge thereof. The integrated robot end effector also includes a plurality of orifices through a surface of the body. A plurality of ports extend through a predetermined section of the rim or body of the integrated robot end effector. A plurality of grooves in a surface of the body connects the orifices to the ports within the robot end effector. A cover is secured to the rim of the robot end effector by a retainer. The robot end effector internalizes and integrates all external lines servicing associated vacuum cups or grippers located on the outer surface of the robot end effector.

Abstract: Gripping tool for automatic laboratory machines, with gripping appliances for gripping vessels, an appliance for converting and/or transferring of movements, the power take-off of which is coupled with the gripping appliances in order to drive them, a coupling appliance for detachable connection with a drive appliance of a tool support of an automatic laboratory machine, which is coupled with the drive of the appliance for converting and/or transferring in order to drive it, and a mounting appliance for detachable mounting of the gripping tool on the tool support of the automatic laboratory machine, while the coupling appliance is connected with the drive appliance of the tool support.

Abstract: A pick-and-place tool releasably retains a part during a pick-and-place operation by an automated device. The pick-and-place tool includes a front structure having a first bore disposed therein for receiving a shaft extending from the part. A plurality of locking mechanisms is disposed within the front structure. The plurality of locking mechanisms are evenly spaced around the inner surface and are in fluid communication with a common fluid source. Each locking mechanism in the plurality of locking mechanisms includes a bearing disposed proximate a hole in the inner surface, and a piston in mechanical communication with the bearing. Movement of the piston in response to a fluid pressure at the common fluid source forces the bearing to extend through the aperture and retain the shaft within the first bore. In one aspect, a resilient member is disposed between the front structure and a tool holder coupled to the automated device.

Abstract: The invention relates to a device and a method for picking up individual objects or particles and placing them in containers or cavities filled with liquid. The invention allows in particular a simple handling of the objects and thus considerably reduces the operation costs of such a plant (FIG. 2). In this method and device, an adhesive is applied to an end portion of a transport structure. An object to be transported is held by the adhesive until it is delivered to the desired location.

Abstract: The present invention is directed to an end effector, a gripper, that retrieves crystals that are mounted on cryo-pins from a storage location in liquid nitrogen. More specifically, the end effector of the present invention is a collet type of gripping mechanism.

Abstract: Diode-type nanotweezers including a first arm and a second arm that project from a holder and are opened and closed by an electrostatic force so as to hold a nanosubstance. The first arm is formed by a gate nanotube fastened at its base end to the holder, and its tip end protrudes from the holder. The second arm is formed by a nanotube diode fastened at its two base ends to the holder and have a diode characteristic portion at its tip end. Diode current and diode voltage applied between the base ends of the arms shows a non-linear diode characteristic such as varistor and rectification. When a gate voltage is applied between the gate nanotube and the nanotube diode, the arms are controlled and a grip strength for a nanosubstance held by the arms is detected by changes in the gate voltage or the diode current.

Abstract: To provide nanotweezers and a nanomanipulator which allow great miniaturization of the component and are capable of gripping various types of nano-substances such as insulators, semiconductors and conductors and of gripping nano-substances of various shapes. Electrostatic nanotweezers 2 are characterized in that the nanotweezers 2 are comprised of a plurality of nanotubes whose base end portions are fastened to a holder 6 so that the nanotubes protrude from the holder 6, coating films which insulate and cover the surfaces of the nanotubes, and lead wires 10, 10 which are connected to two of the nanotubes 8, 9; and the tip ends of the two nanotubes are freely opened and closed by means of an electrostatic attractive force generated by applying a voltage across these lead wires.

Abstract: The invention relates to a gripper device. According to one aspect, the gripper device includes fingers with grasping ends. The gripper device includes a mechanism to cause the grasping ends to open and close. When the mechanism is engaged, the grasping ends open and close to define a circumference. According to another aspect, the gripper device includes fingers, an upper flat member, and a lower flat member. The fingers have grasping ends. The fingers are inserted into the upper flat member and lower flat member. When the upper flat member is rotated relative to the lower flat member, the grasping ends of the fingers open and close. According to another aspect, a gripper assembly has a gripper device with fingers and a rotating member. The gripper assembly also has a motor and mechanism for rotating the rotating member. The gripper device opens or closes the grasping ends in response to the rotation of the rotating member.

Abstract: A microtool for manipulating components is proposed. A component is held with the microtool by at least one gripper arm having a gripping surface, the gripper being movable by an actuator structure. Also provided is a device for releasing the held component from the gripping surface, whereby an acceleration is induced in the gripper arm for at least a time, and the force of inertia resulting from the inertial mass of the held component and the exerted acceleration will be greater than any force of adhesion acting between the held component and the gripping surface. A process is also proposed for producing a microtool or a microtool part, in particular a microgripper by micropatterning.

Abstract: A system and method are disclosed that provide a microgripper having a linearly actuated grasping mechanism. According to one embodiment, a microgripper comprises at least one grasping mechanism. The microgripper further comprises at least one linear microactuator mechanism operable to impart linear movement to the grasping mechanism(s). In certain implementations, the grasping mechanism(s) comprise two arms that are arranged substantially parallel to each other. Further, in certain implementations the linear microactuator mechanism comprises a linear stepper actuator. Such linear microactuator mechanism is preferably coupled to the arms such that actuation of the linear microactuator mechanism imparts linear movement to the arms.

Abstract: To provide nanotweezers and a nanomanipulator which allow great miniaturization of the component and are capable of gripping various types of nano-substances such as insulators, semiconductors and conductors and of gripping nano-substances of various shapes.

Abstract: To provide nanotweezers and a nanomanipulator which allow great miniaturization of the component and are capable of gripping various types of nano-substances such as insulators, semiconductors and conductors and of gripping nano-substances of various shapes.

Abstract: A retaining tool for a telescoping refueling arm in a nuclear reactor, the retaining tool includes a plurality of support members coupled to a plurality of plates. The retaining tool includes a first plate having a first and a second side, a second plate spaced apart from the first plate, and a third plate having a first and a second side The third plate is spaced apart from the second plate so that the second plate is located between the first and third plates. The second side of the first plate engages the roller housings of the mast outer tube assembly, and the first side of the third plate engages the roller housings of one of the intermediate tube assembly to prevent the intermediate tube from extending and thus permitting the inner tube of the mast to fully extend.

Abstract: A handling device includes a gripping member (2) and a support structure (16) that supports the gripping member. The gripping member (2) includes a flexible, substantially toroidal wall member (10) having an outer wall portion (10b) and an inner wall portion (10a) that defines an axial passageway (12) through the grip-ping member. A fluid fills the volume enclosed by the wall member The support structure (16) includes a drive mechanism (18, 20) that engages the wall member (10) and is constructed and arranged to provide relative axial movement between the inner and outer wall portions (10a, 10b).

Abstract: A device for clamping onto an end of a wheel casting rim and transporting the wheel casting includes a pair of movable arms mounted upon an end of a robot arm. A pair of brackets are mounted upon the ends of each arm. A roller is mounted upon each end of each bracket. The rollers engage a flange formed upon the end or the wheel rim casting. The arms are contracted toward one another to clamp the wheel casting between the rollers.

Abstract: A mounting bracket for a fluid actuated parts gripper having a body, a body member portion and a plurality of longitudinally extending fasteners is provided. The body member portion is removably attached to the body. A first through-opening is configured to receive the fluid actuated parts gripper and a second through-opening is configured to receive a support. The body has a variable slot configured to reduce and increase the diameter of the second through-opening to lock and unlock the support. The plurality of longitudinally extending fasteners removably attach the body member portion to the body.

Abstract: A positional displacement absorbing structure for absorbing the positional displacement of an article 21 clamped by a pair of robot arms 22, 22 is provided. The pair of the robot arms include recesses 32, 33 on their faces 31, 31 opposed to the article. The article 21 includes projections 25, 26 on its side faces 24, 24 opposed to the pair of the robot arms 22, 22. The projections 25, 26 are adapted to be respectively engaged in the recesses 32, 33. Each of the projections 25, 26 is formed with a pair of inclined faces 27, 27, 28, 28 with which circumferential edges 34, 35 of the recesses 32, 33 are adapted to slidably contact.

Abstract: A system for changing a tool head (24) carried by a robot (20) includes a locking mechanism (23) having a keyhole-shaped slot (37) therein, and a lock key assembly (25) having a key (65). Depression of a button (52) rotates a cam arm (57) to extend the key (65) outwardly where it can be received in the larger opening (38) of the slot (37). Depression of the button (35) of the locking mechanism (23) moves the slot (37) such that the neck (68) of the key (65) is received in the smaller opening (39) of the slot (37). Release of the buttons (52, 35) then allows a spring (71) to retract the key (65) until its head (69) is received in a recess (40) of the locking mechanism (23) to attach the tool head (24) to the robot (20). The parts are detached by again depressing the button (52) which extends the key (65) to remove its head (69) from the recess (40) and then depressing a button (34) to move the slot (37) so that the key (65) is again in the larger opening (38) from where it may be removed.

Abstract: A grapple device for grasping, holding and releasing an object having a deformable cover material such as sacks and bags, has a mounting bracket and two rollers. The rollers are pushed toward each other by the force of at least one spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The grapple device also includes a holding mechanism to engage at least one of the rollers and prevent rotation of the roller when engaged, so that when sack material is located in the inter-roller region and the holding mechanism is engaged, the contact between the sack material and rollers causes the sack to be held by the grapple device.