Abstract: A package supporting device including: a base; ground contacting portions that contact a landing surface in a state of having landed; package supporting portions provided at an underside of the base, the package supporting portions supporting a package; a drive portion that is operable in a first state to cause each of the package supporting portions to move toward the package, and is operable in a second state to cause each of the package supporting portions to move away from the package; and a restricting portion that is provided independently from the drive portion, and that allows operation of the drive portion in a state in which the ground contacting portions are contacting a landing surface, and, in a state in which the ground contacting portions do not contact a landing surface, restricts operation of the drive portion in at least the second state.

Abstract: A material pickup mechanism for automatic hat-making production line equipment includes an installation seat, a servo motor, and a rotating seat. A control box is arranged on one side of the installation seat through bolts. The servo motor is arranged at a bottom end of the installation seat through a positioning plate and positioning screw. The rotating seat is arranged at an output shaft of the servo motor through bolts. Top and bottom ends of the rotating seat are both connected with an installation plate through a fixed shaft. Adjusting holes are formed at a top of the installation plate. A hollow screw penetrates the adjusting hole. A bottom of the hollow screw is connected with an air outlet end of at least one sucking disc. The material pickup mechanism can continuously pick up materials to improve production efficiency. It is convenient to adjust positions between sucking discs.

Abstract: This clamping tool uses optical distance verification with a laser. Clamping tools, like all tools, are known to be operated improperly. Many tools verify process completion by monitoring the pressure within the pneumatic tool. Previous qualifiers use pressure to determine many things. However, it often misses if a small object impedes a full stroke. With the addition of an optical laser sensor, we are able to determine if a clamping tool reaches full stroke.

Abstract: The present disclosure is directed towards a medical instrument. The medical instrument includes a housing and an end effector assembly operably connected to the housing. The end effector assembly includes first and second jaw members each having a tissue contacting surface, at least one of the first and second jaw members movable between a first, spaced-apart position and a second proximate position, wherein in the second position, the jaw members cooperate to define a cavity configured to receive tissue between the jaw members. The end effector also includes at least one light-emitting element coupled to at least one of the first and second jaw members, the at least one light-emitting element adapted to deliver light energy to tissue grasped between the first and second jaw members to treat the tissue.

Abstract: This clamping tool uses optical distance verification with a laser. Clamping tools, like all tools, are known to be operated improperly. Many tools verify process completion by monitoring the pressure within the pneumatic tool. Previous qualifiers use pressure to determine many things. However, it often misses if a small object impedes a full stroke. With the addition of an optical laser sensor, we are able to determine if a clamping tool reaches full stroke.

Abstract: A smart clamp load handler system configured for controlling a clamp and preventing over-clamping. The system having a first actuator coupled to a first clamp arm and a second actuator coupled to a second clamp arm, an actuator control valve configured to control flow of hydraulic fluid to the actuators, and an electrical controller configured for signaling the actuator control valve when compressing a load. In one embodiment, the electrical controller is configured for determining when to stop the closing of the clamp arms based on a series of first and second actuator position measurements, and a series of base-side and rod-side pressure measurements, then signaling the actuator control valve to stop the closing of the clamp arms.

Abstract: The invention relates to a delivery system having a delivery goods vehicle for delivering inward goods, and having at least one automated transfer assembly which for transferring the goods in an automated manner from the delivery goods vehicle to a goods store comprises an object detection device. The delivery system moreover has a safety installation for securing a movement range of the transfer assembly when unloading the goods.

Abstract: When a predetermined stop condition is satisfied when a movable unit is in contact with an object in force control, a control apparatus stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes separation control to separate the movable unit from the object, and then, executes resetting of the force detection unit and restarts the force control after execution of the resetting. In another aspect, when a predetermined stop condition is satisfied when the movable unit is in contact with an object in the force control, the control apparatus performs separation control to separate the movable unit from the object, and then, stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes resetting of the force control, and then, restarts the force control.

Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).

Abstract: A support device, in particular an assembly support device for stabilizing a body part of a person includes a plurality of hinged-together elements designed to at least partially envelop a body part of a person, so that the plurality of hinged-together elements collectively form a flexible shell for the body part of the person. The flexible shell is designed to transfer a portion of a load acting on the body part of the person in order to stabilize the body part of the person. A vehicle, to which is secured an assembly support device, as well as a method for stabilizing a body part of a person during the assembly of a vehicle are also described.

Abstract: A strain gauge driving piezoelectric device is disclosed. A piezoelectric element is arranged between a plurality of layers of first strain gauges correspondingly spaced from each other and a plurality of layers of second strain gauges correspondingly spaced from each other. The first strain gauges and the second strain gauges are arranged on different layers of the flexible circuit board. The first strain gauges and the second strain gauges generate a driving voltage according to variations of resistance values of the first strain gauges and the second strain gauges when a stress is applied to the flexible circuit board, and the driving voltage induces the piezoelectric effect of the piezoelectric element and then drives the piezoelectric element to generate an output voltage for haptic feedback.

Abstract: A wafer transfer system can include a wafer gripper for picking and placing semiconductor devices. In an embodiment, the wafer gripper can include a first portion, a second portion and a laminate between the first and second portion. In one embodiment, the first portion can comprise glass or tempered glass, where the first portion having at least one vacuum hole and is configured to receive the semiconductor device. In an embodiment, the second portion can include glass or tempered glass, the second portion having configured to use low air pressure from a closed vacuum to vacuum a wafer. In an embodiment, the laminate can bond the first portion to the second portion.

Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).

Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).

Abstract: According to one embodiment, A chucking apparatus includes an arm that is configured to hold a test tube, an opening/closing mechanism that opens/closes the arm, a motor that drives the opening/closing mechanism, and a supplying unit configured to supply electric power to the motor at two different supply voltages.

Abstract: A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.

Abstract: A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.

Abstract: A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

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 gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping grip extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the grips inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.

Abstract: A robot hand moved by a robot to grip an object to be gripped includes a plurality of bar-like placing sections on which the object to be gripped is placed, a plurality of plate-like pressing sections paired with the plurality of placing sections and configured to press side surfaces of the object to be gripped, a space adjusting section configured to move the plurality of pressing sections to bring the pressing sections into contact with a plurality of contact sections, a first strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section, and a second strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section.

Abstract: An improved apparatus and/or method for safely lifting a load along a lift axis are provided, through utilization of an automatic lockout arrangement operatively connected between the point of application of a lifting force and a motorized clamping arrangement for grasping the load. The automatic lockout arrangement precludes electrical power from being applied to open the system when the lifting force being applied to the automatic lockout arrangement has reached a predetermined lockout value.

Abstract: Robotic hands and finger modules include an underactuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.

Abstract: A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.

Abstract: Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.

Abstract: The present invention relates to a gripper device for transporting a rack (3) for microscope slides (4), in particular in systems for preparing tissue samples for histological examinations, the gripper device having a gripping mechanism including a pair of gripping arms (2), whose ends are configured as gripping sections (7) for gripping the rack. In order to provide a gripper device which can be used in a versatile manner in automated stainers and coverslippers and contributes to reducing the cost of manufacture, it is proposed that the gripping sections (7) be provided with first profiles (17) for gripping the rack (3) in a vertical position and second profiles (18) for gripping the rack (3) in a horizontal position.

Abstract: A robot system capable of purposely withdrawing a workpiece into a hand, and capable of sequentially and effectively taking out the workpiece, even when workpieces are randomly located. A hand has a base part attached to the front end of a robot arm, at least two fingers pivotally attached to base part, and a roller device arranged at a front end of each finger. The roller device is a rotating belt device having a small motor arranged in the finger, a driving roller driven by the motor via a drive transmitting means, and a driven roller rotated with the driving roller via a belt.

Abstract: According to one or more aspects of the invention an interlock device is adapted for connection within a load path of a tubular support device to lock the tubular support device in a closed position in response to detecting a load suspended from the tubular support device. The interlock device includes a first member moveably connected to a second member and a biasing mechanism operationally connected to the first member and the second member providing a load setting resisting movement of the first member and the second member relative to one another. The first and the second member may be rotationally locked with one another to transmit rotation across the interlock device to the elevator.

Abstract: In an embodiment, the present invention discloses a EUV cleaner system and process for cleaning a EUV carrier. The euv cleaner system comprises separate dirty and cleaned environments, separate cleaning chambers for different components of the double container carrier, gripper arms for picking and placing different components using a same robot handler, gripper arms for holding different components at different locations, horizontal spin cleaning and drying for outer container, hot water and hot air (70C) cleaning process, vertical nozzles and rasterizing megasonic nozzles for cleaning inner container with hot air nozzles for drying, separate vacuum decontamination chambers for outgassing different components, for example, one for inner and one for outer container with high vacuum (e.g., <10?6 Torr) with purge gas, heaters and RGA sensors inside the vacuum chamber, purge gas assembling station, and purge gas loading and unloading station.

Abstract: Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.

Abstract: A robotic finger that includes multiple phalanges, each phalange configured to be compliantly actuated. The robotic finger also includes compliant touch sensors that, in combination with the compliant actuation, provides the robotic finger with two levels of compliance. The two levels of compliance enable the robotic finger to gently conform to and manipulate objects.

Abstract: The invention relates to a method and device for the contactless seizing of glass sheets, characterized in that: a) the device comprises at least one oscillatory, rectangular, plate-shaped oscillating plate (1) comprising an oscillation generator (8), b) each partial surface (9) comprises a central opening for receiving a suction tube (2) which is installed on the upper side and which is used to suction air, c) a circular recess which is connected to the central opening is provided on the lower side of each partial surface (9), d) the plate-shaped oscillating plate (1) is connected to a central damping joint (5) by four connecting supports (7) that are respectively fixed to the suction tube (2) of one partial surface (9) and is assembled in the center of the oscillating plate (1), e) the central damping joint (5) is connected to a central fixation (6), f) a distance sensor and an optical sensor are housed in at least one suction tube.

Abstract: A robotic claw includes a sleeve, a rod, a plurality of balls and a plunger. The sleeve comprises a mounting portion and a clamping portion. A mounting hole defined at an end of the mounting portion. A plurality of receiving through holes defined in the clamping portion, and an assembling hole communicating with the receiving through hole, and is defined at an end of the clamping portion. The balls are movably received in the receiving through holes correspondingly. The rod comprises an urging portion movably received in the sleeve to push the balls toward the receiving through holes. The plunger seals the assembling hole to prevent the balls from dropping out of the receiving through holes, and the balls can be mounted in the receiving through holes through the assembling hole.

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: An electric-controlled operator includes, in part, a first group of grippers and a second group of grippers which are coupled to a base. Grippers in the first group of grippers are adapted to cooperatively grip an object and cooperatively release the object. Grippers in the second group of grippers are adapted to cooperatively grip an object and cooperatively release the object. When the first (or the second) group of grippers cooperatively grips an object, the second (or the first) group of grippers is in a state in which the object is released. The first and second groups of grippers are adapted to put in and take out objects from the same surface of the base thus eliminating the need for turning of the base during the operation.

Abstract: A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).

Abstract: A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping pin extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the pins inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.

Abstract: A hoist device with leveling and disengagement mechanism mainly comprises a stand under traditional hoist, a plural number of branches on the stand extending radially outward, a plural number of driving modules on each branch of the stand and being able to connect to a hung object, a plural number of sensing modules on each driving module to sense the operation status for each driving module and continue to output corresponding sensing signal, a control circuit that can output control signals to control each driving module while each sensing module can sense the status of each driving module and feedback to the control circuit to correct the output control signals, allowing each driving module on the stand to level and disengage the hung object, and enabling the hoist to lift the hung object.

Abstract: The present invention relates to a design and microfabrication method for microgrippers that are capable of grasping micro and nano objects of a large range of sizes and two-axis force sensing capabilities. Gripping motion is produced by one or more electrothermal actuators. Integrated force sensors along x and y directions enable the measurement of gripping forces as well as the forces applied at the end of microgripper arms along the normal direction, both with a resolution down to nanoNewton. The microfabrication method enables monolithic integration of the actuators and the force sensors.

Abstract: A device, method and computer readable-storage for mechanically handling impact-sensitive sheets of various formats ready for dispatch is described. The device has the following features: a) a control device in the form of a multi-axis robotic arm connected to a gripper device and means for mechanically gripping the sheets; b) the gripper device is hinged onto and suspended from the control device at a gentle incline by means of an adjustable damping device; c) the gripper device has sliding sections for the relative displacement of the means for mechanically gripping the sheets; d) the gripper device has means for determining the geometric dimensions of the sheets to be seized and for determining their set-down position; e) the gripper device has means for determining the exact positional co-ordinates of the set-down position; and f) the gripper device has means for gently feeding and depositing the sheets in the set-down position.

Abstract: An elevator for gripping and lifting a riser joint or several interconnected riser joints of a completion and work over riser. A body includes a through bore for receiving a production pipe of a riser joint. The through bore is accessible via a longitudinal opening in the body. The body includes at least one locking device including a hydraulic cylinder. A piston rod of the hydraulic cylinder is moveable to and fro between an unlocking position, in which the piston rod allows a production pipe of a riser joint to pass into or out of the through bore via the longitudinal opening, and a locking position, in which the piston rod prevents a production pipe received in the through bore from passing out of the through bore via the longitudinal opening.

Abstract: The present invention relates to a vacuum pad device used in a vacuum transport system. The pad device includes a housing, a pad unit connected to the housing through a ball joint such that the pad unit is rotatable, and a piston arranged in the housing and controlling the rotation of the pad unit. The pad unit is bonded to an object at a desirable rotation angle, and controlled such that the rotation angle is fixed by the movement of a piston operating via compressed air. Consequently, the object can be transported in an accurate and safe manner. Preferably, the vacuum pad device of the present invention further includes a vacuum pump arranged in the housing unit the piston.

Abstract: Container gripper comprising a main frame (2) and movable supporting members (7) for gripper fingers (8-9) movable between an open position and a closed position. The container gripper is provided with a finger displacement detecting sensor (20, 21) which is responsive to the instantaneous position of the gripper fingers (8, 9). The finger detecting sensor may consist of a Hall effect assembly (20) formed by a magnet (10) and a Hall effect sensor (4) or of an optical encoder (21).

Abstract: A detection frame for a lifting device is provided. The frame supports a detection system whilst the frame is attached to a lifting device, the lifting device used for lifting freight, the frame comprising attachment brackets for attaching the frame to the lifting device; at least one platform for mounting the detection system to the frame, such that the frame is in spaced relation to the freight whilst mounted to the lifting device.

Abstract: A workpiece gripping integrity device and method are provided having a charge-transfer sensing device configured to detect a change in charge associated with a gripper arm assembly based on a grip condition thereof. The charge-transfer sensing device can be configured to detect a change in capacitance between the gripper arm assembly and ground, wherein the change in capacitance is based on a grip condition of the gripper arm assembly associated with a plurality of grippers contacting the workpiece.

Abstract: An electromagnetic lifter includes at least two polar expansions shaped for transporting a horizontal axis coil of hot-rolled steel. The polar expansions are connected through a ferromagnetic circuit and respective cores around which solenoids are arranged. A detection coil is arranged around each of the cores suitable to detect the change in the flux linked to the coil, and a control unit connected to the detection coils compares the values detected by each of them in order to authorize or not the transport. The relevant operating method includes a first check that the difference between the values detected by the two detection coils is below a preset threshold, and in the affirmative a second check that the overall decrease in the linked flux is below a second preset threshold, the issuance of an authorization signal to the transport being possible only in case of positive outcome of both checks.

Abstract: This invention relates to a gripper for a manipulator robot comprising two members articulated at a first end, each member comprising a jaw support (8?) at a second end, and a jaw (10?) that will come into contact with an object, the jaw (10?) being approximately plane, a force sensor (26?) arranged between at least one jaw support (8?) and a jaw (10?) so as to apply a force during displacement of the jaw (10?), and a deformable parallelogram connection (14?) connecting the jaw (10?) to the jaw support (8?), the sensor (26?) being oriented such that a sensitive axis of the sensor is orthogonal to the plane of the jaw (10?).

Abstract: Disclosed are a robot hand and a humanoid robot having the same. The robot hand includes a plurality of finger members and a base member to which one end of the finger members is rotatably coupled, respectively. The finger members are rotated through pneumatic pressure so that intervals between adjacent finger members are changed. If the finger members are not used, the intervals between the finger members are widened so that the finger members are prevented from being damaged when the finger members collide with walls or objects.

Abstract: A gripper for holding two-dimensional components with a low degree of loading, has a clamping ring connected to a controllable robot arm with a baffle plate connected to the clamping ring by a funnel-shaped component and has a gripping face which communicates with a flow system which passes through the funnel-shaped component and the baffle plate. After an excess pressure has been applied to the gripper, a negative pressure is produced on the gripping face in order to attach by suction a wafer to be gripped. A rubberized bearing surface of a bearing ring integrated in the gripping face provides a slip-resistant movement of the wafer. A sensor detects the wafer hat is attached to the gripping face by suction.

Abstract: A hooking device for moving systems of rolling cylinders includes a load-bearing lifting structure of a cylinder provided with a gripping structure and an upper hooking structure suitable for keeping the device in a raised position. The device also includes a non- load bearing tilt compensation structure. The tilt compensation structure includes a series of guides, where each guide is provided with at least one mass element. The at least one mass element is moveable along the guide.