Abstract: A manually activated suction lifting device has a handle which rotates up to complete an active suction. The first stage of the suction is created by pushing firmly down on the convex top of the device. Upon creation of the final suction with the handle locked up, an alarm button is drawn into the housing, hiding an alarm ring. If the suction fails, then a vent tube transmits the lost vacuum to an alarm chamber, thereby allowing a spring to bias the alarm button outbound, exposing the alarm ring to a worker so he can grab the workpiece and prevent damage.

Abstract: A piston is displaced by a pressure fluid supplied to a chuck body, whereupon a pair of first and second fingers that constitute a gripping member are operated to open and close along a base body. Further, a shaft-shaped bobbin is inserted through the interior of the first and second fingers, and a coil is wound around a small diameter portion of the bobbin. Accompanying opening/closing operations of the first and second fingers, an opening/closing amount thereof is detected based on a change in impedance of the coil.

Abstract: A pneumatic linear gripper, including a gripper body (11) with a chamber (15), a piston (12) moving alternately in the chamber (15) and a pair of jaws (13) sliding associated and movable in opposite directions with piston via a translation device (20). The gripper body (11) is formed of two elements (14), or semi-shells, joined face to face to define at the same time the chamber (15) for the piston (12) and the sliding guides (16) for the jaws (13). The piston (12) is composed of a first component (21), made of a plastic material, bearing seals and a second component (22), made of metal, associated with the first and united, in particular integral, with the translation device (20) of the jaws in opposite directions.

Abstract: An arrangement for handling packaging units, such as bottles, crates and the like with the aid of a robot, wherein the arrangement includes a mounting part (10) which is adapted for fixation to a robot arm, a tool carrier (20) which is adapted to carry one or more handling tools (30) such as a number of bottle grippers or the like, and a number of couplings each comprising a first engagement member (13) affixed to the mounting part, and a second engagement member (24) affixed to the tool carrier, wherein the second engagement member is restrictively displaceable axially relative to the first engagement member, so that the second engagement member will take a latching position relative to the first engagement member under the effect of gravity on the tool carrier in engagement with the first engagement member, wherein the working state of the tool carrier relative to the mounting part is defined when all second engagement members are in their respective latching positions.

Abstract: A method for operating vacuum-operated hoists with at least one elastically deformable vacuum-operated lifting mechanism, with a controllable vacuum generator, and with at least one motorized lifting drive is disclosed. A load detection device is used in order to detect the weight of a load picked up by the hoist. The load detection device generates a protection signal directly after detection of a load exceeding a predetermined tare weight of the hoist if the vacuum is insufficient to lift the load. The protection signal indirectly or directly deactivates the lifting drive with the aid of a switch-off control and/or prevents further lifting of the load if an insufficient vacuum or no vacuum is present when an increased load is detected and lifting begins.

Abstract: A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

Abstract: A packaging system for handling palletized product arranged in multiple layers of product cases, a pallet de-layering system includes a gripper mechanism. The gripper mechanism is configured to clamp a layer of the multiple layers by applying a clamping force to one or more product cases of the layer such that the layer can be removed from an adjacent layer of product cases to a different location. The layer includes a void between adjacent product cases. The gripper mechanism includes a void filling member carried by the gripper mechanism. The void filling member is sized and located to be positioned within the void to limit movement of the adjacent product cases into the void during a clamping operation.

Abstract: A media transportation mechanism and a media processing device enabling carrying media without transportation errors or picking errors by accurately detecting if media is present. A media transportation mechanism 31 has a gripping mechanism 130 for holding media and a media detection mechanism 200 for detecting media gripped by the gripping mechanism 130 positioned on a transportation arm 36 that can move up and down. The media detection mechanism 200 has a detection lever 201 that is pivotably supported on the arm base 125a of the transportation arm 36 and is displaced from a media-not-detected position in contact with the arm base 125a to a media-detected position separated from the arm base 125a when the detection lever 201 contacts the media, a detector 202 that detects displacement of the detection lever 201 to the media-detected position, and an attraction unit including a magnet 203 and steel plate 204 that pull the arm base 125a and detection lever 201 together using magnetic force.

Abstract: A work holding mechanism for horizontally holding a flat work is incorporated in work transport equipment. The holding mechanism includes a base member for supporting the work and a plurality of guide members provided at the base member. Each guide member includes a shaft, a contact portion and a limit portion. The shaft is pivotally supported by the base member. The contact portion comes into contact with part of the lower surface of the perimeter of the work and is pushed down, with the shaft as a fulcrum, when the work is placed on the base member. The limit portion is raised, with the shaft as a fulcrum, to face part of the side surface of the perimeter of the work when the contact portion is lowered.

Abstract: A method is proposed for operating a vacuum handling device controlled by a programmable controller (39) which can be connected to a machine controller (10), with at least one vacuum generator (28) and with a number of gripper modules (20), which are connected to the vacuum generator and are each equipped with a first pressure sensor (46) and with a control valve (44) for the vacuum in the gripper module, and which are connected to the programmable controller. The control valve in the gripper module is closed in a first switching state (vacuum on) of the programmable controller and is detected up to the control valve (44) by means of a second pressure sensor (78) in the vacuum generator.

Abstract: An automatic alert device is provided for a suction cup, including a pump and a suction cup positionable on an object to be handled. The pump is operable to drive air out of the suction cup thereby inducing suction force on the object to be handled. When the suction cup gradually loses the suction force, a plunger of the pump gets moved out of the pump. When the outward movement of the plunger reaches a preset extent, the alert device that includes a warning light and an audio alert is activated to cause the warning light and the audio alert to give off warnings of light and sound respectively. Thus, an operator can be immediately notified of the situation of losing suction force for taking remedial operation to get the suction force back to the desired level.

Abstract: A radiation detection unit includes a housing and isolators unitarily constructed from mechanical energy absorbent material. The housing is attached rigidly to a structure and its major dimensions are selected to exceed corresponding major dimensions of a radiation sensor. The isolators have a body portion and projections extending outwardly therefrom. The body portion engages the radiation detection sensor proximal a respective one of its radiation collection end and its interface end. The projections are disposed intermediate the body portion and an interior surface of the housing and have a distal end contacting the interior surface to carry the radiation sensor in a three dimensional spaced apart relationship to the interior surface. The length of the projections is selected to attenuate substantially mechanical energy that is induced at the distal end and propagates along the length of each projection prior to the propagated energy being incident upon the body portion.

Abstract: A vacuum-operated vehicle glass handling system includes a plurality of suction cups movably disposed on a frame. A powered vacuum source is fluidly connected to the plurality of suction cups for providing a vacuum at each of the plurality of suction cups. A powered vacuum source includes a pair of vacuum pumps both fluidly connected to the plurality of suction cups for redundantly providing the vacuum to the plurality of suction cups. A power source is selectively electrically connected to the powered vacuum source. A pair of vacuum actuators is on the frame for selectively electrically connecting the power source to the powered vacuum source so the powered vacuum source can provide the vacuum at the plurality of suction cups. The power source is electrically connected to the powered vacuum source upon actuation of one or both of the pair of vacuum actuators. A pair of release actuators is on the frame for selectively releasing the vacuum provided at the plurality of suction cups.

Abstract: A system for aligning an end effector with a substrate in a substrate transport apparatus. The system comprises a first sensor connected to the end effector and a controller for moving the substrate transport apparatus. The sensor has a sensing path pointed in an outward direction. The sensing path does not intersect the substrate when the substrate is located on the end effector. The controller for moving the substrate transport apparatus moves the substrate transport apparatus, based at least partially upon input from the sensor, to position the end effector at a predetermined position relative to the substrate to pick up the substrate onto the end effector.

Abstract: A tray transferring apparatus for transferring a handling tray on which semiconductor devices are mounted prevents the semiconductor devices from being scattered or separated from the handling tray. The tray transferring apparatus includes a fixing means installed on a main frame for supporting a fixed tray, a correcting means installed on the main frame for correcting the position of the fixed tray, a gripping means installed on the main frame for gripping a handling tray, and at least one sensor for sensing gripper plates and the handling tray. A fixed tray is held by the fixing means, and right/left inclination of the fixed tray is corrected by the correcting means. An upper portion of a handling tray holding semiconductors is covered by the bottom of the fixed tray and is gripped by the gripping means.

Abstract: A multi-finger grasping mechanism (300), comprising three two-joint finger units (1-1 to 1-3). Each two-joint finger unit further comprises a finger root part (2), a finger root side joint part (5), a finger intermediate part (3), a finger tip side joint part (6), and a finger tip part (4). The finger intermediate part (3) can be swung about the joint axis (5a) of the finger root side joint part (5), and the finger tip part (4) can be swung about the joint axis (6a) of the finger tip side joint part (6). The finger tip part (4) can be swung about the center axis thereof. When a bolt (W) is held by the finger tip part (4) and the finger part (4) is rotated, the tightening operation of the bolt (W) can be performed.

Abstract: In a robot hand , at least one finger link thereof is configured to comprise a first member , a second member adhered to a surface of the first member and a third member covering at least the second member and a rigidity of the second member is made smaller than the rigidities of the first member and the third member. With this, the flexibility of the finger is improved by the second member, thereby increasing the contact area between the third member and a held object, so that the object can be securely held.

Abstract: An improved apparatus for latching and unlatching a load from a sling comprises a housing attachable to a load lift line extending from a crane or other similar equipment. Contained at least partially within the housing is a load engaging assembly including a latch, such as a conventional sling hook used to attach a load containing sling. The load engaging assembly further includes a latch attachment assembly and an unlatching trigger assembly. The apparatus further includes a load activated lock operatively attached to the latch attaching assembly to latch and unlatch the load engaging assembly. The load activated lock includes a support structure affixed to the housing, a latch activating member slidably mounted on the support structure and a movable locking structure positioned within the housing and operatively adjacent the latch activating member to engage and prevent latch activating member from sliding movement when a load is applied to the latch.

Abstract: In one aspect of the present invention, a lifting assembly has a frame structure with a translatable support element. The support element has a load-bearing surface and a screw-form. The screw-form is threadedly connected to a gear which is in mechanical communication with a power source, which may be an electric motor. The load-bearing surface is fixed to a shaft of the translatable support element and at least a portion of the load-bearing surface is angularly oriented with respect to the shaft. A guide with at least one end fixed to the frame structure is adapted to adjust the rotational orientation of the load-bearing surface.

Abstract: The present invention provides a seat holding apparatus for manufacturing vehicles which is able to easily and reliably hold seats having various specifications so as to enable the seats to be installed into vehicle bodies. Preferred vehicle seat holding apparatus may comprise a back push unit; back push drive to rotate the back push unit; a cushion push unit; and cushion push drive.

Abstract: A long travel gripper is provided which has first and second end caps, first, second and third guide rails, first and second jaws, and first and second piston assemblies. The first, second and third guide rails extend between the first and second end caps. The first and second jaws, each receive, and move rectilinearly along, the first, second and third guide rails. The first and second piston assemblies each include first and second piston rods and pistons, respectively.

Abstract: A workpiece-gripping chuck includes a converting mechanism provided in a body, which converts a driving force from a rotary driving source into a displacement in the axial direction. First and second pistons of the converting mechanism are displaced in the axial direction under a rotary action of a pinion gear. Further, the first and second pistons are displaced in the axial direction, respectively, by supplying a pressure fluid from a first or second port formed in the body. A workpiece may be positioned by means of a pair of gripping members under the driving action of the rotary driving source, and the workpiece is further gripped by the gripping members by applying a pressing force of the pressure fluid in addition to the driving force.

Abstract: A system, method and apparatus for handling and moving a layer of articles, such as cased products. The system and apparatus comprise a hood enclosure having four side panels, and four interconnected corner member. The side walls and corner members interoperate to form an adjustable enclosure to pick the layer of articles. A vacuum generate is utilized to evacuate air from the hood enclosure to assist in lifting the layer of articles. The hood enclosure may utilize an array of vacuum cups to assist in the lifting of articles into the hood enclosure. The method is directed towards utilizing the hood layer end effector to move and hand articles.

Abstract: A leveling device for a lifting apparatus having a load-carrying member includes a level arm-carrying member and a pair of leveling arms having a first end pivotally connected thereto that are independently moveable between extended and retracted positions. The leveling device also includes a level sensor carried by the load-carrying member, and a controller in communication with the level sensor. The controller moves the leveling arms between the extended and retracted positions responsive to the level sensor sensing the load-carrying member being out of level.

Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: A holding structure, such as a manipulator, includes a plurality fingers. At least one of the fingers is movable such that an object can be held or released by a closing or opening motion of the movable finger. At least one contact surface of the fingers, which is capable of being brought into contact with the object, is formed by an elastic member, and at least one elastic member is adapted to reversibly change its elasticity under the control of an external supply of energy to the elastic member.

Abstract: Provided are a work transfer device and a method of transferring work which are capable of safely transferring work without letting the work to fall even when poor adhesion of a frame occurs due to troubles. By providing an adsorption part which adsorbs a frame, and a plurality of frame clamps which move to near a bottom surface of the frame when the frame has been adsorbed and transferred by the adsorption part, and which retract from near the bottom surface of the frame when the transfer of the frame has been finished and the adsorption of the frame has been finished.

Abstract: End-effectors may be used to grasp microelectronic workpieces for handling by automated transport devices. One such end-effector includes a plurality of abutments and a detector adapted to detect engagement of the edge of the workpiece by at least one of the abutments.

Abstract: The present invention generally relates to an end effector that utilizes a gripping mechanism to grip a peripheral edge of the wafer and secure the wafer to the end effector. In one embodiment, the gripping mechanism includes a pair of gripper arms that pivot between a wafer-loading position and a wafer-engaging position. In another embodiment, an active plunger moves linearly between the wafer-loading and wafer-engaging positions. Both the gripper arms and the plunger device are driven by a motor assembly. A force feedback system monitors the force the gripping mechanism exerts on the wafer and, based on the amount of force, controls the operation of the motor assembly to dynamically adjust the position of the gripping mechanism.

Abstract: A robotic hand and arm where the fingers are driven by rotational motors with drums, and pulled with cables using rolling friction. The hand extends into a robotic arm through a wrist wherein the wrist is controlled by pneumatic cylinders. Each finger preferably is provided with four manufactured parts and a single pulley. The thumb is provided with three pulleys for independent distal movement. Cables wraps around or over pulleys, eliminating tight bends. A glove is provided about the robotic hand which provides a compressive, liquid resistant membrane.

Abstract: End-effectors may be used to grasp microelectronic workpieces for handling by automated transport devices. One such end-effector includes a plurality of end-effectors and a detector adapted to detect engagement of the edge of the workpiece by at least one of the abutments. An alternative end-effector includes at least three abutments, at least one of which is resiliently connected to an actuator for movement between a retracted position and a deployed position wherein it engages a workpiece.

Abstract: A material handling device includes a vacuum cup pivotally attached to a receiving collar and pivotable to engage a surface of an object to be picked up by the material handling system. The receiving collar includes a support post and a mounting collar that is movable along the support post. The mounting collar is attachable to a support assembly that is movable to move the device toward and into engagement with the object. The mounting collar may move along the post after the respective cup engages the object and while the cups of other devices of the system are moved further toward and into engagement with the object. The material handling device may include an object sensor at a generally central region of the vacuum cup. The material handling device thus is configured to engage objects having uneven surfaces and having varying surface levels from one object to the next.

Abstract: An air suction passage (4A, 4B) is provided with a pick and place confirming sensor (1) comprising a gas flow sensor. The pick and place confirming sensor (1) measures the flow rate of air sucked in from an air suction port (33) of a pick and place nozzle (2). The presence or absence of a part lifted to the pick and place nozzle (2) is detected on the basis of the measurement result.

Abstract: A spreader (1) for lifting a freight container (7, 17) comprises a frame (3, 4, 11) and two pairs of pickup elements (5). Each pair of pickup elements (5) are mounted at opposite ends of the frame (3, 4, 11) and the frame (3, 4, 11) is adjustable to adjust the separation of the two pairs of pickup elements (5). A detector (8) is movably mounted on the frame (3, 4, 11) for movement between a first position in which the detector (8) is closer to one pair of pickup elements (5) and a second position in which the detector (8) is closer to the other pair of pickup elements (5). The detector is adapted to detect a discontinuity in an object (7, 17) located below the spreader (1).

Abstract: The present invention provides a transporting apparatus provided with a sensor for detecting information relating to a relative position in the vertical direction between an article to be transported and a holding portion for holding the article, and a controller that is linked to this sensor through signals, wherein the controller raises the holding portion by a set raising amount when the sensor detects that the holding portion is below a target lowering position. Thus, it is possible to provide a transporting apparatus with which the position of the holding portion can be automatically moved to a suitable position even if the holding portion is lowered too far with respect to the article.

Abstract: A device (2) for feeding reels (3) has a manipulator (14) having a gripping member (19) for picking up one reel (3) at a time off a pallet (16) and transferring the reel (3) to an unwinding pin (4a; 4b) on a machine (1); the gripping member (19) is enabled to pick up a reel (3) off the pallet (16) when at least one reference point (k1) of the gripping member (19) lies inside a central hole (7) of the reel (3).

Abstract: A substrate handling robot includes an arm drive mechanism. A first arm is connected to the arm drive mechanism. A multiple substrate batch loader is connected to the first arm. A second arm is also connected to the arm drive mechanism. A single plane end effector is connected to the second arm. The multiple substrate batch loader produces a vacuum signal indicative of how many substrates are held by the multiple substrate batch loader. A vacuum signal interpreter alters the movement of the first arm in response to the substrate load number. An object sensor is connected to the second arm. The object sensor assesses the number of substrates in a cassette adjacent to the multiple substrate batch loader. A substrate loading sequence controller controls the first arm and the second arm in response to the number of substrates in the cassette, such that the second arm removes substrates from the cassette in such a manner as to facilitate complete loading of the multiple substrate batch loader.

Abstract: A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking.

Abstract: An end effector has one or more vortex chucks to support a wafer, and at least two detectors for detecting different portions of the wafer before the wafer is picked up. If one of the detectors detects a wafer and the other one does not, an alarm is generated to alert an operator that the wafer is possibly cross slotted in the wafer cassette. Each detector includes a light emitter and a light receiver. The light emitter emits a light beam at an angle to a surface defined by an ideally flat wafer when the wafer is supported by the end effector (the actual wafers do not have to be flat). The angle is not more than 45°, and is between 6° and 12° in some embodiments. Other features and embodiments are also provided.

Abstract: A fluid power load-clamping system includes at least one fluid valve for variably regulating the maximum fluid pressure causing closure of the clamp. Preferably the valve increases the maximum fluid pressure automatically in relation to the measured magnitude of the weight of the load to regulate the load-gripping force. A controller causes the valve to permit a relatively high maximum fluid pressure as the clamp closes toward the load to enable high initial clamp closure speed. Thereafter the valve automatically reduces the maximum pressure as the clamping surfaces close into a predetermined relationship with the load, and then increases the maximum pressure to regulate the gripping force. Other preferable features include continuous weight-responsive automatic regulation of the gripping pressure while the load is supported by the clamp, and compensation of the weight measurement for the longitudinally-extensible position of the lifting mechanism, to maximize the accuracy of the load-weight measurement.

Abstract: A suction unit includes a rotary driving source which is arranged outside of a casing, a substantially oblong circular crank member which is rotatable and which is connected to a rotary shaft of the rotary driving source, a connecting rod which has one end rotatably supported on one end of the crank member, a connecting member on which the other end of the connecting rod is rotatably supported, a shaft which is inserted into the casing and which has a substantially central portion to which the connecting member is connected, and a suction pad which is attached to one end of the shaft and which attracts a workpiece.

Abstract: It is described a gripping device for vials or similar containers, comprising a tubular body attached to one end of a movable supporting vertical shaft and gripping means associated to said tubular body. Said gripping means comprise non-mechanical gripping members, able to be connected with one end of a vial or container by face-to-face soft contact.

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 vacuum pick-up device includes a vacuum supply valve mounted to a distribution manifold to which a plurality of suction cups is attached. The vacuum supply valve is operational to control the vacuum pressure supplied to the suction cups of the device. The vacuum pick-up device further includes a detection device that controls the vacuum supply valve by detecting the selective presence of an object.

Abstract: Passive end-effectors for handling microelectronic workpieces having a perimeter edge circumscribing a first diameter. In one embodiment, a passive end-effector in accordance with the invention includes a body having a plurality of contact sites located along a circle corresponding to the first diameter of the workpiece. The body, for example, can be a paddle or a fork. The passive end-effector can also include a plurality of passive abutments that are carried by the body. The abutments are located along the circle, and the abutments are configured to support the workpiece in a plane spaced apart from the body. The abutments, for example, can each include an inclined surface that slopes downwardly toward a central region of the circle to support only the edge of the workpiece in a manner that suspends or otherwise spaces the workpiece in a plane that is spaced apart from the body. The passive end-effector can further include a sensor assembly that is carried by the body.

Abstract: Embodiments of the present invention overcome the disadvantages of the metal bond head systems while also providing a method for performing precision die bond of multiple die at once. A mounting system is adapted for simultaneous high accuracy placement of multiple semiconductor components or dies on substrates. Simultaneous high accuracy multiple die placement is achieved by providing a mounting head assembly, including a see-through (ST) bond head with selectively and independently controlled gripping mechanisms, with moving and/or adjusting mechanisms adapted for accurate alignment of semiconductor components relative to a substrate in all directions.

Abstract: A system and process are provided for controlling motion of a grappler of a gantry crane to avoid damaging an object to be lifted. In an embodiment, a speed of grappler movement is automatically reduced when in close proximity to the object. Furthermore, the grappler automatically stops when positioned appropriately to permit a latching mechanism to engage the object for lifting. Normal speed grappler motion is restored when the latching mechanism is fully engaged. In a particular embodiment, the grappler includes a plurality of height sensors at various positions along the grappler to determine the respective height of the grappler above a top of the object. Vertical motion of front and rear ends of the grappler are independently actuated and controlled to permit appropriate control when the grappler and/or the object are not level.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: An edge gripping device grips and ungrips a substrate, such as a semiconductor wafer. A blade extends in a distal direction from a base of the device. At least one distal contact member is provided at the tip of the blade. Two proximal lever arms are pivotally coupled for synchronized, oppositely directed rotation to the base. Each lever arm has at least one proximal contact member at an outer end. A biasing member is coupled to the two proximal lever arms and to an actuator to effect pivoting movement of the lever arms. The pivoting motion moves the ends of the arms generally radially toward and away from the center of the substrate to be gripped or ungripped, thereby minimizing sliding of the substrate. The biasing member is biased to retain the lever arms in a closed position in the event of a power failure. Ramps are provided next to each contact member. The contact members and ramps are profiled to minimize the zone of the substrate edge that is contacted.

Abstract: A floating object is attached to a shipboard hoisting crane through its attachment device under high seawave conditions, by maintaining alignment of the crane attachment device under maneuvering thrust control with a location on the floating object during lowering of the attachment device onto the floating object. Such maneuvering thrust control is established by thrust jets emitted from the attachment device under control of optical scanning detection cells mounted on the attachment device for reception of a reception location indicating beam emitted from the floating object.