Abstract: An autonomous off-road vehicle (AOV) includes a vehicle body and a vehicle arm coupled to the vehicle body and including a set of prongs and a clamp extending outward from an end of the vehicle arm. A controller causes the vehicle arm to pick up a pile by: aligning the set of prongs with an end of the pile such that a first prong aligns with an opening on a first side of a web of the pile and a second prong aligns with a space on a second side of the web, inserting the set of prongs into the opening on the first side and the space on the second side, and compressing the clamp into an exterior surface of a flange of the pile such that the set of prongs are reciprocally compressed into an interior surface of the flange on either side of the web.

Abstract: The present disclosure is directed to multi-use mobile robots that cater to both goods delivery and people mobility. These robots allow for seamless and dynamic transition between a rideable personal transport vehicle that may be driven by a user sitting in a removable robot seat, driven by the user standing onboard the vehicle, or driven by a second individual walking behind the multi-use robot. The multi-use robot may also function as an autonomous delivery vehicle, and can provide an option to allow both people and goods to be transported simultaneously. The multi-use robots can also integrate with mobile warehouses and neighborhood storage lockers and mobile warehouses, and provide last-mile handling of goods and supplies.

Abstract: Provided is apart stopping/passing unit for apart including a unit main body having a part passage, an opening/closing member configured to open and close the part passage, and an attracting mechanism. The opening/closing member includes a stopper surface for stopping a part and a passing hole for allowing the part to pass therethrough. The attracting mechanism is configured to position the part by an attracting force when the stopper surface takes a part stopping position, and to allow the part to pass by elimination of an attraction force when the passing hole takes a part passing position.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: A method for operating a multiple axis machine includes controlling drives of the machine with a machine control system and monitoring the machine with a fail-safe control system having first and second redundant channels. Each of the first and second channels receives first input target values and first input actual values from the machine control system, and compares first reference target values (based on the first input target values) with first reference actual values (based on the first input actual values). A fault reaction is triggered if there is a deviation between the compared values that exceeds a specified tolerance. The first input values comprise reference position values of a machine-fixed reference or time derivatives thereof, and the machine control system determines target and/or actual reference position values based on a transformation between reference position values of the machine-fixed reference and axial position values of the machine.

Abstract: A bollard setting and installation system for efficiently installing a bollard wall without any restrictions relating to proximity to water or flood plains. The bollard setting and installation system generally includes a setting frame which is positioned on a ground surface. A plurality of bollards is positioned on the setting frame in a desired spacing and orientation to form a bollard wall. A vehicle having a vehicle arm connected to a lifting frame is positioned such that the bollards are secured to the lifting frame by clamps in the desired spacing and orientation. The vehicle may then move the lifting frame to position the lower ends of the bollards in an opening in the ground surface. Concrete may be poured to encapsulate the lower ends of the bollards. The lifting frame may then be removed, with the bollard wall being free-standing in the ground surface.

Abstract: According to one embodiment, a cargo handling apparatus includes a first mechanism, a second mechanism, a holding unit, a third mechanism, a fourth mechanism and a conveyor. The first mechanism is movable in a first direction. The second mechanism is connected to the first mechanism and is movable on a first horizontal plane intersecting the first direction. The holding unit is connected to the second mechanism and holds an object to be picked up. The third mechanism is arranged below the first mechanism, the second mechanism and the holding unit, and is movable in the first direction. The fourth mechanism is connected to the third mechanism and is movable on a second horizontal plane opposed to the first horizontal plane. The conveyor is connected to the fourth mechanism, and loads and conveys the object held by the holding unit.

Abstract: A robotic material handling apparatus comprises a packing head using vacuum to lift bottles, and a robot arm including two four-bar linkages. The four-bar linkages include a tubular structural member forming a rigid link with an internal passageway extending along the robot arm. A vacuum source is connected by hoses to the internal passageways and to the packing head as a way in integrating the vacuum lines into the robot arm. The packing head has bottle-lifting stations using vacuum to lift bottles, each including a seal shaped to sealingly engage a shoulder on the bottle. A vacuum source is connected to the seal for suctionally gripping the bottle using the shoulder to lift the bottle, regardless of whether a bottle cap is present or is missing.

Abstract: A joint structure capable of optimizing a margin of length of an umbilical member corresponding to a motion range of a forearm, and an industrial robot having the joint structure. At an upper section (near the forearm) of an upper arm, a frame constituting the upper arm has an opening through which the umbilical member can be inserted, and the umbilical member 28 inserted from the opening into a space (or containing section) within the upper arm. By virtue of such a containing section, even when the motion range of the forearm is changed, an operator can adjust (optimize) the margin of length of the umbilical member required for the motion of the forearm.

Abstract: A storage apparatus has an annular array of stacked item storage formations, and an epicyclic selector arrangement for extracting items from the array, with a temporary storage unit.

Abstract: A conveyance system includes a plurality of feed-forward track segments aligned end-to end, each having an upwardly facing channel and at least one linear motor disposed in the channel. At least one carrier is supported for movement along the track segments. Each carrier includes at least one magnet that cooperates with the linear motors to move the carrier along the respective feed-forward track segments. The conveyance system may further include a plurality of return track segments spaced from the plurality of feed-forward track segments.

Abstract: A sample transfer mechanism of the present invention is characterized broadly by a sample gripping method in which a downward part of a sample vessel is gripped and a cover that achieves an effect as a guide such that gripping arms that grip the sample vessel avoid contact with other objects and bypass surrounding objects, particularly, the sample vessels in approaching and retracting motions. To enhance the effect as the guide and to ensure that the sample vessels can be mounted with a high degree of integration, the shape of the cover and disposition of the sample transfer mechanism are characterized in a number of manners. Thus, a sample transfer mechanism that can perform a transfer process safely with high throughput even under conditions in which a variety of types of sample vessels is mixed together and the sample vessels are mounted with a high degree of integration is provided.

Abstract: A loadport for handling film frames is disclosed. The loadport is modular and substantially compatible with applicable standards regarding modular equipment. In particular, the load port is substantially interchangeable with loadports not adapted for handling film frames. The loadport has a compact shuttle for moving film frames and flexible alignment mechanisms for aligning film frames and cassettes of different configurations.

Abstract: A cask transport system includes a support assembly including a plurality of wheels and a support frame coupled to and supported by the wheels. The cask transport system also includes a tower disposed above the support assembly, the tower including a base portion and a tower frame coupled to the base portion, the tower frame movable relative to the base portion. The cask transport system also includes an upper beam assembly coupled to the tower frame, and a bottom block assembly coupled to the upper beam assembly, the bottom block assembly movable relative to the upper beam assembly.

Abstract: An optical disk apparatus and a disk magazine. Optical disks are stacked and contained in the disk magazine without a gap between adjacent disks. A disk holding member for preventing the optical disks from being rubbed and damaged in the disk magazine is provided in the disk magazine. The optical disk apparatus using the disk magazine has a disk holding portion for holding a plurality of optical disks in a lump. When the Nth optical disk from the top disk in the disk magazine is conveyed to a disk drive, the stacked N optical disks are held by the disk holding portion, the holding of only the Nth optical disk by the disk holding portion is cancelled and the target optical disk is conveyed by a disk drive portion.

Abstract: A maneuvering autonomous rotorcraft cargo attachment system for engaging two mating elements of a coupling mechanism includes a first system on a ship deck to position a first coupling mechanism element in response to positioning commands and a second system attached to a rotorcraft hoist cable to position the second coupling mechanism element in response to positioning commands. A controller calculates and issues the positioning commands to the first and second positioning systems thereby effecting engagement of the two coupling elements.

Abstract: A sample transfer mechanism of the present invention is characterized broadly by a sample gripping method in which a downward part of a sample vessel is gripped and a cover that achieves an effect as a guide such that gripping arms that grip the sample vessel avoid contact with other objects and bypass surrounding objects, particularly, the sample vessels in approaching and retracting motions. To enhance the effect as the guide and to ensure that the sample vessels can be mounted with a high degree of integration, the shape of the cover and disposition of the sample transfer mechanism are characterized in a number of manners. Thus, a sample transfer mechanism that can perform a transfer process safely with high throughput even under conditions in which a variety of types of sample vessels is mixed together and the sample vessels are mounted with a high degree of integration is provided.

Abstract: Disclosed are methods and systems adapted to aid in a handling of sample containers (e.g., sample containers) in a processing or testing system. The method includes a sequence of motions of gripper fingers and a seater to accomplish a pick and place operation of a sample container where the sample container includes a sticky surface. A sample container positioning system is disclosed, as are other aspects.

Abstract: A system and method for removing spent fuel assemblies from a fuel building and transporting them to on-site facilities. A cask transporter is moved into the fuel building with an empty spent fuel storage cask, spent fuel assemblies are loaded into spent fuel storage cask, the cask is sealed, and the cask transporter moves the loaded spent fuel storage cask to a handling area for final disposal. Components of the system include a penetration cover, a lifting mechanism, a control system, a valve system, and the cask transporter.

Abstract: A carrier transfer facilitating device does not require, for example, renewal (replacement) of an existing load port. Specifically, a carrier transfer facilitating device is provided for a load port on which a FOUP is placed. The carrier transfer facilitating device includes a temporary table on which the FOUP is temporarily placed, a carrier transferring carriage that travels above a carrier table of the load port and the temporary table in the horizontal direction and that lifts and transfers the FOUP between the carrier table and the temporary table, a supporting member that supports the temporary table and the carrier transferring carriage, and a controller that controls the movement of the carrier transferring carriage so as to avoid contact of the carrier transferring carriage with the FOUP while the FOUP is transferred between the hoop supporting table or the temporary table and an OHT.

Abstract: Method and device for handling, particularly stacking, profile parts.

Abstract: A hoist system hoists a flat screen television or a heavy object in a room for attachment to a wall mounted attachment fixture. The hoist system has a wheel-supported base, and a central pillar with a raising and lowering element. The central pillar has a counter weight projection arm with a plurality of notches for carrying a counterbalance weight. A projection arm extends from the movable element in the direction opposite to the counterbalance weight arm with a downward pointing extension that carries a plurality of adjustable L-shaped brackets. The hoist system is brought close to a television or heavy weight at ground level and the L-shaped brackets are inserted therebelow. Weight balance is checked and a counterweight is placed on an appropriate notch in the counterbalance weight arm. The flat screen television or heavy object is then lifted to the correct height for wall attachment.

Abstract: An automatic supply apparatus for an elongate supply target member having elasticity and including both end portions includes a stock mechanism wherein a plurality of supply target members are stocked such that the plurality of supply target members are suspended in an inverted U shape and top portions of the plurality of supply target members are arranged side by side in a row direction, and an extraction mechanism to operate the top portions of the supply target members to extract one supply target member from the plurality of supply target members stocked in the stock mechanism.

Abstract: An apparatus for transporting a workpiece within a three-dimensional volume includes: a first rail extending in a generally horizontal direction; a first carriage that is slidably connected to the first rail for movement in the horizontal direction; a second rail attached to the first carriage and extending in a generally vertical direction; a second carriage that is slidably connected to the second rail for movement in the vertical direction; a traveler unit mounted to and revolvable along a generally horizontal annular path about the second carriage; and a gripper unit mounted to the traveler unit configured to grip the workpiece.

Abstract: In a first aspect, a first method is provided repositioning support provided by an end effector. The first method includes the steps of (1) employing the end effector to support a substrate carrier by a bottom of the substrate carrier; (2) transferring the substrate carrier from the end effector to an intermediate support location, wherein the intermediate support location supports the substrate carrier by a bottom of the substrate carrier; (3) repositioning the end effector proximate an overhead transfer flange of the substrate carrier; (4) employing the end effector to support the substrate carrier by the overhead transfer flange of the substrate carrier; and (5) transferring the substrate carrier from the intermediate support location. Numerous other aspects are provided.

Abstract: A pick and place device for picking up and re-positioning an article (11) carried by a support surface, comprising a first part which includes a plate portion (8, 8?) which is movable parallel to the support surface so that a leading edge thereof penetrates below the article, between the article and the support surface, and a belt of flexible material (9, 9?) which is wrapped around at least the leading edge of the plate portion so that it is sandwiched between the plate and the article when the former penetrates therebelow and as the plate portion moves below the article there is substantially no relative sliding movement between the sandwiched portion of the belt and the article.

Abstract: Lifting frames (2) suitable for moving a pack of sheet material (244) are described. Lifting frames according to the invention comprise first and second legs (4, 5), each leg having a foot (8,10) mounted thereon. The pack to be moved stands on the feet and is retained on the frame by pairs of fingers that can contact the front and rear faces of the pack. One pair of fingers (48,50) can be raised whilst another pair of fingers retains the pack on the frame. This enables the pack of sheet material to be removed from either side of the frame (2), thereby reversing the orientation of the pack in a single lifting operation. Methods of moving a pack of sheet material using lifting frames according to the invention are also described.

Abstract: A sugar cane loader is provided with a C-shaped chain piler including a grab pocket flanked by a pair of guide rails and including a third guide rail located at a central lower region of the grab pocket. The shape of the chain piler is such as to increase the movement of the stalks for better cleaning during piling, while the guide rails cause the grab to be moved forward during loading such that the cane stalks are moved ahead of tines projecting from the piler chains so that the tines and/or chains are not damaged when the loaded grab is lifted.

Abstract: A system and method for automated trailer loading that utilizes an automatic case loader for loading product in a trailer is disclosed. A mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement sensor, and a control subassembly. Under the operation of the control subassembly, product advances through a powered transportation path and is stacked as product columns which are presented to an industrial robot which places the product columns within the trailer. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly, which provides for forward and reverse movement as well as traverse movement between so that product may be loaded within multiple trailers without interruption.

Abstract: A lifter including tongs; an electric motor having a stator, a rotor, and one or more windings and a shaft operatively coupled with the first tongs for actuating the first tongs to an open position for receiving a load and actuating the first tongs to a closed position for engaging the load; and a vector drive controller electrically coupled to the electric motor for controlling the operation of the electric motor. A method of handling a load with a motorized lifter including at least one set of tongs and an electric motor coupled to the tongs, the method including moving the tongs of the motorized lifter to a home position by operation of the electric motor, wherein the electric motor is controlled by a vector drive controller; moving the tongs out of the home position; placing the tongs over the load; and positioning the tongs against the load by operation of the vector drive controlled electric motor so as to frictionally engage the load with the tongs.

Abstract: A machine includes a chassis and a boom assembly. The boom assembly is movable relative to the chassis. The machine further includes a grapple assembly suspended from the boom assembly. The grapple assembly comprises a grapple head fluidly connected to a first hydraulic circuit for actuating the grapple head to a grasping configuration, and a hydraulic motor fluidly connected to a second hydraulic circuit for rotating the grapple head. The second hydraulic circuit includes a bypass valve. The bypass valve has a first position configured to block a fluid flow between a first port of the hydraulic motor and a second port of the hydraulic motor. The bypass valve also has a second position configured to allow a fluid flow between the first port of the hydraulic motor and the second port of the hydraulic motor. The bypass valve allows the grapple head to rotate freely when the grapple head is in a grasping configuration.

Abstract: A cart lifter is provided that is adapted to be mounted to a refuse container or directly to a refuse collection vehicle. A support is provided that is adapted to be pivotally mounted adjacent to the loading area of either the refuse container or the vehicle. First and second support arms are provided that are carried by the pivoting support. The support arms are movable relative to the support frame between a first position in which the support arms are adjacent the refuse container or vehicle and a second position in which the support arms are relatively angularly disposed with their free ends being spaced outwardly away from the support frame. A container capturer is provided for engaging and releasing a smaller refuse collection cart, and the free ends of each of the support arms are adapted to carry the container capturer.

Abstract: A calibration cassette pod for robot teaching and a method of using the calibration cassette pod are described. In the calibration cassette pod, a cassette pod body and a cassette pod door are first provided wherein the cassette pod body is constructed of a top panel, a bottom panel, two side panels and a front panel to enclose a cavity therein. A first plurality of ribs is formed on an inside surface of the cassette pod body, each having a predetermined depth sufficient to support an edge portion of a wafer. An optical detector housing is mounted on an opening in the front panel and is adapted for receiving an optical detector therein. An optical detector that includes a light emission source and a photo diode receiver for determining the position of the edge portion of the wafer is mounted in the optical detector housing.

Abstract: A five-axis production-line handler has a handler shoulder (1) that is suspended rotatively downward from a gantry chassis (2). Two handler columns (4, 5) are spaced apart and suspended vertically downward from the handler shoulder. The handler columns terminate vertically above a production-line floor (6) for allowing horizontally circumferential positioning of the handler columns by rotation of the handler shoulder. The handler columns include hoist carriages (9, 10) that are raised and lowered by a hoist (7) for positioning item-rotation axles (11, 12) and attachment plates (29) to receive and rotate production items on an axis between the handler columns. The gantry chassis is gantry-wheel mobile on a gantry rail system for linear travel along a production line that can be linear or looped for a wide variety of production.

Abstract: A substrate handler is provided comprising a carriage positionable along a first axis of motion, a first substrate gripper coupled to the carriage and positionable relative to the carriage along a second axis of motion oriented substantially perpendicular to the first axis of motion, and a second substrate gripper coupled to the carriage and positionable relative to the carriage along a third axis of motion oriented substantially parallel to the second axis of motion, wherein the second gripper is independently movable relative to the first gripper.

Abstract: An apparatus and a method for positioning a cassette pod onto a loadport by an overhead hoist transport system are described. The apparatus includes a vertical front panel of a process machine equipped with a docking opening therein, a loadport stage extending horizontally from the vertical front panel, a loadport situated on the loadport stage, at least two back guiding plates situated on the back of the loadport, at least two side guiding plates with one situated on each side of the loadport, a front guiding plate situated on the front side of the loadport, and a clamp positioner for guiding the position of an OHT clamp during an unloading operation of the cassette pod. The two halves of the clamp positioner move sideways away from each other to allow the cassette pod to pass therethrough during a loading operation.

Abstract: There is provided a picking apparatus for transferring semiconductor devices in a test handler to increase the number of devices transferred at one time and suitable for devices having different pitches.

Abstract: A forklift having a pallet lock device. On an upper face of a top end of a lock bar to lock a pallet, a tapered portion is disposed. When a fork is inserted into the pallet, the tapered portion comes into contact with an end face of the pallet and the lock bar rotates downward. When a landing sensor is turned on by a magnet disposed on the lock bar, the lock bar is immediately driven and the locking operation is started. Then, the top end of the lock bar pushes or comes into pressure contact with an upper face of a lower deck board of the pallet, and the pallet is locked.

Abstract: There is provided a picking apparatus for transferring semiconductor devices in a test handler to increase the number of devices transferred at one time and suitable for devices having different pitches.

Abstract: A device for manually maneuvering a handling unit, includes a mounting structure for attachment to a handling unit which is operated through actuation of a control mechanism connected to the mounting structure. A handle frame is connectable to the mounting structure and includes a cross member and a pair of elongate grip elements detachably coupled to the axial ends of the cross member which is releasably attached to the mounting structure. The cross member and the grip elements can be selected from a plurality of cross members and grip elements of varying lengths to thereby establish a construction kit that allows construction of handle frames of varying configuration.

Abstract: An inspection apparatus for inspecting welds in a nuclear reactor jet pump includes a probe subassembly rotatably and linearly movably coupled to a frame structure configured to attach to a top flange of the reactor pressure vessel. The probe subassembly includes a plurality of probe arms pivotably coupled to a housing, with each probe arm including a sensor. The probe arms are pivotably movable between a first position where the probe arms are parallel to a longitudinal axis of the probe subassembly, and a second position where the probe arms are at an angle to the longitudinal axis of the probe subassembly. An insertion subassembly couples to the jet pump suction inlet. The insertion subassembly is sized to receive the probe subassembly and guide the probe subassembly into the jet pump through the jet pump suction inlet.

Abstract: The invention provides a lift apparatus for use with a ladder having two spaced upright stringers and a plurality of horizontal rungs bridging the stringers and spaced at a distance vertically from one another. The lift apparatus comprises a frame, a prime mover mounted on the frame and having a rotatable output shaft, at least one pair of sprocket systems space apart vertically from each other. At least one of the sprocket systems is operatively coupled with the output shaft of the prime mover. Endless driving force transmitting means can pass around the pair of the sprocket systems. Controller is provided for controlling the prime mover in such a manner as to selectively rotate the output shaft thereof in forward or reverse direction, or stop it. Operating mechanism is provided for causing a plurality of gripper elements to be engaged with the corresponding rungs of the ladder.

Abstract: A coil handling device for engaging a coil having a depth and an interior surface defining a diameter and defining a longitudinal axis, is configured to engage the coil with the longitudinal axis oriented vertically and reorient the coil to position the longitudinal axis horizontally. The handling device includes a transport assembly, a lift assembly and a manipulating assembly. The manipulating assembly is mounted to the lift assembly and includes a pair of spaced apart support arms and a pivoting carriage carried by the support arms. The carriage includes a locking arm for engaging the interior surface of the coil along the depth of the coil and a thrust lever including a bearing arm and a lever arm disposed at an obtuse angle to one another opposite the locking arm.

Abstract: A coil handling device for engaging a coil having a depth and an interior surface defining a diameter and defining a longitudinal axis, is configured to engage the coil with the longitudinal axis oriented vertically and reorient the coil to position the longitudinal axis horizontally. The handling device includes a transport assembly, a lift assembly and a manipulating assembly. The manipulating assembly is mounted to the lift assembly and includes a pair of spaced apart support arms and a pivoting carriage carried by the support arms. The carriage includes a locking arm for engaging the interior surface of the coil along the depth of the coil and a thrust lever including a bearing arm and a lever arm disposed at an obtuse angle to one another opposite the locking arm.

Abstract: Apparatus and method for collecting and transporting cement and concrete waste. The apparatus comprises a container, a cart for supporting and moving the container, and lifting means attached to the frame of a cement truck for lifting the cart and container off the ground for transport. The apparatus may be stored on a cement truck so that the apparatus and method can be used at any job site where the cement truck is present. Use of the disclosed method and apparatus prevents disposal of cement and concrete waste in an unlawful or unsightly manner and allows the cement and concrete waste to be returned to a cement and concrete production facility and recycled.

Abstract: A substrate lift mechanism includes a plurality of fingers mounted on a hoop controlled by an actuator to transfer a substrate, such as a wafer or a flat panel display, from an edge grip arm to a chuck on a processing tool, such as integrated metrology tools. The substrate lift mechanism includes a base that is configured to be mounted to existing processing tools thereby allowing the processing tools to be adapted to be operable with new edge grip arms. The plurality of fingers are positioned to permit an edge grip arm to pass between two of the fingers and are configured to gravitationally support the substrate. Advantageously, the base of the substrate lift mechanism has a small footprint to minimize the space requirements of the processing tool to which it is mounted.

Abstract: A self-propelled, steerable straddle carrier (10) includes a main frame (12) supported on transport wheels (14) with a tong table (20) and a plurality of hydraulic lift actuator (34) for raising and lowering the tong table (20) relative to the main frame (12). A pair of front and rear slab tongs (42, 44) are pivotally mounted on the tong table (20) with a pair of front and rear pinch cylinders (43, 45) for opening and closing the slab tongs (42, 44). A pair of coil tongs (52) arm disposed between the front and rear slab tongs (42, 44) with a pair of inverted yoke assemblies for pivotally supporting the coil tongs (52) and a center pinch cylinder (60) for opening and closing the coil tongs (52). A pair of hydraulic actuators (34) interconnect the yoke assemblies and the main frame (12) for raising and lowering the coil tongs (52) relative to the slab tongs (42, 44) to permit the straddle carrier (10) to transport either stacks of steel slabs or a steel coil.

Abstract: A device for transplanting trees or bushes having at least two spades that can be adjusted against each other. These spades can be set between an open and closed position by means of a pair of attached servo-drives. When in the open position, the spades are removed from each other by a space corresponding at least with a diameter of the tree or the bush to be transplanted. When the spades are in their closed position, they complement each other, forming a partial spherical cup. To reduce the resistance of the spades as they penetrate the soil, the cutting blade of the spade has the shape of a corrugated ground edging. These corrugated ground edges have alternating elevations and recesses, whereby the elevations of the cutting blade provide sufficient stability and safety against breakage. The ground surfaces that oppose each other on these spades are disposed on alternating sides to allow the cutting blades to overlap.

Abstract: The present invention is directed towards a method for racking or unracking pipe to or from a rack and a device to facilitate the process. The method provides a controllable procedure for inserting or withdrawing the pipe that is less dangerous than prior art methods and does not damage the pipe end. The method entails inserting a pipe gripper having an expansion sleeve into an accessible end of a pipe. The expansion sleeve is forced against an inner wall of the pipe, coupling the pipe gripper to the pipe. Depending upon the application, the pipe is then either pushed fully onto the rack or is pulled partially off the rack. For unracking operations, a crane sling is attached to the partially unracked pipe and the pipe is further manipulated off the rack.

Abstract: An apparatus for taking out laundry articles from a laundry pile by a pull gripper which is arranged for seizing one or more laundry articles in the laundry pile, and a lifting mechanism arranged for lifting the pull gripper and the minor batch of laundry articles clear above the pile. The lifting mechanism is arranged for conveying the pull gripper and the laundry articles to a position above a support, and the pull gripper is arranged for releasing the laundry articles above the support whereby the laundry articles are deposited on the support. The laundry articles are loosened from each other which facilitates the separation of the individual laundry articles from the pile. According to the invention the pull gripper is moved by the lifting mechanism as a restricted, guided movement by a combined vertical and horizontal movement whereby a more efficient loosening of the laundry articles is obtained as well as a higher degree of repetitive accuracy.