Abstract: A forester harvester has a house frame mounted on a base assembly and rotatable relative thereto about an axis of rotation. A boom is mounted on the house frame at a location radially offset from the axis of rotation. A cab is mounted on the house frame adjacent the boom and as forward as possible without protruding beyond the tail swing circumference of the house frame. A motor is mounted on the house frame rearward of the boom and the cab.

Abstract: In machines for opening of a tapping hole, for example in tapping hole boring machines, carriage holder (4) with boring bar and boring machine is swung up via four-bar linkage (5) by a lifting cylinder (10) out of an optionally obliquely sloped working or boring position into a neutral position out of the area of a runner. The boring angle is adjustable on connecting rod (7) of four-bar linkage (5). To securely keep the lifting device for automatic changing of the boring bar always in the horizontal neutral position, piston rod (11) of lifting cylinder (10) is linked to the free end of angle lever (13) which is pivoted around axis (16) located stationary on lifting frame (8). The angle lever is hinged via link plate (14) to upper short lever arm (15) of lifting arm (6). Link plate (14) with short lever arm (15) and angle lever (13) in the horizontal neutral position of the lifting device forms self-locking knee link (18).

Abstract: A cable reel handler for mounting at the rear of a truck for loading and unloading of cable reels. The handler comprises a pair of lift cylinders pivotally supported in fixed positions on the truck, a pair of lift arms pivotally connected to the truck rearwardly of the lift cylinders, and a piston and cylinder arrangement for moving the lift arms transversely whereby the spacing between the lift arms can be varied so that cable reels of different sizes can be engaged by the lift arms. A pivoting link is connected at one end to each one of the lift cylinder pistons, and each link is connected at its opposite end to one of the lift arms. The connections at each of the ends of the pivoting links comprise swivel connections whereby the loading and unloading can take place at any variation of the spacing between the lift arms. The piston and cylinder connection between the lift arms permits independent movement of the lift arms.

Abstract: The lower movement path (25) of the gripping head (6) of a loading device (1) is straightened with a cam control (14), the latter being located on the side of the associated lift bearing (7) remote from the gripping head (6). Thus, with a single lift drive (19) the loading device (1) can be transferred into a charging position (26), in which a roll (21) can be axially supplied in unhindered manner and then the gripping heads (6) are lowered and without a transverse movement of the roll can be engaged therewith, without this being prevented by the center height (23, 24) of the roll (21, 22).

Abstract: Construction machines typically utilize hydraulic cylinders to manipulate the linkage that extends between the machine frame and a work implement. In many instances the range of motion of the components creates limited room between the components when they are in their maximum positions. This limited room has prevented the direct attachment of valves to the various hydraulic cylinders. The present invention provides a valve that has a preselected angled configuration that substantially matches a preselected angled configuration of a surrounding frame member. When the linkage is in one of its extreme positions, the two preselected configurations of the valve and the frame member "nest" with one another to prevent contact therebetween, thus allowing the use of the available space.

Abstract: The present invention is directed to a pivoted lifting device having a main support frame selectively pivotable about a horizontal axis and engagement arms connected to the main support frame by a pivot pin. The engagement arms include an engagement surface. The pivoted lifting device allows the entire engagement surface to contact an article prior to the article being moved from an at rest position. The invention includes hydraulically actuated spring biased shaft having an unlocked position and also a locked position wherein it is located adjacent the engagement arms to lock the engagement arms in an upright position.

Abstract: A battery changing system in combination with a battery holder is provided. The battery changing system includes a mobile frame, a battery lift assembly including a pair of lifting arms forming an opening for receiving the battery holder. Mounting structure pivotally connects battery lift assembly to an end portion of the frame. Actuating structure extends between the battery lift assembly and the end portion of the frame to pivot the battery lift assembly between an initial position engaging the battery holder positioned on the ground and an operative position wherein the battery holder is raised to a selected elevation above the ground. The battery holder includes hanger structure fixed to opposing sidewalls thereof. Each hanger structure includes a rearwardly extending wall defining a rearward edge and a downwardly facing fulcrum surface disposed forwardly of the rearwardly extending wall.

Abstract: The invention relates to an arrangement for handling objects, such as a hospital bed, whereby the object is moved by the arrangement from a use or starting position to an uplifted working position which facilitates cleaning, servicing and the like of the object under improved ergonomical conditions. The arrangement includes a mobile frame including two frame parts. The arrangement further includes means to adjust and vary the spacing between the frame parts. Each of the frame parts carries a pivotally mounted lifting arm and maneuvering means for swinging the lifting arm between a generally horizontal starting position and an uplifted position. The lifting arm includes a hook device and a lever arm which are configured for engagement with the object to be handled.

Abstract: A dolly has a wheeled body (10) with an upwardly-opening recess therein within which is received a rotatable base unit or turret (24) containing the hydraulics for raising and lowering a boom arm (26). The boom arm may be positioned either facing forwardly of the body (10) or laterally of the body. In each case, the boom arm is received within an aperture (30,32,34), the apertures being suitably sized to allow the boom arm to be lowered to a position below the horizontal. The base unit (24) may be lifted out of the recess, and may be used with another body of a different size.

Abstract: A boom hoist is disclosed having top and bottom mast sections joined together midway of an upstanding mast at a swivel joint defined by mating flange faces where the top mast section rotates about a central core extending into each mast section. A boom arm is pivotally carried by the top mast section and a universal attachment base is carried by the bottom mast section having a tongue connection for connecting the hoist to a plurality of associated structures for hoist operation. Advantageously, a side mount assembly for mounting the hoist near a side of a vehicle, a three-point hitch mount assembly for mounting the hoist to a farm tractor, a fork lift mount assembly, a floor mount assembly, and a roller frame mount assembly are provided for the hoist.

Abstract: Past assemblies for structural portions of construction machines utilized advanced fixturing devices and welding to join the components. The fixturing devices are expensive and, if not used, distortional problems from the welding may reduce the quality of the asssemblies. The present invention overcomes this and other problems by providing a method of bonding a lift arm assembly. A pair of crossmember plates are connected at opposite ends of a crossmember to define a first modular component. A pair of lift arm assemblies define second and third modular components, respectively. A first contact surface is prepared by establishing a specific surface texture in a predetermined contact area on an outer surface of each of the crossmember plates. A second contact surface is prepared by establishing a specific surface texture in a predetermined contact area on an outer surface of each of the lift arm assemblies.

Abstract: The material handling machine has a chassis comprising a rigid longitudinal frame whose width is less than 25% of the overall width of the machine, excluding the wheels. A boom or a loading bucket is pivotally mounted on the chassis. Digging equipment is mounted at the rear of the chassis. A drive arrangement comprises a mechanically driven transmission kinematically connected to an engine. Shafts kinematically connect a power output mid-way along the drive arrangement to final drive units on the front and rear axles. The drive arrangement is mounted at one side of the longitudinal frame between the axles, and an operator's cab is mounted at the other side or above the longitudinal frame. The cab is movable between a forward position and a raised rear position.

Abstract: An apparatus is disclosed for lifting and moving large rolls of material, such as sheet material, which define a central core. The apparatus includes a wheeled frame, and a pair of guide ways that extend parallel to one another and across the frame. A lifting arm defines a lifting flange at one end, is rotatable about an axis oriented generally parallel to the guide ways, and is coupled at an end opposite of the lifting flange to one of the guide ways. An actuator couples the lifting arm to the other guide way, and rotates the lifting arm about the axis oriented generally parallel to the guide ways in order to move the lifting arm between raised and lowered positions. The lifting arm is slidable along the guide ways to permit the lifting flange to be positioned in a hollow core of a roll. Sliding movement of the lifting arm along the guide ways is selectively permitted by a brake mechanism including a brake pad in selective engagement with a guide way.

Abstract: A four degree of freedom manipulator which comprises a pair of elongate rigid legs connected by a joint. The joint acts as an end-effector or an end-effector is attached thereto, The legs effectively intersect at a point in the joint. The positioning end of each leg is attached to a two degree of freedom positioning mechanism that can position it in a two dimensional plane. The connection between the leg and the positioning mechanism has two passive rotational degrees of freedom. Preferably five bar mechanisms are used as the positioning mechanisms. The manipulator can control the position and orientation of an end-effector.

Abstract: The present invention is directed to a pivoted lifting device having a main support frame selectively pivotable about a horizontal axis and engagement arms connected to the main support frame by a pivot pin. The engagement arms include an engagement surface. The pivoted lifting device allows the entire engagement surface to contact an article prior to the article being moved from an at rest position.

Abstract: Basic interchangeable building blocks such as to create a structure and/or an exoskeleton for an apparatus for monitoring and controlling the movements of body members comprising a single axis joint adaptable axis joint, an axial rotation joint, a wrist rotation joint and a linear motion transmission joint, all of which can be spring controlled and/or be controlled by a rotation transmitting cable each having means for producing electrical signals indicative of their movement and can be coupled together so as to permit electrical conduction and rotation transmitting cables to be passed through them.

Abstract: A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).

Abstract: A lifting apparatus preferably for applications in which a floor covering is to be removed and/or installed, has a lever arm and support that provide portions of two interconnected linkages. An interchangeable bracket is raised and lowered by the lifting apparatus. The bracket is provided with single-sided and double-sided portions that insert into a partition member to raise the partition when the bracket is raised by the lifting apparatus. A rachet arm is provided by a spring-biased stop member and a serrated portion. The rachet allows the lifting assembly to support the weight of the partition without constant attention, thereby allowing the workers to perform either the removal or installation of a floor covering without an inordinate amount of partition movement.

Abstract: The material handling machine has a chassis comprising a rigid longitudinal frame whose width is less than 25% of the overall width of the machine, excluding the wheels. A boom or a loading bucket is pivotally mounted on the chassis. Digging equipment is mounted at the rear of the chassis. A drive arrangement comprises a mechanically driven transmission kinematically connected to an engine. Shafts kinematically connect a power output mid-way along the drive arrangement to final drive units on the front and rear axles. The drive arrangement is mounted at one side of the longitudinal frame between the axles, and an operator's cab is mounted at the other side or above the longitudinal frame. The cab is movable between a forward position and a raised rear position.

Abstract: A hauling system for loose bulk material at a construction site uses a self-propelled vehicle and a trailer that is not self-propelled which are releasably connected by a system that is operable by a single operator who aligns, connects, locks, unlocks and disconnects the self-propelled vehicle and the trailer, preferably without leaving the cab of the self-propelled vehicle. A hook secured on a tool of the self-propelled vehicle and a ring secured, directly or indirectly, to the trailer, releasably connect them. Rotation of the tool, e.g. the bucket of a wheel loader, locks and unlocks the coupling. The operator of the self-propelled vehicle has direct visible sight of the coupling. The ring can be mounted at the end of an articulated frame pivotally connected to a hydraulic jack cylinder. A dump body of the trailer can be raised by a hoist piston. Vertical reciprocation of the tool pumps the jack cylinder which produces hydraulic power to activate the hoist cylinder via a valve body.

Abstract: The mechanism is used for rotating a tree-felling implement rotatably connected to a distal end of a boom of a logging vehicle by an implement pivot. The mechanism comprises a pinion coaxial with the implement pivot and fixed in rotation with reference to the distal end of the boom. Two longitudinally extending actuators are mounted on the frame. Both actuators are lying in the pinion plane. Each actuator is adjacent to the pinion on a respective side thereof, namely right and left, and bears a corresponding sprocket coplanar with the pinion plane and rotatably connected to their free end. To link the elements together, there is provided a chain in mesh with the sprockets and the pinion. The chain has ends rigidly attached to the frame of the implement. In use, the implement is rotated as the actuators are operated in opposite directions.

Abstract: The mechanism is used for rotating a tree-felling implement rotatably connected to a distal end of a boom of a logging vehicle by an implement pivot. The mechanism comprises a first arc-shaped member that extends in a plane perpendicular to the boom plane and is convex with reference to the implement pivot. The first member has a first end rotatably connected to the frame of the implement at a given distance from the implement pivot. A second arc-shaped member, coplanar with the first member, is also convex with reference to the implement pivot. The second member has a first end rotatably connected to the second end of the first member for defining an intermediary junction, and a second end rotatably connected to the distal end of the boom. A hydraulic actuator is mounted on the frame of the implement and has an end rotatably connected to or adjacent to the intermediary junction for rotating the implement during operation of the actuator.

Abstract: A transporter for carrying on a surface an object having a center of gravity, the transporter including a first arm having a longitudinal center line which is arranged to lift the object; a second arm operatively connected to the first arm at one end thereof; a wheel rotatably mounted to the second arm, the wheel having an axis of rotation, the first arm being disposed relative to the wheel so that the longitudinal center line of the first arm intersects the axis of the wheel; a sensor for sensing a variation of an inclination angle of the second arm relative to the surface; and a drive mechanism, connect to the sensor, for driving the first arm, the sensor controlling the drive mechanism such that the drive mechanism moves the first arm in response to the sensed variation of the inclination angle of the second arm relative to the surface so as to maintain the center of gravity of the object above the axis of the wheel regardless of the inclination of the second arm relative to the surface.

Abstract: Disclosed is a flexible robot arm structure utilizing an elongate skeletal frame member which can be controlled to assume any of a number of curved shapes as in the performance of automated operations. The arm functions somewhat like the body of a snake or an elephant's trunk. The skeletal frame defines a plurality of similar elemental segments disclosed in the form of disc-like structures as well as turns in a helical loading configuration. The helical form includes interleaved flexible helix members interconnected in a chain-link form. Displacement of sections in the arm is accomplished by the action of two separate mechanisms. A deflection mechanism provides power to flex or curve an arm section while a distribution mechanism distributes the curvature along the length of the arm to seek a smooth, circular curve. Illustrative embodiments use hydraulic actuators integral with the frame; however, equivalents are disclosed. The resulting arm is a highly repetitive, mechanical structure.

Abstract: The mechanism is used for rotating a tree-felling implement rotatably mounted with a pivot to the distal end of the boom of a logging vehicle. The mechanism, the tree-felling implement, the boom and the logging vehicle form a tree-felling machine controlled by an operator and used on logging sites. The mechanism has a pinion coaxial with the implement pivot and fixed in rotation with reference to the distal end of the boom. An arc-shaped rack is rotatably mounted on the frame of the implement by a rack pivot in spaced relationship with the pinion. The rack is in mesh with the pinion and hydraulic actuators are provided on the frame of the implement for swaying the rack and thereby rotating the implement with reference to the boom. Such mechanism is capable of rotating the tree-felling implement with reference to the boom plane in both directions and according to a much wider range angle than the prior art mechanisms.

Abstract: A mobile impact wrench carriage is provided for holding a heavy duty impact wrench aloft for operation in a generally horizontal disposition. The impact wrench caddy of the invention has particular application to the removal and reinstallation of lug nuts holding a large vehicle wheel to a vehicle wheel mount. The impact wrench carriage employs a platform supported by at least three casters and a hoist mounted on the platform. The hoist preferably employs a boom having a first end coupled to the platform by way of an upright stanchion and an opposite, cantilevered end that is vertically movable relative to the platform. An impact wrench carrier is secured to the cantilevered end of the boom. The impact wrench carrier preferably is in the form of a cable forming a noose that captures and suspends the impact wrench. A biasing mechanism, such as a shock absorber, urges the cantilevered end of the boom upwardly.

Abstract: A collision-free control system comprising a multi-axially controllable manipulator having interconnected supporting arms which are movable by way of actuators in such a way that a free end of the manipulator can be positioned spatially and moved into various positions. The actuators are controlled via a miniature model of the manipulator which is operated manually and is equipped with a series of position transducers which are capable of delivering control signals for commanding the actuators in such a way that the manipulator and the miniature model thereof always assume identical positions.

Abstract: A lightweight, portable hoisting apparatus which is easily securable into a standard receiver hitch of a truck or other vehicle which can be used for hoisting heavy objects such as motor vehicle engines and the like, a vertically extendable main support member preferably formed of box tubing is included which is obliquely oriented with respect to the ground at 70-90 degrees. A mounting head is slidably engageable with respect to the lower portion of the main support member and includes a mounting housing defining a vertical channel therein for receiving the main support member and a mounting arm extending outwardly to engage the vehicle hitch. A boom arm is pivotally mounted to the upper end of the main support member and includes a load attachment means preferably at the outermost end thereof.

Abstract: A micromotion stage comprises a stationary plate and a moving plate connected by six links each consisting of a stacked piezoelectric element serving as an actuator, a holder fixed at one end of the stacked piezoelectric element, a capacitance type displacement gage retained by the holder and a target member fixed at the other end of the stacked piezoelectric element to have a part thereof face a tip portion of the capacitance type displacement gage across a small gap. Change in the distance between the holder and the target member caused by expansion or contraction of the stacked piezoelectric element and indicative of a change in the link stroke can be detected by the capacitance type displacement gage.

Abstract: A lifting apparatus preferably for applications in which a floor covering is to be removed and/or installed, has a lever arm and support that provide portions of two interconnected linkages. An interchangeable bracket is raised and lowered by the lifting apparatus. The bracket is provided with portions that insert into a partition member to raise the partition when the bracket is raised by the lifting apparatus.

Abstract: A powered material handling apparatus or lift provides for the movement and positioning of large, heavy and/or bulky objects using six degrees of freedom of motion. The lift may be used for the handling of virtually any such materials, but is especially suited for the handling of such objects as jet aircraft engines and aircraft external stores. The lift may be remotely operated by a hand controller which is mechanically arranged in the same manner as that of the lift, through a power supply and servo device. Feedback may be provided to the hand controller by the power supply and servo device, thus enabling the operator of the control to sense the forces occurring at the lift as it is actuated. Additionally, provision is made for the recording of a history of the forces, torques and linear actuation of the struts of the apparatus in the event of some subsequent question regarding a particular operation.

Abstract: A micromotion stage comprises a stationary plate and a moving plate connected by six links each consisting of a stacked piezoelectric element serving as an actuator, a holder fixed at one end of the stacked piezoelectric element, a capacitance type displacement gage retained by the holder and a target member fixed at the other end of the stacked piezoelectric element to have a part thereof face a tip portion of the capacitance type displacement gage across a small gap. Change in the distance between the holder and the target member caused by expansion or contraction of the stacked piezoelectric element and indicative of a change in the link stroke can be detected by the capacitance type displacement gage.

Abstract: A mandrel for transporting a plurality of magnetic discs is described. The mandrel has a series of axially spaced grooves, each designed to engage and support a magnetic disc at an inner edge region of the disc's circular opening, at two or more contact positions.

Abstract: An apparatus adapted to be secured to an emergency vehicle such as a fire truck which is adapted to store a collapsible water storage tank and to be moved upwardly to the stored position with the stored tank in the inverted position to facilitate drainage therefrom. The apparatus includes a main bracket secured to the vehicle with a back arm pivotally secured to the main bracket and extending upwardly therefrom and a lower arm pivotally secured to the main bracket and extending outwardly therefrom. A shelf arm is pivotally secured to the distal ends of the lower arm and the back arm to facilitate control and movement thereof. Pivotal connection between the back arm and the shelf arm is made through an actuator drive pin. The actuator drive pin is also pivotally secured with respect to an axially extensible actuator such as an electrically powered piston adapted to facilitate movement of the article retaining apparatus between the stored and lowered positions.

Abstract: Apparatus for positioning a load in any orientation. The apparatus includes a base with an attached lift arm that has a plurality of members slidably interconnected. At least one of the plurality of members is pivotally attached to the base, and a rotatable connector is attached to at least one other of the plurality of members opposite the base. A carriage is provided at the distal end of the lift arm. The carriage includes a carrier pivotally attached to the rotatable connector and a track slidably connected to the carrier. Straps and clamps secure a load such as a pipe to the carrier. The apparatus also includes a hydraulic power system to position the lift arm and the carriage.

Abstract: An apparatus for facilitating the loading and unloading of heavy ladders from the roof of a motor vehicle comprises a pair of 4-bar linkages that are appropriately affixed to the transversely extending luggage rack members secured to the roof of the vehicle. A connector rod is operatively coupled between the pair of 4-bar linkages and to a crank or other suitable drive member for elevating and rotating the load from a position parallel to the roof of the vehicle to a disposition parallel to one side of the vehicle.

Abstract: A crane for material handling is constituted by a boom (1) and a fixed column (2) for supporting the boom (1). The boom (1) is articulated for vertical swinging movement on and relative to a rotating device (3), mounted for rotation about a vertical axis on or in the column (2) and provided with a torsion-transmitting member (4) passing through the column (2) and coacting at its lower portion with a rotation activator (5) of the boom (1). The boom (1) is provided at its free end with a hook, a grapple or another tool, or with a like rotatable actuator.

Abstract: A portable hoist adapted for attachment to a ball hitch mounted in a central location in a flat bed of a truck is disclosed. The hoist comprises an elongate base frame member, a receptacle mounted at the front end of the base frame member and adapted for releasable attachment to the ball hitch, an upright frame member, and a boom having load engaging device mounted to the upright member. The upright member and the base frame member are pivotally interconnecting so as to permit pivotal movement of the upright frame member about a horizontal axis extending laterally across the bed of the truck. A load is lifting via the operation of lifting device interconnected between the base frame member and one of the upright frame member and the boom.

Abstract: A battery holder for containing an electric storage battery is transported by a lift unit on a mobile vehicle. The lift unit is pivotally mounted at a rearward end portion of the vehicle to move into surrounding relation with the battery holder positioned on the ground. The lift unit is pivoted upwardly to raise the battery holder to a preselected elevation within the minimal lateral and overhead clearance available in an underground mine. The lift unit includes a pair of lifting forks extending in spaced parallel relation from the vehicle within the lateral dimensions of the vehicle. The lifting forks have a configuration adapted to permit downward movement of the forks into engagement with the ground to pick up a battery holder positioned on the ground. The lifting forks extend laterally of the battery holder and engage the holder for vertical movement to an elevated position that does not exceed the uppermost position for transportation of the battery in areas of minimal overhead clearance.

Abstract: An aerial lift platform apparatus preferably mounted on a mobile vehicle which supports and transports the apparatus. The apparatus base is mounted on the vehicle, a mast of the apparatus is mounted on the base and houses a basically vertical mast hydraulic cylinder, the mast is also rotatable about the mast vertical axis by a second hydraulic cylinder. Mounted on the mast is a boom whose distal end is connected to a platform adapted to carry a wheelchair of a handicapped person. The boom's distal end is elevated by an extension of the mast hydraulic cylinder which has one end attached to the base and another end to the boom. A levelling link is moveably located internally of the boom and has a proximal end mounted on the mast and a distal end connected to the platform. The platform is connected to the boom and levelling link by a reversible hydraulic motor driven pivoted extension structure and a reversible hydraulic motor driven pivot hinge between the extension structure and the platform.

Abstract: A material handling apparatus comprises a chassis, an anchoring mechanism retained in the chassis and a material handling mechanism secured to the chassis. The anchoring mechanism provides multi-directional anchoring of the chassis onto a penetrable surface upon which the apparatus rests. The anchoring mechanism comprises a pair of counter-rotating shafts whose lower ends comprise left and right-hand helical augers, respectfully. The upper ends of the shafts are drivingly connected to a means of rotation. The material handling mechanism pulls, pushes or lifts the material being handled. The anchoring mechanism is so retained in the chassis to react the operating forces of the material handling apparatus. Use of this multi-directional anchoring mechanism obviates the requirement for massive, traction based devices, which presently perform large material handling tasks.

Abstract: The apparatus and method of this invention safely and efficiently loads and unloads the contents of a load transport container. A manipulator mechanism such as a backhoe having a hemispherical spiked tool at the end of a manipulator arm is mounted on a telescoping conveyor belt system. Right hand and left hand 1/4 turn drive conveyors are used at the front end of the telescoping conveyor belt system to facilitate movement of cargo from the front end of the system to the discharge end. The main conveyor belt has a ribbed design.

Abstract: A wafer boat has an upper projection, a lower projection, and a lower flange. A horizontal/vertical conversion handling apparatus for handling the wafer boat comprises a rotatable arm, and upper and lower hands provided at both ends of the arm. The arm is rotatable by at least 90.degree. in a vertical plane. The upper hand has boat contact portions for contact in horizontal and vertical modes, which are engaged with the upper projection on both sides thereof. The boat contact portions of the upper hand are vertically arranged such that the positions of the boat contact portions are reversed by the 180.degree. rotation of the upper hand. The lower hand has boat contact portions for contact in a horizontal mode, which are engaged with the lower projection on both sides thereof, and boat contact portions for contact in a vertical mode, which are engaged with the lower surface of the lower flange.

Abstract: Foldable link rod system to be placed on a travelling frame comprises pivotally suspended link rods (16, 18) for raising and lowering an operation platform (14). A rotating stool (20) constitutes the connection between two link rods (16 and 18) which are placed in continuation to each other. The one part of the rotating stool (20) is linked to the free end of the first link rod (16) which at its opposite end is pivotally linked to a swinging rod system (26, 28, 30, 32). The second link rod (18) is linked to the other part of the rotating stool and at its other end it is linked to the operation platform (14). The two link rods are pivotal by means of each of their swinging devices (54-70) which are supported on the travelling frame (10, 12) and the rotating stool (20), respectively.

Abstract: A transporter or transport robot especially for transporting workpieces between presses has a cantilever arm swingable about a vertical first axis on a stationary base and a horizontal second axis in a common plane. A linear positioner is swingable at a free end of this cantilever arm about a vertical third axis and carries a gripper head on which the gripper is mounted for rotation about further axes. The workpiece can thus be swung across the first vertical axis to maintain its position along a line between the presses if the linear positioner and cantilever arm will swing in opposite senses. The actuator for the angular displacement may be electrical or hydraulic and a linear motor can be provided for the linear positioner.

Abstract: A manipulator designed to handle loads on construction or public works si is shown and described. A motorized carrier (1) has an orientable pole (9) and an arm that can be folded and unfolded (16) hinged to the top of the pole and made of several elements (17, 18, 19) hinged together. The end of arm (16) is connected by a motorized link (29) to a telescopic and orientable motorized compensator arm (2) having at least one degree of redundant clearance and endowed with a stress-detecting active-compliance gripper carrier (36) supporting a gripper (3). Adjustment and control mechanisms are provided for the motorization of carrier (1), compensator arm (2) and link (29), while other means supply energy to and adjust and control gripper (3).

Abstract: A device with a pivoting work arm for carrying and positioning a tool which is moved by a modified Watts linkage powered by a linear actuator having a true straight line motion. The modified Watts linkage has relatively short links resulting in the center of the middle link following an arcuate path. The center of the middle link is drivingly connected to the linear actuator by a pivoting link or a cam. To provide shock absorption for the work arm as it reaches its fully extended position, the modified Watts linkage is coupled to a follower arm yieldably biased by a spring.

Abstract: A wafer handling apparatus having a variable pitch includes a supporting surface (12) for holding a boat (14) in a predetermined location. An elevator mechanism (20) is operable to move upward through the boat to lift wafers (16) upward into intermediate restraining combs (24) and (26). Combs (22) are disposed on the elevator mechanism (20) for holding the wafers (16) on the edges thereof. The combs (22) can have the pitch thereof varied by the operation of a cylinder (56). The combs (22) have two rotating brackets (42) and (40) disposed on the sides thereof. The brackets (42) and (40) are pivoted on an elevator bracket (28) at points (44) and (46). When the lower bracket (40) is reciprocated upward by the cylinder (56) and the associated rod (54), the space between the combs (22) decreases.

Abstract: A storage device designed to store primarily elongate objects, and comprising on the one hand a frame and on the other an operating device arranged on a fork lift truck. The storage device is arranged in such a manner that it may be shifted between an essentially vertical space-saving storage position and a horizontal position allowing loading and unloading operations to be performed in a simplified manner.

Abstract: A wafer boat has an upper projection, a lower projection, and a lower flange. A horizontal/vertical conversion handling apparatus for handling the wafer boat comprises a rotatable arm, and upper and lower hands provided at both ends of the arm. The arm is rotatable by at least 90.degree. in a vertical plane. The upper hand has boat contact portions for contact in horizontal and vertical modes, which are engaged with the upper projection on both sides thereof. The boat contact portions of the upper hand are vertically arranged such that the positions of the boat contact portions are reversed by the 180.degree. rotation of the upper hand. The lower hand has boat contact portions for contact in a horizontal mode, which are engaged with the lower projection on both sides thereof, and boat contact portions for contact in a vertical mode, which are engaged with the lower surface of the lower flange.