Abstract: An apparatus particularly usable with an emergency vehicle for storage thereon and facilitating removal of remotely located emergency devices such as ladders, tanks or hoses and the like including a mounting bracket fixedly secured to the vehicle with at least two extension arms extending outwardly therefrom and pivotally secured with respect to the mounting bracket at locations vertically and laterally spaced from one another. An upper suspension bracket is pivotally secured to the extension arms at the opposite end from the mounting bracket and in order to facilitate movement of the extension arms from a storage position vertically extending upwardly above the mounting bracket to a retrieval position laterally extending outwardly from the mounting bracket to facilitate access to the emergency device such as a ladder. There is no rotation of the upper suspension bracket during movement from the storage position to the retrieval position and vice versa with respect to the mounting bracket.

Abstract: A skid steer loader has a main frame and a pair of lift arms pivotally mounted to the main frame. The lift arms extend forwardly from their pivots and are joined by a cross member which is positioned ahead of a front wall of the main frame and which serves as an operator's access step. The cross member is constructed to be reduced in size to increase visibility, and when reduced in size, it remains spaced from the front wall of the main frame to form a gap when the lift arms are lowered. A flexible, self-cleaning spacer member is mounted onto the front wall of the main frame and extends at least partially across the gap to serve as an additional support if an operator's foot is placed in the gap. The spacer member is flexible when loaded in fore and aft direction and is rigid in vertical loading direction to support loads which may be applied to its upper edge.

Abstract: A boom lift apparatus for use on a truck having a boom and a boom mounted bucket includes a mast selectively positionable on the boom at any of a plurality of different angles and supported on the boom for limited axial movement by a hydraulic cylinder which is fixed relative to one of the mast and the boom and movable relative to the other of the mast and boom, and a cooperating piston which is fixed relative to the other of the mast and the boom and movable relative to the one of the mast and the boom, the piston being received in the cylinder to define a variable volume in which pressure changes depending upon the position of the piston in the cylinder. A load measurement system is provided which includes a pressure measuring mechanism for measuring the pressure in the variable volume, the mechanism including a pressure gauge that includes a scale converted to indicate the load experienced by the mast as represented by the pressure in the variable volume.

Abstract: A mounting arrangement is disclosed to mount an arm. The arm has a pair of spaced enlarged sections and an intermediate recessed section. The mounting arrangement has a first mount portion with an upwardly facing opening that extends for a distance greater than the diameter of the recessed section, a second mount portion spaced rearwardly of the first, and an intermediate open portion. The recessed section of the arm is positioned over the opening in the first mount portion and moved downwardly. The arm is then moved rearwardly such that the first and second enlarged sections are received within the first and second mount portions, respectively. The improved mounting arrangement provides support over a sufficient axial distance of the arm, but does not require the arm to be slid within the mounting arrangement for the entire distance. Less space is required in front of the mounting arrangement, and less force must be applied to the arm in order to move it within the mounting arrangement.

Abstract: An apparatus (20) is provided for transferring articles (40--40) from a pickup position to a pickoff position and then to a dropoff position. The apparatus includes a pair of pickup arms (60--60) which are spaced apart to engage lugs (42--42) oppositely extending from an article to be transferred. As the transfer arms are caused to be moved rotatably, the article is transferred to the pickoff position whereat the lugs are adjacent to stepped end portions (88--88) of a pair of pickoff arms (80--80). Further movement of the transfer arms causes the article to engage surfaces (92--92) of the stepped free ends of the pickoff arms and to be supported by engagement of the lugs with surfaces (94--94) of the stepped end portions of the pickoff arms. Afterwards, the pickoff arms are turned to allow the article to descend until, at a predetermined position, the lugs of the article become engaged with a conveyor (100) and become disengaged from the pickoff arms.

Abstract: A skid-steer crane attachment is connected to the attachment plate at the front of skid-steer lift arms by a mounting plate and upper and lower mounting brackets. A central boom support is welded to the plate, and a rectangular outer tube is welded to the upper end of the boom support. Angle supports are welded between the outer tube and upper corners of the mounting plate to make the outer tube rigid. A rectangular cross-sectional boom slides within the outer tube and is held in raised, lowered and intermediate positions with a lock pin aligned holes in the boom and outer tube. Booms are extended and lowered with small hand winches and with hydraulics from the supply on the skid-steer. A winch is mounted on the outer tube. A cable extends from a winding reel on the winch, over a sheave and down to a hook which hangs in front of the boom. In one embodiment, the boom support is mounted at an angle to the mounting plate and the outer tube is positioned at the same angle on the upper end of the boom support.

Abstract: A lifting device incorporating first and second arm assemblies with associated rotatable shafts and a platform rotationally connected to the second arm assembly so as to maintain a fixed relationship to a reference surface as the first and second arm assemblies are angularly moved from one position to another. The shaft associated with the first arm assembly is rotated about its axis as the first arm assembly is angularly moved so as to impart similar angular movement to the platform through a rotatable shaft of the second arm assembly; thereby maintaining the platform's fixed relationship to a reference surface. A second embodiment of the lifting device provides an additional device to adjust the angular orientation of the platform with respect to the reference surface, which allows the platform to be maintained in a level orientation when traversing an inclined reference surface.

Abstract: A transfer device is provided for moving an object from a first location to a second location, in particular a gurney for transporting a hospital patient. The device includes a litter mechanism for carrying the object to be transported thereon and a support structure for supporting the litter mechanism and for transporting the litter mechanism between the first location and the second location. In one embodiment, the litter mechanism is pivotable with respect to the support structure to aid in transferring the object/patient thereto and therefrom. In a second embodiment, the litter mechanism is also moveable laterally and transversely with respect to the support structure. Underneath the support structure are outriggers which are extendable outwardly from the device to stabilize the device and prevent it from tipping over when the litter mechanism is extended transversely with respect to the support structure.

Abstract: An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily controlled displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed- volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders include ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: A transferring apparatus comprises a vacuum chamber, a carrier member disposed inside a pipe which communicates with the vacuum chamber, magnetic means installed in a support structure which is moved by a driving means. The carrier member is floated and pulled in its axial direction by magnetic force produced by the magnetic means, whereby an object placed on the tip of a manipulator arm which is connected to the carrier member is transferred in the vacuum chamber. Since the carrier member is floated inside the pipe and moved in its axial direction without contact to the pipe or any other parts, there are no portions inside the pipe which relatively move in contact with each other, and thus fine particles are not generated inside the pipe. This effectively eliminates adhesion of fine particles to objects such as semiconductor devices being transferred in a vacuum chamber.

Abstract: A movably mounted auxiliary hopper and a platform therefor are provided for discharging small articles contained in the container to a cooperably associated dispensing hopper mounted on the platform, the dispensing hopper being adapted to feed articles in an oriented position to a cooperably associated chute directed to a receiving station. The auxiliary hopper comprises a container having bottom, side and end walls and an open top for receiving a charge of small articles therein, the container being adapted to provide gravity flow of the articles to a discharge end of the container. A U-shaped trough extends from the discharge end of the container and which communicates with the interior of the container.

Abstract: An arch structure serves to pivotally connect a grapple to a main frame of a tractor, an articulated wheel vehicle, or the like. An imaginary longitudinal axis extends substantially centrally with respect to the vehicle in forwardly and rearwardly extending directions. A winch has a casing that is mounted on the rear of the vehicle's main frame, and has a winch shaft that extends normal to the longitudinal axis of the vehicle. The arch structure is pivotally connected to the vehicle's main frame by means that includes a pair of side arms for detachable connection to the main frame of the vehicle, with means on the side arms for pivotally supporting the arch structure including a pivot pin connected to each of the side arms and in alignment with each end of the winch shaft. The arch structure includes spaced leg members, the lower ends of which are mounted on pivot pins arranged such that the pivot point of the arch structure is coaxial with but not connected to the axis of the winch shaft.

Abstract: An earth moving machine comprises an earth moving tool, a plurality of drive elements arranged to move the earth moving tool in different directions, and a control unit operative for actuating the drive elements, the control unit including a single control member which is freely movable from an initial position toward all sides and additionally turnable about at least one turning axle, the control unit being further provided with at least one handle which is fixedly connected with the control member, the control unit also having sensors which respond to the movements of the control body in three mutually perpendicular directions and to the turning of the control body, the sensors being associated with the drive elements so that each of the drive elements causes a movement of the earth moving tool in a direction-synchronous manner with the movements and turning of the control member.

Abstract: The invention enables owners of backhoes and similar equipment to use their machines either as a backhoe or as a crane with only minor modifications. The invention provides an attachment for a backhoe that takes advantage of existing hydraulic pistons on the backhoe as the lift implement for the crane.

Abstract: The obstacle detector (24) has an upper plate (32) which mounts on the arm (22) of the positioning machine. At least three springs (50) pull the lower plate (34) upward and three projections such as balls (36) provide precise location of the lower plate (34). Lateral force causes actuation of switch (60) to terminate motion of the positioning machine. Vertical impact is sensed by upward motion of outer ball slide (68), which is resiliently held down against stop shoulder (76). The handling device has its foot (74) mounted on the bottom of the outer ball slide.

Abstract: A robot arm usable for an industrial robot adapted to freely bend to realize a pattern of movement having a high ability of movement, excellent reachability and high accuracy by virtue of a comparatively small amount of rotational movement and a comparatively large amount of translational movement. The robot arm has cylindrical arm portions (14, 15, 16) flexibly connected to one after another via joints, and the arm portions comprise one upper arm (14), at least one intermediate arm (15) and one lower arm (16). An arm portion which belongs to a certain joint is formed with joint faces (21) which are inclined with respect to a longitudinally extending axis (29). A joint axis (22) of this joint extends at a right angle with respect to each of the joint faces (21). Each of the arm portions is freely turnable about the joint axis (22) independently of adjacent one or plural arm portions.

Abstract: A wafer transport system includes a mobile frame, a wafer cassette conveyor, a wafer support table, and a wafer transfer assembly. The wafer cassette conveyor carries a plurality of wafer cassettes and presents them successively to a transfer location. The wafer transport assembly, including a robotic arm and a vacuum pickup element, is then able to transport individual wafers from the cassettes to the support table. By rotating the support table, a plurality of wafers can be placed in a desired order. The wafer support table may then be moved to a location proximate a processing chamber, such as a chemical vapor deposition reactor, and processed and unprocessed wafers efficiently exchanged by the transport assembly.

Abstract: A method for converting the angulate form boom of a digging machine such as a backhoe or the like into a substantially straight lifting boom. The original angulate form boom is separated into two parts in the vicinity of the angular transition and is realigned so that the top sides are substantially co-planar. A union then is formed to rejoin the separated portion. By initially separating the boom with an elongate parting locus passing near the lifting point of the original boom, and the employment of elongate top and bottom plates, improved structural integrity is achieved and an advantageous shifting of the lifting point to the bottom of the resultant lifting boom is realized.

Abstract: An industrial robot adjustment device capable of adjusting the position of a tip end of an industrial robot easily to the origin assumed by software of the industrial robot. The adjustment is electrically carried out by the coupling of a jig positioned at a predetermined position relative to the robot and pins provided to a flange which is detachably mounted on an end portion of an operating arm of the robot.

Abstract: An aerial lift having means for sensing a combination of the load placed on the upper end of the upper boom and the relative position of the upper boom with respect to horizontal and for generating a signal or interrupting supply of hydraulic fluid to the upper boom lift cylinder in the event the moment on the upper boom exceeds a selected moment.

Abstract: A refuse container assembly for storing refuse material at a refuse transfer station is provided with a receptacle, having a refuse storage chamber and a refuse material intake and discharge opening at the upper end of the chamber, mounted on a support frame for pivotal movement about a pivot axis extending transversely of the receptacle between a lower, upright position for receiving and storing thereat refuse material discharged into the opening by refuse collection vehicles and an elevated, at least partially inverted, position for discharging refuse material from the container through the opening into a refuse transportation vehicle, the assembly including a mechanism for pivoting the receptacle between the lower and elevated position, the mechanism including arms mounted on the support frame for pivotal movement about a pivot axis extending transversely of the receptacle, first extendable and retractable actuator having one end connected to the support frame and the other end connected to the arms remote

Abstract: An industrial robot comprising a column housing a first group of coaxial hollow shafts rotatably coupled to a first articulated joint positioned at about 60.degree. to the first group of hollow shafts. A second group of coaxial hollow shafts receives the rotating movement from the first articulated joint and transmits it to a second articulated joint, also arranged in slanted relationship at 60.degree.. A third group of coaxial hollow shafts receives the rotating movement from the second articulated joint and transmits it to a third articulated joint which in turn is connected to an end bush supporting implements or operative tools.The invention is of particular advantage thanks to its high mobility and to the particular orientation in the space allowed to the several articulated joints.

Abstract: A vertical milti-articulated robot comprises a base (11) secured to a plane (10) of installation. The base (11) is provided with a turning body (12) which is rotatable relative to a reference position of the base about a first axis (.theta.) perpendicular to the plane of installation within an angular range of nearly 90 degrees to the right and to the left, respectively. The turning body (12) is rotated by a body drive motor (14) about the first axis. An upper arm (16) having a base end and a tip is coupled at the base end thereof to the turning body (12) so as to be rotatable relative to the turning body about a second horizontal axis (W) from a nearly vertical attitude toward the front of the turning body. A forearm (19) having at the front end thereof a wrist assembly (20) is coupled to the tip of the upper arm so as to be rotatable relative to the upper arm about a third axis (U) which is parallel to the second axis.

Abstract: An industrial robot provided with at least six joints and adapted to have at least six degrees of freedom, wherein rotational joints rotatable around axes extending lengthwise of the arm and bending joints swingable around perpendicular axes extending perpendicularly to the lengthwise direction of the arm, thereby enabling the position and attitude control for a wrist at the arm and the obstacle avoiding control to change height of an elbow portion at the arm so as to avoid the obstacle.

Abstract: A dust-free industrial robot of high performance includes an internal air space substantially closed by arms, articulation members, bearings or covers or a combination thereof in a manner to separate the rotating, sliding and contacting portions of structural elements such as the arms, articulation members, bearings and a drive source from the outside air. The air pressure in the internal air space is made lower than that of the outside air to prevent dust produced during the operation of the robot from being scattered to the outside air.

Abstract: Arm device adapted to move and position a first basic part (6) relatively to a second basic part (4), comprising at least three arms (1,2,3,7) capable of being extended and shortened in a controlled manner, said arms being free to pivot in attachments (5) on the second basic part, while one attachment on the first basic part is rigid, and one of said arms is torisonally rigid. A third basic part (15) is connected to the first basic part through a joint (16), and at least one auxiliary arm (12,13) is at one end connected to one of the arms (7) through a joint, while the other end of the auxiliary arm is connected to the third basic part (15), and the lengths of the auxilary arm can be varied. Thereby is achieved that the arm device has a large number of degrees of freedom with respect to movement of the third basic part, which holds a tool or a tool holder. Moreover, the tool or the tool holder may be journalled for rotation relatively to the third basic part ( 15).

Abstract: A loading process for a heated tire press is described herein in which a loader takes an unfinished tire from an unfinished tire stand and puts it between the tire forming pieces of the tire press. This loader travels with folded-in clamp jaws into the inside of the unfinished tire from below, engages it with extended clamp jaws inside of the upper bead from below, transports it in this position to the upper tire forming piece and raises it until its upper bead presses against the upper rim ring on the upper tire forming piece. The upper bead is held there by an auxiliary bellows, retaining fastener or the like. Subsequently the clamp jaws are folded in again and the loader retracted.

Abstract: In a robot including a first robot part which pivots with respect to a second robot part about a pivotal axis, a cable routing system includes a multitude of flexible cables which are retained at spaced apart positions by first and second retainers so that the cables are spaced around the outside of a cylinder whose axis coincides with the pivotal axis. A first connector mechanism connects that first retainer to the first robot part so that the first retainer rotates with the first robot part about the pivotal axis during pivoting. A second connector mechanism connects the second retainer to the second robot part so that the second retainer is movable axially toward the first retainer against the biasing action of a spring along the pivotal axis and prevented from rotating about the pivotal axis during pivoting. Each of the retainers includes a slotted disk which separates and guides the cables.

Abstract: A robotic positioning device has a support structure and a tool implement holding member which is positional within the three dimensional space of the support structure. The tool implement holding member is connected to the support structure utilizing five positioning members. Each of these positioning members is connected to the tool implement holding member. Three of the positioning members are connected to the holding member at a first common center of rotation and the other two positioning members are connected to the holding member at a second common center of rotation. Each of the positioning members is attached to the support structure utilizing a connecting member which allows for the positioning member to freely pivot with respect to the support structure and additionally allows the member to move with respect to the support structure axially along an axis of the member. This is accomplished by moving the members axially toward or away from the support structure.

Abstract: An industrial robot comprises a robot body having an operating portion (13), a driving motor (19) for driving the operating portion (13) and the a handle (29). A casing (21) of the driving motor (19) is secured to an outer wall of the robot body by bolts (25), and an output shaft (26) of the driving motor (19) is connected to the operating portion (13). An inner brake device of the driving motor (19) secures the output shaft (26) to the casing (21) when the driving motor (19) is stopped. If the driving motor (19) is stopped by a malfunction or the like, the bolts (25) are taken out and the handle (29) is attached to the casing (21) of the driving motor (19). By operating the handle (29), the output shaft (26) of the driving motor (19) is rotated together with the casing (21) and the operating portion (13) of the robot is moved.

Abstract: An elongate main body section of the manipulator has its opposite ends respectively connected to a base section and an object support section. The main body section consists of elongate flexible rod members extending in generally parallel spaced relationship to each other and to the central axis of such section. The lower end portions of the rods are driven by drive mechanisms within the base section to selectively cause the main body section to undergo extension/retraction, bending and/or twisting movement in desired directions. The rod members may be resiliently flexible throughout their entire extent, or may be comprised of rigid sections interconnected by elastomeric joints. In one embodiment the drive mechanisms imparts rotation to the lower end portion of each rod member to produce twisting of the main body section, while in another embodiment axial movement imparted to the rods is reacted by an object support section having relatively moveable components to produce the twisting movement.

Abstract: A robotic manipulator provides three degrees of freedom of movement of an end effector or gripper using only motors which are mounted on a frame. Included is a first actuator assembly providing rotation of a first input link about first and second axes. A compound motor provides this rotation about two axes through a differential gear mechanism. A second actuator provides rotation of a second input link about a third axis. The two input links are each connected to an output link, which in turn are connected, with an end effector being disposed on the end of one of the output links.

Abstract: An expandable and contractable robot arm is vertically provided on a machine base through a first universal joint, with X and Y horizontal axes being defined passing through the center of rotation of the joint crossing each other at right angles and a vertical Z axes being defined as a longitudinal axis of the arm passing through the center of rotation of the joint. A pair of driving sources are provided on the machine base and connected to the arm for causing the arm to incline in the X axis direction along an X-Z plane define by the X and Z axes and in the Y axis direction along a Y-Z plane defined by the Y and Z axes. A tool attaching plate is mounted on the upper end of the arm through a second universal joint having its center of rotation positioned on the Z axis. A parallel ruler mechanism is provided between the attaching plate and the machine base so as to keep the posture of the attaching plate constant.

Abstract: A vehicle for aerial working includes a vehicle, a rotary base disposed at a rear portion rearwardly of a frame of the vehicle, a folding arm assembly on the rotary base for vertically extending its arm, a boom assembly having an axially extendable first jib supporting at its distal end an aerial platform, a front axle disposed at a front portion of the frame, and a rear axle disposed at the rear portion and rearwardly of the rotary base, the rear axle having a pair of wheels oppositely sidewardly projecting beyond a pair of wheels of the front axle. The boom assembly also has a second jib disposed in parallel with the first jib and supporting at its distal end a counterweight to balance with the weight of the aerial platform, wherein the second jib axially slides to move toward and away from the first jib to an extent same as the latter moves.

Abstract: The invention is directed to a remotely-operable positioning and carrier aratus for remote-handling equipment for use in large-area cells containing process components. The apparatus is mounted on a lifting device of an overhead bridge crane. The apparatus achieves good positioning of the particular remote-handling equipment even at locations which are poorly accessible. The apparatus includes a horizontal beam which is fixed at an eccentric position thereon to the bottom sheave unit of the lifting device so that the horizontal beam defines a long lever arm and a short lever arm. A receiving lever is pivotally connected to the end of the longer lever arm. The receiving lever has an equipment receiving device at its free end. A displaceable counterweight is arranged on the short lever arm for altering the position of the center of gravity of the apparatus. This apparatus makes it possible also to operate in spaces beneath components present in a rack.

Abstract: There is provided an apparatus for lifting and positioning construction material such as building logs. The apparatus includes a frame having a pair of interconnected parallel beams. A pair of large fixed axis wheels are attached to one end of the frame while a pair of smaller swivelable wheels are connected to the other end of the frame. A winch is connected to a beam which extents over the frame at various elevations. A grasping mechanism is attached to the winch for holding the construction material.

Abstract: The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18).

Abstract: Equipment for installing apparatus at an elevated location at a site comprising an aerial lift and a crane located at the site. Each of the aerial lift and the crane comprises a vehicle, a boom structure mounted on the vehicle and control means for the boom structure whereby the outer extremity of each of the boom structures can be rotated about a vertical axis raised and lowered about a horizontal axis and moved toward and away from the vehicle. At least one of the boom structures has a workman's bucket carried thereby. The other of the boom structures has the capability of lifting apparatus to an elevated location.

Abstract: A motor-driven garbage truck provided with a detachable garbage container equipped with releasable coupling elements, and also having permanently mounted thereon which includes a pouring chute in the forward portion, lifting and tipping apparatus for picking up a garbage can and discharging the contents thereof into the chute leading to a receiving space, and a conveying and compacting apparatus for transferring the garbage from the receiving space into the container through the receiving opening, which is provided with a closure is disclosed. The pouring unit is disposed in part above the driver's cab and in part between the cab and the container, the chute being disposed in a region extending behind and above the cab. The lifting and tipping apparatus includes at least one lifting arm, pivotally movable about a transverse pivot carried by the pouring unit or the chassis of the vehicle.

Abstract: A power lift system includes a lifting device with lower links. The lower links are connected to a frame of the tractor by arms of an upper link. The lower links may be either vertically pivotably or rigidly coupled to the arms. The arms may be either rigidly or vertically pivotably connected to the tractor frame. The height and the lifting range of the lower links is variable.

Abstract: A drilling apparatus of the type having a drilling mast and a transfer arm mounted at a first axis adjacent the mast to move between a lower position near ground level and an upper position aligned with the mast is provided with a reaction point anchor fixed with respect to the drilling mast and spaced from the first axis. A fixed length link is pivotably mounted to the transfer arm at a second axis, spaced from the first axis, and a first single stage cylinder is pivotably mounted at one end to the distal end of the link and at the other end to the transfer arm. A second single stage hydraulic cylinder is pivotably mounted at one end to the distal end of the link and at the other end to the reaction point.

Abstract: A remotely-operable positioning and carrier arrangement for mounting and itioning remote handling apparatus is described for use in large-area cells containing process equipment particularly in radioactively-charged large-area cells of facilities for reprocessing irradiated nuclear fuels. In such large-area cells, the process components are disposed in racks. Maintenance and servicing work is carried out on the process components and the racks using the remote handling apparatus. The positioning and carrier arrangement which is used for this purpose has a vertically movable support. For a more precise positioning, the positioning and carrier arrangement is transportable and can be suspended on the particular rack at which work is to be done. The positioning and carrier arrangement has a table-like main frame which, in turn, has legs which are disposed horizontally when the frame is suspended on the rack. The ends of the legs are supported against the rack.

Abstract: The handling apparatus includes two spaced apart lower arms pivoting on a base, and two spaced apart upper arms pivoting on an elbow bearing on the lower arms. The lower arm is driven by a ball-screw arrangement in which a threaded drive, mounted on the base of the apparatus is connected to a ball screw attached to a strut between the ball screw and the lower arm. Moving the ball screw along the threaded drive member pivots the lower arm upward. Another ball screw arrangement is mounted on the lower arm and is attached to the lower end of the upper arm by means of cables that extend along a rear curved surface of the upper arm to allow for more travel of the upper arm. Various attachment can be mounted on the upper arm including hangers for propellers and rudders and a gripper unit for supporting propeller shafts. When handling propellers and rudders, a single material handling unit is used, and the propeller or rudder is hung between the spaced apart arms.

Abstract: A flexibly foldable arm includes a series of arm sections each constituted by a plural number of joint members pivotally and serially connected to one another by connector shafts for rotation about two perpendicularly intersecting axes; a pair of pulleys mounted the connector shafts at each end of the joint members; and a pair of arm operating wires having base ends thereof wound in opposite directions on winding shafts of drive motors in such a manner as to alternately reel up or off the wires threaded around paired pulleys in each arm section to flex the same into a curve folded state as a whole by forward and reverse rotations of the motors. By driving the independently flexible arm sections which are connected in series, the arm can be flexed into an arbitrary shape irrespective of existence of an object to be gripped and can be folded to grip an object if the latter is in the way of the flexing movement of the arm.

Abstract: The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supported in the body via a substantially fork-shaped bearing bracket. Linear actuators intended for the operation of the arms are pivotally journalled in the bearing bracket so that, when the arm system assumes its neutral position, the actuators will be oriented primarily transversely to the longitudinal axis of a body and substantially parallel with the first arm pivotally journalled in the bearing bracket. Both actuators are disposed between the body and the first arm in all positions of the arm system.

Abstract: An arm driving apparatus for an articulated robot, which is equipped with a worm wheel adapted to move the arm, a worm gear for driving the worm wheel, and a drive motor for driving the worm gear.

Abstract: A high response servodriven robotics tool carrier assembly is especially well adapted for carrying a tool, such as an arc welding torch. The robotics tool carrier assembly mounts the torch such that its tip is on the center line of the arm rotation axis of a robot welding machine. The robotics tool carrier assembly modulates the coarse robot movements which are programmed into the robot arm. A tilt linkage is used to tilt the torch about its tip so as to avoid obstructions. The tilt linkage is mounted upon a Z slide which adjusts the distance between the tip of the torch and a work surface. The Z slide is in turn mounted upon an X member movably mounted to an arm support so as to modulate the torch in a cross seam direction. The robotics tool carrier assembly mounts upon a robotics arm.

Abstract: A robot comprising a base, an arm assembly and first and second spaced robot parts are mounted on the robot so that the first robot part pivots with respect to the second robot part about a pivotal axis and a ribbon of flexible cables are connected to and extend between the robot parts in a direction substantially normal to and towards the pivotal axis to provide a ribbon of cables which have an effective length between the robot parts which does not change during pivoting. The cables are clamped in spaced apart positions by a directing mechanism and a retainer mechanism so that the effective length does not change and the cables do not rub each other during pivoting. The directing mechanism comprises a weldment including a pair of interconnected holders which direct the cables from an axis parallel to the pivotal axis to the normal direction towards the pivotal axis.

Abstract: A mechanism for handling and manipulating a load including a horizontal work beam formed of a parallelogram linkage with a pair of arms interconnected by links. The work beam is pivotally mounted on a retaining part which is adjustably vertically mounted on a rotatable pillar. A counterweight is provided on the work beam for counterweighting its weight. A roller is movable horizontally in a trackway and connected to the work beam with the trackway elevated by a piston and cylinder along the pillar.