Abstract: An apparatus adapted for practice of ambulation is provided in which a suspending arm for suspending a patient at a point in the distal portion is supported at a fulcrum, a force to balance the load based on the suspended patient is conveyed to the suspending arm on the side of, or opposite to the suspending point with respect to the fulcrum. A vertical rod is actuated by a force producing means in the vertical direction and the vertical rod is engaged with the suspending arm in the proximate portion thereof by an engaging means, which converts the vertical motion of the vertical rod to the pivoting motion of the suspending arm around the fulcrum. The suspending arm is prevented from longitudinal shift. The apparatus is adapted for assisting the patient in walking, preventing the patient from wobbling.

Abstract: A load balancing mechanism (10) disclosed includes an arm (12) including first and second arm portions (14,26). A support post (22) is rotatable about its vertical axis A and supports arm (12) by first arm portion (14) for pivotal movement in a vertical plane and also for rotational movement about axis A. First arm portion (14) includes parallel spaced members (16,16') defining a parallel linkage arrangement. A piston and cylinder balancing arrangement (38) connects post (22) and first arm portion (14) allowing upward and downward pivotal movement of arm (12) and is responsive to such upward and downward pivotal movement to provide balancing of a load thereon. The second arm portion (26) can be longitudinally moved relative to a second mount (32) to increase or decrease the length of arm (12) without having to change the force applied via balancing arrangement (38) to maintain balancing of the load.

Abstract: An apparatus for handling and positioning building components of the type which are used in retaining walls or the like includes a vehicular support having an articulatable boom extending therefrom, and a gripper assembly at the end of the boom. The vehicle and boom are operatable through a remote control assembly by a worker who may be standing near the structure which is being constructed. Several species of gripping assemblies are included for attachment to the boom.

Abstract: A balance mechanism of an industrial robot is provided with a first balance mechanism for a first arm which is swingably mounted to a stand of the robot and a second balance mechanism for a second arm which is swingably mounted to a distal end of the first arm. The first balance mechanism includes a flexible coupling device such as, for example, a chain, led through a guide, which couples between a coupling element of a coupling member which is mounted to a center of angular movement of a proximal end of the first arm and a spring having one end fixed to the stand and which is moved in the direction of deformation when the first arm is angularly moved. The second balance mechanism includes a counterbalancer disposed in the opposite side to an operation side of the second arm and a center of angular movement of the second arm constitutes a fulcrum. The balance mechanisms can be applied to the robot without exchanging parts greatly even if the robot is installed in any position.

Abstract: The invention relates to a balancing unit (1) for, for example, a movable arm in an industrial robot. The unit comprises a cylinder (2) with a piston (3) and a piston rod (4) arranged in the cylinder (2). The cylinder (2) is completely closed except for a sealed exit opening for the passage of the piston rod (4). On one side of the piston (3), the cylinder space is connected to a medium which is under high pressure, and on the other side of the piston (3) the cylinder space is connected, via a connection at the end of the cylinder (2), to a closed isolated space.

Abstract: An improved vehicle restraint for preventing movement of a vehicle such as a truck away from a loading dock during a loading operation. The vehicle restraint includes a guide frame mounted on the front face of a loading dock and a vehicle restraining device is movable on said guide frame from a lower storage position to an upper operative position where it engages the ICC bar on a truck. A biasing mechanism serves to bias the restraining device upwardly to the operative position while a power operated drive mechanism acts to drive the restraining means downwardly to the storage position. The restraining device includes a slide or carriage that moves on the guide frame and a hook that is pivoted to the slide. A linkage connects the frame and the hook in a manner such that the force of the biasing device will not only move the slide upwardly on the guide frame but will also pivot the hook upwardly relative to the slide.

Abstract: An adjustable vehicle counterweight device (10) with cylinder positioning means (62). The vehicle counterweight device (10) comprises a frame (16) for being secured to a motor vehicle, such as a tractor (12), and comprises a weight member (14) reciprocatably supported by the frame (16) such that the weight member (14) is laterally reciprocatable and selectively positionable along a path of travel substantially parallel to the axis of the axle (13) of the tractor so as to allow the selective alteration of the center of gravity of the tractor (12). The device (10) also includes means for selectively moving the weight member (14) along its path of travel, which, in the preferred embodiment, comprises a hydraulic cylinder (22) provided with cylinder positioning means (62) for adjusting the axial position of the cylinder portion (24) of the hydraulic cylinder (22) to alter the range of travel of the weight member (14).

Abstract: An arm structure for an industrial robot, comprising a first robot arm (16) supported on top of a vertical robot shaft (14), and a second robot arm (20) pivotally joined through a transmission-reduction gear box (18) to the free end of the first robot arm (16). A plurality of coupling bolts (22) are extended through the interior of the first robot arm (16), each coupling bolt (22) has one end (22b) fastened to the flange (18b) of the transmission-reduction gear box (18) and the other end (22a) projecting from and fastened to the rear end of the first robot arm (16). Fastening nuts (24) each engage at least one end (22a or 22b) of each coupling bolt (22) to couple the first robot arm (16) and the transmission-reduction gear box (18) so as to preload the first robot arm (16) by a compressive force.

Abstract: An electrical robot comprises motors for driving a wrist mechanism mounted on a tip end of an arm. The motors are provided at an intermediate portion of a support beam which is provided on a rotary base and supports the arm.

Abstract: The earth moving machine has a body having a ground engaging propulsion device and a base frame mounted on the ground engaging propulsion device. The base frame is movable relative to the ground engaging propulsion device about a first generally vertical axis. A boom extends outwardly of the body and is mounted on the base frame for movement about a second axis transverse relative to the first axis. The boom has a dipper arm mounted at an outer end thereof for movement about a third axis also transverse to the vertical axis. An excavating implement is mounted at an outer end of the dipper arm for movement about a fourth axis also transverse relative to the first vertical axis. A hydraulic ram is mounted between the dipper arm and the boom to effect movement of the dipper arm relative to the boom and hence to effect movement of the implement towards and away from the body.

Abstract: An industrial robot is disclosed which includes three primary drive units defining three separately controlled axes of movements, an inner arm connected to the output of one of the drive units, and an outer arm pivotally connected to the inner arm. The outer arm is connected to another of the drive units by a transmission which extends through the inner arm so that the outer arm may be selectively rotated, and both the inner arm and the outer arm are counterbalanced by a pair of torsion coil springs which are operatively connected to their respective drive units.

Abstract: A bleed circuit for a backhoe boom cylinder which minimizes cylinder pressure during over-center movement of the boom while permitting the maintenance of sufficient cylinder pressure during other boom operations. The boom cylinder is provided with a retract port, a head end port, and a small bleed port with a bleed line connecting the bleed and head end ports. As the boom cylinder crosses over-center, the fluid pressure in the retract side of the boom cylinder may be transmitted from the rod end to the head end of the cylinder thereby reducing cylinder pressure and improving the over-center controlability of the boom.

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: A wheeled building and constructional machine of the mechanical shovel, bulldozer or the like type has an articulated steering system and comprises a vehicle chassis, a plurality of wheel axles, a hydraulic suspension system for the wheel axles, and at least one transversely stabilizing valve. The hydraulic suspension system comprises a plurality of fluid cylinders which are disposed between pivoting levers which are rotatably mounted and hold the wheel axles, and the vehicle chassis, and rotatably mounted on these vehicle parts. The fluid cylinders are adapted for action upon both of sides and are connected to the stabilizing valve or valves.

Abstract: A joint mechanism for a manipulator movable in the manner similar to human shoulder and elbow joints is disclosed. The joint mechanism comprises three actuators mounted on a shoulder frame, a first gear assembly for moving the shoulder frame back and forth when the first actuator is driven, a second gear assembly for moving the upper and lower arms clockwise or counterclockwise when the second actuator is driven, and a third gear assembly for moving only the lower arm back and forth or up and down when the third actuator is driven. Further, a balance weight and its gear assembly are attached and driven by the third actuator to keep weight balance of the moved lower arm. A fourth actuator and its gear assembly are disclosed for further moving the shoulder frame right and left.

Abstract: A toy mechanical digger includes a base frame member, a longitudinally-extending base beam pivotally mounted on the base frame for manually-actuated, 360.degree. slewing action relative to the base frame, a seal longitudinally slidably mounted with respect to the base beam; a primary boom having a pivoted end, and intermediate end, and a remote end, the pivoted end being pivotally mounted to the forward end of the base beam, such that the remote end can be raised and lowered, the intermediate end pivotally mounted to the forward end of the seat such that forward and rearward longitudinal sliding movement of the seat is linked to the lowering and raising movements, respectively, of the primary boom; a secondary boom having a pivoted end and a remote end, the pivoted end mounted on the remote end of the primary boom for pivotal movement relative thereto.

Abstract: The invention is a system to counterbalance the static torque produced by a weight mounted to a beam member which in turn is rotatably mounted to a frame member, the beam member rotatable about the axis of rotation which is substantially aligned with the longitudinal axis of the frame member. The system comprises a support member rotatively mounted to the frame member and coupled to the beam member for simultaneously rotation about the axis of rotation. A pressurizable power actuator having a first end pivotally mounted to the frame member and a second end having an output shaft for producing an output force proportional to the pressure level within the actuator. A coupling device is included connecting the output shaft to the support member. A pressure level control system is provided for maintaining the pressure level within the actuator to produce a torque sufficient to counterbalance the torque produced by the weight.

Abstract: A positioning arrangement for use with a device having a fixed or movable crane arm includes a suction device for plate-shaped bodies which hangs from the free end of the crane arm, the suction device being provided with a tilting device. The tilting device is infinitely variable by a setting mechanism. In this way, the center of gravity of the suction device with the plate-shaped body attached by suction may be adjusted such that the plate-shaped body is kept vertically.

Abstract: A vehicle has a steerable subframe articulated to the remainder of the vehicle, a set of lifting forks projecting forwardly from the subframe and supported thereon by a linkage permitting lifting, tilting and lateral movement of the forks, and a counterweight balancing a load carried by the forks across the subframe, the counterweight projecting rearwardly from the subframe beneath the remainder of the vehicle. Interchangeable units are engageable with the forks to transport thereby to a worksite, such as pallet units, a work platform, a crane and a cable dispenser.

Abstract: Load lifting apparatus comprises an extensible boom carrying a platform at its outer end and being pivotally mounted at its inner end on rotatable support structure. Hydraulic elevating and extending rams effect elevation and extension of the boom. The elevating ram acts at its bottom end on the support structure through a pivot arm which is seated at its free end on a spring pack. The coupling of the ram to the pivot arm preferably lies in the plane of the pivot axes of the arm and the boom, whereby the load on the spring pack can be independent of the boom elevation for a constant overturning moment of the boom. Hydraulic diverter valves, actuated by the pivot arm when it is deflected against the spring pack, operate to divert fluid flows from the elevating and/or extending rams to urge retraction of the boom upon a predetermined overturning moment being exceeded.

Abstract: An apparatus connected to an arm in a robot system removes injection molded and die cast products while compensating for the load on the piston rods of the apparatus. A chuck for grasping the products is moved up and down by a pair of pneumatic cylinders on a frame and intermediate frame. The pneumatic cylinders carry the load of the various elements of the apparatus. In order to eliminate variations in the load carried by the cylinders and absorb the shock at the ends of the cylinder strokes, the apparatus includes surge tanks connected to the cylinders. Compressed air is provided through the surge tanks to provide an upward pressure offsetting the load on the cylinders.

Abstract: A machine comprises a body (10) having a ground engaging propulsion means (11) and a base frame (14) mounted on the ground engaging means (11), the base frame (14) being movable relative to the ground engaging propulsion means (11) about a first generally vertical axis (V), a boom (30) extending outwardly of the body (10) and mounted on the base frame (14) for movement about a second axis (B) transverse relative to the first axis (V), the boom (30) having mounted at an outer end (36) thereof for movement about a third axis (71) also transverse to the first vertical axis (V), a dipper arm (37), an implement (43) mounted at an outer end (42) of the dipper arm (37) for movement about a fourth axis (T2), also generally transverse relative to the vertical axis (41), a cable (47) secured to the dipper arm (37) and connected to a winch means (50) to effect movement of the dipper arm (37) relative to the boom (30) to effect movement of the implement (43) towards the body (10), a hydraulic ram (38) mounted between the

Abstract: A rough terrain vehicle comprises a vehicle chassis, wheel assemblies enabling vertical and angular deflection of the chassis relative to the terrain during vehicle movement, a telescopic crane boom pivotally mounted on the chassis and capable of limited reciprocable angular deflection relative to the chassis as the vehicle moves a hydraulic boom hoist cylinder to raise and lower the boom when the vehicle is stationary, and a deflection reduction system connected between the chassis and the boom to reduce or eliminate bouncing and porpoising of the chassis relative to the terrain as the vehicle moves. The deflection reduction system includes a resilient spring and a damping system in the form of a piston/cylinder for compressed gas to reduce the speed of spring motion as rapidly as possible.

Abstract: A towing vehicle which has a lifting beam at its rear end for lifting a vehicle prior to being towed is provided with tracks which extend longitudinally of the vehicle and at least one mass which can be moved along the tracks to vary the front axle loading of the vehicle, thus enabling the steering ability of the vehicle to be maintained even when lift/towing a heavy load.

Abstract: A handling system supports a closure member, e.g. a manway cover or tensioner ring, for maintaining it in position when opening or closing operations are performed thereon and for moving it conveniently into or out of engagement with a mating member without damage to supporting studs. Gimbaling means include first and second attachable connections each vertically supported to a pneumatic cylinder assembly whose internal pressure is set to generate an upward force equal to the weight supported. An operator may provide a force to overcome damping forces at each support point to move the closure member in all degrees of freedom, and the member appears essentially weightless to the operator. The vertically movable connections are supported for translational movement on a cart which is also movable. Reliable movement of a closure member with respect to a pressure vessel is provided without the need for alignment or calibration of a path defined by the closure member support means.

Abstract: A load handling apparatus for a vehicle has a mounting frame with a mast movable between a lowered travelling position and a raised working position. A boom carrier on the mast pivotally supports an articulated boom, which has a winch at its distal end. The winch cable is attached to a load carrying cradle which has handle bars to be gripped by the operator and the switch controls for the winch. The mast is counter-balanced by a spring and turnbuckles connect the boom carrier to the mounting frame and the mast to tilt the boom carrier in two directions if the vehicle is on uneven ground.

Abstract: A mobile crane comprises a vehicle chassis mounted on balloon tires, a crane boom pivotally mounted on the chassis, and a double-acting boom hoist cylinder connected between the chassis and the boom for raising and lowering the boom. As the mobile crane traverses rough terrain or accelerates or decelerates, its mass causes the chassis to deflect (bounce or porpoise) relative to the terrain. A deflection reduction system, which presupposes that the boom is unrestrained and free to pivot (deflect) relative to the chassis, comprises a deflection reduction module mechanically mounted on the outside of the boom hoist cylinder and selectively operable valves for hydraulically connecting the module thereto.

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.

Abstract: A heavy load lifting machine for elevating heavy loads off of and transporting heavy loads along the ground is disclosed. The machine includes a load lifting linkage having a special configuration for the linkage arms and lift rams to accommodate lifting objects in the range of forty tons or more and transporting the objects over the ground with minimal sway of the object during transport.

Abstract: A spray gun carriage assembly is disclosed which provides rapid and accurate reciprocating vertical movement of a spray gun mounted on the assembly, with the stroke of the gun movement being readily adjustable. The spray gun carriage is also movable in two additional axes, i.e., in a horizontal plane. A horizontally extending boom is reciprocated vertically to move the spray gun up and down relative to a workpiece, such as a workpiece being conveyed past the carriage assembly. A first shock absorber mechanism dampens the moment of inertia of the boom, and a second shock absorber mechanism dampens the linear inertia associated with vertical movements of the boom, thus providing for quick and accurate spray gun movements and faster and more efficient spraying. A mechanism is further provided for pivoting spray guns mounted adjacent the end of the boom to yield still further adjustment of spray direction. A quick change flight bar facilitates rapid changeover of the spray guns used with the assembly.

Abstract: The ballast box of a power mining shovel is coupled to the rotating frame by two pins installed through orifices in parallel plate projections extending from the ballast box and corresponding eye projections on the main rotating frame. In addition, the feet of the gantry rear legs are pinned through second orifices in the same parallel plate projections from the ballast box such that the force generated down the center of the longitudinal axis of the gantry rear leg is coupled through the centers of both of the orifices in the parallel plate projections.

Abstract: A hydraulic snubber suitable for a skidding grapple or the like in which a twisted figure eight housing is provided to oppose free swinging in two mutually perpendicular horizontal directions, each portion of the figure eight body having a cylinder housing a rotor with each rotor and cylinder having radially extending vanes equipped with flexible, orifice equipped vane extensions.

Abstract: A gravity offsetting device for offsetting the gravitational moment of a rocking arm, mounted between a fixed point located above a pivotal point of the rocking arm at a predetermined distance a and substantially in vertical alignment therewith, and an arbitrary point on the rocking arm, the gravity balancing device including: a compression spring having a spring constant k of a value corresponding to the load W at the arbitrary point as divided by the distance a, and a free length corresponding to the sum of the length l between the fixed and arbitrary points and the initial set length l.sub.s of the compression spring, and adapted to apply a counterbalancing tensile force varying in proportion to the distance between the fixed and arbitrary points.

Abstract: A bale rack comprises an elongate horizontal frame mounted on wheels for movement along the ground, and a pair of bale supports extending along opposite sides of the frame. The bale supports are pivotable relative to the frame between a raised position, in which the bale supports serve to retain bales on the frame, and a load release position, in which the bale supports are downwardly and laterally inclined from the frame to allow a bale to roll from the frame to the ground. Latch mechanisms are provided for releasably retaining the bale supports in the raised positions, and counterweights are provided for urging the bale supports from the lowered positions to the raised positions, thus avoiding the use of springs, hydraulic devices or other relatively complicated mechanisms for this purpose.

Abstract: A rough terrain vehicle comprises a vehicle chassis, resilient terrain-engaging wheel assemblies connected to the chassis and enabling vertical and angular deflection of the chassis relative to the terrain during vehicle movement, a telescopic crane boom carried by the chassis, a pivot pin for connecting the boom to the chassis and enabling limited reciprocable angular deflection of the boom relative to the chassis as the vehicle moves across supporting terrain and a hydraulic boom hoist cylinder to raise and lower the boom. A deflection reduction system is connected between the chassis and the boom to reduce or eliminate vertical and angular deflection (bouncing and porpoising) of the chassis relative to the terrain which tends to occur in response to dynamic loads imposed on the vehicle axles by movement across uneven terrain or by acceleration or deceleration of the vehicle.

Abstract: An apparatus is disclosed for counterbalancing a load carried by a crane by a counterweight suspended from the mast of the crane. A counterweight height control system is provided for maintaining the counterweight a few inches above the ground during operation, which system may be manually overridden by operator actuated controls. A pair of spaced counterweight positioning winches on opposite sides of the longitudinal axis of the crane's upper works move the counterweight toward or away from the vertical axis of rotation of the upper works in response to operator actuated controls and also provides side forces on the counterweight for minimizing swinging of the counterweight.

Abstract: A device for emptying containers into a collector, in particular for emptying dustbins into dust-carts, in which a plate-shaped or bow-shaped contact element for the container to be emptied is attached in the lower region of the swivel arm of a tipping device or the lifting and tipping frame of a lift and tip device and is equipped with safety devices protecting it against the effect of impacts.

Abstract: A self-loading cylindrical bale carriage having at least one frame member including a center frame member extending along the longitudinal center line thereof. The frame member provides a supporting sliding surface for bales loaded on the carriage by means of a rocker bale loading arm device located at the forward end and at one side of the carriage. A transverse element carried by at least one longitudinally reciprocating member feeds the bales rearward on the carriage in cooperation with a plurality of self-rising wedges pivotally mounted in the reciprocating member or members and adapted to engage the bales with a delay with respect to the engagement of the bales by the transverse element.

Abstract: An oil well drilling rig assembly having a main drilling mast which receives and installs sections of drill pipe. A pipe supply mast is pivotally mounted in a spaced relationship from the base of the main mast to provide a safe catwalk area therebetween. The supply mast is movable between a horizontal position for transferring pipe sections between an adjacent pipe supply rack and a vertical position adjacent the main mast for transferring a section of pipe therebetween. The supply mast is raised and lowered by hydraulic cylinders and is telescopically adjustable to various lengths. A combination shock absorbing bumper and alignment arrangement is provided between the mast drill mast and the pipe clamps on the supply mast. The supply mast is provided with a plurality of pipe clamps for releasably clamping a section of pipe on the supply mast. The clamps are provided with adjustable jaws which maintain the axial centerline for clamped pipes of various diameters.

Abstract: A robot includes a generally cylindrical stationary table adapted to be fixed on a floor, and has an outer peripheral surface formed with a circumferential gear. A rotary table is supported rotatably about the outer peripheral surface of the stationary table. A motor for rotating the rotary table is provided on the rotary table, and is connected to a motor gear meshing with the circumferential gear on the stationary table. An upper arm is supported tiltably on the rotary table, and has an upper end on which a front arm is supported. The front arm carries at its free end a working member, such as a welding torch. Another motor is provided on the upper arm for tilting it. A tension spring is disposed in the stationary table and has one end connected to the lower end of the upper arm, and another end connected to the stationary table at a point thereof about which the rotary table is rotatable. The tension spring serves to reduce the load on the motor which tilts the upper arm.

Abstract: A tractor-mounted apparatus is disclosed for supporting ballast weights on the front or rear of the tractor and for elevating the weights relative to the ground. The apparatus includes a pair of U-shaped channels fastened to frame members of the tractor in an upright position. The channels are aligned with their open faces opposite to one another such that the ballast weights can be received therebetween. A pair of hydraulic cylinders are each secured at one end to one of the U-shaped channels and each has an outwardly extending piston rod detachably coupled at its lower end to the ballast weights. The piston rods are moved into and out of the hydraulic cylinders by a control mechanism thereby permitting the ballast weights to be raised and lowered in a substantially vertical fashion. The apparatus also includes means for permanently locking the ballast weights to the U-shaped channels while the ends of the piston rods are connected to the lower links of an attached implement.

Abstract: A robot forearm is counterbalanced by a drive arm. A main arm has two parallel sections whose ends are pivotally connected to the forearm and drive arm to maintain a parallel relationship between the forearm and the drive arm. A medial portion of one main arm section is pivotably mounted on a turntable pedestal. A drive motor and drive system mounted on the drive arm are connected to the other main arm section for moving the drive arm relative to the main arm. The drive system includes a harmonic drive speed reducer.

Abstract: There is disclosed a multijoint in which the primary moment force caused by a combined gravity of the lower arm which is supported by an elbow joint portion for pivotting the upper and lower arm together and a distal mechanism fitted to the distal end of the lower arm, is minimized by imparting a force opposite the primary moment force thereby reducing the load of an electric motor for driving the elbow joint portion.

Abstract: An earthmoving machine primarily for land drainage and irrigation purposes has a pivotally mounted boom (8) carrying an arm (12) pivoted at one end to one end of the boom and having a bucket (14) or the like attached at its other end. At the end of the arm which is pivoted on the boom a quadrant (20) is formed around which passes a pendant cable (18) attached to a counterweight (22) which is slidable on the rearwardly extending end of the boom, the counterweight, and thus the arm, being moved by a ram (24) so that radially outwards movement of the arm (12) is accompanied by outwards movement of the counterweight (22) along the end of the boom in the opposite direction to balance the machine. A draw-in rope or cable (26) is attached to the free end of the arm in order to draw-in the arm towards the pivot axis of the boom, the ram (24) and draw-in rope winch (25) being hydraulically connected so that the one is operative when the other is in neutral and vice versa.

Abstract: There is herein disclosed a take-out arm mechanism for a glass forming machine particularly suited for the simultaneous handling of four or more containers wherein the arm is provided with an integrally molded and formed counterweight carried thereby to counteract the weight and mass of four take-out tongs, holders and attendant mechanisms. In addition, a novel tensioning means is provided for maintaining an adjustable, constant tension in an endless chain which extends between a pair of sprockets carried within the take-out arm. The sprockets and the chain together form, in essence, a parallel linkage mechanism which maintains the tong holder end of the take-out arm vertical relative to the movement of the arm through 180.degree. about the axis of the fixed spindle.

Abstract: An industrial robot of the type comprising a frame mounted for rotation about a horizontal axis and having a pivot arm which is pivotally attached to the frame for pivotally supporting a boom, is provided with a counterbalancing device for equalizing the weight of the boom. The counterbalancing device includes a toggle lever mounted for pivotal motion about a fixed horizontal axis that extends at right angles to the axis of rotation of the frame, a counterweight or piston being connected to the toggle lever at a point spaced from one side of the pivot axis of the toggle lever, and a linkage connecting a second point on the toggle lever, located on the other side of its pivot axis, to the pivot arm at a location that is spaced from the pivot axis between the pivot arm and frame.

Abstract: A double articulated material handling machine that is particularly adapted for use with a rotatable working tool having a cantilevered boom arm. The machine includes a front module, a central module, and a rear module with the front and rear modules being connected to the central module for pivotal motion about vertical axes. Steering of the machine is effected by double acting hydraulic rams which are mounted in symmetrical relation to the longitudinal axis of the machine. A pair of retractable and extensible stabilizers extend laterally from the central module. If the fluid steering rams on one side of the machine are retracted and the rams on the other side of the machine are extended, the front and rear modules are caused to turn through an angle relative to each other for steering or for placing the machine in a working position.

Abstract: A parallelogram arm assembly having a vertical arm for suspending a load at lower end thereof and a pair of horizontal arms one of which is guided in a horizontal path is provided. The other horizontal arm is guided in a vertical path. The paths are defined in a supporting structure which is mounted rotatably on a standard or the like. Apparatus, such as a piston/cylinder actuator is provided for maintaining in cooperation with the parallelogram a floating balanced state of the arm assembly independently of the loaded or no-load state.

Abstract: A forging manipulator has a mobile truck on which a gripper support is suspended by articulated linkages. To move the gripper support relative to the truck, and to provide cushioning of the gripper support, the gripper support is coupled to the truck by hydraulic cylinder assemblies. Each cylinder assembly includes three cylinders placed one above another with the piston of a middle cylinder connected to the truck and with the pistons of the outer cylinders connected to each other and to the gripper support.