Abstract: The invention relates to a device (10) for operating in a water chamber (7) of a heat exchanger (1) comprising a wall (6) of substantially hemispherical shape and, at its upper portion, a tube plate (5) traversed by a plurality of vertical holes (4). The device comprises at least one rail (11) furnished with members for attachment on the bottom face of the tube plate (5) and supporting at least one trolley (15) that can be moved along the said rail (11) and fitted with a pendular lifting means (19) and a robotic arm (20) comprising an attachment base (30) furnished with members for coupling on the bottom face of the tube plate (5) and a drive means interacting with the lifting means (19) to draw the attachment base (30) against the tube plate (5). The invention applies more particularly to the steam generator of a pressurized water nuclear reactor.

Abstract: A trailer, having the capability of lowering its deck to the ground surface for ease of loading and unloading from the ground; raising its deck to a loading dock height for ease of loading and unloading from a loading dock or other elevated surface; and tilting its deck for dumping is disclosed. The deck is maintained in a transport position for travel. All the changes in position may be effected by a single actuator. Rollers, affixed to a rail affixed to the deck roll inside C-channels affixed to the frame arranged at a diagonal to the vertical when raising or lowering.

Abstract: A separating arrangement for the individual removal of carton blanks (Z) from a magazine (M) and for shifting the removed carton blank (Z) from a removal position into a transfer position has a motor-driven pivoting arm (5) and means (6) arranged thereon for removing the carton blank (Z) on its own. The pivoting arm (5) is arranged on a carriage (2) which can be displaced in a rectilinear manner, it being the case that, as the carton blank (Z) is removed and shifted, a pivoting movement of the pivoting arm (5) is superposed by a rectilinear movement of the carriage (2). This arrangement thus allows space-saving and efficient shifting of individual carton blanks and, in addition, can be integrated in a flexible manner in cartoning machines.

Abstract: An apparatus and method for removing an unvulcanized are tread from a storage device (14) includes the step of inverting the tread (12) and transporting it to a roller conveyor in a single step. The tread (12) is picked up by a vacuum bar (80) fitted with a series of suction cups (76). Individual suction cups (76) can be selectively supplied with vacuum depending on the length of the tread (12). After the suction cups (76) have engaged the tread, the tread is raised from the storage device (14), inverted through 180 degrees, and then set onto a special slotted roller conveyor (130). The slotted roller conveyor (130) has a center slot (142) to receive the vacuum bar (80) as it passes therethrough. Side slots (144,146) in the conveyor receive arms (90,92) attached to the vacuum bar (80).

Abstract: The present invention is directed to a material handler that includes a frame, a telescoping boom, a boom extension sensor, a boom angle sensor, and a control system. The telescoping boom is coupled to the frame, pivotable between a lowered and a raised position, and movable between a retracted and an extended position. The boom extension sensor generates a first signal that corresponds to the distance which the boom is extended. The boom angle sensor generates a second signal that corresponds to the angle which the boom is pivoted. The control system receives the signals and displays a cursor located at a position that is based on the first signal and the second signal.

Abstract: An apparatus and method for removing an unvulcanized tire tread from a storage device (14) includes the step of inverting the tread (12) and transporting it to a roller conveyor in a single step. The tread (12) is picked up by a vacuum bar (80) fitted with a series of suction cups (76). Individual suction cups (76) can be selectively supplied with vacuum depending on the length of the tread (12). After the suction cups (76) have engaged the tread, the tread is raised from the storage device (14), inverted through 180 degrees, and then set onto a special slotted roller conveyor (130). The slotted roller conveyor (130) has a center slot (142) to receive the vacuum bar (80) as it passes therethrough. Side slots (144,146) in the conveyor receive arms (90,92) attached to the vacuum bar (80).

Abstract: A telescoping lift arm assembly has an outer lift arm tube that is formed with a cross section configuration that has spaced side walls, and outwardly extending flange guide panels at the lower portions of the side walls. An inner lift arm tube is generally bell-shaped and fits into the outer lift arm tube and has outwardly flared flanges that are parallel to the flange guide panels of the outer lift arm tube. The inner lift arm tube is held in place with a cross support plate that is supported to the side walls of the outer lift arm tube, to hold the inner lift arm tube in place. There are linear bearings between the mating outwardly flared flanges and panels, as well as between the support plate and mating lower surfaces of the inner lift arm tube. Fasteners are provided to adjustably hold the support plate secured to the outer lift arm tube.

Abstract: Telescopic lifting vehicle comprising a support frame having a central longitudinal axis of development at the two sides whereof are mounted a control cab and an engine. The engine and the cab identify between them a housing open superiorly and developing along the central longitudinal axis of the vehicle. The vehicle is also provided with a telescopic arm pivotally engaged to a rear portion of the frame, able to be inserted at least partially in the housing, and having an operative end able to be associated to an operative organ. A lifting cylinder, positioned below the telescopic arm, allows the actuation of the telescopic arm, and can be inserted into a vertical opening obtained in correspondence with at least a part of the housing, when the telescopic arm is inserted in the housing itself.

Abstract: Telescopic lifting vehicle comprising a support frame having a central longitudinal axis of development at the two sides whereof are mounted a control cab and an engine. The engine and the cab identify between them a housing open superiorly and developing along the central longitudinal axis of the vehicle. The vehicle is also provided with a telescopic arm pivotally engaged to a rear portion of the frame, able to be inserted at least partially in the housing, and having an operative end able to be associated to an operative organ. A lifting cylinder, positioned below the telescopic arm, allows the actuation of the telescopic arm, and can be inserted into a vertical opening obtained in correspondence with at least a part of the housing, when the telescopic arm is inserted in the housing itself.

Abstract: A self propelled transportable lift truck (A) having a frame (1) formed by two spaced parallel longitudinal front members and a rear transverse member, at least two front wheels (5, 6) and at least one steerable rear wheel (7), such that the lifting mechanism thereby extends from a most retracted position between the longitudinal members of the frame. The lifting mechanism to raise and/or lower the lifting tines comprises a telescopic lifting arm (4) articulated about a horizontal axis perpendicular to the longitudinal axis of the lift truck. An operator's cab (2) is located to one side of the lifting mechanism; the motive drive unit (3) is housed beneath the lifting mechanism. The lifting mechanism is provided with a yaw control to facilitate the lateral movement of the lifting lines. In addition, the yaw control has, on demand, the capability to automatically self centre the lifting mechanism.

Abstract: A telescoping lift arm assembly has an outer lift arm tube that is formed with a cross section configuration that has spaced side walls, and outwardly extending flange guide panels at the lower portions of the side walls. An inner lift arm tube is generally bell-shaped and fits into the outer lift arm tube and has outwardly flared flanges that are parallel to the flange guide panels of the outer lift arm tube. The inner lift arm tube is held in place with a cross support plate that is supported to the side walls of the outer lift arm tube, to hold the inner lift arm tube in place. There are linear bearings between the mating outwardly flared flanges and panels, as well as between the support plate and mating lower surfaces of the inner lift arm tube. Fasteners are provided to adjustably hold the support plate secured to the outer lift arm tube.

Abstract: A first base-side pulley is disposed at the base portion of a first arm portion; a first distal-side pulley is disposed at the distal portion of the first arm portion; a second base-side pulley is disposed at the base portion of a second arm portion; a second distal-side pulley is disposed at the distal portion of the second arm portion; the first base-side pulley is fixed to the support base; the chuck is fixed to the second distal-side pulley; the first distal-side pulley and the second base-side pulley are connected to each other via a connection shaft; the first base-side pulley and the first distal-side pulley are connected to each other via a first rotation transmission section; and the second base side pulley and the second distal-side pulley are connected to each other via a second rotation transmission section. Thus, an articulated robot arm having first and second arm portions is constructed.

Abstract: The present invention relates to a transfer apparatus for a wafer, in which the wafer may be transferred in a narrow space by reducing a transfer device footprint. The transfer device has a base, a lower arm, an upper arm and a hand. The lower arm is configured to be vertically adjustable and rotatable on a vertical axis. The upper arm is pivotably coupled to the lower arm, and the hand is horizontally coupled to the upper arm.

Abstract: A remote control system for remotely controlling a biped locomotion robot as manipulated by an operator has an upper body support mechanism for supporting an upper body of the operator while allowing the operator to move feet thereof. Operation states of the feet of the operator whose upper body is supported by the upper body support mechanism are detected, and leg operation commands are applied to the biped locomotion robot depending on the detected operation states of the feet of the operator. The operation states of the feet of the operator include at least an operation state of each of the feet of the operator which corresponds to lifting of each leg of the biped locomotion robot from a floor, and an operation state of each of the feet of the operator which corresponds to landing of each leg of the biped locomotion robot on a floor.

Abstract: A robot vehicle for hot-line job for transmission and distribution lines which comprises an insulating boom formed of an insulating material at a tip end stage of multiple stage booms, a base end of which is supported on an elevated work vehicle to be capable of swinging, pivoting up and down, and extending and contracting, and a frame provided on the tip end of the insulating boom, the frame mounting thereon double arm manipulators of multishaft construction for performing a distribution work, a slide device for sliding independently these right and left double arm manipulators front to rear, and lifting arms of multishaft construction having a function of lifting a heavy article, so as to allow an operator to perform remote control. An electric actuator is used for driving the double arm manipulators and the slide device, and hydraulic manipulators for driving the lifting arms.

Abstract: A material handling vehicle comprising a structure having ground engageable propulsion means and a material handling means comprising a boom mounted on the structure for raising and lowering swinging movement relative to the structure and driven for said raising and lowering movement by a first drive means and said boom being extendable and being driven for extension or retraction by a second drive means and a material handling implement carried by an outer end part of said boom, wherein the material handling implement comprises a carrier and a load engageable device moveable relative to the carrier, a first sensing means to sense a first position of the device relative to the carrier, said drive means being responsive to the said first sensing means sensing said first position to modify operation of said drive means.

Abstract: A take-out mechanism for removing sets of blow molded bottles from a blow mold includes a rotary turret, a take-away conveyor and a drive for moving the turret between the blow mold and the take-away conveyor. The turret has a number of sides with a plurality of vacuum plugs extending from each side. The drive moves the turret toward the mold to extend a set of plugs on one side of the turret into mold cavities and vacuum-capture bottles molded in the cavities. After opening of the mold, the turret is lowered and rotated 90.degree. to position the vacuum-held bottles at the infeed end of the take-away conveyor. Rotation of the turret positions a second set of plugs facing a second mold moved to the take-out position. Subsequent rapid retraction of the turret moves the set of removed bottles into the take-away conveyor and powers the conveyor to receive the bottles while maintaining orientation between individual bottles.

Abstract: An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions.

Abstract: Disclosed is a system which includes a method and apparatus for the removal of carton bundles from where they are stacked, such as on pallets, re-positions the carton bundles relative to a carton holding structure such as a hopper, removes the restraining strap(s) from each bundle and feeds the bundle or cartons onto a hopper.

Abstract: A machine tool comprises a working space in which a receptacle for workpieces to be machined, which are exchanged after completion of a machining process, is provided. A removal mechanism for workpieces, which after completion of the machining process removes the machined workpiece from the receptacle and holds it ready at a distance therefrom for exchanging, is provided in the working space.

Abstract: An apparatus for stacking and unstacking substantially rectangular articles, such as, for instance, crates or baking pans for bread, the apparatus having at least one guide extending in the longitudinal direction of an article storage area, a lifting trolley mobile over the guide and a lifting arm connected with the lifting trolley. The lifting arm carries a lifting member extending in the width direction of the article storage area and movable upward and downward above the article storage area by means of the lifting arm, at least two guides being provided. Each guide comprises a lifting trolley with a swivellable lifting arm hingedly connected with the lifting trolley. The swivellable lifting arms can each be swivelled in a vertical plane, the swivellable lifting arms being connected, at the end remote from the lifting trolley, with the lifting machine.

Abstract: A material handling lift having a movable frame, a mast mounted at one end to a shuttle assembly movable on the frame, and a load handling assembly attached to the mast by means of two extending arm members. The frame comprises two longitudinal C-shaped side rails in which the shuttle assembly can be reciprocated by wheels which engage the inner surfaces of the rails. The sections of the wheels which engage the rails are arched to prevent the lift from tipping when the lift is moving in a sloped direction. Guide wheels mounted on the shuttle assembly rotate across the surfaces of the sides of the upper rails, thereby stabilizing movement of the shuttle assembly along the rails. The shuttle assembly can be sustained in any position along the rails by operation of a hand-operated shuttle brake.

Abstract: A feed and stacking device for slab-shaped workpieces has a rigid frame which is pivotally mounted on a base stand for movement between a horizontal position and a raised position. A support bar is movable along the length of the frame and carries a plurality of vacuum operated pick-up devices for transferring a workpiece from a stack to a processing device or vice versa.

Abstract: A method and apparatus for transferring a load to and from a load supporting platform having a first end pivotally coupled at a first end of a main frame having a support surface for supporting the platform in a substantially level position. The platform is pivotally raisable, from the support surface of the main frame to a raised position for discharging and accepting a load, either manually or by an actuatable member. A damping member interconnects the platform and the main frame wherein the damping member progressively increases resistance on the load bearing platform as the platform moves from the raised position toward the support surface of the main frame to reduce any impact on the load. The platform includes a lower frame and a cover biased away from the lower frame by a plurality of spring members wherein the cover is movable toward the lower frame by a load disposed on a support surface of the cover to actuate a load sensor, which indicates the presence of the load.

Abstract: A cargo handling device for use in an overland vehicle. The cargo handling device includes a base frame which is capable of being mounted on the floor of the overland vehicle. A pair of extension members is individually borne by the base members and moveable along a predetermined path of travel from a first, stowed position, to a second, deployed position. A vertical lift is connected to each of the individual extension members at a single pivot point on each respective extension member. The lift can move from a first position, where the it is disposed in a substantially horizontal position, to a second position, where the it is disposed in a substantially vertical position. The vertical lift includes one or more longitudinally positioned tracks and an actuator having a first portion which is mounted to the lift and a second portion. A cargo support assembly is slidably engaged with the one or more tracks and connected to the second portion of the actuator.

Abstract: A multicomponent attachment apparatus for a movable working device which is detachably attached to the front end of the working device, including a device-sided adapter in order to connect the attachment to the working device, a building component-sided supporting member with holders to pick up, move, hold and deliver a building component, and intermediate pieces between the adapter and the supporting member, whereby the intermediate pieces are connected movably together and to the adapter and the supporting member and include a lifting module (1) which is connected to the working device and can be vertically adjusted and fixed in position at any desired height with respect to the working device by a lifting drive; a sliding module (4) movably mounted to opposite sides of the front of the lifting module (1) and movable by a sliding drive and stoppable in any desired side position; a spacing module (10) mounted to the front of the sliding module is movable in a longitudinal direction of the working device by m

Abstract: A telescopic boom with a multistage, lockable hydraulic cylinder is provided with a protection against lateral buckling of the hydraulic cylinder, said hydraulic cylinder being supported by the more rigid boom members (telemembers). For this purpose, a multipart supporting device is provided, one part of said supporting device being secured to at least one unit of the multistage hydraulic cylinder and the other part thereof being secured to the inner wall of the at least one telemember. The two parts of the supporting device are continuously in engagement with one another so that the desired protection against buckling of the hydraulic cylinder will be guaranteed at all positions of the boom. Furthermore, suitable measures guarantee that, starting with the cylinder unit having the largest cross-section, it is always the cylinder unit having the next smaller cross-section which, in an orderly sequence, is first fully extended, the reverse order being observed during the retraction process.

Abstract: A screen printing apparatus transfers an image onto a substrate. A feed mechanism is provided for moving the substrate along a fixed linear path. Vacuum is provided through the feed mechanism for holding the substrate in at least one position along the fixed linear path. A printing head transfers the image onto the substrate while the substrate is held in a first position by the vacuum. A curing station is provided for fixing the image transferred to the substrate while it is passing through the curing station, or while it is being held in a second position by the vacuum applied through the feed mechanism.

Abstract: A pivoting linkage mechanism provides a linear translational path for a tool holder over a predetermined displacement distance. A single linear motor drives the tool carrying end of the mechanism within a displacement plane defined by collective rotation of two sets of parallel, four-bar linkages joined by a transfer plate. A control link between a frame secured axis and an axis mid-span of a swinging linkage set further restricts pivotal displacement of the entire assembly. The translating tool holder supports a journal socket for the pivot axis of a third four-bar, parallel linkage for controllably swinging a secured article in a horizontal plane between opposite sides of the transfer apparatus.

Abstract: On the lower surface of a cylinder stay at its fore end portion, a stopper plate is pivotally attached as a safety device for front working equipment by a pin. A rear end portion of the stopper plate is supported to an upper boom to be swung in union with the upper boom. The stopper plate has an outer peripheral configuration having a first curved region which functions as a first stopper, and a second linear region which functions as a second stopper. When a swing angle of the upper boom is within a risky range of possible interference between the bucket and the cab upon the arm being maximally folded, an inner belly portion of the arm strikes against the first region before the occurrence of such interference, whereby further folding of the arm is mechanically limited.

Abstract: A side loader for picking up curbside refuse containers includes a hydraulic telescopic boom located adjacent a top open refuse compartment of a vehicle. The boom is adapted for inward/outward movement transverse to the forward/rearward axis of the vehicle. A mast is connected via a hydraulic powered helical rotary actuator for pivotal movement of its lower end inward and outward. A similar rotary actuator is used to operate the grabber arm assembly.

Abstract: A load handling apparatus for a vehicle includes a telescopic boom pivotably mounted on a chassis frame of the vehicle. The boom has first, second, third, and fourth sections telescopically engaged in sequence and mounted so as to be slidable relative to one another. A first hydraulic ram is adapted to move the first and second sections together by way of a synchronizing arrangement, and a second hydraulic ram moves the third section relative to the fourth section. The first section carries a load receiving device and a hydraulic unit for manipulating the load receiving device.

Abstract: A driving machine includes an articulated boom to which a scoop, bulldozer plate, loader or a similar tool is attachable. The articulated boom has a first arm which is articulated to slew around a joint in another arm of the boom in order to carry out the folding motion of the boom. In addition, the first arm is movable inside the other arm to carry out a telescopic motion.

Abstract: A mobile vehicle is provided with a multiple purpose material handling and working apparatus including a boom, and a tool supporting boom extension supported on the free distal end of the boom for rotation about an axis parallel to the longitudinal axis of the boom. The boom extension includes a body, a linkage structure movable between unpivoted and pivoted positions relative to the body, a coupling, and a linkage drive assembly mounted on and movable with the body for driving the linkage structure between unpivoted and pivoted positions. A rotary drive motor is supported on the boom for rotating the boom extension relative to the boom.

Abstract: An indexing part loader for orientating a part for transfer and subsequent use. A transfer machine has a carousel magazine mounted thereon, with each magazine containing a stack of parts. The parts are sequentially lifted out of the magazine by a pickup head. The pickup head has a displacement mechanism which advances the part into an indexing head. The pickup head rotates the part within the indexing head until sensors within the indexing head determine the part to be in a proper angular position. The part is then withdrawn from the indexing head and advanced to a subsequent use position.

Abstract: A simple, robust and rationally operable device for tilting rolled stock comprises a tilting head comprising a gripping device for the rolled stock, which defines a tilting axis, and a first drive for rotating the tilting head about a tilting head axis extending parallel to the tilting axis to adjust the tilting head in respective tilted positions. A lifting device supports the tilting head, and a second drive is arranged to raise and lower the lifting device to adjust the lifting device in respective lifting positions. A carriage supports the lifting device, and a third drive is arranged to displace the carriage transversely to the tilting axis to adjust the carriage in respective transverse positions. A numerical control is connected to the first, second and third drives and is arranged to receive control signal components respectively corresponding to the respective tilted, lifting and transverse positions to control the drives in response thereto to adjust the tilting of the rolled stock.

Abstract: An excavation controlling apparatus which can effect precise driving control off a dipper in accordance with an actual operation condition with a simple structure of a low cost. A dipper handle extension instruction calculation section calculates a dipper handle extension instruction signal from a difference between a moment upper limit value set by a moment limit value setting section and a working moment calculated by a working moment calculation section, and causes a dipper handle driving motor output controlling apparatus to control a sliding driving operation of a dipper handle in accordance with the dipper handle extension instruction signal. A hoisting operation instruction calculation section corrects a hoisting operation reference instruction set by a hoisting operation reference instruction setting section with the moment upper limit value and a hoisting operation instruction correction amount calculated from the working moment.

Abstract: A part loading apparatus is disclosed for transporting a workpiece from a first position generally in a first plane to a second position generally in a second plane for transfer to another work station. The part loading apparatus includes a rail for transporting the workpiece between the first and second positions. A shuttle is disposed on the rail for reciprocally moving between the first and second positions. A drive motor is provided for harmonically driving the shuttle between the first and second positions, wherein the shuttle decelerates when approaching the first and second positions, and accelerates when leaving the first and second positions. A frame carries the workpiece from the first position to the second position and is supported on the shuttle for pivotal movement from the first plane to the second plane while the shuttle moves between the first and second positions.

Abstract: A dolly carrier for carrying a dolly has a support arm slidably coupled to a guide member. The support arm has a dolly support surface configured to engage the dolly. The dolly support surface is movable between a storage position and a removal position. The removal position is at least closer to a wrecker bed side then the storage position.

Abstract: A mobile vehicular apparatus includes an aerial control cabin mounted on a tip end of a telescopic boom by a vertical shaft for turning movement about the vertical shaft, and an aerial working device disposed in front of the aerial control cabin. The aerial control cabin is movable back and forth with respect to the boom by a slide mechanism. The slide mechanism includes a guide base mounted on the vertical shaft for turning movement thereabout, a slider mounted on the guide base so as to be movable back and forth with respect to the guide base, and an actuator for sliding the slider with respect to the guide base, the aerial control cabin being coupled to the slider.

Abstract: A substrate conveying apparatus usable with a semiconductor manufacturing apparatus wherein a pattern of a mask is transferred onto a semiconductor wafer by exposing the semiconductor wafer to synchrotron orbital radiation or other exposure energy through a mask. The conveying apparatus transfers the semiconductor wafer to and from a wafer chuck while the surface thereof extends vertically, and/or transfers the wafer to and from a wafer cassette which contains a plurality of wafers horizontally. The apparatus includes a conveying hand having a gimbal mechanism for supporting the semiconductor wafer to assure the semiconductor wafer transfer to and from the wafer chuck while the wafer is vertical. When the semiconductor wafer is transferred to and from a wafer cassette, the apparatus is provided with a correcting mechanism for correcting the attitude of the conveying hand to prevent the semiconductor wafer from contacting the wafer cassette.

Abstract: An apparatus for handling palletized piles of sheet-shaped materials including a first carriage having a fork tower with upper and lower forks which are actuated to grip the pile. The fork tower swings about a horizontal axis and rotates about a vertical axis. A second carriage has a pallet-supporting surface which rotates about a vertical axis. The first and second carriages are movable along rails so that a pile is aerated and positioned for delivery to a production machine.

Abstract: An extendable boom assembly is mounted on a platform or a base for longitudinally pivotally moving a drill rod between a rod rack and a drill rig in a position in alignment with the drill string axis regardless of whether the drilling direction is vertical or is angularly positioned relative to the vertical direction. The boom assembly is mounted for pivotal movement with the track assembly and transverse movement relative thereto, the track assembly being mounted on a drill rig platform. The upper end of the boom assembly mounts a jaw assembly for releaseably gripping a drill rod, the jaw assembly being mounted for limited pivotal movement about a horizontal axis and is of a design not requiring the rods being in a particular spaced relationship relative to one another. The gripping assembly jaws and the limited pivotal movement results in the rod to be transferred being pivoted to a position parallel to the main boom arm central axis as the rod is being clampingly engaged and moved away from the rod stack.

Abstract: A device for lifting sheets of glass brought on a conveyor, has at least one arm rotatable about a horizontal spindle, situated at the lower end of the arm, between a substantially vertical position for gripping the sheets on the conveyor and a substantially horizontal position for depositing the sheets. The device also has a support mounted on the upper end of each rotating arm, the support being slidable along the axis of the arm. The support carries first suction cups for gripping the sheets and at least two retractable arms fastened with the support, the arms being rotatable between a substantially horizontal axis carried by the support, each retractable arm being provided with second suction cups. The retractable arms and the second suction cups are disposed symmetrically with respect to the conveyor axis and in such a way that the sheets of large dimensions are gripped while being in equilibrium.

Abstract: An automatic supply and loading device for container blanks such as gable top containers including storage magazines for storing therein the blanks in a flat collapsed form at a location away from the main magazines from which the blanks are individually transferred to later processes in a liquid food charging machine. A robot with a pair of grasping claws is provided between the main magazines and the storage magazines so that the robot carries the blanks between the magazines and loads and unloads the blanks in and from the magazines. The main magazines can be inclined at the same angle as the angle of inclination of the robot for securing smooth loading and unloading of the blanks.

Abstract: An industrial robot apparatus of the present invention comprises a rail, a plurality of robots which use the rail in common, which are disposed so as to be movable along the rail and which are respectively stopped on the rail so as to perform a robot work, a work command unit for instructing at least one of the plurality of robots to perform a predetermined robot work, and a controlling unit for maintaining the other robots in a predetermined state when the robot, which is instructed from the work command unit, works.

Abstract: An apparatus for turning over a package (9) through 180.degree. out of a first position (I) on a supply conveyor (6) into a second position (II) on a removal conveyor (12), a frame (2) mounted on the floor (1) being provided to support a propulsion unit provided with a driving motor (13). To provide a turn-over apparatus for a tubular package, the propulsion unit (15, 20) comprises a movable linear carriage driven between the two positions (I, II) and a stationary slotted guide (20) with a control cam (22) and at least one gripper element is movably mounted in the linear carriage and is rigidly connected to a follower roller (24) guided in the control cam (22).

Abstract: A transfer robot for removing molded pieces provides a telescoping robot arm having a pneumatically activated gripping device mounted to a remote end. The robot arm comprises two tubes mounted coaxially inside a housing. The first tube is driven outwardly of the housing by a rodless cylinder drive; the second tube is mounted coaxially to the inside of the first tube and is itself driven by a rack and pinion arrangement which doubles the projecting speed of the second tube with respect to the projecting speed of the first tube. The robot arm is movably mounted to a cantilever rack which is itself rotatably mounted to a supporting stand.

Abstract: A control system is provided. The control system allows for control of four independent movement functions with an overriding safety switch or deadman switch. The four different movement functions can be operated simultaneously, or independently, as desired. In preferred embodiments the movement functions of the control handle are coordinated to movement of the controlled device.

Abstract: An apparatus is disposed below a tube plate in a chamber of a steam generator which is accessible through a manhole, for examining and/or repairing steam-generator tubes in the tube plate. A tool or inspection-instrument carrier of the apparatus includes a pneumatic swivel cylinder detachably connected to the apparatus. The swivel cylinder has a housing and an output shaft. A feed unit is supported on the output shaft. A flexible shaft is axially movable by the feed unit. A compressed-air motor is associated with the housing for driving the flexible shaft.