Abstract: A grapple apparatus of a type having arms that pivot about parallel axes of a frame for grasping and releasing objects and wherein the entire grapple, including the grapple arms, pivots about a pivotal axis transverse to such parallel axes, and more particularly to a grapple which is pivotally adjustable about such pivotal axis between a first position and can be locked in at least the first and second positions thereof. A heel is fixed to the frame for supporting an object being grasped by the grapple when the grapple is in the first pivotal position thereof. A tooth is also optionally attached to the frame for permitting manipulation of the position of an object when the grapple itself is not being used.

Abstract: An excavator thumb assembly for use with an excavator having a boom, a hydraulic cylinder, a hydraulic cylinder shaft that extends and retracts from the hydraulic cylinder, and a bucket pivotally attached to an end of the boom and operatively attached to the hydraulic cylinder shaft. The excavator thumb assembly includes a thumb pivot plate attached to an intermediate portion of the boom. The thumb pivot plate has a thumb attachment point positioned above the longitudinal axis of the boom. The excavator thumb assembly also includes a thumb pivotally attached to the thumb attachment point along a thumb pivot axis, and operatively attached to the hydraulic cylinder shaft. The excavator thumb assembly is configured so that the thumb and bucket opposably grab and release objects as the hydraulic cylinder shaft extends and retracts, respectively.

Abstract: A fork and jaw grapple attachment having two forks and a jaw for wedging under, prying up, gripping, moving and handling materials. The forks have tips with angles for prying between and under materials. The jaw being a hydraulically actuated upper jaw that moves about a pivot point via a cylinder for grabbing, gripping and holding materials during pick-up, transport and place down.

Abstract: Gripper devices for handling syringes and automated pharmacy admixture systems (APASs) that utilize such gripper devices. The gripper devices may include various gripper finger profiles, substantially tapered or angled gripping surfaces and/or gripper fingers interleaving to reduce radial distortion of the syringes to be grasped while opposing axial motion of the syringes.

Abstract: A support arm for a clamping and/or centering element of a gripper frame for holding three-dimensional components includes an adjustment mechanism, such as a ball that can pivot and/or a cylindrical pin that slide and rotate, held in a clamping and release unit with clamping jaws that can be radially clamped. A mechanical, hydraulic, pneumatic, or electromagnetic force generator applied to at least one of the clamping jaws is integrated in the support arm and generates a clamping force, against whose force the clamping jaws can be released by means of an adjusting element of a driven eccentric or cam mechanism.

Abstract: A storage device in particular for a climate controlled cabinet is described. The storage device serves to store laboratory objects, in particular microtiter plates, in shelf racks (4) and comprises a shelf access device, which has an upper and a lower guide (15, 15?), between which there is arranged a vertical guide (16). A horizontal drive (18) drives the vertical guide (16) along the upper horizontal guide (15). A shaft transmits this motion to the lower end of the vertical guide (16) and drives a gear there, which generates an additional drive along the lower guide (15?). This allows to prevent a tilting of the vertical guide (16) when accelerating or decelerating. In addition, the vertical guide (15) is guided in non-rotational manner at its upper and lower ends in the upper and lower guides (15, 15?), such that a torsion of the vertical guide is prevented.

Abstract: A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.

Abstract: The improved pinching fingers of the present invention are adapted for easy installation and use on conventional front-end loaders and skid steers. The pinching fingers are opened and closed by the hydraulic cylinder or cylinders used to rotate other common implements, eliminating the need for a separate hydraulic power system for opening and closing the fingers. The pinching fingers also include an equalizer bar and a novel linkage assembly that equalize pressure between the claws and thus allow one claw to continue closing even if the other claw is restricted. This feature allows the pinching fingers to more easily and safely handle irregular and tapered items.

Abstract: The invention relates to a manipulation device (3) for manipulating a workpiece (4) on a bending press (2), comprising multiple successive moving elements (17), in particular articulated arms (18), connected to one another via articulated joints (19), wherein one moving element (22) has a rotary head (23) which is rotatable about a rotational axis (24) which at least approximately coincides with a center axis (25) of the moving element (22), and comprising a gripping device (27) connected thereto having a gripping zone (34), formed by one or more gripping elements (32), by means of which the workpiece (4) may be held.

Abstract: The pole-handling attachment for an end loader is installed upon the machine (e.g., skid-steer machine, tractor and bucket, etc.) in place of the conventional bucket, for manipulating poles, posts, and other elongate columns by a single machine operator. The attachment includes a base frame having opposite fixed ends, and a sliding pole clamp assembly therebetween. A series of arms extend from one of the fixed ends and the sliding assembly for grasping the pole therebetween. The end loader tilt mechanism is adjusted to orient the arms normal to the pole, and the machine is maneuvered to position the arms on opposite sides of the pole. The slide assembly is then moved to clamp the pole against the opposite fixed end, and the machine maneuvered to position the pole as required. The base frame may include a pivot mechanism to allow the frame to rotate, for greater versatility.

Abstract: This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.

Abstract: Described herein are various implementations of an end of arm tool, apparatus, and method.

Abstract: A bale lifting device for the handling of bales of fibrous material such as hay. The bale lifting device having a pair of generally facing hydraulic cylinders configured for moving a pair of forks from a close inner position to a spaced apart outer position.

Abstract: A tweezer-type hand-held device for installing and removing an electric part on and from a substrate. The device is provided with a pair of legs biased to close such that the part is held between the legs by the biasing force when the part is installed on the substrate. In an embodiment, one of the legs may be biased in two directions, i.e. in a direction to open and in another direction to close, and a switching member is disclosed to switch the biasing direction. The biasing member may include a spring commonly used for the biasing in the two directions. Manipulation portions are provided for open or close the legs against the force of the biasing member.

Abstract: An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place.

Abstract: A double action grab fork is provided according to the invention. The double action grab fork includes an upper grab member, a lower grab member, and an arm. The upper grab member has an upper grab end and an upper grab body. The lower grab member has a lower grab end and a lower grab body. The upper grab end and the lower grab end are constructed for grasping an article. The arm has an upper end and a lower end. The upper end of the arm is rotatably attached to the upper grab body to allow rotation of the upper grab member relative to the upper end of the arm. The lower end of the arm is rotatably attached to the lower grab body to allow rotation of the lower grab body relative to the lower end of the arm. A grab teeth assembly for use with a bucket is provided, and a method for using the double action grab fork is provided.

Abstract: A front end loader tactical boom apparatus providing a means of penetrating walls for the purposes of gathering intelligence and the dispensation of suppression agents. The tactical boom apparatus my be readily assembled at a given site with varying boom lengths and attachments including a claw head equipped with a camera and a means for delivery of tear gas, flash grenades and the like.

Abstract: A device (2) for feeding reels (3) has a manipulator (14) having a gripping member (19) for picking up one reel (3) at a time off a pallet (16) and transferring the reel (3) to an unwinding pin (4a; 4b) on a machine (1); the gripping member (19) is enabled to pick up a reel (3) off the pallet (16) when at least one reference point (k1) of the gripping member (19) lies inside a central hole (7) of the reel (3).

Abstract: An actuated mechanical thumb apparatus is provided that pivots in compliment to the hinging of a bucket or similar hydraulically actuated attachment, as employed with conventional heavy equipment, such as backhoes and excavators. The thumb co-operatively actuates with the bucket to prevent walking or shifting of the gripped object. The thumb apparatus is unitized, or of a single component, well suited for easy retrofit to conventional material handling and earth moving equipment. The frame of the thumb apparatus mounts to a heavy equipment boom member or arm. The frame can be held in place on the boom member by two pins. The frame includes two frame plates, and the thumb includes two thumb plates. Each frame plate hingably attaches to one of the thumb plates at a separate pivot. This allows the thumb to pivot straddle the bucket's hinge, and pivot on the same axis as the bucket. A thumb link can be used across a pivoting bell crank, actuated by the thumb's hydraulic cylinder to actuate the thumb.

Abstract: A grapple assembly for attachment to a boom assembly of a front end loader is provided. The grapple assembly includes a first pinching arm having a first end constructed for grappling an article and a second end constructed for attachment to the boom assembly at a first attachment arm connection, the first pinching arm having a first pinching arm connection. The grapple assembly also includes a second pinching arm having a first end constructed for grappling an article and a second end constructed for attachment to the boom assembly at a second attachment arm connection, the second pinching arm having a second pinching arm connection. A rotation arm constructed for attachment to the boom assembly at an attachment cylinder connection is provided, the rotation arm having a first rotation arm connection and a second rotation arm connection.

Abstract: A multi-modal package handling tool and system uses a robot carrying an end of arm tool incorporating several package handling devices such as vacuum carrying units, extensible package grippers, and a slideably deployable package platform. Each these package handling devices may be used singly, or in combination with each other.

Abstract: Provision of a 3-DOF micro manipulator easy to operate and capable of executing accurate positioning, wherein the link mechanisms of the micro manipulator whose main operation is parallel 3-DOF operation are implemented by cutting, folding, and moding a sheet of metal plate. Base and end effector are connected by three link mechanisms. The three link mechanisms are manufactured by cutting and folding a flexible plate material, and are equipped with plate-like arm portions each having a spread in the axially peripheral direction of the end effector, with hinge portions that are formed longitudinally across each arm portion in order to function as revolving joints R, and with a hinge portion also formed at the middle position of the arm portion in order to function as revolving joints R. Also, a parallelogrammatic link is formed between one longitudinal end of the arm portion and the middle portion thereof in order to function as a prismatic joint pair P.

Abstract: The screen-printing machine (10) comprises: a print station (12); at least one support surface (40A, 40B) for supporting the objects away from the print station (12); and at least one transfer device (18, 20) for transferring an object, which transfer device comprises a manipulator arm (54) equipped with an end clamp (56), the arm (54) being hinged relative to the support surface (40A, 40B) about a pivot axis (Z1-Z1) and the clamp (56) being hinged relative to the arm (54) about a tilt axis. The pivot axis (Z1-Z1) of the arm (54) defines with the normal to the support surface (40A, 40B) a non-zero angle of inclination that is less than 45°. Application to printing flasks.

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

Abstract: An assembly mountable on a dipper stick of a machine having a tool pivotally connected thereto and means operatively interconnecting the dipper stick and the tool for pivoting the tool relative to the dipper stick, cooperable with the tool for grappling objects, generally consisting of an arm member having a first section connectable to an underside of the dipper stick for pivotal movement about a second axis and a second section connectable to the first section for pivotal movement relative to the first arm section about a third axis, one of the arm sections having a curved bearing surface with a notch therein and the other of the arm sections having a roller biased against the bearing surface whereby the roller may be received in the notch to displaceably position the second arm section relative to the first arm section in a certain relationship, and ride on portions of the curved bearing surface upon a force in a certain direction as being applied to the second arm member causing the roller to ride out of

Abstract: A handling device for repositioning parts having a pivot arm able to be pivoted about a first pivot axis and a handling part adapted to bear a gripper and able to be pivoted with respect to a second pivot axis. The handling part is furthermore carried so that it may be radially moved in relation to the second pivot axis and cooperate by way of a cam follower with a path setting cam having two linear terminal sections. During operation of the device the handling part may move along a handling path, which has two linear terminal sections.

Abstract: A fork and jaw grapple having two forks and a jaw for wedging under, prying up, gripping, moving and handling materials. The forks have tips with angles for prying between and under materials. The jaw being a hydraulically actuated upper jaw that moves about a pivot point via a cylinder for grabbing, gripping and holding materials during pick-up, transport and place down.

Abstract: An apparatus for automatically loading socks on forms (1) comprises a suction unit (20) at an inlet, a carousel (10) with several stations (2, 3, 4, 5), a positioning unit (30) of the sock (S), a tucking-up unit (40) and a pick-up robot (50). The carousel has intermediate supports (12) onto which can be put, partially or completely, the socks (S). The carousel (10) brings the intermediate supports (12) through successive stations (2, 3, 4, 5) up to a pick-up station (5), where an arm (52) is connected pivotally (55a) to a carriage sliding on an upright (53). Means are provided for translating (53a) vertically the carriage vertically upwards or downwards, along the upright (53), and for rotating (55a) integrally the arm (52) about said horizontal axis (55). Pick-up fingers (56) are provided at a first end (52b) of said arm (52) associated to means for opening (56a) and closing them.

Abstract: A casing slip lifter includes a frame, upper and lower lift arm assemblies, at least one air cylinder connected to a pipe that rotates to pivot the arm assemblies, and a wrap arm to which the slips are attached and which is coupled to the arm assemblies by a hinge. The arm assemblies include mutually pivotable plates, one of which may be latched to enable the arm assemblies to be raised into one of two raised positions, depending on which the lower arm assembly is locked. The higher position permits the casing lifter to be used when centralizers are installed on the casing.

Abstract: The invention comprises a hook attachment having a frame with a plurality of hooks pivotally mounted to the frame. The attachment has a engaging flange and eyelets for receiving the attaching flange and engaging pins, respectively on the front of the arms of a front end loader. The attachment has an attaching flange and engaging pins mounted on the front of the frame of the attachment for engaging an attaching flange and eyelets on the rear of a bucket, whereby the hook attachment may be attached directly to the front of a front end loader and used alone with the front end loader, or the attaching flange and engaging pins on the front of the frame of the locking attachment may engage the attaching flange and eyelets on the rear of the bucket to attach the bucket to the flange of the hook attachment so that the hook attachment and bucket may be used together on the front end loader.

Abstract: A manipulator is provided that includes a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members, the gripper and the foot part form an arm. One or more motors are provided in the foot part for moving at least a one of the members and the gripper.

Abstract: The invention relates to a holding device for wafers in an arrangement for wafer inspection, comprising two grippers (11, 12), each of which, in the closed state of the holding device (8), encloses a subsection of the wafer circumference and which are connected to a drive device (27) and, when the latter is driven, the grippers (11, 12) move away from each other for the purpose of opening the holding device (9) and move toward each other for the purpose of closing the holding device (8), and a holding arm (13), on which the two grippers (11, 12) are pivotably mounted. In this case the holding arm (13) is mounted such that it can rotate about an axis (A) which lies substantially in the plane covered by the wafer (W), so that after a rotation through 180° about the axis (A), a wafer (W) held between the grippers (11, 12) has been turned.

Abstract: A changeable-length fourth axis of a delta robot has a first bar (82) and a second bar (83), which can be displaced parallel to one another in a slide bearing (84, 85). They are connected to articulation heads (80, 81) for leading in an incoming torque and for leading out an outgoing torque. The first and second bars (82, 83) are arranged here such that the incoming torque runs in a direction which is parallel to, but offset from, the direction of the outgoing torque. This fourth axis allows precise torque transmission, but is nevertheless of straightforward construction, has a high bending strength and relatively low weight and can easily be cleaned by being washed down.

Abstract: An assembly mountable on the dipper stick of a machine, having a bucket pivotally connected thereto and means operatively interconnecting the dipper stick and the bucket for curling and uncurling the bucket, cooperable with the bucket when mounted on the dipper stick for grappling objects generally including an arm member pivotally connectable at one end thereof to the underside of the dipper stick, depending freely therefrom and swingable in a substantially vertical plane, and having a length sufficient to be received within the bucket opening when the arm member is connected to the dipper stick and is depending freely therefrom and the bucket is curled as in performing an excavating function and a chain connectable at one end to the underside of the dipper stick and at another end thereof to the arm member.

Abstract: A method for moving a multi-axis or multi-axle handling system, particularly for orienting a hand of an industrial robot, with a gripping tool connected to a hand is characterized in that the movement is performed in such a way that movement-dependent moments on an article held by the gripping tool are largely eliminated and that essentially only normal forces act between the article and the gripping tool. An apparatus according to the invention is used for performing the method. This permits a safe and speed-optimized movement of handling articles, particularly during palletizing and commissioning, which leads to corresponding economic cost advantages.

Abstract: An assembly mountable on the dipper stick of a machine, having a bucket pivotally connected thereto and means operatively interconnecting the dipper stick and the bucket for curling and uncurling the bucket, cooperable with the bucket when mounted on the dipper stick for grappling objects generally including an arm member pivotally connectable at one end thereof to the underside of the dipper stick, depending freely therefrom and swingable in a substantially vertical plane, and having a length sufficient to be received within the bucket opening when the arm member is connected to the dipper stick and is depending freely therefrom and the bucket is curled as in performing an excavating function and a chain connectable at one end to the underside of the dipper stick and at another end thereof to the arm member.

Abstract: Load manipulating mechanism is mounted on a mobile wheel-driven support platform. All driving mechanism, energy source, and needed functional apparatus for mobility and lifting are self contained on the apparatus such that it may be conveniently moved to needed work sites for lifting and materials manipulation. Outriggers extendible from the main support platform and having surface engaging pads provide stability and leveling. Load arms in the mechanism are extendible and retractable between stowed travel and extended operating conditions, and include telescopic sections in a parallelogram arrangement. The load manipulating mechanism functions as load balancer, using a pneumatic control system and counterweight.

Abstract: A handling device for repositioning parts having a pivot arm able to be pivoted about a first pivot axis and a handling part adapted to bear a gripper and able to be pivoted with respect to a second pivot axis. The handling part is furthermore carried so that it may be radially moved in relation to the second pivot axis and cooperate by way of a cam follower with a path setting cam having two linear terminal sections. During operation of the device the handling part may move along a handling path, which has two linear terminal sections.

Abstract: Systems, methods and apparatuses for manufacturing dosage forms, and to dosage forms made using such systems, methods and apparatuses are provided. Novel compression, thermal cycle molding, and thermal setting molding modules are disclosed. One or more of such modules may be linked, preferably via novel transfer device, into an overall system for making dosage forms.

Abstract: A mechanical operating arm device includes an arm attached to a tractor, a seat rotatably secured to one end of the arm, a pair of pawls each having one end pivotally secured to the seat, and a pair of actuators coupled between the seat and the pawls respectively for actuating the actuators to operate the pawls. The tractor may include a control stick for moving the arm and the pawls to the required working position, and a foot pedal for operating the pawls to grasp objects. Two bars may be attached to the pawls and each has a number of projections for objects holding purposes.

Abstract: In combination with a vehicle, a gripping apparatus comprising connected top, bottom, left, right, and intermediate support members; a brace support wall; a pivot bar positioned horizontally across the apparatus and extending through openings in left, right, and intermediate support members; a jaw housing having first and second lower jaw weld walls, and top, bottom, left and right members; concaved shaped left and right upper jaw members each pivotally attached to the pivot bar; concaved shaped left and right lower jaw members each having upper, lower, left and right side surfaces, with upper and lower surfaces immovably attached to a first lower jaw attachment wall and left and right surfaces immovably attached to the second lower jaw attachment wall; a lower right jaw brace impermanently attached to the pivot bar and immovably attached to the brace support wall; at least one lower left jaw brace impermanently attached to the pivot bar and immovably attached to the brace support wall; a first hydraulic cyli

Abstract: A material handling apparatus includes a frame attachable to a front-end loader vehicle. A tine is attached to the frame, and a top clamp arm is pivoted to the frame and extends over the tine. The clamp arm is movable between a closed position where teeth on a forward lower surface extend generally parallel the tine for holding objects on the front portion, and a partially closed position where teeth on the rearward lower surface are located to hold objects on the rear portion of the tine. The rearward lower surface is upwardly angled from the forward lower surface so that the rear teeth do not interfere with holding a primary object on the front teeth even with secondary objects under the rearward lower surface. The clamp arm has a width and defines a space for receiving the tine, thus providing improved clamping ability.

Abstract: An end arm manipulator includes a base, an arm pivotably mounted to the base and a workpiece interfacing member coupled to the arm. In another aspect of the present invention, multiple arms are coupled to the base and are movable independent of each other. In still another aspect of the present invention, generally spherical balls are adjustably mounted between a clamping member and a cavity of the base.

Abstract: A robot assembly and a method of installing a collar on a robot assembly. The robot assembly comprises a support shaft, an arm extending away from the shaft, a split connecting collar pivotally mounted on the support shaft and connected to the arm to connect the arm to the support shaft, and a tool connected to the arm for engaging the molded items and for removing the molded items from the molding machine. Two embodiments of the split collar are disclosed. The first is a multiple piece component, and the second is a single slotted body. Generally, both of these collars are designed such that installation or removal does not require that the shaft be pushed linearly through the diameter of the collar. Rather, the installation or removal of the collar is performed by moving the collar, or the collar components, away from the shaft, in a direction perpendicular to the shaft centerline instead of along and over the shaft diameter to the endpoint.

Abstract: Mobile construction equipment includes a hydraulically activated boom and operating stick for carrying two separately mounted construction tools. In an excavator, a bucket is mounted on the end of the stick in the conventional manner and adjacent the bucket there is rotatably mounted a second tool carrier or rack having an inner and outer end. Detachably mounted at the outer end of the rack is the second tool which travels with the mobile construction equipment. The rack is rotatable from a retracted position extending upwardly and along the stick to an extended position where the tool can be deployed for operational use.

Abstract: A skid loader attachment for increasing the versatility and ease of use of the skid loader. The skid loader attachment includes a frame assembly having a base portion. The base portion is designed for coupling to booms of a skid loader. The frame assembly has a plurality of tines. The tines forwardly extend from the base portion of the frame assembly opposite the skid loader. A plurality of arm assemblies are coupled to the base portion of the frame assembly. Each of the arm assemblies are articulated such that each of the arm; assemblies is positionable with respect to the frame assembly. Each of the arm assemblies are adapted for being operationally coupled to the skid loader such that articulation of each of the arm assemblies is controlled by an operator of the skid loader. The arm assemblies are adapted for facilitating manipulation of materials engaged by said frame assembly.

Abstract: A frame apparatus that fits on the loader arms of a skid steer front loader. This frame apparatus serves as a platform upon which a plurality of hydraulically driven tools can be employed to grasp, lift, rotate, and transport heavy objects such as oil drums and telephone poles. The hydraulically driven tools are designed in a manner that allows them to be easily installed on, and removed from, the frame apparatus by one person. This is accomplished by having a frame member as part of the tool that slides over the end of the attached frame apparatus and is held in place by passing a pin through both of the attached frame members.

Abstract: Pick-up and placement apparatus including an arm that executes pick-up and placement motions and an arm drive mechanism. The drive mechanism comprising a driven rotating member having an appointed range of rotation, a swiveling member slidably attached to the rotating member and swiveling in an appointed range of rotation by normal and reverse rotations of the rotating member, a connection portion directly or indirectly linked with the arm, a retaining member applying a retaining force to retain the swiveling member at an appointed position in a radial direction with respect to the rotating member while slidably retaining the swiveling member, and an apparatus regulating and guiding said connection portion to linearly move the connection portion by directly or indirectly regulating the swiveling member in the vicinity of both ends of in the range of rotation.

Abstract: The invention relates to a holding device for wafers in an arrangement for wafer inspection, comprising two grippers (11, 12), each of which, in the closed state of the holding device (8), encloses a subsection of the wafer circumference and which are connected to a drive device (27) and, when the latter is driven, the grippers (11, 12) move away from each other for the purpose of opening the holding device (9) and move toward each other for the purpose of closing the holding device (8), and a holding arm (13), on which the two grippers (11, 12) are pivotably mounted.

Abstract: A machine tool center (10) displays at least one machine tool (11, 12, 13) which has a working area (17) accessible through an operator door (16) to process workpieces (21). Furthermore, a loading/unloading station (14) for the workpieces (21) and a loading device (22) which transports the workpieces (21) between the loading/unloading station (14) and the respective machine tool (11, 12, 13) and changes these at the machine tool (11, 12, 13) are also provided. In the new machine tool center (10) the loading device (22) is arranged below the working space (17) of the machine tool (11, 12, 13) (FIG. 1).