Abstract: A device for implementing a method of sizing a cylindrical part following shaping, by plastic deformation, of a metallic material that has maximum structural shrinkage at a maximum-shrinkage temperature between a first temperature and a second temperature, which is lower than the first temperature, is disclosed. The method includes placing the part in a shaft furnace, heating the part to the first temperature, lowering and fitting into the part an internal-sizing tool with an outer diameter greater than an inner diameter of the part at maximum structural shrinkage, transporting the assembly formed by the part and the sizing tool to a tempering vessel, cooling the part to a temperature below said second temperature, and extracting the internal-sizing tool. The method applies to the manufacture of turbomachine casings.

Abstract: A log skidding implement consisting of a four foot horizontal boom and a set of modified skidding tongs hanging vertically from the end of the boom, attaches to the lift arms and top link of a three point tractor hitch. In-tractor controls lower the implement onto a log, causing the skidding tongs to pierce the log, which is then dragged to another location.

Abstract: A skidding grapple to move a load such as a tow of logs, over a terrain that is particularly difficult to traverse. A grapple assembly to engage the load has offset grapple arms that bypass one another when closing to encompass the load. A choke line is connected at one end to the winch line, and has first and second choke line legs that connect to the ends of the grapple arms. As the grapple arms close, the choke line legs form a noose to engage the end of the load and bear the weight of the load upon lifting of the grapple arms. A coupling releasably connects the grapple assembly to the boom. A winch line extends over the boom end, past the coupling and is connected to the grapple assembly, such that upon release of the grapple assembly from the boom, it remains connected to the tow vehicle by the winch line. Reconnection of the coupling assemblies is facilitated, since the winch line passes over the boom tip and results in alignment with the coupling assemblies as they come together.

Abstract: A vehicle for reaching, lifting, retracting, stacking and carrying loads. The vehicle includes a load carrying portion disposed behind the front axle of the vehicle for receiving and transporting loads, so that the vehicle is able to transport loads without tipping yet without carrying excess ballast. The vehicle includes a reach and retract lifting device for reaching to secure or release loads substantially far from the vehicle and retracting to secure or release loads stacked on the load carrying portion of the vehicle. The reach and retract lifting device is interchangeable depending on the desired lifting operation. To prevent tipping while reaching loads, the vehicle incorporates selectively actuable outriggers. Additionally, the vehicle includes selectively actuable hydraulic cylinders or the like for adjusting the lateral position of a lifted load.

Abstract: A system for controlling the locomotion of a biped walking robot by absorbing the footfall impact such that the robot walks stably. In advance, constraint conditions for the robot such as a coordinates position of the robot's center of gravity for the robot to assume a predetermined attitude are preestablished and in walking, robot's joint angles are determined inverse kinematically from the preestablished attitude constraint conditions. The ground reaction force generated at the footfall is detected and a correction amount required for shifting the center of gravity in the impact force absorbing direction is calculated. The attitude constraint conditions are recalculated in response to the correction amount and then the robot's joint angles are recalculated from the corrected attitude constraint conditions in three-dimensional, or at least in one of two-dimensional planes. Instead of the center of gravity, the robot's hip section can be used.

Abstract: The present invention provides a grapple tongs device for mounting to the three-point hitch of the type found on agricultural tractors. The apparatus of this invention comprises a three-point hitch mounting, a grapple boom extending from the hitch mounting, a grapple tongs device suspended from the outer end of the grapple boom, and means for orienting the grapple tongs. The means for orienting the grapple tongs preferably also is employed to open the grapple tongs, the tongs preferably being of the gravity-closing type.

Abstract: A robot system for taking out workpieces from a box using a robot having a floating hand and a workpiece recognition apparatus. The workpiece recognition apparatus detects the position and inclination of a selected workpiece, and calculates a target position and a desired inclined posture of the hand. The posture is so decided that a line of intersection of the floating plane of the hand with a vertical plane containing the longitudinal axis of the workpiece, becomes parallel to a horizontal direction, and the center axis of the wrist portion becomes perpendicular to the line of intersection. Data indicating the target position and the desired inclined posture are transmitted to the robot controller of the system, so that the controller drives the servomotors of the robot in such a way that the hand moves toward the target position with a desired inclined posture. With this operation, the hand contacts with the selected workpiece at a predetermined position to pick up the workpiece.

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: An apparatus for single-handed operation in skidding logs, stumps, poles and the like. An A-frame with rearwardly-extending beam is attached to the three-point hitch of a tractor. A fluid-operated grapple, which will inherently adjust to various shapes and sizes of objects, is suspended from the rearward end of the beam. A chain, having a small amount of slack, is connected by its ends to the grapple tongs, and is rove around sleeved bolts near the draft arm attachment points. When the object to be skidded is grappled and lifted, the operator moves the tractor in the desired direction, and the chain immediately takes the towing load.

Abstract: A concrete crusher of the type comprising a rotatably mounted frame carrying both the crusher forming members and the shearing members, and wherein said shearing members are formed by at least one fixed arm and one of the arms of the crusher, the latter arm being articulated to said frame and adapted so as to give to the shears the maximum opening when it is in a maximum closed position of the crusher.

Abstract: This apparatus for separating wet laundry articles (e.g.

Abstract: An attachment for the boom structure and hydraulic system of a hydraulic excavator, including a pair of relatively swingable jaws for crushing concrete slabs and the like, each of the jaws having a grid like jaw structure with elongate rigid plates extending outwardly from the pivot structure, there being a multiplicity of tapered tooth like projections on the grid structure of the jaws, the tooth like projections being of various lengths, at least one of the jaws being connected to the hydraulic system to open and close the jaws to apply pressure and fracture concrete structures being gripped and crushed.

Abstract: An assembly capable of being fitted to a loader which is provided with an attachment device intended, for example, for co-operation with respective one ends of two lifting arms whose respective other ends are intended to support suitable load-handling devices, such as forks, buckets etc., and lifting-ram attachments intended, for example, to co-operate with respective first ends of two lifting rams whose respective other ends are capable of co-operating with the lifting arms. The assembly is provided at the central region thereof with a device for co-operating with the attachment device, and is provided in the upper part thereof with a pivotal attachment for pivotal co-operation with a part of a load-handling arrangement. The lower part of the assembly is arranged to extend towards the front wheels of the loader, and the lower part of the assembly is firmly connected to the lifting-ram attachments originally found on the loader.

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

Abstract: The invention relates to an apparatus for handling sheets or the like. The apparatus comprises a bridge structure displacable on rails, an upper carriage displaceable on the bridge structure in a direction perpendicular to the rails, vertical beams attached to the upper carriage, and a carriage displaceable on the vertical beams in the direction thereof. The carriage is provided with lifting forks for removing a sheet pack or the like from a shelf place. The carriage is further provided with a gripper frame for picking up a sheet or the like from the shelf place or the like. In order to provide a simple and reliable apparatus, the carriage is provided with arms pivotable around a horizontal axis from a first position above the lifting forks and essentially in parallel therewith to a second position, and vice versa.

Abstract: A swivel head for a skidding grapple incorporating a unitary body having a plate-like middle portion with a plurality of spaced apart upstading lugs and a second plurality of depending lugs, shafts installed in each of the lug pluralities for connection to the grapple head and boom clevises and with snubbing means provided on the shafts.

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

Abstract: A vehicle particularly suited for loading and transporting elongated articles such as trees. The vehicle has a chassis with one pair of wheels on one side of the chassis and another pair of wheels on the other side of the chassis. A cab and a power supply are mounted from the chassis over the one pair of wheels. A grapple is mounted at about the center of the vehicle and movable sideways over the other side of the chassis to pick up a bundle of trees alongside the vehicle. The grapple picks up the bundle at about its center of gravity and moves the bundle over the chassis between the wheels to transport the trees. The first pair of wheels is fixed to the chassis via a first beam while the second pair of wheels is mounted on a second beam which is pivotally mounted to the chassis.

Abstract: A load handling apparatus particularly suited for incorporation into a vehicle for lifting and transporting heavy loads such as steel billets, comprising a main frame to straddle a load, pivotally mounted lift frame assembly providing the lifting capability to raise a steel billet and suspend it during transport, suspended load engaging and clamping members, hydraulic cylinders to actuate the clamping and lifting members and an hydraulically actuated drag link for stabilizing the load while transporting over uneven terrain. The drag link is pivotally connected at its one end to the main frame and at its other end to the suspended load engaging and clamping assembly so that these pivot points, in conjunction with the pivot points of the lift frame assembly, substantially define a parallelogram relationship. By varying the length of the drag link, the clamping assembly is maintained in proper orientation relative to the ground.

Abstract: A crusher for concrete structures, having a head carried by a traveling carrier, a rotating base supported by the head concentrically therewith for rotation relative thereto, a pair of hydraulic cylinders pivotally supported at ends by the rotating base and symmetrically disposed, a pair of jaw members pivotally supported by the rotating base and symmetrically disposed, and click-stop means provided between the head and the rotating base, the hydraulic cylinders being drivingly coupled to the respective jaw members. The rotating base and the head are coupled to each other by a rotative coupling arrangement comprising first and second disc members disposed in face-to-face engagement with each other, synthetic resin-made bearing members, and stopper means for preventing disengagement of the second disc member from the first disc member.

Abstract: A load handling apparatus particularly suited for incorporation into a vehicle for lifting and transporting heavy loads such as steel billets, comprising a main frame to straddle a load, pivotally mounted lift frame assembly providing the lifting capability to raise a steel billet and suspend it during transport, suspended load engaging and clamping members, hydraulic cylinders to actuate the clamping and lifting members and an hydraulically actuated drag link for stabilizing the load while transporting over uneven terrain. The drag link is pivotally connected at its one end to the main frame and at its other end to the suspended load engaging and clamping assembly so that these pivot points, in conjunction with the pivot points of the lift frame assembly, substantially define a parallelogram relationship. By varying the length of the drag link, the clamping assembly is maintained in proper orientation relative to the ground.

Abstract: A clam bucket attachment designed to cooperate with the crowd and the bucket curl or crowd hydraulic cylinder of a conventional backhoe, which attachment includes a bucket support pivotally and rotatably carried by the backhoe crowd and having a cable which operates to open and close a clam bucket suspended from the bucket support. A cable boom is removably, but rigidly attached to the crowd, and includes a forward and rear sheave which receive the cable, one end of which is connected to the crowd hydraulic cylinder, and the opposite end to the clam bucket. The clam bucket is opened and closed by extending and retracting the crowd hydraulic cylinder and is raised and lowered by operation of the backhoe crowd and boom, in conventional fashion.

Abstract: A dampened fully pivotal hanger (10) for a grapple (12) of a log skidding vehicle (14) or the like having a main mounting member (24) attachable to a rotator (22), first pivoting members (32) pivotal with respect to the main mounting member (24) and second pivoting members (48) pivotal with respect to the first pivoting members (32). A grapple assembly (12) is attached to the second pivoting members (48). A pair of shock absorbers (60,68) is connected between each pair of pivotally attached assemblies (24,32,48) for dampening motion therebetween. The elements of the present hanger (10) define a recess (71) through which hydraulic lines (72) are protectedly run. The dampened, fully pivotal hanger (10) prevents destructive swinging of the grapple assembly (12) when not loaded.

Abstract: A dual-mode takeout mechanism is provided for use in, for example, an individual section glassware forming machine. In the normal mode of operation, the formed ware is transported in a fixed radius vertical arc from a molding station to a cooling station and released for further processing. In the reject mode of operation, defective formed ware is transported in an enlarging vertical arc from the molding station to a disposal station. An arm of the takeout mechanism is capable of extending in telescoping fashion, and is activated in the reject mode so as to begin the extension process as the takeout mechanism begins to transport ware from the molding station. A controller is provided to detect when the reject mode has been commanded. The reject mode can be entered for a desired number of cycles by computer command, sensor command, or operator command (manual entry). If the reject mode has been entered, the controller operates a solenoid controlled valve which extends the arm pneumatically.

Abstract: Apparatus for retracting and securing the grapple head (22) of a grapple skidder (10) for travel over rough terrain in an unloaded condition. A pair of cables (94, 96) of equal length are attached to the grapple head at points laterally spaced from the vertical pivot axis of the grapple head. The cables extend through a guide member (100) on the grapple arch (20) and are wound together onto a winch (24) mounted on the skidder frame (14). The guide member has a relatively large opening (106) flared outwardly and downwardly facing the grapple head, and a relatively smaller opening (108) flared outwardly and downwardly facing the winch. In normal operation of the grapple, the cables are left slack. When the grapple head is to be secured for travel, the cables are winched in. Since the cables are wound together, they retract together regardless of the relative tension in each cable, such that the grapple head automatically becomes centered square to the back of the skidder when the cables are winched in.

Abstract: A hoisting apparatus mounted on the deck of a ship for picking floating objects from the sea having an articulated lifting arm which extends over the side of the ship and gripping device suspended from the end of the arm for grasping objects in the water. The arm is actuated by an hydraulic cylinder connected to a source of high pressure liquid which may be dumped into the cylinder instantaneously in response to the closing of the gripping device around the object. The liquid is pressurized by a compressed gas. The apparatus produces a high hoisting speed and lifts the object very quickly from the water.

Abstract: PCT No. PCT/US79/00584 Sec. 371 Date Aug. 9, 1979 Sec. 102(e) Date Aug. 9, 1979 PCT Filed PCT Pub No. WO 81/00396 Pub Date Feb. 19, 1981A compact grapple head (10) for use in apparatus such as a logging vehicle (11). The grapple head has a reduced overall height and utilizes four pivot connections (17,26,27 and 31) in controlling the tongs (13 and 18) thereof. The arrangement of the pivot connections relative to the tongs, an extensible device (22) and an interconnecting (28) provides an improved load-handling capability both as to maximum and minimum loads. Each of the extensible device (22) and link (28) is connected between the tongs with one of the pivotal connections (26) connecting both of the extensible device (22) and link (28) to one of the tongs (13) and a second pivotal connection (27) connecting both the extensible device and the other of the tongs (18) to the frame (12).

Abstract: A detachable undercarriage for use on adverse terrain vehicles comprises an elongate hollow load-bearing frame having three or four axles rotatably supported thereon. Sprockets are mounted on at least two of the axles, and chains are constrained around the sprockets to drivingly interconnect the axles. The center axle in the three axle embodiment and the center two axles in the four axle embodiment are positioned below a plane extending through the axes of rotation of the outermost two axles to facilitate skid steering of vehicles incorporating the undercarriage. Alternatively, all the axles can be aligned with larger wheels mounted on the center axle in the three axle embodiment or the center two axles in the four axle embodiment to facilitate skid steering. In certain applications of the nonaligned axle embodiments structure is provided for selectively aligning all the axles to increase vehicle stability.