Abstract: This invention discloses a twin gripping apparatus for loading components comprising of two grippers, each composed of two pairs of fingers, disposed at an angle of predetermined value so that the components are held and carried to and from a work station. The two pairs of fingers perform simultaneously a carrying motion to and from a work station by gripping the components positioned at each work station by means of hydraulic pressure from air cylinders, and rotating to and from an angle of predetermined value.

Abstract: Vehicle mounted container handling devices including a rotating swivel mount and an articulated arm connected to the swivel mount are disclosed. The swivel mount includes a housing operable to rotate about a shaft in a first plane. The articulated arm is attached at one end to the housing and disposed to pivot in a second plane which intersects the first plane. A grasping device is pivotally connected to the free end of the articulated arm for pivoting in the second plane. In operation, with the grasping device opened, the articulated arm is extended to reach out toward a container of interest. The swivel mount is operated to pivot the articulated arm as required for the grasping device to engage the container. The articulated arm is operated further to lift and dump the container in the vehicle above the swivel mount. The grasping device includes arms pivotally connected to a support member and moved by actuators pivotally connected between the arms and the support member.

Abstract: A stepping apparatus capable of large angle oscillation comprising an output shaft and a driving shaft arranged parallel to, and spaced apart from, each other wherein the output shaft is provided with a roller wheel plate, both sides of the wheel plate being pivoted with a plurality of alternately spaced rollers, a pair of plate cams being secured on the driving shaft for driving in combination with the rollers on both sides of the wheel plate, allowing the driving shaft to drive the output shaft for reverse angular rotation, standstill, forward angular rotation, indexing, and other stepping sequential operations.

Abstract: A mobile, self-propelled, multicapability apparatus useful for gripping, lifting, moving, rotating, and otherwise manipulating heavy articles. The inventive apparatus comprises: a base structure; a turret rotatably attached to the base structure; a first boom structure having a first end portion pivotably attached to the turret; a second boom structure having a first end portion pivotably connected to the distal end portion of the first boom structure; a first hydraulic assembly for pivoting the first boom structure with respect to the turret; a second hydraulic assembly for pivoting the second boom structure with respect to the first boom structure; a head assembly having a first end portion and a second end portion; and a third hydraulic assembly, connected to the second boom structure and to the first end portion of the head assembly, for pivoting the head assembly with respect to the distal end of the second boom structure.

Abstract: A hand cart is adapted to lift an upright water bottle from a support surface of a first height, carry the bottle to a water dispenser of a second height, invert the bottle, and lower a mouth of the bottle into a receiving opening of the dispenser. A scissors/jackscrew mechanism pivotally connected between a pivot arm structure and an upright structure raises and lowers an outer portion of the pivot arm structure. A bottle holding mechanism pivotally connected to the outer portion of the pivot arm structure inverts the bottle. The bottle holding mechanism includes first and second bottle engaging pads pivotally connected to spaced first and second outer portions of the pivot arm structure, respectively, and engaging opposite sides of the bottle between circumferential ridges thereof. Velcro straps secure the bottle to the pads.

Abstract: An improved pick and place machine works together with a part holding device to pick and lift a part out of a first station, shift to a second station, descend and release the part. An unique linkage system converts simple reciprocating motion from a fluid cylinder or the like into an inverted U-shape motion, providing a smooth, controlled acceleration, deceleration motion for the holding device. The machine has a carriage which is held upright by a sliding lever and which having a box shape, rum outside of a body enabling the part holding device to be mounted on the carriage.

Abstract: The present invention is directed to an apparatus and method for moving tools between a storage structure and a machine tool. The apparatus includes a framework on which is mounted a linkage assembly comprising a plurality of individual links pivotably interconnected. A tool holder is attached to one link and is configured to select tools from the storage structure and move them into proximity with the machine tool. The apparatus also removes the tool from the machine tool and returns it to the storage structure. The linkage assembly provides for efficient movement of the tool holder along a complex curvilinear path by pivoting a single link or element of the linkage assembly.

Abstract: A pipe handling machine for moving well pipes arranged essentially horizontally and essentially parallel to one another on a deck, and including a carriage which may contain an operator's control cabin and is mounted by tracks for movement transversely of the pipes, with an arm projecting from the carriage and adapted to support a pipe from one of its ends as a cantilever, and with the arm being power actuable upwardly and downwardly to raise and lower a pipe and in its elevated position shift the pipe laterally with the carriage. The arm may deliver the pipe to or receive it from an inclined conveyor leading to the rig floor. Preferably, two such machines are provided for shifting pipes on two storage decks at different levels, and for delivering pipes to or from an intermediate conveyor system extending between the two decks.

Abstract: An invertor (10) is disclosed including first and second probes (12, 14) which are pivotably mounted to a U-shaped housing (20) and to a block (18) which is reciprocally mounted to the housing (20) by guide shafts (38). The block (18) is reciprocated by a rotary actuator (42) between a first position where the probes (12, 14) are in a parallel relation and a second position where the probes (12, 14) are in line. The suction pin (80) of the first probe (12) is extended to attach to the first surface (96) of the chip (98) and then retracted. The probes (12, 14) are then moved to their in line relation where the chip (98) is passed from the first probe (12) to the second probe (14) by attaching the opposing surface (100) of the chip (98) to the suction pin (80) of the second probe (14). After moving the probes (12, 14) to their parallel relation, the suction pin (80) of the second probe (14) is extended to place and release the chip (98).

Abstract: A robotic arm for moving product from a first handling station to a second handling station is disclosed. The robotic arm includes a support structure and a driven shaft mounted to the support structure. The driven shaft is adapted for rotation about a first axis. A device is provided for selectively oscillating the shaft through successive, selected arcs of rotation. A crank arm is secured to the driven shaft at a first point such that the crank arm is rotated about the first axis. A linkage member is rotatably secured to the support structure for rotation about a second axis. The linkage member is rotatably secured to the support structure at a first linkage pivot point on the linkage member. The crank arm and the linkage member are interconnected by an elongated boom member having a first end, a cranking point and a product handling end. The boom member is pivotally connected at its first end to the linkage member. The boom member is further pivotally connected at its cranking point to the crank arm.

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 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 cutter exchanging apparatus includes a cam mechanism mounted on a driving shaft of the apparatus. The cam mechanism includes a cylindrical roller and a plate attached together. The cylindrical roller has a first and second end, and an endless recessed cam groove that includes an upper circumferential recessed cam groove formed adjacent to the first end, a lower circumferential recessed cam groove formed adjacent to the second end and two transition gradually curved cam groove, each connected to each of two free ends of the upper and lower circumferential recessed cam groove. The plate has a recessed groove that includes a starting point formed adjacent to the center point of rotation of the plate and an ending point.

Abstract: A tool changing system for chip forming machine tools is described which with a simple construction ensures a tool change both in conjunction with horizontal spindles and vertical spindles and also spindles which adopt intermediate positions, which minimizes the flight circle or disturbing circle and ensures short change times. This tool changing system includes a double grasper arrangement which is linearly movable by means of a transport device, which can execute pivotal movements over different angular ranges and which has grasper arms which are directed parallel to the pivot axle of the double grasper arrangement and are symmetrically displaced relative to one another in two perpendicular directions relative to the pivot axle, with each grasper arm being adjustable perpendicular to its longitudinal extent over a predeterminable stroke.

Abstract: A device is disclosed for handling and transporting workpieces such as sheet-like labels between a plurality of stations. The stations include at least are workpiece pick-up station in the form of a magazine, at least one workpiece treatment station at which a tag or sticker may be applied to the workpiece, and at least one workpiece deposit station. A workpiece is removed from the magazine by at least one suction device which holds the workpiece as it is transported to, and as it is treated by, the treatment station. The suction device then transports the treated workpiece to the deposit station at which point the suction device releases the treated workpiece. The plurality of stations are disposed equaliangularly about the handling and transporting device; and the suction device is rotated to each successive station such that its outer surface is normal to the presentation surface of each station when the suction device arrives at each station.

Abstract: A farm implement for transporting fallen trees. The implement is attached to a tractor. A pair of hydraulically operated arms have grabbing jaws near the end thereof and close against the roots of a fallen tree. The implement is then raised by the tractor, and the tree may be easily transported.

Abstract: A manipulator for manipulating metal ingots comprises a wheeled carriage with a peel assembly supported on it so that the peel assembly can move relative to the carriage. The peel assembly is supported adjacent one end of the carriage by at least one piston-cylinder device and a plurality of elongate links are pivotally coupled to the peel assembly and to a rigid support means on the carriage away from the end.

Abstract: The inventive manipulator for heavy loads, preferably printing products in loose scale formation and wound up to form rolls, only has a single pivot pin (35) or joint which, according to the invention, is arranged in such a way that the load (5) can be brought into three main positions orthogonal to one another using this single pivot pin or joint. The load is held by a holding device (33,38). The pivot pin (35) passes through the center of gravity of the load, or the center of gravity is located in the pivot point or fulcrum. This makes it possible to grip in frontal or lateral precise manner heavy loads and subsequently to deposit same on a loading device or in a store without great force expenditure using a drive and/or manually. The invention is also characterized by the combination of an industrial truck (10), a lifting device (11) arranged thereon and a mounted implement (31-38) located on the truck and preferably constituted by the inventive manipulator.

Abstract: A mobile truck for moving containers and other articles comprising a base, supporting standards at opposite sides of the base, a handle pivotally attached at the upper ends of the standards, a lift supporting member pivotally attached to the handle and to a suitable lifter arm, the lifter arm having attached at one end a lifting device and the other end of the lifter arm being pivotally attached to a connecting bar, with the other end of the connecting bar being pivotally attached to the truck base.

Abstract: An automatic fastener selection apparatus for segregating a single fastener from a particular contained pile of fasteners and for depositing the segregated fastener into the intake device of a fastening machine is disclosed. The apparatus is capable of segregating headed or nonheaded fasteners within a wide range of sizes. The apparatus includes a scoop (20) that is connected to the forward end of a shaft (22). The scoop is mounted for movement into and out of a bin (24). The bin contains a pile of randomly oriented fasteners (26). When moved into the bin (24) the blade (28) of the scoop is thrust beneath at least some of the fasteners. The scoop is then tipped upwardly so that a number of fasteners remain on the upper surface of the scoop and slide inwardly to the corner (30) of the scoop. The scoop includes a vacuum port (34) and associated mechanisms for capturing a single fastener as the scoop is rotated into an inverted position within the bin, after the shaft is tilted to remove the scoop from the pile.

Abstract: A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.

Abstract: An apparatus for automatically extracting objects individually from containers comprises a stand, beneath which a container having the objects that are to be extracted can be erected; an extractor arm movably disposed on the stand in the area above the container; a device for axially extending and retracting the extractor arm; and a device for guiding the grasping element of the extractor arm to various areas in the container interior. In order to attain reliable emptying of the container, especially in the rim areas and corners, a holding device for the extractor arm is provided, which is connected to the stand via a cardan joint suspension system. A drive mechanism is provided for the longitudinal displacement of the extractor arm relative to the holding device, as are further drive mechanisms for pivoting the holding device in two vertical planes at right angles to one another.

Abstract: A "hands-free" apparatus for loading and unloading piece parts from baskets containing a plurality of such parts on a ferris wheel or other type carrier for submersion into plating or cleaning tanks. The preferred embodiment is adapted for handling a plurality of metallic disks to be plated for the purpose of magnetic recording of data. The system accepts a plurality of baskets transported to it on a conveyor mechanism. The baskets are simultaneously lifted up to a load/unload position at which a mandrel is threaded through the aperture in each metallic disk. The baskets are lowered back down to the conveyor. The mandrel carrying the disks is swung onto a slot on the ferris wheel which is adapted to carry approximately twelve such disk carrying mandrels. The ferris wheel is stepped to the next slot which is loaded the same way. After all slots on the ferris wheel are loaded, the entire ferris wheel is removed from engagement with the loader and transported through the fabrication cycle.

Abstract: Handling apparatus for the transfer of sheets, particularly of glass, from a horizontal conveyor belt to a container for vertical sheets and vice versa, comprising a rotating and translating device having transfer arms rotating by about 170.degree., supporting a counter rotating shaft, which supports a frame provided with suction pads, as well as a carriage which supports the container, the container being moved into the required exact loading/unloading relationship by the action of a feeling device which detects the position of the last sheet in the container.

Abstract: A rotational apparatus for molding dolls including an automatic control mechanism, a mold holding mechanism, a robot mechanism having a mold cover opening and closing means for opening and closing the mold, mold releasing means for releasing a molded product from the mold, mold release detecting and cleaning means and a raw material charging means, a heating means and a cooling means.

Abstract: A compact industrial robot for mounting on a lathe includes a traveling body transported along an axis (Z axis) parallel to the axis of a spindle provided on a lathe, a column provided on the traveling body for extending and retracting in a vertical direction (Y axis), a first rotating mechanism provided on the column for rotation about an axis (C axis) parallel to the spindle axis, and a second rotating mechanism provided on the rotary shaft of the first rotating mechanism and having a hand. The hand, having a double-hand configuration, is swung by the first rotating mechanism in a plane orthogonal to the spindle axis, and is swiveled by the second rotating mechanism about the longitudinal axis (.alpha. axis) of the second rotating mechanism.

Abstract: Apparatus for cutting and preparing cables use a grip head having a cable gripping device which is swingable by a drive between end positions delimited by a shock absorber and which is mounted on one end on a shaft rotatable about an axis extending rectangularly to a cable run. A force-transmitting element is coupled to be swingable with the grip head in spaced relationship to the mentioned axis, and a link is disposed between the force-transmitting element and the shock absorber. The force-transmitting element is positionable in a mid-position between end positions thereof opposite to the shock absorber and on a line intersecting the mentioned axis at right angles. The force-transmitting element may be arranged on a drive power link which is mounted on the same end of the shaft as the grip head.

Abstract: A simple, low mass, low cost, articulating/articulating and rotating wrist assembly for use on automatic machine tools to provide two important degrees of freedom of movement of an end effector tool in the form of an articulating motion either alone or in conjunction with a rotating motion. Where both rotation and articulation are used the sequence is important in order to obtain new and different movements of the end effector tool for transcribing cones, etc. The fundamental articulating motion is achieved through the kinematics of a primary, parallelogram-type pantograph driven remotely from the automatic machine tool and employing a secondary restraining mechanism either in the form of a secondary parallelogram-type restraining pantograph or a cluster of sun, idler and planet gears.

Abstract: A mobile yard crane for handling containers or the like is disclosed, said crane includes at least two lifting jibs that act along vertical planes fixedly parallel to one another. The crane jibs are connected with one another, preferably by way of a hydraulic circuit, in order to ensure congruence and synchronism of their movements. The heads of the crane jibs are fitted with attaching devices for firmly retaining a container engaging apparatus or spreader at least at two locations thereof.

Abstract: An industrial robot having a hollow arm rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism attached for rotation at one end of the arm, the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders colinearly disposed within the arm, the first cylinder being fixed and the second cylinder being movable longitudinally of the arm. A piston rod interconnects the first and second air cylinders, the piston rod having a first piston at one end received in the first cylinder and a second piston at the other end received in the second cylinder. The piston rod is moved longitudinally of the arm by introducing air selectively into the first and second air cylinders. A pulley is affixed to the first cylinder, and a tension member such as a wire or belt is connected between the rotary shaft of the wrist mechanism and the pulley.

Abstract: There is provided a grapple for lifting and maneuvring elongated items, which includes a main frame and a sub-frame, the two frames being pivotally mounted with respect to each other about a substantially vertical axis. The sub frame includes grappling jaws and heel elements which are capable of receiving elongated items. Mechanisms are provided for rotating the sub-frame with respect to the main frame. The heel is fixed with respect to the sub-frame and is spaced from the grappling jaws.

Abstract: A flexible arm for a program controlled manipulator, with a hydraulic rotary actuator supported on an inflexible arm, a first arm member secured to a rotary shaft of the actuator, a second arm member connected swingably to the first arm member by way of a shaft, a third arm member connected rotatably to the second arm member, a link member connected rotatably to the first and third arm member, and a working tool mounted to the free end of the flexible arm.

Abstract: A carrier that is adjustably interconnected with its base by means of parallelogram articulation including spherical bearings. The framework interconnecting the support with its base, includes two generally horizontal arms laterally spaced apart and interconnected at their forward ends with the support by spherical bearings and at their rear end to a hinge plate about spaced vertical pivots. The hinge plate is mounted for vertical swinging movement about a horizontal axis on and relative to the base. Another parallelogram linkage, this one arranged in a vertical plane, is provided by a fluid pressure cylinder disposed below the horizontal arms and serving as a tilting cylinder, which is connected by spherical bearings at its forward and rear ends to the carrier and to the base, respectively. A fluid pressure cylinder serving as a lifting cylinder pivotally interconnects the base and the lower part of the hinge plate.

Abstract: A wrist mechanism for an industrial robot having a robot casing, robot arms capable of extending from and contracting to the robot casing, a robot hand for gripping a workpiece, and a wrist arranged between the robot arms and the robot hand, comprises: two reduction gears with a high reduction ratio connected respectively to each of two high speed rotational driving motors, the two reduction gears cooperating with one another for generating two individual reduced rotational outputs, and; two transmitting mechanisms, connectable to the hand, for transmitting respectively the two reduced rotational outputs to the hand, thereby causing respectively rotational motion and swinging motion of the hand.

Abstract: An apparatus for moving an operating head automatically through programmed functions using a telescoping arm assembly. The operating head and arm assembly are mounted on a base and are normally capable of motions about or along several axes, including linear extension and retraction relative to the base. The telescoping arm assembly includes a main carriage mounted on the base, an intermediate carriage mounted on the main carriage, and a head carriage supporting the operating head and mounted on the intermediate carriage for telescoping movement relative to the main carriage. The operating head is connected to the head carriage by a wrist joint for pivotal movement about a wrist tip axis, and even for additional rotary movement about a wrist roll axis, the control of the respective movements being accomplished for example, by chain and sprocket mechanisms in order to control the wrist movements continuously, even during the telescoping extension and retraction movement of the carriages.

Abstract: A tong arm assembly for carrying and moving a tong head arcuately between two horizontally spaced positions includes a housing having the tong head pivotally connected to one end; the other end of the housing being rotatably mounted to a fixed arm stud. A pair of levers located within the housing have their first ends pivotally connected to an extension of the stud and their second ends pivotally connected to the tong head. As the housing is arcuately moved, the levers maintain the tong head steady and in its proper orientation.

Abstract: Disclosed is a stabilization system for an apprentice pantographic data entry device having at least six pivot axes of rotation. The stabilization system is formed of a plurality of pivoted linkages forming at least one parallelogram which support weights counterbalancing the arms of apprentice pantographic data entry device. The linkages and a series of pulleys rotate the counterweights in response to the movement of the arms. In a first embodiment, a pair of parallelograms are symmetrically disposed about the first arm. In a second embodiment, a single parallelogram is disposed on one side of the arms. In a third embodiment, a single parallelogram is disposed in a plane defined by the first and second arms.

Abstract: A log handling attachment for a bulldozer or similar vehicle consisting of a bracket assembly arranged to be detachably mounted on the rear portion of the vehicle and carrying a horizontally rotatable articulated boom provided with hydraulic cylinders for moving the pivoted parts of the boom, and provided with a hydraulically-driven gear and sprocket chain system for swinging the boom around a vertical axis through a wide angular range. A hydraulic winch is mounted on the boom, having a long cable running through sheaves on the boom and provided with a log-engaging tool at the end of the cable. Operating power is derived from the power take-off shaft of the vehicle.

Abstract: A remote manipulator arm interconnects a manipulator tool (13) to a support (1). The arm comprises three independent motorized arm components (7,17 and 11). Conventional arm components are arranged for end-to-end coupling with a fixed end coupling at one end and articulated coupling disposed in a fork (10) at the other end. The present invention provides at least one intermediate component (17) which further includes at least one fixed coupling (21) arranged at 90.degree. to its end coupling. Such a right-angled component provides greater flexibility in the design of a remote manipulator arm assembled from such components.

Abstract: A wrist construction for an industrial robot having an arm member including a base unit mountable on the arm member, a carrier assembly universally connected to the base unit for pivotal movement about first and second axes of the base unit, a tool supporting unit universally connected to the carrier assembly for pivotal movement about third and fourth axes of the carrier assembly, an element operatively connected to the carrier assembly that pivots the carrier assembly about the first and second axes of the base unit, and an element responsive to the pivotal movement of the carrier assembly about the first and second axes of the base unit that pivots the tool supporting unit about the third and fourth axes of the carrier assembly.

Abstract: An industrial robot having two rotative mechanisms that are adapted to rotate two arms relative to the axial directions thereof and which are interconnected such that their longitudinal axes intersect at right angles. An arm which belongs to the first rotative mechanism is secured to the base of the robot, and a gripping member is attached to the end of a free arm which belongs to the second rotative mechanism. This permits the gripping member to be moved in a plane which is parallel to the X-Z plane, and then in a plane which is parallel to the Y-Z plane, so that a workpiece or tool replacement can be moved along the perpendicular side walls of a machine tool frame.

Abstract: A takeoff and restacking device is operated in coordination with printing apparatus that applies decorations to the outside of cup-like containers. The apparatus includes a plurality of container holding mandrels extending radially from a turret which moves in angular steps between stations spaced by a distance equal to the space between adjacent mandrels. At one of these stations (takeoff station) a bellows-type suction head mounted on a support arm of the device engages a decorated container and carries it to a stacking region where the container is added to a stack at the rear thereof. The support arm is pivotally mounted to a drive arm on a movable pivot located at one end of the drive arm and intermediate the ends of the support arm. The end of the drive arm remote from the movable pivot is mounted to a fixed pivot about which the drive arm oscillates.

Abstract: First second and third drive units for a mechanical manipulator are located on a support. An articulated arm assembly extends from the support and includes a first member pivotally connected to a first pivot axis on the support to form part of a first lever-parallelogram having a first lever and also part of a third lever-parallelogram having a second lever. A second member is pivotally connected at a second pivot axis to the first member and forms part of a second lever-parallelogram. A third member is pivotally connected at a third pivot axis to the second member and also forms part of the second lever-parallelogram. The drive units are operative to drive the first member and the first and second levers so that rotation of the first and second levers through first and second angles produces rotation through the same first and second angles by the second and third members.

Abstract: The invention refers to a manipulating device, particularly for industrial obots, comprising an articulated gripping arm located and extending from a support, of the kind in which the articulated gripping arm comprises a lever system with at least a first, a second and a third member pivotally connected with the pivot axes parallel to each other, the first member being pivotally connected at the support. Such manipulating devices are equipped with at least two drive units to move a driven member to a predetermined angular relationship with respect to a preceding member or to the support as the case may be. A gripper or tool is located at the free end of the last (outermost) member. The invention particularly concerns manipulating devices for the purposes of the watch industry where relatively small parts must be precisely manipulated.

Abstract: Motorized manipulator, wherein it comprises a body, a shaft which rotates about its longitudinal axis with respect to the body, an upper arm articulated to the end of the shaft about a shoulder axis orthogonal to the longitudinal axis of the shaft and to the longitudinal axis of the arm, an intermediate arm directly articulated to the end of the upper arm about an elbow axis parallel to the shoulder axis, a forearm articulated to the end of the intermediate arm about a third axis parallel to the elbow axis, the forearm being able to rotate about its longitudinal axis, a tool having a longitudinal axis mounted in pivotal manner at the end of the forearm about an axis perpendicular to the plane defined by the longitudinal axes of the forearm and the tool, the latter being able to rotate about its longitudinal axis and a plurality of motors fixed to the body and a transmission including cables and pulleys for transmitting the control movements of the motors to the corresponding moving members of the manipulator.

Abstract: An industrial robot system comprises a pair of vertically spaced parallel guide rails rigidly supported from the ground, a slide member slidably mounted on the guide rails having upper and lower pivots, a robot arm structure having a housing pivoted at the upper pivot of the slide member, and an outer and inner shaft axially movable as a single piece along the longitudinal axis of said housing, the inner shaft being rotatable about the longitudinal axis. A tool holding arm is attached to the forward end of the housing for unitary axial movement with the outer shaft and for unitary rotation with the inner shaft. A fluid operated telescopic cylinder is pivotally connected between the lower pivot of the slide member and a lower end portion of the robot housing for pivoting the robot arm structure at a desired angular position.

Abstract: A coupler for connecting a manipulator arm of a remote manipulator device to a tool body and its associated tool anchor linkage constructed according to the present invention comprises a tool holder adapted to be secured to the manipulator arm and a tool actuator piston mounted in a cylinder in the tool holder. The tool holder has a first latching mechanism for releasably securing a tool body with respect to the tool holder. The tool actuator piston has a second latching mechanism at one end thereof for releasably securing a tool actuator arm thereto. The second latching mechanism is located at an end of the tool holder inwardly from the first latching mechanism.

Abstract: A robot comprising a chain of members connected in pairs and mobile with respect to one another under the action of drive device controlled by a computer, each of the members being operative to drive a terminal member of the chain in a movement determined by a monitoring device controlling the computer, a single motor for selectively actuating, via a selection device controlled by the computer, each of the mobile members separately, and a single monitoring coder for selectively determining the movement of the mobile members.

Abstract: Apparatus for lifting, repositioning and transporting relatively large storage drums that includes a carriage containing a movable frame in which is pivotably supported an open ended drum saddle. The saddle is made up of two parallel side rails joined together by a back rail. The distance between the side rails is less than the diameter of the drum whereby the drum can be cradled in a horizontal rest position within the saddle with one of its planar end walls seated against the back rail of the saddle and its cylindrical side wall resting between the two side rails. A cinching mechanism acts in cooperation with the saddle to securely lock the drum to the rails. In operation, adjustment of the frame and the saddle is accomplished independently to permit a drum to be lifted from either a horizontal or vertical rest position and brought to any desired secondary position within the operating range of the apparatus.

Abstract: A multiple stage press of the type having a plurality of punches and dies mounted in substantially parallel planar die sets and including a tool changing mechanism comprising a magazine for holding the tools, a transfer mechanism movable for carrying tools from the magazine to the die sets and from the die sets to the magazine, the transfer mechanism including a gripper arm pivotable about an axis inclined relative to the planes of the die sets, the gripper arm being mounted on a slide so as to be rectilinearly movable parallel to the planes of the die sets, whereby a tool carried by the gripper arm may be positioned between the die sets.