Abstract: Apparatus for pivoting a robot or manipulator operating head about a yaw axis wherein the head is mounted on a wrist mechanism with a roll axis. The operating head is mounted on a head support member connected by a yaw pin to the forward end of the wrist mechanism for pivotal movement between a normal, forwardly extending position and a yawed position. A fluid cylinder with a forwardly extending piston rod is mounted on the wrist mechanism and is operatively connected by flexible means to the head support member. The flexible means includes a bell crank with one arm operatively connected to the piston rod, and a link connected between the other end of the bell crank and the head support member. When the piston rod extends and retracts, the operating head is pivoted about the yaw axis. The linkage isolates the fluid cylinder from the gravity forces resulting from the moment produced about the yaw axis by roll motion of the operating head about the roll axis when the head is in the normal position.

Abstract: A robot installation for performing a plurality of assembling or machining operations at a work or assembly station comprises a robot with a rotatable tool support, e.g. a ring or disc, carrying a number of tools. The turning and positioning of the tool support are controlled by control equipment of the robot. The tools are adjustably positioned on the tool support.

Abstract: A casing stabbing apparatus which includes a derrick bracket subassembly for attachment to a brace of a derrick, and a boom having an end pivotally connected to the bracket assembly for pivotation about a vertical axis and about a horizontal axis. A pair of arcuate casing gripping jaws is pivotally connected to the second end of the boom. A piston and cylinder assembly extends between the jaws to selectively converge and diverge the jaws. A second piston and cylinder assembly extends between the bracket assembly and the boom to elevate the boom by pivotation about a horizontal pivotal axis. A third piston and cylinder assembly extends between the bracket assembly and the boom to swing the boom laterally in pivotation about a vertical axis.

Abstract: A robot hand for stacking boxes in which lower ends of a pair of forks opposed to each other to support flanges at upper ends of a box are set at a predetermined level difference in a vertical direction.

Abstract: A gripper assembly for incorporation in a programmable machine comprises a gripper having a peripheral portion defining a plurality of different shaped object-receiving recesses therein, a member for supporting the gripper, an arrangement for securing the gripper to the supporting member for rotation relative thereto, and apparatus responsive to an electrical signal for rotating the gripper relative to the supporting member. A programmable machine incorporating two such gripper assemblies is also disclosed.

Abstract: The invention comprises an apparatus for digging obstructions out of the ground. The apparatus has a first frame adapted to be attached to the framework of a three point hitch connection on a tractor. The hitch connection has hydraulic means to raise and lower the hitch whereby the hitch will raise and lower the first frame. The apparatus has a second frame pivotally mounted to the first frame with digging members fixed on the second frame. The apparatus has hydraulic means for pivoting said second frame on its pivotal mounting to an angle whereby the first frame may be lowered and the digging members may be engaged into the ground at an angle to penetrate beneath an obstruction and may be pivoted upward to lift the obstruction out of the ground, a hook is pivotally mounted on said second frame to pivot down over said rock digging members to secure a rock on said members.

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 paved asphalt stripping and digging bucket apparatus is disclosed which is capable of effectively carrying out the stripping-off and digging of a paved asphalt. In the apparatus, a bucket connected to an arm and a hydraulic cylinder of a tractor shovel has a bottom surface formed into a shape having a radius when it is viewed sideways, to thereby facilitate the pivotal penetration of pawls of the bucket between the asphalt and a sublayer and allow the pawls to act as a lever on which the fulcrum is on the sublayer.

Abstract: Apparatus for assembling different size parts in a vertical assembly is provided which includes a pair of fingers attached to and extending from the gripper of a manipulator in parallel relationship and moveable toward and away from one another under control of the gripper. Different diameter curved outer sections extend around the periphery of and are stepped along the length of the fingers. The smallest diameter curved section is located at the outer end of the fingers and successively wider diameter sections are located along the fingers as the inner end is approached. One of the predetermined diameter sections has a predetermined slope, each part to be assembled has an opening therein of a diameter slightly larger than a diameter of a section of the fingers along the length thereof.

Abstract: A lead clamping apparatus clamps and mounts to an electronic circuit board an electronic element having a plurality of leads which are arranged in two rows and are oriented in the same direction. The apparatus includes a plurality of pairs of clamping members arranged in the same direction as the two rows of leads, a support slidable in a direction perpendicular to the direction of pivotal movement of the clamping members to abut against a desired number of the clamping members, whereby allowing the same to perform a clamping action, a drive source for slidingly driving the support, a piston for opening and closing the clamping members through the support, and a pusher slidable in the same direction as the support and for biasing the electronic element to insert the same into the circuit board. Accordingly, it is possible to selectively use the clamping members, of which number corresponds with that of the leads of the electronic element.

Abstract: A gripper pad or gripper tool changer for a multi-axis manipulator is provided which is capable of automatically attaching in locked position a selected pair of a plurality of gripper pads or tools to the fingers of a gripper. Each pair of gripper pads or tools are mounted in a holder mechanism which is attached to a surface within the work envelope of the manipulator. The pairs of gripper pads or tools are picked up from the holder and attached and locked to the gripper fingers by controlled movement of the manipulator. A pair of gripper pads or tools are returned to the holder by controlled maneuvering of the gripper into the holder such that unlocking means associated therewith provide unlocking of the gripper pads or tools from the gripper fingers so that the gripper pads or tools can be detached from the gripper fingers. Error detection of missing or displaced finger tools in a pickup operation is provided.

Abstract: A transfer mechanism in which the jaws for gripping and transferring the workpiece are mounted for rotation with a pivot shaft so that the jaws are translated between spaced work stations as the pivot shaft is rotated, and a cam member rotates with the pivot shaft and also slides axially along the pivot shaft for camming coaction with the jaws to selectively open and close the jaws in any angular position of the pivot shaft and in any translatory position of the jaws.

Abstract: A manipulator drive has a main support defining a main longitudinal axis, a housing rotatable on the main support about the main longitudinal axis, a head defining a head longitudinal axis and rotatable on the housing about an outer transverse axis crossing the main longitudinal axis, and a holder rotatable on the head about the head longitudinal axis. Respective housing, head, and holder stepdown drive transmissions have outputs connected directly to the housing, head, and holder and inputs and have stepdown transmission ratios of at least 70:1.

Abstract: Articulating clam-type grapple for a backhoe which includes a mounting head member for connecting to the backhoe dipper stick and tool cylinder. A grapple mounting assembly is pivotally attached to the head mechanism which enables both grapple jaws to be moved to open and closed positions. The mounting assembly includes a hydraulic motor and gear box combination for rotating the grapple such that the grapple and the jaws thereof are positively controlled in all directions of movement.

Abstract: A sheet handling device has lower support arms and upper support arms. The lower support arms are provided with extension members which provide further support for the back sheet of the batch which is being moved. The main use of the sheet handling device is to separate a batch of sheets from a stack or add a batch to a stack of sheets, both speedily and safely thereby making it more practical for larger stacks of sheets to be stored and transported.

Abstract: A backhoe clamping device is provided which is designed to be easily added onto standard existing backhoe equipment. The device includes mounting brackets which are secured to the side bucket links of the existing backhoe and bucket arrangement. Clamp links are pivotally attached to these mounting brackets, thereby offsetting their pivot points from the existing links. Clamp arms are pivotally attached to the clamp links, as well as to the backhoe dipper arm. In this way, the existing backhoe leverage actuates the clamp arms, causing them to move in conjunction with the bucket to achieve a clamping effect.

Abstract: A digger for digging out substantially vertically-sided holes e.g. for gravestone monument foundations, is in the form of an attachment adapted to be connected on the dipper stick of a backhoe machine. The attachment has a downwardly-depending digger frame pivoted at its upper end to an attachment frame which is connected to the free end of the dipper stick. A vertically extending operating shaft extends upwardly relative to the digger frame and is connected through a pair of lower linkages to the sections of a clam shell bucket mounted on the lower end of the digger frame. The upper end of the operating shaft connects through a connecting link and a rocking lever to the piston of the dipper stick piston and cylinder arrangement.

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: A container handling apparatus adapted to be supported on a rear loading refuse truck and for gripping a container and for causing the container to be dumped into the refuse truck. The apparatus includes a pair of clamping arms supported for movement between a first position spaced from opposite sides of the container and a clamping position where they clampingly engage the container. Apparatus is also provided for causing such movement of the clamping arms, that apparatus including a fluid cylinder including an extendable piston, the clamping arms being moved from the first position to the clamping position when the extendable piston moves from the retracted position to an intermediate position, and the clamping arms moved from the container gripping position to the dumping position as the piston moves to an extended position.

Abstract: The gripping apparatus described comprises a four-bar linkage arrangement for so controlling movement of the two pairs of parallel beams and fingers operatively connected thereto as to cause the gripping surfaces of the fingers to concurrently move in rectilinearly aligned paths and remain parallel throughout their excursion during gripping and releasing of an article and apply a constant gripping force to the article irrespective of the extent to which the fingers are moved toward each other into gripping contact. The beams are pivotally connected directly at their one ends, and also intermediate their ends via links, to a fixed member; and the beams at their opposite ends have a pin-in-slot connection with the fixed member. When force is applied to the links to operatively cause the fingers to grip the article, the links will rock and the arc described by each beam will be accurately cancelled by the arc generated by each link.

Abstract: A workpiece gripping mechanism for an industrial robot is described. A support member having a first jaw member mounted on it for pivotal movement about a first axis is provided. The support assembly and the first jaw assembly define a first rotary fluid-actuated motor operable to pivotally displace a jaw member in the first jaw assembly relative to the support member about the first axis. A second jaw assembly is also mounted on the support member for pivotal movement about the first axis. The support member and the second jaw assembly define a second rotary fluid-actuated motor operable to pivotally displace a jaw member in the second jaw assembly relative to the support member about the first axis whereby the first and second fluid-actuated motors may be operated independently to pivotally displace the jaw members relative to each other for gripping and releasing a workpiece and to displace the jaw members relative to the support member.

Abstract: A spacial mechanism includes an arm having first and second spaced support points. The first and second support points are supported by first and second swivel bearings. The first and second swivel bearings are supported by first and second rotary elements that cause the first and second support points to travel through first and second circular paths. First and second independently controllable motors cause the first and second rotary elements to rotate at selected rates in selected directions. One end of the arm is caused to trace any predetermined pattern in a limited region by appropriately controlling the rotation of the first and second rotary elements. Analogous optical and fluid devices are also disclosed.

Abstract: This invention relates to an attachment for the dipper stick of a backhoe and more particularly relates to a grapple rake for mounting on the end of the dipper stick.

Abstract: A self-centering clamp for drilling tubulars includes first and second transverse guide rods. Two opposed clamping jaws are guided along the first guide rod. These jaws are positioned by two opposed rocker arms, each of which is mounted to a cross brace which slides along the second guide rod. The rocker arms are symmetrically positioned by a link mechanism which also slides along the second guide rod and by a hydraulic cylinder coupled between the two rocker arms. The entire clamp is supported in a frame onto which is mounted the two guide rods. The frame is pivotably mounted to a pipe boom so as to rotate about an axis parallel to the clamped pipe and transverse to the first and second guide rods. In a second embodiment the guide rods are replaced with a plate having guide slots.

Abstract: The self-propelled load carrying vehicle includes a vehicle framework supported by road wheels, and railroad wheels are mounted on the framework and are movable up and down with respect to the framework for supporting the vehicle from the railroad track. The rear road wheels propel the vehicle along the track. A sub-frame is rotatably mounted on the vehicle framework about an upwardly extending axis, and dump body is pivotally mounted on the sub-frame about an approximately horizontal axis. A conveyor is mounted to the rear end of the sub-frame and rotates with the sub-frame and dump body and receives the load from the dump body when the dump body is tilted and progressively urges the load on beyond the rear opening of the dump body.

Abstract: An industrial robot for gripping workpieces of diverse shape comprises at least one finger preferably two arranged for pivotal movement on respective sides of the workpiece. Each finger has at least one workpiece engagement member or joint which is movable thereon. Fluid pressure operated means are connected to the workpiece engagement member or joint so that it is moved outwardly from the associated finger to engage the workpiece and to be locked in the engaged position so that it will reengage in the same position after the finger is shifted relative to the workpiece to reengage it.

Abstract: A vehicle for removing slash from steep logging slopes includes an anti-skid propulsion system characterized by a power winch for reeling in an uphill-anchored cable and a pair of crawler tracks (or large tires) driven in synchronization with the winch. The vehicle has an articulating tail boom for working against the cable to assist in maneuvering the vehicle along the slope and stabilizing the vehicle during slash gathering operations. A knuckle boom which is extendable from the vehicle has a grapple for gathering slash within a relatively large area around the vehicle. Removal of slash from the operating site of the vehicle is accomplished by transporting the slash to an access landing using a mobile slash wagon or by chipping the slash using a chipper mounted on the vehicle and then pneumatically carrying the chips through a pipe to a storage van at an access landing remote from the vehicle.

Abstract: A manipulator has an end effector with a tool end movable with respect to a reference base by means of a multi-axis joint system. The joint system is contained within a housing to provide the relative movement through a mechanical power train. Fluid ducts are provided through both a first, duct component and a second, end effector power train component having an internal duct, extending into a housing plenum at first and second points, thereby providing fluid communication between the plenum and end effector. The housing has relatively movable sealed sections, and sealing means are provided at the interface of said first and second duct components with the housing.

Abstract: A gas-tight connector, especially for the remote handling of radioactive or hazardous products by means of a master-slave manipulator. The connector is composed of a tong-unit connector element, a gas-tight connector element and a remote-manipulator connector element. The gas-tight element is engaged coaxially within the tong-unit element and the remote-manipulator element is engaged coaxially within the gas-tight element and also coupled to an articulated supporting arm. All three elements are traversed from one end to the other by shafts which are capable of translational motion in order to initiate opening and closing of the tong unit.

Abstract: A vehicle for removing slash from steep logging slopes includes an anti-skid propulsion system characterized by a power winch for reeling in an uphill-anchored cable and a pair of crawler tracks driven in synchronization with the winch. The vehicle has an articulating tail boom for working against the cable to assist in maneuvering the vehicle along the slope and stabilizing the vehicle during slash gathering operations. A knuckle boom which is extendable from the vehicle for gathering slash within a relatively large area around the vehicle and preparing the soil for planting. A slide mechanism is disposed at the end of the knuckle boom for selectively varying the overall length of the boom. The slide mechanism includes a pair of claws which can be operated as a grapple for gathering slash or as a rake for scarifying the forest soil. The slide mechanism can be tilted for optimum orientation of the claws during raking.

Abstract: Apparatus for transferring and manipulating a plurality of containers in a sequence is disclosed including a mechanical manipulator arm 10 having a gripping device B which automatically picks up a container at a fixed pickup position P and transfers it to a processing station.At a processing station X, the container is loaded with silicon wafers and thereafter returned by the arm to the fixed position P at the pickup and return station Y. A plurality of the containers may be processed in sequence from the fixed pickup position by providing a movable carriage 58 upon which container pedestal platforms 54 and 56 are supported, at least one of which is an elevator platform. The platforms include abutments 54c and 56c for properly positioning the containers for accurate pickup by the manipulator arm.

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: Loading apparatus for use with a tractor having a three-point hitch including an upper stationary pivot point and a pair of opposed generally paralleled lifting arms below the pivot point, including a horizontal lifting bar supported by the outer end of the tractor lifting arms, a pair of wing members having the inner end pivotally secured to the tractor pivot point and the outer ends configured so that they are generally parallel and spaced apart sufficient to engage the ends of a cylindrical hay bale, and a hydraulic grasping cylinder piston between the wing members controllable so as to move the wing members together to grasp a hay bale after which the tractor lifting arms may be actuated to lift the lifting bar and thereby the wing members to lift the hay bale for transportation.

Abstract: A transfer device of the opposed finger type is disclosed for transferring an article along an arcuate path of travel between two stations while rotating the article, so that transfer from one station to another is effected while simultaneously turning the article 180 degrees about an axis substantially normal to the path of travel. The transfer device has a subframe with a fixed reaction element mounted thereon and an elongated transfer arm mounted on the subframe in a manner which allows the transfer arm to rotate about its longitudinal axis as well as pivot with respect to the subframe. One end of the transfer arm has a rotating element which is engaged with the fixed reaction element which causes the transfer arm to rotate about its longitudinal axis as the transfer arm pivots.

Abstract: A grapple skidder vehicle has a grapple assembly rotatably and pivotally mounted with respect to an outer boom point end portion of a boom extending from the vehicle. The grapple assembly is supported from a cylindrical rotator shaft which is mounted for rotation in a bushed bearing which extends integrally upwardly from a base plate which forms a part of the boom point portion of the boom. The vertical thrust of the weight and load on the grapple assembly is transmitted through the rotator shaft to a rotator shaft operator arm concentric with and encircling the bushed bearing and to a relatively soft wear plate situated between the base plate and a bottom disc-shape base portion of the rotator shaft operator arm. The grapple assembly is pivoted with respect to the boom by a linear hydraulic motor pivotally connected between an outer end portion of the rotator shaft operator arm and the boom.

Abstract: A self adjusting actuator system (32/32') has an actuator housing (40), a telescoping piston (52) defining therewith head and rod end chambers (58,60), and a compression spring (66) disposed for biasing the piston (52) in a preselected direction against an external force. A control system supplies fluid selectively to either of the chambers (58,60) and includes control device (33/33') for selectively permitting egress of fluid from the rod end chamber (60) to permit the piston (52) to move in the preselected direction in response to a change in the external force. Such system is particularly useful in a log grapple (10).

Abstract: A work changing mechanism for machine tools, especially lathes, designed for automatic change of works to be clamped by centers or chucks comprising a shuttle car movable in the direction of the spindle axis of the lathe, a slide vertically movable along the shuttle car and rotatably arranged on the slide and about a horizontal shaft extending transversely to the spindle axis is a gripping mechanism including two pairs of jaws which are horizontally displaceable parallel to the shaft on opposite sides thereof. The first jaw pair is adapted to feed work into the machine tool and the second pair to remove machined work from the machine tool. Loading and removing work pieces may be rapidly achieved because the work changing mechanism is controlled by computer.

Abstract: The invention related to an apparatus for lifting, handling, transporting and unrolling large round hay bales. Preferably said apparatus is employed on the bed of a pickup or truck and includes a frame mounted on the pickup bed with a beam pivotally mounted thereon and with arms pivotally mounted on the beam. The arms have bale penetrating members mounted or fixed thereon. First power actuated means operably pivot the beam in an arc about the rear end of the pickup toward and away from the ground. Second, power actuated means for pivoting the arms and penetrating members about the ends of the beam toward each other in such fashion as to squeeze a bale sufficiently to allow the first power means to lift the bale from the ground, and to pivot away from each other to release the bale. The bale penetrating members are mounted on the arms to allow a bale to be unrolled or distributed.

Abstract: A self-loading apparatus for picking up and moving a large bale of material, such as large, cylindrical shaped bales of hay having diameters up to about 3 or 4 feet and longitudinal lengths up to about 5 or 6 feet. The apparatus includes a main frame member supported on wheels mounted near the end of the main frame. A hitch frame has one end pivotally connected to the front end portion of the main frame, with the other end of the hitch frame adapted for attachment to a tow vehicle. The main frame is adapted to be tilted upwardly about the support wheels when braking means on the wheels are activated and the tow vehicle is backed up. A pair of load engaging and clamping swing arms are pivotally attached to the respective sides of the main frame.

Abstract: A grapple system is disclosed for mounting on the bucket of a tractor. A pple tooth frame is provided having a plurality of grapple teeth extending in fork-like fashion from a pivot tube. A linkage housing is also provided which contains first and second series connected linkages with a hydraulic extension member pivotally connected between the linkages. The free end of one of the linkages is connected to a first fixed point and the free end of the other linkage connects to a crank arm on the grapple tooth frame. The free end of the hydraulic member connects to a second fixed point in the linkage housing. The linkage housing connects to the grapple tooth frame via the pivot tube. When the grapple teeth are in an upward or open position, the linkage connecting directly to the crank arm is approaching an in-line configuration with the hydraulic member. In a closed or load engaging position of the teeth, the two linkages are approaching an in-line configuration.

Abstract: Apparatus adapted to be attached to the boom arms of a conventional tractor supported front end loader for use in engaging, lifting, unrolling and performing other handling requirements of a large rolled round bale of hay. The apparatus includes frame elements designed to be operatively and removably secured to the boom arms of a front end loader to provide operating support for a pair of horizontally spaced and adjustable bale clamping arms, with an actuator operatively connected to the bale clamping arms and operable of effecting adjustment of the bale clamping arms between a closed bale clamping position and an open bale release and receiving position. A pair of disk elements are coaxially and rotatably mounted on the extended ends of the bale clamping arms and detailed to include bale engaging projections whereby a bale can be engaged and rotatably supported by the disk elements between the clamping arms.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

Abstract: An improved pipe guiding apparatus for vertically aligning pipe section joints in a derrick having a worktable and an elevator for vertically suspending at least one pipe section above the worktable. The apparatus is comprised of a rotary axle for horizontal attachment in the derrick, a frame attached to the rotary axle, a power cylinder for rotating the rotary axle, a pair of guide jaws pivotally attached to the forward end of the frame, a cylinder for moving the guide jaws between open and closed positions attached thereto and control for remotely operating the power cylinder for rotating the axle and the cylinder for moving the guide jaws so that that frame can be selectively moved to a position whereby the guide jaws are adjacent a vertically suspended pipe section and the guide jaws thereafter closed on the pipe section.

Abstract: A method of placing an article onto a surface in close proximity to an adjacent previously-placed article, comprises gripping the article between a pair of jaws, tilting it away from the previously-placed article about an axis parallel to the surface and thereafter releasing it by opening the jaws, the tilt being sufficient to bring the lowered side of the gripped article close to the surface, with the elevated jaw remaining sufficiently high to clear the previously-placed article as it opens.

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 power-operated implement mechanism mounted on the tip of a boom. The mechanism includes a torque tube which is rotated under power to rotate an implement mounting. A fluid-operated ram which is actuated to cause opening and closing of work implements in the mechanism has its rod extending downwardly through the torque tube then to be connected through linkage to the work implements. The work implements are pivotally mounted on the implement mounting. The implement mounting is rotated about the axis of the torque tube through power-operated means operatively connected to the torque tube.

Abstract: An arcuate-shaped upper jaw is pivotally attached near its inner end to the outer end of the stick member extending from the boom assembly of a backhoe, and an arcuate-shaped lower jaw is pivotally connected to the inner end of the upper jaw, the lower jaw further being pivotally connected by means of a rod or a hydraulic cylinder to the underside of the stick member. A double-acting hydraulic cylinder disposed on the stick member causes movement of the upper jaw, which thereby effects movement of the lower jaw, such that the jaws can be moved together for clamping or apart for a raking operation by the lower jaw.

Abstract: A gripping tool, particularly intended to be fitted on the jib of a crane. The tool comprises a support member and gripping jaws arranged to pivot towards and away from one another relative to said support member. By means of connecting rods 25 the gripping jaws are removably secured in pairs to the ends of two tubular shafts and are arranged to pivot jointly in opposite directions about coaxial shaft journals on the support member. Each gripping jaw is provided with a laterally directed hub sleeve having a non-round cross-sectional shape. The hub sleeves are arranged for insertion into the ends of the tubular shafts.

Abstract: A manipulator comprises a carriage on which is mounted a peel having jaws for gripping a workpiece. The peel can move relative to the carriage longitudinally vertically and in tilt. Detectors give signals representing parameters on which the position of the peel depend and a circuit derives from those signals an indication of the position of the jaws, taking into account the angular attitude of the peel. The position indication can be used to control the peel jaws to a required position relative to the carriage.

Abstract: A load-lifting mechanism at the front of a lift truck carries an upright boom with a pair of parallel spaced-apart forwardly cantilevered boom portions rotatably supporting a horizontal pivot tube between their forward ends. A vertical pivot shaft rotatably carried by the pivot tube suspends a grapple beneath the cantilevered boom portions. The grapple includes a yoke mounting and a pair of grapple arms opened and closed by single or dual hydraulic cylinders. A mechanical link interconnects the grapple arms so that they open and close together and to the same extent. A pair of fluid cylinders on the cantilever boom portions pivot the pivot tube to swing the shaft and grapple fore and aft. A rotation mechanism between the cantilever boom portions and their cylinders rotates the pivot shaft and connected grapple about the axis of the shaft.