Abstract: A wafer processing system includes an autoloader mounted within a load lock for providing batch, cassette-to-cassette automatic wafer transfer between the semiconductor processing chamber and cassette load and unload positions within the load lock. The system provides rapid, contamination-free loading and unloading of semiconductor wafers.

Abstract: An aircraft towing vehicle is equipped with an aircraft nose wheel lifting and securing mechanism. The nose wheel is received in a U-shaped recess of the vehicle chassis, the lifting mechanism being constructed to grip the wheel from behind and underneath and to then push it up a ramp. The tilt angle of the lifting mechanism as it advances towards the wheel is controlled by a steering linkage such that the lower, freely movable segment of the lifting mechanism is tilted farther forward and beneath the nose wheel at the beginning of the nose wheel engaging operation, while conversely, a rigid upper segment is tilted farther forward as the engaging operation continues to completion.

Abstract: The lift is installed under the cargo floor proximate to the side door of the van. In the retracted position it is entirely concealed and does not obstruct the normal van usage. Stationary track members are attached to the van. Slidably mounted within the track members are frame members which may be extended or retracted from the van by use of a pair of worm gears. A pair of hydraulic cylinders interconnect the platform and the frame using four links which raise and lower the platform equalangularly. The equalangular motion of the links maintains the platform in a substantially horizontal position as it is lowered from its raised position level with the floor of the van to its lower position with the street or sidewalk.

Abstract: In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data.

Abstract: A vehicle for transporting shopping trolley or carts. The vehicle has a tray for the loading of the shopping trolleys, and adapted for movement from a transportation position to a lower loading position in which trolleys can be easily loaded thereon. The tray maintains a substantially constant horizontal orientation through this movement. A tailgate or rear ramp is positioned at the rear of the tray and is movable between a ground engaging position and a raised position generally blocking the rear of the tray. A mechanical leverage mechanism lowers the ramp as the tray is being raised and raises the ramp as the tray is being raised between their respective upper and lower positions.

Abstract: A lifting truck tailgate is attached to an angled, swiveling arm which is attached to a lifting arm by a pivot and supported on a structural member of the lifting arm. The lifting arm is actuated by a pressure cylinder. A spring activated catch on the lifting arm mates with a matching projection on the swiveling arm thereby preventing liftoff of the swiveling arm from the lifting arm when a heavy load is placed on the trailing edge of the tailgate. An adjustable screw disengages the latch when the pressure cylinder is fully retracted enabling the tailgate to form a ramp when it rests on the ground.

Abstract: An apparatus 1 to measure and/or check the spatial position and angular orientation of characteristic spots or areas 3 in mechanical structures or members, particularly in motor-vehicle structural components such as bodies or wheels. The apparatus substantially comprises an articulated arm 4 provided with a number of pivot points 5 and carrying, at a free end thereof, a tracer point 10 adapted to be positioned close to the characteristic spots or areas 3 of the structure to be measured or checked. Located at the pivot points 5 of the articulated arm 4 are displacement transducers 16 which send electrical signals to a computer depending upon a variation in the configuration taken by the pivot points 5 as compared with corresponding reference configurations.

Abstract: An excavator for a bucket elevator type continuous unloader has a horizontal travel section constituting an excavating section of the bucket elevator which is constituted by an endless bucket chain, and a parallel link mechanism. The parallel link mechanism is positioned below an elevator post which is moved up and down by a boom, and supports the horizontal travel section. The excavating section is moved sideways from just below the elevator post by swinging the parallel link mechanism so as to rake up bulk cargo such as ore and coal located deep inside the hold. The degree of movement of the excavation section in the vertical direction is detected by detecting the swing angle of the parallel link mechanism, by which the boom is automatically controlled so as to maintain the excavating section at the same level. In this way, fumbling of the excavated bulk cargo can be prevented.

Abstract: A direct-drive active compliant end-effector (10) comprises a planar linkage (28) having input links (30, 44) driven by motors (24, 26). A force sensor (52) is connected between the output link (36) and a tool mount (48) for measuring tool interaction forces, signals representative of which together with those representative of angular displacement and velocity of the input links (30, 44) are used by a controller (82) for controlling the drive motors (24, 26) to provide active electronic compliancy.

Abstract: A machine for gathering and collecting particles from a ground surface or the like includes an upwardly inclined conveyor or elevator mounted on the side of a transport vehicle and having a lower receiving end cooperative with forwardly diverging gathering arms which guide particles on the ground surface to the receiving end of the conveyor for transfer to an upper conveyor end where the particles are discharged into a receptacle. The conveyor is supported on the transport vehicle by a rigid truss frame arrangement including upper and lower pivot arms having ball joint connection to the conveyor so as to allow rotation of the conveyor substantially about its longitudinal axis in response to changes in ground contour. The conveyor is movable between lowered operating and raised transport positions. Counterbalance springs limit the contact force of the conveyor acting on the ground surface during operation.

Abstract: A mechanism according to the present invention comprises a quadric crank chain disposed substantially within a vertical plane to support a test head of wafer probing machine, a cylinder mechanism coupled to a first movable link corresponding to the side opposite to a fixed link of the quadric crank chain, the cylinder mechanism serving to slide the first movable link in a vertical direction, and a guide member for supportingly guiding the cylinder mechanism in a horizontal direction. The test head is attached to a second movable link, which corresponds to a side adjacent to the fixed link of the quadric crank chain, so that the test head, along with the second movable link, revolves within the vertical plane when the first movable link slides vertically.

Abstract: An improved vehicle restraint for preventing movement of a vehicle such as a truck away from a loading dock during a loading operation. The vehicle restraint includes a guide frame mounted on the front face of a loading dock and a vehicle restraining device is movable on said guide frame from a lower storage position to an upper operative position where it engages the ICC bar on a truck. A biasing mechanism serves to bias the restraining device upwardly to the operative position while a power operated drive mechanism acts to drive the restraining means downwardly to the storage position. The restraining device includes a slide or carriage that moves on the guide frame and a hook that is pivoted to the slide. A linkage connects the frame and the hook in a manner such that the force of the biasing device will not only move the slide upwardly on the guide frame but will also pivot the hook upwardly relative to the slide.

Abstract: A hay bale elevator apparatus is set forth wherein a forward rectangular framework has orthogonally projecting exteriorly of a lower frame member thereof a plurality of cradling rods for accepting a hay bale thereon wherein a rear rectangular framework of equal dimensional configuration to said forward framework is pivotally secured to said forward framework by four parallel links pivotally secured at each of their ends to the respective forward and rear framework. A lower frame member of the rear framework has secured a plurality of pivot points integrally thereto with a single pivot point oriented medially of an upper frame member of said rear framework for attachment to a three-point hitch of a farm tractor.

Abstract: A cargo-work vehicle for detachably supporting a container has lift arms for rotatably supporting the container and a single cooperating auxiliary arm which ensures that the attitude of the container is held constant when the container is loaded and unloaded. A dump pin is also provided for fixing the container relative to the lift arms so that the container can be rotated relative to the vehicle body for dumping of the container load. The single auxiliary arm is advantageous because it can be located centrally of the vehicle and substantially underneath the loaded container. Such placement of the auxiliary arm affords compactness, reduces costs, and allows a single auxiliary arm to maintain the desired, constant attitude of the container during loading and unloading of the container.

Abstract: A bale accumulator and optional caboose are controlled by a microprocessor-based control circuit associated with and controlling the baler which pulls the bale accumulator. The control circuit monitors bale switches actuated by the presence of bales on four tables, two switches indicating the position of a bale push bar, and three table switches indicating when individual ones of three of the tables are latched or released for dumping bales therefrom. An operator's panel provides a visual display of the status of the bale accumulator and includes switches which may be actuated by the operator. In response to the switches on the bale accumulator the control circuit controls the push bar to move bales from a center table onto a left or right table at the sides of the center table, or inhibits movement of the push bar so that a succeeding bale ejected from the baler pushes a bale on the center table onto a trailing fourth table.

Abstract: A lifting and towing unit mountable on a fifth wheel of a towing vehicle has an anchoring frame assembly with a king pin for coupling to the towing vehicle fifth wheel and a lifting frame assembly adapted to support a portion of a mobile load and to be releasably attached thereto and to the anchoring frame assembly in a fixed relation thereto. The unit also includes an arrangement in the form of a four-bar linkage interconnecting and mounting the lifting frame assembly rearwardly of and to the anchoring frame assembly for pivotal movement relative to the frame of the towing vehicle between lowered and raised positions.

Abstract: A main frame pivotally supports the forward ends of a laterally spaced apart pair of parallelogram linkage systems. Each linkage system comprises an upper link and a two section lower link, rear ends of which are pivotally interconnected to a rear shackle, the lower end of which has a ground engageable roller. A load platform is pivotally connected along its forward edge to the rear ends of the upper links. The rear sections of the lower links are rigidly interconnected by a lift frame that is fitted at its opposite ends with upstanding crank members. A hydraulic piston cylinder mechanism is mounted adjacent each linkage system with its butt end pivotally connected to the main frame and the piston rod of each cylinder is pivotally connected to one of the upstanding crank members. The forward and rear sections of each lower link are pivotally interconnected by a knuckle pin and each lower link includes stops to bidirectionally limit relative angular displacement of the two sections.

Abstract: A industrial robot head device for conveying a workpiece to a working apparatus and performing a working operation on the workpiece by the working apparatus is disclosed in which a grasping device provided with claws for grasping the workpiece is pivotally supported on a frame by a parallel linkage and urged by a spring system in the direction of displacement of the grasping device. The attitude of the workpiece in thereby accurately maintained at all times, even when the workpiece is being urged against a work head, for instance, a welding head gun of a spot welding machine.

Abstract: A drilling derrick assembly is described which provides for the elevation above ground level of the assembly's working floor which supports both the mast and the drawworks. Prior to erection, the elevatable equipment floor is carried on a supporting substructure, and a mast is pivotally connected to the elevatable floor in a reclining position. When the assembly is erected, the mast is pivotally raised and attached in place, and other rigging steps can be carried out. Through the use of an integrally mounted sling and winch assembly or, alternatively, through operation of the assembly's traveling block, the entire equipment floor is elevated to the desired level.

Abstract: An emptying utility for containers, in particular for emptying garbage containers into the collecting tank of a garbage truck, is equipped with a weighing device which determines during the uninterrupted progress of the emptying operation, in one or two time clock windows, the weight of the filled container moving upwardly and, possibly, the weight of the emptied container moving downwardly. Towards this end there is provided a force transducer at that element of the pour-in utility which is connected to the fixed support of the utility, either directly or via an intermediate member. Display and/or registering instruments of the utility contain a control and computing unit which is capable of selecting predetermined measured values, for use in evaluation, from all those measured values which are constantly being supplied by the force transducer during the entire, uninterrupted course of the emptying operation.

Abstract: Apparatus for removing plastic sprue slugs from the mold of an injection molding machine including a housing, a swivel arm rotatably mounted in the housing about a horizontal axis, a gripping arm pivotally mounted to the outer end of the swivel arm and having fingers for gripping and removing the slug, a steering rod for pivotting the gripping arm about the swivel arm as the swivel arm rotates about its axis and a cam for controlling movement of the steering rod, the cam, upon rotation of the swivel arm from an upper waiting position to a lower gripping position, causing the fingers to first trace a circular path until they reach a level approximately level with the top of the mold and then a path that extends substantially vertically downward along the front side of the mold until they reach a protruding sprue slug.

Abstract: Extended-reach lift apparatus for remote accessing of low-clearance areas is provided. The apparatus includes a vehicle whose frame supports a vertically pivotable telescoping boom which is elevatable by means of hydraulic rams. An extended tilt head is provided on the free end of the boom which includes parallel upper and lower link members of equal length. A work implement support having a discrete work implement tilting cylinder is attached to the remote ends of the upper and lower links of the tilt head. A hydraulic cylinder extending between the boom and the lower link of the tilt head provides separate tiltability of the tilt head while the design of the tilt head mechanically assures the maintenance of the attitude of the work implement without requiring additional hydraulic compensation during such tilting.

Abstract: An elevator device insertable into and transportable in a motor vehicle for lifting and lowering heavy loads comprises a base plate, a main frame and an additional frame, and an elevating arrangement positioned between said frames. The elevating arrangement is foldable to vertically stand and lean against the main frame while in non-use position, and unfoldable to lie horizontally on a connecting shaft in a stable use position. Each frame is provided with a parallelogram link mechanism and the elevator arrangement is provided with a pressure air cylinder-piston unit operated to compensate for the weight of the elevator arrangement to enable one to easily place the arrangement to one of said positions.

Abstract: In order to move heavy large diameter tires and the like cargo from a storage site to a work place a cradle adapted to support the cargo is suspended at the end of a foldably linkage arrangement. The linkage arrangement is foldably into a compact form at one end of the vehicle and provided with a servo/damper arrangement which permits the weight of the cargo to be compensated for in a manner which permits the linkage to automatically return the cradle quickly and smoothly to a predetermined height.

Abstract: A motor driven device for transferring workpieces between two stations possesses a holding device for the workpieces arranged on the lower end of a lever linkage. This linkage comprises an operating lever, which at its top end articulates with a crank lever, which pivots about a stationary crank lever axis. The center part of the operating lever articulates with the free end of a guide lever which at its other end pivots about a stationary guide lever axis under the crank lever axis. During transfer motion the linkage runs through a center position, in which the guide lever, the upper lever arm of the operating lever and the upwardly directed crank lever are on a straight line. At one stationary lever axis there is a driven shaft which is keyed to the lever thereat.

Abstract: The lifting down apparatus for a multi-stage shelf assembly comprises a base, a pair of arms pivotally secured to the base so as to form a parallel linking mechanism together with the base, and foldable frames having link members which connect with the arms, a plurality of rotary shelves pivotally mounted onto one of the arms of the foldable frames at their basic portions by spacing in the longitudinal direction, supporting members attached to the other arm so that they may support the free end portions of the rotary shelves, whereby when the foldable frames rise from the base, the rotary shelves separate stepwisely, and when the foldable frames fall down, the rotary shelves arrange on the same plane. Accordingly, delivery efficiency can be greatly improved.

Abstract: A tow truck of the wheel-lift type is provided. In a first embodiment, a telescopic boom is supported by parallelogram linkage which is actuated by a hydraulic motor which is slightly inclined to the horizontal, the inner end of the boom, in its travel position being above and somewhat forwardly of the ring gear housing of the rear axle of the tow truck. The parallelogram linkage supports the boom through a boom support structure which permits it to be swung in a substantially horizontal plane, about substantially vertical pinions. The grid, which engages the wheels, includes a movable member which engages a wheel and raises it relative to the boom and grid, without movement of the boom. In a second embodiment, a substantially vertical post supports a parallelogram linkage which in turn supports a substantially horizontal extensible boom having a wheel grid at its outer end.

Abstract: A tire carrier employs a parallelogram suspension and incorporates a simple screw-and-lever mechanism which is manually actuatable by a standard lug wrench to move between a securely held storage position and an easy-access position, whereby the tire carrier is swung out into its latter position from under the vehicle body, simultaneously releasing the tire from its secured storage position, to a convenient access position extending somewhat beyond the rear of the vehicle proximate and below the rear bumper.

Abstract: An apparatus for the displacement of articles between positions located substantially in a common plane which includes a first carrier member (4) and a second carrier member (5) which are pivotally interconnected to one another by a plate (7) in immediate association with the one end (40, 50) of each respective carrier member. The first carrier member (4) is, in immediate association with its other end (41) movably journaled in a suspension device (6), while the second carrier member (5) is provided, at its other end (51), with a connector piece (55). The connector piece is disposed for temporary reception and/or retention of an article and delivery, respectively, of the article after displacement to the intended position. A drive mechanism is connected, by a transmission (3), to the connector piece (55) for regulating the distance between the connector piece and the suspension device (6).

Abstract: A pivoting, compensating parallelogram linkage system converts rotary motion into axial linear motion of a portion thereof suited for critical uses such as carriage of a moving mirror in a Michelson interferometer. The compensating includes a coupling provision that in response to angle change in one part of the linkage imposes an equal but opposite angle change in another part of the linkage. The coupling may include a motor to reciprocate the portion usable as a carriage.

Abstract: The invention relates to an industrial robot of a so-called agile type which has a lower arm (16) with double-sided journalling in a stand (12) consisting of two separated, upright parts (12a, 12b), the arm (16) being pivotable in the space between the stand parts. A pivot shaft (24) for pivoting the upper arm of the robot via a crank and a parallel link rod from one of the stand parts (12a) and through a lead-in opening (28) in the lower arm (16). From the other stand part (12b) there extends a drive shaft (30), which is substantially coaxially opposite to the pivot shaft (24) of the crank (22) and which is connected to the lower arm (16).

Abstract: A lift gate assembly including a U-shaped base having horizontal central section flanked by parallel upstanding legs, a gate, and a pair of upstanding legs secured to the gate in alignment with the legs and the base. Links extending between the legs define two parallelogram linkages and a torsion bar extends between and is rigidly attached to a corresponding link in each of the parallelogram linkages. Preferably, the torsion bar defines the lower pivot of the parallelogram linkage and extends between the legs of the base and the lowermost links in each parallelogram linkage, being rigidly attached thereto. Hydraulic cylinders are provided for each parallelogram linkage to raise and lower the gate.

Abstract: A movable body having a pair of parallel arms supported from the body and in turn supporting a pair of forks for movement for engaging and releasing the bottom of a stack of sheet material. A clamp is movably connected to the body above the forks for engaging the top of the material and holding the material between the clamp and the extended forks. A probe lifter is movably connected to the body and movable between a lower position below the forks and an upper position between the extended forks for removing the weight of the stack from the forks for allowing the forks to be retracted.

Abstract: An apparatus for carrying a workpiece to and out of a press is provided with at least a pair of workpiece carrying mechanism assemblies which are driven and controlled independently, and each of the mechanism assemblies includes at least one attachment for attracting the workpiece.

Abstract: The invention is for a device for controlling a loading platform for transport vehicles, such as goods lorries, which loading platform can close off the loading opening of the transport vehicle and can move a load in horizontal plane between the loading area of the transport vehicle and the surface of the ground. The device consists primarily of a cross-member, a platform adjustable in height, supporting beams, bearing rods installed in parallel and swivel-mounted between the loading platform and the supporting beams, tilting arms which swivel on spindles installed in the cross-member, which tilting arms bear a support on which the loading platform freely rests and which arms are coupled to a tipping cylinder which at one end is connected to the transport vehicle like the guide rods and at least one lifting cylinder which is connected at the other end to the said spindles.

Abstract: The present invention provides a tractor-trailer vehicle for use in transporting ladles of molten metal. The trailer includes a generally U-shaped main frame, each side carrying a wheel assembly and a carrier beam pivotally interconnected at one end to the side. A transverse U-shaped overhead beam pivotally interconnects at each end to the carrier beams intermediate their ends, and has parallel ladle trunnion-engaging hooks pendantly disposed therefrom. Actuators interconnected between the main frame and the other end of the carrier beams provide a lever action rotating the carrier and overhead beams about the carrier beam-main frame pivot connection. The actuators are gimbaled to prevent load-induced binding. Upon such beam rotation, the overhead beam and hooks move substantially vertically to lift and lower the ladle from and to its supporting surface, respectively.

Abstract: An actuator assembly, for industrial robots, including a base member, an articulated arm assembly, and a support member. The support member is provided with a tool holding member, which is actuated pivotably about first and second axes and rotatable about a third axis by the articulated arm assembly.

Abstract: A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweights.

Abstract: A manipulating mechanism is disclosed having a control handle adapted to be positioned freely in three dimensions, a fixture for supporting a tool to be positioned, a linkage system which causes the end of the tool to move in the same direction as the control handle and a support structure. The linkage system includes a first linkage connected between the control handle and an effective ball-and-socket joint and a second linkage connected between the effective ball and socket joint and the fixture. Each linkage includes four link members rotatably connected in a parallelogram and a gimbal connected to one of the link members for mounting the linkage from the support structure.

Abstract: A system for transferring workpieces generally vertically from a station at one height in a workpiece support or transfer device to a station at another height in another transfer device or support. The workpiece is moved vertically by an elevator which travels along a path through the stations from a point below the lower station to a point above the upper station. To smoothly and rapidly move the workpiece the elevator is accelerated and decelerated and dwells at least when picking up and depositing a workpiece. To avoid collisions, interference and the necessity of precisely synchronizing movement of the transfer and elevator, when in its fully raised and lowered positions, the elevator is clear of and does not interfere with the transfer and supports and any workpieces in the stations.

Abstract: A transport mechanism for silicon wafers comprises an elongate four arm linkage and a wafer support arm which is secured to the linkage through a gearing system. One of the short arms of the linkage is fixed, and as the linkage is rotated, the gearing system produces a different motion in the support arm. Preferably pinion gears are secured to the ends of the long arms and engage a pinion gear secured to one end of the support arm, so as to produce linear motion of a wafer placed on the support arm.

Abstract: A driveway for tractor-trailers is elevated along one side having a side coupling runner mounted to roll on wheels in a track along the side of the driveway facing a single-arm rotary loader. The runner is longer than the tractor-trailer and has a lift push gate at one or both ends for lowering in front of the tractor to push the runner along its track and has recesses for vertical coupling rods or tubes on the loader's trailer-lifting turntable to engage in to move the loader with the tractor to rotate the loader into alignment under the trailer and lift for transfer. Then the tractor driver can release the fifth-wheel and lift the gate and drive away. The loader is further rotated or driven and disengaged from the runner before the runner is returned by motor drive. The loader can load the trailer removed from the tractor onto a railway car as in my earlier U.S. Pat. No.

Abstract: A device having a pusher that extends in a direction crosswise to a displacement path of parts undergoing machining, and at least one articulated parallelogram that supports the pusher. The articulated parallelogram is envisaged extending in planes parallel to the path of the parts undergoing machining, and having a fixed side directed transversely to the path.

Abstract: A machine for raising parts vertically from a pick-up station, for shifting the parts horizontally toward a delivery station, and for lowering the parts vertically into the delivery station. The machine includes a parts handling head pivotally supported on the lower end portions of a pair of parallel links whose upper end portions are pivotally connected to a vertically movable slide. A crank is oscillated back and forth by a reciprocating actuator and acts to effect pivoting and vertical shifting of the links while a cam follower is connected to one of the links and coacts with a slotted cam plate to control such pivoting and shifting. In one embodiment, reciprocating motion of the actuator is converted into oscillating motion of the crank by a rack and pinion and, in another embodiment, the motion conversion is effected by cogged belts coacting with toothed sprockets.

Abstract: A distribution apparatus for the distribution of piece goods to different stations which is equipped with a transporting system for the pick-up and delivery of the piece good and with a chassis adapted to be driven; in order to enable the loading and unloading of differently constructed stations, the transporting system of the distribution apparatus includes a roller or chain type conveyor and a loading fork arranged coaxially thereto, whereby the loading fork is mounted on a chassis so as to be liftable and lowerable and both the conveyor and loading fork are adapted to be driven for loading and unloading.

Abstract: A vehicle lift device comprises structure 23 which is fixed to the chassis beneath the vehicle floor 11, a parallel linkage 21 carrying a platform 50 and connected to the structure 23 for movement at a level beneath floor 11 about vertical axis 22 so that the linkage and platform can be moved between an operative position extending from the vehicle and a stowed position beneath the vehicle floor 11. A single ram 40 can move the linkage up and down for raising and lowering a load, for example a wheel-chair, to permit the load to be moved on to the floor through a doorway which is not obstructed by the lift device. The platform can be collapsed for storage and the linkage has nesting members 35a, 37 for resisting possible injury.

Abstract: An operating arm for earth-moving or foundation machines consisting of an upper and a lower arm pivotally connected via a device for equal angular movement for guidance of various tools on a straight-line force path of great length. The direction of this path is variable by means of a force control basic guide lever. If said basic lever is turned during the straight-line movement, superimposing the two movements cause curving of the forced path. If rapid return is provided, excavation may be performed in either one or the other direction and a drilling or ramming tool may be raised or lowered with higher force. Rotation into a load carrying position is provided for excavator buckets.

Abstract: A well pipe handling machine for removing a series of stands of pipe from the upper end of a well pipe string and storing the stands in a rack offset to a side of the well axis and/or returning the stands sequentially from the rack for reconnection to the string. The machine includes a support which carries units for holding a pipe in vertical condition and is movable between a position in which the pipe is in alignment with the well axis and a location near the storage rack, and which preferably takes the form of a vertically extending column structure movable horizontally by two synchronized drive mechanisms at the top and bottom of the column structure. The pipe holding units are desirably shiftable upwardly and downwardly relative to the support and also generally horizontally toward and away from the support for placement of the pipe stands in the rack and removal therefrom.

Abstract: An automated cassette handler for transporting a cassette containing integrated circuit wafers between first and second elevators in a standardized mechanical interface (SMIF) system for integrated circuit processing. The handler is adapted to grip and transport the cassette while positively pushing the wafers into the cassette.

Abstract: A lifting apparatus arranged on the side of a vehicle frame for vehicles such as various model size forklifts ensures exact vertical movement of the load. The lifting apparatus includes a rocker having inner and outer rockers connected to each other by a common lower rocker bearing and bearing bolt to resist torsion. The outer rocker is directly and operatively connected to a lifting cylinder supported in the vehicle frame. The outer rocker is also operatively connected through a multi-sectional kinematic drive to a rack-and-pinion or drive shaft drive arranged near and operatively connected to the lifting cylinder. An inclination cylinder is operatively connected to pressure bars and is arranged near the lower rocker bearing. The inner and outer rockers are also supported on the front side of a box girder which connects two side portions of the vehicle frame to resist twisting. Visual range is improved and the total mass reduced due to favorable positioning of the center of gravity.