Abstract: An apparatus and a method therefor for automated and/or robotic assembly, the apparatus including a vacuum nozzle (201) capable of aspirating and securing a component (202, 204). A spring (312) mechanically coupled to the vacuum nozzle (201) provides a compression force thereto in a direction of a placing operation (214, 216). A controllable actuator (108, 314) is mechanically coupled to the spring (312) for adjusting the compression force that the spring (312) can apply to the vacuum nozzle (201) for adjusting a placing force that is applied to the component (202, 204) in the direction of the placing operation (214, 216).

Abstract: A telescopic pick-and-place robotic mechanism used to retrieve and deposit magnetic tape cartridges from a remote position, configured to be mounted to a typical robotic assembly located in proximity of a storage area for computer data or other storage media. The present invention has a reduced cross-sectional area due to its telescopic nature.The pick-and-place mechanism includes a base connected to the robotic arm and a number of slider plates coupled to the base which telescopically extend and retract relative to the base in a single axis of movement to reach the remote location. The slider plates are coupled to each other by slider means for enabling each of the slider plates to translate relative to each other along the single axis of movement. Each slider plate is controlled by a crank and slider mechanism which converts a incoming rotational force to a linear force in the direction of the single axis of movement.

Abstract: This invention relates to a mobile robotic arm which is adapted to grasp objects at low-level, intermediate level and high reach areas of a domestic dwelling. The device generally comprises a mobile base having a robotic arm rotatably and pivotally connected thereto. The robotic arm comprises lower arm, mid-arm, and forearm components which are pivotally interconnected and selectively extensible and retractable through the utilization of a controller which is preferably disposed upon an arm rest portion of a wheelchair.

Abstract: An apparatus for holding an object includes a plurality of holding pins and restricting means for restricting displacement thereof. The holding pins are retained on a guide member in a manner movable in the direction projecting therefrom and are displaced to a holding position where the geometry formed by their respective terminal ends upon contact with an object to be held conforms to the contour of said object to be held. The restricting means contacts the outer side surface of the holding pins so as to restrict their movement in the state where the holding pins are displaced to the holding position.

Abstract: A robotic hand on a robot is capable of picking-up several generally flattened articles in a stack form in a gentle non-damaging manner. The robotic hand has a manifold for directing controlled pressure air and a set of gripper finger assemblies extending therefrom. Each finger assembly has a rigid finger support member and an inflatable bladder extending along its length. The bladders are in communication with the chamber of the manifold and an external source of positive and negative pressure air. The robotic hand is capable of positioning itself over an article to be picked-up with the set of gripper finger assemblies encompassing the article. Pressurized air is directed through the manifold and into the bladders of the finger assemblies. The bladders expand sufficiently to grasp sides of the article.

Abstract: An apparatus is presented for removing the keys smoothly and reliably from support grids of a fuel assembly. The apparatus performs the task of removing the keys, which had been inserted into the grid through the opening sections of the grid, and enables mechanization and automation of the key removal operation. The apparatus has a robotic arm including a pair of parallel grid support members freely movably disposed at the end of the robotic arm for clamping onto the side edges of the grid. The apparatus further includes a key rotation device disposed on the support arm for engaging with and rotating the keys; a key moving device disposed on the grid support members so as to hold the keys and move the keys in the direction of the key axis.

Abstract: A method and apparatus for opening and closing a cover-plate on an automotive vehicle, wherein the plate lies in line with the vehicle outer body panel and can be swung between an open and a closed position about a vertical or horizontal hinge axis and covers the space in which the mouth of the vehicle refuelling pipe is located. The cover-plate is opened in two stages, wherein the plate is opened slightly to a limited open position by a first opening device in a first opening stage, thereby enabling a second opening device to be inserted between the cover-plate and the outer body panel, and wherein the plate is opened completely by the second opening device in a second opening stage. The cover plate is swung from its open to its closed position by the second opening device.

Abstract: A method and an apparatus for successively loading workpieces, such as unwound armature assemblies, along a predetermined axis into a workpiece processing machine using an elongate main beam and a staging assembly with workpiece grippers connected to the main beam by a motion multiplier.

Abstract: A mechanical hand assembly for use in prosthetic and robotic applications includes multiple fingers pivotally attached to a palm subassembly. The fingers are operatively attached to a central actuating plate so that movement of the actuating plate in opposed directions causes the fingers to bend and straighten. An electric motor drives the actuating plate through a pivotable or tiltable linkage so that when one of the fingers engages an object to be manipulated, the plate tilts and continues to move any opposed fingers toward engagement. Each finger includes a base, a lever arm and multiple phalanges operatively interconnected by gears. Pivotal motion of the lever arm is transmitted to the phalanges through the interconnected phalanges and lever arm and rotation of the gears.

Abstract: Robotic hand includes retractable paddles for supporting an article and a vertically-movable top paddle for engaging an upper surface of the article. The top paddle is mounted on an upper free end of a band of sheet-like material, which may be extended above the top surface of a housing of the robotic hand. Inflatable bladders in the retractable paddles have a relatively high coefficient of friction, and the top surface of the paddles has relatively low coefficient of friction. A force sensor may be provided in the lower surface of the top paddles.

Abstract: A multifunctional end effector includes a quick release finger locking mechanism disposed in each of the pair of fingers which maintains system accuracy and integrity by providing a positive pressure force between the end effector finger and the mating locking plates provided on the tools adapted to cooperate with the end effector. In one embodiment the mating locking plate intrudes into the fingers of the end effector and an alternative embodiment the end effector finger engaging mechanisms grasp and lock on ledges provided on the cooperating mating locking plates.

Abstract: This invention relates to an overhead work suspension conveyor for conveying a piece of work, for example, a tailgate to a main body in an assembly line of a vehicle main body. An object of this invention is to efficiently and surely hold plural kinds of work pieces of different configurations in a suspended position and to permit their easy loading on a work conveyance mechanism. This invention therefore provides an overhead work suspension conveyor comprising a traverser main body, plural spindles turnably supported relative to the traverser main body, plural work support members fixed at upper ends thereof on the spindles and having work supports at lower ends thereof, said work supports being turnable responsive to turning of the corresponding spindles to support a piece of work at an outer periphery thereof, and a spindle drive mechanism arranged on the traverser main body and adapted to selectively turn the spindle depending on the kind of the work piece.

Abstract: A microgripper for gripping and releasing an object, particularly very small objects. The microgripper includes a support and two cantilevered flexible arms, each of which is mounted on one end to the support. The other ends of the flexible arms are capable of being flexed toward and away from each other. A servomotor, is affixed to the support. There is a slide arrangement driven by the servomotor and which is adapted to move the unmounted ends of the flexible arms toward or away from each other, thereby providing, respectively, a gripping or releasing movement. An apparatus which includes a micromanipulator, the microgripper which is operationally, detachably affixed to the micromanipulator, and a control system which is electrically connected to the motor means whereby the movement of the slide arrangement is controlled.

Abstract: A robot for depalletizing open top boxes having a product from a pallet, removing the box from the product, unloading the product onto a magazine conveying surface and picking up slip sheets.

Abstract: A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers.

Abstract: A system for transferring articles between containers to vary the mix of articles in the containers. A plurality of containers are moved to a mixing station and apparatus including a robot removes selected articles from the containers and places them into other of the containers to provide the desired mix of articles. In the arrangement disclosed, the articles are cups and the system is employed to change the color mix of the cups in the containers.

Abstract: A small and light weight microconical interface fitting may be attached to the surface of a space vehicle or equipment to provide an attachment device for an astronaut or robot to capture the space vehicle or equipment. The microconical interface fitting of the present invention has an axisymmetrical conical body having a base portion with a torque reaction surface for preventing rotation of the interface grasping tool; a cavitated, sunken or hollowed out intermediate locking portion which has a cavity shaped for receiving the latches of the grasping tool and an upper guiding portion for guiding the grasping tool into axial alignment with the microconical interface fitting. The capture is accomplished with an interface grasping tool. The grasping tool comprises an outer sleeve with a handle attached, an inner sleeve which may be raised and lowered within the outer sleeve with a plurality of latches supported at the lower end and a cam to raise and lower the inner sleeve.

Abstract: An end effector for use with robotic arms and like devices that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator.

Abstract: A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping the surface mount component. In the lower position, the article gripping elements are freely orientable relative to a vertical axis and the elements and support coact as the elements are being raised to correct the orientation of the elements to that desired.

Abstract: A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping surface mount components. The article gripping elements are dependent from a vertical flexible shaft so that the elements may become inclined upon contacting with a surface mount component so that a correct engagement and gripping action takes place. A seat is provided upon the support to ensure correct orientation of the elements upon their return to the upper position.

Abstract: The gripper mechanism is housed in a substantially rectangular box-like enclosure and includes a plurality of guide rails to align and support an object retrieved from an object storage location by the finger gripper mechanism. The finger gripper mechanism is attached to a carriage which functions to translate the finger gripper mechanism from a position proximate to the object storage location to a position within the enclosure. A degree of compliance between the gripper fingers and the object in the selected object storage location is provided by a centering spring that functions to couple the finger gripper mechanism to the carriage.

Abstract: The finger gripper mechanism includes two fingers hingeably attached to a support and operable by means of a spring to grasp an object with a predetermined amount of force and a solenoid to open the fingers and release the object. Also attached to the fingers is a loading linkage mechanism that exerts a closing force on the fingers in excess of the predetermined closing force when the object is attempted to be removed from between the fingers. The loading linkage mechanism dynamically adjusts the magnitude of the force applied to the fingers as a function of the force applied to the object to remove it from between the fingers. Therefore, the greater the force placed on the object by an external source, the greater the force applied by the loading linkage mechanism to retain the object between the fingers.

Abstract: An apparatus for taking residual solid matter out of an extrusion head of an extruder includes a grasping device for grasping residual solid matter in the extrusion head, and a moving device for moving the grasping device between a grasping position in the extrusion head and an exhausting position on one side of the extrusion head. In order to remove the residual solid matter from the grasping device even if the solid matter firmly adheres to the grasping device, the apparatus further includes a disengaging device for urging the residual solid matter to disengage it from the grasping device when the grasping device has arrived at the exhausting position and released the residual solid matter. A control device is provided for controlling the grasping device, the moving device and the disengaging device.

Abstract: A bi-directionally operable terminal device for an upper limb prosthesis is provided having a frame that includes a rigid finger portion which, to simulate the fingers of a natural hand, is partially curled in a manner generally corresponding in configuration and location to the normal relaxed finger condition of the natural hand; this rigid finger portion of said frame effectively constituting a first gripping jaw means. To said frame is attached a thumb-like unit that is adapted to swing towards and away from said rigid finger portion of the frame; this thumb-like unit including its immediately adjacent frame support structure effectively constituting a second jaw means. Operatively disposed between said thumb-like unit and said rigid finger portion of the frame, for bi-directional gripping movement, is the hooked forward end of a finger slide that is movably carried by said frame; this hooked forward end of said finger slide effectively constituting a third or central jaw means.

Abstract: A device for the grasping, moving and/or turning of articles having axial symmetry, preferably round and/or tubular articles, consisting of a drive unit and a plurality of gripper elements connected with it which are each arranged on a pivotally movable part the parts being movable together with the gripper elements either annularly in the same direction and simultaneously concentrically towards the center or in likewise manner towards the outside. In order to provide a device for the dependable grasping and moving of articles having axial symmetry, preferably round and/or tubular articles, which, upon central grasping, makes possible also the turning of the article grasped, the gripper element (18, 19, 20, 41) is fastened in the outer edge region of a planet wheel (11, 12, 13) of a planet gearing mechanism which has at least two planet wheels and one sun wheel (10) and that the planet wheels (11, 12, 13) and the sun wheel (10) and frame are arranged on a shaft (16) which is connected to the drive unit (6).

Abstract: A flexible automatic test facility for measuring physical parameters of smoking articles and components of smoking articles, e.g., filter portions. The test facility includes a microprocessor based controller device, apparatus for severing the filter portion from the article, a plurality of instruments for performing the desired measurements and a computer-controlled robot for gripping and maneuvering one cigarette at a time to one or more of the instruments or severing apparatus to measure one or more physical characteristics of each article or its components in accordance with software instructions. A hopper feeder device containing a plurality of sample sets in separate bins in an indexing mechanism may be provided for extended unattended operation. Each sample set is provided with a code and a database including the nominal physical characteristics of the samples in the set and the test sequence for the cigarettes in the sample set.

Abstract: An article handling machine comprises a base, a support supported at its lower end portion on the base rotatably around the vertical axis of the base, an arm having the proximal end portion pivoted to the upper end portion of the support, and an article-pallet holding mechanism mounted on the distal end portion of the arm. The article-pallet holding mechanism has a pair of plate members for holding an article and a plurality pair of fingers for holding a pallet.

Abstract: A head unit for a semiconductor lead frame leader including a vertical operating portion, a clamping portion having two pairs of jaws for clamping the lead frame and with the clamping portion interlocking with the vertical operating portion, a fixing portion with a pair of jaws secured thereto, an adjusting portion with a pair of jaws secured thereto for adjusting the distance separating each pair of jaws in order to accommodate different sizes of lead frames and which interlocks with the adjusting portion upper plate is disclosed.

Abstract: A robotic hand, claw manipulator or a prosthetic device includes plural artificial digits, each having a guide and plural phalanges. First and second cables have a first end fixedly connected to spaced first and second points on a digit distal tip, respectively, and a second end driven by a reversible motor. The cables are positioned and connected to the reversible motor, the two points and a guide arrangement so that in response to the motor being activated in a first direction the first cable exerts a tensile force on the first point and a compressive force on elements of the guide arrangement to cause one of the phalanges to be urged from a bent position toward a straight position and in response to the motor being activated in a second direction the second cable exerts a tensile force on the second point and a compressive force on elements of guide arrangement to cause the phalanx to be urged away from the straight position.

Abstract: In a robot having a gripper including a pair of fingers and a drive motor for driving the fingers toward and away from one another while the fingers remain parallel to each other, the fingers consist of finger pads, which interface with a handle on an object to be grasped, and a shank, which attaches the fingers to the robot gripper. The double-V finger has two orthogonal V-grooves forming in the center of the finger pads a recessed cruciform. The double-V finger is used with a handle on the object to be grasped which is the negative of the finger pads. The handle face consists of v-shaped pads capped with a rectangular cruciform. As the gripper is brought into place near the handle, the finger pads are lined up facing the handle pads. When the finger pad and the handle pad are in proper alignment, the rectangular ridges on the handle fall inside the rectangular grooves on the finger, and the grip is complete.

Abstract: A gripping system for gripping a wire extending from a circuit board has a pair of claws provided at the end of a robot arm and a sensor for detecting a free end of the wire. A control is provided so that the robot arm is first moved so as to make the claws hold the fixed end of the wire, and then moved so as to allow the claws to slidingly move upwardly along the wire until the sensor detects the free end.

Abstract: The present invention relates to a device 32 for taking out a grown monocrystal rod 22 from monocrystal pulling up devices 10 to 14 and conveying them to a predetermined position. An object is to simplify the overall structure, which includes a plurality of monocrystal pulling up devices 10 to 14, and reducing the overall cost. A rail 31 is disposed along the monocrystal pulling up devices 10 to 14 and travelling portions 33 and 34 travel along the rail 31. The upper end portion of an upper cylinder 36 is fixed to the travelling portions 33 and 34, the upper portion of an elevational shaft 37 is inserted into the upper cylinder 36, the lower portion of the elevational shaft 37 is inserted into a lower cylinder 39 and a plate 44 is able to approach and move away from the lower cylinder 39. A plate 45 is able to rotate around a shaft 46 with respect to the position of the plate 44. Futhermore, the plate 45 has a receiving finger 53A and a holding finger 54A.

Abstract: A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers.

Abstract: A wire guide includes a notch cut in one face and a plurality of spaced webs oriented transversely in the notch to define a predetermined line for the wire at the bottom of a V-shaped valley fabricated into the webs. The webs support the wire so that a robot tool, having notches corresponding to the webs, can align with the webs along the line and can descend into the notches of the guide to acquire the wire in a retaining groove.

Abstract: A part gripping hand apparatus according to the present invention includes a body, drive motors disposed at three points on the body which are not on a straight line, arms integrally mounted on the drive shafts of the drive motors and extending from the center of rotation along radial directions with a predetermined length, finger members mounted on the ends of the arms, and a control unit for positioning and controlling the finger members at any position with the circumference of each of the finger members as the operation range.

Abstract: An assembling hand according to the present invention includes a hand body, a first finger member capable of moving along the hand body, a rotational housing rotatably fastened to the hand body and a second and a third finger members capable of moving along the rotational housing in opposite directions to each other. A part holding operation is performed by the first, second and third finger members, with the rotational position of one part being restricted by the first finger member and the rotational position of another part being adjusted by the second and third finger members.

Abstract: A work pickup apparatus is provided with a pickup main body, at least three pickup segments radially movable from substantially a center of the pickup main body, and a driving motor for driving the pickup segments in a synchronous state to pick up a workpiece.

Abstract: This invention pertains to a robotic tool end assembly used to transport a blade of a jet engine to a specific workstation and then to transfer this blade to this workstation. It encompasses gripping means to grip the blade and coupling means that couple with the workstation prior to the exchange of the blade between the workstation and this robotic tool end assembly.

Abstract: A wafer boat has an upper projection, a lower projection, and a lower flange. A horizontal/vertical conversion handling apparatus for handling the wafer boat comprises a rotatable arm, and upper and lower hands provided at both ends of the arm. The arm is rotatable by at least 90.degree. in a vertical plane. The upper hand has boat contact portions for contact in horizontal and vertical modes, which are engaged with the upper projection on both sides thereof. The boat contact portions of the upper hand are vertically arranged such that the positions of the boat contact portions are reversed by the 180.degree. rotation of the upper hand. The lower hand has boat contact portions for contact in a horizontal mode, which are engaged with the lower projection on both sides thereof, and boat contact portions for contact in a vertical mode, which are engaged with the lower surface of the lower flange.

Abstract: A low friction, object guidance, and gripping finger device for a robotic end effector on a robotic arm, having a pair of robotic fingers each having a finger shaft slideably located on a gripper housing attached to the end effector, each of the robotic fingers having a roller housing attached to the finger shaft. The roller housing has a ball-bearing mounted centering roller located at the center, and a pair of ball bearing mounted clamping rollers located on either side of the centering roller. The object has a recess to engage the centering roller and a number of seating ramps for engaging the clamping rollers. The centering roller acts to position and hold the object symmetrically about the centering roller with respect to the X axis and the clamping rollers act to position and hold the object with respect to the Y and Z axis.

Abstract: A plurality of gripper modules positioned in space apart relationship along a frame member provide an end-of-arm tool. A pair of gripper modules disposed on opposite sides of the end-of-arm tool each support a Hall effect sensor which is coupled through a signal processing circuit to control the heads of the gripper modules.

Abstract: A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.

Abstract: For holding a plurality of different, in shape, workpieces, a holding unit comprises a laminated body with a number of thin identical shaped elongate plates which have one ends forming a workpiece supporting surface, a vibrator unit for moving the elongate plates so as to vary the shape of the workpiece supporting surface to create a new one, and a bias mechanism for clamping the laminated body, so the newly created shape of the workpiece supporting surface is maintained.

Abstract: An article gripper has two cantilevered jaws biased together by a spring assembly to hold an article between arcuate surfaces of the jaws. The jaws are cantilever-mounted from respective pivot pins, and the article enters radially through an opening formed between the outboard ends of the cantilevered jaws. Between the pivot pins and the gripped article, the jaws have interengaging teeth which permit ease of engagement and disengagement as the jaws are pivoted, yet the teeth prevent unwanted sliding movement of one jaw past the other, as an article is located within the jaws.

Abstract: An apparatus for lifting a large tractor wheel includes a frame defined by feet and a post, which carries a bracket for rotation around the longitudinal axis of the post; a boom pivotally connected at one end to the bracket for rotation around a horizontal axis; a plate on the bracket for supporting a jack in engagement with the boom so that the latter can be raised and lowered; and a clamp suspended from the outer free end of the boom for raising and lowering a wheel, the clamp being defined by (i) a pair of scissor jaws with roller bearings on the bottom opposing ends thereof for engaging the opposite sides of a wheel rim or (ii) a fixed C-shaped jaw with roller bearings on the bottom and side thereof for engaging one side and rim of a wheel, and an inverted L-shaped jaw adjustably connected to the top arm of the fixed jaw for straddling the top of a tire, with a bearing on the bottom free end thereof for engaging the other side of the tire and holding the wheel in the C-shaped jaw.

Abstract: A casing stabbing apparatus which includes a derrick bracket subassembly for attachment to 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 gripper for grasping articles in an automatic or semi-automatic handling system includes spring-loaded jaws. No fasteners such as screws, pins, or the like are required to hold the jaws to the gripper assembly. The jaws are moved by way of motor-driven cams. During a grip mode, the cams do not contact the jaws, and the grip is achieved by way of the springs acting against rollers contacting the outside of the jaws. A worm on the motor shaft compresses a spring to buffer the deceleration of the motor. The spring applies a moment to worm gears which mate with the worm on the motor shaft. The gear shaft of each worm gear is operatively coupled to a respective camshaft. In this manner, the cams are locked.

Abstract: A modular dexterous grasping hand comprises three rotatable fingers mounted on the mounting plate of a Stewart platform for rotation about parallel axes extending perpendicular to the mounting plate. The fingers have a generally L shape so that the grasping elements at the distal ends of the fingers are spaced from the rotational axes. The grasping elements can thus be positioned along the arcs of circles centered on the rotational axes, and so form grasping triangles of variable shapes and sizes. The fingers are independently driven by motors mounted to the mounting plate. Positional encoders and pressure sensors may be included in the motor drive control system.

Abstract: The actuating tool for coupling and uncoupling the coupling elements of the shaft coupling arrangement is rotatably mounted in the loom frame externally of the coupling elements. The tool includes a drive shaft, crank webs which extend transversely of the drive shaft and a pair of rollers which are disposed externally of the coupling elements. Upon pivoting of the tool, the rollers effect coupling or uncoupling of the coupling elements. The tool may be operated automatically and may be constructed so as to guide the individual push rods of the shaft drive when loom shafts are not present.

Abstract: An article holding hand apparatus of this invention grips a plurality of types of articles having different gripping modes. The apparatus includes at least two casings with a varying distance therebetween, first driving mechanisms for moving the casings to vary the distance therebetween, and a first holding mechanism attached to each casing and having at least two first finger members. The first holding mechanism opens and closes the first finger members to clamp a first article by movement of the casings through the first driving mechanism. The apparatus also includes a second holding mechanism, attached to each casing, for holding a second article, the second holding mechanism having second finger members slidably guided by the first finger members, with the distal end of each second finger member serving as a holding portion for holding the second article, and second driving mechanisms, housed in the casings, for sliding the second finger members.