A material handling apparatus adapted to grip a workpiece and move it from one position to another position where it is released. The apparatus includes gripping fingers that are pivotal between a released position and a gripping position and a carrier for the gripping fingers that is movable from a first position to a second position. Actuating means moves the gripping fingers to their gripping position when the positioning means move the carrier to a first position and for moving the gripping fingers to a released position when the positioning means moves the carrier to its second position.
A rotary mechanism for robot arms and the like includes a base and a shaft rotatably connected to the base and extending therefrom. A first sprocket is carried by the shaft and a second sprocket is rotatably connected to the base in alignment with the first sprocket. A chain is operatively carried by and extends between the first and second sprockets so that movement of the chain causes cooperative rotation of the sprockets and thereby of the shaft. A cylinder and piston assembly has a first end connected to the base and a second longitudinally movable end engaged with the chain intermediate the first and second sprockets so that longitudinal movement of the second end causes associated movement of the chain and thereby rotation of the shaft. A manipulator is carried by the shaft and is pivotally disposed at one end thereof. A table is carried by the shaft and is disposed intermediate the one end and the first sprocket. Rest assemblies extend a preselected distance from the table and the rest assemblies are engagable with the manipulator and position the manipulator at preselected angular orientations relative to the axis of the shaft. A cylinder and piston assembly is used for pivoting the manipulator into engagement with the rest assemblies.
