Diversion apparatus

1. A diversion apparatus comprising a diversion element, wherein said diversion element comprises:

a follower link;

a coupler engaged with said follower link by a cam; and

an extensible and retractable input link engaged with said coupler;

wherein said follower link, coupler, and input link are pivotably mounted to a frame; wherein said coupler is pivotably engaged with said extensible and retractable input link at a first connection; wherein said coupler is pivotably mounted to said frame between said cam and said first connection.

2. The diversion apparatus according to claim 1 , wherein said diversion apparatus comprises a plurality of said diversion elements.

3. The diversion apparatus according to claim 2 , wherein each said follower link has a follower link first end and a follower link pivot and a finger length between said follower link first end and said follower link pivot, wherein said follower links are arranged from shortest finger length to longest finger length.

4. The diversion apparatus according to claim 3 , wherein each of said extensible and retractable input links is independently controlled.

5. The diversion apparatus according to claim 4 , wherein said follower link comprises a camming surface operatively engaged with said follower link, wherein said camming surface has an first orientation when said diversion apparatus is in a first position and a second orientation when said diversion apparatus is in a second position;

wherein when said diversion apparatus is transitioned from said first position to said second position, initial movement of said cam is within 45 degrees of said first orientation of said camming surface; and

wherein when said diversion apparatus is transitioned from said second position to said first position, initial movement of said cam is within about 45 degrees of said second orientation of said camming surface.

6. The diversion apparatus according to claim 5 , wherein each of said cams is a roller cam.

7. The diversion apparatus according to claim 6 , wherein said diversion apparatus is operatively engaged with a star wheel.

8. The diversion apparatus according to claim 1 , wherein said input link is axially extensible and retractable.

9. The diversion apparatus according to claim 7 , wherein said input link is an air cylinder.

10. The diversion apparatus according to claim 1 , wherein said cam is a roller cam.

11. The diversion apparatus according to claim 10 , wherein said cam comprises a slot in said follower link.

12. The diversion apparatus according to claim 1 , wherein said follower link comprises a camming surface operatively engaged with said follower link, wherein said camming surface has an first orientation when said diversion apparatus is in a first position and a second orientation when said diversion apparatus is in a second position;

wherein when said diversion apparatus is transitioned from said first position to said second position, initial movement of said cam is within about 45 degrees of said first orientation of said camming surface; and

wherein when said diversion apparatus is transitioned from said second position to said first position, initial movement of said cam is within 25 degrees of said second orientation of said camming surface.

13. The diversion apparatus according to claim 1 , wherein said follower link comprises a camming surface operatively engaged with said follower link, wherein said camming surface has an first orientation when said diversion apparatus is in a first position and a second orientation when said diversion apparatus is in a second position;

wherein when said diversion apparatus is transitioned from said first position to said second position, initial movement of said cam is within about 25 degrees of said first orientation of said camming surface; and

wherein when said diversion apparatus is transitioned from said second position to said first position, initial movement of said cam is within 25 degrees of said second orientation of said camming surface.