[go: up one dir, main page]

GB1244940A - An article transfer apparatus - Google Patents

An article transfer apparatus

Info

Publication number
GB1244940A
GB1244940A GB06848/69A GB1684869A GB1244940A GB 1244940 A GB1244940 A GB 1244940A GB 06848/69 A GB06848/69 A GB 06848/69A GB 1684869 A GB1684869 A GB 1684869A GB 1244940 A GB1244940 A GB 1244940A
Authority
GB
United Kingdom
Prior art keywords
arm
shaft
holder
arms
sprocket
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB06848/69A
Inventor
Yoshitomo Tezuka
Munehiro Namba
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AIDA TEKKOSHO KK
Original Assignee
AIDA TEKKOSHO KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AIDA TEKKOSHO KK filed Critical AIDA TEKKOSHO KK
Priority to GB06848/69A priority Critical patent/GB1244940A/en
Priority to NL6905334A priority patent/NL6905334A/xx
Priority to US813205A priority patent/US3561614A/en
Priority to FR6910421A priority patent/FR2040588A5/fr
Priority to DE19691918745 priority patent/DE1918745A1/en
Priority claimed from DE19691918745 external-priority patent/DE1918745A1/en
Publication of GB1244940A publication Critical patent/GB1244940A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

1,244,940. Reciprocating conveyers. AIDA TEKKOSHO K.K. 31 March, 1969, No. 16848/69. Heading B8A. [Also in Division F2] In an article transfer apparatus having a suction or gripping holder 4, articles, during transfer, remain in the same plane. In Fig. 2, the holder is attached to an arm 3 pivotally connected to a further arm 2 which is itself pivotally connected to a stationary arm 1. Figs. 2A-2E show a sequence of positions of the arms 2, 3 during movement of the holder 4 from one end of its stroke to the other. In Fig. 2F the holder is returning to its starting position. Details of arms 1-3.-The lower end of the stationary arm 1 rotatably supports a shaft 5 to which rotational reciprocable movementmay be given by a sprocket and chains 7, 8. Rotatable within the shaft 5 is a shaft 10 which is splined to a flange 12 bolted to the arm 1 and which at its other end has a sprocket 15 engaging a chain 19 within the arm 2. A shaft 16 rotatable in the upper end of the arm 2 is secured to the arm 3 and to a sprocket 18 also in engagement with the chain 19. A shaft 20 is rotatable within the shaft 16 and has one end connected to the arm 2 by splines 32, the other shaft end carrying a bevel gear 21. This gear, via gear 24, shaft 23 and bevel gears 25, 28 drives a shaft 27 to which are secured, by splines 29, 29<SP>1</SP>, arms 29, 29<SP>1</SP>, arms 31 of the holder 4. Ratios of sprocket diameters and of the bevel gears to produce the straight line movement of the holder 4 are specified. Drive details.-The reciprocating movement of the chain 8 is derived from continuous unidirectional rotation of an arm 61 which carries a link 63 having a stub shaft 64. This shaft pivotally engages one end of a rod 66 and carries a roller 65 which bears on cams 53, 57, 58 fixed to a stationary member 54. The rod 66 has its other end pivotally connected to a member 72 joining the ends of chain 8. A shaft 51 on which the arm 61 is mounted is driven from a motor through reduction gearing. The contours of the cams 53, 57, 58 in co-operation with the roller 65 produce the required reciprocation with two rest periods corresponding to flattened cam portions 55, 56 and 59, 60. Should the holder 4 be subjected to an abnormal impact load an arm 38 connected to the shaft 20, swings laterally and opens a valve controlling an air conduit 47 connected to a relay for stopping operation of the apparatus. The positions of the arm 2 relative to the arm 1 and of the holder 4 relative to the arm 3 may be adjusted by bolts (14, 36) which pass through slots (13, 35), Fig. 4 (not shown).
GB06848/69A 1969-03-31 1969-03-31 An article transfer apparatus Expired GB1244940A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
GB06848/69A GB1244940A (en) 1969-03-31 1969-03-31 An article transfer apparatus
NL6905334A NL6905334A (en) 1969-03-31 1969-04-03
US813205A US3561614A (en) 1969-03-31 1969-04-03 Article transfer apparatus adapted to cyclically transfer an article from a position to another position
FR6910421A FR2040588A5 (en) 1969-03-31 1969-04-04
DE19691918745 DE1918745A1 (en) 1969-03-31 1969-04-14 Workpiece transporter for processing mach

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB06848/69A GB1244940A (en) 1969-03-31 1969-03-31 An article transfer apparatus
US81320569A 1969-04-03 1969-04-03
FR6910421A FR2040588A5 (en) 1969-03-31 1969-04-04
DE19691918745 DE1918745A1 (en) 1969-03-31 1969-04-14 Workpiece transporter for processing mach

Publications (1)

Publication Number Publication Date
GB1244940A true GB1244940A (en) 1971-09-02

Family

ID=27430882

Family Applications (1)

Application Number Title Priority Date Filing Date
GB06848/69A Expired GB1244940A (en) 1969-03-31 1969-03-31 An article transfer apparatus

Country Status (3)

Country Link
US (1) US3561614A (en)
FR (1) FR2040588A5 (en)
GB (1) GB1244940A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2586212A1 (en) * 1985-08-19 1987-02-20 Werkzeugmasch Okt Veb INDUSTRIAL ROBOT FOR HANDLING WORKPIECES AND TOOLS
US4661040A (en) * 1983-12-12 1987-04-28 Comau S.P.A. Manipulator robot, more particularly for transferring sheet metal elements from a pressing station to the next pressing station of a pressing line
FR2593426A1 (en) * 1986-01-30 1987-07-31 Inst Tekh Kibernet An Brus MANIPULATOR ARM MODULE
EP0278516A2 (en) * 1987-02-13 1988-08-17 Leybold Aktiengesellschaft Feeding device for vacuum arrangements
DE3913655A1 (en) * 1989-04-26 1990-10-31 Frech Oskar Gmbh & Co Swivel mechanism for robot articulated arm - has specified lever members driven from first member by interengaging force transmission elements
DE102012212337A1 (en) * 2012-07-13 2014-01-16 Dango & Dienenthal Maschinenbau Gmbh Manipulator or the like
CN109676595A (en) * 2018-12-21 2019-04-26 核动力运行研究所 A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1372327A (en) * 1971-10-11 1974-10-30 Commissariat Energie Atomique Articulated manipulator
US3985238A (en) 1973-03-17 1976-10-12 Daikin Kogyo Co., Ltd. Industrial robot
JPS49118158A (en) * 1973-03-17 1974-11-12
US4056198A (en) * 1976-03-29 1977-11-01 Danly Machine Corporation Transfer and turnover mechanism for use with power press or the like
FR2355620A1 (en) * 1976-06-24 1978-01-20 Shiroyama Kogyo Kk Manipulator arm in two linked sections - connected by chain drive and allowing precise spatial positioning of the workpiece head
FR2422482A1 (en) * 1978-04-13 1979-11-09 Renault Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path
JPS54159964A (en) * 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
JPS54159963A (en) * 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
DE3022173A1 (en) * 1980-06-13 1981-12-24 Elac Ingenieurtechnik GmbH, 2300 Kiel Programmable industrial robot with path control - has actuators co-ordinated by signals from differential operational amplifiers
US4364706A (en) * 1980-06-25 1982-12-21 Kranzlmueller Reinhard Carrier apparatus for vertical and horizontal transportation of loads
EP0060483A1 (en) * 1981-03-18 1982-09-22 Oscar Cordara Manipulator robot
US4643634A (en) * 1983-08-12 1987-02-17 F. J. Littell Machine Co. Work piece transporting apparatus
US4619575A (en) * 1985-01-28 1986-10-28 Mid-West Conveyor Company, Inc. Apparatus for storage and retrieval of thin trays and sheets
GB8512056D0 (en) * 1985-05-13 1985-06-19 Universal Machine Intelligence Robotic arm
KR940011400B1 (en) * 1986-04-10 1994-12-15 이세끼 노오기 가부시기가이샤 Implant Device
US4836733A (en) * 1986-04-28 1989-06-06 Varian Associates, Inc. Wafer transfer system
US4897015A (en) * 1987-05-15 1990-01-30 Ade Corporation Rotary to linear motion robot arm
KR970004947B1 (en) * 1987-09-10 1997-04-10 도오교오 에레구토론 가부시끼가이샤 Handling equipment
DE3804572A1 (en) * 1988-02-13 1989-08-24 Rudolf Sappel Device for conveying sheet-metal parts in press lines
DE3811363A1 (en) * 1988-04-05 1989-10-26 Desta Maschinenbau Gmbh Push-out apparatus for a stacking device for printed products or the like
US5064340A (en) * 1989-01-20 1991-11-12 Genmark Automation Precision arm mechanism
JPH03170280A (en) * 1989-11-30 1991-07-23 Orii:Kk Article transfer device
IT1251017B (en) * 1991-05-21 1995-04-28 Ugo Crippa MECHANISM TO CARRY OUT PREFIXED TRAJECTORIES SIMILAR TO ELLIPTICAL
JPH05128675A (en) * 1991-11-05 1993-05-25 Sony Corp Automatic cassette changer
JP3920274B2 (en) * 2004-03-08 2007-05-30 ファナック株式会社 Molded product take-out device and molding machine equipped with the device
JP2005349762A (en) * 2004-06-11 2005-12-22 Fanuc Ltd Molded product ejector
JP2005349765A (en) * 2004-06-11 2005-12-22 Fanuc Ltd Molded product ejector
CN100358684C (en) * 2006-02-24 2008-01-02 哈尔滨工业大学 Robot arm with center hole for routing
IT1395275B1 (en) * 2009-08-07 2012-09-05 Bottero Spa DEVICE FOR TRANSFERRING MATERIAL INTO SLAB IN A PRODUCTION PLANT
DE102009036700A1 (en) * 2009-08-07 2011-03-17 Bottero Gmbh Device for transferring plate material in a production plant
CN104150214A (en) * 2014-07-30 2014-11-19 苏州市华宁机械制造有限公司 Rotary conveying mechanism
KR101807365B1 (en) * 2014-11-19 2017-12-08 국립암센터 Apparatus for controlling Stiffness of output member for rotary motion and translational motion
CN106364902B (en) * 2015-07-22 2018-12-18 致茂电子(苏州)有限公司 Transmission mechanism and load-engaging device with this transmission mechanism
TW202401627A (en) 2018-03-16 2024-01-01 美商布魯克斯自動機械美國公司 Substrate transport apparauts and method therefor
JP6581235B1 (en) * 2018-03-30 2019-09-25 本田技研工業株式会社 Link mechanism
CN109160278B (en) * 2018-09-04 2020-10-30 江西诺邦生物科技有限公司 Batch material sorting device
CN111318624B (en) * 2020-03-03 2021-08-17 李秉京 Small cooking stove edge folding device
CN112079109B (en) * 2020-08-31 2021-12-14 郑州日产汽车有限公司 Automatic change crossbeam system of processing

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3010587A (en) * 1957-09-20 1961-11-28 Richard G Hollinger Workpiece transfer mechanism
US3232446A (en) * 1962-12-17 1966-02-01 Monsanto Co Article transfer mechanism
US3459313A (en) * 1967-06-28 1969-08-05 Upton Electric Furnace Co Inc Work transporting apparatus

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4661040A (en) * 1983-12-12 1987-04-28 Comau S.P.A. Manipulator robot, more particularly for transferring sheet metal elements from a pressing station to the next pressing station of a pressing line
FR2586212A1 (en) * 1985-08-19 1987-02-20 Werkzeugmasch Okt Veb INDUSTRIAL ROBOT FOR HANDLING WORKPIECES AND TOOLS
FR2593426A1 (en) * 1986-01-30 1987-07-31 Inst Tekh Kibernet An Brus MANIPULATOR ARM MODULE
EP0278516A2 (en) * 1987-02-13 1988-08-17 Leybold Aktiengesellschaft Feeding device for vacuum arrangements
EP0278516A3 (en) * 1987-02-13 1988-12-21 Leybold Aktiengesellschaft Feeding device for vacuum arrangements
DE3913655A1 (en) * 1989-04-26 1990-10-31 Frech Oskar Gmbh & Co Swivel mechanism for robot articulated arm - has specified lever members driven from first member by interengaging force transmission elements
DE102012212337A1 (en) * 2012-07-13 2014-01-16 Dango & Dienenthal Maschinenbau Gmbh Manipulator or the like
DE102012212337B4 (en) * 2012-07-13 2015-06-25 Dango & Dienenthal Maschinenbau Gmbh Manipulator or the like
CN109676595A (en) * 2018-12-21 2019-04-26 核动力运行研究所 A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation

Also Published As

Publication number Publication date
FR2040588A5 (en) 1971-01-22
US3561614A (en) 1971-02-09

Similar Documents

Publication Publication Date Title
GB1244940A (en) An article transfer apparatus
US2711817A (en) Mechanical loader and unloader for production machines
US4530637A (en) Workpiece handling apparatus
GB1395058A (en) Work feeding apparatus
US4936438A (en) Conveyor loading and unloading apparatus
CN208278917U (en) A kind of circulation conveying line
GB1463461A (en) Conveying apparatus
GB1065609A (en) Improvements in article handling apparatus
US4881929A (en) Stop and go conveyor
US4039073A (en) Push-on device
MX9703976A (en) Automatic dual pocket loader wheel assembly.
CN118321073A (en) Multi-station multi-angle spraying equipment for aerospace
EP0711718B1 (en) Product translating device
GB1485337A (en) Gripping devices
CN208516309U (en) High Speed Welding picks middle rodless cylinder driving trip doubler
GB1375022A (en)
CN209210312U (en) Automatic running pallet fork power transmission improves mechanism
CN209097499U (en) A kind of clothing storage assembly line transmission device
CN208531457U (en) A kind of coaxial multi-gear single transmissioning mechanism
US1952355A (en) Clutch device for doughnut machines
CN215664209U (en) Full-automatic multi-angle rotating arm
US3139171A (en) Walking beam transfer device
CN205150985U (en) Tremble tilting mechanism of ash machine
GB1426027A (en) Workpiece-gripping reach and turnover attachment
CN220578262U (en) Aerosol pot overhauls push mechanism