CA1265091A - Apparatus for loading and/or unloading industrial presses - Google Patents
Apparatus for loading and/or unloading industrial pressesInfo
- Publication number
- CA1265091A CA1265091A CA000424651A CA424651A CA1265091A CA 1265091 A CA1265091 A CA 1265091A CA 000424651 A CA000424651 A CA 000424651A CA 424651 A CA424651 A CA 424651A CA 1265091 A CA1265091 A CA 1265091A
- Authority
- CA
- Canada
- Prior art keywords
- carriage
- arm
- carrier
- work
- pivot axis
- 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 - Fee Related
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
- 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
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- 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
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
Abstract
ABSTRACT
APPARATUS FOR LOADING AND/OR UNLOADING INDUSTRIAL PRESSES
Work-handling apparatus, such as may be used in automatically loading and unloading a press in the manufacture of metal pressings, is arranged to reciprocate a work-handling attachment substantially linearly.
The attachment is pivotally mounted on a crank lever, which is pivotally mounted on a crank arm, which is pivotally mounted on mounting means, the pivot axes of the crank arm and the attachment being substantially equi-distant from that of the crank lever. By means of geared connec-tions between the mounting means and the crank lever (in the ratio of substantially 2:1), and between the crank arm and the attachment (in the ratio of substantially 1:2) the attachment is caused to maintain a substantially constant orientation during linear movement resulting from the coordinated rotations of the crank lever and the crank arm.
APPARATUS FOR LOADING AND/OR UNLOADING INDUSTRIAL PRESSES
Work-handling apparatus, such as may be used in automatically loading and unloading a press in the manufacture of metal pressings, is arranged to reciprocate a work-handling attachment substantially linearly.
The attachment is pivotally mounted on a crank lever, which is pivotally mounted on a crank arm, which is pivotally mounted on mounting means, the pivot axes of the crank arm and the attachment being substantially equi-distant from that of the crank lever. By means of geared connec-tions between the mounting means and the crank lever (in the ratio of substantially 2:1), and between the crank arm and the attachment (in the ratio of substantially 1:2) the attachment is caused to maintain a substantially constant orientation during linear movement resulting from the coordinated rotations of the crank lever and the crank arm.
Description
A~RA~US FOR LOADING ~N~/OR UNLOADING INDUSIl~lA~ ~I~SSES
BI~K~R~UN~
~ lis invention is concerned witll ~rovements in or relating to work pick-up and/or halldling apparatus such as may be used in auto-matically picking up, moving, and releasing workpieces with respect ~odifferent positions or stations in a repetitive manufac-turing process.
For ex~nple, such apparatus may be use-l in loading and/or unloadiJlg a press in the manufacture of metal pressings or st~pings. In particular, tlle invelltioll relates to such apparatus which is arranged to impart to work-sul)portillg means of the apparatus, and so to a workpiece whell held, a reciprocable linear movement.
e such apparatus is described in U.K. Patent specification ~b. 1,395,058. That knowll apparatus comprises a linearly-reciprocable wheeled carriage for supporting ~Iy one of a variety of work-handling lS attaclDnents. 11le carriage is constrained by guide rails to remain in a cQnst~lt orientation as it is reciprocated to and fro along a linear path.
lhe carriage is pivotally connected to a crank lever which in turn is pivotally connected to a crank arm, the three pivot axes being in parallel and the effective lengths of the crank arm and crank lever, measured bet~Yeen the pivot axes, being equal. By means of a geared col~ection in the ratio of 2:1 from a stationary gear on the pivot axis of the crank arm to a gear which is fast with the crank lever and on the pivot axis of the crank lever, it is provided that linear motion is imparted to the carriage upon Totation of the cral~ arm about its pivot axis, tlle linear patll of the carriage being intersected by tlle pivot axis of the crank arm.
BRIEF SUM~RY
It is an object of the present invention to provide work handling apparatus for industrial presses which comprises ~1 , . ;"' . , . ' mounting means, a first cantilever arm pivotally mounted on the mounting means for movement about a substantially vertical first pivot axis, a second cantilever arm pivotally mounted on the first arm for movement about a second pivot axis substantially parallel to the first pivot axis, and work-supporting means mounted on t~e second arm at a position adjacent to the end of the second arm, the mounting position of the work-supporting means and the first pivot axis being predetermined fixed distances from the second axis. The apparatus includes coordinating means arranged so to coordinate movements of the arms about the first and second pivot axes that the work-supporting means moves in a predetermined hori20ntal path in directions perpendicular tv the axes. Power operated actuating means are arranged together with the coordinating means to rotate the arms relative to each other about the second pivot axis and to pivot the first arm on the mounting means whereby the work-supporting means moves along the predetermined path. The apparatus comprises turntable bearing means pivotally mounting the first arm on a carriage of the mounting means for movement relative thereto about the first pivot axis, and the carriage is reciprocably mounted on a carrier of the mounting means for movement relative thereto in the direction of the first pivot axis.
In one specific embodiment of the invention, the first arm is pivotally mounted on a linearly-reciprocable carriage of the mounting means, the carriage b~ing reciprocable relative to a carrier o~ the mounting means in a direckion perpendicular to the direction in which the .
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work-supporting means is arranged to move. The work-supporting means is preferably arranged to move generally horizontally (upon movement of the two arms) and the carriage arranged to move generally vertically on the carrier. The carriage and the carrier may be telescopically arranged, and in a preferred construction the carriage is suspended from the carrier by means comprising a plurality of pneumatic balancer cylinders and guided in its movements by rollers mounted on one of the carriage and the carrier and arranged to ....
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roll against the o~her.
The work-suppor~ing means may be arranged to carry any one Df a variety of work-holding attachments for picking-up, moving, and releasing workpi ces, such as vacuum cups, jaws, gripping fingers, ~agnets, etc. An electrical and/or fluid control system (not shown) may be employed to synchronise operation of the apparatus and a worX-holding attachment ~ith operation of a press, for example, which the apparatus is to load and/or unload automatically. The mounting means of the work handling apparatus may be secured in any of various positions, such as directly on 1~ a press frame, on a powered transfer carriage across a press, or on a transfer system or conveyor. The absence of guide rails for the work-supporting means provides re floor clearance around the press and thereby encourages e fficient operation at high speed.
There noh~ follows a detailed description, to be read with refer-1~ ence to the accompanying drawings, of a presently preferred embodiment which illustrates the invention by way of example.
DESCRIPTION OF THE DRAWINGS
Figure 1 is a sectional view of the apparatus, taken in section along a vertical midplane with the machine in extended position;
Figure 2 is a partial view similar to Figure 1 which shows the mounting means of the apparatus to a larger scale; and Figure 3 is a partial plan view in section on the line III-III
of Figure 2.
DETAILED DESCRIPTION OF THE INVENTION
Apparatus illustrating a preferred form of the invention comprises mounting means 10 which could be secured, h r example, to the frame of a large industrial press used to fabricatc shapes in large steel workpieces, such as roofs of automobiles. A first arm 12 (hereinafter referred to as the crank or uppeT arm) is pivotally mounted on the mounting . .
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means ~or movement about a firs~ vertical pivot axis 14. A second aJm 16 (hereinafter referred to as the crank lever or lower arm) is pi~stally unted on the crank arm 12 for movement about a second vertical pivot axis 18. Work-supporting means 20 is pivotally mounted on the c~an~
lever 16 for movement about a ~hird vertical pivot axis 22. Tke ~irst and third pivot axes 14 and 22 are equi-distant from the second piYo~
axis lS. The apparatus 1 comprises also first coordir,ating mean~) com-prising a first geared connection 24, alranged to so coordinate mQvements of the crank arm 12 and the cran~ lever 16 about the first and sccoDd pivot axes 14 and 18 that the work-supporting means 20 moYes li~ear~y along a horizontal path. The apparatus 1 also comprises second coorainat-ing means, comprising a second geared connection 26, whe~eby ~h~
orientation of the work-supporting means 20 is ma~ntaine~ cons~t ~hrough-out swinging movements of the crank arm and crank lev~r.
18 The mounting means 10 (see Figures 2 and 3) c~mprises ~
linearly-reciprocable carriage 28 on which the crank ar~ 12 is pi w tally m~unted, the carriage being reciprocable vertically relative to ~ carTier 30 of the mounting means. The carriage and carrier are telesccpically arranged, with the carriage 28 mounted within the carrier 30. The carriage 2n comprises a straight, ~ertically ali~ned, tubular frame 32 of a generally octagonal c.ross-section, bearing an internal cross-plate 34. Secured to the bottom end of the tubular frame 32, and aligned coaxially with the frame, are a first pulley 36 and an inner race of a first slewing or turn-able bearing 38 of the machine.
~5 ` The carrier 30 also comprises a generally octagonal tubular frame 40, coaxially arranged around the carriage and depending from an annular, horizontal, top plate 42. A cylindrical skir~ 44 depends from the outer periphery of the top pla~e to shield the frame 40 of the carrier.
The carriage 28 is guided for vertical movements within the carrier 30 by means of sixteen rollers 46 mounted on the carrier frame 40 , .
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and al~anged to roll agains~ linear tracks 48 secured to outer surfaces Or the carriage frame 32. ~here are four sets 50, 52, 54, 56 of four rollers, each set ex~ending longitudinally of the carriage and the sets being a~ranged in two pairs o~ opposed sets, ~he line of action of one pair of sets 50 and 54 being perpendicular to the line of action of the other pair of sets 52 and 56. ~ach set comprises ~n upper and a lower pair of rollers, the two pairs being spaced apart longitudinally of the carriage and the rollers in each pair of TOllers being spaced apart tr~qnsversely of the carriage. As sho~ in ~igure 3, the rollers 46 of e~ch pair of rollers are pivotally mounted on the side walls of a radially-inwardly facing channel-shaped po~tion o the carrier frame 40, the n~o rollers being positio~ed ben~een the side ~alls.
The carriage 28 is suspended from the c~lTier 30 by means o th?o pneumatic balancer cylinders 58 and 6~ which act bet~een ~he carrier 1~ and the carriage to take the weight of the carriage and its load.
Supplies of air under pressure to the cy~inders are regulated by suitable means to maintain the pressure within the cylinders constant as the carriage moves. The cylinders extend vertically~ on opposite sides of the carriage axis, between top brackets 62 and 64 secured to the top plate ~0 42 of the carrier and bottom brackets 66 and 6~ secured tn the carriage frame 32 adjacent its bottom end. The cylInders 58 and 60 are arranged equi-distant from, and on op~osite sides of, the carriage/carrier axis, ~h;ch it will be understood is also the first pivot axis 14, each cylinder c~tèndin~ from the top plate 42 down between the upper rollers and bat~een the lower rollers of the two pairs of rollers of a roller set.
The apparatus 1 includes a nut-and-screw arrangement which determines the vertical position of the carriage 2g relative t~ the carrier 30, one of the nut and the screw being non-rotatably secured to one of the carriage and the carrier and the other of the nut ~ld the screw being arranged to be rotated by vertical movement actuating means - S - .
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comprising a ~otor 70 mounted on ~he other side of the car~iage and the carrier. The lift motor 70 is shown mounted on the carrier 30, being ~ounted in a well 72 of the carrier, and comprises an output sha~t 74 arranged for rotation about the first pivot axis 14. By means of a 5 coupling 76, a screw 78 is secured to the shaft 74, the screw being in threaded engagement with a recirculating ball nut 80 mounted on the cross-plate 34 of the carriage. An encoder and tachometer unit 82 ~nd a br~ke unit 84 are associated with the tor 70.
The crank arm 12 is affixed (as by bolts~ not shown) to the outer race of the first turntable bearing 38 beneath the carriage f~ame ;2 (Figure 2). The arm 12 is of a hollow, tubular, fabricated, sheet metal construction. Adjacent an outer end of the crank arm 12, the crank lever 16 is pivotally mounted for rotation beneath the cranX arm 12 about the second pivot axis 18. The lever 16 is mounted on arm 12 by means o 18 a second slewing or turntable bearing 86 of the apparatus. An oute~ race of the bearing 86 is affixed as by bolts (not shown) to the cranX arm 12 and the inner race is affixed to the crank lever 16.
Actuating means for horizontal movement is coupled to the crank lever 16 to rotate it about the second pivot axis 18 on the second turn-table bearing 86 and comprises a second motor 88 of the apparatus. Themotor 88 is mounted on the crank arm 12 (housed within the arm) in association with a gear reducer 89 secured fast to the arm 12. It has a vertical output shaft 90 arranged for rotation about the second pi~ot ~xis 18. The cran~ lever 16 also is of a hollow, tubular, fabricated sheet steel construction. The gear reducer 89 and the output shaft 90 project from the crank arm into the interior of the crank lever. The shaft 90 is secured to the lever 16 by means of a sleeve 92 affixed as by welding to a bottom inside face of the lcver 16. An encoder and tachometer unit 94 and a brake unit 96 are associated with the motor 88 .
to provide for accurate control of angular positions of the two arms and -I .
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therefore of the linear position of the work support 20~ .
The first coordinating means, c~mprisin~ the first geared connec~ion 24, includes in addition to the pt~lley 36 nf the carria~e 28 a second pulley 98. The second pulley 98 cosxial with axis 18 is secured fast as part of the crank lever 16, and projects ~q~ardly ints space within the crank arm 12. The geared connection 24 comprises a toothed timin~-belt 100 which extends around th~ two to~the~ puh~eys 3~ ~td 98 and through the crank arm 12 therebetween. Th~ pulleys are si~ed to provide a gesred connection in the rati~ of 2:1. from *he carris~e 2S to the cran~ lever 16.
Adjacent an outer end of the crank lev~r 16, the w rk-supporting means 20 is pivotally mounted on t~e cr~n~ le~er 16 ~o~
rotation about the third pivot axis 22. The w~rk-su~po~ting Ee~ns comprises a third pulley 102 of the machine, ~fixed as. ~y b~l~s ~no~
18 shown) to an inner race o a third slet~m g or tu~ntab~ ~e~ g 1æ4.
An outer race of the bearing 104 is secured fàst ~o a top inside ~ace of the hollow crank lever 16, so ~hat the pulley is housed substa~tially wholly within the crank lever. Adjustable sttachment-holding means 106 for connection to a suitable specific workpiece pick-up device (w t sho~n) is secured fast with the pulley 102 to depend beneath the crank lever 16.
The seco~d coordinating means, CompTiSing the second ~ea~ed ~connection 26, includes in addition to ~he pulley 102 of the work-supporting means 20 a fourth pulley 108 of the apparstus 1. The fourth pulley 108 is secured fast as part of the crank arm 12, being secured ~enerslly benesth the motor 88, coaxially with the second pivot axis 18 and projecting downwardly into the interior of the crank lever 16. The second geared connection 26 comprises a toothed timing-belt 110 which extends sround the two toothed pulleys 108 snd 102 and through the crank lever 16 therebetween. ~he pulleys 108 ~nd 102 and the timin~ belt .. . .
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provide a geared connectio~ in the ratio of 1:2 from the crank srm 12 to the work-supporting means 20.
Preferably, idlers llt for each reach of each belt 110 and 100 are used to apply balanced pressure to opposite sides of the respec-tive belts and take-up slack in each.
In operation of the apparatus 1, power for hori~ontal movement is supplied by m~tor 8g. The motor 8~, by way of reducer 89, is secuTed to crank arm 12 to move with it. The rotary output shaft of the ~or is sccured to cranX lever 16 to move ~th it. Ihus~ when the motor 88 is ener~ized, the ~rm 12 an~ lever 16 m~e angularly rela~ive to each other about axis 18. ~h~ amount of su~h relative movement equals the degree of rotation of the output shaft 90. If the shaf~ rotates 90, for example, the included a~gle bethee~ the two aTms changes by 90.
lYhen the motor ~B is energlze~, there is also pivotal movement of the cran~ arm 12 about axis 14. ~his occurs because pulley 98 is rotated about axis 18 ~ith anm 16. The amount of the move~ent is deter-mined by the 1:2 ratio of diameters of pulley 98 to pulIe~ 36. Pulley 98 is stationary so moticn of belt la~ by pulley 98 cannot move it.
Instead, the entire arm 12 will pivo~ abo~lt axis 14 and the degree of angular movement will be one half the degree of rotation of shaft 90.
If the shaft 90 rotates 90, for example, the arm 12 will pivot 45 about axis 14.
Considering the apparatus 1 in the condition of Figure 1, all three axes 14, 1~, and 22 lie in the same vertical plane. If shaft 90 is rotated, axis 18 will be moved out of this vertical plane. Axis 14 is fixed in the vertical plane and does not move. Axis 22 stays in the vertical plane but moves to the left, i.e., it is retracted from its fully extended stroke position of Figure 1. It stays in the same vertical plane because (a) axis 18 is always midway between axes 14 and 22 since the distance 14-18 equals the distance 18-2i and (b) the 1:2 ratio of pulleys 98 and 36 insures that the angle of displacement of axis 18 out of the vertical plane (i.e. the angle made by arm 12 between , : . , '.. :. ~ , - : :
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its position in Figure 1 and its displaced position) is one half that of the i~cluded angle between arm 12 and lever 16. If distance 14-18 ~s unequal to distance 18-~Z (especially if the inequality is small), th~
difference in distance can be counteracted by corresponding change i~
the ratio of the diameters of pulleys 98 and 36 in order to mainSain vement of axis 22 in the same vertical plane, i.e.~ straight line, hoTi~ontal motion. Alternatively, if a variation from straight line motion is desired, it can, within limits, be accomplished by Yari~tions in the distances 14-18 and 18-22 accompanied by appropriate sizing ~
lD pulleys 9B and 36. The isosceles relationship in which 14-18 substan-ti~lly equals 18-22 is ordinarily preferable because it giYes ~he ~ximum straight l~ne stroke ~i.e. four times the distance 14-18 or 18-22) and involves simpler relationships of lengths ~nd pul}ey di~me~
Orientation of the work attachment 106 abou~ the axis 2~ h5 1~ controlled by the coordinating means 26. With the 1:2 rati~ bet~een pulleys 108 and 102 that has been described, rotation of the wGrk attachment 106 hill be equal to angular movement by ar~ ~2 ab~ut axis 14 so that it remains straight even though it is moved horizontally.
Alternatively, different orientations can be automatically achieved by varying the pulley ratios; or, even further, the coordinating me~ns can be eliminated and the work attachment 106 simply allowed to rotate freely and manually on bearing 104, or not at all by eliminating the beari~g.
In conjunction with horizontal motion, or separately, vertical movement of the work-holding attachment 106 can be achieved by appro-priately energizing life motor 70. While this motor has been illustratedin alignment with axis 14, it and the vertical movement actuating and support mechanism could be located elsewhere; for example, at axis lB.
Similarly, while the rotary, horizontal drive motor is shown on axis l8, it could also be located elsewhere, on axis 14, for example, since the two coordinating systems 24 and 26 will maintain the desired relationship among the variou~ parts.
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While toothed pulleys and timing belts are presently pre-ferred for the geared connections 74 and 26, in other embodimea~s other suitable foTms of geared connection ~e.g. usin~ chains, Y b~l~s, wi~e ropes or gear t~ains} could be used~ Similarly, instead of electric motors 70 and 88 hydraulic OT fluid motors may be used depend-ing upon the application, etc.
For use as production equipmen~, operation of the tw~ motors 70 and 88 can be conlrolled and coordinated by any suitable ~ontrol system, and may be programmed by use of a ~omputerised numerical control system to secure a desired se4uence or com~ination of hori~ontal and vertical movements and a dPsired a~tomatica~lly repeatable path of move-ment of the work-holding attac~ment 106. ~k-holding at~achments such as ~a~s as shown ~n U.S~ Patent N~. 3,975~gg2~ ~or exampleJ~ controll-able magnets or ~acuum c~ps, et~ ca~ ~hereore be secured t~ ~he attachment holdin~ means 10~ an~ operate~ m harmony with ~he apparatus 1 to pick-u~, move~ load and~or unload~ andi ~e~ease workpieces (not shown) with respect to industrial pressesp conveyors, etc~
Thus, the in~ention provides a heavy duty workpiece handling device which by virtue of the ~arge tu~ b1e bearings ~e.specially bear-20 ing 38) and other features described above eliminates the need for a .
guide track (such as used in British Patent No. 1,395,085) and uses articulated and controlled cantilever action to impart a desired motion to a workpiece.
~ bdifications in the specific structure shown can be made without departing from th~ spirit and scope of the invention.
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BI~K~R~UN~
~ lis invention is concerned witll ~rovements in or relating to work pick-up and/or halldling apparatus such as may be used in auto-matically picking up, moving, and releasing workpieces with respect ~odifferent positions or stations in a repetitive manufac-turing process.
For ex~nple, such apparatus may be use-l in loading and/or unloadiJlg a press in the manufacture of metal pressings or st~pings. In particular, tlle invelltioll relates to such apparatus which is arranged to impart to work-sul)portillg means of the apparatus, and so to a workpiece whell held, a reciprocable linear movement.
e such apparatus is described in U.K. Patent specification ~b. 1,395,058. That knowll apparatus comprises a linearly-reciprocable wheeled carriage for supporting ~Iy one of a variety of work-handling lS attaclDnents. 11le carriage is constrained by guide rails to remain in a cQnst~lt orientation as it is reciprocated to and fro along a linear path.
lhe carriage is pivotally connected to a crank lever which in turn is pivotally connected to a crank arm, the three pivot axes being in parallel and the effective lengths of the crank arm and crank lever, measured bet~Yeen the pivot axes, being equal. By means of a geared col~ection in the ratio of 2:1 from a stationary gear on the pivot axis of the crank arm to a gear which is fast with the crank lever and on the pivot axis of the crank lever, it is provided that linear motion is imparted to the carriage upon Totation of the cral~ arm about its pivot axis, tlle linear patll of the carriage being intersected by tlle pivot axis of the crank arm.
BRIEF SUM~RY
It is an object of the present invention to provide work handling apparatus for industrial presses which comprises ~1 , . ;"' . , . ' mounting means, a first cantilever arm pivotally mounted on the mounting means for movement about a substantially vertical first pivot axis, a second cantilever arm pivotally mounted on the first arm for movement about a second pivot axis substantially parallel to the first pivot axis, and work-supporting means mounted on t~e second arm at a position adjacent to the end of the second arm, the mounting position of the work-supporting means and the first pivot axis being predetermined fixed distances from the second axis. The apparatus includes coordinating means arranged so to coordinate movements of the arms about the first and second pivot axes that the work-supporting means moves in a predetermined hori20ntal path in directions perpendicular tv the axes. Power operated actuating means are arranged together with the coordinating means to rotate the arms relative to each other about the second pivot axis and to pivot the first arm on the mounting means whereby the work-supporting means moves along the predetermined path. The apparatus comprises turntable bearing means pivotally mounting the first arm on a carriage of the mounting means for movement relative thereto about the first pivot axis, and the carriage is reciprocably mounted on a carrier of the mounting means for movement relative thereto in the direction of the first pivot axis.
In one specific embodiment of the invention, the first arm is pivotally mounted on a linearly-reciprocable carriage of the mounting means, the carriage b~ing reciprocable relative to a carrier o~ the mounting means in a direckion perpendicular to the direction in which the .
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work-supporting means is arranged to move. The work-supporting means is preferably arranged to move generally horizontally (upon movement of the two arms) and the carriage arranged to move generally vertically on the carrier. The carriage and the carrier may be telescopically arranged, and in a preferred construction the carriage is suspended from the carrier by means comprising a plurality of pneumatic balancer cylinders and guided in its movements by rollers mounted on one of the carriage and the carrier and arranged to ....
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roll against the o~her.
The work-suppor~ing means may be arranged to carry any one Df a variety of work-holding attachments for picking-up, moving, and releasing workpi ces, such as vacuum cups, jaws, gripping fingers, ~agnets, etc. An electrical and/or fluid control system (not shown) may be employed to synchronise operation of the apparatus and a worX-holding attachment ~ith operation of a press, for example, which the apparatus is to load and/or unload automatically. The mounting means of the work handling apparatus may be secured in any of various positions, such as directly on 1~ a press frame, on a powered transfer carriage across a press, or on a transfer system or conveyor. The absence of guide rails for the work-supporting means provides re floor clearance around the press and thereby encourages e fficient operation at high speed.
There noh~ follows a detailed description, to be read with refer-1~ ence to the accompanying drawings, of a presently preferred embodiment which illustrates the invention by way of example.
DESCRIPTION OF THE DRAWINGS
Figure 1 is a sectional view of the apparatus, taken in section along a vertical midplane with the machine in extended position;
Figure 2 is a partial view similar to Figure 1 which shows the mounting means of the apparatus to a larger scale; and Figure 3 is a partial plan view in section on the line III-III
of Figure 2.
DETAILED DESCRIPTION OF THE INVENTION
Apparatus illustrating a preferred form of the invention comprises mounting means 10 which could be secured, h r example, to the frame of a large industrial press used to fabricatc shapes in large steel workpieces, such as roofs of automobiles. A first arm 12 (hereinafter referred to as the crank or uppeT arm) is pivotally mounted on the mounting . .
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means ~or movement about a firs~ vertical pivot axis 14. A second aJm 16 (hereinafter referred to as the crank lever or lower arm) is pi~stally unted on the crank arm 12 for movement about a second vertical pivot axis 18. Work-supporting means 20 is pivotally mounted on the c~an~
lever 16 for movement about a ~hird vertical pivot axis 22. Tke ~irst and third pivot axes 14 and 22 are equi-distant from the second piYo~
axis lS. The apparatus 1 comprises also first coordir,ating mean~) com-prising a first geared connection 24, alranged to so coordinate mQvements of the crank arm 12 and the cran~ lever 16 about the first and sccoDd pivot axes 14 and 18 that the work-supporting means 20 moYes li~ear~y along a horizontal path. The apparatus 1 also comprises second coorainat-ing means, comprising a second geared connection 26, whe~eby ~h~
orientation of the work-supporting means 20 is ma~ntaine~ cons~t ~hrough-out swinging movements of the crank arm and crank lev~r.
18 The mounting means 10 (see Figures 2 and 3) c~mprises ~
linearly-reciprocable carriage 28 on which the crank ar~ 12 is pi w tally m~unted, the carriage being reciprocable vertically relative to ~ carTier 30 of the mounting means. The carriage and carrier are telesccpically arranged, with the carriage 28 mounted within the carrier 30. The carriage 2n comprises a straight, ~ertically ali~ned, tubular frame 32 of a generally octagonal c.ross-section, bearing an internal cross-plate 34. Secured to the bottom end of the tubular frame 32, and aligned coaxially with the frame, are a first pulley 36 and an inner race of a first slewing or turn-able bearing 38 of the machine.
~5 ` The carrier 30 also comprises a generally octagonal tubular frame 40, coaxially arranged around the carriage and depending from an annular, horizontal, top plate 42. A cylindrical skir~ 44 depends from the outer periphery of the top pla~e to shield the frame 40 of the carrier.
The carriage 28 is guided for vertical movements within the carrier 30 by means of sixteen rollers 46 mounted on the carrier frame 40 , .
.
. ,:
.
.
` ; ': `
, :: .:
and al~anged to roll agains~ linear tracks 48 secured to outer surfaces Or the carriage frame 32. ~here are four sets 50, 52, 54, 56 of four rollers, each set ex~ending longitudinally of the carriage and the sets being a~ranged in two pairs o~ opposed sets, ~he line of action of one pair of sets 50 and 54 being perpendicular to the line of action of the other pair of sets 52 and 56. ~ach set comprises ~n upper and a lower pair of rollers, the two pairs being spaced apart longitudinally of the carriage and the rollers in each pair of TOllers being spaced apart tr~qnsversely of the carriage. As sho~ in ~igure 3, the rollers 46 of e~ch pair of rollers are pivotally mounted on the side walls of a radially-inwardly facing channel-shaped po~tion o the carrier frame 40, the n~o rollers being positio~ed ben~een the side ~alls.
The carriage 28 is suspended from the c~lTier 30 by means o th?o pneumatic balancer cylinders 58 and 6~ which act bet~een ~he carrier 1~ and the carriage to take the weight of the carriage and its load.
Supplies of air under pressure to the cy~inders are regulated by suitable means to maintain the pressure within the cylinders constant as the carriage moves. The cylinders extend vertically~ on opposite sides of the carriage axis, between top brackets 62 and 64 secured to the top plate ~0 42 of the carrier and bottom brackets 66 and 6~ secured tn the carriage frame 32 adjacent its bottom end. The cylInders 58 and 60 are arranged equi-distant from, and on op~osite sides of, the carriage/carrier axis, ~h;ch it will be understood is also the first pivot axis 14, each cylinder c~tèndin~ from the top plate 42 down between the upper rollers and bat~een the lower rollers of the two pairs of rollers of a roller set.
The apparatus 1 includes a nut-and-screw arrangement which determines the vertical position of the carriage 2g relative t~ the carrier 30, one of the nut and the screw being non-rotatably secured to one of the carriage and the carrier and the other of the nut ~ld the screw being arranged to be rotated by vertical movement actuating means - S - .
.
, .; .:. ,~, ; :
. , . - , , .
' : .:. :,.. :-.. ,. ... :.. : , :: . :
comprising a ~otor 70 mounted on ~he other side of the car~iage and the carrier. The lift motor 70 is shown mounted on the carrier 30, being ~ounted in a well 72 of the carrier, and comprises an output sha~t 74 arranged for rotation about the first pivot axis 14. By means of a 5 coupling 76, a screw 78 is secured to the shaft 74, the screw being in threaded engagement with a recirculating ball nut 80 mounted on the cross-plate 34 of the carriage. An encoder and tachometer unit 82 ~nd a br~ke unit 84 are associated with the tor 70.
The crank arm 12 is affixed (as by bolts~ not shown) to the outer race of the first turntable bearing 38 beneath the carriage f~ame ;2 (Figure 2). The arm 12 is of a hollow, tubular, fabricated, sheet metal construction. Adjacent an outer end of the crank arm 12, the crank lever 16 is pivotally mounted for rotation beneath the cranX arm 12 about the second pivot axis 18. The lever 16 is mounted on arm 12 by means o 18 a second slewing or turntable bearing 86 of the apparatus. An oute~ race of the bearing 86 is affixed as by bolts (not shown) to the cranX arm 12 and the inner race is affixed to the crank lever 16.
Actuating means for horizontal movement is coupled to the crank lever 16 to rotate it about the second pivot axis 18 on the second turn-table bearing 86 and comprises a second motor 88 of the apparatus. Themotor 88 is mounted on the crank arm 12 (housed within the arm) in association with a gear reducer 89 secured fast to the arm 12. It has a vertical output shaft 90 arranged for rotation about the second pi~ot ~xis 18. The cran~ lever 16 also is of a hollow, tubular, fabricated sheet steel construction. The gear reducer 89 and the output shaft 90 project from the crank arm into the interior of the crank lever. The shaft 90 is secured to the lever 16 by means of a sleeve 92 affixed as by welding to a bottom inside face of the lcver 16. An encoder and tachometer unit 94 and a brake unit 96 are associated with the motor 88 .
to provide for accurate control of angular positions of the two arms and -I .
.
, ` .:; . :., .
:: :
.
.. .~. , . . " .:
therefore of the linear position of the work support 20~ .
The first coordinating means, c~mprisin~ the first geared connec~ion 24, includes in addition to the pt~lley 36 nf the carria~e 28 a second pulley 98. The second pulley 98 cosxial with axis 18 is secured fast as part of the crank lever 16, and projects ~q~ardly ints space within the crank arm 12. The geared connection 24 comprises a toothed timin~-belt 100 which extends around th~ two to~the~ puh~eys 3~ ~td 98 and through the crank arm 12 therebetween. Th~ pulleys are si~ed to provide a gesred connection in the rati~ of 2:1. from *he carris~e 2S to the cran~ lever 16.
Adjacent an outer end of the crank lev~r 16, the w rk-supporting means 20 is pivotally mounted on t~e cr~n~ le~er 16 ~o~
rotation about the third pivot axis 22. The w~rk-su~po~ting Ee~ns comprises a third pulley 102 of the machine, ~fixed as. ~y b~l~s ~no~
18 shown) to an inner race o a third slet~m g or tu~ntab~ ~e~ g 1æ4.
An outer race of the bearing 104 is secured fàst ~o a top inside ~ace of the hollow crank lever 16, so ~hat the pulley is housed substa~tially wholly within the crank lever. Adjustable sttachment-holding means 106 for connection to a suitable specific workpiece pick-up device (w t sho~n) is secured fast with the pulley 102 to depend beneath the crank lever 16.
The seco~d coordinating means, CompTiSing the second ~ea~ed ~connection 26, includes in addition to ~he pulley 102 of the work-supporting means 20 a fourth pulley 108 of the apparstus 1. The fourth pulley 108 is secured fast as part of the crank arm 12, being secured ~enerslly benesth the motor 88, coaxially with the second pivot axis 18 and projecting downwardly into the interior of the crank lever 16. The second geared connection 26 comprises a toothed timing-belt 110 which extends sround the two toothed pulleys 108 snd 102 and through the crank lever 16 therebetween. ~he pulleys 108 ~nd 102 and the timin~ belt .. . .
- 7 ~
. ...
provide a geared connectio~ in the ratio of 1:2 from the crank srm 12 to the work-supporting means 20.
Preferably, idlers llt for each reach of each belt 110 and 100 are used to apply balanced pressure to opposite sides of the respec-tive belts and take-up slack in each.
In operation of the apparatus 1, power for hori~ontal movement is supplied by m~tor 8g. The motor 8~, by way of reducer 89, is secuTed to crank arm 12 to move with it. The rotary output shaft of the ~or is sccured to cranX lever 16 to move ~th it. Ihus~ when the motor 88 is ener~ized, the ~rm 12 an~ lever 16 m~e angularly rela~ive to each other about axis 18. ~h~ amount of su~h relative movement equals the degree of rotation of the output shaft 90. If the shaf~ rotates 90, for example, the included a~gle bethee~ the two aTms changes by 90.
lYhen the motor ~B is energlze~, there is also pivotal movement of the cran~ arm 12 about axis 14. ~his occurs because pulley 98 is rotated about axis 18 ~ith anm 16. The amount of the move~ent is deter-mined by the 1:2 ratio of diameters of pulley 98 to pulIe~ 36. Pulley 98 is stationary so moticn of belt la~ by pulley 98 cannot move it.
Instead, the entire arm 12 will pivo~ abo~lt axis 14 and the degree of angular movement will be one half the degree of rotation of shaft 90.
If the shaft 90 rotates 90, for example, the arm 12 will pivot 45 about axis 14.
Considering the apparatus 1 in the condition of Figure 1, all three axes 14, 1~, and 22 lie in the same vertical plane. If shaft 90 is rotated, axis 18 will be moved out of this vertical plane. Axis 14 is fixed in the vertical plane and does not move. Axis 22 stays in the vertical plane but moves to the left, i.e., it is retracted from its fully extended stroke position of Figure 1. It stays in the same vertical plane because (a) axis 18 is always midway between axes 14 and 22 since the distance 14-18 equals the distance 18-2i and (b) the 1:2 ratio of pulleys 98 and 36 insures that the angle of displacement of axis 18 out of the vertical plane (i.e. the angle made by arm 12 between , : . , '.. :. ~ , - : :
~2~
its position in Figure 1 and its displaced position) is one half that of the i~cluded angle between arm 12 and lever 16. If distance 14-18 ~s unequal to distance 18-~Z (especially if the inequality is small), th~
difference in distance can be counteracted by corresponding change i~
the ratio of the diameters of pulleys 98 and 36 in order to mainSain vement of axis 22 in the same vertical plane, i.e.~ straight line, hoTi~ontal motion. Alternatively, if a variation from straight line motion is desired, it can, within limits, be accomplished by Yari~tions in the distances 14-18 and 18-22 accompanied by appropriate sizing ~
lD pulleys 9B and 36. The isosceles relationship in which 14-18 substan-ti~lly equals 18-22 is ordinarily preferable because it giYes ~he ~ximum straight l~ne stroke ~i.e. four times the distance 14-18 or 18-22) and involves simpler relationships of lengths ~nd pul}ey di~me~
Orientation of the work attachment 106 abou~ the axis 2~ h5 1~ controlled by the coordinating means 26. With the 1:2 rati~ bet~een pulleys 108 and 102 that has been described, rotation of the wGrk attachment 106 hill be equal to angular movement by ar~ ~2 ab~ut axis 14 so that it remains straight even though it is moved horizontally.
Alternatively, different orientations can be automatically achieved by varying the pulley ratios; or, even further, the coordinating me~ns can be eliminated and the work attachment 106 simply allowed to rotate freely and manually on bearing 104, or not at all by eliminating the beari~g.
In conjunction with horizontal motion, or separately, vertical movement of the work-holding attachment 106 can be achieved by appro-priately energizing life motor 70. While this motor has been illustratedin alignment with axis 14, it and the vertical movement actuating and support mechanism could be located elsewhere; for example, at axis lB.
Similarly, while the rotary, horizontal drive motor is shown on axis l8, it could also be located elsewhere, on axis 14, for example, since the two coordinating systems 24 and 26 will maintain the desired relationship among the variou~ parts.
~ I
r i .. . .. : ~ ;
." ., : ' ~ :' ' . - ' ': ~ :
While toothed pulleys and timing belts are presently pre-ferred for the geared connections 74 and 26, in other embodimea~s other suitable foTms of geared connection ~e.g. usin~ chains, Y b~l~s, wi~e ropes or gear t~ains} could be used~ Similarly, instead of electric motors 70 and 88 hydraulic OT fluid motors may be used depend-ing upon the application, etc.
For use as production equipmen~, operation of the tw~ motors 70 and 88 can be conlrolled and coordinated by any suitable ~ontrol system, and may be programmed by use of a ~omputerised numerical control system to secure a desired se4uence or com~ination of hori~ontal and vertical movements and a dPsired a~tomatica~lly repeatable path of move-ment of the work-holding attac~ment 106. ~k-holding at~achments such as ~a~s as shown ~n U.S~ Patent N~. 3,975~gg2~ ~or exampleJ~ controll-able magnets or ~acuum c~ps, et~ ca~ ~hereore be secured t~ ~he attachment holdin~ means 10~ an~ operate~ m harmony with ~he apparatus 1 to pick-u~, move~ load and~or unload~ andi ~e~ease workpieces (not shown) with respect to industrial pressesp conveyors, etc~
Thus, the in~ention provides a heavy duty workpiece handling device which by virtue of the ~arge tu~ b1e bearings ~e.specially bear-20 ing 38) and other features described above eliminates the need for a .
guide track (such as used in British Patent No. 1,395,085) and uses articulated and controlled cantilever action to impart a desired motion to a workpiece.
~ bdifications in the specific structure shown can be made without departing from th~ spirit and scope of the invention.
, . .
. .
.
., .: : - "
. .
Claims (14)
OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. Apparatus for loading or unloading a press or the like comprising mounting means, a first cantilever arm pivotally mounted on said mounting means for movement about a substantially vertical first pivot axis, a second cantilever arm pivotally mounted on said first arm for movement about a second pivot axis substantially parallel to said first pivot axis, and work-supporting means mounted on said second arm at a position adjacent to the end of said second arm, the mounting position of said work-supporting means and said first pivot axis being predetermined fixed distances from said second axis, said apparatus including coordinating means arranged so to coordinate movements of the arms about the first and second pivot axes that said work-supporting means moves in a predetermined horizontal path in directions perpendicular to said axes, and power operated actuating means arranged together with said coordinating means to rotate said arms relative to each other about said second pivot axis and to pivot said first arm on said mounting means whereby said work-supporting means moves along said predetermined path, said apparatus comprising turntable hearing means pivotally mounting said first arm on a carriage of said mounting means for movement relative thereto about said first pivot axis, and said carriage being reciprocably mounted on a carrier of said mounting means for movement relative thereto in the direction of said first pivot axis.
2. Apparatus according to claim 1 in which said carriage and said carrier are telescopically arranged.
3. Apparatus according to claim 2 including rollers mounted on one of said carriage and said carrier and arranged to roll against the other and serving to guide telescopic movement of the carriage.
4. Apparatus according to claim 3 in which said carriage is guided in its movements by four sets of said rollers, each set extending longitudinally of the carriage and the sets being arranged in two pairs of opposed sets, the lines of action of the two pairs of sets being perpendicular to one another.
5. Apparatus according to claim 4 in which each set, in at least one of the pairs of sets, comprises two pairs of rollers, the two pairs of rollers being spaced apart longitudinally of the carriage and the rollers in each pair of rollers being spaced apart transversely of the carriage.
6. Apparatus according to any one of claims 3, 4 and 5 in which said carriage is mounted within said carrier and said rollers are mounted on said carrier.
7. Apparatus according to claim 1 comprising a nut-and-screw arrangement which determines the position of said carriage relative to said carrier, one of the nut and the screw being non-rotatably secured to one of the carriage and the carrier and the other of the nut and the screw being arranged to be rotated by a motor mounted on the other of the carriage and the carrier.
8. Apparatus according to claim 7 in which said carriage and said carrier are telescopically arranged with said carriage mounted within said carrier, and said motor is mounted on said carrier.
9. Apparatus according to any one of claims 1, 2 or 3 wherein said carriage is suspended from said carrier by means comprising a plurality of pneumatic balancer cylinders.
10. Apparatus according to claim 1 wherein said work-supporting means is pivotally mounted on said second arm for movement about a third pivot axis parallel to said first and second pivot axes, said first and third pivot axes being substantially equi-distant from said second pivot axis and the apparatus comprising first coordinating means so arranged to coordinate movements of the arms about the first and second pivot axes that said work-supporting means moves in a substantially straight path, and second coordinating means comprising a geared connection from said first arm to said work-supporting means whereby the orientation of said work-supporting means is predetermined throughout said path.
11. Apparatus according to claim 10 in which said first coordinating means comprises a geared connection in the ratio of substantially 2:1 from said mounting means to said second arm and said second coordinating means comprises a geared connection in the ratio of substantially 1:2 from said first arm to said work-supporting means.
12. Apparatus according to claim 11 in which said first and second arms are hollow and said first geared connection extends through said first arm to said second arm, and said second geared connection extends through said second arm to said work-supporting means.
13. Apparatus according to claim 12 in which said geared connections comprise timing belts extending through said arms and pulleys disposed about each of said three axes, said timing belts extending around said pulleys.
14. Apparatus according to claim 13 including idler means engaging said timing belts to take up slack therein.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US36891482A | 1982-04-16 | 1982-04-16 | |
| US368,914 | 1982-04-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1265091A true CA1265091A (en) | 1990-01-30 |
Family
ID=23453283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000424651A Expired - Fee Related CA1265091A (en) | 1982-04-16 | 1983-03-28 | Apparatus for loading and/or unloading industrial presses |
Country Status (7)
| Country | Link |
|---|---|
| JP (1) | JPS58192776A (en) |
| CA (1) | CA1265091A (en) |
| DE (1) | DE3313562A1 (en) |
| ES (1) | ES8500132A1 (en) |
| FR (1) | FR2525147B1 (en) |
| GB (1) | GB2121747B (en) |
| IT (1) | IT1160781B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4433951A (en) * | 1981-02-13 | 1984-02-28 | Lam Research Corporation | Modular loadlock |
| DE3336068C2 (en) * | 1983-10-04 | 1994-09-08 | Hermann Klann Metall Und Blech | Transfer device |
| GB8526718D0 (en) * | 1985-10-30 | 1985-12-04 | Lattimer Ltd E R | Tong arm assembly |
| US4728252A (en) * | 1986-08-22 | 1988-03-01 | Lam Research Corporation | Wafer transport mechanism |
| JP2003513813A (en) * | 1999-11-15 | 2003-04-15 | ファナック ロボティクス ノース アメリカ インコーポレイテッド | Oriented robot arm assembly |
| CN110370312A (en) * | 2019-08-15 | 2019-10-25 | 北京克莱明科技有限公司 | Small scale robot off-load cradle head |
| CN113510481B (en) * | 2021-09-13 | 2021-11-16 | 如东县锦盛健身器材有限公司 | Irregular workpiece automatic welding system with stacking function |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2572874A (en) * | 1949-04-13 | 1951-10-30 | Edgar W Macknight | Adjustable auxiliary seat assembly |
| US3010587A (en) * | 1957-09-20 | 1961-11-28 | Richard G Hollinger | Workpiece transfer mechanism |
| FR2159212B1 (en) * | 1971-11-12 | 1974-05-31 | Peugeot & Renault | |
| GB1395058A (en) * | 1972-11-07 | 1975-05-21 | Sahlin Automation Ltd | Work feeding apparatus |
| CS165549B1 (en) * | 1973-03-26 | 1975-12-22 | ||
| US3975992A (en) * | 1973-05-10 | 1976-08-24 | Sahlin International, Inc. | Lift control system for press unloader or the like |
| US4056198A (en) * | 1976-03-29 | 1977-11-01 | Danly Machine Corporation | Transfer and turnover mechanism for use with power press or the like |
| DE2802738A1 (en) * | 1978-01-23 | 1979-07-26 | Felss Geb | Workpiece lifting manipulating equipment - has shaft in main jib head coupling auxiliary jib to slewing axis |
| JPS54159963A (en) * | 1978-06-06 | 1979-12-18 | Shiroyama Kogyo Kk | Articulated arm type manipulator |
| JPS5558995A (en) * | 1978-10-27 | 1980-05-02 | Fujitsu Ltd | Mechanical arm device |
| FR2440270A1 (en) * | 1978-11-02 | 1980-05-30 | Polymatic Sa | Feed system for high rate press - comprises automatically controlled main and secondary arm assemblies with planer trajectory |
| JPS56142985U (en) * | 1980-03-24 | 1981-10-28 | ||
| JPS5810491A (en) * | 1981-07-08 | 1983-01-21 | 株式会社東芝 | Robot device |
-
1983
- 1983-03-28 CA CA000424651A patent/CA1265091A/en not_active Expired - Fee Related
- 1983-04-12 FR FR838305911A patent/FR2525147B1/en not_active Expired
- 1983-04-14 DE DE19833313562 patent/DE3313562A1/en active Granted
- 1983-04-14 GB GB08310149A patent/GB2121747B/en not_active Expired
- 1983-04-15 ES ES521541A patent/ES8500132A1/en not_active Expired
- 1983-04-15 IT IT20617/83A patent/IT1160781B/en active
- 1983-04-16 JP JP58067663A patent/JPS58192776A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| GB8310149D0 (en) | 1983-05-18 |
| GB2121747A (en) | 1984-01-04 |
| DE3313562C2 (en) | 1993-07-29 |
| DE3313562A1 (en) | 1983-10-20 |
| JPS58192776A (en) | 1983-11-10 |
| IT8320617A0 (en) | 1983-04-15 |
| FR2525147A1 (en) | 1983-10-21 |
| IT1160781B (en) | 1987-03-11 |
| JPH0442148B2 (en) | 1992-07-10 |
| ES521541A0 (en) | 1984-10-01 |
| ES8500132A1 (en) | 1984-10-01 |
| FR2525147B1 (en) | 1989-04-28 |
| GB2121747B (en) | 1986-07-30 |
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Legal Events
| Date | Code | Title | Description |
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| MKLA | Lapsed |