EP0213193A1 - Article transfer mechanism - Google Patents

Article transfer mechanism

Info

Publication number
EP0213193A1
EP0213193A1 EP19860901741 EP86901741A EP0213193A1 EP 0213193 A1 EP0213193 A1 EP 0213193A1 EP 19860901741 EP19860901741 EP 19860901741 EP 86901741 A EP86901741 A EP 86901741A EP 0213193 A1 EP0213193 A1 EP 0213193A1
Authority
EP
European Patent Office
Prior art keywords
article
article transfer
transfer mechanism
movement
arms
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.)
Withdrawn
Application number
EP19860901741
Other languages
German (de)
French (fr)
Inventor
Cyril John Williams
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP0213193A1 publication Critical patent/EP0213193A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
    • B23Q1/36—Springs
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4828—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements

Definitions

  • This invention relates to an article transfer mechanism more particularly to a mechanism for transferring an article from one position or work station to another, 5. and also if desired to transferring an article sequentially from one work station or position to another.
  • an article transfer mechanism including. a member attached to the core of an electromagnet, means mounting the member by strap means extending in an inclined direction, all straps being inclined in the same direction around the body, the straps being inclined at an angle 20. to the axis of the coil and attached to either the coil, base, or other structure fixed relative to the coil.
  • One or more arms are provided to project from the body, preferably in a direction away from the axis of the body either in a radial or inclined direction.
  • FIG. 1 is a plan view of the mechanism.
  • FIG. 2 is a perspective view thereof in the extended 5. position and
  • FIG. 3 is a perspective view of an alternative embodiment in the lower position.
  • the article transfer mechanism comprises a base 1 to 10. hold the electromagnet 2, the coil 3 being mounted in the base 1 with the coil 4 extending therefrom.
  • a shaft 5 carrying at its upper end a mounting 6 to which are attached radial arms 7.
  • the number of radial arms 7 can vary, 15. one pair of arms being shown for clarity.
  • the base 1 and the mounting 6 there are provided a series of resilient rods of spring steel or the like.
  • the rods are mounted on the base 1 and each is inclined across the base in an upward direction
  • the rods being inclined in the same anticlockwise or clockwise direction. As shown the rods are attached to the base adjacent one corner and extending in an upward direction and are inclined towards the centre of the mechanism to be attached
  • the rods are rigidly mounted in the base, and at their upper ends connected by a coil spring 9 to the mounting, the rods being so arranged that in the rest position the rods hold the mounting and thus the core 5. of the electromagnet in the upper position.
  • the electromagnet When the electromagnet is actuated to move the core downwardly as shown in FIG. 3, the core and mounting move downwardly, but due to the resilient rods, these will bend and flex to cause a partial rotary movement.
  • the springs 9 10. allow the acute bending to take place at the ends of the rods 8 without reducing severe stresses in the rods 8 adjacent the mounting 6.
  • the springs On deactivation of the electromagnet, the springs cause the member 6 and the core 5 to move upwardly again 15. with a partial rotary motion in the opposite direction to the partial rotary motion in the downward direction to return the mounting 6 and core to the rest position.
  • the suction can be obtained from a vacuum system connecting to vacuum line 11 controlled by a suitable valve 12, either by the movement of the arm or body itself or
  • grippers, fingers, claws or the like depending upon the article being transferred can be provided at the end of each arm these being operated pneumatically, hydraulically, or mechanically and controlled 5. by suitable actuating valves, levers, switches or the like.
  • the arm 7 could be articulated at . 13 and at its end operate in a suitable guide so that the arm would partake of a partial rotary motion without any vertical motion.
  • This motion could also be provided by guides or 15. slides so that the end of the arm at its pick up station could be provided with a slight downward movement or an extendible movement to grasp the article.
  • Length and movement of the arms can be controlled by suitably adjusting the length of the rods and the inclination of the rods to achieve the desired movement 25. and this can also be achieved by controlling the length of the stroke of the metallic core of the electromagnet.
  • the length of stroke, and the frequency of operation of the electromagnet can be controlled and varied as desired by known electronic circuitry.
  • the mechanism can be used for transferring one article from one station to another or alternatively a plurality of arms can be provided so that the articles are transferred sequentially from 5. one station to another, a performing operation being provided on the article during the return stroke of the mechanism.
  • rods are metal rods, it is to be realized that other materials may be used, such as fibreglass rods or straps, or straps

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un mécanisme de transfert d'objets d'une position à une autre comprend des bras (7) pour saisir les objets, ces bras étant montés sur le noyau mobile (4) d'un électroaimant (2). Les bras sont connectés par des dispositifs élastiques inclinés (8, 9) à une base (1), de sorte qu'ils effectuent un mouvement axial par rapport à l'électroaimant associé à un mouvement partiellement rotatif autour de l'axe de l'électroaimant.A mechanism for transferring objects from one position to another comprises arms (7) for gripping objects, these arms being mounted on the movable core (4) of an electromagnet (2). The arms are connected by inclined elastic devices (8, 9) to a base (1), so that they perform an axial movement relative to the electromagnet associated with a partially rotary movement around the axis of the electro magnet.

Description

"ARTICLE TRANSFER MECHANISM"
This invention relates to an article transfer mechanism more particularly to a mechanism for transferring an article from one position or work station to another, 5. and also if desired to transferring an article sequentially from one work station or position to another.
BACKGROUND OF THE INVENTION
In many manufacturing and assembly operations it is desired to transfer an article from one work station 10. or position to another, and it is an object of this invention to provide a simple and economical means whereby this may be achieved.
BRIEF STATEMENT OF THE INVENTION
Thus there is provided according to the invention 15. an article transfer mechanism, the mechanism including. a member attached to the core of an electromagnet, means mounting the member by strap means extending in an inclined direction, all straps being inclined in the same direction around the body, the straps being inclined at an angle 20. to the axis of the coil and attached to either the coil, base, or other structure fixed relative to the coil.
It will thus be seen that when the electromagnet is energized the body will partake of a reciprocatory motion combined with the part oscillatory motion.
25. One or more arms are provided to project from the body, preferably in a direction away from the axis of the body either in a radial or inclined direction. BRIEF DESCRIPTION OF THE DRAWINGS
In the drawings,
FIG. 1 is a plan view of the mechanism. FIG. 2 is a perspective view thereof in the extended 5. position and
FIG. 3 is a perspective view of an alternative embodiment in the lower position.
DESCRIPTION OF THE PREFERRED EMBODIMENT
The article transfer mechanism comprises a base 1 to 10. hold the electromagnet 2, the coil 3 being mounted in the base 1 with the coil 4 extending therefrom.
To the core 4 there is attached a shaft 5 carrying at its upper end a mounting 6 to which are attached radial arms 7. The number of radial arms 7 can vary, 15. one pair of arms being shown for clarity.
Between the base 1 and the mounting 6 there are provided a series of resilient rods of spring steel or the like. The rods are mounted on the base 1 and each is inclined across the base in an upward direction
20. to be attached to the mounting 6, the rods being inclined in the same anticlockwise or clockwise direction. As shown the rods are attached to the base adjacent one corner and extending in an upward direction and are inclined towards the centre of the mechanism to be attached
25. to the mounting at a position generally centrally of the side of the base. This gives an indication of the inclination, it being realized that the base and mounting could be shaped other than square and circular respectively. The rods are rigidly mounted in the base, and at their upper ends connected by a coil spring 9 to the mounting, the rods being so arranged that in the rest position the rods hold the mounting and thus the core 5. of the electromagnet in the upper position.
When the electromagnet is actuated to move the core downwardly as shown in FIG. 3, the core and mounting move downwardly, but due to the resilient rods, these will bend and flex to cause a partial rotary movement. The springs 9 10. allow the acute bending to take place at the ends of the rods 8 without reducing severe stresses in the rods 8 adjacent the mounting 6.
On deactivation of the electromagnet, the springs cause the member 6 and the core 5 to move upwardly again 15. with a partial rotary motion in the opposite direction to the partial rotary motion in the downward direction to return the mounting 6 and core to the rest position.
Thus the mounting 6 and arms 7 attached thereto will, in operation, partake of a vertical reciprocatory 20. movement and an oscillatory or a partial rotary movement.
At the free end of the arm or arms 7 article grasping means are provided. If for example a material such as paper or card or the like is to be transferred from one position to another, a suction cup 10 and mechanism
25. can be provided at the end of the arm to pick up the uppermost sheet and transfer it to a further position. The suction can be obtained from a vacuum system connecting to vacuum line 11 controlled by a suitable valve 12, either by the movement of the arm or body itself or
30. by a contact switch or proximity switch. Alternatively, grippers, fingers, claws or the like depending upon the article being transferred can be provided at the end of each arm these being operated pneumatically, hydraulically, or mechanically and controlled 5. by suitable actuating valves, levers, switches or the like.
In a simple form it will be realized that the end of the arm would partake of a partial rotary motion and also move vertically from one position to the other.
10. In an alternative form as shown in FIG. 3, the arm 7 could be articulated at. 13 and at its end operate in a suitable guide so that the arm would partake of a partial rotary motion without any vertical motion.
This motion could also be provided by guides or 15. slides so that the end of the arm at its pick up station could be provided with a slight downward movement or an extendible movement to grasp the article.
In operation it will be seen that the coil when energized by operating switch 14 moves the arms in one
20. direction, and the resilient straps or the like return the arms to their initial position.
Length and movement of the arms can be controlled by suitably adjusting the length of the rods and the inclination of the rods to achieve the desired movement 25. and this can also be achieved by controlling the length of the stroke of the metallic core of the electromagnet. The length of stroke, and the frequency of operation of the electromagnet can be controlled and varied as desired by known electronic circuitry. As noted above the mechanism can be used for transferring one article from one station to another or alternatively a plurality of arms can be provided so that the articles are transferred sequentially from 5. one station to another, a performing operation being provided on the article during the return stroke of the mechanism.
In addition it will be realized that the initial reciprocatory motion can be obtained by other means
10. such as an air or hydraulic motor, a cam or any means whereby the initial motion is imparted with the return by the resilient rods. While as shown the rods are metal rods, it is to be realized that other materials may be used, such as fibreglass rods or straps, or straps

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:
1. An article transfer mechanism for transferring articles from one position to another, the mechanism including an electromagnet having a moveable core, means for mounting the core in a fixed position, a member
5. carrying article transfer means mounted on the core, resilient means attached between the member and means fixed relative to the coil, said resilient means comprising a plurality of elongate rods or straps spaced around the electromagnet and inclined in the same direction, _Q the resilient means retaining the member in a rest position, and on actuation of the electromagnetic and movement of the coil the members partake of a reciprocatory movement along the axis of the electromagnet and due to the resilient means partake of a part rotary movement to move the 5. article transfer means between said positions.
2. An article transfer mechanism as defined in claim 1 characterized in that the resilient means are metal rods, the respective end of each rod adjacent the member being attached to the member by means of a coil spring.
3. An article transfer mechanism as defined in claim 1 or claim 2 characterized in that the article transfer means comprises at least one arm extending laterally therefrom carrying at its free end means for moving
5. the article.
4. An article transfer mechanism as defined in claim
3 characterized in that the means for moving the article comprises a suction cap to move a sheet of paper.
5. An article transfer mechanism as defined in claim
3 characterized in that the means for moving the article comprises a vacuum means to grasp the article, the vacuum means being controlled by valve means in timed relation to the movement of the arms.
6. An article transfer mechanism as defined in claim 3 characterized in that the means for moving an article comprises mechanical fingers or claws to grasp the article, the claws being actuated in timed relation to the movement of the arms.
7. An article transfer mechanism as defined in claim 3 characterized in that the arms are articulated to provide a desired movement for movement of the article.
8. An article transfer mechanism substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
EP19860901741 1985-03-11 1986-03-10 Article transfer mechanism Withdrawn EP0213193A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU964885 1985-03-11
AU9648/85 1985-03-11

Publications (1)

Publication Number Publication Date
EP0213193A1 true EP0213193A1 (en) 1987-03-11

Family

ID=3700416

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19860901741 Withdrawn EP0213193A1 (en) 1985-03-11 1986-03-10 Article transfer mechanism

Country Status (2)

Country Link
EP (1) EP0213193A1 (en)
WO (1) WO1986005472A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2685475B1 (en) * 1991-12-20 1995-09-22 Luro Sarl Ets CONTROLLED DISPENSING METHOD WITH VOLUMETRIC COUNTING OF QUANTITIES DOSE OF LIQUID AND DEVICE FOR ITS IMPLEMENTATION.
NL9400899A (en) * 1994-06-02 1996-01-02 Henricus Johannes Van Den Berg Sensor for a seam monitoring system
US6467895B1 (en) 2000-02-16 2002-10-22 Hewlett-Packard Company Vacuum feeder for imaging device
GB2388107B (en) * 2000-02-16 2004-05-12 Hewlett Packard Co Vacuum feeder for imaging device
CN106628302B (en) * 2017-01-09 2018-11-16 安徽杰瑞信息科技有限公司 A kind of packaging robot for food production

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3851769A (en) * 1971-04-09 1974-12-03 Seiko Instr & Electronics Industrial robot
DE2204968A1 (en) * 1972-02-03 1973-08-16 Whitehall Machinery Ltd METHOD AND DEVICE FOR HANDLING A GROUP OF ITEMS
DE2350296A1 (en) * 1972-10-18 1974-05-02 Electrolux Ab FASTENER ON A ROBOT
US3954188A (en) * 1973-12-26 1976-05-04 Prab Conveyors, Inc. Universal transfer device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8605472A1 *

Also Published As

Publication number Publication date
WO1986005472A1 (en) 1986-09-25

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