GB1374119A - Transfer and positioning machine - Google Patents

Abstract

1374119 Manipulators DAINI SEIKOSHA KK 14 Dec 1971 [24 Dec 1970 26 Dec 1970 (2) 9 April 1971] 57991/71 Heading B8H A manipulator for manual or automatic punched card operation comprises a pair of grippers 16, 16a mounted for vertical and horizontal rotation on a transfer arm 14, itself mounted for horizontal and vertical reciprocation and rotation about a vertical axis upon a lifting member 11. The lifting member comprises a cylindrical guide 33 with a cylinder 35 movable therein. The cylinder has mounted at the upper end thereof three bearing plates 43, 45, 50 to support a rotatable shaft 44, the lower end of which is in engagement with a piston-rod 38 of a pneumatic ram 36 mounted on the guide 33 whereby the cylinder 35 and the shaft 44 may be raised and lowered. The extremities of the vertical movement of the cylinder 35 are controlled by an arm 55 mounted on the cylinder and engaging end stops 57, 59. The chamber 46 formed between a pair of bearing plates 43, 45 houses a vane (60), Fig. 4 (not shown) secured to the shaft 44 to divide the chamber, into compartments (64), (65) each supplied with air from a respective conduit (66), (67) to cause the shaft 44 and hence the transfer arm 148 to rotate in the desired direction. The chamber 48 formed between bearing plates 45, 50 is filled with a viscous fluid to damp the rotary motion of the transfer arm. The extremities of the rotary motion of the transfer arm are controlled by a projection (69), Fig. 5 (not shown), mounted on a sleeve 53 secured to the shaft 44 and end stops 70. The transfer arm 14 is slidingly mounted within a guide 80 fixed to the lifting member 11. A pneumatic cylinder 82 is also fixed to the lifting member 11, but is housed within the transfer arm 14 and itself houses a piston 83 and piston-rod 84 secured to the arm 14. Conduits 86, 87 supply air to opposed sides of the piston 83 to move the arm 14 in the desired direction The guide 80 in conjunction with end stops 90. 91 limit the movement of the arm 14. Secured to one end of the arm 14 is a bearing 106 for a shaft 105 with a vane (Fig. 9 (not shown), 125 secured thereto for rotation within a chamber (124). Air is supplied on opposite sides of the vane to effect rotation of the shaft 105 in the desired direction about a horizontal axis. Secured to the end of the shaft 105 for rotation therewith in a further chamber (104, Fig. 10, not shown), housing a vane (116) secured to shaft 129. Air supplied in conduits (114), (117) to opposite sides of the vane causing the shaft 129 to rotate in the desired direction about a vertical axis. Mounted on the bottom of the shaft 129 for rotation therewith are the hands 16, 16a of the manipulator and a pneumatic ram 137 to operate same. A control circuit for manual or punched card operation with provision for internal influence is described with reference to Fig. 15. (For Figures see next page.)