US3400836A - Retracting clamp - Google Patents

Retracting clamp Download PDF

Info

Publication number
US3400836A
US3400836A US605420A US60542066A US3400836A US 3400836 A US3400836 A US 3400836A US 605420 A US605420 A US 605420A US 60542066 A US60542066 A US 60542066A US 3400836 A US3400836 A US 3400836A
Authority
US
United States
Prior art keywords
clamp
cam
movement
follower
moving
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 - Lifetime
Application number
US605420A
Other languages
English (en)
Inventor
Bende Albert
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.)
ThyssenKrupp Budd Co
Original Assignee
Budd Co
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 Budd Co filed Critical Budd Co
Priority to US605420A priority Critical patent/US3400836A/en
Priority to SE17448/67A priority patent/SE341115B/xx
Priority to DE19671531162 priority patent/DE1531162B2/de
Priority to NL676717650A priority patent/NL140759B/xx
Priority to FR1551366D priority patent/FR1551366A/fr
Priority to GB58930/67A priority patent/GB1204032A/en
Application granted granted Critical
Publication of US3400836A publication Critical patent/US3400836A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element

Definitions

  • Cam controls regulate the movement of the clamp from a folded or stored position to a grasping position and then close and open the clamp at the appropriate time in the cycle of the ap- Background of the invention
  • This invention relates to work handling apparatus and more particularly to a cam actuated and controlled mechanical hand for holding an article and transferring the article along a production line from one station to the next in line.
  • the retracting clarnp of this invention is designed to accommodate varying thicknesses of material by having spring biased clamp blocks that can be adjusted to accommodate different thickness of materials.
  • the apparatus of this invention is a retracting clamp that is movable from a retracted or stored position to an extended or working position by a cam block and cam plate combination. When in the working position further movement of the cam block will actuate the clamp for closing. On closing, the clamp is biased to resiliently hold the seized article by a spring means.
  • the spring means may be adjusted to provide varying pressures, as needed by the clamp.
  • the support for the clamp is synchronized for movement with the production line so that clamping action and movement of the work piece will flow smoothly from station to station.
  • FIG. 1 is cross-sectional view of the novel retracting clamp in the closed or clamping position, with phantom lines illustrating the position of the clamp in open position.
  • FIG. 2 is a view, in the direction of the arrows substantially alOng the line 2-2 of FIG. 1, phantom lines are used to illustrate the clamp in the folded or retracted position.
  • the preferred embodiment of this retracting clamp includes a support member 12 which in this embodiment is a tube.
  • the tube 12 may be fixed or movable between a receiving and delivering position, as desired.
  • a pair of opposed cam plates 14, 16 are secured on the support member 12 by a plurality of bolts 18 and lugs 19.
  • a spacer member 20 is secured between the cam plates 14, 16 by a plurality of bolts 22. The spacer member 20 maintains the cam plates 14, 16 at the proper spaced interval for permitting reciprocating movement therebetween of a cam block 24.
  • a pair of rollers 26, 28 are secured to the cam block 24 for rollingly supporting the cam block for reciprocating movement as indicated by the arrow A-A.
  • Each roller 26, 28 is journalled in a groove 30, 32 formed in the respective cam plates 14, 16 for guiding and supporting the cam block therebetween.
  • a drive shaft 34 is secured to the cam block 24 by a pin or other suitable means for moving the cam block back and forth upon command.
  • a cam driving groove 36 is formed in the cam block 24 for receiving a pair of rollers 38, 40 rotatably secured on a shaft 42 attached to a cam follower 44.
  • the shaft 42 also rotatably supports a second set of rollers 46, 48 positioned in cam grooves 50, 52 of the respective cam plates 14, 16.
  • the cam follower 44 is slidably supported in a clamp support 54.
  • the clamp support 54 in turn is slidably supported in a cross head 56 that has a pair of arms 58, 60 journalled in the respective bearing 62, 64 secured on cam plates 14, 16 by bolts 66 or other suitable means.
  • the cross head 56 supports the clamp support 54 and cam follower 44 for longitudinal sliding motion and pivotal motion about the axis of the arms 58, 60.
  • the upper end of the cam follower 44 slidably contacts a clevis 68.
  • the clevis 68 is resiliently connected to the cam follower 44 by a bolt 70 threadably secured in the cam follower 44 and bearing on a shoulder 72 of the clevis 68.
  • the resilience is provided by a stack of Belleville washers 74 positioned about the bolt 70 and supported on an internal shoulder 76 of the cam follower 44 and bearing against the end 78 of clevis 68.
  • Each arm 80 and 82 of the clevis has a link 84, 86 with one end pivotally connected thereto.
  • the other end of each link 84, 86 is connected to one of the respective clamp arms 88, 90 intermediate the ends of the clamp arms.
  • One end of each clamp arm 88, 98 is pivotally connected to the upper end of the clamp support 54.
  • a clamp block '92 and 94 is secured by bolts 96 or other suitable means.
  • the cam block 24 In operation, from the retracted position shown in phantom lines on FIG. 2, the cam block 24 is moved to the right by power means (not shown) acting through drive shaft 34. Such movement of the cam block 24 causes the rollers 26, 28 to be moved along the grooves 30, 32 and the rollers 38, 40 are rotated in place on the lower part of the cam driving groove 36 while the rollers 46, 48 move along the horizontal portions 50a, 52a of the cam grooves 50, 52. Such movement of the rollers pivots the cam follower 44, clamp support 54 and cross head 56 about the axis of the trunnions or arms 58, 60 to an upright position.
  • rollers 38, 40 When the rollers 38, 40 reach the right end of horizontal portions 50a, 52a, the rollers 38, 40 begin moving up the slope of the cam driving groove 36 and the rollers 46, 48 move up the vertical portions 50b, 52b of the respective cam grooves 50, 52 to the position shown in solid lines in FIG. 2.
  • the rollers 38, 40 are shown at their extreme vertical position, and have moved out of the cam driving groove 36 where they are positioned on a horizontal cam locking surface 37.
  • the cam follower 44 is moved vertically relative to the clamp support 54 and cross head 56.
  • the cross head 56 is secured from vertical movement by the bearings 62, 64, and the clamp support 54 is restrained from upward movement by retention ring 98 3 positioned in a groove at its lower end that bears against the cross head 56.
  • the cam block 24 is moved to the left, as viewed in phantom lines of FIG. 2.
  • the rollers 26, 28 move to the left in grooves 30, 32 and the rollers 38, 46 move down the slope of the cam driving groove 36 while the rollers 46, 48 are moved down the vertical portions 50b, 52b of the cam grooves 50, 52.
  • the clamp support 54 is prevented from moving with the cam follower 44 and clevis 68 by the lower edge thereof contacting the upper surfaces 102, 104 of the clamp block 24.
  • the relative vertical movement of the clevis 68 to the clamp holder, acting through the links 84, 86 opens the clamp blocks 92, 94 from contact with the work piece 100.
  • Horizontal movement of the rollers 46, 48 in the horizontal portions 50a, 52a pivots the entire clamp to the retracted position.
  • a work handling apparatus for grasping and transporting an article including a movable support member having a receiving position and a delivery position and being movable therebetween, and power source for moving said support member between said positions; a clamp hand movably secured on said support member for movement therewith, said clamp hand having a retracted posi tion and a working position and being movable therebetween, said clamp hand including cam means for moving said clamp hand between said positions, said cam means includes a cam plate having a guiding groove thereon, said actuating means including follower means interconnected between said linkage means and said guiding groove, a cam :block connected to said follower means and to said power means for moving said follower means as said cam block is moved by said power means on comrnand, a pair of clamp blocks having an open position and a closed position for grasping an article and being movable therebetween, linkage means ⁇ for moving said clarnp blocks between said positions, and actuating means connected between said cam means and said linkage means for moving said clamp blocks between said open
  • said actuating means includes a clevis pivotally connected to said linkage means, said follower means operably connected to said clevis for moving said clevis and said linkage means as said cam block moves said follower means.
  • a clamp support is pivotally secured on said cam plate, said clamp support slidably supporting said follower means, said linkage means having a pair of first links with one end of each pivotally supported on said clamp support, a clamp block secured on the other end of each first link, and a pair of second links with one end of each pivotally connected intermediate the ends of one of said first links and the other end of each of said second links being pivotally connected to said follower means for moving said linkage when said cam block moves said follower means, whereby said clamp blocks are moved between said open and closed positions by movement of said cam block.
  • a work handling apparatus for grasping and transferring an article including a support member having a receiving position and a release position and being movable therebetween, a clamp hand mounted on said support member for movement therewith, said clamp hand having a working position and a stored position and being movable therebetween, said clamp hand including a cam plate having cam surfaces, a cam block operably contacting said cam plate and being reciprocally transversely movable relative thereto, a cam follower operably contacting said cam plate for following said cam surfaces thereon, said cam follower operably contacting said cam block for being moved on said cam surfaces by reciprocal movement of said cam block, support means slidably and pivotally supporting said cam follower on said support member, an actuating clevis connected to said cam follower for movement therewith, a clamp support slidably supported by said support means, a pair of clamp blocks pivotally supported on said clamp support, a pivotal connection pivotally securing each of said clamp blocks to said clamp support, said clamp blocks having a clamping position in close proximity to each other
  • cam block further includes a cam locking surface for locking said clamp hand in a receiving position.
  • a work handling apparatus for grasping and transporting an article including a movable support member having a receiving and a delivering position and being movable there-between, and a power source for moving said support member between said positions; a clamp hand movably secured on said support member for movement therewith, said clamp hand having a retracted position and an extended working position and being movable therebetween, said clamp hand including a cooperating pair of clamp blocks having a closed position for grasping the article and an open position for releasing the article and being movable therebetween; and a cam means having a cam groove and a cam follower for movement in said cam groove as said cam means is actuated, said cam follower being operably connected to said clamp hand for moving said clamp hand between said retracted position and said working position and for moving said clamp blocks between said open position and said closed position when said clamp hand is in said working position as said cam means is actuated; and power means for actuating said cam means upon command.
  • said cam groove includes a first groove portion for controlling movement of said cam follower -for moving said clamp hand between said retracted position and said Working position by movement of said cam follower therealong, one end of said first groove portion having said cam follower therein for positioning said clamp hand in said working position and the other end of said first groove portion having said cam follower therein for positioning said clamp hand in said retracted position, and a second groove portion extending from said one end of said first groove portion for controlling movement of said cam follower for moving said clamp blocks between said open position and said closed position by movement of said cam follower therealong, said clamp blocks being in said open position when said cam follower is in the end of said second groove portion adjacent said first groove portion and said clamp block's being in said closed position when said cam follower is in said second groove portion at a position most remote from said first groove portion.
  • clamp hand includes a clamp support pivotally supported on said support member and operably connected to said cam follower for pivotally moving said clamp hand between said retracted position and said working position upon movement of said cam follower in said first groove portion, linkage means pivotally connected to said clamp support, and said linkage means having said clamp blocks secured thereto for movement therewith.
  • clamp hand includes a clevis resiliently connected to said cam follower for longitudinal movement therewith when said clamp hand is in the working position and pivotally connected to said linkage means for moving said linkage means when moved by said cam follower whereby the clamp blocks are moved between their open and closed positions when the clamp hand is in the working position and the clevis is moved by movement of the cam follower in the second groove portion.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
  • Jigs For Machine Tools (AREA)
US605420A 1966-12-28 1966-12-28 Retracting clamp Expired - Lifetime US3400836A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US605420A US3400836A (en) 1966-12-28 1966-12-28 Retracting clamp
SE17448/67A SE341115B (enrdf_load_stackoverflow) 1966-12-28 1967-12-19
DE19671531162 DE1531162B2 (de) 1966-12-28 1967-12-19 Greifvorrichtung zum erfassen und ueberfuehren eines gegen standes
NL676717650A NL140759B (nl) 1966-12-28 1967-12-24 Grijpinrichting voor het grijpen en transporteren van een voorwerp.
FR1551366D FR1551366A (enrdf_load_stackoverflow) 1966-12-28 1967-12-28
GB58930/67A GB1204032A (en) 1966-12-28 1967-12-28 Retracting clamp

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US605420A US3400836A (en) 1966-12-28 1966-12-28 Retracting clamp

Publications (1)

Publication Number Publication Date
US3400836A true US3400836A (en) 1968-09-10

Family

ID=24423592

Family Applications (1)

Application Number Title Priority Date Filing Date
US605420A Expired - Lifetime US3400836A (en) 1966-12-28 1966-12-28 Retracting clamp

Country Status (6)

Country Link
US (1) US3400836A (enrdf_load_stackoverflow)
DE (1) DE1531162B2 (enrdf_load_stackoverflow)
FR (1) FR1551366A (enrdf_load_stackoverflow)
GB (1) GB1204032A (enrdf_load_stackoverflow)
NL (1) NL140759B (enrdf_load_stackoverflow)
SE (1) SE341115B (enrdf_load_stackoverflow)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3512824A (en) * 1967-10-16 1970-05-19 Verson Allsteel Press Co Gripper finger mechanism for press transfer assembly
DE2544203A1 (de) * 1975-10-03 1977-04-21 Schuler Gmbh L Wendevorrichtung
US4529182A (en) * 1983-04-11 1985-07-16 State Die & Engineering, Inc. Wide opening gripping jaw assembly
US6302462B2 (en) * 1998-06-30 2001-10-16 Phd, Inc. Jaw tips and jaw tip assemblies for parts grippers
US6557916B2 (en) * 1996-10-07 2003-05-06 Phd, Inc. Modular stamped parts transfer gripper
US6874834B2 (en) 1996-10-07 2005-04-05 Phd, Inc. Linear slide gripper
US8092357B1 (en) 2007-12-27 2012-01-10 Honda Motor Co., Ltd. Spindle gripping device and method

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3782162A (en) * 1972-03-09 1974-01-01 Steel Corp Manipulator
EP0132442A1 (de) * 1977-08-31 1985-02-13 Hans-Theodor Grisebach Stellgerät mit Spindeltrieb
EP0134819A1 (de) * 1978-08-01 1985-03-27 Grisebach, Hans-Theodor Spannzange mit elektromotorischem Spannantrieb
EP0100282B1 (en) * 1982-07-26 1987-05-06 THE WARNER & SWASEY COMPANY A bridge type punch press

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US656190A (en) * 1900-03-31 1900-08-21 E W Closson Grapple.
US2259728A (en) * 1939-07-26 1941-10-21 Owens Illinois Glass Co Apparatus for making hollow glass building blocks
US3240603A (en) * 1960-09-29 1966-03-15 Schuler Horst Photographic developer solution containing non-sludging silver halide solvent

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US656190A (en) * 1900-03-31 1900-08-21 E W Closson Grapple.
US2259728A (en) * 1939-07-26 1941-10-21 Owens Illinois Glass Co Apparatus for making hollow glass building blocks
US3240603A (en) * 1960-09-29 1966-03-15 Schuler Horst Photographic developer solution containing non-sludging silver halide solvent

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3512824A (en) * 1967-10-16 1970-05-19 Verson Allsteel Press Co Gripper finger mechanism for press transfer assembly
DE2544203A1 (de) * 1975-10-03 1977-04-21 Schuler Gmbh L Wendevorrichtung
US4529182A (en) * 1983-04-11 1985-07-16 State Die & Engineering, Inc. Wide opening gripping jaw assembly
US6557916B2 (en) * 1996-10-07 2003-05-06 Phd, Inc. Modular stamped parts transfer gripper
US6874834B2 (en) 1996-10-07 2005-04-05 Phd, Inc. Linear slide gripper
US6302462B2 (en) * 1998-06-30 2001-10-16 Phd, Inc. Jaw tips and jaw tip assemblies for parts grippers
US8092357B1 (en) 2007-12-27 2012-01-10 Honda Motor Co., Ltd. Spindle gripping device and method

Also Published As

Publication number Publication date
SE341115B (enrdf_load_stackoverflow) 1971-12-13
GB1204032A (en) 1970-09-03
NL140759B (nl) 1974-01-15
DE1531162B2 (de) 1971-12-30
NL6717650A (enrdf_load_stackoverflow) 1968-07-01
FR1551366A (enrdf_load_stackoverflow) 1968-12-27
DE1531162A1 (de) 1969-12-18

Similar Documents

Publication Publication Date Title
US3400836A (en) Retracting clamp
US4228993A (en) Sheet orienting and transporting frame
US3866883A (en) Apparatus for parting adhering bodies
CN110125970A (zh) 变距夹爪机构
CN112027631A (zh) 一种管件上料移送装置的工作方法
CN110540040B (zh) 一种管件翻转传送装置
CN105922246B (zh) 一种箱体码垛机械手
CN107020503A (zh) 应用于复杂装配的柔性制造单元
US2218503A (en) Stretching mechanism
CN104803186A (zh) 棉纺条并卷机筒管输送机构
JPS61117091A (ja) 個物を捕捉し且つ降下するための装置
CN105905620A (zh) 高效率载运工件的码垛机器人及其操作方法
CN112847421B (zh) 一种提升大直径圆柱型物料的夹持装置
US3780923A (en) Gripping device
US4139104A (en) Material handling apparatus
US3951272A (en) Article transfer apparatus
US4627654A (en) Articulated parallelogram gripper
CN116237920B (zh) 一种具有升降和旋转功能的抓料机械手
CN204604347U (zh) 一种机器人夹具抓手
US2665603A (en) Testing machine clamping device
CN206798596U (zh) 一种化纤丝饼机器人码垛夹具
JP2841091B2 (ja) 平坦薄板材の取扱い装置
RU2022778C1 (ru) Адаптивный захват руки манипулятора
US3807719A (en) Clamp
CN210499184U (zh) 一种拉爆螺杆组装设备用的卷管上料机构