US3522838A - Die casting extractor - Google Patents

Die casting extractor Download PDF

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US3522838A
US3522838A US3522838DA US3522838A US 3522838 A US3522838 A US 3522838A US 3522838D A US3522838D A US 3522838DA US 3522838 A US3522838 A US 3522838A
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Prior art keywords
means
workpiece
gripping
shown
casting
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Richard J Ott
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Respond Inc
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Respond Inc
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D17/00Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
    • B22D17/20Accessories: Details
    • B22D17/2084Manipulating or transferring devices for evacuating cast pieces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • B25J9/041Cylindrical coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control

Description

United States Patent Richard J. Ott

Inventor: i Baroda, Michigan Application No.: 725,465 Filed: April 30,1968 Patented: Aug. 4, 1970 Assignee: Respond Inc.

Baroda, Michigan a Corp. of Michigan DIE CASTING EXTRACTOR 12 Claims, 10 Drawing Figs.

US. Cl. 164/404, 18/2, 214/1, 164/344 Int. Cl. B22d 20/06 Field of Search 164/404,

401, 344; 18/2RM; 214/1B-3, 1BS3 [56] References Cited UNITED STATES PATENTS 3,007,097 10/1961 Shelley et a1 t. 214/1 X 3,270,379 9/1966 Sehn et a1. 1. 164/344 Primary Examiner- Robert D. Baldwin Attorney-Olson, Trexler, Wolters and Bushnell ABSTRACT: There is disclosed an apparatus comprising jaws mounted on a slide adapted to be actuated for shifting the jaws into an open die casting machine for gripping and removing the casting and then withdrawing the jaws along with the casting from the machine and delivering the casting to a transfer mechanism or other suitable point ofdischarge.

' Patented Aug. 4, 1-970 Sheet us, PATENT 3,522,838 DIE CASTING EXTRACTOR SPECIFICATION The present invention relates to a novel apparatus for extracting a workpiece from a die casting machine'and delivering the workpiece to asuitable point of discharge.

Heretofore, it has been the practice to remove workpieces from die casting machines with the aid of hand tools or, in cer tain instances, with the aid of complex or custom built equipment. Such heretofore proposed equipment has been relatively expensive and has required excessive amounts of floor space.

It is an important object of the present invention to provide a novel apparatus for extracting workpieces from die casting machines, which apparatus is of simple and compact construction and is relatively inexpensive.

A further object of the present invention is to provide a novel apparatus capable of extracting a workpiece from a die casting machine or the like and then repositioning the workpiece and delivering it to a trim press or other equipment for further processing.

A more specific object of the present invention is to provide a novel extractor apparatus suitable for use in association with die casting machines or the like, which apparatus comprises workpiece gripping jaw means mounted on a carriage or slide disposed for reciprocable movement between complementary parts of a die casting machine for gripping and extracting a workpiece, and means adjustably supporting the carriage or slide for lateral movement as well as reciprocable movement andalso for rotatable movement for enabling the extracted workpiece to be delivered to a desired point ofdischarge.

Still another object of the present invention is to provide a novel transfer machanism adapted to be mounted in association with the extractor for receiving a workpiece from the extractor and delivering the workpiece to a trim press or the like for further processing.

Other objects and advantages of the present invention will become apparent from the following description and the accompanying drawings wherein:

FIG. 1 is a perspective view showing an extractor apparatus incorporating features of the present invention;

FIG. 2 through 6 are simplified or schematic plan views showing successive steps in the operation of the apparatus for extracting a workpiece and delivering the workpiece to a transfer mechanism;

FIG. 7 is a fragmentary perspective view showing a transfer. mechanism with parts thereof-in position for receiving a workpiece from the extractor;

FIG. 8 is a fragmentary perspective view of the transfer mechanism shown in FIG. 7 with parts thereof manipulated to reposition the workpiece;

FIG. 9 is a schematic view of a portion of a control circuit incorporated in the extractor apparatus; and

FIG. 10 is a schematic view of a further portion of the control circuit incorporated in the transfer mechanism.

Referring now more specifically to the drawings wherein like parts are designatedby the same numerals throughout the various figures, an extractorapparatus l0 incorporating features ofthe present invention is shown in FIG. 1. While the apparatus may be adapted for use in various installations, it is shown in FIGS. 2-6 associated with a die casting machine 12 for extracting a workpiece 14 from the machine and delivering the workpiece to a transfer mechanism 16. The transfer mechanism which is shown in greater detail in FIGS. 7 and 8 is adapted .to deliver the workpiece to another machine such as a trim press schematically indicated at 18 in FIGS. 2-6 or to any otherdesired point of discharge.

.The die casting machine 12 may be of various known constructi'ons having relatively movable platens 20 and 22 supporting complementary dies 24 and 26. The machine includes means, not sh.ow n,for relatively shifting the platens between the open position shown in FIGS. 2-5 and the closed position shown in FIG. 6. Of course, the dies may be designed for forming workpieces of any desired shape, and in the embodiment shown, the workpiece or casting 14 has a projection 28 adapted to be gripped by the extractor in the manner described below.

Referring particularly to FIG. 1 it is seen that the extractor apparatus has a first base member 30 adapted to be positioned on the floor at any desired location. Another base plate 32 is supported above the base member 30 for vertical adjustment by means of screws 34, 36, 38 and 40 and guide rods 42-48. Thus, the apparatus is adapted to be vertically adjusted in accordance with the needs ofa particular installation.

In the embodiment shown another base member or slide 52 is disposed on the base plate 32 and is provided with a dovetail portion 54 depending into a complementary slot 56 in the plate 32. The base member 52 is adapted to be adjusted toward and away from the die casting machine or other machine with which the extractor is assembled by means of a screw 58 threaded into the dovetail portion 54 and extending through a collar 60 fixed to the plate member 32.

A suitable frame structure 62 is mounted on the base plate 52. In the embodiment shown, this structure comprises upstanding posts 64, 66, 68 and 70 which support a plate member 72 which in turn supports an upstanding tubular bearing housing 74. A shaft 76 rotatably extends through the bearing housing 74 and has a head 78 fixed to its upper end and a drive gear 80 or other suitable drive element fixed to its lower end. The shaft is adapted to be rotated for the purposes described below by suitable means such as a rack 82 fixed to a piston 84 which is associated with a pneumatic or hydraulic cylinder 86.

The head member 78 has fixed thereto a horizontal support and guide plate 88. A carriage or slide member 92 is disposed on the plate member 88 and is adapted to be shifted back and forth as will be described further below. This movement is accomplished by means of a cylinder 94 which, in the embodiment shown, is integrally formed with the member 92 and a cooperating piston 96 having an outer end fixed as at 98 to a bracket 100 secured to and extending from the head 78 and plate 88.

The slide or carriage member 92 has upstanding leg portions I02 and I04 between which extend upper and lower parallel tubular bearing housings 106 and 108. These housings or sleeves contain suitable bearings, not shown, for slidably supporting elongated parallel guide rods I10 and 112. The rods are preferably tubular or hollow for the purpose described below.

Forward ends of the guide rods I10 and II2 carry gripping means 114 adapted to be actuated for engaging and holding the workpiece or casting during an extracting operation. The gripping means comprises a block or base member 116 which extends between and is fixed to the forward ends of the rods and 112. Gripper arms II8 and I20 are pivotally con nected to the block or base I16 as at I22 and 124 respectively for movement between open and closed positions. Outer ends of the arms carry gripper elements or pads 126 and 128 which are suitably formed for engaging and retaining a workpiece or casting. In the embodiment shown, the gripper elements or pads are complementary semi-tubular elements for engaging the round axially extending post or projection 28 on the casting or workpiece I4.

In order to actuate the gripper arms and the elements or jaw members carried thereby, fluid pressure cylinders I30 and I32 are respectively disposed in forward end portions of the hollow guide rods H0 and I12 and have axially outwardly projecting piston rods 134 and I36. These rods are connected by links 138 and 140 with ears I42 and I44 on the gripper arms. The arrangement is such that when the cylinders are actuated by fluid under pressure for extending their respective piston rods, the gripper arms are pivoted toward each other for gripping a workpiece. Each of the cylinders is provided with spring means for returning its piston when the fluid pressure is relieved, and in addition a spring 146- is disposed between the gripper arms for aiding in opening the arms.

In order to supply fluid under pressure to the cylinders 130 and 132, fluid supply lines 148 and 150 are directed through the rear ends of the hollow guide rods 110 and 112 and extend through the cylinders. These supply lines are connected with a common fitting 152 which in turn is connected by a flexible conduit 154 with a control valve and a source of fluid under pressure as will be hereinafter set forth.

In order to shift the gripping means between extended and retracted positions, an elongated fluid pressure operated cylinder 156 is mounted between the arms 102 and 104 of the carriage or slide and parallel to the guide rods 110 and 112.

This cylinder has an elongated complementary piston 158 having an outer end connectcdto the plate member 116 of the gripping means. The cylinder 156 is double acting and is adapted to be actuated for extending the gripping means to a position between the platens of a die casting machine for v picking up a workpiece or casting and for then retracting the gripping means.

The apparatus is provided with suitable control means, limit switches, timing devices and the like for effecting the desired movements in proper sequence and in timed relationship to the operation of the associated machines including the die casting machine, transfer mechanism and trim press. As will be understood, the components of the control circuitry may comprise electrical, hydraulic and pneumatic units of known construction interconnected in a wide variety of arrangements. Thus, it is sufficient to show control circuitry 160 in simplified schematic form in FIG. 9.

The double acting cylinder 86 is shown connected by conduits 162 and 164 with a solenoid actuated control valve 166 which in turn has an inlet connected by conduit 168 with a suitable source 170 of air under pressure. The solenoid of the valve unit 166 is connected by wires 172 and 174 with a relay or control panel 176 which in turn is connected with a suitable source ofelectrical energy. The double acting cylinder 94 is connected by conduits 17 and 180 with a solenoid operated valve 182. This valve also has an inlet connected by a conduit 184 with the source of air.

under pressure and the solenoid portion thereof is connected by wires 186 and 188 with the control panel 176. Cylinder 156 is similarly connected by conduits 185 and 187 to a solenoid valve 191 which in turn is connected by wires 193 and 195 to the panel 176 and by conduit 197 to the air source 170.

The previously mentioned fluid or air supply line 154 for the cylinders 130 and 132 is connected with a solenoid operated valve 190 having an air inlet connected by conduit192 with the source ofair under pressure and further havingiits solenoid connected by wires 194 and 196 with the control panel.

FIG. 9 further shows schematically a vibrator 'or transducer 198 connected by wires 200 and 202 with the control panel 176. The transducer'isincorporated in the extractor for vibrating the gripping means during an extracting operation in a manner which aids in breaking the workpiece or casting loose from the die. As indicated in FIG. 1 the transducer 198 may be mounted on a trailing end portion of one of the guide rods so that the vibration will be transmitted through the guide rod to the gripping head. The transducer 198 may be of various known constructions and may be powered electrically, pneumatically or hydraulically.

The control panel 176 is constructed for causing the extractor apparatus to be manipulated as shown in FIGS. 2 through 6. Starting with the extractor apparatus in the retracted position shown in FIG. 1, a limit switch, not shown, is actuated when the die casting machine is shifted from a closed position to the open position shown in FIG. 2 whereupon the control panel functions to energize the solenoid valve 191 for actuating the cylinder 156 to advance the gripping head 114 between the-dies as shown in FIG. 2 When this movement has been completed, the control panel 176 causes the valve 182 to guide rods 110 and 112. More specifically, this movement is shown in FIG. 3 and causes the gripping head to move from the FIG. 2 position downwardly so that the jaw elements 126 and 128 overlap the projecting element 28 of the workpiece or casting. Then the control panel functions to cause the cylinders 130 and 132 to be actuated for closing the gripping jaws around the projection 28.

When the gripping jaws engage the casting, the transducer 198 may be energized, if necessary, to impart vibrations to the casting to aid in breaking the casting loose from the die 26. The operation of the cylinder 94 is reversed for shifting the carriage 22 back to its original position as shown in FIG. 4 This action causes the gripping head to pull the casting axially away from the die 26. As soon as the casting clears the die, the operation of the cylinder 156 is reversed for withdrawing the gripping head with the casting to the retracted position shown in FIG. 5.

Upon withdrawal of the workpiece from the die casting machine, the control panel 176 serves to energize the solenoid valve 166 for actuating the cylinder 86 to rotate the head 78 and the gripping means from the position shown in FIG. 5 along an arcuate path of travel to the position shown in FIG. 6. Preferably a spray assembly 204 or other suitable means is disposed along this path of travel for directing a quenching liquid against the workpiece so that the workpiece is properly cooled before delivery to the transfer mechanism 16 and trim press 18. If necessary, the control panel 176 may be provided with means for slowing or stopping the extractor apparatus while the workpiece is exposed to the quenching spray so as to insure the desired amount of cooling. When the delivery of the workpiece to the transfer mechanism is completed, the fluid under pressure in the cylinders 130 and 132 is relieved for enabling the gripping means to release the workpiece and the cylinder 86 is actuated for returning the gripping means to the initial or start position shown in FIG. 5.

In accordance with one embodiment, the transfer mechanism 16 is constructed in the manner shown in FIGS. 7 and 8. This mechanism includes a slide or carriage 206 mounted on guide ways or bars 208 and 210 disposed adjacent the trim press 18. Cylinder 211 and cooperating piston 213 are provided for advancing and retracting the carriage. An upstanding hollow shaft 212 is rotatably mounted on the carriage 206 and has secured to its upper end a cross head 214. A yoke 218 is disposed above the cross head 214 and is supported for up and down'movement by a piston rod 220 extending upwardly through the tubular member 212 and operatively associated with a double acting cylinder 222. Guide rods 224 and 226 extend downwardly from the yoke member and slidably through apertures in the cross head 214.

The tubular member 212 is adapted to be rotated for pivoting the yoke 218 between the positions shown in FIGS. 7 and be energized for operating the cylinder 94 so as to shift the 8 Thus, a gear 228 is fixed to the tubular member 212, which gear is adapted to be driven by a rack 230 on a piston rod 232 associated with a double acting air cylinder 234.

The transfer mechanism is provided with receiving means 236 for accepting the workpiece 14 from the extractor .and retaining the workpiece for delivery to the trim press or other suitable point of discharge. It is clear that the receiving means may be made of any desired shape and a construction suitable for receiving the particular workpiece being processed. In the embodiment shown, the receiving means comprises a U- shaped member having pins 238 disposed for extending into locater holes formed in the workpiece or casting. The U- shaped member or receiving means is disposed between upstanding legs 240 and 242 of the yoke and is pivotally supported on a shaft 244 extending between the legs. The U- shaped member is adapted to be pivoted from an upright or vertical position shown in FIG. 7 to a horizontal position such as shown in FIG. 8. In order to accomplish this movement, a gear 246 is fixed on an outer end of the shaft 244 for meshing with a rack 248 fixed to an end of a piston rod 250 associated with a double acting air cylinder 252 mounted for movement with the yoke.

The previously described control circuitry is extended for controlling the operation of the transfer machanism in timed relationship with the operation of the extractor apparatus. This portion of the circuitry is schematically shown in FIN}. 10. Conduits 251 and 253 connect cylinder 211 with solenoid valve 215 having an air inlet connected by line 217 with the air source 170. This solenoid valve is also connected by wires 219 and 221 with the control panel 176. Cylinder 222 is connected by conduits 254 and 256 with a solenoid operated valve 258 having an inlet connected by a line 260 with the source 170 of fluid under pressure. Wires 262 and 264 extend from the solenoid or the valve 258 to the control panel 176.

The cylinder 232 is similarly connected by lines 266 and 268 with a solenoid operated valve 270 and the cylinder 244 is connected by lines 272 and 274 with another solenoid operated valve 276. The valves 270 and 276 are respectively connected by lines 278 and 280 to the fluid pressure supply line and the solenoids of these valves are connected by wires 282-284 and 286-288 with the control panel 176.

The control circuitry is constructed and functions so that when the extractor moves the workpiece to the position shown in FIG. ,6, the yoke 218 and workpiece receiving member 236 are disposed substantially vertically and face laterally of the guide rods 208 and 210 as shown in MG. 7. When the workpiece has been engaged with the retaining pins 238 of the receiving means, the extractor is withdrawn in the manner mentioned above and the cylinders 234 and 254 are actuated for rotating the yoke 90 from the position shown in FllG. 8

and also for pivoting the receiving member 236 to a generally horizontal position as shown in FllG. 8. Then cylinder 211 is actuated for advancing the carriage from the retracted posi tion shown in FIG. 8 toward the left so as to introduce the workpiece into the trim press.

While a preferred embodiment of the present invention has been shown and described herein, it is obvious that many structural details may be changed without departing from the spirit and scope of the appended claims.

IClaim:

1. An extractor apparatus for removing a workpiece from a die casting machine comprising a frame mountable adjacent to said machine, first means mounted on said frame for rotation about a first axis, a carriage mounted on said first means for back and forth movement along a first path of travel extending transversely of said first axis, gripping means mounted on said carriage for movement between retracted and extended positions in a direction extending transversely with respect to said first axis and said first path oftravel, means for moving the gripping means to the extended position and for then moving the gripping means in the reverse direction toward the retracted position, means for moving said carriage along said first path of travel when said gripping means is in said extended position for positioning said gripping means adjacent said workpiece and then for moving in the reverse direction to extract said workpiece from the die, and means for rotating said first means about said first axis when said gripping means is in the retracted position for advancing said workpiece retained by the gripping means along an arcuate path of travel to a desired point of discharge.

2. An extractor apparatus, as defined in claim 1, which includes vertically adjustable base means supporting said frame for enabling the extended position of the gripping means selectively to be raised and lowered.

3. An extractor apparatus, as defined in claim 1, which includes horizontally adjustable base means supporting said frame for enabling the extended position of the gripping means selectively to be adjusted horizontally relative to said machine.

4. An extractor apparatus, as defined in claim 1, which includes base means supporting said frame, said base means comprising a first vertically adjustable portion and a second horizontally adjustable portion for enabling the extended position of said gripping means selectively to be adjusted vertically and horizontally relative to said machine.

5. An extractor apparatus, as defined 11') claim 1, which includes means operatively interconnected with said gripping means for imparting vibration to the gripping means for assisting in loosening a workpiece from the machine during an extracted operation.

6. An apparatus, as defined in claim 1, which includes a transfer mechanism disposed at said point of discharge for receiving the workpiece and transferring it for further processing.

7. An apparatus, as defined in claim 6, wherein said gripping means supports the workpiece in a first plane when the gripping means is at said point of discharge, said transfer mechanism including workpiece receiving means disposed substantially in said plane at said point of discharge, and means for turning said receiving means for repositioning the workpiece.

8. An extractor apparatus, as defined in claim 1, wherein said'gripping means comprises relatively shiftable gripping elements carried by a member, elongated parallel guide rods secured to and supporting said member, means on said carriage slidably supporting said guide rods, and said means for moving said gripping means includes an actuator extending between said carriage and said member for shifting the gripping means between the extended and retracted positions.

9. An extractor apparatus, as defined in claim 8, wherein at least one of said guide rods is hollow and said means for actuating said gripping means includes an actuator disposed within the hollow guide rod and interconnected with one of said gripping elements.

10. An exractor apparatus, as defined in claim 8, wherein gripping means includes a pair of arms respectively pivotally connected to said member and supporting said gripping elements, said guide rods including hollow portions, and said means for actuating the gripping means comprising fluid pressure operable piston and cylinder units respectively disposed in said hollow portions of the guide rods and interconnected with said arms.

11. An extractor apparatus, as defined in claim 10, wherein said guide rods are substantially hollow throughout their length, said apparatus including fluid supply lines extending through ends of said guide rods opposite from said member and connected with said piston and cylinder units.

12. An extractor apparatus, as defined in claim 1, wherein said means for moving said carriage comprises a cylinder formed integrally with the carriage, and cooperative piston means in said cylinder and extending therefrom and connected to said first means.

US3522838A 1968-04-30 1968-04-30 Die casting extractor Expired - Lifetime US3522838A (en)

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3635281A (en) * 1969-05-16 1972-01-18 Pont A Mousson Extractor for stripping pipes and other hollow parts from moulds and similar operations
FR2417371A1 (en) * 1978-02-17 1979-09-14 Comau Spa Handling device
US4475895A (en) * 1979-11-14 1984-10-09 Teepak, Inc. Sausage casing automatic closing system
US4507045A (en) * 1982-05-05 1985-03-26 State Die & Engineering, Inc. Robotic manipulator including actuating unit
US4516476A (en) * 1983-04-14 1985-05-14 Lord Corporation Actuator assembly for an industrial manipulator or the like
US4566244A (en) * 1983-04-30 1986-01-28 Musashi Engineering Kabushiki Kaisha Paper sheet grip and transfer apparatus
US4604085A (en) * 1979-11-14 1986-08-05 Teepak, Inc. Sausage casing automatic closing method
US4666366A (en) * 1983-02-14 1987-05-19 Canon Kabushiki Kaisha Articulated arm transfer device
US4674948A (en) * 1985-07-17 1987-06-23 Industrial Technology Institute High weight capacity robot to pick and place palleted materials in a confined space with specific rotational control
US4730976A (en) * 1983-02-14 1988-03-15 Aeronca Electronics, Inc. Articulated arm transfer device
US4767505A (en) * 1984-10-17 1988-08-30 Takara Co., Ltd. Method of rotationally molding a synthetic resin doll
US4875823A (en) * 1986-11-08 1989-10-24 Honda Giken Kogyo Kabushiki Kaisha Robot apparatus
US4881863A (en) * 1987-12-17 1989-11-21 Primary Systems Corporation Apparatus for inspecting wafers
US4913613A (en) * 1987-07-10 1990-04-03 Hirschmann Gregory C Linear unit for an assembly device in handling technology
FR2682632A1 (en) * 1991-10-18 1993-04-23 Gautreau Jean Robot for laying angular parts.
US5743704A (en) * 1995-12-15 1998-04-28 Brooks Automation, Inc. Wide wrist articulated arm transfer device
US5765983A (en) * 1996-05-30 1998-06-16 Brooks Automation, Inc. Robot handling apparatus
US6176532B1 (en) 1999-06-14 2001-01-23 Mark L. Degener Fluid powered gripper assembly having central cavity
US20080273948A1 (en) * 2007-03-16 2008-11-06 Murata Machinery, Ltd. Plate Material Carry-Out Device and Plate Material Carry-Out Method
US8157495B1 (en) * 2008-01-30 2012-04-17 Astec Industries, Inc. Apparatus and method for a pipe handler
US20140116576A1 (en) * 2012-10-26 2014-05-01 Ford Motor Company System and method of making a cast part

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3635281A (en) * 1969-05-16 1972-01-18 Pont A Mousson Extractor for stripping pipes and other hollow parts from moulds and similar operations
FR2417371A1 (en) * 1978-02-17 1979-09-14 Comau Spa Handling device
US4475895A (en) * 1979-11-14 1984-10-09 Teepak, Inc. Sausage casing automatic closing system
US4604085A (en) * 1979-11-14 1986-08-05 Teepak, Inc. Sausage casing automatic closing method
US4507045A (en) * 1982-05-05 1985-03-26 State Die & Engineering, Inc. Robotic manipulator including actuating unit
US4666366A (en) * 1983-02-14 1987-05-19 Canon Kabushiki Kaisha Articulated arm transfer device
US4730976A (en) * 1983-02-14 1988-03-15 Aeronca Electronics, Inc. Articulated arm transfer device
US4516476A (en) * 1983-04-14 1985-05-14 Lord Corporation Actuator assembly for an industrial manipulator or the like
US4566244A (en) * 1983-04-30 1986-01-28 Musashi Engineering Kabushiki Kaisha Paper sheet grip and transfer apparatus
US4767505A (en) * 1984-10-17 1988-08-30 Takara Co., Ltd. Method of rotationally molding a synthetic resin doll
US4674948A (en) * 1985-07-17 1987-06-23 Industrial Technology Institute High weight capacity robot to pick and place palleted materials in a confined space with specific rotational control
US4948329A (en) * 1986-11-08 1990-08-14 Honda Giken Kogyo Kabushiki Kaisha Robot apparatus
US4875823A (en) * 1986-11-08 1989-10-24 Honda Giken Kogyo Kabushiki Kaisha Robot apparatus
US4913613A (en) * 1987-07-10 1990-04-03 Hirschmann Gregory C Linear unit for an assembly device in handling technology
US4881863A (en) * 1987-12-17 1989-11-21 Primary Systems Corporation Apparatus for inspecting wafers
FR2682632A1 (en) * 1991-10-18 1993-04-23 Gautreau Jean Robot for laying angular parts.
US5743704A (en) * 1995-12-15 1998-04-28 Brooks Automation, Inc. Wide wrist articulated arm transfer device
US5765983A (en) * 1996-05-30 1998-06-16 Brooks Automation, Inc. Robot handling apparatus
US6176532B1 (en) 1999-06-14 2001-01-23 Mark L. Degener Fluid powered gripper assembly having central cavity
US20080273948A1 (en) * 2007-03-16 2008-11-06 Murata Machinery, Ltd. Plate Material Carry-Out Device and Plate Material Carry-Out Method
US8157495B1 (en) * 2008-01-30 2012-04-17 Astec Industries, Inc. Apparatus and method for a pipe handler
US20140116576A1 (en) * 2012-10-26 2014-05-01 Ford Motor Company System and method of making a cast part
CN103785811A (en) * 2012-10-26 2014-05-14 福特汽车公司 System and method of making a cast part
US9669459B2 (en) * 2012-10-26 2017-06-06 Ford Motor Company System and method of making a cast part

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