US3865253A - Parts handler - Google Patents

Parts handler Download PDF

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Publication number
US3865253A
US3865253A US37840773A US3865253A US 3865253 A US3865253 A US 3865253A US 37840773 A US37840773 A US 37840773A US 3865253 A US3865253 A US 3865253A
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arm
position
end
block
frame
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Francis L Healy
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Francis L Healy
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/18Mechanical movements
    • Y10T74/18056Rotary to or from reciprocating or oscillating
    • Y10T74/18296Cam and slide
    • Y10T74/18304Axial cam
    • Y10T74/18312Grooved

Abstract

A parts handler for picking up, transferring and placing a part from a first position into a second position includes a horizontal arm mounted on a frame for movement both vertically and horizontally. Vertical movement of the arm is controlled by a lift cam which is connected by a bell crank to a guide block carrying the arm. Horizontal movement of the arm is effected by a stroke cam which is connected to the inner end of the arm through a link. The lift and stroke cams are mounted on a common drive shaft journaled in the frame and, when rotated, pivot the bell crank and the link, respectively, to move the arm vertically and horizontally along a predetermined path, picking up the part from the first position with a device which is mounted on the outer end of the arm and placing the part in a second position prior to returning back along the path for another part.

Description

United States Patent 1 Healy PARTS HANDLER [76] Inventor: .Francis L. Healy, C/O Automatic Tool Company P. O. Box 4293,

Rockford, 111. 61110 [22] Filed: July 12, 1973 [Zl] Appl. No.: 378,407

[52] US. Cl. 214/1 BT, 74/57 [51] Int. Cl. Fl6h 25/12 [58] Field of Search 214/1 BB, 1 BT, 8.5 D, 214/1 S; 74/57 [56] References Cited UNITED STATES PATENTS 3,7()|,2)7 10/1972 Kovic 214/1 BT X 3,703,834 1l/l972 Beezer 214/l BB X Primary ExaminerFrank E. Werner Attorney, Agent, or Firm-Wolfe, Hubbard, Leydig, Voit & Osann, Ltd.

r111 3,865,253 ['45] Feb. 11, 1975 [57] ABSTRACT A parts handler for picking up, transferring and placing a part from a first position into a second position includes a horizontal arm mounted on a frame for movement both vertically and horizontally. Vertical movement of the arm is controlled by a lift cam which is connected by a bell crank to a guide block carrying the arm. Horizontal movement of the arm is effected by a stroke cam which is connected to the inner end of the arm through a link. The lift and stroke cams are mounted on a common drive shaft journaled in the frame and, when rotated, pivot the bell crank and the link, respectively, to move the arm vertically and horizontally along a predetermined path, picking up the part from the first position with a device which is mounted on the outer end of the arm and placing the part in a second position prior to returning back along the path for another part.

5 Claims, 8 Drawing Figures PATENTED 3.865.253

SHEET 10F 3 lW Y PARTS HANDLER 7 BACKGROUND OF THE INVENTION This invention relates to a parts handler and, more particularly, to the type of handler including an arm adapted to pick up or lift a part from a first position, carry the part away from the first position and place the part in a second position spaced from the first position.

SUMMARY OF THE INVENTION The primary object of the present invention is to provide a new and improved parts handler of the above general character which is particularly adapted for high speed operation, being capable of picking up and placing parts much faster than prior similar parts handlers. A more detailed object is to accomplish the foregoing through the provision of novel cam means and lever members which cooperate to move the arm both vertically and horizontally between the pick up and place positions, the lever members serving to multiply the vertical and horizontal movement provided by the cam means to permit the use of small angles between adjacent cam surfaces in the cam means so the cams may be rotated faster thereby increasing the speed of the handler. A

The invention also resides in the unique modular construction of the parts handler enabling the latter to be mounted easily on a separate machine and to be powered by the line shaft of that machine or by a separate motor. Still further, the invention resides (a) in the provision of a novel spring arrangement for preventing damage to the parts handler as the arm is moved downwardly into the pick up or place positions and (b) in the unique construction of the handler so as to assure accurate positioning of the arm for picking up and placing the parts.

These and other objects and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a fragmentary side elevational view of a parts handler embodying the novel features of the presentinvention.

FIG. 2 is a elevational view of the front end of the parts handler with portions thereof broken away and shown in cross section.

FIG. 3 is a cross-sectional view taken substantially along line 3-3 of FIG. 1.

FIGS. 40, 4b and 4c are fragmentary elevational views of one side of the handler and showing sequential movementof parts of the handler along a predetermined path. FIGS. 5a and 5b are representative illustrations of other predetermined paths which parts of the handler may be adapted to follow.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT type construction for easy mounting on a machine to pick up one of the parts from a first position 16 (FIG. 4a) and to place the part in a second position 17 (FIG. 4c). Herein, the handler includes a frame 11 supporting an elongated arm 13 which extends through a vertical slot 12 (FIG. 3) in a support member 28 and carries on the outer end thereof a pick up device 14 which has been shown as a suction cup. In use, cam means 19 mounted within the frame operate to slide the arm relative to the frame along a predetermined path (indicated by the arrows 20, 21 and 23 in FIGS. 4a 4b and 40) whereby the cup 14 on the outer end of the arm is moved vertically and horizontally along the path between the two positions 16 and 17, hereinafter referred to as the pick up and place positions, respectively.

As shown in FIG. 1, the cam means 19 include two barrel cams 24 and 25 mounted on a drive shaft 26 journaled between the two vertical support members 27 and 28 of the frame 11. One end of the shaft projects rearwardly of the frame and is drivingly connected to a motor 29 and a reducer 32 which are supported by an adapter plate 30 bolted to the rearward support member 27. Alternatively, the drive shaft may be connected to a line shaft (not shown) of the mamotion for movement of the arm l3along the predetermined path, the rearmost or stroke cam 24 providing the horizontal motion for the arm and the front or lift cam 25 providing the vertical motion for the arm. In the exemplary form of the invention, the path is of an inverted U shape (see FIG. 40) so that as the shaft rotates the earns, the arm is lifted to carry the part upwardly along one leg of the path, as indicated by the arrow'20 (FIG. 4a) from the pick up position 16. Then, the arm is moved forwardly in a horizontal direction following the arrow 21 (FIG. 4b) and thereafter is lowered along the other leg of the path as represented by the arrow 23 (FIG. 4c) to release the part in the place position 17. On the return stroke, the arm simply follows the path in the reverse direction to pick up another part'. It will be appreciated that, although the present path followed by the arm is of an inverted U shape, the path may be of virtually any shape desired and may be varied by changing the configurations of the cams 24 and 25. Two alternate paths are shown in FIGS. 5a and 5b.

As previously stated, the parts handler 10 of the present invention is particularly adapted to transfer parts between the pick up and place positions 16 and 17 at a much faster rate thanprior similar handlers. For this purpose, lever members 34 and 35 are connected between the cam means 19 and the arm 13 to multiply the horizontal and vertical movements provided by the two cams 24 and 25, the members including followers 57 and 60 which ride within grooves 31 and 33 in the cams, respectively. This arrangement advantageously permits the use of reduced angles between cam surfaces 36 and 37 defining the walls of the grooves 31 and 33, respectively, and this in turn, enables the cams to be rotated faster thereby increasing the speed with which the parts can be handled.

In the present instance, the lever member 34 is in the form of a link connected between the stroke cam 24 and the inner end 39 of the arm 13. The lever member 35 is a bell crank connected between the lift cam 25 and a guide block 40. The latter is supported on two spaced rods 41 (see FIG. 2) extending vertically be tween an upper member 43 and a lower member 44 of the frame 11 on the front end portion of the frame. The rods are telescoped through two bushed holes 45 (FIG. 1) extending through the guide block to permit vertical movement of the block on the frame. Telescoped horizontally through bushings, 46 which are secured within two openings 47 in guide block are two bars 49. The latter comprise a portion of the arm 13 and are free to slide horizontally back and forth through the guide block within the bushings. On the outer ends 50 of the bars is fastened a head 51 to which is secured the suction device 14 for picking up parts. A relatively thick plate 53 is secured to the inner ends of the bars and includes a vertical slot 54 in one edge thereof. The slot receives a roller 55 (FIG. 3) journaled on one end of the link 34. The other end of the link is secured pivotally to the upper'frame member 43 by a pin 56, there being a follower 57 located intermediate the ends of the link to ride within the groove 31 of the cam 24. Accordingly, as the cam is rotated with the shaft 26, the link is pivoted back and forth and thereby slides the arm 13 horizontally within the block 40.

To move the arm 13 vertically, the follower 60 is journaled on the upper end 59 of the bell crank 35 (FIGS. 1 and 2) to ride within the groove 33 of the cam 25. The fulcrum 61 of the bell crank is secured pivotally to a vertical support 63 in the frame 11 and the lower end 64 of the bell crank engages a small wheel 65 journaled on the guide block 40. Accordingly, as the follower 60 rides within the groove 33, the lower end of the bell crank lifts against the wheel to raise the guide block thereby raising the arm 13.

In the link 34, the distance between the pin 56 and the follower 57 is less than the distance between the follower and the roller 55 so that the distance the roller is moved horizontally is a multiplication of the horizontal distance the follower is moved by the cam 24 when riding within the groove 31. Similarly, the bell crank 35, the distance from the pin 61 to the follower 60 is less than the distance between the pin 61 and the lower end 64 ofthe bell crank so that the distance the guide block 40 is moved vertically is a multiplication of the distance the follower 60 is moved horizontally when riding within the groove 33 of the rotating cam 25. Advantageously, this arrangement permits the use of small angles such as A (see FIG. 1) between adjacent cam surfaces 36 or 37 in the grooves 31 or 33, the angle A being about 40 to 45. Accordingly, the distance the followers 57 and 60 are moved horizontally is relatively short as compared to the distance the arm 13 is moved horizontally and vertically by the link 34 and bell crank 35, respectively, and thus permits the cams to be rotated faster than wouldbe possible if the cams moved the arm directly. This in turn means a substantial increase in the speed of the operation of the parts handler 10.

Another advantageous feature of the parts handler resides in the use of a spring 66 which coacts between the upper frame member 43 and the guide block 40 to urge the latter downwardly so the small wheel 65 is held yieldably in engagement with the lower end 64 of the bell crank 35. Herein, the spring is telescoped over one of the guide rods 41 and is held in compression between the frame member and the top of the guide block. Accordingly, in the event a part should become jammed when being lowered into the place position 17, the spring will yield to prevent damaging the handler.

To assure accurate positioning of the head 51 of the arm 13 for placing'the part in the place position 17, a stop 67 is located on the arm to engage a corresponding detent 69 on the guide block 40. Herein, the stop projects forwardly from the front surface 70 of the plate 53 on the inner end 39 of the arm to engage with the spring-loaded detent 69. The latter extends rearwardly from the back wall 71 of the guide block so that, when the arm is extended, engagement of the detent by the stop serves to position the head accurately within the place position. To position the head within the pick up position 16, the back wall 73 of the head engages a second spring-loaded detent 74 which projects for-' wardly from the front wall 75 of the guide block. When the head engages the detent 74, the return stroke of the arm is limited to accurately locate the head in the pick up position. Thus, the arm 13 is limited both in its forward and rearward, movement so as to position the head 51 accurately within the pick up and place positions.

From the foregoing, it will be appreciated that the parts handler 10 of the present invention is particularly adapted for quick and accurate pick up and placement of parts and, in addition, is of a modular construction for easy installation of the machine 15. The increased speed in the operation of the handler is achieved by virv tue of the use of the lever members 34 and 35- which enable the grooves 31 and 33 to be cut in the cams 24 and 25, respectively, so that the angles A between the cam surfaces 36 and 37 of the grooves 31 and 33 are relatively small. This, in turn, enables the cams to be rotated faster because the followers 57 and 60 need be moved horizontally only short distances in order to move the arm 13 greater distances both vertically and horizontally to follow the predetermined path between the pick up and place positions 16 and 17.

1 claim as my invention:

1. A parts handler adapted to pick up, transfer and place a part from a first position into a second position, said handler including a frame, a horizontal arm slidably mounted on said frame for movement both vertically and horizontally along a predetermined path, said arm having an inner end portion and also having an outer end portion which projects from one side of said frame, means on the outer end portion ofsaid arm for picking up and holding said part for movement with said'arm along said path from said first position to said second position and for releasing said part at said second position, and means for moving said arm along said path, said means including a guide block secured to said frame for vertical movement relative thereto, said arm being mounted on said block for vertical movement therewith while still being free to slide horizontally relative to said block, a lift cam rotatably mounted on said frame, a first lever member connected between said lift cam and said guide block to raise the latter on said frame, a stroke cam rotatably mounted on said frame, a second lever member connected between said stroke cam and the inner end of said arm to move the latter horizontally back and forth as the stroke cam is rotated, a common drive shaft journaled on said frame and carrying both of said cams, means for rotating said cams to move said arm along said path so as to pick up, transfer and place a part from said first position into said second position first and second pivotal connections securing said lever members to said frame, and first and second followers mounted on said lever members and positioned to engage said cams, said first member having one end spaced from said first connection a distance greater than the distance between said first connection and said first follower, .said second' member having one end spaced from said second connection a distance greater than the distance between said second connection and said second follower, the ends of said lever members engaging said slide block and the inner end of said 'arm, respectively, so that, as said cams are rotated, the vertical and horizontal distances said arm is 'moved are greater than the horizontal distances said first and second followers are moved vertical guide rod secured to said frame and telescoped through an opening in said guide block to guide the ver- 6 tical movement of the block, said spring being telescoped over said rod.

4. A parts handler as defined by claim 3 wherein said arm comprises a horizontal bar telescoped through a hole in the guide block to slide in a horizontal direction, a head fastened to the outer end of said bar and adapted to support said pick up means, and a plate secured on the inner end of the bar for engagement by the end of said second lever member to move the bar horizontally back and forth as said stroke cam is rotated.

5. A parts handler as defined by claim 4 including a first stop mounted on said plate and projecting toward said head for engagement with said guide block to limit forward movement of the arm to locate said head precisely in said first position, a detent on said guide block and projecting forwardly thereof and toward said head for engagement thereby to limit rearward movement'of said arm to locate said head precisely in said second position.

Claims (5)

1. A parts handler adapted to pick up, transfer and place a part from a first position into a second position, said handler including a frame, a horizontal arm slidably mounted on said frame for movement both vertically and horizontally along a predetermined path, said arm having an inner end portion and also having an outer end portion which projects from one side of said frame, means on the outer end portion of said arm for picking up and holding said part for movement with said arm along said path from said first position to said second position and for releasing said part at said second position, and means for moving said arm along said path, said means including a guide block secured to said frame for vertical movement relative thereto, said arm being mounted on said block for vertical movement therewith while still being free to slide horizontally relative to said block, a lift cam rotatably mounted on said frame, a first lever member connected between said lift cam and said guide block to raise the latter on said frame, a stroke cam rotatably mounted on said frame, a second lever member connected between said stroke cam and the inner end of said arm to move the latter horizontally back and forth as the stroke cam is rotated, a common drive shaft journaled on said frame and carrying both of said cams, means for rotating said cams to move said arm along said path so as to pick up, transfer and place a part from said first position into said second position first and second pivotal connections securing said lever members to said frame, and first and second followers mounted on said lever members and positioned to engage said cams, said first member having one end spaced from said first connection a distance greater than the distance between said first connection and said first follower, said second member having one end spaced from said second connection a distance greater than the distance between said second connection and said second follower, the ends of said lever members engaging said slide block and the inner end of said arm, respectively, so that, as said cams are rotated, the vertical and horizontal distances said arm is moved are greater than the horizontal distances said first and second followers are moved by their respective cams.
2. A parts handler as defined by claim 1 including a spring mounted between said guide block and said frame to bias said block downwardly so the latter is held in engagement with the end of said first lever member and yet may be moved upwardly off the end of said first member to prevent damage to the handler.
3. A parts handler as defined by claim 2 including a vertical guide rod secured to said frame and telescoped through an opening in said guide block to guide the vertical movement of the block, said spring being telescoped over said rod.
4. A parts handler as defined by claim 3 wherein said arm comprises a horizontal bar telescoped through a hole in the guide block to slide in a horizontal direction, a head fastened to the outer end of said bar and adapted to support said pick up means, and a plate secured on the inner end of the bar for engagement by the end of said second lever member to move the bar horizontally back and forth as said stroke cam is rotated.
5. A parts handler as defined by claim 4 including a first stop mounted on said plate and projecting toward said head for engagement with said guide block to limit forward movement of the arm to locate said head precisely in said first position, a detent on said guide block and projecting forwardly thereof and toward said head for engagement thereby to limit rearward movement of said arm to locate said head precisely in said second position.
US3865253A 1973-07-12 1973-07-12 Parts handler Expired - Lifetime US3865253A (en)

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Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4019668A (en) * 1974-12-30 1977-04-26 Diepeveen John C Mechanism and method for moving tool or the like
US4030614A (en) * 1975-02-14 1977-06-21 Hitachi, Ltd. Reciprocal transfer apparatus
US4036374A (en) * 1975-11-04 1977-07-19 Amc Industries, Inc. Multi-motion parts handler
US4095699A (en) * 1977-02-10 1978-06-20 Automation Designs Inc. Pick and place machine
US4289040A (en) * 1979-08-27 1981-09-15 Kinematics, Inc. Linear motion device
US4370092A (en) * 1980-09-22 1983-01-25 Healy Francis L Parts handling machine
US4453882A (en) * 1982-04-27 1984-06-12 Emerson Electric Co. Longreach linear pick-and-place assembly apparatus
US4462738A (en) * 1979-01-22 1984-07-31 M. S. Willett, Inc. Feed and transfer system
FR2540022A1 (en) * 1983-02-01 1984-08-03 Brems John parts transport mechanism
US4496280A (en) * 1982-12-22 1985-01-29 Brems John Henry Workpiece transfer mechanism
US4570500A (en) * 1979-12-31 1986-02-18 Richter Robert A Mechanism for controlling the operation of machines
US4599909A (en) * 1982-10-19 1986-07-15 Emerson Electric Co. Linear transfer drive for a pick and place material handling apparatus
US4703923A (en) * 1985-12-02 1987-11-03 Ricoh Co. Ltd. Recirculating automatic document feeder
US4811834A (en) * 1986-08-08 1989-03-14 Sumitomo Heavy Industries, Ltd. Mechanical transfer feeder
US4962676A (en) * 1989-10-12 1990-10-16 The Gillette Company Two axis transfer device
US5015149A (en) * 1988-08-12 1991-05-14 Dieter Weiss Apparatus for moving inserters for workpieces
FR2693396A1 (en) * 1992-07-09 1994-01-14 Merlin Gerin Compact kinematic manipulator for pick and place assembly of components - uses reduction motor acting on gripping arm through vertical and horizontal cams
US5904065A (en) * 1997-11-26 1999-05-18 Emerson Electric Co. Walking beam drive apparatus
US6098478A (en) * 1998-11-06 2000-08-08 Emerson Electric Co. Linear pick and place drive with adjustable stroke ranges
FR2792920A1 (en) * 1999-04-27 2000-11-03 Loire Etudes Realisations Meca Conveying plant for transferring products along two conveyor belts perpendicular to each other involves motor and reducing gear with two arms engaging with fixed vertical groove or plate
US6374996B1 (en) * 2000-07-03 2002-04-23 Tsung-Chang Hsieh Circuit board carrier
US20050186060A1 (en) * 2004-02-09 2005-08-25 Mcdaniel Vaughn L.Iii Lift-and-place apparatus
EP2255929A1 (en) * 2009-05-28 2010-12-01 Tes S.p.A. Globular cam driver device for manipulators
US20110052358A1 (en) * 2009-03-02 2011-03-03 Willcox Investments S.A. Device for Precisely Manipulating Objects
US20130118298A1 (en) * 2011-11-14 2013-05-16 M-Tek, Inc. Drive Assembly
CN104354156A (en) * 2014-10-27 2015-02-18 苏州菱欧自动化设备有限公司 Cam manipulator

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3701297A (en) * 1970-07-27 1972-10-31 Packaging Ind Inc Apparatus and method for transporting articles
US3703834A (en) * 1971-01-25 1972-11-28 Earl F Beezer Device for transmitting control translatory movements

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3701297A (en) * 1970-07-27 1972-10-31 Packaging Ind Inc Apparatus and method for transporting articles
US3703834A (en) * 1971-01-25 1972-11-28 Earl F Beezer Device for transmitting control translatory movements

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4019668A (en) * 1974-12-30 1977-04-26 Diepeveen John C Mechanism and method for moving tool or the like
US4030614A (en) * 1975-02-14 1977-06-21 Hitachi, Ltd. Reciprocal transfer apparatus
US4036374A (en) * 1975-11-04 1977-07-19 Amc Industries, Inc. Multi-motion parts handler
US4095699A (en) * 1977-02-10 1978-06-20 Automation Designs Inc. Pick and place machine
US4462738A (en) * 1979-01-22 1984-07-31 M. S. Willett, Inc. Feed and transfer system
US4289040A (en) * 1979-08-27 1981-09-15 Kinematics, Inc. Linear motion device
US4570500A (en) * 1979-12-31 1986-02-18 Richter Robert A Mechanism for controlling the operation of machines
US4370092A (en) * 1980-09-22 1983-01-25 Healy Francis L Parts handling machine
US4453882A (en) * 1982-04-27 1984-06-12 Emerson Electric Co. Longreach linear pick-and-place assembly apparatus
US4599909A (en) * 1982-10-19 1986-07-15 Emerson Electric Co. Linear transfer drive for a pick and place material handling apparatus
US4496280A (en) * 1982-12-22 1985-01-29 Brems John Henry Workpiece transfer mechanism
FR2540022A1 (en) * 1983-02-01 1984-08-03 Brems John parts transport mechanism
US4703923A (en) * 1985-12-02 1987-11-03 Ricoh Co. Ltd. Recirculating automatic document feeder
US4811834A (en) * 1986-08-08 1989-03-14 Sumitomo Heavy Industries, Ltd. Mechanical transfer feeder
US5015149A (en) * 1988-08-12 1991-05-14 Dieter Weiss Apparatus for moving inserters for workpieces
US4962676A (en) * 1989-10-12 1990-10-16 The Gillette Company Two axis transfer device
FR2693396A1 (en) * 1992-07-09 1994-01-14 Merlin Gerin Compact kinematic manipulator for pick and place assembly of components - uses reduction motor acting on gripping arm through vertical and horizontal cams
US5904065A (en) * 1997-11-26 1999-05-18 Emerson Electric Co. Walking beam drive apparatus
US6098478A (en) * 1998-11-06 2000-08-08 Emerson Electric Co. Linear pick and place drive with adjustable stroke ranges
FR2792920A1 (en) * 1999-04-27 2000-11-03 Loire Etudes Realisations Meca Conveying plant for transferring products along two conveyor belts perpendicular to each other involves motor and reducing gear with two arms engaging with fixed vertical groove or plate
US6374996B1 (en) * 2000-07-03 2002-04-23 Tsung-Chang Hsieh Circuit board carrier
US20050186060A1 (en) * 2004-02-09 2005-08-25 Mcdaniel Vaughn L.Iii Lift-and-place apparatus
US20110052358A1 (en) * 2009-03-02 2011-03-03 Willcox Investments S.A. Device for Precisely Manipulating Objects
US8297139B2 (en) * 2009-03-02 2012-10-30 Willcox Investments S.A. Device for precisely manipulating objects
EP2255929A1 (en) * 2009-05-28 2010-12-01 Tes S.p.A. Globular cam driver device for manipulators
US20130118298A1 (en) * 2011-11-14 2013-05-16 M-Tek, Inc. Drive Assembly
CN104354156A (en) * 2014-10-27 2015-02-18 苏州菱欧自动化设备有限公司 Cam manipulator
CN104354156B (en) * 2014-10-27 2016-04-06 苏州菱欧自动化设备有限公司 Cam robot

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