LOAD HANDLING

Abstract: Load handling apparatus including load handling means provided for picking up a load (21) from a supply location therefor (A), and for subsequently off-loading the load at an off-loading location (C) is used for handling/supporting the load (21) throughout any load transfer between said locations (A, C) and at least one activity location (B) at which at least one predetermined operation/process activity may be required to be performed on the load (21); and for supporting said load whilst any such operation/process activity location. When the load is a circular saw blade the blade is carried by a mandrel (29).

Description: LOAD HANDLING This invention relates to the handling of loads. In particular, but not exclusively, the present invention is concerned with the handling of loads in situations in which a plurality of elements, in particular similar elements, are required to be successively positioned at a work station for the purposes of carrying out some operation/process on the elements and then to be transfered, after such operation/process has been carried out, to a receiving position in which elements can be subsequently handled as required. For example, stacked until a predetermined number has beeen assembled. There are many forms of apparatus for the handling of loads . However, with such known apparatus there is conventionally involved several load transfer stages in which the elements are transfered from support arrangements provided for moving the elements from a first position to a work/process station at which they are transfered to further means for supporting the elements whilst they are at the work/process station and then to transfer the elements from such further means to still further transfer arrangements serving to transport the elements away from the work/process station to, for example, a storage position. It will be appreciated that in relation to present day industrial activities it is invariably desirable to reduce as far as possible the times involved in the working/processing or the like of workpieces. Since the total work time involvement in relation to the processing of a workpiece obviously includes transfer times to and from a work/process station including the transfer to arrangements for supporting an element whilst at the work/process station it is of interest to eliminate wherever possible handling operations. Broadly, according to a first aspect of the invention there is provided a load handling apparatus characterised by means adapted to pickup/en rain an article/element •^Q from a supply thereof, to transport the article/element to a position at which it is to be subjected to some operation/process, to support the ar icle/element whilst being subjected to a said operation/process, and also to transfer the article/element from said position to a 1 location at which it is required to place/deposit the processed/worked upon articles/elements. In accordance with a further aspect of the invention in a pick and place load handling apparatus the means provided for picking up a 3oad, and subsequently placing the load 20 is/are the same as the means used for handling/supporting the load whilst any operational/process activities may be carried out upon the load. Preferably, when the apparatus of the invention is utilised for handling saw blades for the purposes of 25 presenting such blades to a blade tooth tipping operation the apparatus of the present invention is includes means for picking up a blade (i.e., untipped) from a supply containing a plurality of blades; and means for enabling transfer of the blade to a position at which it can be 3Qindexed successively to present the teeth of the blade to the tipping station, for supporting the blade whilst it is at the tipping station, for supporting the blade during transfer of the fully tipped blade from the work station to a position at which it is required to place the blade and for off-loading the blade For a better understanding of the invention and to show how to carry the same into effect reference will now be made to the accompanying drawings in which: Figure 1 schematically illustrates in elevation a first embodiment of load handling apparatus according to the invention ; Figure 2 is a schematic plan view of the apparatus of Figure 1, when being utilised for the handling of circular saw blades for the purpose of transfering the blades to apparatus for applying hard material tips to the teeth thereof; Figure 3 schematically illustrates to an enlarged scale a detail of a load carrying unit of the apparatus of the present invention; Figure 4 schematically illustrates a modified form of the load support assembly of the apparatus of Figures 1 and 2, the Figure 4 indicating in full lines a first operational setting and in chain dashed lines a further operational setting; and Figure 5 schematically illustrates in plan elevation the arrangement of Figure 4, the Figure 5 indicating in full lines a first operational setting and in chain dashed lines a further operational setting. Before considering the apparatus of these Figures in some detail it is convenient to discuss a particular application of the apparatus in very general terms as applied to apparatus for applyiny hard material tips to saw blades. In the manufacture of circular saw blades it is the general practice to provide each tooth of the blade with a hard material tip. To do this the teeth of the blade have to be successively presented to a work/process station at which a tip is brazed or otherwise secured to each tooth as it is indexed through the work/process station. Arrangements (not shown) are provided for indexing the teeth of the blade through the work/process i.e. , tipping station and for presenting a tip to the next tooth to be tipped at the appropriate point of time. The apparatus of the present invention is intended to be able to transfer, as required, an untipped blade from a supply containing a plurality of such blades to a position in which it can be indexed successively to present the teeth of the blade to the tipping station, to support the blade whilst it is at the tipping station, and to be able to transfer the fully tipped blade from the work station to a delivery position. For example, at the delivery position a number of tipped blades can be collected to provide a batch prior to being being removed from the collection position for what ever further activity is intended. Turning now to Figures 1 and 2. In the embodiment shown main load (saw blade to be tipped) handling assembly includes a load arm 1 which is mounted on a shaft 2 which is pivotable pivot axis 2A which is operationally supported from a main framework for the tipping apparatus. The load arm 1 is cranked to provide a longer part 3 and a shorter part 4. The free end region 5 of the longer part 3 mounts a load support assembly ό. The framework of the tipping apparatus is not shown in the Figures 1 and 2. The nature of the framework will be related to the design and construction of the actual tipping machine (or other articles/elements involved) and it is considered that since the present application is concerned with the handling of blades/articles/elements a detailed description of a machine with which the apparatus of the invention is used is not thought necessary. The apparatus of the invention can be regarded as forming an assembly which is fixedly mounted to the framework of the tipping machine at appropriate locations. The free end region 7 of the shorter part 4 of the load handling arm is pivotally coupled to the shorter ram unit 9 of a dual ram assembly lU including the shorter ram unit 9 and a longer ram unit 11 operationally connected in series with the shorter ram unit 9. The longer ram unit 11 is pivotally connected to a fixed position 12, the latter being associated with said framework (not shown) . The provision of the double ram unit assembly 1U, facilitates the selective production of the required operational movements of the load arm 1, i.e., when the shorter ram unit 9 is operated a first load arm rotation is produced and when the longer ram unit is operated a second load arm rotation is produced and if both are operated a third load arm rotation is obtained. The overall weight of the lever arm and its associated load support assembly 6 is counterbalanced by a spring arrangement which is schematically indicated at 13 in Figure 2. The operational position of the load arm 1 can be selectively set with respect to the shaft/axis 2 by a position adjustment means 14. This adjustment means 14 includes a plate 15 fixed to the shaft 2 and thus effectively to the aforesaid framework and a second plate 16 complementary to the plate 15 and which freely moveable about the shaft 2. The plate 16 is provided with a radially directed lug 16A, The plates 15 and 16 are angularly settable relative to each other by rotating the plate 16 relative to the plate 15. Bores 17 are provided in the plates 15 and 16, the spacing of the bores in the plates are such that the position of the lug 16A relative to a horizontal plane through the axis of rotation of the shaft 2 can be positionally set by rotating the plate 16 relative to the plate 15 and engaging a stop bolt 18 in an appropriate pair of cooperating bores 17. In the particular application of the load carrying apparatus of the invention to a machine for the tipping of the teeth of saw blades, the saw blades to tipped are transferred to and from the position at which the tips are secured to the teeth of the blades. The articles/elements to be handled i.e., saw blades require to be positioned in convenient locations to allow the load handling arrangements to pick up a blade, and to unload a blade after it has been tipped. In the particular application of the load handling arrangements use is made of the fact that circular saw blades have a bore for allowing the blade when required for use to be mounted to a drive shaft. Thus in the present case a mandrel 19 is provided for carrying a supply of untipped blades and a mandrel 20 is provided for carrying blades that have been tipped. The mandrels are axially horizontal and are arranged parallel to each other and respectively project from mandrel support units 22 and 23 which, in turn, are releasably securable by operation of locking handles 22A and 23A to a mandrel support unit mounting member 24. This member 24 is of arcuate construction and is firmly mounted at opposite ends thereof to the machine framework. The member 24 defines an arcuate guide, which lies in a vertical plane, for the units 22 and 23. The purpose of such formation of the guide track for the mandrel support units 22 and 23 is to enable a range of saw blade diameters to be accommodated on the tipping apparatus. In other words, the positions of the mandrel support units relative to each other and to the guide 24 will be related to the diameters of the blades to be tipped and additionally to the physical dimensions of the load handling arm 1 and its associated components to be considered hereinafter. The load arm assembly i.e., blade, support assembly -6 includes a pair of guide rods 25 arranged axially parallel to each other and mounted to a support unit 26 which is connected to the crank arm end region 5 by way of a pivotable connection. The angular set of the rods 25 can be positionally adjusted with respect to the longitudinal axis of the crank arm longer part 3 and locked in an adjusted position by a locking handle 27. The rods 25 slidably mount a saw blade support mandrel unit 28 having a mandrel 29 whose axis is parallel to the axis of the previously mentioned mandrels 19 and 20. The unit 28 is selectively positionally settable lengthwise of the rods 25 in relation to the diameter of a blade 21 that is to be carried. by the support mandrel 29, and can be locked in a required position by a locking han d l e 28A . The three mandrels 19, 20 and 29 can thus be positionally relatively set according to the diameter of the saw blade . Clearly, in he case of other forms of articles/elements to be handled the supports therefore will be related to the structure and form of such articles/elements. The blade support mandrel 29 is positionally adjusted with respect to the guide rods 25 so that the teeth of the blade to be tipped can be correctly positioned with respect to the tip welding position of the tipping apparatus. In the Figure 1 this position is such that the required tip/tooth position lies on the vertical line from 'B' passing through the pivot axis of the assembly 6 when the arm is in the position shown in Figure 1. In the operation of the load handling apparatus in relation to the handling of saw blades to be tipped the operational settings of the arm will be related to the diameters of the blade. In discussing the operation it will be presumed that the arm is initially positioned as shown in Figures 1 and 2 this being conveniently regarded as the rest position and that the first stage in an operational sequence is the picking-up of a blade. To do this the ram unit 9 is operated to pivot the load arm anticlockwise i.e. , downwardly to the position marked 'A' on the guide path 24. The particular location of 'A' along the guide is as has been mentioned determined by the diameter of the blade to be tipped. The fine precise adjustments of the mandrels 29 and 19 necessary to adjust them to a coaxial position when the load arm has been displaced by the ram unit 9 is set by suitable adjustments of the block 28 along the rods 25; and the angular set of the rods 25 relative to the arm part 3. When such correct setting has been attained operation of ram unit 9 will always bring the mandrel 29 to the position at which it is intended to pickup/receive a blade to be tipped from the mandrel 19. Similarly, by operating the longer ram unit 11 together with position adjustment of the mandrel support unit 23 for the mandrel 22 the mandrel 22 and the mandrel 29 can be brought into coaxial alignment. It will be appreciated that the shaping of the guide track 24 will be such that once the various adjustment settings have been made for attaining coaxial alignment of the mandrels 19 and 29 it is only necessary to set the position of the mandrel 20 to achieve coaxial alignments with the mandrel 20 following the operation of the ram unit 11. In the Figure 1 the off-loading location of the mandrel 20 is indicated by the letter 'C. As shown 'C' can be anywhere within a range indicated by the arrow headed line 24A. In the Figure the change dashed regions 'Dl' and 'D2' schematically illustrates the locations of the rods 25 etc. when the arm is at positions 'A' and 'C' In order to provide for the cushioning of the downward displacement of the arm 1 when the off-loading position use is made of the previously mentioned lug 16A by enabling the latter to cooperate with stop means 30 when the mandrel moves into alignment with the mandrel 20. It will be clear that the setting of the lug 16A relative to a vertical plane through the shaft axis 2A will determine the extent of maximum anti-clockwise movement of the laod arm 1. Additional shock absorbing means 30A are associated with the ram units 9 and 11. Clockwise movement of the arm is limited by a stop system 30A. The load carrier unit 28 incorporates a magnetic blade entrainment assembly 33 for he actual handling of the blades from mandrel to mandrel. Figure 3 illustrates an embodiment of a magnetic blade handling assembly 33 comprising two main sections, a first of which 34 is provided with magnets of which two are shown at 36 and which are mounted from a support plate 37 which, in turn, is carried upon the ram rod 38 of a hydraulic/pneumatic unit 38A so that the plate 37 can be moved relative to the plane of the rods 25 in a direction perpendicular to the plane containing the longitudinal axes of the rods 25. With this arrangement the mandrel 29 and the magnet assembly 33 can be advanced or retracted with respect to the mandrels 19 and 20 either to pick-up a blade to be tipped or to off-load a tipped blade to the delivery mandrel 20. The mounting of the plate 37 involves a support member 39 having a dowwardly depending skirt 39A which is axially moveable within a recess 39B provided in the ram unit 38 A micrometer type adjustment unit 41 determines the extent of downward (retraction) of the skirt 39A into the recess 39B. By means of the adjustment unit 41 which is of the micrometer type and whose operational end 42 contacts the rear of the member 39 the retraction position of the plate 37 can be selectively set with respect to the plane of the axes of the rods 25. The member 39 carries cup 43 which contains corapressible elastomer 44 i.e., spring or sponge like material, which is effectively interposed between the cup and the rear face of the plate 37. The cup 43 is associated with a sensor means 45 which serves to detect when the member cup has reached the retracted position. A second sensor 45A is provided for detecting when the cup and thus the plate 34 have been advanced to the required operational extent. The second part 35 of the magnetic assembly includes a further magnet 46 which is positionally adjustable by a micrometer adjustment means 47 in a direction perpendicular to the axial plane of the rods 25. The provision of this magnet 46 makes it possible very accurately to set the medial plane of a blade 21 relative to the rods 25 whereby its position relative to the tipping arrangements is accurately set throughout the actual tipping operation. It should be noted that the magnet 46 is so positioned as to cooperate with the blade 21 being tipped at a location as close as possible to the actual tipping position. In operation., during the picking-up of a blade the mandrel 29 is by operation of the ram unit 9 brought into line with the mandrel 19. The plate 37 is then advanced towards the blade by operation of the ram 38 to a position in which energisation of the magnets will pull a blade away from the mandrel 19 and onto the mandrel 29. The output from the sensor 45A is used so to control the advancing movement of the plate as to prevent further advance of the plate after a saw blade has been contacted by the magnets. The shock adsorbing material/spring 44 accommodates any additional advance of the ram rod that may occur between between the sensing of the contact with the blade and the stopping of the ram rod movement. When the engagement of the magnets 36 and 4o with the blade has been sensed the direction of movement of the ram rod 38 is reversed whereby the plate 37 is withdrawn towards its initial start position such as is shown in the Figure 3. The return movement continues un il the support member 39 makes contact with the adjustment unit 41 and actuates the associated sensor means to produce a signal which is used to stop further retracting movement of the ram unit 38 so that the plate 37 is brought to rest . Once the blade has been entrained onto the mandrel 29 the ram unit 9 is operated to bring the arm to the position 'B' which corresponds to the blade tipping position of the blade tipping machine. The tipping machine is then caused to undergo its blade tipping cycle. Through out this cycle the blade is supported by the mandrel 29. The energisation of the magnets is controlled such that the blade may be suitably indexed whilst at the tipping position and being maintained in a desired indexed position throughout the actual tipping operation. After the tipping operation has been ' completed on the blade the ram unit 9 and 11 are o erated to transfer the blade from the tipping position to the off-loading position 'C i.e., to the mandrel 20. During the course of this transfer movement the load arm swings down to until the lug 16A cooperates with the stop 30. With the various settings of the mandrels as soon SUBSTITUTE SHEET as the mandrel 29 aligns with the mandrel 20 the lug contacts the stop and the magnetic assembly is operated in such manner as to advance the plate 37 to push the tipped blade from the mandrel 29 onto the mandrel 20. Once the blade has been so removed from the mandrel 29 the ram unit 11 is operated to bring the mandrel 29 into line with the mandrel 19 which is at the blade loading position. A fresh untipped blade is then loaded onto the mandrel 29 as previously discussed. Once the fresh blade has been loaded, the ram unit 9 is operated to transfer the blade to the tipping position. It should be noted that during the off-loading displacement of the load arm, the weight of the blade is assisting the movements and that the arm isd not carrying a load during the transfer movement from the off loading to the loading position, and that following the transfer of a fresh blade to be tipped onto the mandrel 29 the now loaded arm has only to travel for a relatively short angular distance. The various shock absorbing arrangements serve to cushion the various movements of the load arm. It will be understood that during the tipping of the blade the latter has to be indexed to present a fresh tooth for the tipping operation. It will be appreciated that the energisation of the magnets will be suitably controlled to facilitate the blade indexing. An indexing finger for the blade is very schematically shown at 48. During tipping operation it is important to clamp the blade in the aera against mevement part of t-he clamping arrangement is schematically shown at 49. In applications in which it is desired to provide vertically oriented mandrels for the stack of untipped blades and for the stack of tipped blades the structure of the load carrying arrangements will be modified so as to enable the pick-up and off-loading from the vertically oriented mandrels. Figures 4 and 5 schematically illustrate a modification of the above discussed apparatus in which the mandrels for the tipped and untipped blades are arranged vertically rather than horizontally as has been considered in relation to the previous Figures. In relation to Figures 4 and 5 those components which have been disclosed in previous Figures ill be identified by the same reference numerals. In this modification the load arm 60 is mounted at its lower end upon a support plate όl in such manner that it is rotatable about a vertical axis 02. The upper end of the arm carries a blade support assembly ό and associated components similar to those provided on the previously discussed embodiment. The rotation of the rotatable support for the arm is effected by means of a ram arrangement similar to that of the ram unit 10. The arm is pivotable between the upright position shown in ull lines in the Figure 4 into a horizonti position as is shown in chain dashed lines in the same Figure. Thus in the arrangement of Figure 5 which is as stated a plan view of the modified apparatus he method of supporting the load arm 1 allows the load arm plus assembly υ to be moved from the position shown in full lines (corresponding to the arrangements as shown in Figures 1 and 2) to the position shown in the chain dashed lines. That is at right angles to the full line position. If desired, the arm can turn through a greater or smaller angle i.e, up to .for example 270 degrees of arc. In addition to the possible rotation about the vertical axis the support for the load arm 1 and load support assembly 6 allows the arm 1 and assembly 6 to rotate about a horizontal axis indicated by the pivot 63 in such manner that a blade carried by the load support assembly 6 can be delivered onto a vertically arranged mandrel 64. This is schematically shown in Figure 4. A further mandrel (not shown) can be provided for receiving a supply of untipped blades (not shown). It will be understood that the untipped and tipped blades mandrels will be suitably spaced around a horizontally arranged guide track member similar to the guide track member 24. The raising and lowering of the load arm 1 between the horizontal and vertical positions will be conveniently under the control of a ram unit 65. If desired the single mandrels 19 and 20 can be replaced by turret arrangements of mandrels (not shown) whereby a plurality of mandrels can be successively rotated into a working position in which the mandrel at such position can be aligned with the mandrel 29 of the load carrying assembly. This modification is particlualy suitable for bulk handling. Whilst the apparatus of the invention has been particularly discussed in relation to the handling of saw blades for tooth tipping purposes it will be appreciated that the use of the loading apparatus of the invention is not limited to such use. In practice the apparatus of the invention has application to a wide range of applications requiring controlled movement articles; elements etc., from position to position without it being necessary to transfer the article from one moveable transfer arrangement to another. Thus the load handling arrangements of the invnetion can be applied to the handling of articles to be processed or worked upon by grinding machines; brazing machines; welding machines; filing machines; saw blade teeth setting machines; swaging machines; side dressing machines; press tools; drilling machines; printing machines; milling machines; drilling machines; tensioning roll machines; glazing machines; remoulding rolls using machines; shot blasting machines; polishing machines etc. Also the principles of the load handling arrangements of the invention can be utilised in situations in which a pick and place situation arises.

Claims: CLAIMS 1. Load handling apparatus characterised in that load handling means (1,6,28,29) provided for picking up a load (21) from a supply location (A,22) therefor, and for subsequently off-loading the load at an off-loading location (C,23) is used for handling/supporting the load throughout any load transfer between said locations (A,C) and at least one activity location (B) at which at least one predetermined operation/process activity may be required to be performed on the load (21); and for supporting said load (21) whilst at any such operation/process activity location. 2. Load handling apparatus as claimed in claim 1, and characterised in that the load handling means (1,6,28,29) is adapted to pickup/entrain a load (21) from said supply (22) when the latter is at a predetermined supply location (A), to transport the load to a said activity location (B), to support the load whilst it is being subjected to a said activity, to support the load during any transfer operation on the load from the activity location to a location (C) at which it is required to off-load the load, and to off-load said load at said off-loading location. 3. Load handling apparatus as claimed in claim 2, and characterised in that the supply location (A) and the off-loading location (C) are separate one from the other. 875 _ 1 θ- 4. Load handling apparatus as claimed in claim 2 or 3, and charac erised by means ( 22A.23A 24) for enabling selective setting of the operational positions of the supply location and said off-loading location relative to any said activity location. 5. Load handling apparatus as claimed in claim 4, and characterised in that the means for enabling selective setting of the operational positions of said supply and off-loading locations (A,C) allows relative positional adjustment of said locations according to the physical size and form of the load (21) and the nature of any said activity to be carried out on the load. 6. Load handling apparatus as claimed in any one of the preceding claims, and characterised in that the means for defining the positions of said locations includes a guide arrangement for enabling the locations to be selectively established relative to a predetermined path. 7. Load handling apparatus as claimed in any one of the preceding claims, and characterised in that the load handling means includes a pivotally mounted arm (1) adapted at one end (5) to mount load pick-up and delivery means (28,29), and means (9,10,11) for enabling the load pick-up and delivery means to be selectively positioned at said locations according to a preselectable sequence. 8. Load handling apparatus as claimed in claim 7, and characterised in that the selective positioning positioning of the pick-up and delivery means at said locations by means of the pivotal movements of the arm (1) are arranged to be controlled in response to control signals arising from position sensors (45,45A). _ 1 g _ 9. Load handling apparatus as claimed in 7 or 8, and characterised in that when the load comprises magnetisable material the pick-up and delivery means is adapted magnetically to cooperate with the magnetisable load. 10. Load handling apparatus as claimed in claim 9, whereing electromagnetic means (36,46) are provided upon a support member (37) carried by the load-pick-up and delivery means, and in that the support member (37) is arranged to be displaceable relative to said guide path (24) in such manner that in a first position the electromagetic means (36,46) is able to remove a load from the supply and entrain the load with the handling arm (1) and in a second position to off-load the load when the handling means is cooperating with the off loading location (C). 11. Load handling apparatus as claimed in claim 10, and characterised in that means (49,48,) are provided for so controlling the electromagnetic means whilst the load is a a said activity location (B) that the load can be positionally adjusted in accordance with position adjustment demands for the load when at a said activity location. 12. Load handling apparatus as claimed in when the pivotal displacements of the load supporting arm (1) are arranged to be under the control of a hydraulic control system (10) . 13. Load handling apparatus as claimed in claim any preceding and charaterised in that when the load (21) is formed by a circular saw blade whose teeth are required to be provided with hard material tips the load handling ; means includes a mandrel (29) for mounting the blade thereto and further mandrels (22,23) at said loading and off-loading locations. 14. Load handling apparatus as claimed in claim 13, and characterised in that the mandrels (22,23) at the loading and off-loading locations (A,C) are horizontally arranged, and in that the mandrel (29) associated with the load handling means is operationally horizontal. 15. Load handing apparatus as claimed in claim 14, and characterised in that the mandrels (22,23) at the loading and off-loading locations are vertically arranged, and in that the load handing means (28,29) is adapted for positioning its mandrel (29) so that it is axially horizontal when at an activity location (B) and in a axially vertical direction when at a loading or off-loading location (A,C).

Inventors: ELLIS GLYNN ARTHUR, ELLIS, GLYNN, ARTHUR
Applicants: RAZEDGE LTD, RAZEDGE LIMITED
Application year: 1993
Main classification: B23Q7
IPC codes: B23Q1, B23Q7