Patent GB-1496730-A (GB)
Title: Material handling apparatus
IPC: B25J15/02
Filed: 1975-09-04
Abstract: 1496730 Article transfer apparatus G MINK 4 Sept 1975 [16 Sept 1974 2 June 1975 25 July 1975] 36500/75 Heading B8H Article transfer apparatus comprises a base plate 12 for mounting on a machine tool, a cylinder assembly 13 pivotably mounted on the base, a positioning member 34 longitudinally slidably mounted in said cylinder and supporting a gripper 35 and an actuator 67 whose piston rod 69 is connected by a plate 71 to an actuating member 52 extending through the positioning member to actuate the gripper by way of a cam portion 53 engaging the fingers 36, 37 of the gripper. The plate 71 is further coupled by springs 76 to a collar 79 secured to the positioning member 34 and mounts a pin 81 movable in a slot 82 of a link 83 connected to a bell-crank 17 pivoted to the cylinder 13 and mounting a roller 21 which bears on an adjustable bearing plate 23 mounted on the base plate 12. A detent mechanism 55 co-operates with an annular groove 59 in the actuating member to retain same in an operative position and is controlled by a spring biased plunger 62. In operation, from the position shown, retraction of the actuator 67 extends the positioning member 34 together with the actuating member and releases the detent mechanism 55 from the plunger 62. Movement continues until the collar 79 abuts the cylinder 13 whereupon movement of the positioning member stops but movement of the actuating member continues, with continued movement of the actuator 67, to engage the cam portion 53 with the fingers 36, 37 and move same to a gripping position whereat the detent mechanism 55 engages in the annular groove 59. Finally pin 81 reaches the end of slot 82 and causes the belt crank 17 to pivot and thus pivot the cylinder 13 and raise the gripper 35.  In a further embodiment, Fig. 10 (not shown) the gripper (114) is carried by an arm (138) mounted on rods (161), (162) slidably movable in a block (157) and connected to a follower block (165). A bell crank (169), pivotally mounted at (171), has a roller (167) in engagement with the follower block (165) and a further roller (172) biased by a spring (195) into contact with a cam (174) rotated by a shaft (176) whereby to effect horizontal displacement of the follower block and thus horizontal displacement of the gripper. A further bellcrank (191), pivotally mounted at (192), has a roller (193) biased by a spring (198) into contact with a cam (194) also mounted on the shaft (176) and has a bifurcated end (189) in engagement with a pin (188) mounted on a block (185) vertically slidably along rods (152), (153) so that an abutment surface (232) thereof may abut a similar surface (231) on the block (157) to effect its movement along the rods (152), (153) and thus effect vertical displacement of the gripper. A further cam (216) on the shaft (176) controls operation of a lever (213) pivoted at (214) and having a stop (212) to bear against a blocking member (208) pivoted at (209) to the block (157). The blocking member is held, by the stop, clear of a further blocking member (224) on the block (185) whereby relative movement occurs between the blocks (157) and (185) upon initial movement of the block (185) and through a rod (204), a collar (205) and linkage (207), (147) Fig. 8 (not shown) acts to close the gripper and hold same closed until the blocks return to their original position and open the gripper. Upon further upward movement of the block (185) the cam (216) has rotated 180 degrees and thus allows blocking member (208) to engage blocking member (224) and prevent relative motion between the blocks (157), (185) and thus retain the grippers open. In a further embodiment, Fig. 15 (not shown) the horizontal rectilinear movement of the above embodiment is replaced by pivotal movement about a vertical axis.