Patent GB-995441-A (GB)
Title: Improvements in article manipulator apparatus
IPC: B23Q7/00
Filed: 1962-03-22
Abstract: 995,441. Load handling machines; gripper devices. U.S. INDUSTRIES Inc. March 22, 1962 [April 14, 1961], No. 11030/62. Heading B8H. A load handling device comprises a carriage 21 which is horizontally movable on rails on a base 20 and which supports a vertically movable carriage 22 supporting gripper jaws 23 for engaging articles 30. As shown in Fig. 1, the carriage 21 is urged towards the right by a spring motor 32 which is connected to the carriage by a tape 33, secured to a bracket 35 and passing round a pulley 34. The carriage 22 is raised and the carriage 21 is moved to the left by an electric motor 41 coupled, through a solenoid-actuated clutch 42, to a tape 40 which is secured to a bracket 52 on the carriage 21 and passes round pulleys 51, 50, 49 on the carriages 22, 21 and the base 20 respectively. Adjustable stops are provided to limit the movement of both carriages and cam means may be provided to raise the lower stop of the carriage 22 at either limit of travel of the carriage 21. The movements of the carriages and locks for locking each carriage at either limit of travel are actuated by a cam shaft, Fig. 11 (not shown) and an electrical control circuit, Fig. 19 (not shown) for providing voltage impulses in timed sequence to the clutch-actuating and jaw-actuating solenoids is described. In the described embodiment, initially the carriage 21 is locked at its left limit of travel and the carriage 22 is at its lower position and on engaging the clutch 42, the carriage 22 is raised to its upper position whereupon the cam-shaft is rotated through 45 degrees thereby locking the carriage 22 in its raised position and disengaging the clutch 42 so that the spring motor 32 moves the carriage 21 to its right limit of travel where it is locked and the carriage 22 is released and falls under gravity. The operation is then repeated in reverse to return the carriages to their initial positions. The device may be directed by electrical voltage pulses from external devices or the control circuits may provide control signals for co-operating external machines during selected portions of the operating cycle. Gripper devices.-A self-locking jaw mechanism comprises a housing 300, Fig. 17, supporting a plate 301 which is slidable horizontally in the direction X-X between a stop plate 302 and a stop pin 303 under the action of a solenoid 53, Fig. 1, to which it is coupled by a rod 325 and a bell crank lever. Jaws 326, 326<SP>1</SP> are detachably mounted on supports 310, 310<SP>1</SP> which are pivoted to the plate 301 by links 315, 315<SP>1</SP>, 316, 3161 and links 320, 320<SP>1</SP> pivotally connect the links 316, 316<SP>1</SP> to the housing 300. When the rod 325 has moved the links 316, 316<SP>1</SP> into alignment with links 320, 320<SP>1</SP>, any additional forward movement of plate 301 causes pivot pins 340, 340<SP>1</SP> to move forward of pins 341, 341<SP>1</SP> so that any forces tending to move jaws 326, 326<SP>1</SP> apart tends to drive the plate 301 forward against the stop pin 303. The jaws may be controlled by an internal programme or by an external machine.