Patent Publication Number: US-2011048899-A1

Title: Assembling Machine with Continuous Periodic Assembly Motion

Description:
CROSS REFERENCE TO PRIOR APPLICATIONS 
     This application is a divisional application under 35 USC §121 of U.S. application Ser. No. 12/202,684, filed Sep. 2, 2008, which is incorporated by reference for all purposes, and which is a divisional application under 35 USC §121 of U.S. application Ser. No. 11/415,561, filed May 2, 2006, which is also incorporated by reference for all purposes. 
    
    
     BACKGROUND 
     1. Technical Field 
     This invention relates generally to an assembling machine having an assembler that couples a first component to a second component, and more specifically to an assembling machine, for example a partition insertion machine, having a moving assembler, where a feeder is capable of feeding components to the assembler such that the moving assembler may operate in a continuous periodic motion. 
     2. Background Art 
     The assembly of components has long been automated. From assembling envelopes to automobiles, most repetitive work in factories today is accomplished by machines. In many factories, a conveyor belt feeds unfinished components to a task-performing machine. Upon receiving the unfinished component, the task-performing machine executes its programmed function. The machine then waits as the conveyor belt moves the completed component down the line. When a new unfinished component reaches the machine, the programmed task is executed again. This process continues, with the machine working and waiting, for as long as the line is operational. 
     By way of example, consider a machine for assembling packaging partitions. When viewed in cross section, these partitions—which are often made of cardboard and separate items or components in a box to prevent them from touching—often resemble a multi-celled tic-tac-toe board made of vertical components inserted into horizontal components. A machine performs the step of insertion. By way of example, a worker may deliver a set of vertical components to the assembler. With a rat-tat-tat motion, the assembler inserts the horizontal components into the vertical components. The assembler then stops, to allow the worker to clear the completed partition assembly from the assembler. The assembler waits for another set of vertical components to be delivered. Once the vertical components are in place, the assembler again attaches the horizontal components. 
     There are two problems with such partition assemblers: first, they are expensive and inefficient to operate. A worker must deliver parts to the assembler, activate it, stop it, and then remove the assembly. Second, stopping and starting the machine causes wear and tear. This is because the majority of wear and tear on automated machines occurs not when they are running, but when they are stopped and restarted. 
     There is thus a need for an improved assembly machine that is more efficient. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying figures, where like reference numerals refer to identical or functionally similar elements throughout the separate views and which together with the detailed description below are incorporated in and form part of the specification, serve to further illustrate various embodiments and to explain various principles and advantages all in accordance with the present invention. 
         FIG. 1  illustrates a perspective view of one example of a semi-assembled partition suitable for assembly with a machine in accordance with the invention. 
         FIG. 2  illustrates a general view of one embodiment of an assembly machine in accordance with the invention. 
         FIG. 3  illustrates one embodiment of a method executed by a calibration device in accordance with the invention. 
         FIG. 4  illustrates a perspective view of partitions being assembled with an assembly machine in accordance with the invention. 
         FIGS. 5-7  illustrate time-lapse views of partitions being assembled with an assembly machine in accordance with the invention. 
         FIG. 8  illustrates an elevation side view of one embodiment of an assembly machine in accordance with the invention. 
         FIG. 9  illustrates a front elevation view of one embodiment of a drive train assembly in accordance with the invention. 
         FIG. 10  illustrates a rear elevation view of one embodiment of a drive train assembly in accordance with the invention. 
         FIG. 11  illustrates a top plan view of one embodiment of a feeder table in accordance with the invention. 
     
    
    
     Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of embodiments of the present invention. 
     DETAILED DESCRIPTION OF THE INVENTION 
     Before describing in detail embodiments that are in accordance with the present invention, it should be observed that the embodiments reside primarily in combinations of method steps and apparatus components related to automatically assembling components by way of an assembly machine. The apparatus components and method steps have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. 
     Embodiments of the invention are now described in detail. Referring to the drawings, like numbers indicate like parts throughout the views. Relational terms such as first and second, top and bottom, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. As used in the description herein and throughout the claims, the following terms take the meanings explicitly associated herein, unless the context clearly dictates otherwise: the meaning of “a,” “an,” and “the” includes plural reference, the meaning of “in” includes “in” and “on.” Also, reference designators shown herein in parenthesis indicate components shown in a figure other than the one in discussion. For example, talking about a device ( 10 ) while discussing figure A would refer to an element,  10 , shown in figure other than figure A. 
     Described herein is an assembly machine configured to deliver a receiving component to an assembler having a moveable coupling mechanism. The moveable coupling mechanism, which couples attaching components to the receiving components, does so at a continuous periodic rate. A feeder is configured with multiple drive trains, each of which is capable of altering its speed along a drive train path. The drive trains have transporting mechanisms coupled thereto. The transporting mechanisms cause the receiving components to move along the feeder to the assembler. In one embodiment, the drive trains, and thus the attached transporting mechanisms, alter speed along the drive train path so as to deliver the receiving components to the assembler such that the assembler may operate continuously without stopping between the delivery of a first receiving component or components and the delivery of a second receiving component or components. As such, the assembly machine of the present invention, using the feeder with multiple drive trains, each capable of altering its speed individually, operates more efficiently than prior art assembly machines. Experimental testing has shown the assembly machine of the present invention to increase throughput as much as 50% over prior art machines. 
     Throughout this disclosure, assembly of partitions will be set forth as one exemplary application for an assembly machine in accordance with the invention. This example is used for simplicity and clarity in explanation. Further, experimental testing has shown that an assembly machine in accordance with the invention is well suited for such an application. It will be clear to those of ordinary skill in the art having the benefit of this disclosure, however, that embodiments of the present invention are not limited to such applications. The invention may be applied to a wide variety of assembly applications where components are coupled together or where an insertion step occurs. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present invention. The benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential features or elements of any or all the claims. 
     Turning now to  FIG. 1 , illustrated therein is one embodiment of a semi-assembled partition  100  suitable for assembly by an assembling machine in accordance with the invention. This exemplary partition  100  may be referred to as a “two by three” partition or a “three by four cell” partition. The partition  100  includes two receiving components  101 , 102 , which are akin to the vertical components mentioned above, as they appear vertical when the partition  100  is viewed in cross section. The receiving components  101 , 102  are on the bottom of the partition  100 , and include various notches, e.g.  106 , suitable for receiving other components. 
     The partition  100  includes three attaching components  103 , 104 , 105 , which comprise the horizontal components mentioned above, as they appear to be horizontal when the partition  100  is viewed in cross section. Each attaching component  103 , 104 , 105  includes a notch or recess, e.g.  107 , suitable for coupling to other components. During assembly, for example, notch  106  of receiving component  101  engages notch  107  of attaching component  103 . The other notches do so likewise, thereby forming the tic-tac-toe cross section commonly associated with the partition  100 . 
     Turning now to  FIG. 2 , illustrated therein is one embodiment of an assembly machine  200  in accordance with the invention. The assembly machine  200  includes a feeder  201  configured to deliver receiving components  207 , 208  (or groups of receiving components) to an assembler  202 . The assembler  202  is configured to couple an attaching component  206  to the receiving components  207 ,  208  by way of a moveable coupling mechanism  205 . The moveable coupling mechanism  205  moves reciprocally in a periodic motion while the receiving components  207 , 208  pass beneath. When a particular notch  224  is aligned with the attaching component  206 , the moveable coupling mechanism  205  couples the attaching component  206  with the receiving components  207 . 
     In prior art systems, there is a time delay between delivery of receiving component  207  and delivery of receiving component  208 . Thus, the moveable coupling mechanism  205  must pause between the last notch  218  of the first receiving component  207  exiting the assembler  202  on conveyer belt  216  and the first notch  219  of the second receiving component  208  being delivered to the assembler  202 . This pause or stoppage reduces throughput and efficiency. 
     With the present invention, by contrast, the feeder  201  includes a plurality of drive trains  212 , 213 . Each drive train  212 , 213  includes at least one transporting mechanism coupled thereto. For instance, transporting mechanism  209  is coupled to drive train  213 , while transporting mechanism  210  is coupled to drive train  212 . The transporting mechanisms  212 , 213  are configured to feed the receiving components  207 , 208  into the assembler  202 , beneath the moveable coupling mechanism  205 , and onto conveyer belt  216 . 
     In accordance with one embodiment of the invention, the drive train speed of each drive train  212 , 213  changes such that the moveable coupling mechanism  205  may continue to operate reciprocally at a constant, periodic coupling rate. In other words, the drive trains  212 , 213  alter speeds along the respective drive train loop so as to deliver the notches  217 , 218 , 219  of the receiving components  207 , 208  to the assembler  202  at a constant rate. This constant rate allows the moveable coupling mechanism  205  to reciprocate continually and evenly at a constant rate. On the upstroke the moveable coupling mechanism  205  retrieves an attaching component  206 . On the down stroke, the moveable coupling mechanism  205  inserts the attaching component  206  into a notch of a receiving component. In the exemplary  FIG. 2 , drive train  212  accelerates at specific moments so as to deliver notch  219  to the assembler  202  after notch  218 , in the same elapsed time that transpires between the delivery of notch  220  and notch  219 . Said differently, the drive train speed associated with one of the plurality of drive trains, i.e. the drive train speed of drive train  212 , changes such that the periodic coupling rate of the moveable coupling mechanism  205  remains constant between attachment of a first attaching component with a first receiving component, i.e. the attaching component coupled to notch  218  of receiving component  207 , and attachment of a second attaching component with a second receiving component, i.e. the attaching component coupled to notch  219  of receiving component  208 . This periodic coupling rate of attaching components to receiving components will be shown in more detail in the discussion of  FIGS. 4-6  below. 
     As noted above, the exemplary application set forth in  FIG. 2  is that of a partition-assembling machine where attaching components are inserted into receiving components. In such an application, the assembler  202  effectively becomes an insertion assembly, as the attaching components are “inserted” into the notches of the receiving components. Thus, the attaching component, e.g.  206 , may also be referred to as an inserting component. Where the assembly machine  200  is configured to construct partitions like those shown in  FIG. 1 , a multi-celled partition, the insertion assembly is configured to insert a plurality of inserting components into one or more receiving components. 
     The feeder  201  includes a feeder table  221  configured to deliver one or more receiving components  207 , 208  to the assembler  202 . The feeder  201  includes a feeder table  221  employing at least two drive trains  212 , 213  to accomplish the delivery. The drive trains  212 , 213  each have one or more transporting mechanisms  209 , 210 , 226  coupled thereto. For example, drive train  212  is coupled to transporting mechanism  210 , while drive train  213  is coupled to transporting mechanism  209 . When the drive trains  212 , 213  move, so do the transporting mechanisms  209 , 210 , thereby delivering the receiving components  207 , 208  to the assembler. 
     In one embodiment, the drive trains  212 , 213  employ a pair of chain driven loops  214 , 215  to move the transporting mechanisms  209 , 210 . For example, drive train  212  employs chain  214 , while drive train  213  employs chain  215 . Transporting mechanism  209 , being coupled to chain  215 , moves when drive train  213  moves chain  215 . Correspondingly, transporting mechanism  210 , being coupled to chain  214 , moves when drive train  212  moves chain  214 . 
     In viewing  FIG. 2 , the receiving components  207 , 208  move right to left, flowing from the delivery module  203  to the assembler  202 . The moveable coupling mechanism  205  moves vertically in a reciprocating motion so as to insert the attaching components, e.g.  206 , into the receiving components  207 , 208 . Thus, the feeder  201  feeds the receiving components  207 , 208  into the assembler  202  in a first direction  222 . The moveable coupling mechanism  205  moves in a second direction  223 , which intersects the first direction, thereby enabling the attachment or insertion. 
     As the receiving components  207 , 208  include a plurality of notches, e.g.  224 , they may be thought of as graduated components, where the notches serve as the graduations. When, for example, transporting mechanism  209  causes the “graduated” receiving component  207  to pass along one side of the feeder table  221  into the assembler  202 , it must do so with a stair-stepped speed. In other words, transporting mechanism  209  pauses momentarily while the moveable coupling mechanism  205  inserts attaching component  206  into notch  224 . The transporting mechanism  209  then moves so as to cause notch  220  to align with the moveable coupling mechanism  205 . The transporting mechanism  209  then pauses again while another attaching component is inserted. This stair-stepped action continues until attaching components have been inserted into each of the notches  217 , 220 , 218  of receiving component  207 . 
     At this time, transporting mechanism  210  accelerates to ensure that notch  219  is aligned with the moveable coupling mechanism  205  on by its next downward pass in its periodic coupling rate. Transporting mechanism  210  then enters a stair-stepped speed while attaching components are being inserted into the notches, e.g.  219 , of receiving component  208 . 
     Once the receiving components have been delivered to the assembler, the transporting mechanisms  209 , 210  may then move at a faster speed to return to the delivery module  203 . In the delivery module  203 , the transporting mechanisms  209 , 210  receive new receiving components  225 . For instance, delivery mechanism  217  delivers receiving component  225  to the feeder table  221  such that it may be delivered to the assembler  202  by transporting mechanism  226 . 
     In one embodiment of the invention, each of the drive trains  212 , 213  has at least two transporting mechanisms coupled thereto. By way of example, drive train  213  has both transporting mechanism  209  and transporting mechanism  226  coupled to its drive train chain  215 . Thus, while transporting mechanism  209  is delivering receiving component  207  to the assembler  202 , transporting mechanism  226  is nearly in position to accept receiving component  225 . 
     Coordination of the multiple drive trains  212 , 213 , as well as control over the varying speed of each drive train chain  214 , 215 , in one embodiment is coordinated with a computer  204 . The computer  204  receives input from each of the components, including the assembler  202 , the feeder  201 , and the delivery module  203 . For instance, the feeder  201  includes a transporting mechanism detector  211  that is capable of determining the position of the transporting mechanisms  209 , 210 , 226  at least once along its corresponding drive train loop. In one embodiment, where the transporting mechanisms are manufactured from rigid metal as rigid arms coupling the pair of variable speed servo driven drive trains  212 , 213  for example, the transporting mechanism detector may be a magnetic or optical sensor capable of determining when the transporting mechanism is passing beneath. 
     Similarly, as will be shown in more detail in the discussion of  FIG. 7 , each of the drive trains  212 , 213 , as well as the moveable coupling mechanism  205  and the delivery mechanism  217 , is driven by a variable speed servo. Variable speed servo devices include communication systems capable of telling computer  204  in exactly what position they are in radially. Where computer  204  is programmed with the distance between the transporting mechanism detector  211  and the moveable coupling mechanism  205 , and where computer  204  is able to determine the positions of the servos driving the drive trains  212 , 213 , the moveable coupling mechanism  205  and the delivery mechanism  217 , the computer  204  may serve as a calibration device. As a calibration device, the computer  204  ensures that the notches of the receiving modules are delivered at appropriate times to the moveable coupling mechanism  205  so as to allow the moveable coupling mechanism to move at its continuous, periodic rate. Specifically, the computer  204  can adjust the drive train speed of drive train  212  so as to minimize the distance between components driven by the second transporting mechanism coupled to the second drive train, i.e. receiving component  208  driven by transporting mechanism  210  coupled to drive train  212 , and the first transporting mechanism coupled to the first drive train, i.e. transporting mechanism  209  coupled to drive train  213 . This minimization of distance, which occurs when both the first transporting mechanism and the second transporting mechanism are transporting receiving components, allows notch  219  to align with the moveable coupling mechanism  205  after notch  218  without altering the periodic coupling rate of the moveable coupling mechanism  205 . 
     Turning now to  FIG. 3 , illustrated therein is one such method that the computer ( 204 ) may execute when operating as a calibration device. The method, which may be embodied as computer useable instructions in the form of software code, facilitates a drive train loop and moveable coupling mechanism action that recurs repeatedly without error or tolerance build up. 
     At step  301 , the computer ( 204 ) determines a first feeder position of the first transporting mechanism ( 209 ), which is coupled to the first drive train, i.e. drive train  213 . The computer ( 204 ) does this by determining how far the servo driving drive train  213  has rotated since the first transporting mechanism (transporting mechanism  209 ) passed beneath the transporting mechanism detector ( 211 ). With knowledge of the gear ratios associated with drive train  213 , the computer executes a simple calculation to determine the position of transporting mechanism  210 . 
     At step  302 , the computer ( 204 ) detects a second feeder position of the second transporting mechanism (transporting mechanism  210 ), which is coupled to the second drive train (drive train  212 ). The computer ( 204 ) accomplishes this by sensing transporting mechanism  210  as it passes under the transporting mechanism detector ( 211 ). 
     At step  303 , the computer ( 204 ) detects the servo position of the servo driven moveable coupling mechanism ( 205 ), which is moving at a constant periodic coupling rate. This detection allows the computer to determine where along the reciprocating stroke the moveable coupling mechanism ( 205 ) happens to be. 
     At step  304 , after executing steps  301 , 302 , 303 , the computer ( 204 ) adjusts the drive train speed of the second drive train (drive train  212 ) such that the distance between the first transporting mechanism ( 209 ) and components driven by the second transporting mechanism ( 210 ) is minimized prior to delivery of the components driven by the second transporting mechanism ( 210 ) to the moveable coupling mechanism ( 205 ). This process is known as “queuing”, and allows the elapsed time between a penultimate notch and a last notch in a particular receiving component passing under the moveable coupling mechanism ( 205 ) to be the same as the elapsed time between the last notch in one receiving component and the first notch of another receiving component passing under the moveable coupling mechanism ( 205 ). In prior art systems, where receiving components were evenly spaced along a feeder, this was not possible. In the present invention however, after minimizing the distance, the computer ( 204 ) is able to adjust the drive train speed of the second drive train loop (drive train  212 ) such that the coupling regions ( 224 , 220 , 218 ) on receiving components ( 207 ) driven by the first transporting mechanism ( 209 ) and coupling regions (e.g.  219 ) on receiving components ( 208 ) driven by the second transporting mechanism ( 210 ) are delivered to the servo driven moveable coupling mechanism ( 205 ) at a constant rate. 
     At step  305 , the computer ( 204 ) determines a delivery position of the servo driven moveable delivery mechanism ( 217 ). The computer ( 204 ) does this by detecting the position of the servo driving the delivery mechanism ( 217 ). Once this is known, the computer ( 204 ) may adjust the drive train speed of, for example, the first drive train loop (drive train  213 ) such that a drive train transporting mechanism (transporting mechanism  226 ) engages a receiving component ( 225 ) when delivered by the moveable delivery mechanism ( 217 ) at step  306 . 
     Turning now to  FIG. 4 , illustrated therein is a perspective view of one embodiment of an assembly machine  200  in accordance with the invention. As shown in  FIG. 2 , the feeder  201  delivers receiving components  207 , 208  to the assembler  202  for assembly. Specifically, transporting mechanism  209  delivers receiving member  207 , which in some applications may include a plurality of receiving members, to the assembler  202  so that the moveable coupling mechanism  205  may insert attaching members  206 , 401 , 402  into receiving member  207 , thereby constructing a multi-celled partition. Similarly, transporting mechanism  210  feeds receiving members  208 , 407  to the assembler  202 . When notch  219  is aligned with the moveable coupling mechanism  205 , attaching members will be inserted. Completed partitions  403  are then swept away by the conveyor belt  216 . 
     The feeder table  221  is more visible in the perspective view of  FIG. 4  than in the side view of  FIG. 2 . As can be seen in  FIG. 4 , the feeder table  221  includes a plurality of receiving component guides  404 , 405 , 406 . These receiving component guides  404 , 405 , 406 , in one embodiment, are rigid slots that run the length of the feeder table  221 . Where the assembly machine  200  of the present invention is used in applications such as partition construction, the receiving component guides  404 , 405 , 406  allow the receiving components  208 , 407  to move along the feeder table  221  in an upright position. 
     In the exemplary embodiment of  FIG. 4 , the transporting mechanisms  209 , 210  are disposed substantially perpendicularly to the plurality of receiving component guides  404 , 405 , 406 . This perpendicular alignment allows a single transporting mechanism  210  to move a plurality of receiving components, e.g.  208 , 407 , along the plurality of receiving component guides  404 , 405 , 406  at the drive train speed. In this exemplary embodiment, the transporting mechanisms  209 , 210  are rigid arms spanning and coupling the chains of their respective drive trains. Note that in  FIG. 4  drive train cover  408  covers the drive trains, which in one embodiment are variable speed servo driven chains coupled to the transporting mechanisms  209 , 210 . 
     Turning now to  FIGS. 5 ,  6  and  7 , illustrated therein are time-lapse side views of the motion of the drive trains  212 , 213 , the transporting mechanisms  209 , 210 , and the receiving members  507 , 508 . For simplicity,  FIGS. 5 ,  6 , and  7  illustrate receiving members  207 , 208  having a single notch  518 , 519 . However, as shown in  FIG. 1 , many applications will include receiving members having a plurality of notches. The single notch example is to be used for illustration purposes, as it will be clear to those of ordinary skill in the art having the benefit of this disclosure that the invention is not to be limited by the illustrations of  FIGS. 5 ,  6 , and  7 . 
     Each of the drive trains  212 , 213  has at least one transporting mechanism  209 , 210  coupled thereto. For example, drive train  212  is coupled to transporting mechanism  210 , while drive train  213  is coupled to transporting mechanism  209 . In one embodiment of the invention shown to work well in experimental testing, each drive train  212 , 213  has at least two transporting mechanisms coupled thereto, with each of the transporting mechanisms being disposed at substantially equidistant intervals along the drive trains. (In one embodiment two transporting mechanisms per drive train are employed.) Also, in one embodiment the transporting mechanisms  209 , 210  are coupled to the drive trains  212 , 213  in a variable speed servo driven loop, with chain  214  and chain  215  serving as the loops. Thus, the drive trains  212 , 213  may be a pair of chain driven loops having two transporting mechanisms coupled thereto. 
     At  FIG. 5 , transporting mechanism  209  delivers receiving component  507  to the assembler  202 . Moveable coupling mechanism  205  inserts attaching component  506  to receiving component  507  at notch  518 . During this time, drive train  213 , and thus transporting mechanism  209 , moves in a first drive train motion that is stair-stepped and intermittent. The stair-stepped motion continues until the moveable coupling mechanism  205  has inserted attaching components into each notch. Drive train  213  pauses while moveable coupling mechanism  205  inserts the attaching component  506 , and them moves quickly to align the next notch with the moveable coupling mechanism  205 . 
     While this occurs, drive train  212  moves in a second drive train motion having a first speed. This first speed allows transporting mechanism  210  to cause receiving component  508  to catch up to transporting mechanism  209 . Drive train  212  adjusts to the first speed such that the distance  501  between the first transporting mechanism, transporting mechanism  209 , and components driven by the second transporting mechanism, i.e. receiving component  508  driven by transporting mechanism  210 , is minimized prior to the delivery of the receiving component  508  to the assembler  202  and the moveable coupling mechanism  205 . This minimization allows the moveable coupling mechanism  205  to operate at a continuous periodic rate even though multiple receiving mechanisms  507 , 508  pass beneath. In other words, the drive train  212  changes its drive train speed such that the periodic coupling rate of the moveable coupling mechanism  205  remains constant between the attachment of a first attaching component  506  with a first receiving component and the attachment of a second attaching component (element  606  in  FIG. 6  below) with the second receiving component  508 . 
     At  FIG. 6 , receiving component  507  has received attaching components for each notch, and is then swept away by conveyor belt  216 . Moveable coupling mechanism  205  is now on its upstroke to retrieve another attaching component, attaching component  606 . Since the distance between the final attaching component ( 506 ) coupled to receiving component  508  and the initial attaching component  606  being coupled to receiving component  508  is generally greater than the distance between notches in a single receiving component, to permit the moveable coupling mechanism  205  to operate at its periodic rate, transporting mechanism  210  must accelerate in  FIG. 6 . Specifically, transporting mechanism  210  must change to a third drive train motion having a second speed that is fast enough to align notch  519  with the moveable coupling mechanism  205  prior to it inserting attaching component  606  to receiving component  508 . (Note that where receiving components  507  and  508  include a plurality of notches, attaching component ( 506 ) is the final attaching component of a first plurality of attaching components to be attached to receiving component  507 . Similarly, attaching component  606  would be the initial attaching component of a second plurality of attaching components.) 
     At  FIG. 7 , transporting mechanism  210  is moving receiving component  508  such that notch  519  will be aligned with the moveable coupling mechanism  205 . Moveable coupling mechanism  205  has retrieved attaching component  606  and will insert it into notch  519  at the base of the down stroke. During this time, drive train  212 , and thus transporting mechanism  210  alternates from the third drive train motion at the second speed to the first drive train motion at the stair-stepped, intermittent speed. This first motion continues so long as attaching components are to be inserted into the notches of receiving component  508 . Note that drive train  213  is now free to accelerate to permit transporting mechanism  209  to return to the delivery module to retrieve another receiving component. 
     Turning now to  FIG. 8 , illustrated therein is a more detailed side, elevation view of one embodiment of an assembly machine  200  in accordance with the invention. From this view, details of the feeder  201 , the assembler  202 , and the delivery module  203  can be seen. 
     As noted above, in one embodiment of the invention, each of the plurality of drive trains  212 , 213  comprises a variable speed servo driven loop. In  FIG. 8 , the variable speed servos  801 , 802  can more clearly be seen. These variable speed servos  801 , 802  allow the drive train speed associated with either drive train  212 , 213  to change such that receiving components are delivered to the assembler  202  with a periodic coupling rate of the moveable coupling mechanism  205  remaining constant. 
     As with the drive trains, the moveable coupling mechanism  205  is also driven by a servo. Specifically, moveable coupling mechanism  205  is driven by a moveable coupling mechanism servo  803  coupled to and capable of actuating the moveable coupling mechanism  205 . As with the servos driving the drive trains, the moveable coupling mechanism servo  803  includes circuitry that acts as a moveable coupling mechanism servo detector to deliver the precise servo positions to the computer  204 . Thus, the computer  204  is able to continually determine the moveable coupling mechanism servo position. 
     The computer  204  is in communication with the transporting mechanism detector  211 , the variable speed servo  801  driving drive train  213 , the variable speed servo  802  driving drive train  212 , and the moveable coupling mechanism servo  803 . From the transporting mechanism detector  211 , the computer  204  is able to detect the position of the transporting mechanisms. From the position of the variable speed servos  801 , 802 , with knowledge of the length of the feeder table, the computer may determine the feeder position of any of the transporting mechanisms. From the moveable coupling mechanism servo  803  and its moveable coupling mechanism servo detector, the computer  204  is able to detect the position of the moveable coupling mechanism  205 . Once all of this is determined or detected, the computer  204  is able to alter the speeds of the variable speed servos  801 , 802  so as to alter the speed of the drive trains  212 , 213  and thus the drive train loops. In so doing the computer  204  may alter, for example, the drive train speed of a second drive train loop such that the distance between a first transporting mechanism coupled to the first drive train loop and components being driven by the second transporting mechanism is minimized prior to the delivery of the components driven by the second transporting mechanism to the assembler  202 . In short, by detecting this information, the computer  204  is capable of queueing components. 
     The computer  204  may also alter the drive train speed when serving as the calibration device. Where the computer  204  does so to enable the moveable coupling mechanism to operate at a continuous periodic rate from receiving component to receiving component, the computer  204  varies the drive train speed such that notches, or coupling regions, on components driven by a first drive train and notches on components driven by a second drive train exit the feeder table  221  at a constant rate. 
     Turning now to  FIGS. 9 and 10 , illustrated therein are a front elevation view and a rear elevation view of a feeder  201  in accordance with the invention. From these views, the coupling of the drive trains to axels  901 , 1001  can be seen. Drive train  212  is coupled to axel  901 , while drive train  213  spins freely about axel  901 . Conversely, drive train  213  is coupled to axel  1001 , while drive train  212  spins freely about axel  1001 . Belt  902  is coupled to variable speed servo  802 , while belt  1002  is coupled to variable speed servo  801 . By varying either variable speed servo  801 , 802 , the computer ( 204 ) can vary the speed of one drive train, drive train loop, drive train chain, and transporting mechanisms coupled thereto, without affecting the other&#39;s motion. 
     Turning now to  FIG. 11 , illustrated therein is a top, plan view of one embodiment of a feeder  201  in accordance with the invention. From this view, the receiving component guides  404 , 405 , 406  can more clearly be seen. Additionally, the drive trains  212 , 213  and their drive train chains  1101 , 1102 . Each drive train chain  1101 , 1102  has at least one transporting mechanism  209 , 210  coupled thereto. In  FIG. 11 , transporting mechanism  209  is coupled to drive train chain  1101  and drive train  213 , while transporting mechanism  210  is coupled to drive train chain  1102  and drive train  212 . The transporting mechanisms  209 , 210 , and thus the drive trains  212 , 213  are interlaced such that the first transporting mechanism  209  is followed sequentially by the second transporting mechanism  210  when the drive train chains  1101 , 1102  are in motion. 
     In the foregoing specification, specific embodiments of the present invention have been described. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present invention as set forth in the claims below. Thus, while preferred embodiments of the invention have been illustrated and described, it is clear that the invention is not so limited. Numerous modifications, changes, variations, substitutions, and equivalents will occur to those skilled in the art without departing from the spirit and scope of the present invention as defined by the following claims. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present invention.