Vibratory article handling device

Claim 2

An article handling device including a gripper and means for vibrating said gripper and means for providing vibratory forces at a higher frequency as a function of increased resistance to motion of sAid gripper.

Claim 3

An article handling device including a gripper and means for vibrating said gripper to drive an article gripped by said gripper across a surface area at random for inserting said article into a location adapted to receive said article in said surface area.

Claim 4

An article handling device including a gripper and means for vibrating said gripper to drive an article gripped by said gripper across a surface area at random for inserting said article into a location adapted to receive said article in said surface area.

Claim 5

An article handling device including means for vibrating said article handling device to drive an article secured thereto across an area at random for inserting said article, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another.

Claim 6

An article handling device including means for vibrating said article handling device to drive an article secured thereto across an area at random for inserting said article, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another.

Claim 7

Apparatus in accordance with claim 3 wherein said actuators are adapted to provide vibratory forces at higher frequency in response to increased resistance to said forces applied to vibrate said gripper.

Claim 8

Apparatus in accordance with claim 3 wherein each of said actuators includes an oscillator for reversing the direction of force of the corresponding one of said actuators periodically.

Claim 9

An article handling device including means for vibrating said article handling device to drive an article secured thereto across an area at random for inserting said article, said means for vibrating including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprises a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device, and a second actuator of said actuators comprises a reciprocable piston arrangement for providing transverse motion of said article handling device.

Claim 10

An article handling device including means for vibrating said article handling device to drive an article secured thereto across an area at random for inserting said article, said means for vibrating including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprises a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device, and a second actuator of said actuators comprises a reciprocable piston arrangement for providing transverse motion of said article handling device.

Claim 11

An article handling device including a removable gripper and means for providing forces for vibrating said gripper longitudinally and transversely, adapted to provide vibratory forces at higher frequencies as a function of increased resistance to motion.

Claim 12

An article handling device including a removable gripper and means for providing forces for vibrating said gripper longitudinally and transversely, adapted to provide vibratory forces at higher frequencies as a function of increased resistance to motion.

Claim 13

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position includes a discontinuity in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency of said oscillatory movements.

Claim 14

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position includes a discontinuity in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency of said oscillatory movements.

Claim 15

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position includes a discontinuity in a planar surface of said second element; means for positioning said first element near said predetermined position with a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements.

Claim 16

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position includes a discontinuity in a planar surface of said second element; means for positioning said first element near said predetermined position with a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements.

Claim 17

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position contains a hole in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement wHen said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency of said oscillatory movements.

Claim 18

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position contains a hole in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement wHen said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency of said oscillatory movements.

Claim 19

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position contains a hole in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements.

Claim 20

An article handling device adapted for precisely positioning a first element relative to a predetermined position on a second element, where said predetermined position contains a hole in a planar surface of said second element; means for positioning said first element near said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements.

Claim 21

An article handling device for positioning a mating portion of a first element relative to a mating portion of a second element for complementary mating of said first and second elements, said device including; gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first and second elements whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increased of resistance to increase the frequency of said oscillatory movement.

Claim 22

An article handling device for positioning a mating portion of a first element relative to a mating portion of a second element for complementary mating of said first and second elements, said device including; gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first and second elements whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increased of resistance to increase the frequency of said oscillatory movement.

Claim 23

An article handling device for positioning a mating portion of a first element relative to a mating portion of a second element for complementary mating of said first and second elements, said device including; gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first and second elements whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increased of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 24

An article handling device for positioning a mating portion of a first element relative to a mating portion of a second element for complementary mating of said first and second elements, said device including; gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first and second elements whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increased of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 25

An manipulatable device for positioning a mating portion of a first element relative to a mating portion of a second element comprising a hole for complementary mating of said first and second elements, said device including: gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first element in said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency of said oscillatory movement.

Claim 26

An manipulatable device for positioning a mating portion of a first element relative to a mating portion of a second element comprising a hole for complementary mating of said first and second elements, said device including: gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said first element in said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency of said oscillatory movement.

Claim 27

A manipulatable device for positioning a mating portion of a first element relative to a mating portion of a second element comprising a hole for complementary mating of said first and second elements, said device including: gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane pErpendicular to the direction of movement required for mating said first element in said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 28

A manipulatable device for positioning a mating portion of a first element relative to a mating portion of a second element comprising a hole for complementary mating of said first and second elements, said device including: gripper means for gripping said first element, means for positioning said mating portion of said first element approximately in alignment with said mating portion of said second element, means for effecting oscillatory movement of said first element at a given frequency and amplitude in a plane pErpendicular to the direction of movement required for mating said first element in said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 29

An article handling device including a gripper and means for vibrating said gripper during continuous positive gripping of an article by said gripper to drive said article gripped by said gripper across and in contact with a surface at random for inserting said article into a location adapted to receive said article within said surface.

Claim 30

An article handling device including a gripper and means for vibrating said gripper during continuous positive gripping of an article by said gripper to drive said article gripped by said gripper across and in contact with a surface at random for inserting said article into a location adapted to receive said article within said surface.

Claim 31

An article handling device including means for vibrating said article handling device to vibrate an article secured thereto to move said article across and in contact with a surface at random for inserting said article into a hole, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another.

Claim 32

An article handling device including means for vibrating said article handling device to vibrate an article secured thereto to move said article across and in contact with a surface at random for inserting said article into a hole, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another.

Claim 33

An article handling device including means for vibrating said article handling device to vibrate an article secured thereto to move said article across and in contact with a surface at random for inserting said article into a hole, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another, said actuators being adapted to provide vibratory forces at higher frequency in response to increased resistance to said forces applied to vibrate said gripper.

Claim 34

An article handling device including means for vibrating said article handling device to vibrate an article secured thereto to move said article across and in contact with a surface at random for inserting said article into a hole, said means for vibrating including a plurality of actuators for providing forces in a plurality of directions at different angles to one another, said actuators being adapted to provide vibratory forces at higher frequency in response to increased resistance to said forces applied to vibrate said gripper.

Claim 35

An article handling device including means for vibrating said article handling device to drive an article secured thereto randomly across a surface with which it is in contact for the purpose of inserting said article in a hole in said surface, said means for vibrating including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprises a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device relative to said surface adjacent to said hole, and a second actuator of said actuators comprises a reciprocable piston arrangement for providing transverse motion of said article handling device relative to said surface adjacent to said hole.

Claim 36

An article handling device including means for vibrating said article handling device to drive an article secured thereto randomly across a surface with which it is in contact for the purpose of inserting said article in a hole in said surface, said means for vibrating including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprises a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device relative to said surface adjacent to said hole, and a second actuator of said actuators comprises a reciprocable piston arrangement for providing transverse motion of said article handling device relative to said surface adjacent to said hole.

Claim 37

An article handling device including a removable gripper and means for providing forces for vibrating said gripper longitudinally and transversely relative to a surface containing a hole adapted to provide vibratory forces at higher frequencies as a function of increased resistance to motion of an article held by said gripper, when contacting said hole.

Claim 38

An article handling device including a removable gripper and means for providing forces for vibrating said gripper longitudinally and transversely relative to a surface containing a hole adapted to provide vibratory forces at higher frequencies as a function of increased resistance to motion of an article held by said gripper, when contacting said hole.

Claim 39

An article handling device adapted for precisely positioning a pin in a hole at a predetermined position in a second element; means for positioning said pin at said predetermined position with a given dimensional tolerance, vibratory means for effecting oscillatory movement of said pin, the amplitude of said movement being coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said pin is moving about said hole for changing the frequency and amplitude of said oscillatory movements.

Claim 40

An article handling device adapted for precisely positioning a pin in a hole at a predetermined position in a second element; means for positioning said pin at said predetermined position with a given dimensional tolerance, vibratory means for effecting oscillatory movement of said pin, the amplitude of said movement being coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said pin is moving about said hole for changing the frequency and amplitude of said oscillatory movements.

Claim 41

An article handling device for positioning a mating portion of a pin relative to a mating hole in a second element for complementary mating of said pin and hole, said device including: gripper means for gripping said pin for positioning said mating portion of said pin approximately in alignment with said mating portion of said hole, means for effecting oscillatory movement of said pin at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said pin and said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 42

An article handling device for positioning a mating portion of a pin relative to a mating hole in a second element for complementary mating of said pin and hole, said device including: gripper means for gripping said pin for positioning said mating portion of said pin approximately in alignment with said mating portion of said hole, means for effecting oscillatory movement of said pin at a given frequency and amplitude in a plane perpendicular to the direction of movement required for mating said pin and said hole whereby the edges of said mating portions contact each other and create resistance to said movement; and means responsive to said increase of resistance to increase the frequency and to decrease the amplitude of said oscillatory movement.

Claim 43

An article handing device adapted for precisely positioning a first element relative to a hole at a predetermined position on a second element, where said hole comprises a discontinuity in a surface of said second element, means for positioning said first element at said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said circumscribed planar discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements, said vibratory means including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprising a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device, and a second actuator of said actuators comprising a reciprocable piston arrangement for providing transverse motion of said article handling device.

Claim 44

An article handing device adapted for precisely positioning a first element relative to a hole at a predetermined position on a second element, where said hole comprises a discontinuity in a surface of said second element, means for positioning said first element at said predetermined position within a given dimensional tolerance, vibratory means for effecting oscillatory movement of said first element, the amplitude of said movement being substantially coextensive with said given dimensional tolerance, and means responsive to increased resistance to said oscillatory movement when said first element is moving from within said circumscribed planar discontinuity to the boundary of said discontinuity for changing the frequency and amplitude of said oscillatory movements, said vibratory means including a plurality of actuators for providing motion in a plurality of directions, a first actuator of said actuators comprising a reciprocable piston secured to a shaft for providing longitudinal motion of said article handling device, and a second actuator of said actuators comprising a reciprocable piston arrangement for providing transverse motion of said article handling device.