Material handling apparatus having gripping means for moving articles in several directions

Claim 2

A material handling apparatus comprising gripping means for releasably restraining a workpiece, support means for said gripping means, first motion transfer means for moving said supporting means in a first direction between a first extreme position and a second extreme position, second motion transfer means for moving said supporting means in a second directon between a first extreme position and a second extreme position, said second direction being angularly related to said first direction, a single drive means, and timing means operated by said single drive means and operatively coupling said single drive means to said motion transfer means for operating said motion transfer means so that said supporting means is moved in sequence by said motion transfer means from a home position to a work position.

Claim 3

A material handling apparatus as set forth in claim 1 wherein the gripping means is movable between a gripping position and a released position and further including means for moving said gripping means from one of its positions when said gripping means is in its home position to the other of its positions when said gripping means is moved to its work position.

Claim 4

A material handling apparatus as set forth in claim 2 further including means for retaining said gripping means in its other position when said gripping means is returned from its work position toward its home position and for returning said gripping means to its one position when said gripping means reaches its home position.

Claim 5

A material handling apparatus as set forth in claim 1 wherein the first motion transfer means includes a first carriage movable in the first direction and restrained against movement in the second direction.

Claim 6

A material handling apparatus as set forth in claim 4 wherein the second motion transfer means includes a second carriage supported by the first carriage for movement in the second direction and restrained against movement relative to the first carriage in the first direction.

Claim 7

A material handling apparatus as set forth in claim 5 wherein the first direction is in the Y-axis and the second direction is in the X-axis.

Claim 8

A material handling apparatus as set forth in claim 5 wherein the gripping means is movable between a gripping position and a released position and further including means for moving said gripping means from one of its positions when said gripping means is in its home position to the other of its positions when said gripping means is moved to its work position.

Claim 9

A material handling apparatus as set forth in claim 5 wherein the first motion transfer means further comprises a first cam and motion transmitting means for transmitting motion from said first cam to said first carriage, said second motion transfer means comprising a second cam and motion transmitting means for transmitting motion from said second cam to said second carriage.

Claim 10

A material handling apparatus as set forth in claim 8 wherein said first cam and said second cam are affixed to a common cam shaft said cam shaft comprising said single drive means.

Claim 11

A material handling apparatus as set forth in claim 9 wherein the first direction is in the Y-axis and the second direction is in the X-axis.

Claim 12

A material handling apparatus as set forth in claim 8 wherein the motion transmitting means of the first motion transfer means comprises a bellcrank carrying a follower at one end engaging said first cam and spring means for urging said follower into engagement with said first cam.

Claim 13

A material handling apparatus as set forth in claim 8 wherein the motion transmitting means of the second motion transfer means comprises a bellcrank carrying a follower at one end engaging said second cam and spring means for urging said follower into engagement with said second cam.

Claim 14

A material handling apparatus as set forth in claim 12 wherein the motion transmitting means of the first motion transfer means comprises a bellcrank carrying a follower at one end engaging said first cam and spring means for urging said follower into engagement with said first cam.

Claim 15

A material handling apparatus comprising gripping means for releasably restraining a workpiece, support means for said gripping means, first motion transfer means for moving said supporting means in a first direction between a first extreme position and a second extreme position, said first motion transfer means including a first carriage movable in the first direction and restrained against movement in the second direction, a first cam and motion transmitting means for transmitting motion from said first cam to said first carriage, second motion transfer means for moving said supporting means in a second direction between a first extreme position and a second extreme position, said second direction being angularly related to said first direction, said second motion transfer means including a second carriage supported by said first carriage for movement in said second direction and restrained against movement relative to said first carriage in said first direction, a second cam and motion transmitting means for transmitting motion from said second cam to said second carriage, and timing means for operating said motion transfer means so that said supporting means is moved in sequence by said motion transfer means from a home position to a work position.

Claim 16

A material handling apparatus comprising gripping means for releasably restraining a workpiece, support means for said gripping means, first motion transfer means for moving said supporting means in a first direction between a first extreme position and a second extreme position, said first motion transfer means including a first carriage movable in the first direction and restrained against movement in the second direction, a first cam and motion transmitting means for transmitting motion from said first cam to said first carriage, second motion transfer means for moving said supporting means in a second direction between a first extreme position and a second extreme position, said second direction being angularly related to said first direction, said second motion transfer means including a second carriage supported by said first carriage for movement in said second direction and restrained against movement relative to said first carriage in said first direction, a second cam and motion transmitting means for transmitting motion from said second cam to said second carriage, and timing means for operating said motion transfer means so that said supporting means is moved in sequence by said motion transfer means from a home position to a work position.

Claim 17

A material handling apparatus as set forth in claim 14 wherein said first cam and said second cam are affixed to a common cam shaft.

Claim 18

A material handling apparatus as set forth in claim 15 wherein the first direction is in the Y-axis and the second direction is in the X-axis.

Claim 19

A material handling apparatus as set forth in claim 14 wherein the motion transmitting means of the first motion transfer means comprises a bellcrank carrying a follower at one end engaging said first cam and spring means for urging said follower into engagement with said first cam.

Claim 20

A material handling apparatus as set forth in claim 14 wherein the motion transmitting means of the second motion transfer means comprises a bellcrank carrying a follower at one end engaging said second cam and spring means for urging said follower into engagement with said second cam.

Claim 21

A material handling apparatus as set forth in claim 18 wherein the motion transmitting means of the first motion transfer means comprises a bellcrank carrying a follower at one end engaging said first cam and spring means for urging said follower into engagement with said first cam.

Claim 22

A material handling apparatus for moving workpieces or the like between a first location and a second location, gripping means, supporting means supporting said gripping means for movement between a gripping position in which a workpiece is gripped and a released position, said supporting means being movable to position said gripping means in said first location and in said second location, first motion transfer means for moving said supporting means in a first direction between a first extreme position and a second extreme position, second motion transfer means for moving said supporting means in a second direction between a first extreme position and a second extreme position, said second direction being angularly related to said first direction, single drive means including an element movable between a first position and a second position, timing means for operating said motion transfer means so that said supporting means is moved in sequence by said motion transfer means from its first location to its second location, said timing means including a lost motion connection operably connecting said drive means element to at least one of said motion transfer means, said lost motion connection being effective to permit movement of said drive means element from a position intermediate its first position and its second position to its first position when said gripping means remains in its first location, actuating means responsive to the movement of said drive means element from its intermediate position to its first position relative to said gripping means for moving said gripping means from one of its positions to the other of its positions, locking means for retaining said gripping means in its other position upon movement of said gripping means from its first location to its second location, and means responsive to the movement of said gripping means to its second location for releasing said locking means and permitting said actuating means to move said gripping means from its other position to its one position.

Claim 23

A material handling apparatus for moving workpieces or the like between a first location and a second location, gripping means, supporting means supporting said gripping means for movement between a gripping position in which a workpiece is gripped and a released position, said supporting means being movable to position said gripping means in said first location and in said second location, first motion transfer means for moving said supporting means in a first direction between a first extreme position and a second extreme position, second motion transfer means for moving said supporting means in a second direction between a first extreme position and a second extreme position, said second direction being angularly related to said first direction, single drive means including an element movable between a first position and a second position, timing means for operating said motion transfer means so that said supporting means is moved in sequence by said motion transfer means from its first location to its second location, said timing means including a lost motion connection operably connecting said drive means element to at least one of said motion transfer means, said lost motion connection being effective to permit movement of said drive means element from a position intermediate its first position and its second position to its first position when said gripping means remains in its first location, actuating means responsive to the movement of said drive means element from its intermediate position to its first position relative to said gripping means for moving said gripping means from one of its positions to the other of its positions, locking means for retaining said gripping means in its other position upon movement of said gripping means from its first location to its second location, and means responsive to the movement of said gripping means to its second location for releasing said locking means and permitting said actuating means to move said gripping means from its other position to its one position.

Claim 24

A material handling apparatus as set forth in claim 20 wherein the first motion transfer means includes a first carriage movable in the first direction and restrained against movement in the second direction.

Claim 25

A material handling apparatus as set forth in claim 21 wherein the second motion transfer means includes a second carriage supported by the first carriage for movement in the second direction and restrained against movement relative to the first carriage in the first direction.

Claim 26

A material handling apparatus as set forth in claim 22 wherein the first direction is in the Y-axis and the second direction is in the X-axis.