US3463329A - Material transfer device with parallel link frame - Google Patents

Description

Aug. 26, 1969 S- J. GARTNER MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Filed May 18, 1967 amialfw ATTORNEY 2 Sheets-Sheet 1 INVENT OR Aug. 26, 1969 5- J. GARTNER MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Filed May 18, 1967 2 Sheets-Sheet 2 T0 B0 r 70M 0F PISTON 1 TOP OF PISTON INVENT OR TO Ta 0F STANLEYJ 60/? TNER P/5 TON ATTORNEY United States Patent 3,463,329 MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Stanley J. Gartuer, Emporium, Pa., assignor to Sylvauia Electric Products Inc, a corporation of Delaware Filed May 18, 1967, Ser. No. 639,422

Int. Cl. B25 /02; 1566c 1/02, 19/00 US. Cl. 214-1 13 Claims ABSTRACT OF THE DISCLOSURE A carrier depending from a roller carriage riding in a trackway has a universal connection with the carriage so that the carrier may at will be moved to any rotative position. The carrier supports at its lower end a suction head for causing objects as television picture tubes to adhere to the head, the carrier itself comprising a parallel link frame with means for enabling contraction and elongation of the frame. Said means and the varied movements of the frame is under control of a handle on the lower end of the frame.

BACKGROUND OF THE INVENTION The invention relates to material handling devices particularly to devices for holding an object which is to be transferred from one location to another, which locations may be in different horizontal planes and which may also be located in out of vertical planes. As examples of structures approaching the above conditions, but not fully meeting them, note the following patents: 1,959,512, Wall et al.; 2,792,810, Maconeghy et al.; 2,867,185, Hayward.

SUMMARY OF THE INVENTION The invention, in a specific aspect, is in an article handling device in which a support which may be fixed or be part of a travelling conveyor has connected to the support by means of a universal joint, a vertically telescopic frame in parallelogram form with pivoted joints between the links of the frame so that the angles between the links of the frame may be altered at will. The frame depends from its support and the side links or members thereof are telescopic so that the parallelogram side frame members can be shortened or lengthened. Means are provided on the frame to ensure equalized lengthening and shortening of the side members and a motor effects the change in size of the side members, the motor being under control of a handle mounted to move with the lower portion of the telescopic frame. The collapsing or expanding of the frame follows the direction of movement of the handle, up, to collapse the frame; down, to expand the frame, and, when the handle is in an intermediate position, to hold the frame against change in length. In addition structure is provided for arresting change in length of the frame when relative vertical movement ensues between the object holding means and the lower portion of the frame. The holding means is rotatively mounted on a horizontal axis and is a vacuum chuck whose suction is under control of a valve adjacent the handle. Movement of the handle in any direction will cause follow up movement of the frame whether it be about the universal joint, the pivotal connections of the parallelogram links or the telescopic movement of the side members of the frame.

It is an object of this invention to provide a means for attaining extreme flexibility in the transport of an article from one position to another.

Other objects will become apparent after consideration of the following specification when taken in conjunction with the accompanying drawings in which:

3,463,329 Patented Aug. 26, 1969 FIG. 1 is a side elevational view, partly in section, of the material transfer device of the present invention;

FIG. 2 is an enlarged horizontal sectional view taken on the line 2-2 of FIG. 1;

FIG. 3 is a fragmentary vertical sectional view taken on the line 33 of FIG. 1;

FIG. 4 is an enlarged fragmentary vertical sectional View of a detachable coupling for pressure and vacuum lines used in the device;

FIG. 5 is a fragmentary vertical sectional view taken on the line 55 of FIG. 4; and

FIGS. 6, 7 and 8 are diagrammatic views of the actuating valve showing the three positions thereof during manipulation of the transfer device.

Referring to the drawings in greater detail, at 10, FIGS. 1 and 3, is atrackway supporting carriages 12 connected together bylinks 14 forming an endless chain which may be driven in any desired manner as bypins 16 extending downwardly from a motor driven chain and engaging in the spaces between the links and behind the carriages, the trackway for that purpose being slotted as indicated at 18. Depending from each carriage and fixed thereto is a threadedstud 20 to which is screwed onemember 22 of a rotatable coupling theother member 24 of which is fastened thereto in any suitable manner as byscrews 26 passing through a planar portion orplate 28 of the other member and threaded into acircumferential overhanging lip 30 portion of the said other member. Theplate 28 is integrated with afirst member 32 of a second rotary coupling, thesecond member 34 of which is indicated as being U-shaped in elevation and pivotally connected tomember 32 by abolt 36 threaded at the right hand end as seen in FIG. 1, intocoupling member 34 and provided with alock nut 38. The two couplings form a universal connection.

Pivotally connected to thecoupling member 34 of the second coupling, as indicated at 39, is a pair ofchannel irons 40 and 42 (see FIG. 2) each pivoted at its lower end by a rotatable shaft affixed to parallel spaced apartgear support plates 44. The channel irons between their pivot points are of equal length and are parallel to each other whereby the coupling member,channel irons 40 and 42 andplates 44 form a parallel link frame withplates 44 parallel tomember 34 regardless of the angularity of the channel irons. Thepivots 39 are arranged to be at the same horizontal level.

Guided within the channel irons is a pair ofracks 46 and 48 whose motions are coordinated for simultaneous equal telescopic displacement with respect to thechannel irons 40 and 42 by a train ofgears 49, 50, 52, 54, 56 and 57, the gear 49 meshing with therack 46 and fixed on the same rotatable shaft asgear 50, also fixed to that shaft, thegear 52 meshing withgears 50 and 54,gear 54 meshing withgear 56 fixed on a rotatable shaft to which a second gear 57 is fixed, said gear 57 meshing withrack 48. To the lower end of the racks is pivoted aplatform 58, the platform being arranged so that when the racks, gears and channel irons are assembled, it is parallel to the plates andmember 34, wherefore the entire frame consisting ofparts 34,telescopic channel irons 40, 42,racks 46, 48 andplatform 58 includes a parallel linkage motion with the platform horizontal regardless of the angularity of thelinks 40, 46 (or 42, 48), or of the degree of telescopic collapse of the frame.

Theplatform 58 extends toward one side of the parallel links, as toward the left, FIG. 1, and is provided along its length but short of the left hand end thereof with a pair ofears 60 pivotally mounting a chunksup porting arm 62, normally gravitationally resting on the platform in a horizontal position. The free end of the arm is provided with any desired means for grasping an object, here shown as asuction head 64 adapted to cause adherence of the face of a television picture tube to the' head. The head is attached to the arm by aswivel joint 65 so that the chuck may be rotated about a horizontal axis.

Hand movement follow up mechanism is provided to control the telescopic movement of the frame. On a line with thepivots 39 is pivoted abracket 67 rigid with thecylinder 66 of a fluid pressure motor, the lower end of the cylinder being pivoted to theplates 44 on a horizontal line with the lower pivots ofchannel irons 40 and 42 and midway therebetween, the cylinder of the motor being parallel to the channel irons. Thepiston rod 68 of the motor is pivoted to theplatform 58 on a line with the lower pivots of theracks 46 and 48 and midway therebetween. The motor is a double acting fluid pressure motor andducts 70 and 72 therefrom as well as athird duct 74 from thecoupling member 34 lead to avalve body 76 mounted on theplatform 58. A valve stem 78 by vertical reciprocating motion controls the application of pressure to the two ends of the cylinder and the simultaneous venting of the opposite ends of the cylinder.

The ports in the valve stem and in the body are so arranged that in normal position the valve stem is positioned to block oif flow of fluid into or out of either end of the cylinder, as shown in FIG. 6. The frame size is therefore unchanged. In the down position of the valve stem, see FIG. 7, the bottom of the cylinder is vented while the top of the cylinder is supplied with fluid pressure, as air, and the frame therefore elongates. In the up position of the valve stem, see FIG. 8, the bottom of the cylinder is supplied with air under pressure and the top of the cylinder is vented, wherefore the frame collapses. Accordingly, the frame will be expanded or telescoped in accordance with the direction of movement of the valve stem. To facilitate movement of the valve stem, the same is provided with ahandle 80, FIG. 1, and to bias the stem to the neutral position shown in FIG. 6, when the handle is released, there is provided aspring 82 interposed between anabutment disc 84 fixed on thestem 78 and thebody 76 of the valve, the spring being held immovable at the center portion of its length by being welded at that portion to abar 86 fastened to the valve body. Thus thespring 82 tends to centralize the valve stem. On the upper surface of thearm 62 is a rigid projection 88 underlying the handle and normally spaced therefrom. Should the valve stem be depressed as in the position shown in FIG. 8, and thechuck 64 approach too close to the support on which the object, as a TV picture tube, supported by the chuck is to be placed, thearm 62 will tilt about the pivot inears 60 causing the projection 88 to force the stem upwardly against the hand holding force applied thereto, thereby stopping further outward movement of thepiston rod 68 from the cylinder.

Thechuck 64 is supplied with air under sub atmospheric pressure by means of aduct 90 connected to a three wayrotary valve 92 provided with a cross handle 94, the suction line indicated as 96 being ganged with theother air lines 70, 72, 74 to form a cable for the sake of neatness. Thepressure line 74 andvacuum line 96 are connected to outlets or ports in theblock 34, these ports leading to abox 98, see FIGS. 4 and 5, mounted on the side ofmember 34. The box is a square receptacle with twoports 74 and 96' connecting with thelines 74 and 96 and apin receiving hole 100 to cooperate with apin 101 on acoupling valve member 102, themember 102 andbox 98 providing means for attaining a quick detachable coupling ofpressure feed line 104 andvacuum feed line 106 to themember 34. Theblock 102 is comprised of a flangedmember 108 cooperating with a second flangedmember 110, the two flanges of these members being bolted together. Thefluid feed lines 104, 106 are coupled tonipples 112 frictionally held in themember 108. Inmember 110 there is provided a pair ofvalves 114 and 116. Each valve has a valve stem which when theblock 102 andbox 98 are connected together will force the valve head off its seat against the resistance of a conical spring 118 interposed between the head of a valve and awasher 120 screwed into themember 110. The holes in the washers communicate with the holes in thenipples 112. To guide the valve stems of the valves, each stem is provided with aflat key 122 riding ingrooves 124, see FIGS. 4 and 5, in themember 110.

The material handling device just described may be one employed in conjunction with the transport of a picture tube through a machine in which machine many processes are performed upon the picture tube at successive stations such as exhausting the envelope and tipping it off, heating the electrodes in the picture tubes to degassify them, exploding the getter, etc., and wherein after such transport in the machine the picture tube is to be transferred from the conveyor to another conveyor or other receiver. In the transfer process it may be necessary to rotate the carrier for the picture tube or change the elevation of the chuck, all of which may be effected with the disclosed structure while maintaining the chuck in horizontal position. Where the collapsible frame is supended from a conveyor, an attendant will appropriately couple and uncouple themembers 98, 102 at the transfer station. Obviously, the transfer device described need not be supported by a carriage of the chain. Themember 22 of the rotary coupling may be screwed onto a fixed stud adjacent the area of transfer of the objects and the transfer device used to transfer an object as from one conveyor to a second conveyor. In the event that the carrier is not transported with the chain, thecoupling 98, 102 may be connected together permanently. Rotation of control valve handle 94 will apply suction to chuck 64 or releive the suction. Manipulation ofhandle 80 will effect universal movement of the chuck except rotative movement about a horizontal axis and the valve controlled by the handle will automatically be reset to fluid pressure to motor locked position upon downward movement of the chuck being resisted.

Iclaim:

1. In a transfer device, a support, a frame connected to said support and a chuck carried by said frame; said frame being in the form of a parallelogram with upper and lower parallel end members and two parallel telescopic side members pivoted to the upper and lower end members, a motor for effecting telescoping movement of the side members, means including a rack on each of like portions of the side members for equalizing the extent of movement of the telescopic side members, a bridge mounted on and between the like portions of the side members having pivoted gears carried by the bridge with said gears intermeshing with one another and with the rack to produce like direction and extent of movement of both rack provided portions of the side members, an object retaining means carried by the lower member and means for controlling said motor, said means for controlling said motor comprising a control member mounted on the lower member, said control member having an upper, an intermediate, and a lower position in accordance with which position said side members contract in length, are fixed in position, or extend in length.

2. The structure of claim 1 wherein the control member is a device having a slide member movable in a body portion affixed to a part movable with the lower end member.

3. The structure of claim 2 wherein the object retaining means is carried by a cantilever arm pivoted to the part movable with the lower end member and normally supported in horizontal position by said part, and said slide member is provided with a handle engageable by a portion movable with the cantilever arm when the downward movement of the arm is resisted and while the lower end frame member is moving downward, said engagement of the parts tending to raise the handle and slide member.

4. The structure of claim 1 wherein the connection between the support and the frame includes a universal joint.

5. The structure of claim 1 wherein the connection between the support and the frame includes a universal joint.

6. The structure of claim 1 wherein the support is a carriage forming part of an endless chain.

7. The structure of claim 1 wherein the support is a carriage forming part of an endless chain.

8. The structure of claim 1 wherein the motor is a double acting fluid pressure motor having a cylinder and piston rod and the control member is a slide ported to admit fluid pressure to the upper portion of the cylinder while simultaneously venting the lower portion of the cylinder when the slide is in a fully down position, operate in reverse when the slide is in a fully up position and trap the fluid pressure in both ends of the cylinder when the slide in in an intermediate position.

9. The structure of claim 8 in which the slide is spring biased to said intermediate position.

10. The structure of claim 1 wherein the motor is a double acting fluid pressure motor having a cylinder and piston rod and the control member is a slide ported to admit fluid pressure to the upper portion of the cylinder while simultaneously venting the lower portion of the cylinder when the slide is in a fully down position, 0perate in reverse when the slide is in a fully up position and trap the fluid pressure in both ends of the cylinder when the slide is in an intermediate position.

11. The structure ofclaim 10 in which the slide is spring biased to said intermediate position.

12. The structure of claim 1 in which the object retaining means is connected to the frame by a swivel joint.

13. The structure of claim 5 in which the object retaining means is connected to the frame by a swivel joint.

References Cited UNITED STATES PATENTS 2,040,028 5/1936 Smith 2l41 2,737,839 3/1956 Paget 8153 3,063,574 11/1962 Peterson 214l 3,208,600 9/1965 Bignall 2l41 GERALD M. FORLENZA, Primary Examiner G. -F. ABRAHAM, Assistant Examiner US. Cl. X.R. 2l226, 124

Images