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

Abstract

An improved, low cost material handling apparatus adapted to grip a workpiece and move it from one place to another. The apparatus includes a pair of motion transfer device, each of which is adapted to move a gripping device in a respective direction between first and second extreme positions. A timing mechanism is included that operates the motion transfer device so as to move the workpiece from a home position to a work position. The mechanism also includes device for automatically moving the gripping device between its gripping position and its released position when the workpiece is so transferred. By the addition of certain elements the path of movement of the gripping means may be altered and by a relatively simple adjustment the sequence of operation may be reversed.

I claim:  .[.1. 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 direction 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..]. .[.2. 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..]. .[.3. 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..]. .[.4. 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..]. .[.5. 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..].  .[.6. 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..]. .[.7. 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..]. .[.8. 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 saidd 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..]. .[.9. 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..]. .[.10. 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..]. .[.11. 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..]. .[.12. 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..]. .[.13. 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..]. .[.14. 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..].  .[.15. 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..]. .[.16. 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..]. .[.17. 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..]. .[.18. 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..]. .[.19. 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..]. 20. 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. 21. 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. 22. 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. 23. 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. .Iadd. 24. 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, said gripping means being movable 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, means for moving said supporting means between said locations including a pair of elements defining a lost motion connection, said lost motion connection elements being movable relative to each other between an engaged position and a spaced position, actuating means responsive to movement of said lost motion connection elements from one of their relative positions to the other of their relative positions for moving said gripping means from one of its positions to the other of its positions, locking means for holding said lost motion connection elements in one of their relative positions and said gripping means in one of its positions, and selective positionable cam means for moving said locking means from one of its positions to the other of its positions when said supporting means positions said gripping means in one of said locations. .Iaddend..Iadd. 25. A material handling apparatus as set forth in claim 24 further including biasing means for biasing the locking means onto its one position for retaining the gripping means in its one position until the locking means is moved to its other position by the cam means. .Iaddend..Iadd. 26. A material handling apparatus as set forth in claim 24 wherein the gripping means is movable in a first sense with one of the lost motion connection elements, said gripping means being supported by said one lost motion connection element for movement relative thereto in a second sense, the means for moving said supporting means between said locations being effective to move said supporting means sequentially in one of said senses and then in the other of said senses. .Iaddend. .Iadd. 27. A material handling apparatus as set forth in claim 26 wherein the actuating means comprises a bell crank pivotally supported by the supporting means and means for pivoting said bell crank in response to movement of the other of the lost motion connection elements relative to the one lost motion connection element. .Iaddend.