# US 2015/0147140 A1 · Multiple axis work-piece transfer apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0147140 A1 - Document ID: US20150147140A1 - Status: Published application - Kind: A1 - Application number: 14/554,562 - Filed: 2014-11-26 - Published: 2015-05-28 - Earliest claimed: 2013-11-27 - Assignees: Diebotics IP, LLC - Inventors: Timothy Richard Launiere - Web page: https://patentgrep.com/patent/US20150147140A1 ## CPC - B65G 47/46: and distributing, e.g. automatically, to desired points (in tube mail systems B65G51/36) - B21D 43/055: {Devices comprising a pair of longitudinally and laterally movable parallel transfer bars} - B23Q 1/5468: {a single rotating pair followed parallelly by a single rotating pair} - B23Q 1/5481: {followed parallelly by a single rotating pair} - B23Q 7/00: Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting (incorporated in working-spindles B23B13/00) - F16H 1/32: in which the central axis of the gearing lies inside the periphery of an orbital gear - F16H 2001/325: {comprising a carrier with pins guiding at least one orbital gear with circular holes} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - F16H: GEARING ## Abstract A work-piece transfer apparatus, comprising at least one work-piece engagement structure; at least one first robot arm pivotally connected to the work-piece engagement structure; a first motor coupled to the first robot arm and being adapted for translating the first robot arm fore and aft in a generally horizontal direction; a second motor; at least one second robot arm being in operating driving relationship with the second motor and operatively coupled with the work-piece engagement structure for raising and lowering the work-piece engagement structure; and a support structure for supporting the apparatus or portions thereof; wherein the first motor and second motor are operated synchronously to raise, lower, and/or translate the work-piece engagement structure in a fore and aft direction by way of one or both of the first robot arm and second robot arm. ## Claims ### Claim 1 A work-piece transfer apparatus comprising: a. at least one generally elongated work-piece engagement structure; b. at least one first robot arm having a first end portion and a second end portion, the first end portion being pivotally connected to the at least one generally elongated work-piece engagement structure; c. a first motor coupled to the at least one first robot arm at the second end portion and being adapted for translating the at least one first robot arm fore and aft in a generally horizontal direction; d. a second motor; e. at least one second robot arm having a first end portion and a second end portion, the first end portion of the at least one second robot arm being in operating driving relationship with the second motor, and the second end portion operatively coupled with the at least one generally elongated work-piece engagement structure for raising and lowering the at least one generally elongated work-piece engagement structure; and f. a support structure for supporting the first and second motor, the at least one first robot arm, the at least one second robot arm, and the at least one generally elongated work-piece engagement structure; wherein the first and second motors are operated synchronously to raise and lower the at least one generally elongated work-piece engagement structure, and translate the at least one generally elongated work-piece engagement structure in a fore and aft direction by way of one or both of the at least one first and second robot arms. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the apparatus includes at least two generally parallel and spaced apart generally elongated work-piece engagement structures. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the apparatus includes at least two generally parallel and spaced apart generally elongated work-piece engagement structures that are supported by at least one common transverse shaft. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the apparatus includes at least two generally parallel and spaced apart generally elongated work-piece engagement structures that are supported by at least one common transverse shaft that is adapted to be driven by the second motor. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the apparatus includes a transverse shaft that is adapted to be driven by the first motor. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the apparatus includes one or more generally elongated work-piece engagement structures that each are adapted for pivotal connection to the at least one first robot arm by way of a downward projection located toward an end of the one or more generally elongated work-piece engagement structures. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the one or more generally elongated work-piece engagement structures carry a plurality of transversely extending fingers. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein one or both of the first and second motors are servo motors. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the apparatus includes at least two generally parallel and spaced apart generally elongated work-piece engagement structures that are supported by a pair of spaced apart transverse shafts. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the apparatus includes at least two generally parallel and spaced apart generally elongated work-piece engagement structures that are not joined together. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein a cycloid gear assembly is housed within one or more of the robot arms. ### Claim 12 (depends on 1) The apparatus of claim 1, wherein one of the first or second motor is mounted in a fixed position, and the other of the first or second motor is mounted for translation to a structure that is driven by the motor mounted in a fixed position. ### Claim 13 (depends on 1) The apparatus of claim 1, wherein the apparatus includes a motor for enabling linear motion of the at least one generally elongated work-piece engagement structure. ### Claim 14 A work-piece transfer apparatus comprising: a. at least one generally elongated work-piece engagement structure; b. a linear actuation motor coupled with the at least one generally elongated work-piece engagement structure; c. at least one first robot arm having a first end portion and a second end portion, the first end portion being connected to the at least one generally elongated work-piece engagement structure; d. a first motor coupled to the at least one first robot arm and at least one generally elongated work-piece engagement structure; e. at least one second robot arm coupled with the second end portion of the at least one first robot arm; f. a second motor coupled to the at least one first robot arm and the at least one second robot arm; g. a base for supporting the at least one first robot arm, the at least one second robot arm, and the at least one generally elongated work-piece engagement structure and mounting the apparatus to a structure; and h. a third motor coupled to the base and the at least one second robot arm; wherein the linear actuation motor is operated to provide linear movement in a longitudinal or transverse direction in relation to the structure; wherein the first motor is operated to maintain a desired orientation of the at least one generally elongated work-piece engagement structure; and wherein the second and third motors are operated synchronously to raise and lower the at least one generally elongated work-piece engagement structure, and translate the at least one generally elongated work-piece engagement structure in a fore and aft direction by way of one or both of the at least one first and second robot arms. ### Claim 15 (depends on 14) The apparatus of claim 14, wherein the base is a stanchion for mounting the apparatus to the structure. ### Claim 16 (depends on 14) The apparatus of claim 14, wherein the base is a cross member for mounting the apparatus to an upright support member of the structure. ### Claim 17 (depends on 15) The apparatus of claim 15, wherein the structure is a press. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the press includes two or more of the apparatus arranged on opposite sides of the press. ### Claim 19 (depends on 14) The apparatus of claim 14, wherein a cycloid gear assembly is housed within one or more of the robot arms ### Claim 20 (depends on 14) The apparatus of claim 14, wherein one or more of the first motor, second motor and third motor is a servo motor.