Gripper arm and method of operation

A gripper arm in combination with an insertion machine, said gripper arm being adapted for selective engagement and retrieval of articles from a station proximate the gripper arm in timed relationship with a machine cycle according to which said insertion machine operates, said machine being operable at a plurality of machine cycle rates and operable at any given time at a current machine cycle rate, said gripper arm combination comprising:

• a gripper arm housing having a first end and a second end;
• means at the second end of said housing for securing said gripper arm to oscillating drive means;
• a first jaw member proximate said first end of said gripper arm housing;
• a second jaw member proximate said first end of said gripper arm housing, said second jaw member being selectively movable with respect to said first jaw member for the engagement of articles therebetween;
• actuating means for selectively actuating the movement of said second jaw member with respect to said first jaw member;
• control means for controlling said actuating means whereby the timing of the selective operation of said actuating means occuring during a machine cycle is dependent upon the machine cycle rate at which said machine is currently operating;
• and,
• linkage means for connecting said actuating means to said movable second jaw member whreby said movable second jaw is selectively moved with respect to said first jaw member in response to the operation of said actuating means.

A method of operating a gripper arm in combintion with an insertion machine, said gripper arm being adapted for selective engagement and retrieval of articles from a station proximate the gripper arm in timed relationship with a machine cycle according to which said insertion machine operates, said machine being operable at a plurality of machine cycle rates and operable at any given time at a current machine cycle rate, said gripper arm combination including a gripper arm housing having a first end and a second end with means at the second end of said housing for securing said gripper arm to oscillating drive means, said gripper arm also including a first jaw member proximate said first end of said gripper arm housing and a second jaw member proximate said first end of said gripper arm housing, said second jaw member being selectively movable with respect to said first jaw member in response to the operation of actuating means for the engagement of articles between said first and second jaw members, said second jaw member being connected to said actuating means by linkage means;

• said method comprising the steps of:
• controlling said actuating means so that said actuating means is selectively operated during a machine cycle after a time delay, the magnitude of said time delay being dependent upon the machine cycle rate at which said machine is currently operating;
• selectively operating said actuation means;
• and,
• moving said second jaw member selectively with respect to said first jaw member.

A gripper arm in combination with an insertion machine, said gripper arm being adapted for engagement and retrieval of articles from a station proximate the gripper arm and for disengagement and deposition of said articles on a track proximate said station, said gripper arm being operable in timed relationship with a machine cycle according to which said insertion machine operates, said machine being operable at any given time at one of a plurality of machine cycle rates, said gripper arm combination comprising:

• a gripper arm housing having a first end and a second end;
• means for securing said gripper arm housing to oscillating drive means;
• a first jaw member proximate said first end of said gripper arm housing;
• a second jaw member proximate said first end of said gripper arm housing, said second jaw member being selectively movable with respect to said first jaw member for the engagement of articles therebetween;
• actuating means for selectively actuating the movement of said second jaw member with respect to said first jaw member;
• linkage means for connecting said actuating means to said movable second jaw member whereby said movable second jaw is selectively movable toward and away from said first jaw member in response to the operation of said actuating means;
• means for determining a reference point in a machine cycle at which said actuating means can be operable;
• and,
• means for determining a time interval between said reference point and a point in said machine cycle at which said actuating means is to be actually operated, the magnitude of said time interval between said referenced point and said actual operation point in a given machine cycle being related to the number of machine cycles currently being executed by said insertion machine per unit time, whereupon said actuating means is actually operated in a manner whereby articles disengaged from between said jaw means are deposited at essentially the same location on said track regardless of the number of machine cycles being executed per unit time.

A method of operating a gripper arm in combination with an insertion machine, said gripper arm being adapted for engagement and retrieval of articles from a station proximate the gripper arm and for disengagement and deposition of said articles on a track proximate said station, said gripper arm being operable in timed relationship with a machine cycle according to which said insertion machine operates, said machine being operable at any given time at one of a plurality of machine cycle rates, said gripper arm combination including a gripper arm housing having a first end and a second end with means for securing said gripper arm housing to oscillating drive means, said gripper arm also including a first jaw member proximate said first end of said gripper arm housing and a second jaw member proximate said first end of said gripper arm housing, said second jaw member being selectively movable with respect to said first jaw member in response to the operation of actuating means for the engagement of articles between said first and second jaw members;

• said method comprising the steps of:
• determining a reference point in a machine cycle at which said actuating means can be operable;
• determining a time interval between said reference point and a point in said machine cycle at which said actuating means is to be actually operated, the magnitude of said time interval between said reference point and said actual operation point in a given machine cycle being related to the number of machine cycles being excuted by said insertion machine per unit time, and,
• operating said actuating means whereby articles disengaged from between said jaw means are deposited at essentially the same location on said track regardless of the number of machine cycles being executed per unit time.