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US 5,564,888 AGranted
Pick and place machine
OwnerCarl V. Doaninventor
Life of this patent
Estimating the term…
Abstract
An improved pick and place machine works together with a part holding device to pick and lift a part out of a first station, shift to a second station, descend and release the part. An unique linkage system converts simple reciprocating motion from a fluid cylinder or the like into an inverted U-shape motion, providing a smooth, controlled acceleration, deceleration motion for the holding device. The machine has a carriage which is held upright by a sliding lever and which having a box shape, rum outside of a body enabling the part holding device to be mounted on the carriage.
Claims8
A pick and place machine operable to pick up and lift a part out of a first station, move a predetermined distance, descend to place and release the part at a second station, comprising:
- a. a top link (10) having two ends which reciprocates within predetermined stroke limits
- b. a right upper link (12) having two ends and pivotally mounted at one end to one end of said top link (10)
- c. a right lower link (14) having two ends pivotally mounted at one end to the other end of said right upper link (12) at an axis R
- d. a left upper link (11) having two ends and pivotally mounted at one end to the other end of said top link (10)
- e. a left lower link 13 having two ends and pivotally mounted at one end to the other end of said left upper link (11) at an axis L
- f. a first follower (27) connected to said left lower link (13) and said left upper link (11) in the proximity of the axis L
- g. a second follower (26) connected to said right lower link (14) and said fight upper link (12) in the proximity of the axis R
- h. a first cam track (33) with a generally straight portion
- i. said first follower (27) follows said first cam track (33)
- j. said second follower (26) follows said first cam track (33)
- k. a second cam track (34) having initial and terminal straight vertical portions interconnected by an approximately horizontal portion
- l. a third follower (25) follows said second cam track (34)
- m. a body (28)
- n. a guided carriage
- o. said third follower (25) connected to said guided carriage
- p. said guided carriage slidable mounted on said body (28), and an orthogonal guidance means connected between the carriage and the body, whereby said carriage can translate, in an X Y plane but is prevented from tilting at any axis, and with a motion path determined by said second cam track (34) by means of said third follower (25)
- q. the other end of said right lower link (14) pivotally mounted onto said guided carriage
- r. the other end of said left lower link (13) pivotally mounted onto said guided carriage
- s. said guided carriage includes a part holding means thereon, and actuation means to respectively grasp and release said part in said first and said second station in response to the movement of said guided carriage
- t. an actuator means connected to the top link reciprocates the top link and moves the followers in the tracks.
17 more elements
A pick and place machine operable to pick up and lift a part out of a first station, swing a predetermined angle, descend down and place and release the part at a second station, comprising:
- a. a top link (10) having two ends which reciprocates within predetermined stroke limits
- b. a right upper link (12) having two ends and pivotally mounted at one end to one end of said top link (10)
- c a right lower link (14) having two ends pivotally mounted at one end to the other end of said right upper link (12) at an axis R
- d. a left upper link (11) having two ends and pivotally mounted at one end to the other end of said top link (10)
- e. a left lower link (13) having two ends and pivotally mounted at one end to the other end of said left upper link (11) at an axis L
- f. a first follower (27) connected to said left lower link (13) and said left upper link (11) in the proximity of the axis L
- g. a second follower (26) connected to said right lower link (14) and said right upper link (12) in the proximity of the axis R
- h. a first cam track (33) with a generally straight portion
- i. said first follower (27) follows said first cam track (33)
- j. said second follower (26) follows said first cam track (33)
- k. a second cam track (34) having initial and terminal straight portions which form an angle interconnected by curves portion
- l. a third follower (25) follows said second cam track (34)
- m. a body
- n. a guided carriage
- o. said third follower (25) connected to said guided carriage
- p. said guided carriage slidable and pivotable mounted on said body, and a non-linear guidance means connected between the carriage and the body, whereby said carriage can swing about a fixed axis FA, slidable toward/away from said fixed axis but constrained from tilting on any other axis, and with a motion path determined by said second cam track (34) by means of said third follower (25)
- q. the other end of said fight lower link (14) pivotally mounted to said guided carriage
- r. the other end of said left lower link (13) pivotally mounted to said guided carriage
- s. said guided carriage includes a part holding means thereon, and actuation means to respectively grasp and release said part in said first and said second station in response to the movement of said guided carriage
- t. an actuator means connected to the top link reciprocates the top link and moves the followers in the tracks.
17 more elements
A linkage system to convert single axis motion into generally inverted motion, suitable to be used in pick and place machine, comprising:
- a. a top link (10) having two ends which reciprocates within predetermined stroke limits
- b. a right upper link (12) having two ends and pivotally mounted at one end to one end of said top link (10)
- c. a right lower link (14) having two ends pivotally mounted at one end to the other end of said right upper link (12) at an axis R
- d. a left upper link (11) having two ends and pivotally mounted at one end to the other end of said top link (10)
- e. a left lower link (13) having two ends and pivotally mounted at one end to the other end of said left upper link (11) at an axis L
- f. a first follower (27) connected to said left lower link (13) and said left upper link (11) in the proximity of the axis L
- g. a second follower (26) connected to said right lower link (14) and said right upper link (12) in the proximity of the axis R
- h. a first cam track (33) with a generally straight portion
- i. said first follower (27) follows said first cam track (33)
- j. said second follower (26) follows said first cam track (33)
- k. a second cam track (34) having initial and terminal straight vertical portions interconnected by an approximately horizontal portion
- l. a third follower (25) follows said second cam track (34)
- m. the other end of said right lower link (14) pivotally mounted onto said third follower (25)
- n. the other end of said left lower link (13) pivotally mounted onto said third follower (25)
- o. output is attainable at said third follower (25)
- p. an actuator means connected to the top link reciprocates the top link and moves the followers in the tracks.
13 more elements
Dependencies are inferred from the claim text.