Method and system for quickly and efficiently transferring a wor

Details Method and system for quickly and efficiently transferring a wor Method and system for quickly and efficiently transferring a wor

1992-01-21

1995-06-13

Underwood, Donald W.

Material or article handling

Apparatus for charging a load holding or supporting element...

Load holding or supporting element including gripping means

414719, 414733, 414917, 414786, 901 48, B65H 512

Patent

active

054236487

ABSTRACT:
A method and system are provided for quickly and efficiently transferring a workpiece from a first work station including a first sheet metal press to a second sheet metal press by providing a pendulum-type robot, including an arm assembly mounted on a support structure to swing about a first axis located above and between the first and second presses. The arm assembly not only swings about a first axis but also rotates about a second axis orthogonal to the first axis and a third axis which is orthogonal to the second axis. During swinging movement of the arm assembly about the first axis, rotation of the arm assembly about the second and third axes allows a center of gravity of the workpiece to follow a substantially straight line path between the first and second presses. The arm assembly includes first and second four-bar linkages, which are pivotally connected together to rotate about the second axis. Preferably, a wrist mechanism is provided to permit rotation of the part between the presses. Also preferably, a counterbalance mechanism in the form of a cable balancing device is provided to support the arm assembly against gravity.

REFERENCES:
patent: 3262593 (1966-07-01), Hainer
patent: 3402911 (1968-09-01), O'Neill
patent: 4283764 (1981-08-01), Crum et al.
patent: 4589819 (1986-05-01), Shirao
patent: 4695027 (1987-09-01), Lindholm et al.
patent: 4801235 (1989-01-01), Rauschdorf

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