Abstract: Two embodiments of assembly devices particularly adapted for assembling components such as IC chips on a printed circuit board. The arrangement includes a pair of carriages each of which supports gripping means and the supporting and driving arrangements for the carriages permits a very compact assembly and prevents interference between the carriages during their movement. The carriage has an improved supporting arrangement that prevents binding and embodiments are shown wherein the gripping devices carried by the carriages may either pick up units from one or both sides of the device.

Abstract: A wafer transfer apparatus used in manufacturing high density semiconductor products is disclosed which includes at least three movable arms for supporting a wafer from below thereby preventing contact with the active surface of the wafer. A mechanism for moving the arms into and out of its wafer supporting position is diposed, in part, above the wafer when a wafer is supported thereby. The portions of the actuator mechanism disposed above the wafer are constructed in a way such that no sliding contact occurs between elements thereof. Sliding contact between elements disposed above a wafer has proved to produce microscopic particles which can fall onto the active surface of the wafer thereby contaminating the circuits contained thereon. As sliding contact is avoided by the apparatus of the present invention, contamination particles produced within the wafer transfer apparatus is substantially reduced, if not entirely eliminated.

Abstract: A drive mechanism which is suitable for long strokes of motion (4 feet to over 100 feet) and is capable of carrying heavy loads (500 pounds to over 20,000 pounds) at very high speeds (over 5 feet per second) operates without substantial use of electronics or hydraulics. To produce these desirable characteristics a special index drive unit has two separate output drive gears (43, 45) which are driven by the same motor. The first output drive gear engages a first rack to produce rapid acceleration. The second output drive gear which is directly connected to the input drive shaft from the motor to the index drive unit then engages a second rack to produce high velocity movement. At the end of the desired movement the first gear engages a further rack to produce rapid deceleration of the load carrier of the drive mechanism.

Abstract: A high-speed mail stacking and separating apparatus (29) and method including a stack forming assembly (41) mounted for movement from a stack forming position to a stack releasing position. In the improved stacking apparatus, the stack forming assembly (41) is a low-inertia assembly mounted for movement during the time interval between sequentially adjacent envelopes (42) to positively displace the stack (S) out of the stacking zone (Z) to enable a new stack to be formed. The stack forming assembly (41) includes a pair of counter-rotating star wheels (52,53) having a plurality of Y-shaped arms (56) with one leg (57) of each arm (56) acting as the stack supporting leg and the other leg (58) of each arm (56) acting as the stack impelling leg. A conveyor (43) for conveying the stack (S) from the stack forming assembly (41) to a banding assembly (31) also is disclosed.

Abstract: A transfer device for use in treating a work product is disclosed, in which a first gripper assembly rotates about a pivot point located between an input conveyor and a station, and a second gripper assembly rotates about a pivot point positioned between the station and an output conveyor. The rotation of each gripper assembly may be accelerated or decelerated at predetermined points in the rotation cycle by use of a cam, roller, and linkage mechanism.

Abstract: In a coin sorter of the inclined ramp type the inclined ramp has the usual support surface (2) along which the edges of the coins roll, and the usual coin face support surface (3). The support surface (3) is provided both with apertures (6, 7, 8, 9) of progressively increasing size going down the ramp, for coins of the appropriate size to fall through, and with a set of peeler knives (14, 15, 16, 17) at varying distances from the edge support surface (2) for tipping other coins, according to their size, from the ramp. This arrangement facilitates a much shorter ramp, and thereby a more compact machine.

Abstract: A high speed apparatus for stacking articles in a side by side relation and transfering the stack to a conveyor. Each article is fed onto a pair of spaced support members and against a movable backstop to form a stack of side by side articles. When a stack of desired size has been formed, the support members are pivoted to a release position and the stack is lowered to a discharge station. When the stack is lowered sufficiently to clear the backstop, the backstop is returned to its original position, and as the stack is lowered to a position beneath the release support members, the support members are returned to their supporting position. The backstop and support members are then in a ready position to form a second stack before the first stack reaches the discharge station. The first stack is then discharged to a main conveyor while a second stack is formed at the stacking station.

Abstract: Stacking equipment for stacking products such as boxes or cartons in lay-flat form onto pallets, comprising a receiving conveyor (1) means (6, 7, 8) thereon for collecting a batch of products together in predetermined disposition, and a push plate (11) for transferring an assembled batch of products onto a main support bed (15). The bed (15) raises the batch of products onto retractable temporary support fingers (17) and then returns to receive the next succeeding batch. The batches are stacked successively and finally supported on a pallet which is elevated on bed (15) to support the finished stack which is then discharged from the bed. Also provided are a pallet dispenser (30) adjacent the support bed (15) and a tiesheet dispenser (20) to place an individual tie sheet on the top of each successive batch prior to stacking.

Abstract: This shipper is constituted by a movable platform (1) which is provided with a loading hopper (3) having a suitable capacity, from which platform (1) projects a support (7) for a bulk elevating system (9) which may be coupled to one of the ends of the hopper (3) and which in turn extends into another discharge tube (14), such that these tubes, when in an inactive position, are horizontally folded on each other, while when in a working position they form an angle capable of overcoming obstacles of considerable height and width and the discharge tube (14) ending in a discharge nozzle (17) which may be pointed in any direction. A cabin (21) is also established on this platform (1) housing the control device of the assembly and the roof of which is provided with a support (22) for the bulk elevating system (9) and the discharge tube (14), when the latter are inactive or when the assembly is being transported.

Abstract: A double reach shuttle assembly for a storage and retrieval machine. Latch mechanisms are provided on the movable elements of the shuttle to control the sequence of extension of the movable elements thereby reducing the amount of space required beneath a load in a storage rack to accommodate the shuttle elements when the double reach shuttle is used in a single reach mode. As the shuttle extends, each movable element remains stationary until the element above it reaches a predetermined point relative thereto. The invention further provides additional latch mechanisms which insure that the load carrying element of the shuttle is the last to retract.

Abstract: A conveyor loader for loading railroad cars or the like with coal or other crushed, ground or particulate material includes a support providing a guideway extending along the line of railroad cars and a line of segmented carriages rollably mounted upon the guideway. An endless belt of elastomeric construction is supported by the line of carriages for movement of an upper run of the belt between the ends of the carriage lines. Motors are associated with each of the line of carriages and the conveyor belt for moving the carriage line and the belt in either of two directions relative to its supporting structure. During a loading operation with the loader, coal or other particulate material is delivered to the upper run of the belt from a central loading station and conveyed to an end of the belt where it is directed into a railroad car to be loaded.

Abstract: A bucket elevator type continuous ship unloader is used for both a sidewise shovelling operation and a catenary cleaning up operation. In this ship unloader, a bucket chain is wound around sprockets respectively provided at the front and rear ends of a horizontal frame and a sprocket provided above the rear sprocket such that it encircles the sprockets in an L-shaped form. The bucket chain is made loosened or taut by the upward or downward movement of the horizontal frame with respect to the upper sprocket. The horizontal frame is provided with a horizontal rail with which a roller provided on each bucket is fitted when the bucket chain is stretched tautly. During the sidewise shovelling operation, the buckets run while being guided by the rail. In consequence, the force acting on the bucket during the shovelling in the vertical direction as well as in a direction transverse to the direction of movement of the bucket is exerted on the rail.

Abstract: A destacking apparatus for stacked pallets has at the destacking station not only a raisable and lowerable destacking platform but at least a raisable and lowerable receiving platform upstream of the destacking platform so that, when the destacking platform is brought to its lowest position, a stacked pallet from the receiving platform can be transferred onto it. Because the receiving platform can receive the stacked pallets at a higher location or level, the time previously required for moving the stacked platform down from this higher level to a position in which destacking can begin from the top of the stack is eliminated and the entire operation is expedited.

Abstract: The assembly for stacking articles comprises a conveyor for moving articles along a conveying path having a lifting work station, a storing work station and a stacking work station. The conveyor has an incoming end and a discharging end with a lifting mechanism for lifting an article from the conveyor at the lifting work station. A storage assembly is located along the path for storing the lifted article at a location above the path. A removing mechanism then removes the stored article and places it onto another article moving along the path at the stacking work station. The method includes lifting a package at the lifting work station and carrying it to the storage work station. Another package is then conveyed along the path beneath the first package disposed at the storage work station. The stored package is then removed from the storage work station onto the package passed therebeneath thereby stacking the stored package onto the lower package located at the stacking work station.

Abstract: Quick coupling structure which is selectively connectible to a loader attachment and includes a spring-loaded latching pin located on the attachment and easily viewed from the operator station. A pin-contacting member located on the loader boom arm automatically releases the pin allowing it to move to a locking position as the attachment is rocked about a pivotal axis by an attachment cylinder. An alternate interchangeable coupling structure is provided which may be utilized on the attachment when a quick coupler is not needed, and the pivot points for the attachment remain the same with either the quick coupler or the alternate coupling attached. An attachment holder utilized with the quick coupler may be eliminated when the alternate coupling structure is connected to the attachment.

Abstract: A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.

Abstract: A generally anthropomorphic prehensor having at least two mechanical finger apparatus which interface directly with an object being grasped by apparatus of mechanical linking and control mechanisms operatively connected to the operator's fingers. Each mechanical finger has at least two finger links adjacent one another, each finger link independently rotatable about parallel axes in a plane of movement in response to movements of the corresponding phalanges of the operator's fingers. The mechanical prehensor is particularly useful in hostile or hazardous environments.

Abstract: Apparatus for stacking bundles of flat-folded corrugated board comprises structure (2) to feed the bundles (B1,B2 etc) in succession to a pick-up position (4), structure (38,60) to transfer the bundles one at a time from the pick-up position to a stacking position (5) so as to create a number of layers to form a stack of bundles at the stacking position, support structure (6) at the stacking position to receive said bundles, structure (12,11) to lower the support structure as the stack is built up, and a programmable controller (94) for automatically controlling the position and orientation at which each bundle is delivered onto the stack so that the bundles form a predetermined pattern in the stack controlled by the controller.

Abstract: An apparatus having a vacuum track, and a vacuum pallet for use therewith. The apparatus comprises a vacuum duct having a single vacuum pump and a plurality of ports which individually open when said vacuum pallet passes thereover. The pallet has a shoe which fits snugly over the port to facilitate evaculation of the pallet, and has small holes in the article-supporting surface through which the vacuum acts to hold an article in place thereon.

Abstract: An automatic loading and unloading system is provided for loading articles supplied from a first location at a rate commensurate with the rate at which articles are supplied from the first location into trays and for unloading the articles from the trays for transport to a second location at a rate commensurate with the demand for articles at the second location, and for balancing a supply of articles loaded onto trays with variations in both the rate of supply thereof and the rate of demand therefor. The system includes a tray loading station, and a tray loading apparatus for loading articles supplied from the first location into trays at tray loading station. An infeed device feeds articles to the loading apparatus in a predetermined, orderly fashion. At a stacking station, a stacking device stacks article-filled trays to form a supply thereof for use on demand. An outfeed device delivers articles on demand to the second location in a predetermined, orderly fashion.