Abstract: A simple, low mass, low cost, articulating/articulating and rotating wrist assembly for use on automatic machine tools to provide two important degrees of freedom of movement of an end effector tool in the form of an articulating motion either alone or in conjunction with a rotating motion. Where both rotation and articulation are used the sequence is important in order to obtain new and different movements of the end effector tool for transcribing cones, etc. The fundamental articulating motion is achieved through the kinematics of a primary, parallelogram-type pantograph driven remotely from the automatic machine tool and employing a secondary restraining mechanism either in the form of a secondary parallelogram-type restraining pantograph or a cluster of sun, idler and planet gears.

Abstract: A low cost multi-directional movement cam controlled mechanical positioning apparatus is described for automatically tracing out the path of movement for the working head of a machine tool or the like. The apparatus may be embodied in a single machine providing for three-dimensional movement of the working head with or without additional controlled movement of the working head in either pitch, roll or yaw. Alternatively, the apparatus can be employed to provide additional degrees of movement either along a z-axis and/or in either pitch, roll or yaw to the working head of a two-dimensional automatic machine tool or conventional construction. The apparatus comprises a set of at least three relatively large diameter, disk-type, control-drive cams rotatably supported on a base member for controlling movement of the working head of a machine tool or the like within a plane defined by complementary axes of movement (such as the x-y axes) and along at least one additional degree of movement.

Abstract: A walking beam conveyor is described which comprises a movable load supporting, walking beam member. A supporting truss is secured to and supports the walking beam member and comprises first and second orthogonally arrayed interconnected supporting truss arms. The first and second truss arms each include scotch yoke rollerway guides. First and second scotch yoke cam rollers engage the scotch yoke rollerway guides on the the first and second truss arms, respectively, and serve to physically support and move the supporting truss and walking beam member along horizontal and vertical axes. The cam rollers are secured to the ends of the first and second sets of crank arms which in turn are driven from first and second intermittor drives. The structure is supported on a base frame which secures the pillow block supports for the rotatable shafts that are keyed to the first and second sets of crank arms.

Abstract: A low cost cam controlled mechanical positioning apparatus for automatically tracing out a predetermined path of movement for the working head of a machine tool or the like is described. The apparatus comprises a set of two large diameter disc type control-drive cams secured in parallel planes on a common drive shaft rotatably supported on a base member and driven by an electric motor through suitable gearing. Respective cam followers engage cam surfaces formed on the undersides of the large diameter control-drive disc cams and are connected to respective linkages for translating movement of the cam follower to a working head to thereby move the working head in a predetermined path of movement in an x-y plane. A working head supporting boom is secured to a transport mechanism which is movably supported on wheel and track elements and mounted for movement along respective x and y axes by the respective linkages driven by the cam followers.