Note: Descriptions are shown in the official language in which they were submitted.
~6468~3
BACKGROUND OF THE INVENTION
This invention relates to article transfer mechanisms for
machine tools or for other machines in which a plurality of mov-
able articles are stored in a storage magazine and are selectively
transferred from the storage magazine to an article support on the
machine or vice versa.
In the past, tool transfer arms for machine tools had to be
clamped closed by a hydraulically or pnuematically operated cylin-
der during the time that the tool was being moved from the tool
storage magazine to the machine tool spindle, or vice versa, or
had to be held in place by spring clamps. One example of the
former case is disclosed in U.S. Patent No. 3,760,958, which was
issued on September 25, 1973, for a "CLAMPING TOOL CHANGER MECHA~
NISM AND ACTUATING MECHaNISM FOR A MACHINE TOO~". One example of
lS the latter case is disclosed in U.S~ Patent No. 3,840,981, which -
was issued on October 15, 1974, or a "TOOL CHANGE ARM GRIP".
The hydraulically or pnuematically operated clamps are, how-
ever,relatively expensive and are subject to failure of the fluid --
system and components thereof while the spring clamps are rela-
tively limited in terms of the clamping force that they can pro~
vide and tend to weaken with use.
Accordingly, the principal object of this invention is to
provide an article transfer mechanism which is simpler and less
expensive than the prior pnuematically or hydraulically clamped
mechanisms, which is capable of providing a constant clamping
pressure which does not significantly diminish with use, and
which is more reliable than either of the above-noted prior art
clamping mechanisms.
Other objects and advantages of the invention will be
apparent from the description which follows.
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An article transfer housing is movably mounted on a
frame for movement into and out of pr~ximity with an article
storagq magazine and an article support to transfer articles
therebetween, An article transfer arm is pivotally mounted on
the article transfex housing and has a pair of article holder
jaws on at least one end thereof~ One of the article holder jaws
is fixed and the other is movable. The movable article holder
jaw is pivotally linXed to a clamp arm which engages a guide
surface on the article transfer arm and is movable between an
open position which opens the movable jaw, and a closed position
which closes the movable jaw. A first abutment on the article
support is positioned to bear against the clamp arm and move it ~ ~ -
from its open position to its closed position. A second abut-
ment on the article support is positioned to bear against the
clamp arm and move it from its closed position to its open
position. A second pair of article holder jaws, which are ^~
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identical in structure with the above-described article holder ;~
jaws, are preferably mounted on the other end of the article `
transfer arm.
Thus the invention comprises in an artiale transfer ;~
mechanism including a frame, an article transfer arm movably
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carried by said frame for transferring articles to and away
from an article support, said article transfer arm having at
least one grip for gripping the articles during th~ article
transfer operation, said grip comprising a fixed jaw, a movable
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jaw ~hiftable to a closed position for cooperating with said
fixed jaw to grip an article between them, said movable jaw -
being also shiftable to an open position to release the article
between said jaws, said mechanism being characterized by a
clamp axm secured to said movable jaw for shifting said movable
jaw between its open and closed positions, a first abut~ent on ;~ ;
said article support to engage and actuate said cla~p arm fox ;
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shifting said movable jaw toward its open position when said
transfer arm is moving an article into said article support,
and a second abutment on said article support to engage and
actuate said clamp arm for shifting said movable jaw to its
closed position into gripping engagement with the article
when said transfer arm is moving toward an article in said
support.
Figure 1 is a perspective view of a horizontal machin-
ing center which utilizes the preferred embodiment of the ~ -~
invention;
FigO 2 is a fragmentary side elevation view of the
nose portion of the spindle head of the machining center shown
in Fig. l;
Fig. 3 is a front elevation view of the spindle head
- shown in Fig. 2;
FigO 4 is a fragmentary plan view of the spindle
head of Figs. 2 and 3 with the tool transfer arm adjacent
, thereto and having just inserted a tool into the spindle,
i Fig. 5 is a fragmentary front elevation view of the -
spindle head and tool transfer arm with the movable toolholder
jaw ad-
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jacent to the spindle in its fully closed position;
Fig. 6 is a fragmentary front elevation view of the spindle
head and tool transfer arm with the movable toolholder jaw ad-
jacent to the spindle in its fully opened position;
Fig. 7 is a fragmentary front elevation view of the spindle
head and tool transfer arm with the tool transfer arm rotated
through 180 from the position shown in Fig. 6 and the movable
toolholder jaw adjacent to the spindle in its fully opened posi-
tion;
Fig. 8 is a fragmentary front elevation view of the spindle
head and tool transfer arm similar to Fig. 7 but with the movable
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toolholder jaw adjacent to the spindle in its fully closed posi-
tion; ,~
Figs. 9a through 9r are a sequence of fragmentary diagram- -
matic plan views of the tool storage magazine, spindle and tool
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transfer mechanism, with the tool transfer housing and tool trans~
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~ fer arm being shown in the sequence of positions required to trans- ~
i
~ fer a new tool into the spindle, return the tool previously in the ~ -
.
; spindle to the tool storage magazine, and pick up the next tool to
~20 be transferred to the spindle;
Fig. 10 is an exploded perspective view of the tool transfer `~
arm showing the various parts thereof and their interrelation; and
Fig. 11 is a fragmentary cross-sectional view of the tool
; transfer arm taken on the line 11-11 of Fig. 5. ^~
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DESCRIPTION OF T~E PREFERRED EMBODIMENT
Referring to Fig. 1, the preferred embodiment of the in-
vention is shown mounted on a horizontal machining center 10 which ~ ;~
includes an upright 12 which is slidably mounted on a bed (not
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shown) for movement along a horizontal Z axis. Upright 12 carries ~ -~
a pair of vertical ways 14 upon which a spindle head 16 carrying ~ `
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a spindle 18 is slidably mounted for movement along a vertical Y
axis perpendicular to the Z axis. Spindle 18 is rotatable about
the Z axis and includes the conventional means for receiving a
toolholder 20 holding a tool 22 and for clamping toolholder 20
into spindle 18.
; Spindle 18 is rotated by a conventional electric motor and
gear train (not shown) mounted within spindle head 16 and per-
forms work on a workpiece 136 (Fig. 9a) mounted on a conventional
worktable (not shownj which is slidably mounted on the bed for
movement along a horizontal X axis perpendicular to both the Z
and Y axes. ~
A conventional tool storage magaæine 24 having a plurality - ~;
of receptacles 26 for receiving toolholders 28 carrying tools 30
is mounted on a frame 32 at the side of upright 12 in position
to enable toolholders 28 to be transferred to and from spindle 18
~; by a tool transfer mechanism 31 also mounted on frame 32. Recep~
`; tacles 26 are movable by conventional means past a tool transfer
station 34 at which toolholders 28 are either withdrawn from ;~
receptacles 26 or are inserted therein by tool transfer mechanism
~0 31. Conventional control means (not shown) is provided to position
any desired receptacle 26 opposite tool transfer station 34.
Tool transfer mechanism 31 includes a housing 36 and a tool ~- ;
-~ transfer arm 38 which is attached to a shaft 39 (Fig. 9d) rotatab-
ly mounted in housing 36 for rotation about a pivot axis 40 (Fig.
4). Tool transfer arm 38 can be moved axially between a retracted `
position, shown in Fig. 9a, and an extended position, shown in
Fig. 9d. Tool transfer housing 36 is movably mounted on frame 32
for movement between tool transfer station 34 and spindle 18, as
illustrated in Figs. 9a through 9r. Referring to Fig. 9a, tool
transfer housing 36 is rigidly mounted on a support arm 42 which
is slidably mounted in a base 44 for movement between a central
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position shown in Fig. 9a, an extended position shown in Fig. 9c,
and a retracted position shown in Fig. 9;. Arm 42 is moved be-
tween its central, extended and retracted positions by conventional
power actuated means which is not shown in the drawings but which
will be obvious to those skilled in the art. Tool transfer arm ~ -
38 is rotated and moved between its extended and retracted posi- ;~
tions by power actuated means (not shown~ which will also be ob-
vious to those skilled in the art.
Base 44 is pivotable between a first position, shown in
- 10 Fig. 9a, which places housing 36 and tool transfer arm 38 adja-
cent to tool storage magazine 24, and a second position, shown
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in Fig. 9b, which places housing 36 and tool transfer arm 38
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adjacent to spindle 18. In pivoting from its first posi~ion to
its second position, or vice versa, base 44 rotates through an
angle of 90. Base 44 is pivoted between its two positions by
power actuated means which is not shown in ~he drawings but
which will be obvious to those skilled :in the art.
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In addition to the above-described movements of arm 42 and
base 44, tool transfer arm 38 can be pivoted by power actuated
~20 me~ns (not shown) through a 180 arc about its pivot axis 40, as
indicated in Figs. 9d and 9e, to interchange the position of two ; -~
pairs of toolholder clamps 46 and 48 on opposite ends of tool
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; transfer arm 38.
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Tool transfer arm 38 is best shown in Fig. 10 (exploded per~
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spective),Fig. 4 (plan view) and Figs. 5-8 (frortelevation views).
Referring first to Figs. 10 and 5, tool transfer arm 38 has an arm
portion 50 containing a central hub 52 which has a central bore 54
', (Fig. 10) for receiving rotary shaft 39 and is secured thereto by
nut 56. Arm portion 50 is thereby rigidly secured to rotary shaft
39 for rotation therewith through a 180 arc and movement be~n the :
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1~646~8
extended and retracted positions of shaft 39. The outer end of
bore 54 is chamfered at 58 (Fig. 10).
The opposite lower ends of arm portion 50 are shaped at
60a and 60b to form fixed jaws adapted to receive a standard
toolholder 62 (Fig. 4) having a grooved flange 64. Tapered roll-
ers 66a and 66b (Fig. 10) which are shaped to engage the groove
in toolholder flange 64, are pivotally attached in slots 68a and
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, 68b respectively in jaw surfaces 60a and 60b hy pivot pins 67a
and 67b and are positioned to engage toolholder flange 64.
Relatively thin web portions 70a and 70b rise from the lower
portion o* arm 50 and are preferably integrally joined thereto as
by being part of a common cast or machined steel unit. Alignment
keys 72a and 72b are attached by machine screws to the outer ends ;~
'~' of web portions 70a and 70b and are positioned to engage conven-
tional keyways in toolholders 62 which are also engaged by $he
spindle drive keys 74 tFig. 3). ~lignment keys 72a and 72b insure
that toolholders 62 will properly engage spindle drive keys 74
when toolholders 62 are inserted into spindle 18.
Webs 70a and 70b have holes 76a and 76b for receiving pivot
~`~ 20 pins 78a and 78b, respectively, which also extend through holes
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80a and 80b in movable jaw members 82a and 82b and serve to pivot-
ally attach movable jaw members 82a and 82b to their respective
fixed jaw members 60a and 60b. Movable jaw members 82a and 82b
;~ are curved at 84a and 84b to match toolholder flange 64 and have ;~
,, 25 tapered rollers 86a and 86b pivotally attached to slots 88a and
88b therein by pivot pins 87a and 87b for engaging the groove in
toolholder flange 64. ,~
, Movable jaws 82a and 82b are both pivotabl~ between an open
position, shown in the right hand side of Figs. 6 and 7, and a
closed position, shown in the right hand side of Figs. 5 and 8.
In the open position of movable jaws 82a and 82b, a toolholder
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1~64~ 8
flange 64 can be inserted between fixed jaws 60a and 60b and mov-
able jaws 82a and 82b, or can be removed therefrom, but in the
closed position of movable jaws 82a and 82b, a toolholder flange
64 therebetween is clamped in place with the rollers 66a, 66b and
s 86a, 86b, engaged in the groove of toolholder flange 64 and bear-
ing against the margins thereof to clamp the toolholder between ;
fixed jaws 60a, 60b and movable jaws 82a and 82b.
Movable jaws 82a and 82b are moved between their open andclosed positions by clamp arms 90a and 90b which are pivotally
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~ 10 attached to actuation arms 92a and 92b which extend inwardly from
; the upper portion of movable jaws 82a and 82b and slide in a slot
94 in the upper central portion of transfer arm portion 50. Clamp
arms 90a and 90b are clamped to their respective actuation arms
92a and 92b by pivot pins 96a and 96b which extend through holes
lS 98a and 98b, respectively, and also through holes lOOa and lOOb.
: Clamp arms 90a and 90b are slotted at 102a and 102b to slidably -^
fit over actuation arms 92a and 92b. On the lower-ends of clamp ~ ;
arms 90a and 90b,guide pins 104a and 104b pass through holes 106a
and 106b and engage arcuate guide slo~s 108a and 108b in webs 70a
and 7Ob.
Detent assemblies llOa and llOb are attached to the lower
rear of clamp arms 90a and 90b for applying a small holding force
to help hold movable jaws 82a and 82b in their closed position. ;~
Detent assemblies llOa and llOb are not, however, an essential
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part of the invent:ion and can be omitted if desired since the :
relationship of the pivotal axes of pivot pins 78a, 78b, 96a,
96b, and 104a, 104b is arranged to provide an inherent locking
action in the closed position with regard to opening forces applied
to movable jaws 82a and 82b, as is explained hereinafter.
The structure of detent assembly llOb is shown in Fig 11.
It includes a threaded plug 112b which screws into a threaded hole
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in clamp arm 90b and has a hollow end containing a spring 113b which
bears against a ball 116b that seats in a dimple 118b in web 70b.
~ Plug 112b is slotted at its ou-ter end for adjustment purposes and
; can be locked in the desired position by a nut 114b. The other de-
tent assembly llOa is identical in structure to the above~described
detent assembly llOb.
The top of each clamp arm 90a and 90b is cut on a double
slope comprising a first sloping surface 120a and 120b (Fig. 10)
and a second sloping surface 122a and 122b which intersect at ridges
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124a and 124b which are positioned to interact with a conical abut-
ment 126, as shown in Fig. 4, for unclamping purposes as described
hereinafter.
As best shown in Figs. 2,3~ 4 and 5, conical abutment 126 is ~;
mounted on a bracket 128 which is bolted ~a the nose of spindle head
16, as shown in Fig. 3, so that abutment 126 extends slightly beyond
the nose of spindle 18, as shown in Fig. 4. When tool transfer arm ~
38 inserts a toolholder 130 into spindle 18, it is first aligned in ~ -
front of spindle 18 so that toolholder 130 and spindle 18 are co-
axial, and then tool transfer arm 38 is moved toward spindle 18
~20 parallel to the axis 129 of conical abutment 126 to insert tool-
~- holder 130 therein. Near the end of the inward travel of tool trans-
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fer arm 38, conical abutment 126 strikes the ridge 124b formed by
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sloping surfaces 120b and 122b on the top of clamp arm 90b. As
~ tool transfer arm 38 continues its inward travel parallel to the
- 25 axis 129 of conical abutment 126, conical abutment 126 bears against
clamp arm 90b along ridge 124b and moves clamp arm 90b toward its
open position. After tool transfer arm 38 reaches its innermost ~`
position with toolholder 130 fulIy inserted in spindle 18, tool
transfer arm 38 is moved laterally away from spindle 18 (to the left
in Fig. 4) transverse to the axis 129 of conical abutment 126, which
causes conical abutment 126 to bear against sloping surface 120b
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and force clamp arm 90b to its fully open position as shown in Fig.
6. Fig. 5 shows the posi-tion of tool transfer arm 38 when clamp
arm 90b first strikes abutment 126 to initiate the opening process
of clamp arm 90b and Fig. 6 shows the position of tool transfer
arm 38 when clamp arm 90b is in its fully open position thus fully
opening movable jaw 82b. ~ ~;
Another conical abutment 127 (Fig. 1) is mounted on tool
transfer station 34 of tool storage magazine 24 for opening the
toolholder jaws when tools are inserted into tool receptacles 26.
The above-described unclamping process is self-energized in ; ~ -
the sense that the opening movement of clamp arm 90b is caused by
the movements of tool transer arm 38 toward and transverse to
spindle 18. A similar self-energized clamping process is initiated ~`~
~; when tool transfer arm 38 is rotated through 180 and the open clamp
- lS is moved laterally toward spindle 18 to engage a toolholder therein ' --
~ for removal purposes. As shown in Fig. 7, the side surface 132 of `-
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clamp arm 90a contacts a cylindrical abutment 134 on the bottom of
spindle head 16 (shown in side elevation in Fig. 2) which bears
against clamp arm 30a and moves it from its open position, shown
'~20 in Fig. 7, to its closed position, shown in Fig. 8, as tool trans-
ferm arm 38 approaches spindle 18 laterally transverse to tha axis
137 of cylindrical abutment 134.
~ nother cylindrical abutment 135 (Fig. 1) is mounted on the
tool transfer station 34 of tool storage magazine 24 to cause a
similar self-energized clamping action when toolholders are re-
,~
moved from tool storage magazine 24.
Figs. 9a through 9r show the movements of tool transfer arm ~ ,
38, tool transfer housing 36, and tool transfer base 44 during the ~ -
, process of transferring a new tool into spindle 18 and returning ;~
,' 30 the tool previously clamped therein back to the appropriate storage
location. The process starts with the relationship of parts shown
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in Fig. 9a. A toolholder 20 carrying a tool 22 is clamped in spindle
18. A different toolholder 28 carrying a tool 30 is clamped in one
end of tool transfer arm 38, the other end of tool transfer arm 38 -
being empty. Tool transfer housing 36 is adjacent to tool storage
magazine 24 with tool housing arm 42 in its central posltion7 The
various movements involved in the tool transfer process are described
below in the order of their occurrence.
~; (1) Spindle 18 is moved to the tool transfer position shown
in Fig. 9a, and the rotation thereof is stopped at a predetermined -
angular position which will place the keyways of toolholder 20 in -
the correct angular orientation with respect to alignment keys 72a
and 72b of tool transfer arm 38. This is done by conventional con-
trol means (not shown). ~ ~ -
(2) Tool transfer base 44 is rotated through 90 toward
spindle 18 to bring tool transfer arm 38 adjacent to spindle 18,
i` as shown in Fig. 9b.
`~ (3) Tool housing support arm 42 is moved to its extended
position, as shown in Fig. 9c, to move tool transfer arm 38 lat-
erally across the nose of spindle 18 to clamp toolholder 20 in
, "
the open end of tool transfer arm 38 by the self-energized clamp~
ing action described previously.
(4) Tool transfer arm 38 is moved to its extended position, `
shown ln Fig. 9d, to remove toolholder 20 from spindle 18.
(5) Tool transfer arm 38 is rotated through 180 to inter-
, 25 change the positions of toolholders 20 and 28, as shown in Fig. 9e.
(6) Tool transfer arm 38 is moved back to its retracted po-
sition to insert toolholder 28 into spindle 18, as shown in Fig.
9f. At the end of this movement, the self-energized unclamping
operation is initiated as previously described. ~
~30 (7) Toolholder 28 is clamped in spindle 18 by the clamping ~ ~-
apparatus thereof, which is not shown in the drawings.
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(8) Tool housing support arm 42 is moved back to its central
position, as shown in Fig. 9h, to move tool transfer arm 38 later-
ally across the nose of spindle 18 to complete the self-energized
unclamping operation initiated in step (6~.
(9) Tool transfer base 44 is rotated through 90 toward
tool storage magazine 24 and tool transfer arm 38 is moved to its
extended position, as shown in Fig. 9i.
(10) Tool housing support arm 42 is moved to its retracted
position to align toolholder 20 with toolholder receptacle 26, as
shown in Fig. 9j. While this movement is taking place, spindle 18 : .
~- is rotated and moved toward a workpiece 136 to perform work thereon. ;~
(ll) Tool transfer arm 38 is moved to its retracted position ;
~ to ins~rt toolholder 20 into toolholder receptacle 26, as shown in `-
`; Fig. 9k. At the end of this movement, the self-energized unclamp-
ing action described previously is initiated.
(12) Tool housing support arm 42 is moved to its extended
position, as shown in Fig. 91, to move tool transfer arm 38 across
receptacle 26 to complete the s~lf-energized unclamping action ini-
tiated in step (11).
(13) Tool transfer arm 38 is rotated through 180 to inter- -
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change the position of toolholder clamps 46 and 48. At the same
time, tool storage receptacles 26 are indexed to bring the next
tool 138 (Fig. 9m) into loading position.
,:
~ (14) Tool housing support arm 42 is moved to its retracted
'l 25 position to move tool transfer arm 38 laterally across receptacle
26 to clamp onto the new toolholder 139 as shown in Fig. 9n. Dur~
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ing this movement, the self-energized clamping action described
previously is actuated.
(15) Tool transfer arm 38 is moved to its extended position
to remove toolholder 139 from receptacle 26, as shown in Fig. 9o. ;~
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(16) Tool housing support arm 42 is moved to its extended
position, as shown in Fig 9p, and tool storage receptacles 26
are indexed to bring the receptacle 26 which corresponds to tool
30 into loading position. ~ -
(17) Tool housing support arm 42 is moved to its central
position, as shown in Fig. 9q, in preparation for the next tool
transfer operation. If the machining operation, which has been
proceeding during the preceding steps (10) to (17) is not com-
pleted~ the tool transfer operation is halted until the machining is completed.
(18) At th~ end of the machining operation, spindle 18 is ~ ~-
moved to the position shown in Fig. 9r, which is the first step
of the next tool transfer operation. The foregoing steps (1)
through (17) are then repeated.
; Another important feature of the invention is that the axes
of pivot pins 78a, 78b, 96a, 96b, and 104a, 104b are arranged to
provide a self-locking action in the closed position of movable
jaws 82a and 82b to prevent opening forces applied to jaws 82a
l and 82b from opening the jaws without pxeventing the jaws from
- being opened by clamp arms 90a and 90bo This is don~ by position-
~ 20 ing pivot pins 78a, 78b, 96a, 96b, and 104a, 104b, as shown in
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Fig. 5, so that a line 140 dr~wn in a plane parallel to the cen- -
tral plane of tool transfer arm 38 between the axis of pin 96b
and the axis of pin 104b is perpendicular to a line 142 drawn in
the same plane between the axis of pin 78b and the axis of pin ;
104b when clamp arm 90b and movable jaw 82b are in their closed
position, as shown in Fig. 5. Because o~ this right angle con-
figuration o~ lines 140 and 142, opening forces applied to movable
jaw 82b tends to lock jaw 82b in the closed position rather than - `
tending to open it. However, opening forces applied to clamp ;
arm 90b will open movable jaw 82b without any trouble.
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Although the illustrative embodiment of the invention has .- -~
~j been described in considerable detail for the purpose of fully ;~ :
:~ disclosing a practical operative structure incorporating the in- -
. .
vention, it is to be understood that the particular apparatus ~.
5 shown and described is intended to be illustrative only and that
: the various novel features of the invention may be incorporated .~
in other structural forms without departing from the spirit and ~:
~ scope of the invention as defined in the subjoined claims.
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