Method and apparatus for controlling the actuation of gripper arms

[54] METHOD AND APPARATUS FOR

CONTROLLING THE ACTUATION OF
GRIPPER ARMS

[75] Inventor: Kenneth A. Hams, Easton, Pa.

[73] Assignee: Bell & Howell Company, Allentown, Pa.

[21] Appl. No.: 754,204
[22] Filed: Jul. 11,1985

Related U.S. Application Data

[63] Continuation of Ser. No. 648,407, Sep. 7, 1984, abandoned.

[51] Int. CIS B65H 5/30

[52] U.S. CI 270/55; 270/58;

53/266 A

[58] Field of Search 270/54-58;

271/85, 263, 268; 414/226, 730, 732; 53/266 A

[56] References Cited

U.S. PATENT DOCUMENTS

3,606,728 9/1971 Sather et al. 270/57

3.744.787 7/1973 Morrison 270/56

3,885,780 5/1975 Morrison 270/56

3,965,644 6/1976 Stacker 270/58

4,039,180 8/1977 Stacker 271/10

4,484,733 11/1984 Loos et al 270/54

4,517,650 5/1985 Gomes et al 270/58

4.525.788 6/1985 Gottlieb et al 270/58

Primary Examiner—E. H. Eickholt

Attorney, Agent, or Firm—Griffin, Branigan & Butler

[57] ABSTRACT

An insertion machine has a plurality of gripper arms (16), each gripper arm including jaw members (24,26) between which inserts are engaged and from which engaged inserts are released in precise placement upon a transport means (18). Each jaw (26) is actuated by actuating means (28) acting through linkage means (30) to perform the engagement and release operations. Upon insert engagement the activation of the actuating means (28) is controlled to be dependent upon the operating speed of the insertion machine. Upon insert release the activation of each actuating means (28) is controlled so that release is delayed by three release time delay components. A first release time delay component is occasioned by a master presettable release delay means (322) which delays the release operation actuating means (28) of all insert stations in accordance with a preset input value. A second release time delay component is dependent upon the operating speed of the insertion machine. A third release time delay component, which varies from insert station to insert station depending on insert size, is occasioned by individual station presettable release delay means (338) which delays the release operation of actuating means (28) for its insert station.

13 Claims, 17 Drawing Figures