Abstract: The disclosure relates to a clipping mechanism for fastening a substrate for a surface treatment of the substrate, a clipping module for holding a substrate for a surface treatment of the substrate and a method for assembling a clipping mechanism for fastening a substrate for a surface treatment of the substrate. The clipping mechanism for fastening a substrate for a surface treatment of the substrate comprises a clipping bracket and an actuation unit. The clipping bracket comprises in a cross-section a first arm and a second arm. The first arm is moveable relative to the second arm to a receiving position for the substrate with a receiving distance between the first arm and the second arm. The first arm is moveable relative to the second arm to a fastening position for the substrate with a fastening distance between the first arm and the second arm. The fastening distance is smaller than the receiving distance. The actuation unit is at least partially surrounded by the clipping bracket.

Abstract: The present invention relates to a handler device for handling substrates during semiconductor production, comprising a handling unit having a substrate facing side to be directed to the substrate to be handled, said handling unit being provided with at least three substrate edge grippers protruding from the substrate facing side of the handling unit. The substrate edge grippers are configured to grip the edge of a substrate to be handled, wherein the at least three substrate edge grippers comprise: at least two controlled moveable positioning grippers for gripping the edge of the substrate at two controlled positions and at least one clamping gripper for exerting a controlled clamping force onto the edge of the substrate at least partially directed towards the positioning grippers. The handler further comprises individually controllable actuators connected to the handling unit for independent control of each of the controlled moveable positioning grippers.

Abstract: According to one embodiment, a gripping tool includes a gripper. The gripper is flexible and includes a first portion contacting a workpiece, a second portion opposing the first portion, and a granular material provided between the first portion and the second portion. The first portion includes a concave portion and a convex portion. The concave portion is recessed in a first direction. The first direction is from the first portion toward the second portion. The convex portion is provided around the concave portion and protrudes in a second direction. The second direction is the reverse of the first direction. The concave portion has a groove having a ring configuration recessed outward from a center of the gripper.

Abstract: According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A plurality of granular materials is provided in an interior of the gripper. The gripping tool grips a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece. A diameter of at least a portion of the granular materials is less than 1774 ?m.

Abstract: In an embodiment, a system includes: a cassette comprising a slit opening configured to house a wafer; a blade configured to move the wafer to and from the slit opening by extending into the slit opening, wherein a blade thickness of the blade is at most ? of a height of the slit opening and wherein the blade is configured to secure the wafer within a pocket on the blade that is at least ? of a wafer thickness of the wafer.

Abstract: A handling device comprises a gripping unit which is movable in three dimensions and which is specified for receiving the stack of products disposed in a receiving region, for moving the stack, and for depositing the stack in a depositing region. The gripping unit comprises at least one upper holding element for holding down an upper side of the received stack, and at least one lower holding element for supporting a lower side, opposite the upper side, of the received stack.

Abstract: A friction shifting element includes a plurality of first friction plates. A plurality of second friction plates is interleaved with the plurality of first friction plates. The friction shifting element also includes an actuating plate. A shape-memory alloy shifter is configured for moving the actuating plate along an axial direction between an engaged configuration and a disengaged configuration. The actuating plate compresses the plurality of first friction plates and the plurality of second friction plates together when the actuating plate is in the engaged configuration.

Abstract: A teaching method according to an embodiment is for a transfer device including a substrate holding unit including a suction port for holding a substrate by applying suction, an actuation mechanism for moving the substrate holding unit, and a pressure detecting unit for detecting a pressure in a suction path communicating with the suction port. The method includes: moving the substrate holding unit under the substrate; moving the substrate holding unit upward toward the substrate, while applying suction to the suction path and detecting the pressure in the suction path; determining whether or not the substrate holding unit has touched the substrate, based on the pressure in the suction path; and storing, as a standard position, a position of the substrate holding unit at a time of determining that the substrate holding unit has touched the substrate.

Abstract: The present invention relates to a tool that is to be mounted on a handling device and grips pallet bases, the tool including a frame and a gripper for the bases that is mounted on the frame. The gripper is movable in the frame in such a way as to cooperate with a single edge of a pallet. The present invention relates to a corresponding transfer apparatus and a corresponding method.

Abstract: In an embodiment, a system includes: a cassette comprising a slit opening configured to house a wafer; a blade configured to move the wafer to and from the slit opening by extending into the slit opening, wherein a blade thickness of the blade is at most ? of a height of the slit opening and wherein the blade is configured to secure the wafer within a pocket on the blade that is at least ? of a wafer thickness of the wafer.

Abstract: A gripper mechanism for gripping a load, the gripper mechanism including a body, a first actuator mechanism attached to the body and configured to linearly move a first gripping device; and a second actuator mechanism attached to the body and configured to rotate a second gripping device. A translation of the first gripping device and a rotation of the second gripping device result in gripping the load.

Abstract: An attachment apparatus according to an embodiment of the present technology includes a hand portion and a control unit. The hand portion includes a restriction portion that restricts a movement of a flat cable in a width direction and a holding portion that holds at least one of both surfaces of the flat cable. The control unit causes the flat cable to be held by a first holding force while restricting the movement in the width direction at a first position on the flat cable, causes the hand portion to move to a second position on the flat cable while maintaining the first holding force, and causes the flat cable to be held at the second position by a second holding force to attach the flat cable.

Abstract: An end effector has a hand base portion at least a part of which advances below a lowermost substrate or above an uppermost substrate of a plurality of substrates stored in a substrate storing portion, a substrate holding unit provided to the hand base portion so as to hold the two or more substrates including the lowermost substrate or the uppermost substrate, and a protrusion amount change unit for changing a protrusion amount of the substrate holding unit from a reference surface including the surface of the hand base portion opposed to the lowermost substrate or the uppermost substrate. The protrusion amount change unit has a single drive source applying a drive force to the whole substrate holding unit.

Abstract: An ion implanter and method for facilitating expeditious performance of maintenance on a component of the ion implanter in a manner that reduces downtime while increasing throughput of the ion implanter. The ion implanter includes a process chamber, a transfer chamber connected to the process chamber, a first isolation gate configured to controllably seal the transfer chamber from the process chamber, and a second isolation gate configured to controllably seal the transfer chamber from an atmospheric environment, wherein a component of the ion implanter can be transferred between the process chamber and the transfer chamber for performing maintenance on the component outside of the process chamber. Performing maintenance on a component of the ion implanter includes the steps of transferring the component from the process chamber to the transfer chamber, sealing the transfer chamber, venting the transfer chamber to atmospheric pressure, an opening the transfer chamber to an atmospheric environment.

Abstract: A system comprising a clamp assembly configured to capture an unmanned underwater vehicle, wherein the clamp assembly comprises a first arm, a second arm, and an extending rod assembly, wherein the first arm and second arm have a first end and a second end and are configured to form a hollow chamber when connected on both ends, wherein first arm and second arm are connected at the first end with the extending rod assembly, wherein the extending rod assembly comprises an extending rod that is configured to project downward when first arm and second arm are in an open position and is configured to retreat inside the extending rod assembly when the first arm and second arm are in a closed position, wherein a spring-loaded latch and a pin on the second end of the first arm and second arm are configured to automatically catch and lock upon closure.

Abstract: A substrate handling device includes a substrate reception area defined by an edge. The substrate reception area includes a planar surface and a plurality of contact structures. At least one contact structure of the plurality of contact structures is located at the edge and at least one contact structure of the plurality of contact structures is located on the planar surface. The substrate reception area and planar surface are made of a first material. Each contact structure of the plurality of contact structures includes a second material different from the first material, the second material having a hardness aligned to a hardness of a substrate material.

Abstract: An apparatus for extracting a paver stone, and the like from a preset position, including a pair of lifting plates having a body containing one or more lifting aid insertion openings at one end, and at an opposing end, a blade portion having substantially concave tabs with tab edges formed along a pair of slots terminating in one or more of stress relief openings between the body and the blade, wedging a first blade between the paver and a first adjacent paver and wedging a second blade at an opposing end of a paver and a second adjacent paver, substantially compressing the tabs storing spring energy in the blades, pushing the tab edges below the bottom plane of the paver, releasing the stored spring energy thereby substantially decompressing and re-forming the tabs such that the tab edges contact and engage the underside of the paver to be extracted.

Abstract: Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Abstract: A substrate gripping hand includes: a base plate wherein a center line and gripping position are prescribed; at least one fixed claw capable of mating with a substrate edge in the gripping position and provided at a base plate distal end side; a movable claw having an acting portion acting on a substrate edge in gripping position and movable back-and-forth on center line; a pusher having an acting portion acting on an edge lower than the substrate center in a perpendicular orientation and movable back-and-forth parallel with the center line; and an actuator for moving the movable claw and pusher. The pusher acting portion is positioned more to the distal end side than the movable claw acting portion such that the substrate is grasped by the movable claw joint operation and the fixed claw after the substrate is brought to gripping position by the pusher moving forward toward the distal end side.

Abstract: A lifting device is disclosed in which tong arms are coupled to parallel laminated horizontal spine members that slide in opposition to each other via input of force from the tong arms. The horizontal spine members are coupled to load-engaging feet to transfer the force of the tong members to a given load. The horizontal spine members include teeth or the like along a horizontal axis for engagement and indexing of the load-engaging feet.

Abstract: The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.

Abstract: A horizontal articulated robot in which an arm moves in the horizontal direction for use with objects to be transferred may include a hand on which the objects are to be mounted. The arm may have at least two arm portions including a hand-side arm portion to which the hand is rotatably joined to the front end thereof; and a second hand-side arm portion to which the base end of the hand-side arm portion is rotatably joined to the front end thereof; and a main body portion to which the base end of the arm is rotatably joined. A level which may be attached to the hand, the arm or the main body portion after an inclination of a center axis of rotation of the hand-side arm portion with respect to the second hand-side arm portion is adjusted relative to the vertical direction.

Abstract: Provided is a stocking tool. The stocking tool includes a first adjustable rigid side member, a second adjustable rigid side member, and a handle operatively coupled to the first adjustable rigid side member and the second adjustable rigid side member. The first adjustable rigid side member and the second adjustable rigid side member move toward and away from each other to adjust a width defined between the first and second adjustable rigid side members. The handle is moveable between a locked position with the handle activating a locking device and an unlocked position with the handle deactivating the locking device. The width defined between the first and second adjustable rigid side members receives product on the shelf and the first and second adjustable rigid side members align the received product on the shelf.

Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.

Abstract: A hand unit of a robot arm includes a U-shaped placement portion on which a semiconductor wafer is placed. The hand unit includes, on one end side of the placement portion, a first support portion configured to support the semiconductor wafer at a first support height and a second support portion configured to support the semiconductor wafer at a second support height, and includes, on the other end side of the placement portion, a third support portion configured to support the semiconductor wafer at the first support height and a fourth support portion configured to support the semiconductor wafer at the second support height. The hand unit further includes a first driving unit configured to move the third support portion and/or the fourth support portion forward and backward with respect to the first support portion and the second support portion.

Abstract: A robot traveling system, which enables sufficient space to be secured by a machine that is installed along a rail. The robot traveling system is provided with a rail, a carriage which can move along the rail and which supports a robot, a drive mechanism which drives the carriage, and a cable track which houses a cable which has a connecting end which is connected to the robot and is laid at the bottom side of the rail along that rail.

Abstract: The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.

Abstract: A clamping device for lifting and transferring objects can employ slanting interfaces to convert a pulling action on the clamping device to a clamping action on the object. A pulling element in the form of a triangle can be disposed between a jaw and a jaw support of the clamping device. When the pulling element is pulled up, the base of the triangle shape pulling element can exert a force on the jaw against the jaw support, for securing a gripping action on the object.

Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.

Abstract: A Marman clamp is disclosed. The Marman clamp includes a release mechanism with either pins or tubes formed with a shape memory alloy. The release mechanism opens and closes the clamp depending on the temperature of the pins or tubes. The temperature of the pins or tubes may be based on whether a space vehicle including the clamp is in a direct line of sight of radiation from the sun. Alternatively, a heat source may control the temperature of the pins or tubes. The Marman clamp may also open and close as a result of an independent force applied to the release mechanism.

Abstract: A grasping apparatus for grasping an object includes at least two grasping portions and at least two pressure sensing mechanisms disposed in the corresponding grasping portions. The pressure sensing mechanism detects a grasping force between the grasping portions while grasping the object. The pressure sensing mechanism includes two parallel metal films and an elastic portion therebetween. The elastic portion deforms to decrease the distance between the metal films for sensing the grasping force.

Abstract: A cradle for lifting pipelines has a base with wheels supporting the pipeline. Lifting arms connect the base to a spreader bar for lifting the base. The lifting arms can have pivotable connections to the base and to the spreader bar. The connection of the lifting arms to the spreader bar can have an adjustable position to accommodate different pipeline sizes. The lifting arms can also have side wheels with adjustable position.

Abstract: A device, system and method for interfacing between an end effector of a manipulator and a surgical tool. Embodiments may include an upper tool holder element and a lower tool holder element. Embodiments may also include a drape between the end effector and the manipulator. Embodiments may also include two force sensors and a coupling arranged in a force sensor system for use with an end effector that includes a tool roll driver.

Abstract: A silent knife-grabbing apparatus includes a stationary disc, a rotary bar, and two locking units each including a latch, a lever unit, and two pushers. The latch is movable between a releasing position to place a first end thereof substantially out of a space of a clasp of the rotary bar and a locking position to place the first end in the space. The lever unit is movable between a folded position to place the latch in the releasing position and an extended position to place the latch in the locking position. A first end of the first pusher normally contacts the stationary disc so that a second end of the first pusher places the lever unit in the folded position. An end of the second pusher places the lever unit in the extended position when the upper end of the first pusher enters a recess of the stationary disc.

Abstract: The present invention enables adjustment of a motion range of a workpiece conveying mechanism by a simple configuration. Provided is a workpiece conveying device including a simple motion range adjusting mechanism for conveying workpieces of different sizes. According to one embodiment of the invention, the workpiece conveying device for conveying workpieces includes a workpiece holding mechanism configured to operate to hold and release the workpiece. The workpiece conveying device also includes an actuator equipped with a movable member directly or indirectly connected to the workpiece holding mechanism to drive the workpiece holding mechanism. The workpiece conveying device further includes a stopper device having a male member and a female member, and these male member and female member are configured to engage with each other in at least two different arrangements, thereby defining at least two predefined discontinuous holding positions of the workpiece holding mechanism connected to the movable member.

Abstract: A gripping device comprises: a gripping unit for gripping a work; a controller for controlling the gripping operation of the gripping unit; and contact sections attached to the gripping unit contacting the work, the contact sections being adapted to deform following the shape of the work, and to maintain the deformation. The gripping operation of the gripping unit presses the contact sections against the work to cause the contact sections to follow the outside of the work, and grips the work with the shape of the contact sections maintained. After predetermined number of times of gripping operation, the controller changes the positions of the contact points of the contact sections with the work when the work is gripped. As a result, different works having different shapes can be stably gripped and the lifetime of the contact sections can be extended to be longer than that of conventional products.

Abstract: A fruit harvester includes a chassis; a motor; wheels; and a trunk shaker assembly. The shaker assembly includes engagement members configured to engage plants to loosen fruit. A mount connects the engagement members to a drive mechanism and includes an elastomeric block. The block includes a first passage formed therein extending from one side to an opposite side. Second passages extend from a third side to an opposite fourth side. A first tubular insert extends into the first passage and a second tubular inserts extend into the second passage. A backing plate is adjacent the fourth side and has orifices aligned with the second passages.

Abstract: The invention provides a method and a tool for handling storage media in carriers, the tool comprising: a tool body; a first jaw to engage a first side of the storage media in carrier; a second jaw to engage a second opposed side of the storage media in carrier; wherein at least the second jaw is pivotally mounted on the main body so as to be movable between a first position in which the jaw is positioned so as to enable a disk drive in carrier to be freely moved into an engagement position with the tool and a second position in which the jaw engages the disk drive carrier so as to releasably lock the disk drive in carrier to the tool.

Abstract: A robotic finger includes a shape-memory alloy and a shape-memory polymer connected to and adjacent to the shape-memory alloy. Heating the shape-memory polymer causes it to soften, heating the shape-memory alloy causes the alloy to bend in the direction of the shape-memory polymer to press the shape-memory polymer against an object to be grasped, and cooling the shape-memory polymer causes it to stiffen and to retain its shape. An opposing member is positioned to cooperate with the finger to grasp an object positioned between the finger and the opposing member. A selectively controllable heat source is capable of applying heat to the finger.

Abstract: A hand-held firewood handling device (100) for grasping, lifting, and placing pieces of wood in and around a bonfire. The device is made of a rod (20) inserted into a tube (10), the rod formed with a handle (28) at one end and with a rotating prong (26) on the other end. The tube features a pair of spaced-apart stationary prongs (12) welded to its distal end, the stationary prongs positioned on the tube so that when the rod is rotated inside the tube, the rotating prong (26) is offset in the space between the stationary prongs (12). In use, the handle is rotated to move the rotating prong away from the stationary prongs and positioned over a log. Rotating the handle in an opposite direction until the prongs are securely around the log, the log is repositioned as desired and released by rotating the handle to open the prongs.

Abstract: An infeed station has a carriage that is supported on a machine frame of the infeed station in a way that allows it to be moved laterally and a stack conveyor mounted on the carriage for conveying stacks from an infeed position to a transfer position, from which the stacks can each be removed by the stack gripper. The stacks can be centered in two stack chambers, which are arranged side by side on the carriage. A stop element supported on the carriage is assigned to each stack chamber and can be moved between a working position and a retracted position, such that in their working position, the stop elements project into the associated stack chamber in such a way that the stacks can be moved by the stack gripper from a forward holding position of the transfer position towards the stop elements and placed against the stop elements. The stacks positioned on the stop elements are gripped by the stack gripper between a finger and pressing means and conveyed to a pallet.

Abstract: An apparatus for gripping a substrate on its peripheral edge including a substrate support having proximate and distal ends, at least one distal rest pad disposed at the distal end, the at least one distal rest pad includes a back stop portion and is configured to support the peripheral edge of the substrate, at least one proximate rest pad disposed at the proximate end, the at least one proximate rest pad being configured to support the peripheral edge of the substrate, and an active contact member assembly disposed at the proximate end, the active contact member assembly including a pusher member, a contact member and a rotatable coupling member that are reciprocably movable towards the distal end for urging the substrate against the back stop portion, the contact member being rotatably secured to the pusher member and free to rotate about an axis of the rotatable coupling member.

Abstract: A clamping device comprising: a distal end side stationary blocks which are provided on a side of a distal end of a workpiece retaining base, and in which stationary tilt faces tilting downwardly to a central direction of the workpiece are formed; a proximal end side stationary blocks which are provided on a side of a proximal end of the workpiece retaining base, and in which upward stationary tilt faces tilting downward toward the central direction of the workpiece are formed; and a movable block which is arranged at a position proximal to the proximal end side stationary blocks, and is capable of advancing to or retracting from a side of the distal end side stationary blocks with the workpiece being held between the blocks, and in which a downward movable tilt face tilting upwardly toward the central direction of the workpiece is formed.

Abstract: A robot hand and a robot according to an embodiment include supporting units. The supporting units are arranged on a base and contact the peripheral border of a board to grip the board. At least one of the supporting units rotates while abutting on the peripheral border of the board.

Abstract: A grip mechanism for an end effector includes a grip member configured to be coupled to an effector body. A gripper of the grip member is movable based on movement of the grip member such that the gripper is movable along an engagement path to an engagement position where an object such as a substrate can be retained within a retaining region adjacent to the effector body. End effectors for handling objects incorporating one or more grip mechanisms, and methods of handling an object such as a substrate, are also disclosed.

Abstract: A tube handling system with a semi-automatic lab tube selection apparatus for enabling a user to pick a select lab tube in a standard lab tube holding rack with open-bottom wells that contain one or more lab tubes that includes a tube selection unit having, a housing with a top deck having a tube rack support, a transport mechanism contained within the housing having a carriage assembly, with the carriage assembly having a carrier with a push-pin, a drive system that moves the carrier and the push-pin under the tube rack support, and an actuator that raises the push-pin on command for removal, and, a control system to locate the carrier and the push-pin at a select location corresponding to a selected position under an open-bottom well of a tube rack positioned on the tube rack support to raise the push-pin for removal.

Abstract: A fishing hook remover with a V (10D) shape on the front end. Used to position and secure fishing hooks. The back end of the de-hooker has handle (20) is attached to body (12) and trigger (22) is attached to handle (20). V (10D) is part of jay (10), which is attached to the front end of tubular body (12). Shaft (14) is position in the center of body (12) by front space (26) and back spacer (28). The two spacers (26) and (28) have holes in their centers, which allow shaft (14) to slide. The back end of shaft (14) has a pivotal connection to front link (16). The back end of front link (16) has a pivotal connection to back link (18) and the back end of back link (18) has a pivotal connection to body (12). When trigger (22) is fully out front link (16) and back link (18) form proximately a 90-degree angle at their common connection. When trigger (22) is depressed it causes the angle between front link (16) and back link (18) to increase this in turn push shaft (14) towards point (10A).

Abstract: A housing for a seal assembly of a pump, the housing comprising a main body having a wall section with inner and outer sides, and a bore extending through the main body between the inner and outer sides, a holder protruding from the inner side of the main body, the holder having an outer edge and a bearing face which is inclined inwardly towards the inner side, and extending from the outer edge towards the bore. There is also disclosed a lifting device for use with the housing.

Abstract: A device for use in the semiconductor industry includes a robotic arm whose end effector includes at least two prongs designed to hold a substrate carrier. A pushing member located between the prongs can move independently of the prongs and is configured to exert force against the substrate carrier while the prongs are retracted from the substrate carrier, after the substrate carrier has been brought to its intended position. In this manner, the position of the substrate carrier is maintained at its intended position as the prongs are retracted. Each of the prongs may include a claw or gripping member for grasping the substrate carrier.

Abstract: An endeffector for handling wafers at a relatively low temperature is disclosed along with an endeffector for handling wafers at a relatively high temperature. Both endeffectors include a base member and uniquely designed support members that are configured to only contact a wafer at the wafer's edge. Further, the support members have an arcuate shape that generally matches a radius of a semiconductor wafer. More specifically, each support member has a curved wafer contact surface that tapers from a maximum radius at a top surface to a minimum radius at a bottom surface. The endeffectors may also include a wafer detection system. The endeffector for handling wafers at relatively low temperatures may also include a pushing device that is used not only to position a wafer but to hold a wafer on the endeffector during acceleration or deceleration of the endeffector caused by a robot arm attached to the endeffector.