Abstract: End-effectors may be used to grasp microelectronic workpieces for handling by automated transport devices. One such end-effector includes a plurality of end-effectors and a detector adapted to detect engagement of the edge of the workpiece by at least one of the abutments. An alternative end-effector includes at least three abutments, at least one of which is resiliently connected to an actuator for movement between a retracted position and a deployed position wherein it engages a workpiece.

Abstract: A lifting aid for lifting and supporting a ground engagement tool has an L-shaped cradle having a longitudinally extending base and back wall. A lifting yoke having at least two tubular arms is slideably connected to the L-shaped cradle through tubular sleeves which extend upward to a lifting point. The tubular arms have an upper portion, and a lower portion angled relative to the upper portion, for forming an inflection point inclined rearward toward the back wall. In a rest position, the inflection point is positioned adjacent the tubular sleeves leaving space for the tool. In a lifted position, the inflection point approaches the back wall for gripping the tool therebetween.

Abstract: An adjustable carrying device (12) includes a pair of gripping members (14, 16) in a slip joint pivot connection having a handle assembly (36) and gripping plates (20a, 20b) for grasping and handling an object. A pivotally activated/deactivated locking mechanism includes a plurality of evenly spaced teeth (66) within a guide track (54) and a cross member (76) biased between lock and unlock positions by a pair of torsion springs (74a, 74b). A pair of levers (22a, 22b) moved in unison by handle assembly (36) activate and deactivate the locking mechanism. While in unlock position a pair of coil tension springs (84) assist in the single handed adjustment of the gripping plates against the object's opposed surfaces. A subsequent upward pivotal motion of handle assembly (36) activates the locking mechanism, forcing gripping plates (20a, 20b) towards each other, firmly gripping the object prior to its lift.

Abstract: A contact lens picker has a linear variable differential transformer (LVDT) operably coupled to a pair of arms, the arms moveable between a release position and a picking position. A controller coupled to the LVDT compares an output of LVDT at successive picking positions to determine whether a contact lens has been picked up.

Abstract: Apparatus for gripping and lifting objects such as fence posts. A frame carries a pair of grippers that are slidingly movable along the frame to grasp a post or other object. The grippers may pivot so that the object remains in essentially constant vertical orientation despite arcuate motion of a tractor or other lifting machine by which the frame is lifted. The grippers may be actuated by hydraulic or other power provided by the lifting machine.

Abstract: Camping device suitable for lifting and handling of sheet like-objects, having a rigid frame configured to straddle an edge region of sheet-like objects, the frame including a stationary jaw and a frame housing defining a gap between them in which the sheet-like object may be received, the stationary jaw providing a first clamping surface, a movable jaw supported at the frame within the gap for movement towards and away from the stationary jaw, the movable jaw providing a second clamping surface, and an actuating carriage arranged to transmit a clamping force, the carriage being located between the movable jaw and frame housing for reciprocating movement along a longitudinal axis of the device on actuator tracks present at the movable jaw and frame housing, at least a portion of one of the actuator tracks having an inclined portion devised to bias the movable jaw towards the stationary jaw as the actuator carriage is caused by the clamping force to be displaced along the inclined portion, whereby the respecti

Abstract: In a robot hand according to the present invention, a first-type grasping claw driven by a servo motor on a hand base and a second-type grasping claw having no actuator are used with the grasping claws mounted on each holding unit. The second-type grasping claw is movable in a direction perpendicular to a moving direction of the first-type grasping claw. The robot is operated so that an external force is applied to the grasping claw by bringing the grasping claw into contact with a contact surface of a stationary stand member, thereby to change a position of the grasping claw relative to the hand base and that grasping claw is locked at that position by a brake mechanism. Each grasping claw is adapted to be able to be mounted or dismounted on or from the holding unit using a pull bolt and a retaining mechanism, and can be automatically changed by the robot operation. By attaching the pull bolt to the workpiece in advance, the retaining mechanism also can be used for holding the workpiece.

Abstract: The invention provides a buffer device for a processing apparatus for semiconductor components. The apparatus comprises a transportation track for conveying semiconductor components between processing machines, and a transfer mechanism for transferring semiconductor components between the transportation track and a receiving section of a processing machine along a travelling path. The buffer device is operative to receive and store semiconductor components from the transfer mechanism.

Abstract: A tool changer for machine tools having at least two tong-shaped grippers, the legs of which are formed for engaging with the ring groove at a broader end of a tool taper. The grippers are symmetrically mounted about the central axis of a carrier and are rotatable around the central axis with their legs pointing outward. The carrier is mounted on a support structure that has a drive for moving the carrier. In order to enable an earlier release of the tool taper from the collet chuck in the work spindle, and thus faster tool changes, at least one leg of the grippers is extended to form a protruding holding finger.

Abstract: A tank lifting attachment (10) is disclosed for allowing a tank, such as a wine press tank (12) to be lifted by a conventional lifting device (100) such as a crane or block and tackle. A center section (16) has a pair of inside grip plates (26) to abut the inner walls of the wine press tank (12). A first outside grip plate (28) and a second outside grip plate (42) are slidably affixed to the center section (16) such that the weight of the wine press tank (12) will cause a pair of under lip projections (38) affixed thereto to be secured under a portion of a lip (14) on the wine press tank (12). In an embodiment of the invention the tank lifting attachment (10) is secured to the lifting device (100) by a plurality of lifting straps (94).

Abstract: An arrow extractor presents a plate having a shelf thereon for placement along one side of an embedded arrow shaft. A locking block on the opposed side of the shaft is movable from a first release position to a second locked position against the shaft so as to clamp the arrow therebetween in a friction fit therewith. Upon pulling on the handle the embedded arrow is extracted from the target. In lieu of a shelf, opposed locking blocks may be used which are slidably movable into position to clamp the arrow shaft therebetween. A handle extends from the plate and is positioned relative to the axis of the clamped arrow shaft so as to effectively transmit the pulling forces exerted on the handle to the clamped arrow shaft.

Abstract: A gripper device for loosening, tightening or gripping objects. The gripper device has a support structure with a fixed, object contact surface, that preferably has a high friction surface. One end of a pivot arm is pivotally attached to the support structure. The pivot arm has a free end. A cinch strap with two ends is provided. On end of the cinch strap is attached to the free end of the pivot arm and another end of the cinch strap is fixed to the structure. By moving a jar or other cylindrical object into turning contact with the cinch strap, that object will be captured and held in place.

Abstract: Embodiments provide for an optical component mounting apparatus and method. One embodiment provides a body defining a lens applicator tip at one end, wherein the lens applicator tip defines a lens contact surface. A lens retaining member includes a lens carrying tip defining a lens receiving opening and is slidably disposed over at least the lens applicator tip. The lens carrying tip is slidably positionable between a lens carrying position in which the lens carrying tip extends past the lens applicator tip, and a lens release position in which the lens carrying tip is retracted with respect to the lens applicator tip.

Abstract: An edge gripping device grips and ungrips a substrate, such as a semiconductor wafer. A blade extends in a distal direction from a base of the device. At least one distal contact member is provided at the tip of the blade. Two proximal lever arms are pivotally coupled for synchronized, oppositely directed rotation to the base. Each lever arm has at least one proximal contact member at an outer end. A biasing member is coupled to the two proximal lever arms and to an actuator to effect pivoting movement of the lever arms. The pivoting motion moves the ends of the arms generally radially toward and away from the center of the substrate to be gripped or ungripped, thereby minimizing sliding of the substrate. The biasing member is biased to retain the lever arms in a closed position in the event of a power failure. Ramps are provided next to each contact member. The contact members and ramps are profiled to minimize the zone of the substrate edge that is contacted.

Abstract: An end effector for a robot is used to unpack flattened stackable items from a container using a fixed sized vacuum plenum and simple adjustable gripping elements. The gripping elements comprise a pair of adjustable, smooth blades. In addition, the end effector includes mechanisms for retaining and transporting the container.

Abstract: A tool changer for machine tools having at least two tong-shaped grippers, the legs of which are formed for engaging with the ring groove at a broader end of a tool taper. The grippers are symmetrically mounted about the central axis of a carrier and are rotatable around the central axis with their legs pointing outward. The carrier is mounted on a support structure that has a drive for moving the carrier. In order to enable an earlier release of the tool taper from the collet chuck in the work spindle, and thus faster tool changes, at least one leg of the grippers is extended to form a protruding holding finger.

Abstract: The present invention is directed toward a bottle gripping device that grips a bottle at discrete points comprising a minimal area of the bottle. More specifically, the gripping device typically contacts the bottle at four discrete points and such total area of contact is preferred to be less than 25% of the total circumference of the bottle neck.

Abstract: The wafer clamping mechanism comprises a linkage mechanism and a wafer contact point coupled to the linkage mechanism. The linkage mechanism includes a four-bar linkage having: a first link having a first fixed pivot and a first floating pivot remote from the first fixed pivot; a second link having a second fixed pivot and a second floating pivot remote from the second fixed pivot; and a third link having a first coupling pivot rotatably coupled to the first floating pivot, and having a second coupling pivot rotatably coupled to the second floating pivot. In use motion of the linkage mechanism causes the wafer contact point to clamp a wafer.

Abstract: A device and method for gripping a handrail or other object having a top and a bottom surface. The device includes a handle for gripping by a user. A fixed member is coupled to the handle for engaging one of the top and bottom surfaces of the handrail, and a movable member is movably coupled to the handle for engaging the other of the top and bottom surfaces of the handrail. An actuator coupled to the handle controls the movement of the movable member, the actuator allowing for repositioning and locking of the device with respect to the handrail. When the device is locked with respect to the handrail the fixed member and movable member engage the top and bottom surfaces of the handrail such that a force tangential to the handrail can be applied to the handle without the device sliding on the handrail.

Abstract: A gripper having a grip tip for parts having different shapes is provided for a surface mount device. The gripper includes a piston installed inside of a through hole formed in a holder, and lifted or lowered by air flown in/out through the through hole, a moving unit connected to fixed blocks of the holder by a connection device configured to increase or decrease an interval according to the lifting or lowering operation of the piston, and multiple grip tips configured to support at least three points of a parts having a different shape.

Abstract: The effector of a robot is constructed with positioning pads at its distal end. The pads provide an accurate registration surface for engagement of the substrate. A pair of idler rollers, which slide along the longitudinal axis of the effector, is moved by an actuator into engagement with the substrate and the assembly urges the substrate against the positioning pads. A pair of wheels is mounted on a platform independent of the effector with one of the wheels driven by a motor. An optical sensor mounted with the wheels detects an orientation mark on the edge of the substrate and allows the driven wheel to rotate the substrate to its specified angular position.

Abstract: A device for grasping and lifting a lid handle of a vessel, such as a Dutch oven. The device securely attaches to the lid of a vessel due to a spring-like mechanism that acts in conjunction with two elongated rods. A grasping structure, such as a hook, is attached to one end of a longer rod and a cooperating stabilizing structure is connected to the end of a shorter rod. Both rods have handles for squeezing by the user. When the user squeezes the handles of the rods, the lid handle can be engaged with the hook. When the user releases the handles, the spring-like mechanism fully extends and pulls the hook away from the lid handle, while the stabilizing structure, such as a horseshoe, is forced firmly against the lid.

Abstract: A unit for handling a product defined by at least one ream of sheets has two gripping members; and an actuating assembly for moving the gripping members to and from a gripping position wherein the gripping members engage the product (2) on opposite sides of the product in a given direction.

Abstract: The invention concerns locking and unlocking of gripper devices 10 raising and lowering construction components (T), large parts and the like which can be clamped between mutually displaceable gripper jaws 15, 45 of an overall ∩-shaped carrying frame 12 by means of rocker levers 20 elastically supported on said frame, said invention also comprising a latch 30, for instance a rod to selectively lock and release the rocker lever 20. The articulation 32 of the rod 30 is situated at the free end 25 of the rocker lever 20 near a reversal pin 28 for a traction element which applies clamping forces to the gripper jaws 15, 45. A grip 34 of the rod 30 may snap into a notch 40 at the periphery of the carrying frame 12 which is fitted in its upper region with a stop 38 acting as a rocker articulation when the disengaged rod 30 is pivoted upward. A mating stop 36 catches the disengaged rod 30 near a reversal pin 28 of the rope system Z.

Abstract: A system for handling stiff but flexible discs, particularly semiconductor wafers, including fail safe mechanisms that prevent the disc from being dropped if power to the unit is interrupted. Also, the electronics controlling operation resumes functioning at the point in the operation cycle existing when power was interrupted. A wafer hand assembly member is slipped under a wafer, or between parallel stacked but spaced wafers, and one or more fingers are rotated 90° to a position perpendicular to the plane of the stiff hand assembly member. The hand assembly also has one or more posts positioned perpendicular to the surface of the hand assembly. The finger(s) and post(s) or rear barrier constitute three upright projections or points forming the corners of a triangle with the wafer to be grasped there between.

Abstract: The invention concerns a tool for gripping and clamping the edge (R) of a heavy hollow object such as a flower pot for example. The invention is characterized in that it comprises an elongated supporting arm (1) whereof one end part (1c) is curved downwards in the form of a hook and constitutes a first jaw of the clamp and an element (2) mounted sliding on the supporting arm (1) extending downwards, constituting a second jaw of the clamp such that in clamping position, the end of the first clamp jaw (1c) and the lower end part of the second clamp jaw (2f) are respectively in contact with the substantially opposite points (A, B), located respectively on the inner and outer surfaces of the edge (R) of the object.

Abstract: The present invention generally provides a robot that can transfer workpieces, such as silicon wafers, at increased speeds and accelerations and decelerations. More particularly, the present invention provides a robot wrist associated with the robot arm for mechanically clamping a workpiece to a workpiece handling member attached to the arm. The wafer clamp selectively applies sufficient force to hold the workpiece and prevent slippage and damage to the workpiece during rapid rotation and linear movement of the handling member. In a particular embodiment, a clamp for securing silicon wafers uses a flexure assembly to position and hold the wafer with minimal particle generation and wafer damage. The clamp is designed so that the wafers are normally clamped near full extension of the workpiece handling member to deliver or pick up a wafer.

Abstract: A forceps is described which is self-locking and is used for raising slabs. It is of the type which has two jaws in hard steel which are reciprocally hinged so that they may be closed or opened with automatic locking when they come in contact with the product to be moved. The forceps is characterized by the fact that it is composed of three elements, precisely a fixed body (2), a cam (3) and a movable carriage which holds the cam, and in which the fixed jaw comes in contact in a gripping manner with the pushing force generated by the counterposed cam thus achieving in this manner the closure of the product being raised.

Abstract: A rail pulling system for efficiently drawing the ends of two rails together. The rail pulling system includes an elongate frame, a control unit, a first sliding unit and a second sliding unit, a pair of first actuators attached to the first sliding unit, a pair of second actuators attached to the second sliding unit, a plurality of third actuators attached to the frame, a pair of first engaging cams rotatably attached to the first sliding unit, and a pair of second engaging cams rotatably attached to the second sliding unit. The cams are rotated to engage a first rail and a second rail respectively by actuating the first actuators and the second actuators thereby causing an engaging portion of the cams to engage pillow blocks on the third actuators. The third actuators then draw the first sliding unit and the second sliding unit together thereby drawing the rails together.

Abstract: A system for handling stiff but flexible discs, particularly semiconductor wafers, includes a fail safe mechanism that prevents the disc from being dropped if power to the unit is interrupted. A wafer grasping assembly member includes and one or more fingers or posts oriented, or which may be oriented, to a position perpendicular to the plane of the stiff hand assembly member. An electric powered drive system controls the lateral movement of at least one finger or post to cause the wafer to be grasped with controlled traction force between the fixed and moveable posts or fingers. The traction force is controlled by the amount of electrical current fed to the translator solenoid. If the power to the electric powered drive system is interrupted, springs in the system cause the disk to be held between the fixed posts and moveable post or finger until power is restored.

Abstract: A machine for lifting and moving heavy slabs includes two channels connected only by a cable. The channels are placed against opposite edges of a slab. Each channel has a lower flange which is beveled so that the flange will scoop under the edge of the slab when moved toward the opposing channel. The channels are moved by attaching the cable to one channel and pulling the cable upward from the sheave on the other channel. Further lifting of the cable lifts the channels and the slab for moving.

Abstract: A gripping device for use in a transfer press machine includes a jaw assembly having an upper jaw member and a lower jaw member disposed in fixed spaced-apart relationship to one another. A piston-cylinder assembly includes a cylinder element mounted on the upper jaw member and a piston element reciprocatingly housed within the cylinder element. The upper jaw member is provided with a bore passageway formed therethrough that opens into the clamping space. The piston-cylinder assembly is suitably mounted on the upper jaw member such that the piston element is displaceable therein and extensible into the clamping space defined between the jaw members. Suitably pressurizing the piston-cylinder assembly effects a displacement of the piston element into the clamping space which is sufficient to clamp a workpiece between the displaced piston element and the stationary lower jaw member.

Abstract: An end effector for a robot is used to unpack flattened stackable items from a container using a fixed sized vacuum plenum and simple adjustable gripping elements. The gripping elements comprise a pair of adjustable, smooth blades. In addition, the end effector includes mechanisms for retaining and transporting the container.

Abstract: End-effectors may be used to grasp microelectronic workpieces for handling by automated transport devices. One such end-effector includes a plurality of abutments and a detector adapted to detect engagement of the edge of the workpiece by at least one of the abutments.

Abstract: The present invention is a Hackle Grabber which is a fly tying tool used to assist in the clasping and wrapping of materials, such as hackle feathers, peacock herl, tinsel strips, lead wire, and other materials, on the shanks of hooks used for constructing fishing flies. The design of the tool will allow the materials to be wrapped about the shanks of hooks without imparting a twist in the materials each time a wrap is made. The tool is comprised generally of a set of tubes, a spring restrained projectable metal ball, and a rotating handle, all combined so that the metal ball can be made to clasp feathers or small strings of material against one end of a tube, and the tool can itself rotate and wrap the material around a shank without imparting a twist in the material.

Abstract: A system for handling stiff but flexible discs, particularly semiconductor wafers, including fail safe mechanisms that prevent the disc from being dropped if power to the unit is interrupted. Also, the electronics controlling operation resumes functioning at the point in the operation cycle existing when power was interrupted. A wafer hand assembly member is slipped under a wafer, or between parallel stacked but spaced wafers, and one or more fingers are rotated 90° to a position perpendicular to the plane of the stiff hand assembly member. The hand assembly also has one or more posts positioned perpendicular to the surface of the hand assembly. The finger(s) and post(s)or rear barrier constitute three upright projections or points forming the corners of a triangle with the wafer to be grasped there between.

Abstract: A system for handling stiff but flexible discs, particularly semiconductor wafers, including fail safe mechanisms that prevent the disc from being dropped if power to the unit is interrupted. Also, the electronics controlling operation resumes functioning at the point in the operation cycle existing when power was interrupted. A wafer hand assembly member is slipped under a wafer, or between parallel stacked but spaced wafers, and one or more fingers are rotated 90° to a position perpendicular to the plane of the stiff hand assembly member. The hand assembly also has one or more posts positioned perpendicular to the surface of the hand assembly. The finger(s) and post(s)or rear barrier constitute three upright projections or points forming the corners of a triangle with the wafer to be grasped there between.

Abstract: The present invention is directed to a wafer clamping mechanism responsive to fluid pressure to retain wafers on a surface with minimal clamping force. The clamping mechanism houses simple operative elements within a housing proximate the wafer and can utilize existing fluid pressure sources to energize the clamping mechanism. In a first embodiment, the clamping mechanism includes a piston and cylinder to urge a clamping arm against the wafer in response to fluid pressure. In a second embodiment, the clamping mechanism includes a bellows arrangement for urging the clamping finger against the wafer in response to a fluid pressure source. In a third embodiment, the clamping mechanism includes a bladder arrangement wherein a bladder is expanded using fluid pressure to urge the clamping arm against the wafer in response to a fluid pressure source.

Abstract: A machine for lifting and moving heavy slabs includes two channels connected only by a cable. The channels are placed against opposite edges of a slab. Each channel has a lower flange which is beveled so that the flange will scoop under the edge of the slab when moved toward the opposing channel. The channels are moved by attaching the cable to one channel and pulling the cable upward from the sheave on the other channel. Further lifting of the cable lifts the channels and the slab for moving.

Abstract: An edge-gripping wafer handling apparatus for holding and transporting wafers in a clean room environment is implemented by mounting gripping fingers on a paddle arm adapted to be controlled by a robot. At the free end of the paddle arm, a plurality of fixed fingers is mounted. Each of these fixed fingers includes a notch for gripping the edge of a wafer. A moving finger is mounted close to the fixed end of the paddle arm. The moving finger can be smoothly moved to engage the edge of the wafer and cause the opposite edge of the wafer to engage the fixed fingers. The movement of the moving finger is caused by a bellows flexing a hinge connected to the finger. The flexing hinge is formed as a parallelogram of two stable ends and two flexing arms. The movement of the hinge is smooth and causes no particulate matter to be generated due to rubbing or other friction generating mechanism.

Abstract: Substrate handling apparatus and methods are described. In one aspect, the substrate handling apparatus includes a clamping member having an extended condition wherein substrate movement relative to the transfer arm is substantially restricted and a retracted condition wherein substrate movement relative to the transfer arm is substantially free. The substrate handling apparatus further includes a sense mechanism (e.g., a vacuum sensor) constructed to determine whether a substrate is properly positioned on the support arm and to trigger the mode of operation of the clamping member between extended and retracted conditions. The sense mechanism also provides information relating to the operating condition of the clamping member.

Abstract: A device and method for gripping a handrail or other object having a top and a bottom surface. The device includes a handle for gripping by a user. A fixed member is coupled to the handle for engaging one of the top and bottom surfaces of the handrail, and a movable member is movably coupled to the handle for engaging the other of the top and bottom surfaces of the handrail. An actuator coupled to the handle controls the movement of the movable member, the actuator allowing for repositioning and locking of the device with respect to the handrail. When the device is locked with respect to the handrail the fixed member and movable member engage the top and bottom surfaces of the handrail such that a force tangential to the handrail can be applied to the handle without the device sliding on the handrail.

Abstract: A forceps is described which is self-locking and is used for raising slabs. It is of the type which has two jaws in hard steel which are reciprocally hinged so that they may be closed or opened with automatic locking when they come in contact with the product to be moved. The forceps is characterized by the fact that it is composed of three elements, precisely a fixed body (2), a cam (3) and a movable carriage which holds the cam, and in which the fixed jaw comes in contract in antagonistic manner with the pushing force generated by the counterposed cam thus achieving in this manner the closure of the product being raised.

Abstract: In a gripper mechanism for devices for handling objects in the form of sheets or plates, simple and easy operability of the gripper claws of pivoting gripper arms into the open position for adjustment purposes, test purposes and the like is achieved in that a manual operating element made of plastic is connected in the gripper claw operating drive between an operating lever which is mounted on the relevant gripper arm such that it can pivot, and a coupling linkage which is connected to one of the gripper claws which can pivot, and this manual operating element can pivot on the operating shaft of the gripper claw operating drive in such a manner that the claw can be caused to open easily while the machine is at rest, without any risk of injuries.

Abstract: A stack of flexible bags oriented horizontally in a stack station is packaged by first sliding a robot hand horizontally into position around an end portion of the stack with front and rear grabs of the hand aligned with edges of the end portion and another portion of the stack wholly outside the hand. Then the grabs are closed on the edges of the end portion with the front grab positioned inward of the stack from the back grab and the hand is raised and pivoted about a horizontal axis to fold the gripped stack about a fold line adjacent the front grab and to one side of which lies the gripped portion and to the other side of which lies the other portion so that the bag is given a downwardly open U-shape. The back grab is then released and reengaged around the folded stack to press the other portion against the end portion still gripped by the front grab.

Abstract: An end effector having a paddle adapted for mounting to a robot arm. On the top side of paddle are two finger housings spaced apart and in opposed relationship. In the preferred embodiment, one of these finger housings is slideable along the paddle while the other is fixed. Mounted to the outer surfaces of these finger housings are finger assemblies for gripping a wafer on its edge and configured to assist in the transfer of the wafer from the end effector to some other device. Finger housings with finger assemblies can also be mounted to the bottom surface of the paddle, allowing the end effector to carry two wafers at one time. Methods for handling and transferring wafers using these end effectors are also disclosed.

Abstract: A movable gripper unit including a housing and a first gripper arm and a second gripper arm for gripping a printed product. The first and second gripper arms are slidingly supported with respect to the housing. The housing is movable along a track. Also disclosed is a method of gripping a printed product including gripping a printed product in a gripper unit and moving the printed product with respect to the gripper unit while the printed product remains gripped.

Abstract: A device for the hooking of printed circuits includes a support constituted by a roughly U-shaped structural shape with a seating designed to allow the insertion of the printed circuit, one or more pins inserted into holes in one wall of the structural shape, and thrust systems designed to push the pins against the opposite wall of the structural shape, and devices designed to engage the thrust systems in order to retract the pins and allow the insertion of a printed circuit.

Abstract: An improved conveyor system for transporting a microelectronic workpiece within a processing tool is set forth. The conveyor system includes a transport unit slidably guided on a conveyor rail for transporting and manipulating the workpieces. The transport unit includes a vertical member which is connected to a base end of a two section robot arm. The robot arm includes an end effector at a distal end thereof which is actuated to grip a surrounding edge of a workpiece. A first rotary actuator is arranged to rotate the vertical member about its axis to rotate the entire robot arm. A second rotary actuator is positioned to rotate the second section of the robot arm, via a belt, with respect to the first section of the robot arm. A third rotary actuator is arranged to rotate the end effector about its horizontal axis. The third rotary actuator permits the end effector to flip the microelectronic workpiece between a face up and a face down orientation.

Abstract: A device for the hooking of printed circuits includes a support constituted by a roughly U-shaped structural shape with a seating designed to allow the insertion of the printed circuit, one or more pins inserted into holes in one wall of the structural shape, and thrust systems designed to push the pins against the opposite wall of the structural shape, and devices designed to engage the thrust systems in order to retract the pins and allow the insertion of a printed circuit.