Abstract: A tote handling system and method of handling items includes a tote and a grip hand. The tote includes a tote frame including walls extending above a bottom to define a chamber shaped to receive items. The bottom and/or walls include tool reliefs secured to a wall. The tool reliefs are in an aligned positioned parallel to each other with a tool receptacle defined between the tool reliefs. The tool receptacles are shaped to receive the fingers of the grip hand therethrough for engagement with the items in the chamber. The grip hand includes a bearing movably supported by a robot, a base slidably movable along the bearing, and finger assemblies supported by the base. The finger assemblies are movable by actuators towards a closed position with fingers of the finger assemblies together and an open position with the fingers apart.

Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.

Abstract: A device for removing a wear member from a ground engaging surface, the device comprising: a body having cavity and a wear member engaging portion to engage the wear member when the wear member extends into the cavity; a gripper movable relative to the body, the gripper having a bracing member adapted to bear against a portion of the ground engaging surface to thereby provide a load path from the ground engaging surface to the wear member engaging portion; and a first actuator connected to the gripper and the body, to apply a force to the gripper, to urge the gripper to move relative to the body, such that, when the bracing member bears against the ground engaging surface, movement of the gripper relative to the body removes the wear member from the ground engaging surface.

Abstract: A robot according to one or more embodiments may include an arm and a hand. The hand is connected to the arm and supports to convey a wafer. The hand includes a base end portion that is an end of the side connected to an arm, and a distal end portion that is an end of the opposite side of the base end portion. With the hand, a lightened part is formed in at least a part of a first region which is a region of a distal end portion than the center part in the longitudinal direction of the hand.

Abstract: A plumbing tool assembly for removing a cartridge housing from a valve body includes a pair of pliers which has of jaws that are urgeable toward or away from each other. A pair of panels is each coupled to a respective one of the pair of jaws of the pliers. A pair of grips is each attached to a respective one of the panels. Each of the grips has a scallop to accommodate a cartridge housing on a valve body of a shower faucet. The scallop in each of the grips is aligned with each other to facilitate the pair of grips to be closed around the cartridge housing for removing the cartridge housing from the valve body.

Abstract: A gripping device includes a body defining a constraint opening. A gripping member is engaged to the body and is configured to grasp a container. The gripping member includes deformable gripping elements arranged in correspondence of the constraint opening and configured to embrace, when the gripping device is in use, a respective portion of the container. The gripping elements are configured to form an inner gripping space. The gripping member is configured to operate at least between a rest configuration and a gripping configuration wherein the deformable gripping elements are deformed and retain, when the gripping device is in use and in correspondence of the inner gripping space, a container.

Abstract: The present invention relates to an insertion device for inserting at least one packing section for a gas/liquid separation column into a cylindrical casing, comprising a base provided with retaining means which are configured to grip a packing section and which are arranged uniformly around a main axis, characterized in that the insertion device comprises at least two fastening means secured to the base, said fastening means being configured to fasten the insertion device to the casing. The invention also covers an insertion system for inserting at least one packing section into a cylindrical casing, comprising such an insertion device, and a method for inserting at least one packing section into a cylindrical casing that is implemented by such an insertion system.

Abstract: A gripping assembly for use with an automated sorting or manufacturing assembly is disclosed. The gripping assembly includes two or more fingers and alignment attributes for precisely picking up objects (e.g., objects placed in a random orientation). The gripping assembly includes the intrinsic ability to retrieve and align objects predictably by including fingers machined to specific characteristics, such that when roughly located to pick up the object, the closing of the fingers orients the object precisely allowing further manipulation of the object from a known object orientation. The fingers of the device can be aligned with precision using optional alignment features such as sliding within tabs fixed to one finger or sliding along a stabilizing pin fixed to one finger.

Abstract: An adjustable joint for insertion into a linkage of a substrate handler utilized for substrate processing. The adjustable joint allows for adjusting the pitch and roll of an attached link. Such adjustment may permit aligning a pickup surface of an end effector to a desired plane. Once adjusted, the joint may be fixed to maintain the desired orientation of the attached link. The adjustable joint allows for correcting deflection of a pickup surface of an end effector relative to a desired pickup plane due to, for example, drooping caused by high temperature usage, mechanical tolerances and/or installation errors.

Abstract: A refuse collection vehicle includes a grabber that is operable to engage a refuse container, at least one sensor that is arranged to collect data indicating a relative positioning of a first arm of the grabber and a second arm of the grabber, and a controller having one or more control elements for selecting a target positioning of a first arm of the grabber and a second arm of the grabber. The first arm and the second arm automatically move to the target positioning in response to a signal received by an onboard computing device of the vehicle.

Abstract: Aspects herein are directed to a clamp having a linkage coupled to a first end of a first and second clamp member. Based on applying a first directional force to the linkage, the linkage generates a force that moves the second ends of the first and second clamp member towards one another, thereby biasing the clamp to the closed position. The clamp secures a strap when the clamp is in the closed position and releases the strap when the clamp is in an open position.

Abstract: A method is provided that includes controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object. The method also includes receiving, from at least one non-contact sensor on the robotic gripping device, first sensor data indicative of a region between the plurality of digits of the robotic gripping device. The method further includes receiving, from the at least one non-contact sensor on the robotic gripping device, second sensor data indicative of the region between the plurality of digits of the robotic gripping device, where the second sensor data is based on a different sensing modality than the first sensor data. The method additionally includes determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, a result of the attempt to grasp the object.

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: An unwind station for a packaging machine may be configured to form wrappers having different sizes from a web of packaging material and supply the wrapper to a wrapping station. The unwind station may include a base configured to support the web of packaging material and a carriage configured to selectively slide in a longitudinal direction on the base. A rotating blade can be configured to periodically score the web to form a break line extending between lateral sides of the web. A first conveyor arm and a second conveyor arm may project longitudinally outward from the carriage. The first conveyor arm and the second conveyor arm can each include a low-speed conveyor configured to transport the web to a high-speed conveyor. The high-speed conveyor is configured to separate the wrapper from the web as the break line passes a shear point between the low-speed conveyors and the high-speed conveyors.

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

Abstract: A robot system according to an embodiment may include a robot, a wafer jig that is held by the robot, a positioning base, a positional displacement detection device, a control part, and an offset acquisition part for acquiring an offset that occurs between a command position for the robot and an actual position. The positioning base includes contacting members. The wafer jig has a tapered surface. The tapered surface guides the wafer jig so that a center of the wafer jig approaches a predetermined position as a position where the taped surface contacts the contacting members is relatively higher. The robot places the wafer jig on the positioning base, then holds and conveys the wafer jig to the positional displacement detection device. The offset acquisition part acquires the offset based on a result in which the positional displacement detection device detects a positional displacement of the conveyed wafer jig.

Abstract: An automatic picking fixture device: a fixture locked with a mechanical arm and includes a coupling orifice, a motor, a rotor, and a gear. The fixture includes four elongated orifices and two movable holders. The two movable holders have four through orifices corresponding to the gear, four passing orifices, and two toothed sections received in the four through orifices and meshing with and driving the gear. The four passing orifices of the fixture is configured to lock with the four pneumatic cylinders or four servo motors, and the four pneumatic cylinders or the four servo motors are configured to push four jaws outward or inward, the four jaws include four symmetrical clamping grooves configured to clamp at least one material. The four racks are fixed on the top of the fixture, and a respective rack has two rollers rolling along a respective elongated orifice.

Abstract: An example apparatus of the present disclosure may include an end effector. The end effector may include a pair of actuator-driven fingers that each include a compliant tip. The compliant tips may be used to scoop underneath items as part of item manipulation.

Abstract: An automated guided vehicle (AGV) is described. In an example implementation, the AGV may include an AGV body; one or more elevator mechanisms coupled to the AGV body; a support surface coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the support surface supporting an object from underneath the object when the object is placed on the support surface; one or more arms coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the one or more arms articulating to move the object from a first position of the object and place the object on the support surface; and an AGV controller configured to control one or more operations of the AGV.

Abstract: A lift truck clamp assembly with replaceable wear elements. The clamp assembly comprises a clamp plate, a shoe plate, a plurality of wear elements, and one or more grip elements. The shoe plate is harder and more wear resistant than the clamp plate and is detachably coupled to a lower inside surface of the clamp plate. The wear elements are coupled to a bottom edge of the shoe plate and extend below the clamp plate. Through the shoe plate pass a plurality of grip element holes. Each grip element has a plateau and a lip. The lip is on a periphery of the grip element, surrounding the plateau. Each of the grip elements is positioned with the pad plateau protruding through one of the plurality of grip element holes, with the pad lip held between the shoe plate and the inside surface of the clamp plate.

Abstract: The present disclosure provides a mounting fixture of a bearing ring for a wafer. The bearing ring includes a circular ring portion, screw elements, and multiple permanent seats, wherein the circular ring portion includes a ring body and multiple lugs provided with light holes, each of the permanent seats is provided with a threaded hole, and one of the screw elements can be in threaded connection with the threaded hole after passing through a light hole. The mounting fixture includes a first clamp body and a second clamp body, where the first clamp body is provided with a first circular hole portion and first groove portions; a diameter of the first circular hole portion is greater than or equal to an external diameter of the ring body; the second clamp body is provided with second groove portions penetrating through the second clamp body.

Abstract: A connector (70) for mechanically connecting a device (2) to a robot (20), wherein the connector (70) comprises a first portion (74) configured to be attached to the robot (20) and a second portion (76) configured to be attached to a device (2) configured to be connected to the robot (20). The first portion (74) and the second portion (76) are detachably attached to each other by a first connection portion (1) constituting a rotational system comprising a pivot (116) about which the first portion (74) can rotate with respect to the second portion (76) and a second connection portion (1?) constituting a mechanical locking structure that prevents the first portion (74) and the second portion (76) from being detached from each other.

Abstract: A robot apparatus includes a clamp mechanism; a transport mechanism; and a control unit. The clamp mechanism includes a first finger that has a first support surface and a housing portion and a second finger. The first support surface supports an aligned wire group that includes a plurality of wires, the housing portion includes a guide wall that is connected to the first support surface and regulates an amount of movement of the band member in a width direction. The second finger has a second support surface facing the first support surface and a facing portion being connected to the second support surface and facing the housing portion. The transport mechanism is capable of moving the clamp mechanism. The control unit controls a grip force of the clamp mechanism and a direction of movement of the clamp mechanism by the transport mechanism.

Abstract: A connector fitting device for fitting a female connector to a male connector includes a movable arm body connected to a base on a base end side of the movable arm body and a gripper connected to a distal end side of the movable arm body. The connector fitting device is configured to move the gripper to an arbitrary position in a three-dimensional space and in an arbitrary direction in the three-dimensional space. The movable arm body includes a device main body, a first arm, a second arm, and a third arm.

Abstract: Embodiments described herein relate to systems and methods for adjusting a grip on an object held by a gripper of a robotic system. The gripper manipulates the object to bring a portion of the object into contact with a supporting surface underlying the object, and the gripper undergoes one or more displacements relative the object to apply frictional pushes to the object while the object is held stationary against the supporting surface. The gripper maintains contact with the object during the one or more displacements, and the one or more displacements are at least partially directed towards the supporting surface. According to some aspects, such manipulation strategies provide a functionality of fixturing an object for regripping without requiring customized fixture hardware.

Abstract: A device comprising: (a) a first working arm; (b) a shuttle located on the first working arm, and (c) a bias device; wherein the bias device biases the first working arm when the shuttle is in a first position, and wherein the bias device is free of biasing the first working arm when the shuttle is in a second position.

Abstract: A device comprising: (a) a first working arm; (b) a body; (c) a shuttle, and (d) a bias device; wherein the bias device biases the first working arm relative to the body when the shuttle is in a first position, and wherein the bias device is free of biasing the first working arm relative to the body when the shuttle is in a second position.

Abstract: A cradle and guide system for a refuse vehicle has at least one track member mounted on a bumper of a refuse vehicle. The at least one track member is able to deflect horizontally to compensate for misalignment. At least one guide member is mounted to a front loading fork of the refuse vehicle. The at least one guide member contacts the at least one track member to limit horizontal movement of the front loading fork with respect to the refuse vehicle during misalignment. The at least one track member returns to its original position to align the front loading forks.

Abstract: Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.

Abstract: A robot simulation apparatus includes an information setting unit that sets a type of one or more hands provided on the tool; a storage unit that stores types of the hands in association with three-dimensional models and tool coordinate systems of the hands; a hand position and posture setting unit that sets a position and a posture of each of the hands of the tool attached to an attachment surface of a robot; and a generation unit that generates a three-dimensional model of the robot, in which the three-dimensional model of the hands read based on the set type of the hand is attached to the attachment surface based on the set positions and postures, and that sets a tool coordinate system. The generated three-dimensional model and tool coordinate system are used to perform a simulation of the robot provided with the tool attached to the attachment surface.

Abstract: A hand device includes: a first hand fixed to a robot arm; a second hand that has a workpiece stage on which a workpiece is placed and that is coupled to the first hand; a positioning mechanism that positions the second hand relative to the first hand when the second hand is to be coupled to the first hand; and a coupling mechanism that couples the second hand having been positioned by the positioning mechanism to the first hand, and uncouples the second hand from the first hand, wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand.

Abstract: An end effector assembly (12) for an electrosurgical instrument comprises a pair of opposing first and second jaw members (13, 14), at least one of the jaw members being movable relative to the other between a first open position in which the jaw members are disposed in a spaced relation relative to one another, and a second closed position in which the jaw members cooperate to grasp tissue therebetween. The first jaw member (13) includes a first tissue-contacting surface (17) and the second jaw member includes a second tissue-contacting surface (19). The first tissue-contacting surface (17) comprises a plurality of ridges (23) extending parallel to one another in a first longitudinal direction, and the second tissue-contacting surface (19) comprises a plurality of ridges (24) extending parallel to one another in a second longitudinal direction, the first longitudinal direction being different from the second longitudinal direction.

Abstract: A mascara application system includes an applicator for mascara and a mascara container. The applicator may include two brushes, and have a reverse tweezers arrangement, by which the brushes may be spaced apart from one another when pressure is applied to a handle portion of the applicator, and the brushes may be positioned adjacent to one another when no pressure is applied to the handle portion. An optional applicator container may hold a handle portion of the applicator, while enabling its actuation to operate the applicator. The mascara container, which holds mascara and is configured to receive the brushes, may include a separate portal for each brush, as well as a squeegee or other element for removing excess mascara from each brush. Methods for applying mascara to lashes are also disclosed.

Abstract: A dental membrane placement forceps which includes a thin spatula on the tip of one arm of the forceps. The spatula has a concave inward face juxtaposed the tip on the opposing forceps arm and is oriented substantially perpendicular to the direction in which the opposing forceps tips move inward toward one another to grip the object (i.e., the gripping plane). The concave inward face of the spatula is concave in one direction. The forceps is useful for placing flat, flexible materials such as a membrane used for regenerative osseous surgery in dentistry.

Abstract: In an embodiment, the present invention discloses a EUV cleaner system and process for cleaning a EUV carrier. The euv cleaner system comprises separate dirty and cleaned environments, separate cleaning chambers for different components of the double container carrier, gripper arms for picking and placing different components using a same robot handler, gripper arms for holding different components at different locations, horizontal spin cleaning and drying for outer container, hot water and hot air (70 C) cleaning process, vertical nozzles and rasterizing megasonic nozzles for cleaning inner container with hot air nozzles for drying, separate vacuum decontamination chambers for outgassing different components, for example, one for inner and one for outer container with high vacuum (e.g., <10?6 Torr) with purge gas, heaters and RGA sensors inside the vacuum chamber, purge gas assembling station, and purge gas loading and unloading station.

Abstract: The present invention provides an apparatus for automated vertical placement of a small rod at a predetermined location, where the apparatus includes a parallel pneumatic gripper having a driver mechanism and a double-v shaped interlocking jaw assembly configured to receive, secure, and release a small rod in a substantially vertical position in response to corresponding signals generated by the driver mechanism. The present invention also provides a robotic system for automated gross retrieval and precise placement of a small rod. The present invention further provides a process for automated gross retrieval of at least one small rod and subsequent precise and substantially vertical placement thereof into a platform at a predetermined location and at a predetermined depth.

Abstract: A tweezer device and method of using that provides an improved gripping tip concept for gripping a work object. The tweezer device comprises two gripping tip bodies arranged in a symmetric vee configuration supported on a first flexible tweezer beam, and a third gripping tip body supported on a second flexible tweezer beam arranged in such a manner that the third gripping tip body engages a work object and directs a force on the work object that is approximately coplanar with the plane of symmetry of the vee configured structure in a manner that pushes the work object into contact with the two vee configured gripping tip bodies thus forming two lines of contact between the work object and the vee configured tip bodies.

Abstract: A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping grip extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the grips inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.

Abstract: A clamping device includes a driving mechanism and a pair of clamping mechanisms. Each clamping mechanism includes a clipping member, an installing plate, a positioning member, a resisting plate, and an elastic member. The clipping members are movably connected to the driving mechanism. A protrusion protrudes from the clipping member, and includes a first inclined surface. The installing plate defines an opening. The protrusion passes through the opening. The positioning member is inserted into the installing plate and fixed with the clipping member. The resisting plate is movably mounted on the installing plate. An abutting portion protrudes from the resisting plate, and passes through the opening. The abutting portion comprises a second inclined surface resisting the first inclined surface, the elastic member is sandwiched between the installing plate and the resisting plate, for providing a resetting force to the resisting plate.

Abstract: A non-contact holding device (1) attached to a parallel mechanism robot (100) has a square plate-like base member (10), a Bernoulli chuck (20) attached to the center on a rear surface of the base member (10), and eight pin-like guide members (30) that are disposed facing each other with the Bernoulli chuck (20) therebetween and that are provided on the rear surface of the base member (10) in a protruding manner. The guide members (30) facing each other are configured to be able to move away from each other. These guide members (30) move away from each other along inner surfaces of guide holes (72) of a workpiece mounting tray (70, 71) as the Bernoulli chuck (20) approaches a workpiece mounting surface (75) of the workpiece mounting tray (70, 71).

Abstract: An end effector is disclosed for use in substrate processing. The end effector includes a effector body portion, a contact pad pocket formed in the end effector body, a spring retaining pocket formed in the end effector body adjacent the contact pad pocket and extending to an edge of the end effector body, and a pair of through-holes extending from the spring retaining pocket to the contact pad pocket. The end effector can include a contact pad seated within the contact pad pocket, the contact pad having at least one retaining channel formed therein, and a retaining spring having a pair of retaining arms extending from the retaining spring pocket through the through-holes and into the contact pad pocket. The retaining arms may extend at least partially into the at least one retaining channel of the contact pad and may thereby restrict movement of the contact pad.

Abstract: A robot hand having an attachment portion that is held when incorporated into a robot includes CFRP laminated to each other and a vibration-damping elastic layer that is disposed between the CFRP layer and the CFRP layer. The vibration-damping elastic layer includes viscoelastic resin regions including a viscoelastic resin and a high-rigidity resin region including high-rigidity resin. The viscoelastic resin regions and the high-rigidity resin region are alternately arranged along the direction intersecting the longitudinal direction of the CFRP layer in the attachment portion. The viscoelastic resin regions improve vibration-damping properties on the robot hand. As the viscoelastic resin regions and the high-rigidity resin region having relatively higher rigidity are alternately arranged along the direction intersecting the longitudinal direction of the CFRP layers, flexural rigidity along the longitudinal direction of the CFRP layer is improved.

Abstract: A mechanized gripping apparatus for grabbing collection containers of a range of sizes is disclosed. The apparatus has converging opposed cylinder-operated finger arrangements which pivot together to close about a container for gripping and open to release a container.

Abstract: A carry-assist apparatus for moving heavy, cumbersome objects. The apparatus has a handle segment, an adjustable shaft segment and a hook segment, each segment of which is configured and dimensioned to permit the assembly of a spatially variable carry-assist apparatus. The hook segment is formed with a bottom having a bottom end to which optional nubs may be secured to provide positive, secure engagement to the object being lifted.

Abstract: The medicament dispensing machine enables to use vials having various sizes and shapes without changing a part in the machine or without performing a special operation. The medicament dispensing machine contains a discharging unit that receives a vial filled with a medicament from a medicament filling means and discharges out of a vial discharging window. The discharging unit contains a vial gripping means having a pair of gripping arms that grip a vial, a body of gripping means having the vial gripping means, a moving means that moves the vial gripping means from the medicament filling means to the vial discharging window, and an orientation changing mechanism that changes the orientation of the body of gripping means. With a coordination of the movement of the body of gripping means toward the vial discharging window, the orientation changing mechanism makes the gripping arms orient to the vial discharging window.

Abstract: A reaching apparatus is provided for allowing a user to utilize gross motor skills to actuate the reaching apparatus. The reaching apparatus includes a fixed and a sliding handle on a shaft. An internal pulley system is connected between the first and second handles such that sliding of the second handle activates the pulley system to move the claw of the reaching apparatus between an open and closed configuration. The claw may be locked in an open and/or closed configuration by rotation of the handle on the shaft. The pulley system can be set to specific resistance to activate the claw upon different gross motor levels.

Abstract: The present invention relates to a gripper device for transporting a rack (3) for microscope slides (4), in particular in systems for preparing tissue samples for histological examinations, the gripper device having a gripping mechanism including a pair of gripping arms (2), whose ends are configured as gripping sections (7) for gripping the rack. In order to provide a gripper device which can be used in a versatile manner in automated stainers and coverslippers and contributes to reducing the cost of manufacture, it is proposed that the gripping sections (7) be provided with first profiles (17) for gripping the rack (3) in a vertical position and second profiles (18) for gripping the rack (3) in a horizontal position.

Abstract: A lift truck clamp arm assembly for engaging large cartons, which may contain large household appliances. Pivoting clamp pad support assemblies are adjustable to vary a radial spacing between a pivot pin and a clamp pad supported on the clamp arm assembly by attachment to the adjustable clamp pad support assembly, to provide desired pressure concentrations at selected parts of a carton to be gripped.

Abstract: In an embodiment, the present invention discloses a EUV cleaner system and process for cleaning a EUV carrier. The euv cleaner system comprises separate dirty and cleaned environments, separate cleaning chambers for different components of the double container carrier, gripper arms for picking and placing different components using a same robot handler, gripper arms for holding different components at different locations, horizontal spin cleaning and drying for outer container, hot water and hot air (70C) cleaning process, vertical nozzles and rasterizing megasonic nozzles for cleaning inner container with hot air nozzles for drying, separate vacuum decontamination chambers for outgassing different components, for example, one for inner and one for outer container with high vacuum (e.g., <10?6 Torr) with purge gas, heaters and RGA sensors inside the vacuum chamber, purge gas assembling station, and purge gas loading and unloading station.

Abstract: The grasping apparatus includes a grasping portion for grasping a workpiece. This grasping portion has i) pawl portions having squeezing portions that squeeze the workpiece, and ii) contact portions, each of which has an inner bag made of elastic material, and a granular substance that is filled in the inner bag. The contact portions are attached to portions of the squeezing portions that contact the workpiece, and harden the granular substance while keeping it in an appropriate shape by increasing a volume ratio of the granular substance to an inner volume of the inner bags. Retaining portions that have concavo-convex shapes are formed on the attaching surfaces that are portions of the squeezing portions that the contact portions attach to.