Abstract: An apparatus and method are disclosed directed to transferring articles from a first delivery conveyor to a second transfer and discharge conveyor located above the first delivery conveyor. The second transfer and discharge conveyor has a series of longitudinally spaced openings through which the articles are lifted from the first delivery conveyor for placement on the second transfer and discharge conveyor.

Abstract: The invention relates to a container loading and emptying device for a refuse vehicle with an endless carrier consisting of two chains (10,11), which runs in a substantially vertical plane along a substantially rectangular path, one or more pick up members (13), which are fitted to a shaft (12) connected to the endless carrier (10,11) and which are rotatable around this shaft (12) and tilting means consisting of rolls (15,16,17,18) mounted to the pick up member (13) and guides (27a,27b,28,27a',27b',28',30,31) for the said rolls mounted on the frame (3), with which at the upper angular points and a successive part of the upper part of the path the pick up member (13) rotates over an angle of 180.degree.

Abstract: The present invention includes a method for transporting articles (24), and a pick and place apparatus (10) for implementing the method. The apparatus includes a suction tube (12) coupled to a pickup cam (11) and a pin (22) coupled to a hold-down cam (18). The pickup cam (11) and the hold-down cam (18) share a common cam shaft (15). In addition, the suction tube (12) is coupled to a pressure reduction apparatus (16) which is enabled throughout the transport process. The cam shaft (15) is rotated in a first direction to couple the article (24) to a suction cup (14). The article (24) is transported to a desired location and released by reversing the direction of rotation of the cam shaft (15). The article (24) is released by the pin (22) pushing the article (24) away from the suction cup (14).

Abstract: An apparatus for coating and developing a resist on a wafer comprises a carrier station provided with a plurality of carriers for receiving wafers and transfer tables, a processing section having a plurality of processing units, and a transfer robot provided between the carrier station and the processing section. The robot comprises a plate-shaped arm for transferring wafers between the carriers and the transfer tables, and two horseshoe-shaped forks for transferring wafers between the processing units and transfer tables. The robot is movable along a transfer path so as to make the arm and forks face the carriers, processing units and transfer tables.

Abstract: An end effector having an individually positionable piston formed directly onto a movable pipe with one end of the movable pipe connected to a common plenum chamber and the other end to a bellows-shaped collapsible vacuum cup with the movable pipe forming an elongated air evacuation chamber to permit quick evacuation and pickup of an article located proximate the bellows-shaped collapsible vacuum cup and a stabilizer located proximate the bellows-shaped collapsible vacuum cup to act as a stop to prevent swaying of the article as the bellows-shaped collapsible vacuum cup is moved from one position to another.

Abstract: A suction head having plural suction pads on both surfaces thereof is used to transfer a substrate of a compack disk and the like from one position to another for loading. The suction head is connected to a rotating shaft rotatable and movable in a vertical direction. The rotating shaft causes the suction head to turn over and move in an up-and-down direction. The suction pads on both surfaces of the suction head are connected to a pair of flexible pipes which are wound around the shaft and connected respectively to exhaust systems. Thus, the suction pads capture and release the substrate by suction control so as to load the same at a prescribed position. Further, a shock absorber is provided to relieve a shock upon the stoppage of the suction head in vertical and rotational reciprocating motions.

Abstract: A vacuum lifting/lowering head comprises a fixed, steadying upper handle adapted, in use, to be gripped by the user, and a movable, lower handle displaceable under the manual control of the user, both handles being suitable for either left or right hand manual operation. An opening is provided in a part of the head, and a valve member is associated with the opening to control the extent of exposure thereof and displaceable by the user's manual movement of the lower handle. The invention also includes a vacuum lifting apparatus provided with such a head.

Abstract: The invention concerns a vacuum lifter to transport loads with an adhesion surface, comprising at least one suction head suspended from a hoist, said suction comprising at least one annular seal projecting from its suction side, the vacuum chamber(s) enclosed by the annular seal(s) communicating with a vacuum source, a valve furthermore being provided which can be switched between a suction position wherein the vacuum source communicates with the pressure chamber or vacuum chambers and a venting position wherein the communication with the vacuum source is interrupted and the vacuum chamber(s) is (are) vented or fed with compressed air.

Abstract: An auxiliary energy source is connected to the manually operated lift head of a vacuum lift system for connection of an accessory. Thus, electrical or compressed air energy is made conveniently available to power a load rotating accessory, a clamp, or the like, preferably by means of feeding a conduit line coaxially within the flexible tubing of the lift system. This is particularly useful to prevent interference or disarray of an auxiliary line that must be manipulated in tandem with the lift head, and is operable with rotary type lift systems that permit 360 degree rotation of the lift head.

Abstract: A goods handling method and apparatus therefor, the method of which comprises the steps of sequentially taking out a desired number of goods from an accumulation of goods formed of a plurality of goods accumulated in the height direction, a plurality of goods accumulated in the depth direction, and one or more goods accumulated in the width direction, and discharging such taken-out goods into a container. The goods handling method and apparatus therefor, the method of which further comprises the steps of arranging the height of a bottom surface of goods to be taken out among the accumulation of goods generally equal to the height of a goods receiving table and thereafter, taking out the goods onto the receiving table, discharging such taken-out goods into the container, moving goods on the second row to the front row after all goods on the front row have been taken out, and then taking out the goods.

Abstract: An improved part removal assembly (17) particularly for a shuttle-type blow molding machine (10). The part removal assembly includes a plurality of suction cups (95) mounted on a vertically moveable piston (87) that travels along a vertically oriented rodless cylinder (81) and a plurality of suction cups (115) mounted on a horizontally moveable piston (107) that travels along a horizontally oriented rodless cylinder (83). A mold assembly (15) shuttles between an extruder head assembly (11) where a plurality of parisons of molten plastic are captured in mold cavities (25) in the mold assembly, and a blow station assembly (13) where the parisons are blown to form a molded workpiece (31). The mold assembly then opens which causes a flash removal assembly (57) to remove a waste flash portion (55) from a bottom portion (31a) of the workpieces. The bottom of the workpieces are then engaged by the vertically moveable suction cups which lower the workpieces to a position adjacent to a conveyor (117).

Abstract: A flexible product, more particularly an information-carrying disc, is removed from a carrier plate, more particularly a mold, by creating a partial vacuum at the side of the product facing away from the carrier plate. While the product is being displaced in a direction facing away from the carrier plate under the influence of the partial vacuum, the product is guided in such a way that it is displaced over the greatest distance at two opposite ends and the displacement of the parts of the product situated between these ends decreases gradually towards the center of the product.

Abstract: A method of and system for handing a load by transferring a load between a storage base and a transport base by engaging a portion of at least one engagement member, e.g. a suction cup or an electromagnet, with an engagement surface on a side or end of the load, and displacing the engagement member to thereby pull the load onto the transport base for transport by the transport base or to push the load from the transport base onto the storage base. The engagement surface has a size at least equal to that of the portion of the engagement member.

Abstract: A method of leveling a cabinet comprising the steps of lifting the cabinet off of the ground, inserting safety blocks underneath the raised cabinet, adjusting one or more of the adjustable feet which depend from the cabinet corners, lowering the cabinet to the ground, checking the level of the cabinet and repeating the above steps until the cabinet is level.

Abstract: A positioner suitable for use in warehouses where stored products are carried with on pallets or on horizontal forks. The positioner is designed to load, unload, select, store, pull out, prepare orders, etc., of any kind of the aforementioned products. The positioner has a structure with two vertical masts with a bolster moving vertically between them, a slider slidably mounted on this bolster, a longitudinal frame on which moves a second slider carrying a vertical column with its free end provided with an air hole or clamp to carry out the transfer of products, with operations monitored and controlled by computer.

Abstract: The lifting and transportation of sensitive articles incapable of bearing a mechanical load, without manual involvement, presents special difficulties in packaging technology. This applies, above all, to tray packs in which articles are arranged standing on a bottom part (11) of small height, without any additional anchoring. For grasping and lifting articles of this type, there is provided a raisable and lowerable suction box (15) which, with suitable dimensions, is placed over the article in the manner of a bell. By the generation of a vacuum within the suction box (15), the article (tray pack 10) is held carefully and can be lifted by means of the suction box (15). Side walls (22) of the suction box (15) are arranged pivotably, to make it easier to place the suction box (15) onto the article.

Abstract: According to the invention, a suction lifter for a material handling device is provided for work pieces with suction surfaces. At least one pneumatic, double acting working cylinder is provided with a suction cup arranged at an end of the piston rod. A piston of the working cylinder is provided cooperating with the cylinder to define a first working chamber, opposite the suction cup, and a second working chamber, adjacent to the suction cup. A directional control is provided for controlling a connection between the compressed air source and the working cylinder and for venting the working cylinder. The directional control includes a pressure reducing arrangement for the suction cup.

Abstract: A bottle handling device comprising a tool for grasping the sides of the bottles, the tool being tiltably mounted to one end of a flexible cord and the other end of the cord is coupled to a balancing device for balancing the grasping tool and developing a balancing force that is adjustable between two values depending on whether the tool is loaded or unloaded. The device also has a support table for supporting a plurality of bottles standing in a row, and a backing piece mounted along the table in order to accommodate the tilting of the bottles while the value of the balance force is changing.

Abstract: An article lifting device includes vertically elongate hollow tubular frame members, one telescopically received within the other for guided vertical movement. The outer member includes a bracket for fixedly mounting the outer member upon a support, which may be a horizontally movable shuttle carriage, and carries a reversible drive motor coupled to a drive gear mounted for rotation about a horizontal axis near the lower end of the outer member. A flexible belt having teeth at one side is fixed at opposite ends to the upper and lower ends of the inner member and a bight portion of the belt is meshed with the drive gear, the bight portion projecting from the inner member between two idler rolls mounted on the outer member and passing around the drive gear. The idler rolls hold those portions of the belt other than the idler rolls in face-to-face engagement with the inner member.

Abstract: A system for controlling vacuum lifting apparatus 2 comprising a bellows like lift tube 3 having an interior 6 connectable to a vacuum pump, with a suction foot 10 associated with the lift tube 4. Valve 1, serving to connect the interior 6 at a controllable level to atmosphere to regulate the internal vacuum and hence the axial extension of the lift tube 3, comprises a housing 11 having a first connection 12 to the suction foot 10 in air-flow communication with a first chamber 13 of the housing 11, which chamber 13 has an outlet 14 to atmosphere controlled by a first valve member 15.

Abstract: A product gripper mechanism, particularly for gripping a plurality of products in a product group, such as bakery products, for transfer to and loading into a shipping basket or tray. The gripper is constructed of a material, such as rigid PVC tubing, which is easily obtainable, lightweight and of substantial strength. The gripper frame includes spaced-apart lateral supports, which carry a plurality of adjustably positionable cross members carrying suction devices. The suction devices are adjustably positionable on the cross members, and may easily be added to or removed from the cross members. The assembly of the tubing elements is such as to accommodate rapid disassembly and reassembly, in order to reconfigure the gripper for different product types. The gripper has pivoting end flaps of L-shaped configuration provided with thin, flexible, inwardly projecting bottom plates.

Abstract: Wafer transfer apparatus including a wafer-pickup element having suction openings closer to the edge of wafer than the wafer's center so that the wafer can be picked up with greater certainty as to the locations of the wafer edges, the openings being surrounded by raised portions so that the region of the wafer-pickup element between the opening is at a lower elevation than the raised portions so as to facilitate picking up warped wafers.

Abstract: An automated machine comprising a handler mounted with a rotating aptitude about two perpendicular and intersecting rotational axes, having a free end fitted with a mechanical hand comprising an intake head. A vision system is permanently installed at the point of intersection of the rotational axes in a base unit comprised of a cradle which supports a rotatable turret which has an extension arm attached to another end of the handler. The handler is comprised of two branches comprising a folding arm that are joined together at one end with devices provided for symmetrical movement of both branches when an external force is exerted on either of them. The automated machine contains devices for deployment and retraction of its folding arms so as to grasp and release an object detected by the vision system installed in the handler apparatus.

Abstract: The apparatus has a frame formed with vertical and horizontal supports to which are assembled a plurality of parallel spaced shelves. A horizontal load girder is vertically movable along vertical supports with load pickup oriented toward the shelf arrangement. The frame is movable toward and away from a storage shelf arrangement while the load pickup maintaining its vertical position; to this end, the frame has deflection wheels, substantially at its upper and lower corners, for a tensioning arrangement extended in a FIG. 8 in the vertical direction; with their upper and lower ends, the tension means are attached in stationary fashion, likewise in a FIG. 8, either to the shelf arrangement or to a point corresponding to the maximum distance of the frame from the shelf arrangement.

Abstract: A device is adapted for preventing damage on products (4), preferably paper-rolls, which should not be bumped into when fetched and/or delivered by a transport vehicle (1) having a hoisting unit (2) with a transfer device (3) which is moveable relative to said hoisting unit such that it is relocated and adapted to the product when pressed thereagainst by the transport vehicle, whereby the product preferably may be sucked onto a suction device forming part of the transfer device. In order to prevent damage to the edges of the product when it is fetched or delivered, the device includes a locking device (8) which, after that the transfer device (3) has adapted to the product and said product preferably is sucked onto the suction device, locks the transfer device relative to the hoisting unit (2) in order to prevent forward tilting of the transfer device and the product thereon when said product is lifted and/or transported and/or delivered.

Abstract: The present invention relates to a device for permitting adaptation of a suction pad (6) to the outer shape of products (1) to be lifted, whereby at least two brackets (13, 19) via links are pivotally connected to a carrying member (8), whereby at each bracket via links are pivotally arranged at least two supports (17, 18 and 23, 24) on which the suction pad is provided and whereby the supports are movable relative to each other. For the supports (17 and/or 23) to provide such a large degree of rotation that the suction pad (6) can adapt to products in the form of paper rolls (1) with substantially different diameters, one of the brackets (13, 19) is rotatably mounted on the carrying member (8) through a double link (11a, 11b) in order to permit a large degree of rotation between the bracket (13) and the carrying member (8) whereby one (17 and/or 23) of the supports (17, 18, 23, 24 ) is provided on each bracket (13 and/or 19) through a double link (15a, 15b and/or 21a, 21b).

Abstract: A high precision automated wafer inspection station provides a base table area on which an X-Y stage is movable in mutually orthogonal directions relative to an inspection axis in alignment with a microscope or measuring instrument which is mounted on a bridge support above the table. The stage mechanism includes a wafer-supporting vacuum chuck having a top engagement surface for receiving and retaining the wafer, the chuck being rotatable about a central axis to provide angular positioning of the wafer, and focusable along the inspection axis. The wafer is moved on a dual probe mechanism in a horizontal plane from a first cassette controlled by an elevator at one side back to the first cassette, or to a second cassette controlled by an elevator at the opposite side of the table area.

Abstract: Elastically deformable suction plates are provided for lifting and transporting delicate goods such as "fresh" concrete interlocking paving stones. In said suction plates, the total suction space is divided into numerous separate suction chambers which are totally enclosed. The design of such a suction plate and the vulcanization mould needed for its production are described.

Abstract: A semiconductor wafer handling apparatus for automated movement of semiconductor wafers between wafer cassette trays and wafer test systems is provided. The apparatus includes a platform for carrying at least one semiconductor wafer cassette tray, a wafer alignment device carried by the platform for aligning a semiconductor wafer in a predetermined test position and a wafer transfer device associated with the platform and the wafer alignment device for transferring the wafer between the cassette tray, the alignment device and the test system. The wafer transfer device is operational in the same plane relative to the platform and capable of extending, retracting and rotating in the plane.

Abstract: A robot having a robot arm swingable from a position outside a car body conveying line to the line and movable in the directions of length, width and height of the car body is provided with a support frame carrying a jig for holding the window glass. The frame is tiltably mounting on the arm via a tilting shaft. A first detector is mounted on the frame for detecting a deviation the car-width direction of the jig with respect to the window portion. A pair of second detectors are provided on the frame at positions which are symmetrical with respect to the car width direction center line of the jig for detecting deviations in the plane of the window opening. First, deviation detected by the first detector is corrected by moving the jig in the car width direction. Then, deviation in tilt detected by the second detectors is corrected by tilting the jig. Finally, deviation in height detected jointly by the second detectors is corrected by raising or lowering the jig.

Abstract: A wafer transport system includes a mobile frame, a wafer cassette conveyor, a wafer support table, and a wafer transfer assembly. The wafer cassette conveyor carries a plurality of wafer cassettes and presents them successively to a transfer location. The wafer transport assembly, including a robotic arm and a vacuum pickup element, is then able to transport individual wafers from the cassettes to the support table. By rotating the support table, a plurality of wafers can be placed in a desired order. The wafer support table may then be moved to a location proximate a processing chamber, such as a chemical vapor deposition reactor, and processed and unprocessed wafers efficiently exchanged by the transport assembly.

Abstract: A die ejector chuck is provided with a central housing and an outer housing and the central housing is provided with a die eject collar which extends through an aperture in the outer housing. A preselected die on a flexible adhesive tape is positioned over the die eject collar and a source of vacuum is applied to apertures in the outer housing. The outer housing is moved upward and away from the central die eject collar so as to stretch the flexible adhesive tape supporting the preselected die. The adhesive tape is pre-peeled and pulled away from the preselected die which subsequently is further separated from the adhesive tape by a die eject pin to permit the preselected die to be picked up with a die collet acting with a light pulling force on the active surface of the preselected die.

Abstract: Conveying apparatus, especially a palletiser, with a feed conveyor (10) for articles, especially packs (11; 30) of differing size and differing weight, on the one hand, and, on the other hand, with a stacker (14) assigned to a stacking point (12; 13) and having a pivoting arm (16) which is movable vertically up and down and at the free end of which suction head 17 for grasping and releasing packs (11; 30) is arranged. To reduce the drive energy, the pivoting arm (16) has assigned to it a balancing weight (18) which is continuously effective during the up-and-down movement of the latter and which at the same time runs respectively in the opposite direction; there is also an additional balancing weight (24) which can be connected to the continuously effective balancing weight, if necessary, especially during heavy-duty operation.

Abstract: The manipulator for sheet-metal pieces is used in conjunction with a sheet-metal working machine and has two rotatable holding members (20) displaceable in three dimensions. The holding members (20) each have both clamping tongs (22), which act on the surface of the sheet-metal piece (24) to be worked, and a clamping strip (23) exerting pressure parallel to the sheet surface. It thereby becomes possible for the sheet-metal piece to be worked, in a first working phase when it is still plane, to be grasped along two parallel edges by means of tongs and, after the first working, to be held only by means of the clamping strips.

Abstract: A pick-up device for automatic lifting and conveying apparatus has a plurality of pick-up members (5), preferably of the suction type, each of which is intended to take hold of a respective article in an array of rows arranged in at least one direction. The device includes a plurality of generally elongate and mutually parallel support members (4) which are intended to be oriented in the direction of the rows of articles in use. Each support member (4) carries an associated respective row of pick-up members (5) extending longitudinally of the member itself. A drive (9) enables the distance between adjacent support members (4) to be varied so as to allow them to be adapted selectively to the spacing between the rows of articles. More particularly, this distance may be varied while the device is transferring the articles supported by the pick-up members (5) to a package so as to adapt the separation between the rows of articles to the dimensions of the package itself.

Abstract: Apparatus for booking an elastomer such as a rubber sheet is disclosed. A conveyor has a series of driven rollers. A stop member is positioned to stop the movement of the elastomer by contacting the front end. The stop member may be fixed on a transfer or grasp member, typically a vacuum head which is employed to transfer the elastomer on to a flatcar.

Abstract: A high precision automated wafer inspection station provides a base table area on which an X-Y stage is movable in mutually orthogonal directions relative to an inspection axis in alignment with a microscope or measuring instrument which is mounted on a bridge support above the table. The stage mechanism includes a wafer-supporting vacuum chuck having a top engagement surface for receiving and retaining the wafer, the chuck being rotatable about a central axis to provide angular positioning of the wafer, and focusable along the inspection axis. The wafer is moved on a dual probe mechanism in a horizontal plane from a first cassette controlled by an elevator at one side back to the first cassette, or to a second cassette controlled by an elevator at the opposite side of the table area.

Abstract: These machines have the task to separate the containers stacked on the pallet as well as the intermediate bottoms provided for stabilization from each other. For this purpose additional devices are provided which are intended exclusively for the extraction and transportation of these intermediate bottoms. Now an essential simplification is to be accomplished, so that the extraction of the containers and the removal of the intermediate bottoms occurs automatically with the transposal movement of the container layer.

Abstract: An article manipulator for use with an industrial robot includes an upper frame adapted for fastening to the industrial robot and a lower frame coupled to the upper frame. A pair of lifting members operable for lifting an article are connected to the lower frame. At least one vacuum cup is coupled to the frame and is restrained to move in a plane substantially parallel to the lifting members. Sensing mechanisms are provided for sensing the position of an article relative to the manipulator and for generating electrical signals which are utilized by a controller to enable the vacuum cups to grip the article at one side and move the article onto the lifting members. Subsequently, the manipulator transfers the articles to a second position. The manipulator is suited for depalletizing and/or palletizing parallelepiped shape articles.

Abstract: Apparatus for loading and unloading wafers including a support structure having associated with it a predetermined wafer engagement position at which wafers can be engaged by the processing machine, a temporary storage device mounted on the support structure for storing a wafer in position for pick up, the flat surfaces of the wafer being parallel to an X-axis and perpendicular to a Z-axis, a first wafer engagement member for carrying the wafer on the first engagement member between the temporary storage device and the engagement position, a first X-direction mover mounted on the support structure and operable to move the first engagement member parallel to the X-axis, a second wafer engagement member for carrying the wafer on the second engagement member between the temporary storage device and the engagement position, a second X-direction mover mounted on the support structure and operable to move the second engagement member parallel to the X-axis independent of the first engagement member, a Z-direction m

Abstract: The automatic vacuum gripper comprises a gripper member with a resilient seal coupled to a hollow piston and shaft. The piston is spring loaded downward in a cylinder coupled to a vacuum source. With vacuum applied, the piston does not move until the gripped part is completely sealed to the gripper member.

Abstract: A device for loading X-ray film cassettes comprises a housing having a compartment receiving a cassette, a plurality of boxes accommodating film dispensing magazines positioned one above another in the housing, a suction device and transport roller pairs for transporting a film sheet sucked by the suction device towards the cassette. The suction device which includes at least one sucker is displaceable between a dispensing magazine, which contains a film pack corresponding in size to that of the cassette, and the transport roller pairs so as to provide a transport path for the film sheets with very few direction changes.

Abstract: Automatic assembly equipment for semiconductor devices comprises die or chip selection, transport, and bonding operations coordinated to obtain high production rates. Die selection means comprises a capillary and a needle, positioned on opposite sides of the wafer, which act together to lift the chip out of the plane of the wafer and load the capillary. The transport mechanism comprises a sheave driven carriage for transporting the chip without subjecting the chip to excessive acceleration. The bonding apparatus comprises a slot and gear arrangement for transporting and locating a lead frame and a heater for bonding the chip to the appropriate part of the lead frame.

Abstract: The invention relates to an apparatus for handling sheets or the like. The apparatus comprises a bridge structure displacable on rails, an upper carriage displaceable on the bridge structure in a direction perpendicular to the rails, vertical beams attached to the upper carriage, and a carriage displaceable on the vertical beams in the direction thereof. The carriage is provided with lifting forks for removing a sheet pack or the like from a shelf place. The carriage is further provided with a gripper frame for picking up a sheet or the like from the shelf place or the like. In order to provide a simple and reliable apparatus, the carriage is provided with arms pivotable around a horizontal axis from a first position above the lifting forks and essentially in parallel therewith to a second position, and vice versa.

Abstract: An improved lift truck for transporting a load is described.

Abstract: The battery plate stacker includes a plurality of heads having pickup members located on the ends thereof for temporarily attaching either separators or plates to the heads as is appropriate. The heads are pivotal between stacks of plates or separators and a conveyor that is disposed between the stacks of plates and stacks of separators. The stacker includes control apparatus that prevents retraction of the heads unless a plate or separator is attached thereto and prevents swinging of the heads between the stacks and the conveyor until all of the heads are retracted.

Abstract: An apparatus for the peel off feeding of stacked printed items such as newspapers, periodicals, booklets or the like, comprises a number of open-topped containers for receiving the stacked items. There is furthermore a peel off station into which the containers are moved for the removal of the printed items therein. Each such container for printed items has a bottom shelf with device for guiding it vertically and is slanted towards a removal side, at least in the feeding station. At least during the time it is in the peel off station the shelf in each container may be driven vertically so as to bring the uppermost printed item therein into the range of action of a suction device which cooperates with a scoop plate in lifting and sliding off the items from the top of the container one by one. The scoop plate is able to be moved between a position in which it somewhat overlaps the top edge of the container in the peel off position and a position retracted therefrom.

Abstract: In a suction-type gripping mechanism having an extensible arm with a suction cup attached to the end thereof for gripping and moving non-porous articles, and a vent hole leading to the interior of the suction cup for breaking the suction when desired, an improved valve mechanism for opening and closing the vent hole, the mechanism comprising a movable valve member mounted on the extensible arm and associated with the vent hole at a location remote from the suction cup, the valve member being movable between a first position where it closes the vent hole and a second position where it opens the vent hole, the valve member being made of a magnetically permeable material; a spring biasing the valve member toward the first position; and a permanent magnet located adjacent the path of movement of the valve member for magnetically overcoming the force of the spring biasing and moving the valve member to the second position when the valve member is adjacent the permanent magnet.

Abstract: The invention comprises an improved end effector for a robot which is particularly advantageous in applications such as placing flat pack integrated circuits on circuit boards. The end effector includes a vacuum-operated quill for picking up the integrated circuit from a predetermined location. A pressure spring mechanism is included in the end effector permits the flat pack to be held in the desired position with a predetermined force by utilizing the robot arm to compress the pressure spring a predetermined amount. Once the integrated circuit is positioned on the circuit board, the circuit is released and the quill moved away from the board a predetermined distance by a linear actuator included in the end effector without any motion of the robotic arm.

Abstract: Apparatus and method are disclosed for providing the transfer of a semiconductor wafer from a first to a second location. The apparatus includes a transfer arm including a plurality of apertures to facilitate the attachment of a bowed wafer, without breakage or frontside contact, to the transfer arm. The size, number and location of the apertures may be determined in accordance with the size of the wafer, the amount of bow, as well as the type of bow (i.e., simple or complex). A plurality of flexible members may be disposed in a one-to-one relationship with the apertures and utilized to achieve a secure vacuum seal of the wafer to the transfer arm.