Abstract: A booklet processing mechanism is described that includes a spine guidance system that is configured to hold the area adjacent to the spine of an opened, multiple sheet booklet against a backing plate during processing on a page of the booklet, for example by a laser or during vision verification. The spine guidance system is configured so that it resides closely adjacent to the spine of the booklet, below the field of lasing by the laser or other processing operation, so that it does not interfere with the processing operation.

Abstract: An apparatus is disclosed for rotating a structural profile quickly and easily on a single spindle drill line without the use of a crane. The apparatus has two arms which can lay flat or create any angle less than 180 degrees between the two. The apparatus can move horizontally along the drill line and can lift the structural profile vertically for movement and during rotation. This will allow a drill machine operator to rotate large and heavy structural profiles on a drill line and position them with the datum blocks in order to drill the different sides without the need for an overhead crane or other lifting device and without any additional labor to assist with manual flipping and positioning.

Abstract: A warehouse storage system is shown and described. In one embodiment, the system includes a building, at least one mobile rack and a loader. Typically, the loader is configured to receive a material in a first loading position and orient the material to a second storage position. The loader may include a lift and a carriage. In particular embodiments, the mobile rack includes a load stabilizer system.

Abstract: An apparatus is disclosed for downending a vertically disposed cylindrical coil supported on an underlying pallet, with a stem projecting from the pallet through the coil. The apparatus comprises a cradle rotatable about a horizontal axis. A table on the cradle is configured and arranged to receive and retain the pallet with the coil in a vertical first position at which the coil extends across the horizontal axis. An electrically powered drive serves to rotate the cradle about the horizontal axis to translate the coil from its vertical first position to a horizontal second position.

Abstract: An apparatus is disclosed for rotating a structural profile quickly and easily on a single spindle drill line without the use of a crane. The apparatus has two arms which can lay flat or create any angle less than 180 degrees between the two. The apparatus can move horizontally along the drill line and can lift the structural profile vertically for movement and during rotation.

Abstract: An apparatus is disclosed for downending a vertically disposed cylindrical coil supported on an underlying pallet, with a stem projecting from the pallet through the coil. The apparatus comprises a cradle rotatable about a horizontal axis. A table on the cradle is configured and arranged to receive and retain the pallet with the coil in a vertical first position at which the coil extends across the horizontal axis. An electrically powered drive serves to rotate the cradle about the horizontal axis to translate the coil from its vertical first position to a horizontal second position.

Abstract: The present invention provides a substrate holding mechanism capable of assuredly holding a substrate and delivering/receiving it: a substrate holding mechanism including a substrate holding unit for holding a rectangular substrate, comprising: a plurality of substrate holding rollers provided at positions corresponding to two opposite sides of the substrate on the substrate holding unit and pivotally supported by the substrate holding unit; and a roller driver for rotating the substrate holding rollers, wherein: the substrate holding roller comprises a cylinder part and a holding flange provided along a portion of a circumference of each end of the cylinder part; and each of the substrate holding rollers is rotated by the roller driver so that a state of holding edges of the substrate by the holding flange and a state of releasing the edges can be switched in accordance with a rotation angle of the substrate holding rollers.

Abstract: A robot calibration system and method for robots in semiconductor wafer processing systems is disclosed. The calibration system comprises a calibration array, a dummy wafer and a control system programmed with a calibration routine. The calibration array has an plurality of inductive proximity sensors to determine parallelism of the robot relative to a station and a center locating sensor to determine the center of the station.

Abstract: A method for calibrating a controller of a robotic arm in a microelectronics manufacturing apparatus that includes storing a default position for an edge detector, moving a blade on the robotic arm based on the default position of the edge detector such that at least three edge points on the blade pass through and are detected by the edge detector, generating a plurality of arm position measurements from an arm position sensor by measuring a position with the arm position sensor of the robotic arm at each position of the robotic arm at which an edge point of the blade is detected by the edge detector, and determining at least one of an actual position of the edge detector and an offset for measurements of the arm position sensor based on the plurality of arm position measurements.

Abstract: An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

Abstract: The present invention relates to a substrate-transporting device, including a base, a substrate carrier unit and a shaft unit mounted between the base and the substrate carrier unit. The shaft unit has a supporting shaft and a shaft base to support and control rotation of the substrate carrier unit. The substrate carrier unit includes a bottom carrier seat connected to the supporting shaft, a plurality of first supporting components mounted on a surface of the bottom carrier seat, a top carrier seat having a plurality of vacuum suction nozzles and a plurality of second supporting components, and at least a retractable component sandwiched between the top carrier seat and the bottom carrier seat. The top carrier seat is used to affix and detect the substrate. The retractable component is capable of adjusting the distance between the top carrier seat and the bottom carrier seat.

Abstract: A load lock chamber and method for transferring large area substrates is provided. In one embodiment, a load lock chamber suitable for transferring large area substrates includes a plurality of vertically stacked single substrate transfer chambers. The configuration of vertically stacked single substrate transfer chambers contributes to reduced size and greater throughput as compared to conventional state of the art, dual slot dual substrate designs. Moreover, the increased throughput has been realized at reduced pumping and venting rates, which corresponds to reduced probability of substrate contamination due to particulates and condensation.

Abstract: An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

Abstract: A rotation device includes: an endless guide; and a plurality of moving sections that move while being guided by the guide, wherein an interval between the moving sections can be changed.

Abstract: A method for moving a substrate to a predetermined location with a specified orientation with a robotic manipulator, the robotic manipulator having a plurality of joint actuators and an end-effector for holding the substrate, wherein the end-effector is independently rotatable with respect to the remaining robotic manipulator. The method can select a reference point on the end-effector for determining a position of the end-effector, wherein the reference point is offset from a wrist of the robotic manipulator, determining a motion path for movement of the end-effector of robotic arm toward predetermined location with specified orientation, and generating motion profiles for translational and rotational components of movement of the end-effector of robotic manipulator along the motion path.

Abstract: A retreat permission position of a carrier arm when the carrier arm is moved back to retreat outside a mounting table after the carrier arm carries a substrate to a position above the mounting table while holding a peripheral portion of the substrate, to thereby place the substrate on a plurality of supporting pins vertically movable through the mounting table. A disk substantially equal in size to the substrate, having insertion holes formed to allow the supporting pins to be inserted therethrough and being supportable by the carrier arm, and a sensor to detect whether or not the supporting pin inserted through the insertion hole of this disk exists.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters. The sensors provide robot arm extension and elevation positioning data supporting methods of rapidly and accurately placing and retrieving a wafer from among a stack of closely spaced wafers stored in the wafer cassette. The methods effectively prevent accidental contact between the end effector and the wafers while effecting clean, secure gripping of the wafer.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include proximal and distal rest pads (24, 26, 124, 126) having pad and backstop portions (32, 34, 132, 134) that support and grip the wafer either by wafer peripheral edge contact or within an annular exclusion zone (30) that extends inward from a peripheral edge of the wafer. An active contact point (50, 150, 222) is movable by a vacuum actuated piston (52, 152) between a retracted wafer-loading position and an extended position that urges the wafer against the distal rest pads to grip the wafer at its edge or within the exclusion zone. The end effector further includes fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters.

Abstract: Specimen edge-gripping prealigners (8, 80) grasp a wafer (10) by at least three edge-gripping capstans (12) that are equally spaced around a periphery (13) of the wafer. Each edge-gripping capstan is coupled by a continuous synchronous belt (14) to a drive hub (15, 84) that is rotated by a drive motor (18, 88). The belts are tensioned by idler pulleys (22, 92) that are rotated by a motive force (25, 96, 102). The edge-gripping capstans and the drive drums are mounted to hinged bearing housings (28, 112) that are spring biased to urge the capstans away from the drive hub. Deactivating the motive force rotates the idler plates into a belt tensioning position that draws the capstans inward to grip the periphery of the wafer. Once gripped, rotation of the drive hub is coupled through the tensioned belts to the capstans. Driving all the capstans provides positive grasping and rotation of the wafer without surface contact with the wafer and thereby reduces wafer damage and particle contamination.

Abstract: A principal part of an attitude control system comprises: holding means 30 for holding wafers W so that the wafers W are rotatable in circumferential directions; rotation transmitting means 40 for contacting a peripheral portion of each of the wafers W to rotate the wafers W; a stepping motor 50 for rotating the wafers W; transmission switching means 60 for selectively transmitting a power from the stepping motor 50 to the rotation transmitting means 40; a photo sensor 70 for detecting a notch Wa formed in the peripheral portion of each of the wafers W; and a CPU 80 for controlling the operations of the stepping motor 50 and the transmission switching means 60 on the basis of a detection signal outputted from the photo sensor 70. Thus, the notch Wa of each of the rotating wafers W is detected, and the stepping motor 50 and the transmission switching means 60 are controlled on the basis of the detection signal, so that it is possible to carry out the positioning of the wafers W.

Abstract: A system, apparatus and method are disclosed for moving an elongate object such as a pipe between lowered and raised positions, preferably while rotating the object to maintain its shape. The system and method use two apparatuses, an upender and a downender for moving the pipe between lowered and raised positions. The upender tilts a lowered pipe received from a casting machine to the raised position and places the raised pipe on a support station. The pipe is rotated while on the upender through at least part of the range of travel. The upright pipe on the support station may be moved through an annealing furnace and then the downender may lift the pipe from the support station and tilt it downward toward the horizontal while rotating the pipe through part of the range of travel. The lowered pipe is then pushed off of the downender by kick off arms.

Abstract: A lifting and turning device for work objects comprises a stand (14) and a holding frame (10) which is supported thereby and in which the work object is fixable. The holding frame is connected in a vertically adjustable as well as turnable manner with the stand. Driving elements are provided for lifting, lowering and turning the holding frame. According to the invention, the holding frame (10) has parallel driving and idling wheel tracks (12, 13) which have curved corners and, connected thereto, straight portions extending substantially perpendicular to one another. Furthermore, the device has a driving wheel (15) and an idling wheel (17), respectively, engaging the tracks (12, 13) and being provided at a distance from one another as seen in the direction of the tracks, one on the inside and the other on the outside of the parallel tracks. The wheel (17) on the inside is disposed on a higher level than the wheel (15) on the outside.

Abstract: A self-feeding device for automatically lifting food off of an eating surface of a plate to an eating position located above the device includes a plate and a plate support. A spoon support mechanism moves a spoon from an upper eating position to a lower food receiving position and causes the spoon to travel along a predetermined path on the eating surface of the plate to load food located along the path on to the spoon as the spoon moves from the upper eating position to the lower food receiving position.

Abstract: An apparatus for turning a vehicle on its side comprises a turning member and a supporting device for supporting the turning member for rotation about a generally horizontal first axis of rotation. The supporting device is rotatably connected to the turning member. The apparatus further comprises a brake for braking movement of the turning member relative to the supporting device. The brake operatively interacts between the turning member and the supporting device. The apparatus also includes first and second connecting devices for connecting a first wheel hub and a second wheel hub of the vehicle to the turning member. The apparatus further includes positioning devices for positioning the first and second connecting devices to align the first axis of rotation with the longitudinal center of mass of the vehicle, the positioning devices being operatively connected to the first and second connecting devices.

Abstract: Spaced parallel circular tracks rotate 180 degrees on roller bearings. Matching openings through one edge of each track serve to admit a stone or heavy object into a receiving slot. Parallel roller conveyors line the top and bottom faces of the slot. A pivoting swing with a platform across the inside of the slot transfers the stone from one face to the other automatically when the apparatus is rotated. The center of gravity of the loaded turning apparatus coincides with the center of rotation thereby requiring very little turning power. A manual handle or motor drive shaft rotates the gear train to turn the apparatus. Transverse rollers permit entry and exit of the stone at opposite points on the circular track. Longitudinal rollers permit entry and exit of the stone from the same or opposite sides of the apparatus.

Abstract: Apparatus for manipulating the upper and lower dies of a die set comprising first and second fixtures mounted in laterally spaced relation for movement toward and away from each other. The first fixture has a mechanism providing a die-supporting surface and is in the form of a cradle rockable between a loading position in which its die-supporting surface is generally horizontal and a transfer position in which its die-supporting surface is generally upright and faces the second fixture. The second fixture has a die-supporting surface and also is in the form of a cradle rockable between a transfer position in which its die-supporting surface is generally upright and faces the first fixture and a position in which its die-supporting surface is generally horizontal. Clamps are provided to clamp the lower die of a die set to the die-supporting surface of the first fixture and for clamping the upper die to the die-supporting surface of the second fixture.

Abstract: A self-feeding device for automatically lifting food from the eating surface of a plate to an eating position located above the plate. The plate is supported by a plurality of rollers which are capable of rotating the plate about a predetermined axis. A pusher arm having a food pushing surface depending therefrom is rotatable about a second axis, parallel to and spaced from the first axis, such that the food pushing surface moves from a first to a second position along a predetermined path which traverses a portion of the eating surface of the plate in such a manner that food located on the eating surface of the plate along the predetermined path is moved by the pushing surface. A spoon support and lifting arm supports the spoon and is capable of moving the spoon between a lower position in which food moved by the food pushing surface is moved onto the spoon and an upper position in which food moved on the spoon by the pushing surface is located at the eating position.