Abstract: A method and device for bonding chips onto a substrate or onto further chips. The chips are bonded onto the substrate or the further chips by means of a direct bond using a bond head having a first surface configured to couple to a chip that is to be bonded, and a second surface fixed to and disposed opposite the first surface. A first spring element having a first spring constant and a second spring element having a second spring constant are coupled to the second surface, where the first spring constant is different from the second spring constant.

Abstract: An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

Abstract: A suspension device of suction pads of industrial manipulators is described, which can also be defined as level compensator. The device includes a body and a telescopic stem passing through the body, and sliding between an extended position and a retracted position. A spring constantly applies a thrust on the stem to bring it to the extended position. The device is hollow to allow the suction of the air from the suction pad constrained to the stem. Advantageously the suspension device comprises a brake which can be activated to brake, i.e., slow down, the stroke of the stem or stop it completely.

Abstract: A suction assembly includes a main body, a sealing ring, an air duct, and a suction head. The main body includes a columnar wall, a top cover arranged at one end of the columnar wall and defining a first through hole, and a bottom cover arranged at another end of the columnar wall and defining a second through hole. The first through hole communicates with a negative pressure generating device. The sealing ring is sealed in the main body and movably arranged between the top cover and the bottom cover. The air duct includes a first end and a second end opposite the first end. The first end passes through the second through hole and is fixed in the sealing ring. The suction head is coupled to the second end.

Abstract: A drilling end effector is provided for drilling a workpiece having a workpiece surface. The drilling end effector includes a chuck configured to hold a drilling tool, and a nosepiece configured to at least partially surround the drilling tool when the drilling tool is held by the chuck. The nosepiece includes an end portion, at least one suction cup, and at least one suction feed line. The at least one suction cup is fluidly connected to the at least one suction feed line that is configured to be fluidly connected to a suction system. The at least one suction cup is configured to be engaged in physical contact with the workpiece surface and pulled under suction by the suction system such that the at least one suction cup adheres to the workpiece surface to thereby hold the end portion of the nosepiece on the workpiece surface.

Abstract: A spindle for a pick-and-place machine includes a shaft including a length extending between a first end and a second end, the shaft including an outer body and a hollow interior, a nozzle tip disposed at the first end of the shaft, the nozzle tip configured to contact an electronic component for manipulation of the electronic component, and a theta gear disposed on the shaft, the theta gear configured to engage with a motor of a pick-and-place head. The spindle is configured to be removably attachable from the pick-and-place head. A dispensing head spindle module, spindle bank and assembly machine incorporating the spindle are disclosed.

Abstract: A substrate suction-holding structure includes a conductive pad main body including an annular contact portion and a bottom wall portion closing a first vacuum chamber bottom surface surrounded by the contact portion, a conductive blade main body including an upper surface and a second vacuum chamber formed by depressing the upper surface, a conductive support column provided either on the second vacuum chamber or on the pad main body, causing the contact portion to be further on an upper side than the upper surface, and swingably supporting the pad main body with respect to the second vacuum chamber, a cover secured to the blade main body and covering the second vacuum chamber, and a suction path extending from the first vacuum chamber and passing through the bottom wall portion, the second vacuum chamber, and the blade main body in this order, the suction path connected to a vacuum source.

Abstract: A dual-material vacuum cup for a vacuum-based end effector includes a bellows having a proximal end configured for connection to the end effector and a distal end. The bellows also defines a pathway for a flow of air. A lip is connected to the distal end of the bellows, the lip defining an opening in fluid communication with the pathway for the flow of air. An insert is then connected to a distal end of the lip, and the insert is in fluid communication with the opening defined by the lip. To engage parcels of various dimension and construction, the lip is composed of a first material (such as silicone rubber or another elastomeric material), while the insert is comprised of a second material (such as a foam material).

Abstract: A conveying device for conveying at least a first row of substrates and a second row of substrates, includes: a conveying fork having a main body and a plurality of branches, a first end of each of the branches is connected to the main body, and a second end of each of the branches is a free end; wherein a first branch of the plurality branches has a first plurality of grooves, and a second branch of the plurality of branches has a second plurality of grooves; and wherein one of the first plurality of grooves and one of the second plurality of grooves are configured to support one of the substrates in the first row.

Abstract: Sucker rods include end fittings having an outer wedge portion proximate to an open end, an inner wedge portion proximate to a closed end, and an intermediate wedge portion between the outer and inner wedges. Each wedge includes a leading edge, a trailing edge, and an angle between the leading and trailing edges. The triangular configuration, length of the leading edge, the length of the trailing edge, and size of the angle in each wedge portion cause distribution of force, such that compressive forces distributed to the rod proximate the closed end exceed compressive forces distributed to the rod proximate the open end. An automated installation procedure installs the end fitting through the use of multiple chucks, positioned by servo motors along a fitting table.

Abstract: The present invention provides a robot arm. The robot arm is for forking a substrate, and includes: a substrate fork and vacuum cups. The substrate fork includes parallel spaced prongs, and an upper surface of each prong is provided with vacuum cups spaced along an extending direction of the prong; and vacuum cups on two prongs at outermost sides of the substrate fork are scratch-resistant vacuum cups, and a top face and a side face of each scratch-resistant vacuum cup are connected through an arc-shaped surface. By setting the top face of the scratch-resistant vacuum cup connected to the side face through the arc-shaped surface, when the substrate is bent with the gravity, the contact area between the substrate and the scratch-resistant vacuum cup can be increased, to improve the friction therebetween, prevent the substrate from being scratched in a transportation process, and ensure the security of substrate transportation.

Abstract: A robot hand apparatus includes a first holder having a bendable first sucking surface that sucks an object using negative pressure; and a second holder having a bendable second sucking surface that sucks the object using negative pressure. The first holder and the second holder are arranged such that the first sucking surface opposes the second sucking surface. When the first holder and the second holder hold the object, in a state in which the first sucking surface is bent at a first position and the second sucking surface is bent at a second position, the object is sucked to a region of the first sucking surface between the first position and a distal end of the first holder, and the object is sucked to a region of the second sucking surface between the second position and a distal end of the second holder.

Abstract: A support and vacuum power device for a pneumatic prehensile member, such as a suction cup, comprises a casing and a sleeve protruding from said casing and wherein at least one recess is formed. A movable element is movable in translation in the casing and is provided with a power supply duct. The movable element comprises a stem guided in translation in the sleeve. An anti-rotation insert made in a single body is inserted into the sleeve through the recess and is provided with a through opening slidably engaged by the stem. The through opening is defined by at least one contact surface extended for an effective contact with an engagement portion of the movable element, thus achieving an anti-rotation constraint for the movable element.

Abstract: A system is disclosed for providing dynamic vacuum control to an end effector of an articulated arm. The system includes a first vacuum source for providing a first vacuum pressure with a first maximum air flow rate, and a second vacuum source for providing a second vacuum pressure with a second maximum air flow rate, wherein the second vacuum pressure is higher than the first vacuum pressure and wherein the second maximum air flow rate is greater than the first maximum air flow rate.

Abstract: The present invention relates to a gripper (100) and in particular a pneumatically operated gripper (100) in the form of a vacuum gripper or gripping tongs. The gripper (100) comprises a gripper holder (3.1, 3.2) via which the gripper (100) is preferably detachably connectable to a manipulator, robotic arm or the like. The gripper (100) further comprises at least one gripping member (2.1, 2.2) connected to the gripper holder (3.1, 3.2) and realized such that an object to be gripped or workpiece can be gripped by manipulating the at least one gripping member (2.1, 2.2). In order to achieve the gripper (100) being able to gently grip an object to be gripped, whereby both the object to be gripped as well as the at least one gripping member of the gripper are effectively protected against damage while the object to be gripped is being manipulated, the invention provides for the at least one gripping member (2.1, 2.

Abstract: A pick-and-place head for picking a plurality of work-pieces from at least one first location and for placing the plurality of work-pieces at least one second location is disclosed. The pick-and-place head exhibits a plurality of nozzles, wherein each nozzle is configured to engage one of the work-pieces by action of a vacuum. At least one nozzle has an individual vacuum supply and at least two further nozzles have a shared vacuum supply. A corresponding method is also disclosed, the method including the steps of approaching at least one of the plurality of work-pieces with a respective nozzle and then starting generation of a vacuum at each respective nozzle. The generation of vacuum in at least one nozzle is achieved by an individual vacuum supply, and generation of vacuum in at least two further nozzles is achieved by a shared vacuum supply of the at least two further nozzles.

Abstract: A one-finger angular pneumatic gripper includes a body, in which a piston and a spring are accommodated, and a clamping finger hinged to the body. Differently from conventional solutions, the ends of the gripper body are not screwed or assembled ring nuts, but on the contrary they are integral parts of the body itself.

Abstract: The tool (1) for manipulating substrates in an epitaxial reactor comprises an arm (2), a gripping disc (3) and a ball joint (4); said gripping disc (3) has a seat (5) on a lower face thereof for receiving a substrate (6) to be manipulated; said gripping disc (3) is mounted on the arm (2) through said ball joint (4) placed centrally with respect to said gripping disc (3); said gripping disc (3) is shaped so as to come into contact only with the upper edge of said substrate (6) to be manipulated; said gripping disc (3) has two degrees of freedom of rotational movement with respect to said arm (1) to allow adapting to the position of a substrate in a pocket of a susceptor of an epitaxial reactor.

Abstract: A vacuum cup assembly that generates a local vacuum using a prime mover that may be an electrical motor or a solenoid. The vacuum cup may have one or more ports to remove and vent air between the cup and the atmosphere. The prime mover drives a piston or a flexible membrane, which may be a diaphragm, through one or more reciprocating cycles to generate the local vacuum. The vacuum cup assembly may be used to form a temporary attachment to a work piece, the act on the work piece, such as by moving the work piece, and then release the work piece from the vacuum cup assembly. The vacuum cup assembly disclosed herein is self-contained inasmuch as the assembly may have a power source, such as a battery, located on a housing. This makes its operation quiet and effective.

Abstract: A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.

Abstract: A robot hand is a robot hand including a finger section. The robot hand includes an elastic body provided in the finger section and including an attracting section that attracts an object and a sensor provided in the finger section and configured to detect deformation of the elastic body.

Abstract: An industrial robot may include a hand having an object-mounting section; an arm structured to hold the hand at the front side thereof; a main body section structured to hold the base end of the arm; and a covering member structured to cover at least the top surface of the object-mounting section. The radiant heat reflectance at the covering member may be higher than that at the object-mounting section. The heat conductivity of the covering member may be lower than that of the object-mounting section. The specific gravity of the object-mounting section may be smaller than that of the covering member.

Abstract: A vacuum-lifting device includes a holding block and a nozzle. The holding block defines a holding hole and a threaded hole communicating with the holding hole. The nozzle includes a first section that is slidably received in the holding hole and a second section. The second section extends from the first section and has an outer diameter smaller than an outer diameter of the first section.

Abstract: A gripper (1) for a contact lens (CL) includes a gripper head (10) having a bearing surface (11), the bearing surface (11) having at least one opening (110) through which underpressure can be applied in order to suck the contact lens (CL) against the bearing surface (11) and through which overpressure can be applied in order to release the contact lens (CL) from the bearing surface (11). The gripper further includes a detection opening (111) in the bearing surface (11) through which a separate underpressure can be applied.

Abstract: A pick-and-place vacuum nozzle including a a nozzle body, a vacuum chamber within the nozzle body, a cavity formed in a lower surface of the nozzle body below the vacuum chamber, wherein the cavity is shaped to hold a head gimbal assembly, a back pressure relief hole passing through the nozzle body and connected to the vacuum chamber, the back pressure relief hole communicating with an exterior of the nozzle body, wherein a diameter of the back pressure relief hole is between 0.5 mm and 1 mm. The backpressure relief hole prevents light parts from sticking to the nozzle tip after vacuum is no longer applied.

Abstract: A pick up mechanism includes a pick up rod, a pick up head, and a resisting assembly. The pick up head is assembled to an end of the pick up rod. The resisting assembly includes a guiding seat, a resisting member, a pair of guiding rods, and a pair of elastic members. The guiding seat is fixedly sleeved on the pick up rod, the resisting member slidably shields the pick up head. The pair of guiding rods is fixed on the guiding seat, and blocks the resisting member. The pair of elastic members is resisted between the guiding seat and the resisting member, wherein the pick up head is exposed or shielded by moving the resisting member relative to the pick up rod.

Abstract: A suction gripper apparatus with a suction head, which is mounted with at least one elastic mounting member on a working head of an actuation device, the suction head having an elastic suction cup which possesses a suction body and a suction lip forming an open edge portion of the suction body and running in a suction plane, wherein the suction head possesses a retaining plate connected to the suction cup and surrounding it like a ring and having a flat contact surface running in a contact plane parallel to the suction plane.

Abstract: A suction structure includes a pad and a fixing base. The pad includes a contact portion which makes contact with a target object to be sucked and which has a seal wall, and a major surface portion which is surrounded by the contact portion and which defines an inner space in conjunction with the seal wall as the contact portion makes contact with the target object. The fixing base includes a support portion configured to support the pad at a position offset from the center of the major surface portion of the pad, and a suction hole configured to bring the inner space into communication with a vacuum source.

Abstract: An end handler and method for processing a device are presented. The end handler includes a mating portion for mating with a tool and a support portion for supporting a film frame on a support surface. The support portion includes a support base section, extension sections extending from the support base section, and vacuum ports on the support surface for facilitating mating of the film frame on the support surface. Each of the vacuum port includes at least one reservoir having at least one vacuum opening in fluid communication with at least one vacuum source. The vacuum ports being configured to principally maintain a slimmest profile with strongest suction force possible.

Abstract: A suction structure includes a fixing base, a pad fixed to the fixing base and a seal member arranged between the pad and the fixing base. The pad includes a contact portion arranged to make contact with a target object to be sucked, a space surrounded by the contact portion, a suction hole through which the space communicates with a vacuum source via the seal member, and one or more support portions fixing the pad to the fixing base. Each of the support portions is arranged on an axis of tilting movement, and being provided with a twist portion for supporting the contact portion such that the contact portion makes the tilting movement about the axis.

Abstract: A vacuum gripper for gripping a work-piece includes a flat or curved gripper plate having at least one suction port. A work-piece suction throttling zone is formed around the suction port. The gripper plate has at least one recess provided at a side facing the work-piece and arranged beyond the work-piece suction throttling zone (6) formed around the suction port. At least one vent hole is formed within each of the recesses.

Abstract: A suction structure includes a fixing base, a pad, and a support body. The fixing base includes an annular wall portion. The pad includes a contact portion which makes contact with a target object to be sucked. The support body is installed on an inner circumferential surface of the annular wall portion, and the support body is configured to elastically support an outer circumferential surface of the pad at a lateral side of the pad. Further, the pad and the support body define an inner space, and the fixing base includes a suction hole which brings the inner space into communication with a vacuum source.

Abstract: A suction structure includes a pad and a fixing base. The pad includes a contact portion which makes contact with a target object to be sucked and which has a seal wall, and a major surface portion which is surrounded by the contact portion and which defines an inner space in conjunction with the seal wall as the contact portion makes contact with the target object. The fixing base includes a support portion configured to support the pad at a position offset from the center of the major surface portion of the pad, and a suction hole configured to bring the inner space into communication with a vacuum source.

Abstract: A suction structure includes a pad and a fixing base. The pad includes a contact portion which has a seal wall and makes contact with a target object to be sucked, a major surface portion which is surrounded by the contact portion and defines an inner space in conjunction with the seal member as the contact portion makes contact with the target object, and a thin portion formed in the major surface portion. The fixing base includes a suction hole configured to bring the inner space into communication with a vacuum source and supporting the pad.

Abstract: The present invention is provided with a case, in which an inner bottom surface is formed, and a chuck tool in which a lower surface is formed. The inner bottom surface is a concave surface. The lower surface is a concave surface. An elongated member chucking apparatus changes an orientation of an elongated member inside the case to a predetermined orientation with respect to the chuck tool by sandwiching the elongated member between the inner bottom surface and the lower surface. The elongated member is held by the chuck tool in the predetermined orientation.

Abstract: A vacuum-lifting device includes a holding block and a nozzle. The holding block defines a holding hole and a threaded hole communicating with the holding hole. The nozzle includes a first section that is slidably received in the holding hole and a second section. The second section extends from the first section and has an outer diameter smaller than an outer diameter of the first section.

Abstract: Vacuum effectors comprising: (a) a wall defining an enclosed opening and having a rim defining a lip plane; (b) a negative pressure source; (c) a shroud covering the rim; and (d) optionally a permeable support member spanning the enclosed opening, the support member being substantially planar and recessed a selected depth from the lip plane. Also, methods of manipulating work pieces using such vacuum effectors.

Abstract: There is provided a component mounting apparatus, which includes: a nozzle which sucks a component; a nozzle supporting member, on which the nozzle is installed, which moves in a vertical direction with respect to an upper surface of a substrate on which the component sucked at the nozzle is mounted; an optical system which captures an image of a leading edge portion of the nozzle where the component is sucked in a component mounting operation, from a side direction, such that an optical axis of the optical system is inclined at a predetermined angle with respect to a sucking surface of the nozzle; and an analyzer which analyzes the image of the leading edge portion to determine whether a sucking state of the component sucked by the nozzle is normal or abnormal.

Abstract: A system for separately handling different size FOUPs includes an end effector having a surface thereon for supporting a FOUP. The end effector and surface is configured to support different size FOUPs. A fixture or means for engaging and maintaining a FOUP, of different size FOUPs, included to position and maintain each of a different size FOUP on the end effector during transport thereof. A shelf is configured to receive each of said different size FOUPs. The end effector is thus capable of transporting either a first size FOUP or a second, smaller size FOUP.

Abstract: A pick-and-place machine and method includes use of a passive component feeder cartridge including a feeder gear. Rotation of the feeder gear causes a component-bearing tape to be fed through the feeder cartridge. A pickup head includes a vacuum nozzle to pick up the components from the tape and a rack gear to engage and drive the feeder gear of the feeder cartridge via translational motion of the pickup head when operatively disposed with respect to a selected feeder cartridge.

Abstract: A pick up tip assembly that includes a plurality of overlapping petals defining a petal enclosure having a distal end opening A displaceable member is engagable with the plurality of petals and the size of the distal end opening is adjustable by displacement of the displaceable member.

Abstract: The present invention relates to a gripping device for holding articles in place, including a base that has a receiving surface that faces an article for holding it in place, the base having at least one passage guide that leads to a passage opening in the receiving surface, and the receiving surface has at least one nanostructure portion on which a plurality of nanostructure elements are arranged.

Abstract: A wafer transfer blade including a body including metal oxide and configured to support a wafer, and an adsorbing part on the body, the adsorbing part having at least one therein and configured to apply vacuum pressure to attach the wafer on the body may be provided. The body may include metal oxide to prevent static electricity.

Abstract: A gripper for grasping an ophthalmic lens immersed in a liquid, for example a contact lens or soft contact lens, the gripper including a housing having an opening arranged at the distal end of the housing, the opening being in communication with an interior space defined by the housing and being sized to allow the ophthalmic lens to pass therethrough; a supply channel to generate suction in the interior space of the housing to allow the ophthalmic lens together with an amount of the liquid in which the ophthalmic lens is immersed to be sucked through the opening into the interior space of the housing; and a supply channel for generating overpressure in the interior space of the housing so as to allow the ophthalmic lens together with the amount of liquid to be released from the interior space through the opening at the distal end of the housing.

Abstract: A gripper (1) for a contact lens (CL) includes a gripper head (10) having a bearing surface (11), the bearing surface (11) having at least one opening (110) through which underpressure can be applied in order to suck the contact lens (CL) against the bearing surface (11) and through which overpressure can be applied in order to release the contact lens (CL) from the bearing surface (11). The gripper further includes a detection opening (111) in the bearing surface (11) through which a separate underpressure can be applied.

Abstract: A visually controlled end effector is disclosed. The end effector comprises two or more operational members capable of picking up one or more randomly placed items. A crank is capable of actuation by a robot to orient a first one of said two or more operational members to pick up a first one of said one or more randomly placed items. The crank is further capable of actuation by the robot to orient a second one of said two or more operational members to pick up a second one of said one or more randomly placed items. The crank is further capable of orienting the first and second ones of the said two or more operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. A time savings of three robot transfers is thus made over prior art systems that transferred each individual product one by one.

Abstract: A pick up mechanism includes a pick up rod, a pick up head, and a resisting assembly. The pick up head is assembled to an end of the pick up rod. The resisting assembly includes a guiding seat, a resisting member, a pair of guiding rods, and a pair of elastic members. The guiding seat is fixedly sleeved on the pick up rod, the resisting member slidably shields the pick up head. The pair of guiding rods is fixed on the guiding seat, and blocks the resisting member. The pair of elastic members is resisted between the guiding seat and the resisting member, wherein the pick up head is exposed or shielded by moving the resisting member relative to the pick up rod.

Abstract: A self-aligning pick-up head, a method to manufacture a pick-up head and a method of manufacturing a device are disclosed. In one embodiment a pick-up head includes a nozzle having a first end portion and a second end portion and a base tool comprising a collet head, wherein the first end portion of the nozzle is gimbaled to the base tool.

Abstract: A method for manipulating an object with a remote vehicle having a manipulator attached to a manipulator arm. The manipulator comprises a jamming or other phase change material in a housing. The method comprises pressing the manipulator housing to the object, activating the jamming or other phase change material to cause the manipulator to grasp the object, and moving one or more of the manipulator arm and the remote vehicle to manipulate the object.

Abstract: A robot hand (20) and has: a measurement instrument (22); a hollow shaft unit (24b) attached to a distal end of the measurement instrument coaxially with the distal shaft; a suction unit (26) attached to a distal end of the hollow shaft unit and holds the object; a hollow member (32) that surrounds the hollow shaft unit rotatably in the circumferential direction; a hollow member connecting unit (31, 31a) that extends from a casing (12) supporting the distal shaft (11) and is connected to the hollow member; and a suction unit drive unit (37, 42) that is connected to the hollow member in a position corresponding to the peripheral surface of the hollow shaft unit and drives the suction unit, and the suction unit drive unit communicates with the inner space of the hollow shaft unit through one opening (25).