Abstract: An overhead clamp-type gripping device for gripping a load from above, includes a carrier frame which is movable in a vertical direction and has support elements positioned on both sides of a center plane and extending downwards from the carrier frame for movement relative to one another. The support elements have longitudinal guides which define an upwardly open angle with respect to the center plane. Received in the longitudinal guides of the support elements is a gripper unit which includes gripping elements for laterally contacting a load.

Abstract: The invention provides a grapple device and a method for manipulating, i.e., grabbing, holding and releasing objects. The grapple comprises two parallel rollers with gripping surfaces, where the rollers are pushed towards each other with sufficient force to hold a graspable portion of a deformable object. When the grapple comes onto contact with any portion of the deformable object, a signal activates a set of gears causing the rollers to rotate in opposing directions so that a graspable portion of the object is dragged between the rollers. When sufficient material is caught between the rollers, a signal activates a brake automatically stopping the rotation of the rollers, whereby the rollers then hold the graspable portion of the object allowing the object to be moved to a desired location. When the object is properly located, a signal is generated which causes the rollers to rotate in the opposite direction to release the object.

Abstract: An essentially C-shaped tool holder (10), preferably having a long inner edge, which holder at its free shank ends can carry a tool such as a riveting, glueing or welding unit. The holder (10) comprises a truss or frame work which includes an outer and an inner C-shaped frame (11, 23) and a plurality of slewing brackets (27-32) connected to the C-shaped frames. The frames (11, 23) and the slewing brackets (27-32) are arranged to form a number of connected triangular sections, defined by connection points 18-22, 37) which are designed as intersections or joints. The outer C-shaped frame (11) is arranged to support only thrust forces; the inner frame (23) is arranged to support thrust and tensile forces, and the slewing brackets (27-32) are arranged substantially to support tensile forces.

Abstract: Provided is a fully adjustable pick-and-place tool for an automated robotic device or the like which is capable of picking and placing various kinds of parts. The tool includes a plate and a magnet movably attached to the plate to pick-and-place parts having all sorts of configurations. A part manipulator including a suction cup or gripper mechanism or the like may be coupled to the magnet to pick-and-place the part. In one aspect of the present invention, the part manipulator is adjustably positionable with respect to the plate without having to move the magnet to a different location on the plate thereby further enhancing the ability of the tool to pick-and-place parts of different types having various shapes and sizes.

Abstract: A retention and triggering mechanism with a shape memory actuator which ensures safe triggering and is of simple design and requires little energy. An end (7, 8) of a stressed wire is held by a free end of a wire made of shape memory material (9, 10) which contracts along its length when heated, thus withdrawing its free end from an opening (27, 28) formed in the end (7, 8) of the stressed wire thereby releasing the stressed wire.

Abstract: A grapple device for grasping, holding and releasing an object having a deformable cover material such as sacks and bags, has a mounting bracket and two rollers. The rollers are pushed toward each other by the force of at least one spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The grapple device also includes a holding means to engage at least one of the rollers and prevent rotation of the roller when engaged, so that when sack material is located in the inter-roller region and the holding means is engaged, the contact between the sack material and rollers causes the sack to be held by the grapple device.

Abstract: The invention provides a grapple device and a method for manipulating, i.e., grabbing, holding and releasing objects. The grapple comprises two parallel rollers with gripping surfaces, where the rollers are pushed towards each other with sufficient force to hold a graspable portion of a deformable object. When the grapple comes onto contact with any portion of the deformable object, a signal activates a set of gears causing the rollers to rotate in opposing directions so that a graspable portion of the object is dragged between the rollers. When sufficient material is caught between the rollers, a signal activates a brake automatically stopping the rotation of the rollers, whereby the rollers then hold the graspable portion of the object allowing the object to be moved to a desired location. When the object is properly located, a signal is generated which causes the rollers to rotate in the opposite direction to release the object.

Abstract: An object manipulator robot device includes a pick-up member made from a thermally conductive material and having at least one surface of contact with the object to be picked up, a system for cooling the pick-up member to freeze the interface between the member and the object, thereby fastening them together, including a local system for cooling the pick-up member directly and a peripheral system for cooling the local system, a system for heating the member to liquefy the interface, thereby releasing the object, and a control system for the cooling and heating systems. The local cooling system includes a pair of local cooling elements mounted on respective opposite sides of the pick-up member and the peripheral cooling system includes a pair of peripheral cooling elements connected to the local cooling elements by arms made from a material of high thermal conductivity, such as copper.

Abstract: A parts gripper assembly is provided. The gripper assembly includes a body, a pair of opposable jaw members, and at least one side impact plate. The body includes a yoke structure defined at one end thereof by a pair of spaced apart wall members and a fluid driven actuator at an opposite end. The side impact plate is coupled to one of the spaced apart wall members of the yoke structure and extends beyond the ends of the same. The side impact plate is secured in an adjustable manner to one of the spaced apart wall members of the yoke structure.

Abstract: An interchangeable coupling is provided for removably fastening tools (2) to manipulators (3). The interchangeable coupling has two coupling parts (5, 6) with a form fit lock (7). The lock has several mobile balls (8) and a piston (11) for moving the balls. The coupling parts (5, 6) have corresponding cavities (9, 10). The cavities (9) in the tool side coupling part (5) are essentially cylindrical ball channels (30) with an oblique channel axis (31). In a locked position, these cavities (9) accommodate the blocking balls (8). The channel axis (31) preferably slopes from the robot-sided cavity (10) towards the tool side (2).

Abstract: A system and method which provide a gripping mechanism and a complementary “handle,” which enable a microcomponent to be grasped with the gripping mechanism are disclosed. A preferred embodiment provides a gripper and a complementary handle, which is implemented on a microcomponent to be grasped, to enable the gripper to effectively grasp the microcomponent by grasping the complementary handle implemented for such component. A preferred embodiment provides a gripper and a complementary handle that is implemented on a microcomponent to enable the microcomponent to be accurately picked-and-placed with the gripper. The complementary handle may be an integrated part of the microcomponent to be grasped, or the handle may be a separate component that is capable of being permanently or temporarily coupled to a microcomponent.

Abstract: Provided is a fully adjustable pick-and-place tool for an automated robotic device or the like which is capable of picking and placing various kinds of parts. The tool includes a plate and a magnet movably attached to the plate to pick-and-place parts having all sorts of configurations. A part manipulator including a suction cup or gripper mechanism or the like may be coupled to the magnet to pick-and-place the part. In one aspect of the present invention, the part manipulator is adjustably positionable with respect to the plate without having to move the magnet to a different location on the plate thereby further enhancing the ability of the tool to pick-and-place parts of different types having various shapes and sizes.

Abstract: A gripping device for positioning a component (47) on a substrate, comprising three fingers (1, 2, 3) arranged in a triangle (7), and a drive device for moving the fingers along parallel paths (4, 5, 6) relative to each other to grip or release a component. A middle finger (2) is movable in opposite directions with respect to the outer fingers (1, 3).

Abstract: A wafer pod handling device engages a pod for transport through a flange on top of the pod by receiving the flange into a receptacle and rotating a circular disk having a square aperture such that edges on the disk are positioned beneath an overhang on the flange. As the circular disk is lifted, the edges contact the overhang of the flange and lift the pod. The circular disk is mounted in a housing having a lip adapted to slideably engage the circumference of the circular disk. An actuator on top of the housing rotates the disk into engagement with the flange. As the housing is lifted, the circumference of the circular disk rests on the lip to frictionally secure and support the circular disk despite power failures or accidental rotation that could disengage the pod.

Abstract: In an automatic chip test machine for testing electronic components, a novel quick disconnect articulated chuck for securing a chip nest, allowing rapid changes of the chuck and plunger head with minimum production downtime. The chuck is comprised of a chuck base and a quick disconnect assembly. The quick disconnect assembly includes a vacuum seal a retractable piston with vacuum cup attachment for securing a chip, a plunger head, alignment pins, and accessible disconnect screws. The base housing is mounted in a manner that permits articulation of the chuck to allow the chuck to align with the electrical test fixture; and a vacuum introduction port. A slide frame is supported on slide rails with a roller ball and detent mechanism to permit relatively low forces of the initial mating action between the chuck and the fixture to move the chuck into a position of better alignment, and therefore lower stress and wear.

Abstract: A parts gripper assembly is provided. The gripper assembly includes a body, a pair of opposable jaw members, and at least one side impact plate. The body includes a yoke structure defined at one end thereof by a pair of spaced apart wall members and a fluid driven actuator at an opposite end. The side impact plate is coupled to one of the spaced apart wall members of the yoke structure and extends beyond the ends of the same. The side impact plate is secured in an adjustable manner to one of the spaced apart wall members of the yoke structure.

Abstract: Device at tool holder (10) of the kind comprising an essentially C-shaped frame preferably having a long inner range, which frame at its free shank ends carries said tool, for instance a riveting, a glueing or a welding unit. The holder (10) comprises a truss or frame work, which includes an outer and an inner C-shaped frame (11, 23) and a number of slewing brackets (27-32) connected to these. The frames (11, 23) and the slewing brackets (27-32) are arranged to form a number of connected triangular sections, which connection points (18-22, 37) are designed as intersections or joints. The outer C-shaped frame (11) is arranged only to support thrust forces and the inner frame (23) thrust and tensile forces and the slewing brackets (27-32) substantially tensile forces.

Abstract: Robotically drivable interface mechanism for coupling to a device and for coupling to an end effector attachable to the end of a robot arm. The interface mechanism having a first coupler to couple with an associated second coupler on the device and a third coupler to couple with an associate fourth coupler on the end effector. The first coupler is connectable to an actuator included in the end effector, when the interface mechanism is coupled to the end effector. The first coupler has at least one first roller for cooperating with the second coupler formed by at least one slot in the device.

Abstract: A robotic gripper for fixturing and manipulating a sheet of substantially rigid material, e.g. a sheet metal part, has three fingers with circumferential grooves thereon. Each of the fingers has three degrees of movement. The sheet metal part has at least one opening of a size suited to accommodate one of the fingers. The other fingers can engage the edges of other openings in the sheet metal part or the outside edge of the part. The fingers can be moved away from each other or towards each other respectively depending on the positioning of the fingers, whereby the sheet metal part is fixtured by means of the grooves of the fingers. By using three fingers each having three degrees of movement, and having grooves thereon, an object can be held and kinematically locked without the application of force.

Abstract: The present invention relates to a wafer holding device comprising a rotatable base and a plurality of weighted-jaws pivotally coupled on the base. Each of the weighted-jaws is provided with a step portion, used to support and clamp the wafer, and a pendulum weight. The pendulum weight can be integrally formed or detachably hanged on the jaw, depending on the size of the wafer clamped. As the base is rotated at a predetermined velocity, the pendulum weights sway out of the axis of the base due to the centrifugal force generated by the rotation, thereby clamping the wafer in the step portions. The preferred embodiment of the present invention can further provide a stopper formed on the base and a spring connected between the base and each of the jaws so as to keep limit the movement of the jaws within predetermined range.

Abstract: A force compensating apparatus is for use in a wafer-handling machine. The wafer-handling machine includes a rotatable rim adapted to be concentric with and external to a wafer, and a plurality of wafer-supporting fingers disposed about the rim. Each finger is supported by a floating arm, part of a support mechanism utilizing first and second fixed arms bracketing the floating arm where the fixed arms attach the support to the rim. Each the finger is preloaded with sufficient force to support the wafer among the plurality of fingers and each the finger is generally positioned in a radial plane with the rim.

Abstract: A modular gripper assembly is provided. The gripper assembly includes a body, a pair of opposable jaw members, a single cam pin and a linkage structure. The body includes a yoke structure defined at one end thereof by a pair of spaced apart wall members and a fluid driven actuator at an opposite end. A stepped-in portion is also provided near the opposite end in which the stepped-in portion extends around the entire periphery of the body.

Abstract: In an automatic chip test machine for testing electronic components, a novel quick disconnect articulated chuck for securing a chip nest, allowing rapid changes of the chuck and plunger head with minimum production downtime. The preferred embodiment of the chuck is comprised of a chuck base and a quick disconnect assembly. The quick disconnect assembly includes a vacuum seal, a retractable piston with vacuum cup attachment for securing a chip, a plunger head, alignment pins, and accessible disconnect screws. The base housing is mounted in a manner that permits articulation of the chuck to allow the chuck to align with the electrical test fixture; and a vacuum introduction port. In an alternate embodiment, a roller ball and detent mechanism is employed to permit relatively low forces of the initial mating action between the chuck and the fixture to move the chuck into a position of better alignment, and therefore lower stress and wear.

Abstract: The motor-actuable coupler is used for connecting workpiece grippers with a manipulating device, in particular a robot, which passes on workpieces from one stamping press to the next. The coupler consists of a fixed element (12, 66, 80, 38) on the drive side and a connecting element (10, 54) on the gripper side. Since normally a very large number of different workpiece grippers are employed and the connecting elements on the gripper side entail great costs, it is proposed that the fixed element of the coupler has a collet chuck (66, 74, 80, 38), and that the connecting element (10, 54) is a tube section, which can be centered in the fixed element (12, 66, 80) spaced apart from the clamping area (at 68, 76) located at the front end of the collet chuck. The tube section (10) is preferably centered by clamping faces (70, 78) and/or by cone surfaces (58) at its end which can be inserted into the collet chuck (14).

Abstract: A clamping holder provides both an apparatus and method enabling quick, precise automatic re-positioning of positional devices, particularly useful in edging and milling applications. A clamping holder is capable of automatically approaching, lifting up to surround, engaging and picking up a positioning device, translating to a proper and precise placement location, lowering it into place, disengaging the clamping holder, lowering to provide exit clearance around the positioning device and moving away to either position the next positioning device or to move on to the next task. In addition to this automatic mode, the spindle may also be manually loaded by a worker standing well outside the work area of the main processing machine. A spindle shaped clamping holder has a radial side opening to accept a bearing member and piston support of a locational device.

Abstract: A modular gripper assembly having body with a yoke structure (44) defined at one end thereof and an actuator at an opposite end for reciprocally driving a piston assembly (58) within the yoke structure (44). A pair of opposable jaw members (49) having through-slots (48) formed therein are provided within the yoke structure (44) and coupled to the piston assembly (58) by a cam pin (47) so that at least one of the opposable jaw members (49) pivots when the piston assembly (58) moves withing the yoke structure (44). The jaw members (49) are removable and interchangeable.