Abstract: A semiconductor wafer pickup device (26) making use of vacuum and Bernoulli effect in order to hold the wafer (11) against the device and to minimize wafer contamination. The wafer pickup device comprises a centrally located Bernoulli orifice (32) and a plurality of peripherally located small tubular legs (38,39,40). In a first stage of a pickup operation, air is blown out of the Bernoulli orifice and out of the tubular legs. Next, vacuum is applied to the tubular legs while pressurized air is still blown out of the Bernoulli orifice. The combination of the Bernoulli effect with the suction at the vacuum legs locates the wafer in a position where the legs hold onto it. Then, the pressurized air is turned off thus leaving the wafer held only by the vacuum legs (FIGS. 2A, 2B).

Abstract: A method of and an apparatus for adsorbingly fixing a body, such as a photomask (mask) or a wafer to a chuck, effect a preliminary vacuum-adsorbing step of preventing the creation of internal stress due to the temperature change between the body and the chuck before the final vacuum adsorption is effected, or effect a preliminary vacuum releasing step for relieving the created internal stress.

Abstract: A robot arm attachment tool for handling workpieces, such as information recording disks. The tool is self aligning, has enhanced load handling load capacities and is able to handle workpieces having sensitive surfaces without damage to same. The tool is attached to the robot arm so as to allow the main portion of the tool to translate freely in a horizontal plane and to freely pivot about a center axis of the tool. The tool centers itself over a workpiece to be lifted, and has a pressurizable chamber having a piston for allowing powered removal of workpieces which is connected to housings which in turn engage workpieces to be lifted. In operation, the robot arm first generally centers and lowers the tool over the workpiece. The tool then precisely centers itself over the workpiece. The free attachment of the tool allows the tool to tilt and translate in a horizontal plane as the tool comes in contact with the workpiece, for a precise fit.

Abstract: A mechanism for loading workpieces into and/or unloading workpieces from a stamping press has a workpiece carrying arm and includes a drive mechanism for reciprocating the arm horizontally through a desired stroke and for reciprocating the arm vertically adjacent the opposite ends of its stroke. The drive mechanism comprises a crank for shifting the arm horizontally and a second crank for shifting the arm vertically. The cranks are operated sequentially and in timed relation by a pair of Geneva wheels driven by a motor-operated program wheel.

Abstract: Apparatus for placing a first element at a receptacle location on a second element, there being associated with the precise receptacle location some known variation in the shape of the second element, the apparatus comprising a support member for supporting the first element while the member is translated toward the second element along a placement direction, a first transport device for moving the support member or the second element along a direction transverse to the placement direction, and a sensing device located on the support member for sensing the relative alignment along the transverse direction of the support member and the variation in shape, the sensing device comprising an energy-beam source adapted and positioned to direct an energy beam along a path that interacts with the variation in shape at least when the support member and receptacle location are aligned so that more of the beam is transmitted along the path when the member and receptacle location are aligned than when the member and rece

Abstract: For the mounting of electrical and/or electronic components on a substrate, the components are presented in a pick-up position in a fixed, invariable pattern, preferably in a straight row. The components are simultaneously picked up in this pattern by a number of transfer devices and simultaneously moved toward their mounting positions over the substrate. During this transfer, they are moved different distances into a modified pattern with respect to one another, which corresponds to the desired pattern in which the components are to be positioned on the substrate. The transfer devices are programmed by means of exchangeable program plates.

Abstract: The machine comprises a support surface for a reference surface on the body of the workpiece, and a device for fixing the body on the support surface and releasing the body. A withdrawable device is provided for angularly positioning the blank on the support surface. The device comprises a V-shaped recess facing the support surface. The machine permits a center-less grinding of cylindrical surfaces in overhanging relation and in particular trunnions of tripods for homokinetic joints.

Abstract: This disclosure relates to an object detector which incorporates a photoelectric detector in the vacuum flow path of a vacuum pickup system to serve as a device to determine whether an object has been successfully engaged, retained and transported by a vacuum orifice, so that transport cycles may be modified or terminated by control circuitry in the event that the object has not been successfully engaged, retained and transported, thereby saving time and reducing damage to object, transport means or the surface to which the object is transported.

Abstract: First components such as lids (9) are assembled to second components such as electronic chip carriers (10). Each lid (9) has an external surface opposite a first mating face and each carrier (10) has a second mating face complementary with the first mating face of the lid (9). An assembly station contains a first frame (30) having first walls (31-35) for confining and first ledges (37-38) for supporting a lid (9). Frame (30) has an advantageous peripheral opening (39) suitable for passing therethrough portions of devices for transferring lids (9). Preferably such stations (25) are established in an array suitable for access by an array of lids (9) transferred by a first device (35). A first magazine (70) holds files of lids (9) with external surfaces of leading ones in an array for contact, pickup and transfer.

Abstract: In a device for receiving and transposing of plates (2), in particular glass plates from a substantially horizontal position or reversed, a pivot arm (6) is pivotable around a longitudinal axis (7) into two end positions, namely into a receiving position and a release position. A support frame (8) is mounted on the pivotable end of the pivot arm (6) being pivotably mounted around a horizontal axis (10). The support frame (8) is provided with suction cups (9) for receiving a plate (2) and is forcibly guided, so that it is turned around its pivot axis (10) at an angle which is smaller than 90.degree. during the movement of pivot arm (6) from one end position into the other. The support frame (8) is rigidly connected with a guide rod (15) disposed in a vertical plane for an exact and poor wear guide, whereby the guide rod is guided longitudinally displaceable in guide bushing (16) which is supported pivotably and a horizontal axis (20) outside of the pivot radius (23) of pivot arm (6).

Abstract: An electronic parts mounting apparatus using a band carrier for feeding electronic parts incrementally, the carrier being a strip having many recesses disposed at equal intervals each holding an electronic part and a tape covering the recesses. The apparatus has a support for horizontally supporting the carrier with the coating tape on the top side; a separator for separating the tape from the carrier; and a pickup device for picking up the electronic parts one by one from the recesses in the carrier and by carrying the electronic parts and placing them in position on a circuit board for continuously and stably mounting the electronic parts on the circuit board.

Abstract: A holding apparatus for use in combination with a working machine, where such loading apparatus has a first quadric parallel link body attached to the working machine and adapted to be oscillated within a vertical plane; a second quadric parallel link body attached to the first link body through a L-shaped member for oscillating motion therewith, and having a holder arm assembly effective to hold a workpiece; and a mechanism adapted to reciprocate said holder arm assembly of the second link body.

Abstract: A method and apparatus for removing a flexible layer from a substantially flat mold or other surface. A curvilinear removal head, including a vacuum manifold holding one end of the flexible layer, pivots to peel the flexible layer from the mold.

Abstract: An apparatus to mount wafers for sublimation plating on a rotary type wafer holding dome having more than one wafer mounting seat of window type on its circumference comprising a wafer cassette that holds many sheets of wafers piled up with spacing and holding pieces in-between and is driven up-and-down at the same intervals as wafer mounting, a rotary arm having a sucker on the top end with the said wafer mounting seats on its rotation locus, and a conveyor mechanism to receive a piece of wafer at the end of the wafer cassette and to transfer the wafer to a position on the other rotation locus at the top end of the said rotary arm.

Abstract: This disclosure relates to an object transport apparatus particularly useful for the high speed handling of semiconductor chips. Transport is achieved by driving a vacuum pickup, through a rotational motion toward an object resting at a first reference location while simultaneously driving a cam, restraining a spring loaded cam follower, so that the vacuum pickup is positioned proximal to the first reference position. Vacuum is applied to secure the object to the pickup. The cam and shaft are then simultaneously driven in the opposite direction to clear the other objects and obstruction by swinging the object through an arcuate motion while simultaneously elevating the object. As the pickup and object continue through the arcuate motion, the cam motion is reversed to position the object proximal to a deposition surface located at a second reference position. The cam is then further driven to contact the object with the deposition surface, the vacuum is released and the object is released.

Abstract: A takeoff and restacking device is operated in coordination with printing apparatus that applies decorations to the outside of cup-like containers. The apparatus includes a plurality of container holding mandrels extending radially from a turret which moves in angular steps between stations spaced by a distance equal to the space between adjacent mandrels. At one of these stations (takeoff station) a bellows-type suction head mounted on a support arm of the device engages a decorated container and carries it to a stacking region where the container is added to a stack at the rear thereof. The support arm is pivotally mounted to a drive arm on a movable pivot located at one end of the drive arm and intermediate the ends of the support arm. The end of the drive arm remote from the movable pivot is mounted to a fixed pivot about which the drive arm oscillates.

Abstract: An improved mobile magnetic lifting assembly for providing magnetic pickup and release in response to hydraulic control. A hydraulic drive motor and electric generator are disposed within a housing which includes an electromagnet attached thereto. The motor drives the generator which is electrically coupled to an electromagnet. The housing includes a suspension brakcet for detachably securing the housing to the boom of a lifting apparatus, as a crane. Hydraulic connections extend through the housing to provide hydraulic motor drive control of the electrical power to the electromagnet.

Abstract: A loader-unloader system for loading and unloading work pieces, particularly work pieces having thin portions, in a machine tool wherein each work piece is held in position for rotation about a longitudinal axis during which various machine operations may be performed by the tool comprising a loading conveyor adapted to deliver articles in succession to a loading position, an unloading conveyor adapted to receive work pieces, and a loader-unloader assembly. The loader-unloader assembly comprises a track extending along an axis parallel to the longitudinal axis of the machine, a trolley movable along the track and means for moving said trolley back and forth along the said track. A load-vacuum clamping head assembly is mounted on the trolley, and an unload-vacuum head assembly is mounted on the trolley.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goal site.

Abstract: A jointed manipulator is formed of a body, first and second arms, and a holder for an object to be manipulated, wherein the first arm is pivoted to the body, the second arm is pivoted to the first arm, and the holder is pivoted to the second arm, and coupling and constraining mechanisms are provided which limit the relative movements of the parts so that the entire system has only one degree of freedom.

Abstract: A device for translating movements in one plane to movements in a perpendicular plane wherein a first member, movable on a frame with a reversible drive, has gripping arms attached to it. A second movable member is also attached to the first member and connected to the arms. The first member has a lock mechanism for the second member, interacting with stops on the frame. The drive is attached to the second member, the first and second members being releasably connected by the lock mechanism. A connector links the arms to the second member which is released from the lock mechanism when the first member as well as the arms have reached an end position. Depending on the setting of the drive, the second member continues its displacement to move the arms, via the connector, perpendicularly to the plane of movement of the first and second members.

Abstract: The present invention relates to a track vehicle. The vehicle is comprised of a lightweight frame having a platform or deck portion and first and second track guiding portions. Drive drums are provided, located at one end of each of the track guiding portions. First and second electric motors are connected, via gear reducers, each to one of the drive drums. Idler rollers are located at the other end of each of the track guiding portions. First and second tracks are provided, each encircling and operatively associated with one of the drive drums, one of the track guiding portions and one of the idler drums. Each of the track guiding portions has a bottom portion with each bottom portion having a longitudinally oriented strip of low friction material fastened thereto to provide a sliding surface for each of the tracks when the vehicle is in motion. In another embodiment of the invention the deck portion and track guiding portions are blow-formed from sheet plastics material.

Abstract: The present invention relates to the precise positioning of a body exhibiting a flat face, said latter requiring to be aligned, or in other words brought into coincidence with a mechanically indexed reference plane. The loading device in accordance with the invention comprises a levelling stage associated with a loading flap which can pivot about an axis. The stage comprises a base containing a cylindrical bore, and a lockable supporting stand equipped with a spherical-walled sleeve located in said cylindrical bore. The flap and the stage are equipped with mechanical indexing means which cooperate with those defining the reference plane.

Abstract: A robot comprising a chain of members connected in pairs and mobile with respect to one another under the action of drive device controlled by a computer, each of the members being operative to drive a terminal member of the chain in a movement determined by a monitoring device controlling the computer, a single motor for selectively actuating, via a selection device controlled by the computer, each of the mobile members separately, and a single monitoring coder for selectively determining the movement of the mobile members.

Abstract: An articulating, part handling device to vary the orientation of the part carried thereby includes a carriage having a vacuum system positively to retain the properly located part thereon during handling. Such carriage is slidably mounted for selective reciprocal movement along the distal member of an articulating arm assembly, which is proximally pivotally mounted to a fixed supporting frame. The part handling device includes an actuating system to provide relative pivotal movement between the articulating arm assembly and frame and between the respective members of the articulating arm assembly and also to provide the relative axial movement between the carriage and distal arm, whereby the orientation of the carried part may be varied as required by the handling environment.

Abstract: The present invention is concerned with a method of and apparatus for cutting a slab from a body of uncured light-weight concrete, resting on a support surface. The method comprises the step of moving the body of uncured light-weight concrete along a longitudinal axis of said support surface through a predetermined distance; cutting a slab from said body while supporting the front face of said slab, moving the slab away from said body along an extension of said longitudinal axis; and subsequently moving the slab along at least one arcuate movement path in a plane perpendicular to said support surface and parallel to said longitudinal axis. The apparatus for performing the methods includes a sequentially moveable work feed means, a wire cutter mechanism for cutting a slab from the face of the concrete and a carosel-like pneumatic suction device for holding and transporting the cut slab to subsequent spraying, shaping and stacking stations.

Abstract: This relates to a feeder for feeding articles on a continuous basis one behind the other. The feeder includes a plurality of flight bars which are mounted for rotation about an axis with the flight bars being circumferentially spaced and having article engaging elements carried thereby. The flight bars are so mounted wherein the distances of the flight bars from the axis of rotation may be infinitely varied to thereby infinitely vary the circumferential spacing between adjacent flight bars. In this manner, the feeder may be readily adjusted so as to feed articles of all dimensions within a prescribed range.

Abstract: A transfer device for a printing machine transfers an object to be printed, for example a bottle, from a feed conveyor to a printing station. The device comprises a transfer member carried by a sleeve mounted on a shaft, and means for moving the sleeve and thereby the transfer member in a movement which is partially along the shaft and partially rotational about the axis of the shaft. The transfer device may be provided on a machine for printing a succession of objects, comprising a printing station, such as a silk-screen printing station, and a feed conveyor adapted to present the objects to be printed in sequence to the printing station. The transfer device transfers the objects one by one from the feed conveyor to the printing station.

Abstract: An apparatus for automatically loading a continuously operating machine with workpieces, the apparatus including a loading arm which is adapted to receive workpieces and a gripper which is adapted to transfer workpieces from the loading arm to a further receiving device provided on a conveyor adapted to transport the workpieces past the continuously operating machine.

Abstract: A method and apparatus are provided for orienting a plate such as a seed plate in an electrolytic refining plant. While the plate is in a horizontal attitude and connected with a suspending lug which in turn is connected to a supporting rod, the plate is transported by a manufacturing line conveyer to a predetermined location where there is lowered into engagement with the plate a suction structure capable of holding and carrying the plate. The suction structure together with the plate and the supporting rod and suspension lug are raised away from the manufacturing line conveyer to a transfer location where the plate is capable of swinging to an upright attitude while clearing the above conveyer. At the transfer location the suction action of the suction structure is released, and a pair of rod-supporting members are displaced into engagement with opposed ends of the rod to support the latter when the plate is released to swing to its upright attitude, by gravity.

Abstract: A suction device suitable for gripping porous sacks filled with free-flowing particulate materials is disclosed. The device comprises a vacuum chamber with a porous base and a rigid wall extending continuously around the periphery of the base on the side remote from the chamber. In use the device is placed on the sack and suction is applied until the sack and its contents rigidify as the air is drawn out from between the particles, through the porous sack. With the suction device attached to a robot arm, crane hoist or other lifting means, the rigidified sacks can be readily handled, e.g. during palletizing and depalletizing operations. The device may also be adapted for gripping filled sacks which are not naturally porous, for instance polyethylene sacks, by incorporating means, such as a knife, for piercing the sack within the area bounded by the rigid wall. For safety reasons, the piercing means preferably has associated protection which permits piercing of the sack but which shields it at other times.