Abstract: A system includes a control station for remotely controlling an animated character. Radio frequencies are used to transfer audio, video and other control signals to the animated character to provide speech, hearing, vision and practically any movement in real-time. A camera is used in the head of the animated character, and microphones are used in its ears to provide vision and hearing to a monitoring operator at the control station. A speaker is co-located with the animated character to generate sound from the operator. Servo control units are included within the animated character to provide a plurality of body movements. Other aspects of the animated character includes a multi-layer skin composite to make it appear more life-like, and an audio driver circuit for controlling the mouth of the animated character in proportion to the level of an audio signal generated at the control station.

Abstract: An article gripping apparatus selectively grips a first article having a functional surface and a non-functional surface, and an elastically deformable second article. A first contact mechanism contacting the first article includes a plurality of contact members contacting the non-functional surface of the first article, and a suction member which chucks the first article at a position where the suction member does not contact the functional surface of the first article in a state wherein the contact members are in contact with the first article.

Abstract: A workpiece transfer apparatus includes a first arm mounted at its lower end on a base for angular movement about a first angular movement axis extending substantially horizontally. A second arm is mounted at its upper end on an upper end of the first arm for angular movement about a second angular movement axis parallel to the first angular movement axis. The first arm is longer than the second arm. The apparatus further comprises a holder device for releaseably holding a workpiece. The holder device is mounted on a lower end of the second arm. The holder device and the first arm are disposed respectively on the opposite sides of the second arm spaced from each other in the direction of the first and second angular movement axes, so that the holder device, when moving horizontally, does not interfere with the first arm. The first and second arms are angularly moved respectively by first and second drive devices.

Abstract: Apparatus for transferring a workpiece from a first predetermined location to a second predetermined location. Workpiece is transferred using one continuous motion, wherein the workpiece is transported through space in a trochoid arc. This is achieved by having a pickup arm mounted to a body having a cylindrical surface which rolls along a second surface. Pickup arm picks up the workpiece in a first predetermined location of the body and deposits the workpiece at a second predetermined location of the body.

Abstract: A detecting device is provided for detecting carry-out of a last glass sheet from a stacking stand. The detecting device comprises a suction cup releasably attached with a suction force to the last glass sheet, and a sensor for detecting attachment and detachment to and from the last glass sheet and producing electrical signals representative thereof. The signals from the sensor are supplied to a robot or the like for the above carry-out for stopping the robot or the like when the sensor detects detachment of the suction cup from the last glass sheet.

Abstract: Each substrate is loaded into a receiving chamber upon a positionable platform, which platform is in sealed relationship with the receiving chamber to permit purging of the receiving chamber prior to transport of the loaded substrate(s) to a feed chamber. The platform is positioned from the receiving chamber into the feed chamber wherefrom the substrates are off loaded. A cassette containing a plurality of stacked substrates may be loaded upon the platform to transport a plurality of substrates into the feed chamber.

Abstract: An apparatus for transferring a kinescope and a chassis, which are coupled by cabling, from one location to another includes probes which engage apertures in the chassis to pick up the chassis. A frame supports suction cups to pick up the kinescope. The probes are supported by a bar which is pivotably attached to the frame. The chassis and kinescope are thus separately engaged and released but are simultaneously moved.

Abstract: A method and apparatus are described for conveying and supplying a part, such as a projection nut, to a predetermined point in space. The apparatus comprises a telescopic supply rod including an outer and inner shaft, two magnets being associated with a proximal end of one of the two shafts. The supply rod first extends in its entirety towards the predetermined point, or destination, with the part being attracted and held at the proximal end by the magnets. Relative displacement in longitudinal direction of the outer and inner shafts takes place as the part reaches the destination and, consequently, the magnets are moved away from the part so that magnetic force on the part is no more influential, whereupon the part is allowed to fall under gravity down to the destination.

Abstract: A parts supplying apparatus for carrying and supplying a part such as a projection nut to a predetermined point in space comprises a telescopic supply rod including an outer and inner shaft, and a magnet being fixed to a proximal end of one of the two shafts. The supply rod first extends in its entirety towards the predetermined point, or destination, with the part attracted and held at the proximal end by way of the magnet. When the part reaches slightly short of its destination, relative displacement in longitudinal direction of the outer and inner shafts takes place so that the magnet is moved away from the part until its magnetic force on the part is no more influential, whereupon the part is allowed to fall under gravity down to the destination accurately.

Abstract: A non-contact conveying device for lifting and/or supporting wafer-like articles without physical contact with the articles. The device has a pickup head with a cuhsion-vacuum room fully opened at its bottom and has an ejector opening located at the center of its upper wall and communicating with the cushion-vacuum room of the pickup head. The ejector opening is coupled to a positive pressure gas supply. The pickup head has an operating surface at the bottom of the side wall which is positioned adjacnet to an article to be lifted. In the case of a wide clearance existing between the operating surface and the article, the non-contact conveying device works as an ejector and the pressure within the cushion-vacuum room is decreased since the cushion-vacuum room acts in the manner of a vacuum room of an ejector and the space formed between the operating surface and the article acts in the manner of a diffuser of an ejector.

Abstract: For grasping objects having a limited weight and a random shape, a pneumatic gripper is proposed, which has an approximately U-shaped support (10) and a compressed air ejection nozzle (12), mounted on one of the end branches (10b) of the support and oriented towards the intermediate branch (10a), in the vicinity of the bend (10d) connecting the latter to the other end branch (10c). Rails (22) channel the compressed air jet from the nozzle (12) to the end of the branch (10c). The object (O) is attracted by the pressure drop or vacuum formed in the vicinity of the bend (10d) and can then be raised and manipulated.

Abstract: An apparatus capable of automated and/or robotic assembly, comprises a vacuum nozzle (100) capable of aspirating and securing an electrically conductive assembly component (114). The electrically conductive assembly component (114) is electrically coupled to an electric conductance sensor for detecting the presence of the electrically conductive assembly component (114) at the vacuum nozzle (100).

Abstract: A material handling system in the form of a grappling device or of a robotic or prosthetic limb is provided which can function for performing work. The system includes a plurality of magnets including at least one electromagnet. In preferred embodiments the magnets are hinged together at opposite ends and disposed inside a sheath. By reversing the polarity of selected electromagnets in the limb, the limb or an associated material handling device can be moved from an open position to a closed position for gripping an object. In turn, by again reversing the polarity of the electromagnets, the object can be released and the limb returned to an open position. The limb may be in the form of an anatomical hand, an arm or a foot, and the resilient casing may take the form and appearance of an artificial skin. The outer skin may be a glove with the inside of the glove having electrical conductors deposited thereon with contacts engaging opposite ends of the selected magnets.

Abstract: An apparatus for cutting and sealing the cut edges of semipermeable and at least partially thermoplastic fabric material is disclosed as having a support to position the material for cutting and sealing, a vacuum system to secure the material to the support to immobilize the material while the latter is being cut and sealed, an ultrasonic cutter to cut the material and to seal cut edges to prevent raveling thereof, and a guide to direct the cutter to cut the material in a desired configuration. The apparatus may be particularly adapted to cut and seal cut edges of automotive safety air bag material.

Abstract: An article holding hand apparatus of this invention grips a plurality of types of articles having different gripping modes. The apparatus includes at least two casings with a varying distance therebetween, first driving mechanisms for moving the casings to vary the distance therebetween, and a first holding mechanism attached to each casing and having at least two first finger members. The first holding mechanism opens and closes the first finger members to clamp a first article by movement of the casings through the first driving mechanism. The apparatus also includes a second holding mechanism, attached to each casing, for holding a second article, the second holding mechanism having second finger members slidably guided by the first finger members, with the distal end of each second finger member serving as a holding portion for holding the second article, and second driving mechanisms, housed in the casings, for sliding the second finger members.

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

Abstract: Vacuum lifting apparatus 1 containing a lift tube 2 which is extendable and retractable in length, and is located in an upright disposition with an upper end 3 connectable to a fixed or movable anchorage point or support 4, the lift tube interior 6 being connectable to a vacuum generating structure and each end 3, 7 of the tube 2 provided with air sealing structure, valve means 10 to connect the interior of the lift tube 2 at a controllable level to atmosphere to regulate the vacuum therein and hence the axial extension of the lift tube 2, and a relatively rigid device 11 located within the lift tube 2, which device 11 is axially displaceable or extendable and retractable with the lift tube 2 and carries at a lower end a means 14 for engaging a load to be lifted, transported and lowered.

Abstract: This invention provides improved body length adjustment value structure for a vacuum powered lifting system of the type that embodies a variable length lifting body responsive to the differential of pressure inside that body with atmospheric pressure to resolve critical manual control problems. Thus control is provided by proportional movement of a control member over a substantially linear range producing a smooth progressive movement of the lifting mechanism. This permits non-critical lowering and release of a work load object by unskilled operators. Thus, an air injection valve with an air release port, is positioned within the lifting body having an elongated slot operable over a control range proportionately change the body length by release of a progressively increasing flow of air into the body to increase air pressure and body length over the critical range of lowering and releasing the work load object in response to a corresponding substantially linear movement of the control member.

Abstract: A parts mounting apparatus which picks up a part by using a suction nozzle provided in a mounting head and transports the part so as to mount the part at a predetermined position, has: a suction nozzle portion including a suction nozzle, a light transmitting plate and a suction cylinder assembled such that the suction nozzle, the light transmitting plate and the suction cylinder define a suction chamber; the suction nozzle is made of light transmitting material; the light transmitting plate is spaced a proper distance from the suction nozzle; and the suction nozzle, the light transmitting plate and the suction cylinder connected integrally with each other.

Abstract: Disclosed herein is an instrument for inoculating bulb scales which comprises an instrument line, a scale sucking finger having a suction tube, and a scale gripping finger, with one end thereof rotatably joined to the instrument proper and with an intermediate part thereof connected to the instrument proper with a spring made of shape memory alloy.

Abstract: An electronic parts engaging apparatus is equipped with a parts feed portion having a plurality of parts feed devices disposed to feed, for each type of part, parts having marks indicating their separate type. A suction nozzle is composed of a light transmitting material. A recognition device recognizes the parts through the suction nozzle. A memory stores the types of the parts of the respective parts feed devices in the parts feed portion. A control stores in the memory the types of the parts found through the recognition of the marks of the parts of the respective parts feed devices with the recognition device. A periodical washing operation has an effect in that the control operation is simplified.

Abstract: A robotic tool is provided for temporarily positioning shearclips against structural members. The device incorporates a movable jaw linkage which provides sufficient clamping force for withdrawing a shearclip from an adhesively retained position in a storage tray. After a shearclip is removed from the storage tray, the movable jaw is displaced to a non-clamping position and vacuum retention of the shearclip is relied upon. The present robotic device achieves two time-saving objectives in the assembly of aircraft. It permits rapid preparation of shearclips as well as rapid mechanical-handling deployment of a prepared shearclip for utilization with a structural member.

Abstract: An automatic wafer handling system utilizing a vacuum pneumatic controlled cable driving mechanism. In principle, the necessary movements are provided by air cylinder actuation of pulley supported cables. This application of vacuum force is substituted in place of positive air pressure, offering simplicity, reliability and stability by its use. Further advantages include the elimination of electric motor driving elements, thereby providing significant reduction of particulate and dust contamination problems. System operation includes the use of vacuum in the pickup of wafers, in manipulation and transport by cable drive, and motion control by means of air cylinders using negative air pressure.

Abstract: In a supply head of a nut feeder, a guide member having both side walls guiding both end surfaces in minor axis direction of a flange portion of a transferred T-nut is fixed to the front end of a rod arranged movable forward and backward within a sleeve and magnetized for prescribed time so as to attract the T-nut to its holding surface at the top end. When the T-nut is attracted by the holding surface at the top end of the rod and the rod is moved forward to the welding position of the work, the rod is demagnetized and the T-nut becomes free thereby the T-nut abuts on the guide pin on the work by inertia force and is rotated and held to prescribed position on the work. In this case, both end surfaces in the minor axis direction of the flange portion of the T-nut are guided by both side walls of the guide member, and the T-nut is rotated in proper attitude and held to the correct welding position on the work.

Abstract: An end effector (10) is pivotally affixed to a robot arm (12) and comprises a platform (28) and a catcher (42). In operation, the end effector (10) picks up an integrated circuit slice (S), tilts the platform (28) away from the horizontal, causing the slice (S) to slide into an indexing surface (47) of the catcher (42). This places the slice (S) in a predetermined position relative to the robot arm (12) allowing for precise placement of the slice (S) at a workstation (106).

Abstract: An apparatus and a method for sorting parts to be tested. A first head selects a part and places the part in a testing location. A second head positions the part in a testing location where the part is tested to determine whether it conforms to certain criteria. The second head then places the tested part in a first storage location if the part conforms to the criteria, or in a second storage location if the part does not conform to the criteria.

Abstract: An industrial robot, designed for use in a press brake system, has a holding member for holding a plate shaped material, a base arm, and a working arm. The holding member nearly follows the plate shaped material without holding during a pressing process of the press brake by ensuring sufficient reciprocating distance between the holding member and the base arm, and by decreasing the mass of rotary axes and corresponding second arm members of the working arm which is used to control direction, altitude and other aspects of the plate shaped material. The industrial robot preferably ensures a degree of freedom in the width direction of the press brake by rotatably securing a first arm member to the base arm.

Abstract: An end effector or centering chuck is disclosed having centering fingers which employ a linear sliding motion. A stepper motor is mounted on the centering chuck and controls the opening and closing of the centering fingers. The stepper motor is controlled such that the centering fingers decelerate as they approach the work to be centered. The X-axis fingers, for example, are moved into engagement with the work to be centered with the Y-axis fingers disengaged. After alignment in the X direction is achieved, the work is centered in the Y-axis direction with the Y fingers while the X fingers are disengaged.

Abstract: A system (10) for precisely placing a semiconductor chip (16) on a substrate (11) includes a robotic arm (18) which is provided with a gripper (22) for separately picking up the chip and substrate. A first television camera (38) is carried by the robotic arm and serves to capture the image of the substrate to locate a pair of datum points (71a and 71b) thereon. A second camera (40), stationary with respect to the robotic arm, serves to capture the image of the chip (16), when engaged by the robot, to locate each of a pair of datum points (83a and 83b) thereon. A machine vision system (46) serves to process the output signal of the cameras (38) and (40) to establish the precise location of the datum points on the substrate and on the chip.

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

Abstract: The invention is a device for picking-up a semiconductor wafer without using the edges of the wafer thereby eliminating stress to the wafer. The picker moves up and down within a robotic arm and comes to rest in the same location each time through the use of tapered posts.

Abstract: An apparatus for advancing a plurality of components comprising a vibrating feed tray, having a plurality of interchangeable modular troughs, each sized to receive a component of a particular size. The troughs are removably and slidably secured to the tray, and can be used in any combination. One end of each trough is characterized by only one side wall. A second, parallel side wall is provided each trough by means of sharing the side wall of the adjoining trough. In the event that there is no directly adjacent trough, a side stop is positioned adjacent the open side of the trough.

Abstract: A parts supplying apparatus for carrying and supplying a part such as a projection nut to a predetermined point in space comprises a telescopic supply rod including an outer and inner shaft and, a magnet being fixed to a proximal end of one of the two shafts. The supply rod first extends in its entirety towards the predetermined point, or destination, with the part attracted and held at the proximal end by way of the magnet. When the part reaches slightly short of its destination, relative displacement in longitudinal direction of the outer and inner shafts takes place so that the magnet is moved away from the part until its magnetic force on the part is no more influential, whereupon the part is allowed to fall under gravity down to the destination accurately.

Abstract: This invention relates to suction pick-up apparatus of an electrical or electronic component placement machine. A pick-up head 16 has a body 82 with a pick-up surface 84 and a piston 94 with a smaller pick-up surface 98 slidable in the body 82. The piston 94 is movable between an operative position projecting beyond the surface 84 and an inoperative position retracted into the body 82 by air under pressure directed to move the piston 94. The head 16 is constructed so that suction can be applied to an appropriate one of the surfaces 84, 98 to retain a component engaged by that surface on the surface. The apparatus may have several pick-up heads 16 mounted at equal intervals about the axis of a carousel 14 for stepwise movement through a plurality of stations 26, 42-58 where various operations are carried out. Where the apparatus comprises a plurality of heads 16 mounted on a carrier 34 an appropriate head may be selected by a bowden cable mechanism 68.

Abstract: A feed apparatus employs a vision controlled robotic manipulator in which components are dispersed into a single layer with a random orientation. The dispersing mechanism comprises a vibratory feed plate having an input hopper which receives components to be dispersed. The feed plate is controllably vibrated such that components are urged along its top surface. Located in the travel path of the components above the feed plate is a rotating cylindrical brush, which sweeps components as they are being vibrated by the feed plate and causes a single layer of components to emerge from beneath the brush and pass to a viewing/pick-up zone. This zone is backlighted, so that the components may be observed by a camera mounted directly above the backlighted layer. The camera image is analyzed by a video data processor to determine the location and orientation of a component. This information is applied to a manipulator control program for driving a robotic manipulator to pick-up a component for transport to a workpiece.

Abstract: Apparatus for handling electronic components comprises a pick-up head 16 including a housing 74 and a tool comprising a elongated support member 80 (providing pick-up mechanism 84,98) mounted in the housing 74 for rotation about an axis D of the head 16 and for axial movement. A sleeve 122 and member 124 are rotatable with the tool but axially movable relative to the member 80. Clutch mechanism comprises a clutch pad 130 between a surface 132 of the housing 74 and a surface 128 of the member 124 and a spring 134 urging the surfaces 128, 132 and pad 130 together, locking the tool against rotation. Axial pressure on the sleeve 122 disengages the clutch permitting rotation of the tool which is effected through the sleeve 122. Several heads 16 mounted on a carousel 14 for movement from a pick-up station 26 through orientation stations 42, 48, to a placement station 50.

Abstract: An apparatus for handling a large-sized article such as a window assembly for a car has a carriage movable three-dimensionally in X-, Y- and Z-directions, and a vacuum holding device tiltably and fixably secured to the carriage. This apparatus conveys the article to a remote place and holds it while it is being secured to an object such as the wall of a car, thus improving the efficiency and safety of the work.

Abstract: A vacuum chuck apparatus operable in both gas and liquid includes a liquid-gas separating membrane which allows passage of gas molecules but prevents passage of liquid. The liquid-gas separating membrane is disposed between an inlet hole of the chuck and a manifold which is connected to a pneumatic system. The pneumatic system includes an aspirator, a compressor and a switching valve. The vacuum chuck is immersed into a liquid, compressed gas purges the liquid in the inlet hole, then the switching valve is switched to the aspirator. An object, such as a semiconductor wafer, is vacuumed quickly to the chuck, and the inlet hole is closed by the object. If a small quantity of liquid intrudes into the chuck, it is stopped by the liquid-gas separating membrane.

Abstract: A method for controlling a working robot which is adapted to grip a workpiece for transporting it to a position where the workpiece is positioned against a working tool to be worked by the tool. The robot is positioned at a work starting position and at a work end position and in each of the positions the tool length vector is calculated. Based on the tool length vector values in the starting and end positions, intermediate tool length vector values are calculated for respective incremental points on a path along which the work is to be done by the tool for carrying out incremental compensations.

Abstract: Windshields are automatically mounted on automobiles on the assembly-line by advancing a gripping device carrying the windshield and associated position sensors relatively towards the automobile, moving the sensors over a windshield opening in the automobile body shell and across edges of the shell defining such opening to provide signals indicating the position of such edges. Such measurements take place firstly on a gross scale and subsequently on a fine scale along at least four axes during the mounting process. The gross position of the windshield opening is first detected using the gross sensors. Starting from a reference point determined in the course of the gross measurement, a gripping device is then moved towards the upper edge of the windshield opening until a first of two fine sensors moves across such upper edge when the gripping device is pivoted around the detected point until the second fine sensor also moves across the upper edge.

Abstract: An automatic fastener selection apparatus for segregating a single fastener from a particular contained pile of fasteners and for depositing the segregated fastener into the intake device of a fastening machine is disclosed. The apparatus is capable of segregating headed or nonheaded fasteners within a wide range of sizes. The apparatus includes a scoop (20) that is connected to the forward end of a shaft (22). The scoop is mounted for movement into and out of a bin (24). The bin contains a pile of randomly oriented fasteners (26). When moved into the bin (24) the blade (28) of the scoop is thrust beneath at least some of the fasteners. The scoop is then tipped upwardly so that a number of fasteners remain on the upper surface of the scoop and slide inwardly to the corner (30) of the scoop. The scoop includes a vacuum port (34) and associated mechanisms for capturing a single fastener as the scoop is rotated into an inverted position within the bin, after the shaft is tilted to remove the scoop from the pile.

Abstract: In a system comprising a gripper (9) and a number of gripping objects (7), and with fluid-communication couplings for establishing temporary fluid communication between the gripper (9) and the gripping object (7) being gripped, the novel feature consists in that the coupling comprise at least one tubular member (30) with at least one open end being adapted to be pressed against and to make fluid-tight contact with a plane surface (37) on the gripping object (7) having fluid-transfer openings (39) with somewhat smaller diameter than the open ends of the tubular member (30). With this arrangement, the risks of damage and other problems associated with previous coupling arrangements based on the male-female principle are avoided.

Abstract: In a method of and a system for unpacking bales each tied by at least one strap, a contact plate member provided with a strap sensor unit is mounted, through a biasing arrangement, on a body frame for movement relative thereto. The body frame is moved toward a confronting side face of the bale to bring the contact plate member into contact with the side face of the bale. The body frame is further moved toward the bale while increasing biasing force of the biasing arrangement, until contact pressure, with which the contact plate member is urged against the side face of the bale, reaches a predetermined value. When the contact plate member is urged by the bale in such a direction as to increase the biasing force during scanning of the strap sensor unit along the side face of the bale, the body frame is moved away from the bale to maintain the contact pressure at the predetermined value.

Abstract: A mounting head exchange apparatus for a part mounting machine includes a moving unit as a part mounting portion for mounting parts onto a circuit board and the like, head holding portions, and a plurality of mounting heads provided at the head holding portions. Each of the mounting heads has a suction nozzle for attracting parts, and sets of position regulating claws for effecting positioning of the attracted parts. The mounting heads provided at the holding portions are so arranged that a predetermined mounting head is selected from them and detachably mounted to the moving unit. Thus, the mounting heads each provided with the position regulating claws and the suction nozzle may be exchanged as one unit.

Abstract: A vacuum adsorption hand and a composite hand mechanism attachable to the arm or the like of a material handling industrial robot are disclosed. The vacuum adsorption hand includes a sponge-like element on the outer surface of a perforated plate defining a vacuum chamber to prevent the ports or perforations in the plate from being obstructed by packaging film on an article to be handled. The composite hand mechanism of the present invention includes grasping mechanisms for grasping the sides of an article to be held in addition to an adsorbing mechanism. The grasping mechanisms have first members adapted for transverse movement to apply an adjustable transverse grasping force and second members which are vertically movable with respect to the first members. The grasping mechanisms ensure that the article will be held securely despite the effects of horizontally-oriented forces acting on the article held by the composite hand mechanism.

Abstract: A tool position compensation method for correcting a tool position when an old tool (16) mounted on a hand (15) of a robot is replaced. Information on the axes of the robot after the new tool is mounted is obtained based on information on the axes of the robot taught before the old tool is replaced, tool position information (TCP1) at that time, and tool position information TCP2) after the new tool is mounted.

Abstract: An electronic component mounting device for mounting an electronic component onto a circuit-board, is provided with an intermittently rotatable rotary frame, a plurality of elevating members disposed around and along the periphery of the rotary frame at regular intervals so as to be free to move up and down, a plurality of electronic component holding members respectively securely mounted on the elevating members each to hold one electronic component at a time, an index unit for controlling the intermittent rotation of the rotary frame by way of a shaft, a cam mechanism for moving the elevating members up and down with the rotation of the rotary frame, and an operating member for moving any one of the electronic component holding members up and down.

Abstract: An article transfer apparatus for transferring and assembling a television receiver back cover from a conveyor to a receiver cabinet. The apparatus is robotically operated and includes a set of pneumatically operated suction cups which are aligned to displace along axes which intersect at a common point to avoid torquing and misorienting the cover during the transfer. Vacuum is applied to the cups to assist in gripping the cover and for sensing a misgripped status. A fail-safe system locks the grip on the cover in case of power failure.

Abstract: A pick and place head for transferring die or chips containing electronic circuitry from waffle packs to substrates prior to lead bonding operations. The pick and place head includes a spindle rotatably mounted at the end of an arm and carrying jaws which are extendable to grasp, retract and rotate a collet having a vacuum pickup tip. Embodied as part of the spindle is a vacuum sensor manifold which sealably receives the collet and cooperates with it to form part of a vacuum sensing system to detect pickup of the chip or die.

Abstract: A vacuum-type pickup and transfer apparatus for irregularly surfaced, shaped and sized objects such as populated printed wiring boards (PWBs) is disclosed. The apparatus includes a plurality of downwardly directed vacuum conduits that have enlarged lips at their lower end. It also includes a thin, flexible, non-porous membrane which extends transversely and loosely between the conduits and through which the conduits extend so that their lower ends communicate with the region below the membrane. The pick-up apparatus is moved down to the PWBs and vacuum applied, so that the flexible membrane seals against the PWBs, adapting and conforming to any irregular surfaces, sizes and shapes. The apparatus includes a control for selectively regulating the movement of the pick-up apparatus and the application of the vacuum. The PWBs are accordingly moved to the desired location and the vacuum released to release the PWBs.