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Mechanical Gripper for Handling Ceramic Substrates and Trays

IP.com Disclosure Number: IPCOM000037068D
Original Publication Date: 1989-Nov-01
Included in the Prior Art Database: 2005-Jan-29
Document File: 2 page(s) / 52K

Publishing Venue

IBM

Related People

Bird, KA: AUTHOR [+5]

Abstract

A technique is described whereby a mechanical gripper, or end effector attached to a robot, is used to handle both ceramic substrates and trays during test operations. It is unique in that the gripper is capable of picking up and placing five parts at a time as well as having the ability to pick and place a tray by actuating fingers in the opposite direction.

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Mechanical Gripper for Handling Ceramic Substrates and Trays

A technique is described whereby a mechanical gripper, or end effector attached to a robot, is used to handle both ceramic substrates and trays during test operations. It is unique in that the gripper is capable of picking up and placing five parts at a time as well as having the ability to pick and place a tray by actuating fingers in the opposite direction.

The gripper, as shown in the figures, consists of cam mechanism 10, Z- motion mechanism 11, electric power motor 12, fingers 13 and sensors 14. Motor 12 has a maximum up and down position and is computer controlled through sensors 14. Fingers 13 are actuated by two cams located within cam unit 10.

(Image Omitted)

The fingers can be positioned in any of three positions. When the fingers are in the closed position, as shown in Fig. 2, the fingers close around the parts, enabling the parts to be transferred by the handler. When the fingers are in the middle position, the fingers have clearance around the part and tray 15. This position allows the gripper to go inside a tray without interfering with other parts. The last finger position, or the fully opened position, leaves no clearance between the fingers and tray 15. This enables the tray to be picked up and transferred to other locations. All three positions are computer controlled, located externally, through the use of sensors 14.

Since, sensors 14 are used to indicate the presence of a tray when...