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Browse Prior Art Database

Vacuum Pickup for a Robotic Arm

IP.com Disclosure Number: IPCOM000044226D
Original Publication Date: 1984-Nov-01
Included in the Prior Art Database: 2005-Feb-05
Document File: 3 page(s) / 39K

Publishing Venue

IBM

Related People

Antonie, CH: AUTHOR [+2]

Abstract

The sequence of Figs. 1 through 5b illustrates the deck vacuum pickup robotic end effector. Fig. 1 illustrates the deck 2 which has a plurality of semiconductor chips 4 and 4' mounted on its upper surface. The upward facing surface of the chips 4 and 4' is a smooth surface suitable for being picked up by a vacuum pencil. Fig. 2 illustrates the basic concept of the invention. A plurality of vacuum pencils or suction tubes 8 and 8' are respectively mounted on a plenum block 6 so as to be capable of coming into contact with the upward facing surfaces of the chips 4 and 4' on the deck 2. A vacuum may be drawn on the hollow plenum block 6 by means of the vacuum line 10. An optional pressure line 12 may provide positive air pressure to the plenum block 6 to purge the vacuum, when necessary. Fig.

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Vacuum Pickup for a Robotic Arm

The sequence of Figs. 1 through 5b illustrates the deck vacuum pickup robotic end effector. Fig. 1 illustrates the deck 2 which has a plurality of semiconductor chips 4 and 4' mounted on its upper surface. The upward facing surface of the chips 4 and 4' is a smooth surface suitable for being picked up by a vacuum pencil. Fig. 2 illustrates the basic concept of the invention. A plurality of vacuum pencils or suction tubes 8 and 8' are respectively mounted on a plenum block 6 so as to be capable of coming into contact with the upward facing surfaces of the chips 4 and 4' on the deck 2. A vacuum may be drawn on the hollow plenum block 6 by means of the vacuum line 10. An optional pressure line 12 may provide positive air pressure to the plenum block 6 to purge the vacuum, when necessary. Fig. 3 is a cross-sectional view of a pan-like receptacle commonly knows as a cookie sheet 14 into which can be set a plurality of firing sticks 16. Each firing stick 16 can hold a plurality of decks 2 for the purpose of storage and other processing steps. In operation, the plenum block 6 and its suction tubes 8 can be brought vertically downward and aligned with the chips 4 on a deck 2 which is desired to be lifted vertically from a firing stick 16. In this manner, it is unnecessary to carry out a separate disassembly operation of removing the firing sticks 16 from the cookie sheet 14. In a specific application of the plenum block 6, it can be mounted in association with the end effector of a robotic arm. In the specific embodiment a deck 2 is desired to be placed in contact with an electrical test socket which is a part of the end effector. The plenum block 6 and the suction tubes 8 can be employed to vertically remove the deck to be tested from its firing stick so that it can be placed between the jaws of the end effector on the robotic arm. It should be appreciated that the deck 2 need not be held in a firing stick receptacle, but can be lifted from any desired storage position for further processing steps. Fig. 4 illustrates one embodiment of a mounting mechanism for the plenum block 6, wherein a flexible casing 20 surrounding a bellows region 18 can be employed to provide vertical displacements to the pl...