Browse Prior Art Database

Turret Head Gripper Assembly

IP.com Disclosure Number: IPCOM000052175D
Original Publication Date: 1981-May-01
Included in the Prior Art Database: 2005-Feb-11
Document File: 3 page(s) / 79K

Publishing Venue

IBM

Related People

Appenzeller, HA: AUTHOR [+2]

Abstract

A turret head assembly is provided which permits a robot to pick up variously sized and shaped objects with a single head rather than utilizing specialized heads which require changing when changing robot operations. The head assembly provided is adapted to grip the various parts required in a fabrication process.

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Turret Head Gripper Assembly

A turret head assembly is provided which permits a robot to pick up variously sized and shaped objects with a single head rather than utilizing specialized heads which require changing when changing robot operations. The head assembly provided is adapted to grip the various parts required in a fabrication process.

The overall assembly employed is shown in Fig. 1 at 1 and comprises a turret head assembly 9 mounted through support 7 to robot head 3 via flange 5. The turret head assembly comprises a small vacuum pickup head 11, a large vacuum pickup head 13 and a finger-type pickup gripper 15. In addition, a two-stage cylinder 17 is employed to position the three pickup assemblies 11, 13 and 15.

The three pickup head assemblies all work on the same principle. As shown in Fig. 1, pickup device 11 is positioned to pick up small work-pieces, such as, for example, silicon wafers. In this regard, the device is mounted on a retractable spring-loaded slide which includes a sensing device. In operation, the robot lowers the turret down until vacuum cup 19 touches the workpiece and continues down compressing the overtravel spring. As the vacuum cup head is pushed upwardly, a flag on its upper end breaks, for example, a photosensor beam which signals the robot to stop and go to the next step of the sequence.

Finger gripper 15, shown in Fig. 1, comprises a conventional pneumatically actuated arrangement, the details of which are shown in Fig. 2. The gripper is mounted to the turret by means of shaft and overtravel spring 2...