Browse Prior Art Database

Multiple Module Gripper With Adjustable, Independent Sensing

IP.com Disclosure Number: IPCOM000060945D
Original Publication Date: 1986-Jun-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 2 page(s) / 43K

Publishing Venue

IBM

Related People

Kelly, HL: AUTHOR

Abstract

The Multiple Module Gripper can be used to test one or more modules at a time for bent pins. Referring to the figure, one such gripper assembly is illustrated. The gripper assembly is attached to robot arm 14. The gripper assembly comprises a vacuum pencil 16 which is free to travel vertically relative to housing 18. At the end of vacuum pencil 16 is a vacuum head 20 which can pick up module 22. The shaft of each vacuum pencil 16 is spring loaded by spring 24, with the spring tension adjusted by moving the collar 26 up or down and locking in place with a setscrew. Each vacuum assembly includes a photocell assembly 28 which can detect the presence of notch 30 in the shaft, which is an indication of a bent pin in module 22.

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Multiple Module Gripper With Adjustable, Independent Sensing

The Multiple Module Gripper can be used to test one or more modules at a time for bent pins. Referring to the figure, one such gripper assembly is illustrated. The gripper assembly is attached to robot arm 14. The gripper assembly comprises a vacuum pencil 16 which is free to travel vertically relative to housing
18. At the end of vacuum pencil 16 is a vacuum head 20 which can pick up module 22. The shaft of each vacuum pencil 16 is spring loaded by spring 24, with the spring tension adjusted by moving the collar 26 up or down and locking in place with a setscrew. Each vacuum assembly includes a photocell assembly 28 which can detect the presence of notch 30 in the shaft, which is an indication of a bent pin in module 22. In operation, the robot arm 14 will allow the module gripper assembly to pick up a module with vacuum pickup head 20. The robot arm will travel to a bent pin gauge 32 and lower the module pins into the gauge.

If there are no bent pins and the module is lowered properly, then the shaft of the gripper assembly will not move relative to the housing 18 and no bent pins will be sensed. However, if there is one or more bent pins and the module cannot freely insert into the bent pin gauge, then as the robot arm lowers, the shaft will move relative to the housing and the notch 30 will be detected by photocell assembly 28 and a bent pin will be recorded. Internal logic will then direct the robo...