Multiple Module Gripper With Adjustable, Independent Sensing
Original Publication Date: 1986-Jun-01
Included in the Prior Art Database: 2005-Mar-09
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.