WO2002068157A3 - Gripping mechanisms, apparatus, and methods - Google Patents

Gripping mechanisms, apparatus, and methods Download PDF

Info

Publication number
WO2002068157A3
WO2002068157A3 PCT/US2002/006096 US0206096W WO02068157A3 WO 2002068157 A3 WO2002068157 A3 WO 2002068157A3 US 0206096 W US0206096 W US 0206096W WO 02068157 A3 WO02068157 A3 WO 02068157A3
Authority
WO
WIPO (PCT)
Prior art keywords
methods
grasping mechanisms
gripping mechanisms
gripper apparatus
mechanisms
Prior art date
Application number
PCT/US2002/006096
Other languages
French (fr)
Other versions
WO2002068157A2 (en
Inventor
Robert Charles Downs
Mark Richard Weselak
James Kevin Mainquist
Original Assignee
Irm Llc
Robert Charles Downs
Mark Richard Weselak
James Kevin Mainquist
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Irm Llc, Robert Charles Downs, Mark Richard Weselak, James Kevin Mainquist filed Critical Irm Llc
Priority to JP2002567502A priority Critical patent/JP2005502479A/en
Priority to AU2002255622A priority patent/AU2002255622B2/en
Priority to CA002438789A priority patent/CA2438789A1/en
Priority to EP02725033A priority patent/EP1381495B1/en
Priority to DE60210946T priority patent/DE60210946T2/en
Publication of WO2002068157A2 publication Critical patent/WO2002068157A2/en
Publication of WO2002068157A3 publication Critical patent/WO2002068157A3/en
Priority to US10/620,324 priority patent/US6932557B2/en
Priority to US11/158,604 priority patent/US20050232743A1/en
Priority to US11/516,826 priority patent/US7422411B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/02—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y10S414/136—Associated with semiconductor wafer handling including wafer orienting means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y10S414/141—Associated with semiconductor wafer handling includes means for gripping wafer

Abstract

The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms (20) that include stops, support surfaces (40), and height adjusting surfaces (45) to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.
PCT/US2002/006096 2001-02-26 2002-02-26 Gripping mechanisms, apparatus, and methods WO2002068157A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
JP2002567502A JP2005502479A (en) 2001-02-26 2002-02-26 Grip mechanism, apparatus and method
AU2002255622A AU2002255622B2 (en) 2001-02-26 2002-02-26 Gripping mechanisms, apparatus, and methods
CA002438789A CA2438789A1 (en) 2001-02-26 2002-02-26 Gripping mechanisms, apparatus and methods
EP02725033A EP1381495B1 (en) 2001-02-26 2002-02-26 Gripping mechanisms, apparatus, and methods
DE60210946T DE60210946T2 (en) 2001-02-26 2002-02-26 GRIPPING MECHANISM, DEVICE AND METHOD
US10/620,324 US6932557B2 (en) 2001-02-26 2003-07-14 Gripping mechanisms, apparatus, and methods
US11/158,604 US20050232743A1 (en) 2001-02-26 2005-06-21 Gripping mechanisms, apparatus, and methods
US11/516,826 US7422411B2 (en) 2001-02-26 2006-09-06 Gripping mechanisms, apparatus and methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/793,254 2001-02-26
US09/793,254 US6592324B2 (en) 2001-02-26 2001-02-26 Gripper mechanism

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US09/793,254 Continuation-In-Part US6592324B2 (en) 2001-02-26 2001-02-26 Gripper mechanism

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US10/620,324 Continuation-In-Part US6932557B2 (en) 2001-02-26 2003-07-14 Gripping mechanisms, apparatus, and methods

Publications (2)

Publication Number Publication Date
WO2002068157A2 WO2002068157A2 (en) 2002-09-06
WO2002068157A3 true WO2002068157A3 (en) 2003-04-24

Family

ID=25159484

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/006096 WO2002068157A2 (en) 2001-02-26 2002-02-26 Gripping mechanisms, apparatus, and methods

Country Status (8)

Country Link
US (4) US6592324B2 (en)
EP (2) EP1381495B1 (en)
JP (1) JP2005502479A (en)
AT (2) ATE324230T1 (en)
AU (1) AU2002255622B2 (en)
CA (1) CA2438789A1 (en)
DE (2) DE60230077D1 (en)
WO (1) WO2002068157A2 (en)

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US6592324B2 (en) 2003-07-15
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CA2438789A1 (en) 2002-09-06
US20070005182A1 (en) 2007-01-04
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ATE324230T1 (en) 2006-05-15
US7422411B2 (en) 2008-09-09

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