Disclosed are a substrate treating apparatus and a substrate reversing method. The substrate treating apparatus includes a supporting portion, a transport mechanism, and a reversing mechanism. The transport mechanism includes a first suction portion and a hand driving unit. The reversing mechanism includes a second suction portion and a rotation driving unit. When the transport mechanism transports a substrate to the supporting portion, the first suction portion is located above the substrate and sucks the substrate upward while causing gas to flow along a top face of the substrate, and the hand driving unit moves the first suction portion to the supporting portion. When the reversing mechanism receives the substrate from the supporting portion, the second suction portion is located above the substrate supported by the supporting portion and sucks the substrate upward while causing gas to flow along the top face of the substrate.

This hand system comprises: a suction pad that sucks a conductive workpiece by fluid effect; at least three electrodes that are arranged on the suction pad; and an electrical characteristics measuring device that measures the electrical characteristics of an electrical circuit formed by the contact between any two of the electrodes and the workpiece.

A gripping device for a part stacking system that according to one embodiment includes a plurality of supporting arms and a plurality of gripping elements attached to the supporting arms, at least some of said gripping elements being movable with respect to the respective supporting arm. Each supporting arm comprises at least one guiderail and each movable gripping element comprises a carriage movable in the corresponding guiderail. The static friction force between each carriage and the respective guiderail is such that the movable gripping elements are kept immobile with respect to the supporting arms by means of said static friction force during the part stacking process, and said movable gripping elements are positioned with respect to the respective supporting arm overcoming said static friction force.

A gripper device and method is provided. The method includes capturing, using an electronic device, information of an object that is indicative of holding position; determining, using the information, by a hardware processor, an optimal holding orientation and an optimal movement of at least one of (i) a plurality of fingers, or (ii) a plurality of suction cups of a gripper device; identifying the at least one of (i) the plurality of fingers, and (ii) the plurality of suction cups as one or more grasping components based on the information, the optimal holding orientation and the optimal movement; and enabling, using an actuator, the one or more identified grasping components to grasp the object based on the information, the optimal holding orientation and the optimal movement.

A conveyor apparatus that includes a support, a crossbar and a plurality of tools attached to the crossbar. The crossbar is suitable for being moved to convey a workpiece and is supported only by the support. The crossbar includes first and second segments that are located on opposite sides of the support. First and second tools are respectively attached to the first and second segments. The conveyor apparatus includes at least one passive vibration compensation block attached to at least one element of the conveyor apparatus selected from the crossbar, the first tool, and the second tool, to reduce vibrations generated during the movement of the crossbar.

A collar fastening system that includes a collar fastening tool, and a collar loading assembly coupled to the collar fastening tool. The collar loading assembly includes a loading arm that rotates into multiple positions and a holding member coupled to the loading arm. The loading arm positions the holding member between a loading position and an unloading position. The holding member includes an arcuate side wall and a vacuum opening defined in the arcuate side wall. The holding member receives a collar when at the loading position, and selectively holds the collar against the arcuate side wall with a retaining force provided by a vacuum applied via the vacuum opening. The loading arm provides the collar to the collar fastening tool when at the unloading position.

The present invention relates to a lifting device for lifting and vertically, and possibly horizontally, replacing an object. The lifting device comprises a first unit (1) configured with one or more catching parts such as suction pads and a second unit (2) configured to control vertical and optionally horizontal position of the object. The second unit (2) comprises a first attachment position and a second attachment position and the first attachment position is fixed to a vertically extending part (3) of the first unit (1); the second attachment position is fixed to a sliding member (10) of the first unit (1) by a rigid joint configured to transfer all movements induced at the second attachment position by the second unit (2) to a sliding member (10) of the first unit configured to slide between two positions along a longitudinal member (11) of the first unit.

The present invention relates to a turntable mechanism, including a flat plate and a rotating device for driving the flat plate to rotate, where the flat plate rotates to generate a negative pressure between a lower surface of the flat plate and a surface of an adsorbed object, the flat plate and the adsorbed object adhere together by an adsorption force generated by the negative pressure, and in this case, a gap is kept between the lower surface of the flat plate and the surface of the adsorbed object. In the present invention, a continuous, consistent, and stable fluid film is formed between the turntable and the adsorbed object, and a secondary flow is not easily generated, thereby ensuring that the adsorption force between the rotating flat plate and the adsorbed object is more stable.

The invention relates to a method for gripping an object by a handling system, including a robot with at least one robot arm, a gripping device which is connected to the robot arm and has a pneumatically operated suction gripper having an elastically deformable contact portion for contact with an outer surface of the object to be gripped, an identifier for identifying the outer surface of the object to be gripped and a controller which interacts with the identifier and is designed to control the robot.

A conveyance device includes a plate-shaped main body that faces a plate-shaped object to be conveyed, a plurality of recesses formed in the plate-shaped main body to face an outer circumferential portion of the plate-shaped object to be conveyed, a plurality of discharge channels formed inside the main body, and a plurality of movement restriction members formed on the main body to contact with and to restrict lateral movement of the plate-shaped object to be conveyed. One each of the plurality of discharge channels is connected to one each of the plurality of recesses, and a swirling flow is formed in the plurality of recesses by fluid supplied from the plurality of connected discharge channels. In each of the plurality of recesses, a portion of an opening not covered by the plate-shaped object to be conveyed is covered by one of the plurality of movement restriction members.