A work transfer system may include cassettes to house a work; a processing apparatus; and a robot to load and unload the work. The robot may include a base, a base link connected to the base, an arm link coupled to the base link, an arm connected to the arm link, and a hand connected to the arm. The base link and the arm link are controlled so that a center a coupling shaft of the arm link and the arm moves along a straight line. The cassettes are parallel to the straight line. A via point is specified for each quadrant of coordinate system and the robot moves between stages that are a target of loading or unloading of the work and uses the via point as a via point when moving.

A device for inserting a pipe into an elongated cavity, comprising at least two pipe grippers which can be moved along a curved path and which are arranged and designed in such a way that they grip around the pipe at least in sections and, in the gripped state, they move curved at least for a portion.

A gripping method is for gripping an object using a gripping mechanism including a roller and a frame that houses the roller. The gripping method includes a first stage and a second stage. In the first stage, the gripping mechanism moves relative to the object such that a first portion of the object is gripped between an outer surface of the roller and an inner surface of the frame. In the second stage, the gripping mechanism further moves relative to the object such that the roller is lifted by a second portion of the object before gripping of the object is released.

The present invention discloses a cell photographing and conveying apparatus, including a cell feeding workstation, a detection workstation, a manipulator and an image acquisition device. The manipulator transfers a cell from the cell feeding workstation to the detection workstation. The image acquisition device includes ultraviolet lamps, illumination lamps, and cameras, where the ultraviolet lamps are used for emitting ultraviolet light to the detection workstation. By means of the cell photographing and conveying apparatus, a relatively complete appearance image of the cell can be acquired, thus ensuring detection accuracy.

A system for grasping and retaining dishware during a cleaning cycle. The system includes a grasping element and a receiving surface substantially adjacent to the grasping element. The grasping element grasps the dishware, and the receiving surface receives and retains the dishware during at least one stage of a cleaning cycle. The receiving surface rotates about an axis to convey the dishware to at least two unique locations. A corresponding method is also described herein.

A vacuum transfer apparatus includes a vacuum chamber, a transfer robot, and a bellows. The vacuum chamber has a through-hole communicating with an outside. The transfer robot includes an arm unit disposed in the vacuum chamber to support a substrate, a support unit configured to support the arm unit while passing through the through-hole with a gap between the support unit and the through-hole, and a base unit disposed at the outside of the vacuum chamber to support the support unit. The bellows surrounds a periphery of the support unit and is sealed and attached to the arm unit and an inner wall of the vacuum chamber around the through-hole.

A gripper assembly for gripping a portion of a container may include a spindle configured to rotate about a vertical axis. The assembly may also include an actuating plate disposed on or about the spindle. The actuating plate may be configured to actuate toward a central shaft in response to a force applied to a first cam follower. The assembly may also include a gripper configured to at least one of open and close in response to the actuating plate being actuated toward the central shaft and a locking cam configured to contact the first cam follower and in at least one position to limit movement of the actuating plate toward the central shaft.

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a discontinuous plurality of track sections on which an automated carrier may be directed to move, and the automated carrier includes a base structure on which an object may be supported, and at least two wheels assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

There is provided systems and methods for picking up and transferring a variety of different types of merchandise, such as at shopping facilities. In one form, the system includes: a shopping facility with a merchandise order assembly area; an automated retrieval for transporting merchandise to the merchandise order assembly area; an image sensor; at least one robotic device including a plurality of end effectors for picking up merchandise; and a merchandise database identifying surface areas suitable for engagement with end effectors. The system also includes a control circuit that identifies a merchandise item being transported, receives images of the merchandise item and determines its orientation, chooses a surface area of the merchandise item for engagement, selects an end effector to be used to engage the merchandise item, and instructs movement and transfer of the merchandise item by the robotic device.

An equipment front end module may include an equipment front end module body forming an equipment front end module chamber. The equipment front end module body may include plurality of walls. One or more load locks or process chambers may be coupled to one or more first walls. One or more load ports may be provided in one or more second walls, wherein each of the one or more load ports are configured to dock a substrate carrier. A plurality of alignment pedestals may be housed within the equipment front end module chamber. A load/unload robot may be at least partially housed within the equipment front end module chamber, wherein the load/unload robot may include a plurality of blades. Other apparatus and methods are disclosed.