JPH03154793A - Suction device utilizing compressed air - Google Patents

Suction device utilizing compressed air

Info

Publication number
JPH03154793A
JPH03154793A JP29259289A JP29259289A JPH03154793A JP H03154793 A JPH03154793 A JP H03154793A JP 29259289 A JP29259289 A JP 29259289A JP 29259289 A JP29259289 A JP 29259289A JP H03154793 A JPH03154793 A JP H03154793A
Authority
JP
Japan
Prior art keywords
compressed air
push button
button valve
shutter
pressure air
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
JP29259289A
Other languages
Japanese (ja)
Inventor
Seiji Ito
誠二 伊藤
Takashi Sekiba
関場 隆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Miyagi Electronics Ltd
Original Assignee
Fujitsu Miyagi Electronics Ltd
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 Fujitsu Miyagi Electronics Ltd filed Critical Fujitsu Miyagi Electronics Ltd
Priority to JP29259289A priority Critical patent/JPH03154793A/en
Publication of JPH03154793A publication Critical patent/JPH03154793A/en
Pending legal-status Critical Current

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Abstract

PURPOSE:To change over the transfer of a small sized part and the removal of the dust sticking to the transferred part, etc. with a simple operation, by providing a shutter for opening and closing compressed air discharge port, and adding the function thereto as an air gun. CONSTITUTION:A compressed air passage 7 parted by a push button valve 8 is opened by the through hole 17 formed on the push button valve 8, when a compressed air discharge port 10 is closed by making a shutter 26 abut on an annular projection 25 and the push button valve 8 is pushed down by a finger, the air pressure 16 led from a compressed air leading port is jetted from a pad cylindrical part 14 by passing through an air intake path 15 and blows off the dust sticking to an object to be sucked, etc. Then, the pushdown of the push button valve 8 is released, the shutter 26 abuts on the annular projection 24 to open the compressed air discharge port 10 and the push button valve 8 is pushed down by a finger after bringing the pad cylindrical part 14 into contact with the object 31 to be sucked, then, the compressed air passage 7 is opened by the through hole 17 of this valve 8, jetting the air pressure 16 from the discharge port 10 and sticking the object to be sucked to the pad cylindrical part 14.

Description

【発明の詳細な説明】 〔概要〕 圧気を利用し電子部品等の小物部品のハンドリングに使
用する吸着装置に関し、 吸着装置によって搬送した部品等に付着した塵埃を吹き
飛ばす機能を持たせることを目的とし、筒状部の先端が
吸着相手に接触するゴム弾性体のパッドと、 把持可能な棒状体の所望部に開口する圧気導入口と、 該棒状体の側面に開口する圧気排出口と、該棒状体内を
通り該圧気導入口と圧気排出口とに連通ずる圧気路と、 該圧気路を外部からの操作によって開閉させるバルブと
、 一端が該圧気排出口の近傍で該圧気路に連通し他端が該
棒状体の一端に設けられた該パッドの筒状部に連通ずる
吸気路と、 該圧気排出口を開閉するシャッターとを、具えたことを
特徴とし構成する。
[Detailed Description of the Invention] [Summary] Regarding a suction device that uses pressurized air to handle small parts such as electronic components, the purpose of this invention is to provide a suction device with a function of blowing away dust attached to the parts transported by the suction device. , a pad made of a rubber elastic body whose tip of the cylindrical part contacts the suction partner; a pressurized air inlet opening at a desired part of the grippable rod-shaped body; a pressurized air outlet opening at the side surface of the rod-shaped body; a pressure air passage that passes through the body and communicates with the pressure air inlet and the pressure air outlet; a valve that opens and closes the pressure air passage by external operation; one end that communicates with the pressure air passage near the pressure air outlet and the other end that communicates with the pressure air passage; The apparatus is characterized in that it includes an intake passage communicating with a cylindrical part of the pad provided at one end of the rod-like body, and a shutter for opening and closing the pressurized air outlet.

〔産業上の利用分野〕[Industrial application field]

本発明は、圧気を利用しウェーハや電子部品等の小物部
品のハンドリングに使用する吸着装置、特に、吸着相手
等に付着する塵埃を吹き飛ばすエアーブローの機能を具
えた装置構成に関する。
The present invention relates to a suction device used for handling small parts such as wafers and electronic parts using pressurized air, and particularly to a device configuration having an air blow function for blowing away dust adhering to a suction target.

〔従来の技術] ICやコンデンサ等の小物部品をノへンドリングする方
法の一つに、真空(減圧)を利用した吸着装置が使用さ
れている。吸着用の真空(!$i圧)を作るには、真空
装置を使用する方法、数kg/c@”程度の圧気を利用
して吸着パ・ノド内を減圧する方法が一般に利用されて
いる。
[Prior Art] One of the methods for holding small parts such as ICs and capacitors is to use a suction device that utilizes vacuum (reduced pressure). To create a vacuum (!$i pressure) for adsorption, methods are generally used to use a vacuum device, or to reduce the pressure inside the suction pan/nod using air pressure of several kg/cm. .

第4図は圧気を利用した従来の吸着装置の構成を示す側
断面図である。
FIG. 4 is a side sectional view showing the configuration of a conventional adsorption device that uses pressurized air.

第4図において、手に把持可能な吸着装置(エアービン
セット)lは、マイクロエジェクタ2を本体3と頭部4
で挟んだ棒状である。
In FIG. 4, a suction device (air bottle set) l that can be held in hand has a micro ejector 2 connected to a main body 3 and a head 4.
It is a rod-shaped sandwiched between.

本体3には、圧気装置に接続される圧気導入口5を有す
る口金6を設け、圧気導入口5に連通する圧気路7が形
成され、圧気路7をその中間部で開閉する押釦バルブ8
が挿設される。コイルばね9を具えた押釦バルブ8は、
非操作時に圧気路7の中間部を閉の状態にする。
The main body 3 is provided with a base 6 having a pressure air introduction port 5 connected to a pressure air device, a pressure air passage 7 communicating with the pressure air introduction port 5 is formed, and a push button valve 8 opens and closes the pressure air passage 7 at an intermediate portion thereof.
is inserted. The push button valve 8 equipped with a coil spring 9 is
The intermediate part of the pressure air passage 7 is kept in a closed state when not in operation.

マイクロエジェクタ2には、その側方に開口する圧気排
出口10が形成され、排気口10は圧気路11によって
本体3の圧気路7に連通し、排気口10に近い圧気路1
1に吸気路12が連通ずる。
The micro ejector 2 is formed with a pressure air outlet 10 that opens on its side, and the exhaust port 10 communicates with the pressure air passage 7 of the main body 3 through a pressure air passage 11.
An intake passage 12 is communicated with 1.

頭部4には、先端が吸着相手に接触する筒状部14を有
するゴム弾性体のパッド13を設け、筒状部14とマイ
クロエジェクタ2の吸気路12とに連通ずる吸気路15
が形成される。
The head 4 is provided with a rubber elastic pad 13 having a cylindrical portion 14 whose tip contacts the suction partner, and an air intake path 15 communicating with the cylindrical portion 14 and the air intake path 12 of the micro-ejector 2.
is formed.

かかる吸着装置1は、筒状部14の先端を吸着相手(例
えばIC)に接触せしめたのち押釦バルブ8を手指で押
下すると、押釦バルブ8によって分断されていた圧気路
7は、押釦バルブ8に形成された透孔17によって開通
し、圧気導入口5より導入された圧気16は圧気排出口
10より噴射し、その噴射によってパッド筒状部14内
は減圧され、そのことによってパッド筒状部14に吸着
相手が吸着されるようになる。
In this suction device 1, when the push-button valve 8 is pressed down with a finger after bringing the tip of the cylindrical portion 14 into contact with an adsorption target (for example, an IC), the pressure air path 7 that has been separated by the push-button valve 8 is connected to the push-button valve 8. The pressurized air 16 opened through the formed through hole 17 and introduced from the pressurized air inlet 5 is injected from the pressurized air outlet 10, and the pressure inside the pad cylindrical part 14 is reduced by the injection, thereby reducing the pressure inside the pad cylindrical part 14. The adsorption partner will be adsorbed.

次いで、押釦バルブ8の押下を解除すると、圧気路7は
押釦バルブ8によって分断されて閉状態となり、パッド
筒状部14内には排気口10から大気が流入し、それま
で吸着されていた吸着相手を離すようになる。
Next, when the press of the push button valve 8 is released, the pressure air path 7 is divided by the push button valve 8 and becomes closed, and the atmosphere flows into the pad cylindrical part 14 from the exhaust port 10, and the adsorption that had been adsorbed up to that point is Starts to push the other person away.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

以上説明したように、圧気を利用して減圧を作り出すま
たは、真空装置を利用して吸着相手を吸着する従来の吸
着装置は、吸着相手に被着する塵埃も一緒に搬送する。
As described above, conventional suction devices that create a reduced pressure using pressurized air or that use a vacuum device to adsorb an adsorbed object also transport dust attached to the adsorbed object.

このような塵埃は特にウェーハプロセスにおいて、製品
の歩留まりを低下し後工程で使用するマスクを傷付ける
等の不都合を招くため、塵埃を吹き飛ばすための装置、
例えばエアーガンを準備する必要があった。そして、吸
着装置が一般にエアービンセットと呼ばれる小型のもの
であり、手に把持して使用されるとき、エアーガンを使
用するオペレータは吸着装置とエアーガンを持ち替えて
操作するという煩わしさがあり、小物部品の搬送作業が
非能率化されるという問題点があった。
Especially in the wafer process, such dust causes inconveniences such as lowering product yield and damaging masks used in subsequent processes.
For example, I needed to prepare an air gun. The suction device is generally a small one called an air bottle set, and when it is used by holding it in the hand, the operator using the air gun has to switch hands between the suction device and the air gun. There was a problem that the transportation work became inefficient.

本発明の目的は、前記持ち替えの煩わしさをなくし、小
物部品の搬送を効率化することである。
An object of the present invention is to eliminate the trouble of changing hands and to improve the efficiency of transporting small parts.

〔課題を解決するための手段〕[Means to solve the problem]

上記目的は本発明の実施例を示す第1図によれば、 筒状部14の先端が吸着相手に接触するゴム弾性体のパ
ッド13と、 把持可能な棒状体の所望部に開口する圧気導入口5と、 該棒状体の側面に開口する圧気排出口10と、該棒状体
内を通り圧気導入口5と圧気排出口10とに連通する圧
気路7,11と、 圧気路7を外部からの操作によって開閉させるパルプ8
と、 一端が圧気排出口10の近傍で圧気路11に連通し他端
が該棒状体の一端に設けられたパッド13の筒状部14
に連通ずる吸気路12.15と、圧気排出口10を開閉
するシャッター26とを、具えたことを特徴とする吸着
装置21によって解決される。
According to FIG. 1, which shows an embodiment of the present invention, the above object is achieved by introducing pressurized air into a rubber elastic pad 13 whose tip end of a cylindrical part 14 contacts an adsorbed object, and into a desired part of a grippable rod-shaped body. a port 5, a pressurized air outlet 10 opening on the side surface of the rod-shaped body, pressurized air passages 7, 11 passing through the rod-shaped body and communicating with the pressurized air inlet 5 and the pressurized air outlet 10, and connecting the pressurized air passage 7 to the outside. Pulp 8 that opens and closes by operation
and a cylindrical portion 14 of the pad 13, one end of which communicates with the pressure air path 11 near the pressure air outlet 10, and the other end of which is provided at one end of the rod-shaped body.
The problem is solved by an adsorption device 21 characterized in that it includes an intake passage 12,15 communicating with the air outlet 12, and a shutter 26 for opening and closing the pressurized air outlet 10.

〔作用〕[Effect]

上記手段によれば、シャッターをスライドすることで吸
着装置はエアーガンとしての使用されるようになる。か
かる吸着装置は簡単な操作によってエアーガンとなり、
小物部品の搬送とその搬送部品等に付着する塵埃の除去
との双方に利用できる。
According to the above means, the suction device can be used as an air gun by sliding the shutter. Such a suction device can be turned into an air gun by simple operation.
It can be used for both transporting small parts and removing dust attached to the transported parts.

そのため、吸着機能だけであった従来の吸着装置を使用
したとき必要としたエアーガンが不要となり、搬送作業
と塵埃除去作業との切り換えが容易かつ迅速に行われる
ようになる。
This eliminates the need for an air gun that was required when using a conventional suction device that only had a suction function, and it becomes possible to easily and quickly switch between conveyance work and dust removal work.

〔実施例〕〔Example〕

以下に、図面を用いて本発明の実施例による吸着装置を
説明する。
Below, an adsorption device according to an embodiment of the present invention will be explained using the drawings.

第1図は本発明の一実施例による吸着装置の主要構成を
示す断面図、第2図は第1図に示す装置をエアーガンと
して使用したときの説明図、第3図は第1図に示す装置
をエアーピンセットとして使用したときの説明図である
Fig. 1 is a sectional view showing the main structure of an adsorption device according to an embodiment of the present invention, Fig. 2 is an explanatory diagram when the device shown in Fig. 1 is used as an air gun, and Fig. 3 is the same as shown in Fig. 1. It is an explanatory view when the device is used as air tweezers.

前出図と共通部分に同一符号を使用した第1図において
、万年筆と同様に把持可能な吸着装置21は、マイクロ
エジェクタ2を本体22と頭部23で挟んだ棒状である
In FIG. 1, in which the same reference numerals are used for parts common to those in the previous figure, a suction device 21 that can be held like a fountain pen has a rod shape in which a micro ejector 2 is sandwiched between a main body 22 and a head 23.

本体22には、圧気装置に接続される圧気導入口5を有
する口金6を設け、導入口5に連通ずる圧気路7が形成
され、圧気路7をその中間部で開閉する押釦バルブ8が
挿設される。コイルばね9を具えた押釦バルブ8は、非
操作時に圧気路7の中間部を断の状態にする。
The main body 22 is provided with a base 6 having a pressure air introduction port 5 connected to a pressure air device, a pressure air passage 7 communicating with the introduction port 5 is formed, and a push button valve 8 for opening and closing the pressure air passage 7 is inserted at an intermediate portion thereof. will be established. The push-button valve 8 equipped with a coil spring 9 closes the intermediate portion of the pressure air passage 7 when not operated.

マイクロエジェクタ2には、その側方に開口する圧気排
出口10が形成され、排気口1oは圧気路11近い圧気
路11に吸気路12が連通ずる。
The micro ejector 2 is formed with a pressure air exhaust port 10 that opens on the side thereof, and the exhaust port 1o communicates with the pressure air path 11 near the pressure air path 11 and the air intake path 12.

頭部23には、先端が吸着相手に接触する筒状部14を
有するゴム弾性体のパッド13を設け、筒状部14とマ
イクロエジェクタ2の吸気路12とに連通ずる吸気路1
5が形成される。
The head 23 is provided with a rubber elastic pad 13 having a cylindrical portion 14 whose tip contacts the suction partner, and an air intake path 1 that communicates with the cylindrical portion 14 and the air intake path 12 of the micro ejector 2.
5 is formed.

本体22に設けた環状突起24と頭部23に設けた環状
突起25との間で、筒状シャッター26は左右方向に摺
動可能であり、シャッター26が環状突起24と当接す
るようにすると排気口10は開き、シャッター26が環
状突起25と当接するようにすると排気口10は閉じる
。そして、第2図および第3図に示す如く本体22の凹
所27にはコイルばね28に付勢されたボール29が挿
設され、シャッター26の内筒面にはボール29の一部
が嵌合する一対の凹所30を有する。
The cylindrical shutter 26 can be slid in the left-right direction between the annular projection 24 provided on the main body 22 and the annular projection 25 provided on the head 23, and when the shutter 26 comes into contact with the annular projection 24, the exhaust air is removed. The mouth 10 opens, and when the shutter 26 comes into contact with the annular projection 25, the exhaust port 10 closes. As shown in FIGS. 2 and 3, a ball 29 biased by a coil spring 28 is inserted into the recess 27 of the main body 22, and a part of the ball 29 is fitted into the inner cylindrical surface of the shutter 26. It has a pair of recesses 30 that fit together.

かかる吸着装置21は、第2図に示す如くシャッター2
6を環状突起25に当接せしめることによって圧気排出
口10を塞ぎ、押釦バルブ8を手指で押下すると押釦バ
ルブ8によって分断されていた圧気路7は、押釦バルブ
8に形成された透孔17によって開通し、圧気導入口5
より導入された圧気16は吸気路15を通ってパッド筒
状部14より噴射し、吸着相手等に付着する塵埃を吹き
飛ばすことができる。
Such an adsorption device 21 has a shutter 2 as shown in FIG.
6 is brought into contact with the annular protrusion 25 to close the pressure air outlet 10, and when the push-button valve 8 is pressed down with a finger, the pressure air path 7 that was separated by the push-button valve 8 is closed by the through-hole 17 formed in the push-button valve 8. Opening, pressure air introduction port 5
The more pressurized air 16 passes through the intake passage 15 and is injected from the pad cylindrical portion 14, thereby making it possible to blow away dust adhering to the adsorbed object.

次いで、押Sロバルプ8の押下を解除し、第3図に示す
如くシャッター26を環状突起24に当接せしめること
によって圧気排出口1oを開き、パッド筒状部14を吸
着相手31に接触させたのち、押iロバルブ8を手指で
押下すると押釦バルブ8によって分断されていた圧気路
7は、押釦バルブ8に形成された透孔17によって開通
し、排気口IOより圧気16を噴射し、その噴射によっ
てパッド筒状部14内は減圧され、そのことによってパ
ッド筒状部14に吸着相手が吸着されるようになる。
Next, the pressure on the pusher valve 8 was released, and the shutter 26 was brought into contact with the annular protrusion 24 as shown in FIG. Afterwards, when the push button valve 8 is pressed down with a finger, the pressure air passage 7 that was separated by the push button valve 8 is opened by the through hole 17 formed in the push button valve 8, and the pressurized air 16 is injected from the exhaust port IO. As a result, the pressure inside the pad cylindrical portion 14 is reduced, and as a result, the adsorption partner comes to be adsorbed onto the pad cylindrical portion 14 .

次いで、押釦バルブ8の押下を解除すると、圧気路7は
押釦バルブ8によって分断されて閉状態となり、パッド
筒状部14内には排気口10から大気が流入し、それま
で吸着されていた吸着相手31を離すようになる。
Next, when the press of the push button valve 8 is released, the pressure air path 7 is divided by the push button valve 8 and becomes closed, and the atmosphere flows into the pad cylindrical part 14 from the exhaust port 10, and the adsorption that had been adsorbed up to that point is You will start to let go of your opponent 31.

〔発明の効果〕〔Effect of the invention〕

以上説明したように本発明による吸着装置は、吸着のみ
であった従来の機能にエアーガンとしての機能・を具え
、小物部品の搬送とその搬送部品等に付着する塵埃の除
去とは、指先でシャッターをスライドするという簡単な
操作によって、切り換えて利用できる。
As explained above, the suction device according to the present invention has the function of an air gun in addition to the conventional function of suction, and can transport small parts and remove dust attached to the transported parts using the shutter with the tip of a finger. You can switch between them by simply sliding the button.

そのため、従来の吸着装置にあってエアーガンに持ち替
える不便をなくし、小物部品の吸着・搬送作業と塵埃除
去作業とを、効率化した効果を揺する。
Therefore, the inconvenience of switching to an air gun in the conventional suction device is eliminated, and the effect of increasing the efficiency of suction/transfer work of small parts and dust removal work is greatly improved.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明の一実施例による吸着装置の主要構成図
、 第2図は第1図に示す装置をエアーガンとして使用した
ときの説明図、 第3図は第1図に示す装置をエアーピンセットとして使
用したときの説明図、 第4図は圧気を利用した従来の吸着装置の主要構成図、 である。 図中において、 5は圧気導入口、 7.11は圧気路、 8は押釦バルブ、 10は圧気排出口、 12、15は吸気路、 13はゴム弾性体のパッド、 14はパッドの筒状部、 21は圧気を利用した吸着装置、 26はシャッター 31は吸着相手、 を示す。 83図 つ1 第3図 第10し;示1装置をエアーガンとヒて便用しτ二とさ
の説明図 第 2 図 PE気と利用シT二夜スの吸眉衰1の王女m成因 第 4 図
FIG. 1 is a main configuration diagram of an adsorption device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram when the device shown in FIG. 1 is used as an air gun, and FIG. 3 is an illustration of the device shown in FIG. An explanatory diagram when used as tweezers. Figure 4 is a main configuration diagram of a conventional adsorption device that uses pressurized air. In the figure, 5 is a pressure air inlet, 7.11 is a pressure air path, 8 is a push button valve, 10 is a pressure air outlet, 12 and 15 are intake paths, 13 is a rubber elastic pad, and 14 is a cylindrical part of the pad. , 21 is an adsorption device using pressurized air, and 26 is a shutter 31 as an adsorption partner. 83 Figure 1 Figure 3 Figure 10 Figure 1 Explanatory diagram of how the device is used with an air gun Figure 2 The origin of the princess m of PE Qi and use of T two nights Figure 4

Claims (1)

【特許請求の範囲】 筒状部(14)の先端が吸着相手(31)に接触するゴ
ム弾性体のパッド(13)と、 把持可能な棒状体の所望部に開口する圧気導入口(5)
と、 該棒状体の側面に開口する圧気排出口(10)と、該棒
状体内を通り該圧気導入口(5)と圧気排出口(10)
とに連通する圧気路(7,11)と、該圧気路(7)を
外部からの操作によって開閉させるバルブ(8)と、 一端が該圧気排出口(10)の近傍で該圧気路(11)
に連通し他端が該棒状体の一端に設けられた該パッド(
13)の筒状部(14)に連通する吸気路(12,15
)と、 該圧気排出口(10)を開閉するシャッター(26)と
を、 具えたことを特徴とする圧気を利用した吸着装置。
[Claims] A rubber elastic pad (13) whose tip of the cylindrical part (14) contacts the suction partner (31), and a pressurized air introduction port (5) that opens at a desired part of the grippable rod-shaped body.
a pressurized air outlet (10) opening on the side surface of the rod-shaped body; and a pressurized air inlet (5) and a pressurized air outlet (10) passing through the rod-shaped body.
a pressure air path (7, 11) communicating with the pressure air path (7, 11), a valve (8) for opening and closing the pressure air path (7) by external operation; )
The pad (
The intake passage (12, 15) communicates with the cylindrical part (14) of
); and a shutter (26) for opening and closing the pressurized air outlet (10).
JP29259289A 1989-11-10 1989-11-10 Suction device utilizing compressed air Pending JPH03154793A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP29259289A JPH03154793A (en) 1989-11-10 1989-11-10 Suction device utilizing compressed air

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP29259289A JPH03154793A (en) 1989-11-10 1989-11-10 Suction device utilizing compressed air

Publications (1)

Publication Number Publication Date
JPH03154793A true JPH03154793A (en) 1991-07-02

Family

ID=17783777

Family Applications (1)

Application Number Title Priority Date Filing Date
JP29259289A Pending JPH03154793A (en) 1989-11-10 1989-11-10 Suction device utilizing compressed air

Country Status (1)

Country Link
JP (1) JPH03154793A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04367606A (en) * 1991-06-17 1992-12-18 Meiyo Chin Work-table
JP2001170942A (en) * 1999-12-20 2001-06-26 Harmo:Kk Molded article taking-out apparatus
JP2005254385A (en) * 2004-03-11 2005-09-22 Kiyoshi Takahashi Vacuum tweezers device
EP3784609A4 (en) * 2018-04-22 2022-03-02 Zenrobotics OY Waste sorting gantry robot
US11660762B2 (en) 2018-05-11 2023-05-30 Mp Zenrobotics Oy Waste sorting robot
US12064792B2 (en) 2020-10-28 2024-08-20 Mp Zenrobotics Oy Waste sorting robot with gripper that releases waste object at a throw position

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04367606A (en) * 1991-06-17 1992-12-18 Meiyo Chin Work-table
JP2001170942A (en) * 1999-12-20 2001-06-26 Harmo:Kk Molded article taking-out apparatus
JP2005254385A (en) * 2004-03-11 2005-09-22 Kiyoshi Takahashi Vacuum tweezers device
JP4512387B2 (en) * 2004-03-11 2010-07-28 高橋 清 Vacuum tweezers
EP3784609A4 (en) * 2018-04-22 2022-03-02 Zenrobotics OY Waste sorting gantry robot
US11851292B2 (en) 2018-04-22 2023-12-26 Mp Zenrobotics Oy Waste sorting gantry robot
US11660762B2 (en) 2018-05-11 2023-05-30 Mp Zenrobotics Oy Waste sorting robot
US12064792B2 (en) 2020-10-28 2024-08-20 Mp Zenrobotics Oy Waste sorting robot with gripper that releases waste object at a throw position

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