SG11201810084WA - Pick-and-place device having force measurement capability - Google Patents

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property 1#11101111 0 11101 HOE 3E1 0 0111011MM 111111101011 1111011011# Organization International Bureau (10) International Publication Number (43) International Publication Date ......0\"\"1 WO 2018/004452 Al 04 January 2018 (04.01.2018) WIP0 I PCT (51) International Patent Classification: CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, B25J 15/06 (2006.01) B25J 9/16 (2006.01) EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, B25J 13/08 (2006.01) HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, (21) International Application Number: LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, PCT/SG2016/050301 MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, (22) International Filing Date: SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, 28 June 2016 (28.06.2016) UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (25) Filing Language: English (84) Designated States (unless otherwise indicated, for every (26) Publication Language: English kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, (71) Applicant: AKRIBIS SYSTEMS PTE LTD [SG/SG]; UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, Blk 5012 Techplace II #01-05, Ang Mo Kio Avenue 5, Sin- TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, gapore 569876 (SG). EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, (72) Inventors: BUDIMAN, Sastra; Blk 5012 Techplace H TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, #01-05, Ang Mo Kio Avenue 5, Singapore 569876 (SG). KM, ML, MR, NE, SN, TD, TG). CHOONG, Sze Wei; No. 79 Jalan Pari Taman Sri Paya 86000, Kluang Johor, Malaysia (MY). LEOW, Yong Peng; Declarations under Rule 4.17: Blk 5012 Techplace II #01-05, Ang Mo Kio Avenue 5, Sin- — of inventorship (Rule 4.17(iv)) gapore 569876 (SG). Agent: CHONG, Yoke Fooi; c/o W.P. Lai & Company, Published: _ with international search report (Art. 21(3)) P.O. Box 0399, PSA Building, Singapore 911144 (SG). — with amended claims (Art. 19(1)) = (74) (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, = (54) Title: PICK-AND-PLACE DEVICE HAVING FORCE MEASUREMENT CAPABILITY (57) : A pick-and-place device for picking a work-piece from a first location to a sec- ond location and having force measurement is disclosed. The pick-and-place device comprises: 60 (a) a positive pressure chamber forming from a pick-and-place holder (10), a force measuring membrane (20) and a cover (60), wherein a positive pressure is supplied to the positive pressure chamber (60) via a pressure supply inlet (80) provided on the pick- and-place holder (10), and 80 ,.. 72 thus the force measuring membrane (20) is being preloaded; (b) a vacuum chamber forming from 70 the pick-and-place holder (10), the force measuring membrane (20) and a pick-up membrane (40), wherein a negative pressure is provided via a vacuum supply inlet (70) provided on the f tiffs 20 pick-and-place holder (10), wherein the pick-and-place device provides a pressure difference between the work- piece (90) and the pick—and-place device (100), enabling a pick-and-place capability. The present invention also relates to a method of simulating a pressure contact with a work-piece (90) which has force measuring capability and could be used by feedback control to the force a desired range in order to damage on the system set within prevent components or apply a regulated force during contact. Il --42 N If 40 1 1' 1 1' © © ---.... 41 Il 0 N FIG. 2 C