Pick-and-place tool for vacuum and magnetic coupling

• US 5,865,487 A
• Filed: 05/23/1996
• Issued: 02/02/1999
• Est. Priority Date: 05/23/1996
• Status: Expired due to Fees

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Gray, Charles, Gore, Kiron
• Primary Examiner(s): CHERRY, JOHNNY DAN
• Application Number:
  US08/652,734
• Time in Patent Office: 985 Days
• Field of Search: 294/2, 294/3, 294/64.1, 294/65, 294/65.5, 294/67.5, 294/81.6, 294/86.41, 414/606, 414/627, 414/737, 414/752, 901/40
• US Class Current: 294/2
• CPC Class Codes: B25J 15/06 with vacuum or magnetic holding means

Abstract

A pick-and-place apparatus (404) for magnetically and vacuum coupling an item (1100) includes a base (516), a magnetic coupler (500), and a vacuum coupler (502). The magnetic coupler (500) includes a vertical member (506) and a magnetic body (504), where the vertical member (506) has a first end (501) coupled to a center (507) of the base (516) and a second end (503) coupled to the magnetic body (504). The vacuum coupler (502) includes a first tubular member (510), a first vacuum cup (508), a second tubular member (514), and a second vacuum cup (512). The first tubular member (510) has a first end (509) coupled to a first end (517) of the base (516) and a second end (511) having the first vacuum cup (508) attached thereto. The second tubular member (514) has a first end (513) coupled to a second end (519) of the base (516) and a second end (515) having the second vacuum cup (512) attached thereto. The vertical member (506) of the magnetic coupler (500) is retractable for decoupling a magnetically coupled item.

Claims

1. A pick-and-place apparatus, comprising:

a base having a first end and a second end;

a vacuum coupler, said vacuum coupler including a first tubular member and a second tubular member, and a first vacuum cup and a second vacuum cup, said first tubular member having a first end and a second end, said first end of said first tubular member coupled near said first end of said base and said second end of said first tubular member having said first vacuum cup attached thereto, said second tubular member having a first end and a second end, said first end of said second tubular member coupled near said second end of said base and said second end of said second tubular member having said second vacuum cup attached thereto; and

a magnetic coupler, said magnetic coupler including a vertical member and a permanent magnet, said vertical member having a first end and a second end, said first end of said vertical member movably coupled to said base and said second end of said vertical member having said permanent magnet attached thereto, said magnetic coupler being retractable and having an extended position and a retracted position operative for magnetically coupling and decoupling, respectively, an item from said pick-and-place apparatus.

2. The pick-and-place apparatus according to claim 1, further comprising:

an orientation device coupled to said base, said orientation device operative to rotate said base at a predetermined angle.

3. A pick-and-place apparatus for picking and placing an item including a ferrous content and having a top shape, said pick-and-place apparatus comprising:

a central magnetic base having a hole, a bottom shape, and an outer edge, said bottom shape shaped to conform substantially to said top shape of said item;

a vacuum coupler including a vertical member and a vacuum cup, said vertical member inserted through said hole of said central magnetic base, said vacuum coupler capable of being positioned in a retracted position and an extended position, said vacuum coupler substantially disposed within said hole when said vacuum coupler is in the retracted position, said vacuum cup positioned outside of said hole when said vacuum coupler is in the extended position; and

a guiding body attached to said outer edge of said central magnetic base, said guiding body inwardly tapering for guiding and positioning said item accurately to said central magnetic base and said vacuum coupler.

4. The pick-and-place apparatus of claim 3 wherein said guiding body is made of a material which is non-magnetic, and wherein said guiding body has a surface which has a low frictional quality.

5. A pick-and-place apparatus for picking and placing a first item having a ferrous content, said first item having a first top shape, said pick-and-place apparatus comprising:

a central magnetic base having a hole and an outer edge;

a vacuum coupler including a vertical member and a vacuum cup, said vertical member inserted through said hole of said central magnetic base, said vacuum coupler capable of being positioned in a retracted position and an extended position, said vacuum coupler substantially disposed within said hole when said vacuum coupler is in the retracted position, said vacuum cup positioned outside of said hole when said vacuum coupler is in the extended position; and

a first guiding body defining a first cavity, said first guiding body attached to said outer edge of said central magnetic base, said first cavity shaped to conform substantially to said first top shape of said first item and tapering inwardly, said first guiding body for guiding and positioning said first item accurately to said central magnetic base and said vacuum coupler.

6. The pick-and-place apparatus of claim 5 wherein said first guiding body is attachable to and detachable from said central magnetic base, said pick-and-place apparatus is also used for picking and placing a second item having a second top shape, said pick-and-place apparatus further comprising:

a second guiding body defining a second cavity, said second guiding body being attachable to and detachable from said central magnetic base, said second cavity shaped to confrom substantially to said second top shape of said second item and tapering inwardly, said second guiding body for guiding and positioning said second item accurately to said central magnetic base and said vacuum coupler.

7. A pick-and-place tool, comprising:

a base;

a first vacuum cup, said first vacuum cup carried with said base;

a permanent magnet, said permanent magnet carried with said base and disposed outside of said first vacuum cup; and

a movable member, said movable member movably connected to said base and connected to one of said said permanent magnet and said first vacuum cup, said movable member operative to move to a first position where a first vacuum pick-up area of said first vacuum cup is substantially coplanar with at least a portion of a magnetic pick-up area of said permanent magnet, said movable member operative to move to a second position where the first vacuum pick-up area is substantially noncoplanar with the at least a portion of the magnetic pick-up area and located further away from said base than the at least a portion of the magnet pick-up area, said movable member operative to move from the first position such that no substantial movement of said first vacuum cup occurs in a direction parallel to the first vacuum pick-up area.

8. The pick-and-place tool according to claim 7, wherein said movable member is connected to said permanent magnet.

9. The pick-and-place tool according to claim 7, wherein said movable member is connected to said permanent magnet and is operative to retract said permanent magnet toward said base to the second position.

10. The pick-and-place tool according to claim 7, wherein said movable member is connected to said permanent magnetic and is operative to retract said permanent magnet toward said base to the second position in a direction substantially perpendicular to the first vacuum cup area.

11. The pick-and-place tool according to claim 7, further comprising:

a second vacuum cup, said second vacuum cup carried with said base; and

wherein said movable member is connected to said permanent magnet, said movable magnet operative to move to the first position where a second vacuum pick-up area of said second vacuum cup is substantially coplanar with the at least a portion of the magnetic pick-up area, said movable member operative to move to the second position where the second vacuum pick-up area is substantially noncoplanar with the at least a portion of the magnetic pick-up area and located further away from said base than the at least a portion of the magnet pick-up area, said movable member operative to move from the first position such that no substantial movement of said second vacuum cup occurs in a direction parallel to the second vacuum pick-up area.

12. The pick-and-place tool according to claim 11, wherein said first vacuum cup, said permanent magnet, and said second vacuum cup are positioned in a linear fashion on said base in the first position.

13. The pick-and-place tool according to claim 7, wherein said movable member is connected to said first vacuum cup.

14. The pick-and-place tool according to claim 13, further comprising:

a guiding body, said guiding body carried with said base and surrounding at least a portion of said permanent magnet.

15. The pick-and-place tool according to claim 7, wherein said movable member is connected to said first vacuum cup and is operative to extend said first vacuum cup away from said base to the second position.

16. The pick-and-place tool according to claim 7, wherein said movable member is connected to said first vacuum cup and is operative to extend said first vacuum cup away from said base to the second position in a direction substantially perpendicular to the first vacuum cup area.

17. The pick-and-place tool according to claim 7, wherein said movable member is disposed in a hole substantially in a center of the magnetic pick-up area.

18. The pick-and-place tool according to claim 7, wherein said movable member is operative to magnetically decouple an item from said permanent magnet when positioned from the first position to the second position.

19. The pick-and-place tool according to claim 7, further comprising:

an orientation arm, said orientation arm connected to said base and operative to rotatably position said base in a first position and a second position.

20. The pick-and-place tool according to claim 7, further comprising:

a first member;

a second member, said second member connected to said base;

a hinge, said hinge connecting said first and said second members; and

an orientation arm, said orientation arm connected to said base and operative to rotatably position said base in a first position and a second position.