Robot gripper for integrated circuit leadframes

摘要

An apparatus for gripping a thin flexible object located within a gripping plane having a transverse axis and a longitudinal axis perpendicular to each other and to a linear axis which is perpendicular to the gripping plane, includes first and second sets of gripper claws for gripping the object. The sets of gripper claws are located on opposite sides of the longitudinal axis and are movable between closed and open positions. Means are provided for restricting the motion of the gripper claws in a direction perpendicular to the longitudinal axis so that the gripper claws are prevented from excessive inward movement toward the longitudinal axis beyond a desired predetermined amount. The means for moving the gripper claws to the predetermined desired distance define a gripping volume which is bounded by the gripping claws in the gripping plane along the transverse axis and is bounded in a direction parallel to the linear axis by a top volume bounding surface formed by a back-up bar and by a lower volume bounding surface formed by an inward projection of the gripper claws.