# US 11,077,466 B2 · End effector with slides for transferring trays > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,466 B2 - Document ID: US11077466B2 - Status: Granted - Kind: B2 - Application number: 16/116,025 - Filed: 2018-08-29 - Published: 2018-12-20 - Granted: 2021-08-03 - Earliest claimed: 2013-03-14 - Assignees: Brooks Automation, Inc. - Applicants: Brooks Automation, Inc. - Inventors: Anthony C. Bonora; Brian Compian; Jeff P. Henderson; Robert W. Carlson - Web page: https://patentgrep.com/patent/US11077466B2 ## CPC - B07C 5/3412: {according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication (sorting according to size measured by light-responsive means B07C5/10; sorting according to optical properties B07C5/342; for packages B65D79/02; for information carriers G06K7/00)} - B07C 5/00: Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches (sorting by hand only B07C7/00; separating solids from solids by sieving, screening, or sifting or by using gas currents or other separating by dry methods applicable to bulk material B07B) - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B25J 15/022: {actuated by articulated links} - G01N 35/04: Details of the conveyor system {(G01N35/021 - G01N35/028 take precedence)} - H10P 72/0611: {Sorting devices} - H10P 72/3212: {the substrates to be conveyed not being semiconductor wafers or large planar substrates, e.g. chips or lead frames} - H10P 72/3402: {Mechanical parts of transfer devices} - H10P 72/3406: {involving removal of lid, door or cover} - H10P 72/3411: {involving loading and unloading of wafers} - H10P 72/3412: {Batch transfer of wafers} - H10P 72/7602: {the wafers being placed on a robot blade or gripped by a gripper for conveyance} - B07C 2501/0063: Using robots - G01N 2035/0418: {Plate elements with several rows of samples} - G01N 2035/0425: {Stacks, magazines or elevators for plates} - B07C: POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING (specially adapted for a specific purpose covered by another class, see the relevant place, e.g. A43D33/06, B23Q7/12) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 ## Abstract An end effector for transferring a tray is described. The end effector includes an end effector base attached to a vertical drive column of a tray engine. The end effector further includes a slide having multiple arms that are attached to the end effector base to support the tray, when present. The arms of the slide enable the tray to slide along a length of the end effector base. The arms face each other and extend along the length of the end effector base. ## Claims ### Claim 1 An end effector for transferring trays, comprising: an end effector base having a length; a first slide base located within the end effector base; a first driving plate slidable with respect to the end effector base via the first slide base; a first slide having a first plurality of arms attached to the end effector base, wherein the first slide is attached to the end effector base via a slide support to be supported by the slide support, wherein each of the first plurality of arms has a support surface on top of which a first tray, when present, is supported, wherein the first driving plate is configured to slide the first tray on top of the support surfaces of the first plurality of arms and between and along lengths of the first plurality of arms of the first slide, wherein the first plurality of arms face each other and extend along the length of the end effector base; and a second slide having a second plurality of arms attached to the end effector base, wherein the second slide is located over the first slide, wherein the second slide is attached to the end effector base via the slide support to be supported by the slide support. ### Claim 2 (depends on 1) The end effector of claim 1, wherein each of the second plurality of arms has a support surface on top of which a second tray, when present, is supported. ### Claim 3 (depends on 2) The end effector of claim 2, further comprising: a second slide base; a second driving plate slidable with respect to the end effector base via the second slide base, wherein the second driving plate is configured to slide the second tray between and along lengths of the second plurality of arms of the second slide, wherein the second plurality of arms face each other and extend along the length of the end effector base. ### Claim 4 (depends on 3) The end effector of claim 3, further comprising: a slider block slidably attached to the end effector base; a connector block attached to the slider block; a grip assembly configured to grip the second tray when present, wherein the second driving plate is attached to the connector block and the grip assembly to move the grip assembly between a retracted position and an extended position to enable a movement of the second tray, when present, in a linear direction. ### Claim 5 (depends on 3) The end effector of claim 3, further including a grip assembly including a gripper configured to grip the second tray when present, wherein the second driving plate is coupled to the grip assembly to enable movement of the second tray gripped by the gripper in a linear direction. ### Claim 6 (depends on 3) The end effector of claim 3, further comprising a grip assembly attached to the second driving plate, wherein the grip assembly includes a grip body, a first pivot mechanism located over the grip body, a twist connector attached to the first pivot mechanism, and an arm attached to the twist connector. ### Claim 7 (depends on 6) The end effector of claim 6, wherein the grip assembly includes a second pivot mechanism and a grip clamp, wherein the arm is connected via the second pivot mechanism to the grip clamp for clamping the second tray when present. ### Claim 8 (depends on 1) The end effector of claim 1, wherein each of the first plurality of arms has an edge, wherein the edge has an upper surface located opposite to the support surface for enabling the first tray to slice between the upper surface and the support surface. ### Claim 9 (depends on 1) The end effector of claim 1, further comprising a slider block located below the first driving plate, wherein the first slide base includes a rail, wherein the slider block is configured to slide with respect to the rail. ### Claim 10 (depends on 1) The end effector of claim 1, further comprising: a slider block slidably attached to the end effector base; a connector block attached to the slider block; a grip assembly configured to grip the first tray when present, wherein the first driving plate is attached to the connector block and the grip assembly to move the grip assembly between a retracted position and an extended position to enable a movement of the first tray, when present, in a linear direction. ### Claim 11 (depends on 1) The end effector of claim 1, further comprising: a grip assembly coupled to the first driving plate, wherein the first driving plate and the grip assembly are configured to move in a linear direction over the support surfaces of the first plurality of arms. ### Claim 12 (depends on 1) The end effector of claim 1, further including a grip assembly including a gripper configured to grip the first tray when present, wherein the first driving plate is coupled to the grip assembly to enable movement of the first tray gripped by the gripper in a linear direction. ### Claim 13 (depends on 1) The end effector of claim 1, further comprising a grip assembly attached to the first driving plate, wherein the grip assembly includes a grip body, a first pivot mechanism located over the grip body, a twist connector attached to the pivot mechanism, and an arm attached to the twist connector. ### Claim 14 (depends on 13) The end effector of claim 13, wherein the grip assembly includes a second pivot mechanism and a grip clamp, wherein the arm is connected via the second pivot mechanism to the grip clamp for clamping the first tray when present.