End effector for IC chip handling

Claim 1

An end effector for automatically removing an IC chip from a frame-like holder therefor provided with holes at specified positions and a plurality of tongue-like protruding pieces extending in specified parallel direction and normally in contact with said IC chip to together securely support said IC chip with respect to said holder but elastically bendable away from said IC chip, said end effector comprising downward protruding locating pins which fit said holes to thereby correctly position said end effector with respect to said holder, a pair of pincer-like grippers, a plurality of downward shoving pins protruding downwardly from said grippers so as to be able, when said locating pins are inserted into said holes, to press and thereby bend said tongue-like protruding pieces to release said IC chip from said tongue-like protruding pieces, a tubular member disposed substantially vertically, a lower end thereof being directly above said IC chip when said locating pins are inserted into said holes, and an upper end thereof being connectable to vacuum pump means for providing suction at said lower end, gripper moving means for moving said grippers horizontally and linearly towards or away from each other, and tube moving means for vertically moving said tubular member up and down.