ATE363365T1 - Mechanismus eines roboterarmes mit mehreren handhabungsgliedern - Google Patents

Mechanismus eines roboterarmes mit mehreren handhabungsgliedern

Info

Publication number
ATE363365T1
ATE363365T1 AT02252448T AT02252448T ATE363365T1 AT E363365 T1 ATE363365 T1 AT E363365T1 AT 02252448 T AT02252448 T AT 02252448T AT 02252448 T AT02252448 T AT 02252448T AT E363365 T1 ATE363365 T1 AT E363365T1
Authority
AT
Austria
Prior art keywords
link
robot arm
links
arm
arms
Prior art date
Application number
AT02252448T
Other languages
English (en)
Inventor
Chohei Okuno
Hiroki Mori
Tetsuya Watanabe
Original Assignee
Teijin Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teijin Seiki Co Ltd filed Critical Teijin Seiki Co Ltd
Application granted granted Critical
Publication of ATE363365T1 publication Critical patent/ATE363365T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
    • H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
    • H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Transmission Devices (AREA)
AT02252448T 2001-04-05 2002-04-04 Mechanismus eines roboterarmes mit mehreren handhabungsgliedern ATE363365T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001107441 2001-04-05
JP2001222488A JP4628602B2 (ja) 2001-04-05 2001-07-24 ロボットアーム

Publications (1)

Publication Number Publication Date
ATE363365T1 true ATE363365T1 (de) 2007-06-15

Family

ID=26613151

Family Applications (1)

Application Number Title Priority Date Filing Date
AT02252448T ATE363365T1 (de) 2001-04-05 2002-04-04 Mechanismus eines roboterarmes mit mehreren handhabungsgliedern

Country Status (9)

Country Link
US (1) US6705177B2 (de)
EP (1) EP1249318B1 (de)
JP (1) JP4628602B2 (de)
KR (1) KR100625585B1 (de)
CN (1) CN100396449C (de)
AT (1) ATE363365T1 (de)
DE (1) DE60220330T2 (de)
HK (1) HK1049976A1 (de)
TW (1) TW544387B (de)

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* Cited by examiner, † Cited by third party
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JP3804780B2 (ja) * 2002-04-25 2006-08-02 ナブテスコ株式会社 ロボットアーム及びロボット
US7837425B2 (en) 2003-07-16 2010-11-23 Tokyo Electron Limited Transportation apparatus and drive mechanism
JP4513435B2 (ja) * 2003-07-16 2010-07-28 東京エレクトロン株式会社 搬送装置
CN100342519C (zh) * 2003-07-16 2007-10-10 东京毅力科创株式会社 搬送装置及驱动机构
FR2863535B1 (fr) * 2003-12-15 2009-01-30 Commissariat Energie Atomique Bloc d'actionnement d'un train de segments articules et interface manuelle les comprenant
KR100995498B1 (ko) * 2005-09-16 2010-11-19 가부시키가이샤 소와 엠디 센타 반송 기구, 반송 장치 및 진공 처리 장치
US7673384B2 (en) * 2006-04-27 2010-03-09 Genesis Systems Group, Llc Nut runner and hexabot robot
US7946800B2 (en) * 2007-04-06 2011-05-24 Brooks Automation, Inc. Substrate transport apparatus with multiple independently movable articulated arms
ITBO20070318A1 (it) * 2007-05-03 2008-11-04 Marchesini Group Spa Stazione per la pesatura di contenitori
US8267636B2 (en) 2007-05-08 2012-09-18 Brooks Automation, Inc. Substrate transport apparatus
KR20100029087A (ko) * 2007-05-08 2010-03-15 브룩스 오토메이션 인코퍼레이티드 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치
TWI367144B (en) * 2009-05-05 2012-07-01 Univ Chung Yuan Christian Three-link toggle type positioning platform
CN103503127B (zh) 2011-03-11 2016-05-11 布鲁克斯自动化公司 基底处理工具
CN103192372B (zh) * 2012-01-06 2015-03-11 沈阳新松机器人自动化股份有限公司 连杆型机械手
DE102012012184A1 (de) 2012-06-19 2013-12-19 Kuka Roboter Gmbh Vorgabe synchronisierter Roboterbewegungen
CN103659807A (zh) * 2012-09-12 2014-03-26 上海通彩自动化设备有限公司 三次元机械手自动化生产设备
US9255699B2 (en) * 2013-02-08 2016-02-09 Rite-Hite Holding Corporation Motion sensing dock lighting systems
CN103612256B (zh) * 2013-11-28 2016-03-30 东莞职业技术学院 大行程水平移动平台
CN103707291A (zh) * 2013-12-17 2014-04-09 广西大学 一种多自由度并联机构式可控码垛机器人
CN103707288A (zh) * 2013-12-17 2014-04-09 广西大学 一种多自由度码垛机器人
RU2716293C1 (ru) * 2019-01-29 2020-03-11 Александр Андреевич Никитин Гибкий исполнительный орган манипулятора
CA201548S (en) 2019-03-08 2022-01-28 Rite Hite Holding Corp Mounting device for fan and light
USD933283S1 (en) 2019-08-28 2021-10-12 Rite-Hite Holding Corporation Fan and light mounting system

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US4756662A (en) * 1986-03-31 1988-07-12 Agency Of Industrial Science & Technology Varible compliance manipulator
CN2050648U (zh) * 1989-05-19 1990-01-03 王荣兴 广告、服务用机器人
US5447409A (en) 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
JP2808826B2 (ja) 1990-05-25 1998-10-08 松下電器産業株式会社 基板の移し換え装置
CN1060732A (zh) * 1991-09-13 1992-04-29 王荣兴 广告机器人与样品转动盘及使用方法
JP2972008B2 (ja) * 1991-11-07 1999-11-08 東京エレクトロン株式会社 搬送アーム
CN2164962Y (zh) * 1993-06-17 1994-05-18 北京工业大学 机器人用伺服驱动型导轨滚轮运动机构
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JP3204115B2 (ja) * 1996-01-25 2001-09-04 ダイキン工業株式会社 ワーク搬送ロボット
SE511804C2 (sv) * 1996-03-14 1999-11-29 Abb Ab Anordning för relativ förflyttning av två element
US6364599B1 (en) 1996-03-22 2002-04-02 Komatsu Ltd. Robot for handling
CN2262940Y (zh) * 1996-09-16 1997-09-24 福建省石狮市石狮林边玩具塑料厂 一种机器人玩具的传动机构
US6336374B1 (en) * 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
JPH10249757A (ja) * 1997-03-18 1998-09-22 Komatsu Ltd 搬送用ロボット
JP3908366B2 (ja) * 1997-12-24 2007-04-25 本田技研工業株式会社 人型作業ロボットの腕体構造
SE512931C2 (sv) * 1998-04-29 2000-06-05 Abb Ab Anordning för relativ förflyttning av två element
JP3926501B2 (ja) * 1998-11-13 2007-06-06 ナブテスコ株式会社 ロボットアーム及びその駆動装置
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
JP2000167788A (ja) * 1998-12-07 2000-06-20 Nsk Ltd 搬送ロボット装置
CN2359070Y (zh) * 1999-03-25 2000-01-19 上海大学 细小管道内机器人移动装置
US6499936B2 (en) * 2001-02-17 2002-12-31 Yokogawa Electric Corporation Transfer system

Also Published As

Publication number Publication date
DE60220330D1 (de) 2007-07-12
JP4628602B2 (ja) 2011-02-09
TW544387B (en) 2003-08-01
EP1249318B1 (de) 2007-05-30
CN100396449C (zh) 2008-06-25
HK1049976A1 (en) 2003-06-06
KR20020079469A (ko) 2002-10-19
US6705177B2 (en) 2004-03-16
EP1249318A3 (de) 2005-01-19
EP1249318A2 (de) 2002-10-16
KR100625585B1 (ko) 2006-09-20
CN1382564A (zh) 2002-12-04
US20020144782A1 (en) 2002-10-10
JP2002361577A (ja) 2002-12-18
DE60220330T2 (de) 2008-01-31

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