CN101360589B - 多关节机器人 - Google Patents

多关节机器人 Download PDF

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Publication number
CN101360589B
CN101360589B CN2007800014784A CN200780001478A CN101360589B CN 101360589 B CN101360589 B CN 101360589B CN 2007800014784 A CN2007800014784 A CN 2007800014784A CN 200780001478 A CN200780001478 A CN 200780001478A CN 101360589 B CN101360589 B CN 101360589B
Authority
CN
China
Prior art keywords
hand
arm
articulated robot
supporting member
moving direction
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN2007800014784A
Other languages
English (en)
Chinese (zh)
Other versions
CN101360589A (zh
Inventor
末吉智
田中谦太郎
松尾智弘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
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 Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of CN101360589A publication Critical patent/CN101360589A/zh
Application granted granted Critical
Publication of CN101360589B publication Critical patent/CN101360589B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • 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
    • H01L21/677—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 conveying, e.g. between different workstations
    • H01L21/67763—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 conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
    • H01L21/67766—Mechanical parts of transfer devices
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/135—Associated with semiconductor wafer handling
    • Y10S414/141—Associated with semiconductor wafer handling includes means for gripping wafer

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)
CN2007800014784A 2006-07-11 2007-06-15 多关节机器人 Active CN101360589B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2006190822 2006-07-11
JP190822/2006 2006-07-11
PCT/JP2007/062154 WO2008007516A1 (fr) 2006-07-11 2007-06-15 Robot à articulations multiples

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN 201010188567 Division CN101844359B (zh) 2006-07-11 2007-06-15 多关节机器人
CN2010101885593A Division CN101863015B (zh) 2006-07-11 2007-06-15 多关节机器人

Publications (2)

Publication Number Publication Date
CN101360589A CN101360589A (zh) 2009-02-04
CN101360589B true CN101360589B (zh) 2011-02-09

Family

ID=38923081

Family Applications (3)

Application Number Title Priority Date Filing Date
CN 201010188567 Active CN101844359B (zh) 2006-07-11 2007-06-15 多关节机器人
CN2010101885593A Active CN101863015B (zh) 2006-07-11 2007-06-15 多关节机器人
CN2007800014784A Active CN101360589B (zh) 2006-07-11 2007-06-15 多关节机器人

Family Applications Before (2)

Application Number Title Priority Date Filing Date
CN 201010188567 Active CN101844359B (zh) 2006-07-11 2007-06-15 多关节机器人
CN2010101885593A Active CN101863015B (zh) 2006-07-11 2007-06-15 多关节机器人

Country Status (5)

Country Link
JP (3) JP4168410B2 (pl)
KR (3) KR100914387B1 (pl)
CN (3) CN101844359B (pl)
TW (3) TW200817151A (pl)
WO (1) WO2008007516A1 (pl)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4655228B2 (ja) * 2006-07-11 2011-03-23 株式会社安川電機 多関節ロボットおよび多関節ロボットの移送方法
JP2010064219A (ja) * 2008-09-12 2010-03-25 Yaskawa Electric Corp 多関節ロボット
JP4591624B1 (ja) * 2010-03-12 2010-12-01 株式会社安川電機 産業用ロボット
KR200466172Y1 (ko) * 2010-04-28 2013-04-09 히라따기꼬오 가부시키가이샤 기판반송로봇
JP5376065B2 (ja) * 2010-09-13 2013-12-25 トヨタ自動車株式会社 サポートアーム
KR101211911B1 (ko) * 2010-11-02 2012-12-13 주식회사 로보스타 표시장치용 패널의 반전로봇
KR101682465B1 (ko) * 2010-11-17 2016-12-05 삼성전자 주식회사 기판이송로봇
JP5847393B2 (ja) * 2010-11-30 2016-01-20 川崎重工業株式会社 搬送ロボット
CN102145488B (zh) * 2011-02-14 2012-12-26 山东爱通工业机器人科技有限公司 一种柔性四自由度机械手
JP5565345B2 (ja) * 2011-03-07 2014-08-06 株式会社安川電機 搬送ロボット
CN102152297B (zh) * 2011-03-16 2013-04-10 哈尔滨工业大学 一种串联型r轴扩展机械臂
CN102126209B (zh) * 2011-03-16 2012-08-15 哈尔滨工业大学 一种用于硅片传输机器人的w轴差轴传动机构
CN102161199B (zh) * 2011-03-16 2012-09-19 哈尔滨工业大学 一种用于硅片传输机器人的w轴同轴传动机构
CN102126208B (zh) * 2011-03-16 2012-09-19 哈尔滨工业大学 一种并联型r轴扩展机械臂
JP5387622B2 (ja) * 2011-06-17 2014-01-15 株式会社安川電機 搬送ロボット
JP5429256B2 (ja) * 2011-10-03 2014-02-26 株式会社安川電機 ロボットシステム
JP5768827B2 (ja) * 2013-03-14 2015-08-26 株式会社安川電機 ロボットシステムおよびワークの搬送方法
KR101458697B1 (ko) * 2013-04-19 2014-11-05 현대중공업 주식회사 기판 이송장치 및 이를 이용한 기판 이송방법
JP6295037B2 (ja) * 2013-08-08 2018-03-14 日本電産サンキョー株式会社 産業用ロボット
KR101506188B1 (ko) * 2013-08-30 2015-03-26 주식회사 로보스타 멀티플 암을 구비한 반송 로봇
JP6352016B2 (ja) * 2014-03-27 2018-07-04 日本電産サンキョー株式会社 産業用ロボット
CN106041876B (zh) * 2016-06-28 2019-01-29 江苏捷帝机器人股份有限公司 一种全方位移动的智能化机械臂及其工作方法
CN105922233B (zh) * 2016-06-28 2018-08-07 江苏捷帝机器人股份有限公司 一种高精准智能化机械臂及其工作方法
CN105922242B (zh) * 2016-06-28 2018-06-29 江苏捷帝机器人股份有限公司 一种高效的智能化机械臂及其工作方法
CN106078724B (zh) * 2016-06-29 2020-01-24 微创（上海）医疗机器人有限公司 机械臂及其手术机器人
CN106175934B (zh) * 2016-06-29 2019-04-30 微创（上海）医疗机器人有限公司 手术机器人及其机械臂
JP6873881B2 (ja) * 2017-10-13 2021-05-19 日本電産サンキョー株式会社 産業用ロボット
KR102059445B1 (ko) 2017-11-28 2019-12-27 주식회사 엠티에스이 이동식 워크 테이블
CN108608460A (zh) * 2018-04-23 2018-10-02 深圳市华星光电半导体显示技术有限公司 机械臂结构及机器人
CN110549354A (zh) * 2018-05-31 2019-12-10 北新集团建材股份有限公司 下抄式机械抓取夹具
CN110454554A (zh) * 2019-08-26 2019-11-15 苏州领裕电子科技有限公司 一种单轴折叠手臂直线模组
JP2022104004A (ja) * 2020-12-28 2022-07-08 日本電産サンキョー株式会社 産業用ロボット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1143342A (zh) * 1994-03-04 1997-02-19 约瑟夫·迈克尔 可编程序材
US5764013A (en) * 1994-05-11 1998-06-09 Daitron Technology Co., Ltd. Plate material conveyance robot
CN2637135Y (zh) * 2003-07-02 2004-09-01 陕西科技大学 凸轮式提升转位机械手

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JPS58109284A (ja) * 1981-12-22 1983-06-29 株式会社小松製作所 ロボツト装置
JPH11347982A (ja) * 1998-06-02 1999-12-21 Mecs Corp 搬送ロボットの摺動部構造
CN2341778Y (zh) * 1998-12-02 1999-10-06 和椿事业股份有限公司 机械手臂
JP3973006B2 (ja) * 2000-03-23 2007-09-05 日本電産サンキョー株式会社 ダブルアーム型ロボット
JP2003158170A (ja) * 2001-11-20 2003-05-30 Aitec:Kk 基板用カセットのスロット検出装置
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
JP4063781B2 (ja) * 2004-03-04 2008-03-19 株式会社ラインワークス 搬送装置
CN101484281B (zh) * 2006-07-11 2011-10-26 株式会社安川电机 多关节机器人及配线方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1143342A (zh) * 1994-03-04 1997-02-19 约瑟夫·迈克尔 可编程序材
US5764013A (en) * 1994-05-11 1998-06-09 Daitron Technology Co., Ltd. Plate material conveyance robot
CN2637135Y (zh) * 2003-07-02 2004-09-01 陕西科技大学 凸轮式提升转位机械手

Non-Patent Citations (3)

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JP特开2004-196438A 2004.07.15
JP特开平11-347982A 1999.12.21

Also Published As

Publication number Publication date
CN101863015A (zh) 2010-10-20
JP5077406B2 (ja) 2012-11-21
TW200932456A (en) 2009-08-01
TWI357375B (pl) 2012-02-01
TWI315244B (pl) 2009-10-01
KR101120824B1 (ko) 2012-03-23
WO2008007516A1 (fr) 2008-01-17
JPWO2008007516A1 (ja) 2009-12-10
CN101844359B (zh) 2013-06-05
CN101844359A (zh) 2010-09-29
JP2008155361A (ja) 2008-07-10
TWI315243B (pl) 2009-10-01
KR20080082606A (ko) 2008-09-11
KR100914386B1 (ko) 2009-08-28
TW200930524A (en) 2009-07-16
JP4168410B2 (ja) 2008-10-22
TW200817151A (en) 2008-04-16
KR20080081196A (ko) 2008-09-08
JP4596375B2 (ja) 2010-12-08
JP2010274413A (ja) 2010-12-09
KR20080081197A (ko) 2008-09-08
KR100914387B1 (ko) 2009-08-28
CN101863015B (zh) 2012-02-15
CN101360589A (zh) 2009-02-04

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