CN101656223A - 多抓手重复智能抓取释放装置 - Google Patents
多抓手重复智能抓取释放装置 Download PDFInfo
- Publication number
- CN101656223A CN101656223A CN200910041510A CN200910041510A CN101656223A CN 101656223 A CN101656223 A CN 101656223A CN 200910041510 A CN200910041510 A CN 200910041510A CN 200910041510 A CN200910041510 A CN 200910041510A CN 101656223 A CN101656223 A CN 101656223A
- Authority
- CN
- China
- Prior art keywords
- supporting plate
- grasping part
- handgrip
- tongs
- torsionspring
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 14
- 238000000034 method Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 239000000047 product Substances 0.000 description 5
- 239000000758 substrate Substances 0.000 description 5
- 239000011368 organic material Substances 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000001259 photo etching Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
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
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- H01L21/68714—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 susceptor, stage or support
- H01L21/68721—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 susceptor, stage or support characterised by edge clamping, e.g. clamping ring
-
- 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
- H01L21/68714—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 susceptor, stage or support
- H01L21/68728—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 susceptor, stage or support characterised by a plurality of separate clamping members, e.g. clamping fingers
Landscapes
- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009100415102A CN101656223B (zh) | 2009-07-29 | 2009-07-29 | 多抓手重复智能抓取释放装置 |
PCT/CN2009/076064 WO2011011955A1 (zh) | 2009-07-29 | 2009-12-25 | 多抓手重复智能抓取释放装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009100415102A CN101656223B (zh) | 2009-07-29 | 2009-07-29 | 多抓手重复智能抓取释放装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101656223A true CN101656223A (zh) | 2010-02-24 |
CN101656223B CN101656223B (zh) | 2011-11-02 |
Family
ID=41710434
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2009100415102A Expired - Fee Related CN101656223B (zh) | 2009-07-29 | 2009-07-29 | 多抓手重复智能抓取释放装置 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN101656223B (zh) |
WO (1) | WO2011011955A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105500392A (zh) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | 一种可判断板材抓取数量的机械手 |
CN107564847A (zh) * | 2017-07-21 | 2018-01-09 | 惠科股份有限公司 | 一种显示面板的制作方法及制作设备 |
CN107600874A (zh) * | 2017-09-11 | 2018-01-19 | 青岛海通机器人系统有限公司 | 一种滚筒移载型机器人 |
CN116978856A (zh) * | 2023-09-25 | 2023-10-31 | 泓浒(苏州)半导体科技有限公司 | 一种双臂洁净式半导体晶圆翻转夹具及其控制方法 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106033739B (zh) * | 2015-03-19 | 2019-02-15 | 南京瀚宇彩欣科技有限责任公司 | 衬底支持装置及机台装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5775000A (en) * | 1996-05-13 | 1998-07-07 | Ebara Corporation | Substrate gripper device for spin drying |
TW452917B (en) * | 1999-10-29 | 2001-09-01 | Winbond Electronics Corp | Holder |
JP3593292B2 (ja) * | 2000-01-17 | 2004-11-24 | シャープ株式会社 | 可動接片付光結合装置 |
JP4488646B2 (ja) * | 2001-04-23 | 2010-06-23 | 株式会社トプコン | ウェーハ保持装置 |
JP4683385B2 (ja) * | 2005-01-26 | 2011-05-18 | Juki株式会社 | 電子部品挟持装置 |
CN201017866Y (zh) * | 2007-02-06 | 2008-02-06 | 广东省粤晶高科股份有限公司 | 晶体管排片预热机的送片器的抓手 |
JP4746002B2 (ja) * | 2007-05-07 | 2011-08-10 | リンテック株式会社 | 移載装置及び移載方法 |
CN101422902B (zh) * | 2007-10-31 | 2011-01-05 | 鸿富锦精密工业(深圳)有限公司 | 机械手 |
CN201140393Y (zh) * | 2007-12-05 | 2008-10-29 | 东莞彩显有机发光科技有限公司 | 一种用于抓取oled器件的机械手 |
CN201490175U (zh) * | 2009-07-29 | 2010-05-26 | 东莞宏威数码机械有限公司 | 重复智能抓取释放装置 |
-
2009
- 2009-07-29 CN CN2009100415102A patent/CN101656223B/zh not_active Expired - Fee Related
- 2009-12-25 WO PCT/CN2009/076064 patent/WO2011011955A1/zh active Application Filing
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105500392A (zh) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | 一种可判断板材抓取数量的机械手 |
CN107564847A (zh) * | 2017-07-21 | 2018-01-09 | 惠科股份有限公司 | 一种显示面板的制作方法及制作设备 |
WO2019015240A1 (zh) * | 2017-07-21 | 2019-01-24 | 惠科股份有限公司 | 一种显示面板的制作方法及制作设备 |
CN107564847B (zh) * | 2017-07-21 | 2019-12-24 | 惠科股份有限公司 | 一种显示面板的制作方法及制作设备 |
CN107600874A (zh) * | 2017-09-11 | 2018-01-19 | 青岛海通机器人系统有限公司 | 一种滚筒移载型机器人 |
CN107600874B (zh) * | 2017-09-11 | 2023-08-15 | 苏州海通机器人系统有限公司 | 一种滚筒移载型机器人 |
CN116978856A (zh) * | 2023-09-25 | 2023-10-31 | 泓浒(苏州)半导体科技有限公司 | 一种双臂洁净式半导体晶圆翻转夹具及其控制方法 |
CN116978856B (zh) * | 2023-09-25 | 2023-11-24 | 泓浒(苏州)半导体科技有限公司 | 一种双臂洁净式半导体晶圆翻转夹具及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN101656223B (zh) | 2011-11-02 |
WO2011011955A1 (zh) | 2011-02-03 |
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