DE60127409D1 - Roboter mit unabhängiger bewegung der greifvorrichtung - Google Patents

Roboter mit unabhängiger bewegung der greifvorrichtung

Info

Publication number
DE60127409D1
DE60127409D1 DE60127409T DE60127409T DE60127409D1 DE 60127409 D1 DE60127409 D1 DE 60127409D1 DE 60127409 T DE60127409 T DE 60127409T DE 60127409 T DE60127409 T DE 60127409T DE 60127409 D1 DE60127409 D1 DE 60127409D1
Authority
DE
Germany
Prior art keywords
robot
linkage
linkages
extensible
gripping device
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.)
Expired - Lifetime
Application number
DE60127409T
Other languages
English (en)
Other versions
DE60127409T2 (de
Inventor
Alexander Todorov
Zlatko Sotirov
Mila Genov
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.)
Nidec Genmark Automation Inc
Original Assignee
Genmark Automation Inc
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 Genmark Automation Inc filed Critical Genmark Automation Inc
Application granted granted Critical
Publication of DE60127409D1 publication Critical patent/DE60127409D1/de
Publication of DE60127409T2 publication Critical patent/DE60127409T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B25J9/10—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
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • 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
    • 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
    • H01L21/67739—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 into and out of processing chamber
    • H01L21/67742—Mechanical parts of transfer devices

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)
DE60127409T 2000-07-06 2001-06-26 Roboter mit unabhängiger bewegung der greifvorrichtung Expired - Lifetime DE60127409T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US610969 2000-07-06
US09/610,969 US6297611B1 (en) 2000-07-06 2000-07-06 Robot having independent end effector linkage motion
PCT/US2001/020330 WO2002004176A1 (en) 2000-07-06 2001-06-26 Robot having independent end effector linkage motion

Publications (2)

Publication Number Publication Date
DE60127409D1 true DE60127409D1 (de) 2007-05-03
DE60127409T2 DE60127409T2 (de) 2007-11-29

Family

ID=24447128

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60127409T Expired - Lifetime DE60127409T2 (de) 2000-07-06 2001-06-26 Roboter mit unabhängiger bewegung der greifvorrichtung

Country Status (6)

Country Link
US (1) US6297611B1 (de)
EP (1) EP1301314B1 (de)
JP (1) JP2004502558A (de)
AT (1) ATE357316T1 (de)
DE (1) DE60127409T2 (de)
WO (1) WO2002004176A1 (de)

Families Citing this family (38)

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JP4558981B2 (ja) * 2000-11-14 2010-10-06 株式会社ダイヘン トランスファロボット
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US7891935B2 (en) 2002-05-09 2011-02-22 Brooks Automation, Inc. Dual arm robot
US7959395B2 (en) * 2002-07-22 2011-06-14 Brooks Automation, Inc. Substrate processing apparatus
US7988398B2 (en) 2002-07-22 2011-08-02 Brooks Automation, Inc. Linear substrate transport apparatus
US20070183871A1 (en) * 2002-07-22 2007-08-09 Christopher Hofmeister Substrate processing apparatus
AU2003259203A1 (en) * 2002-07-22 2004-02-09 Brooks Automation, Inc. Substrate processing apparatus
US8960099B2 (en) * 2002-07-22 2015-02-24 Brooks Automation, Inc Substrate processing apparatus
US7244088B2 (en) * 2002-12-13 2007-07-17 RECIF Société Anonyme FOUP door transfer system
US10086511B2 (en) * 2003-11-10 2018-10-02 Brooks Automation, Inc. Semiconductor manufacturing systems
JP2006192593A (ja) * 2005-01-11 2006-07-27 Fanuc Ltd 成形品取出装置及び成形機
US9248568B2 (en) * 2005-07-11 2016-02-02 Brooks Automation, Inc. Unequal link SCARA arm
US8398355B2 (en) * 2006-05-26 2013-03-19 Brooks Automation, Inc. Linearly distributed semiconductor workpiece processing tool
JP4098338B2 (ja) 2006-07-20 2008-06-11 川崎重工業株式会社 ウェハ移載装置および基板移載装置
TWI398335B (zh) * 2006-11-27 2013-06-11 Nidec Sankyo Corp Workpiece conveying system
JP2009119580A (ja) * 2007-11-16 2009-06-04 Aida Eng Ltd 搬送装置および大型搬送装置
JP4603604B2 (ja) * 2008-08-01 2010-12-22 ファナック株式会社 ロボットにより工作機械へワークの着脱を行うロボットシステム
US8602706B2 (en) * 2009-08-17 2013-12-10 Brooks Automation, Inc. Substrate processing apparatus
JP5071514B2 (ja) * 2010-04-21 2012-11-14 株式会社安川電機 水平多関節ロボットおよびそれを備えた基板搬送システム
EP2444208B1 (de) * 2010-10-23 2013-01-02 FESTO AG & Co. KG Handhabungsvorrichtung
CN103476551B (zh) 2010-11-10 2016-08-10 布鲁克斯自动化公司 双臂机器人
JP2011161629A (ja) * 2011-06-03 2011-08-25 Kawasaki Heavy Ind Ltd 基板搬送ロボット
US9076829B2 (en) 2011-08-08 2015-07-07 Applied Materials, Inc. Robot systems, apparatus, and methods adapted to transport substrates in electronic device manufacturing
US9202733B2 (en) * 2011-11-07 2015-12-01 Persimmon Technologies Corporation Robot system with independent arms
JP2012035408A (ja) * 2011-11-09 2012-02-23 Kawasaki Heavy Ind Ltd 基板搬送ロボット
TWI725303B (zh) * 2012-02-10 2021-04-21 美商布魯克斯自動機械公司 基材處理設備
KR20130096072A (ko) * 2012-02-21 2013-08-29 삼성전자주식회사 기판 반송 장치
JP5545337B2 (ja) * 2012-09-28 2014-07-09 株式会社安川電機 ロボットアームおよびロボット
JP5990359B2 (ja) * 2012-10-04 2016-09-14 平田機工株式会社 搬入出ロボット
US11353084B2 (en) * 2013-03-15 2022-06-07 Clearmotion Acquisition I Llc Rotary actuator driven vibration isolation
US9842757B2 (en) 2013-06-05 2017-12-12 Persimmon Technologies Corporation Robot and adaptive placement system and method
DE102015004191A1 (de) * 2015-04-02 2016-10-06 Accurro Gmbh Anlage zur Erzeugung und/oder Bearbeitung von hochreinen Produkten, insbesondere pharmazeutischen Produkten, unter Reinraumbedingungen
JP6321708B2 (ja) * 2016-03-17 2018-05-09 ファナック株式会社 工作機械システムおよび開停止位置算出装置
WO2018194873A1 (en) * 2017-04-20 2018-10-25 Daifuku America Corporation High density stocker
US11413761B2 (en) 2018-05-29 2022-08-16 Abb Schweiz Ag Modular platform for robotic end effector
JP2020074440A (ja) * 2020-01-17 2020-05-14 川崎重工業株式会社 基板搬送ロボット
CN116981546A (zh) * 2021-03-18 2023-10-31 柿子技术公司 具有多套连杆机构的分布式架构机器人
WO2023188177A1 (ja) * 2022-03-30 2023-10-05 平田機工株式会社 基板搬送システム及び移載ロボット制御装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57120112A (en) * 1980-12-22 1982-07-27 Fujitsu Ltd Locus control method of arm
US5765444A (en) * 1995-07-10 1998-06-16 Kensington Laboratories, Inc. Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
US5954840A (en) * 1996-06-13 1999-09-21 Genmark Automation Universally tiltable Z axis drive arm
JP3522075B2 (ja) * 1997-04-08 2004-04-26 株式会社小松製作所 ハンドリング用ロボットの制御方法
US6155768A (en) * 1998-01-30 2000-12-05 Kensington Laboratories, Inc. Multiple link robot arm system implemented with offset end effectors to provide extended reach and enhanced throughput
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
JPH11300663A (ja) * 1998-04-24 1999-11-02 Mecs Corp 薄型基板搬送装置
JP2000077499A (ja) * 1998-09-03 2000-03-14 Dainippon Screen Mfg Co Ltd 基板処理装置

Also Published As

Publication number Publication date
EP1301314A1 (de) 2003-04-16
DE60127409T2 (de) 2007-11-29
ATE357316T1 (de) 2007-04-15
JP2004502558A (ja) 2004-01-29
EP1301314A4 (de) 2005-04-06
EP1301314B1 (de) 2007-03-21
US6297611B1 (en) 2001-10-02
WO2002004176A1 (en) 2002-01-17

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Legal Events

Date Code Title Description
8327 Change in the person/name/address of the patent owner

Owner name: GENMARK AUTOMATION, INC., MILPITAS, CALIF., US

8364 No opposition during term of opposition