JP2015053509A - 複数の独立可動アームを伴う基板搬送装置 - Google Patents
複数の独立可動アームを伴う基板搬送装置 Download PDFInfo
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- 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
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- 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
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
-
- 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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- 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
- H01L21/683—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
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- 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
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- 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
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- 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
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- Y10T74/20207—Multiple controlling elements for single controlled element
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- 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
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- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
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Abstract
Description
Claims (8)
- 基板搬送装置であって、
駆動モータを伴う駆動部と、
2つの関節アームであって、それぞれが、各関節アームの伸長および収縮のための前記駆動モータの共通駆動シャフトに動作可能に接続され、前記共通駆動シャフトは1つの独立した回転中心軸を有し、各関節アームが、基板を保持して搬送するエンドエフェクタを有する2つの関節アームと、
両方の関節アームを前記駆動モータに動作可能に連結するロストモーションシステムを有する連結システムと、を有し、
前記ロストモーションシステムは、前記共通駆動シャフトに連結されて前記共通駆動シャフトの回転軸周りに回転する回転部材、及び前記回転部材に移動可能に連結されかつ可動ジョイントによって前記2つの関節アームの各々に連結されている連結部材を有し、前記ロストモーションシステムが、前記駆動モータがトルクを前記連結システムに与えた時に前記2つの関節アームの一方の関節アームを移動させずに他方の関節アームを共通直線経路に沿って伸長および収縮させ、前記共通駆動シャフトのみが前記2つの関節アームのうちの前記一方の関節アームの伸長及び収縮をもたらすことを特徴とする基板搬送装置。 - 前記連結部材は、互いに移動可能に接続されたリジッドな連結要素を備え、当該連結要素は前記少なくとも2つの関節アームのそれぞれに移動可能に連結される請求項1に記載の装置。
- 前記駆動モータは前記共通駆動シャフトに係合され、前記連結要素のうちの少なくとも1つは、前記共通駆動シャフトに移動可能に連結され、前記共通駆動シャフトによって駆動される請求項2に記載の装置。
- 前記少なくとも1つの連結要素は前記共通駆動シャフトに旋回可能に載置され、前記共通駆動シャフトの回転は、前記駆動部と相対的に前記少なくとも1つの連結要素を旋回させる請求項3に記載の装置。
- 前記共通駆動シャフトの回転は、前記少なくとも1つの連結要素を、2つの回転中心軸の周りに前記駆動部と相対的に旋回させ、前記2つの回転中心軸は、オフセットされ、互いに平行であり、前記駆動部は、前記2つの回転中心軸のうちの少なくとも1つからオフセットされる別の回転中心軸を有する請求項3に記載の装置。
- 前記少なくとも2つの関節アームの運動と駆動モータの位置との関係は、前記少なくとも2つの関節アームの各々の伸長および収縮に対して可変である請求項1に記載の装置。
- 伸長および収縮中に定常状態の運動を維持するよう、前記少なくとも2つの関節アームの運動を制御するようにプログラムされるコントローラをさらに備える請求項6に記載の装置。
- 基板搬送装置であって
1つの独立回転中心軸を有する共通駆動シャフトを備えた駆動部と、
前記駆動部に接続される複数の関節アームであって、前記複数の関節アームのそれぞれが、基板を保持するためのエンドエフェクタを有し、前記基板を直線的に搬送するために伸長および収縮することができる、複数の関節アームと、
前記共通駆動シャフトに連結されて前記共通駆動シャフトの回転軸周りに回転するリジッドな基底部材、及び前記複数の関節アームの各々と前記共通駆動シャフトとを連結する連結部材を有する連結システムと、を有し、
前記基底部材が、前記駆動部と相対的に移動可能であり、可動ジョイントを介して前記複数の関節アームの各々と前記基底部材との相対的な移動を許容する連結部材によって前記複数の関節アームに移動可能に接続されており、
前記可動ジョイントによって、前記駆動部に対して相対的な前記基底部材の移動が、前記可動ジョイントのそれぞれにおいて、前記基底部材と前記複数の関節アームとの間の相対的移動を生成し、前記複数の関節アームのうちの少なくとも1つの関節アームの関節動作を伴わずに、前記複数の関節アームのうちの少なくとも他の1つの関節アームの共通直線経路に沿った伸長および収縮を生じさせ、前記共通駆動シャフトのみが前記複数の関節アームのうちの少なくとも1つの伸長及び収縮をもたらすことを特徴とする基板搬送装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/697,390 US7946800B2 (en) | 2007-04-06 | 2007-04-06 | Substrate transport apparatus with multiple independently movable articulated arms |
US11/697,390 | 2007-04-06 |
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JP2010502154A Division JP2010531739A (ja) | 2007-04-06 | 2008-04-07 | 複数の独立可動関節アームを伴う基板搬送装置 |
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JP2015053509A true JP2015053509A (ja) | 2015-03-19 |
JP6027072B2 JP6027072B2 (ja) | 2016-11-16 |
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JP2010502154A Pending JP2010531739A (ja) | 2007-04-06 | 2008-04-07 | 複数の独立可動関節アームを伴う基板搬送装置 |
JP2014224566A Expired - Fee Related JP6027072B2 (ja) | 2007-04-06 | 2014-11-04 | 複数の独立可動アームを伴う基板搬送装置 |
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JP2010502154A Pending JP2010531739A (ja) | 2007-04-06 | 2008-04-07 | 複数の独立可動関節アームを伴う基板搬送装置 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7946800B2 (ja) |
JP (2) | JP2010531739A (ja) |
KR (1) | KR101475421B1 (ja) |
CN (1) | CN101711429B (ja) |
TW (1) | TWI478797B (ja) |
WO (1) | WO2008124108A1 (ja) |
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KR20100016298A (ko) | 2010-02-12 |
JP2010531739A (ja) | 2010-09-30 |
WO2008124108A1 (en) | 2008-10-16 |
JP6027072B2 (ja) | 2016-11-16 |
US7946800B2 (en) | 2011-05-24 |
CN101711429A (zh) | 2010-05-19 |
US20110224822A1 (en) | 2011-09-15 |
TWI478797B (zh) | 2015-04-01 |
TW200848230A (en) | 2008-12-16 |
US20080249651A1 (en) | 2008-10-09 |
KR101475421B1 (ko) | 2014-12-23 |
US8651796B2 (en) | 2014-02-18 |
CN101711429B (zh) | 2011-11-16 |
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