JP2020009816A - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
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- JP2020009816A JP2020009816A JP2018127106A JP2018127106A JP2020009816A JP 2020009816 A JP2020009816 A JP 2020009816A JP 2018127106 A JP2018127106 A JP 2018127106A JP 2018127106 A JP2018127106 A JP 2018127106A JP 2020009816 A JP2020009816 A JP 2020009816A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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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
- B25J9/10—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/60—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type
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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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- 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
- H01L21/68—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 positioning, orientation or alignment
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Robotics (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)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
すなわち、本発明に係る搬送装置は、同一長さの一対の第1リンクの基端部が第1リンク台に回転可能に連結されていると共に、当該一対の第1リンクの先端部が中間リンク台に回転可能に連結された第1平行四節リンク機構と、同一長さの一対の第2リンクの基端部が前記中間リンク台に回転可能に連結されていると共に、当該一対の第2リンクの先端部が第2リンク台に回転可能に連結された第2平行四節リンク機構と、前記中間リンク台に配置され、前記一対の第1リンクのそれぞれに連結された一対の第1プーリと、前記一対の第2リンクの一方に連結された第2プーリと、前記一対の第1プーリと前記第2プーリとに張設されたベルトとを有し、前記第1リンクと前記第2リンクとが互いに反対方向に回転するように回転駆動力を伝達するベルト伝動機構とを備えることを特徴とする。
図1−図4に示されるように、搬送装置1は、基本構成が同一の2基の搬送ユニット11a、11bを有した2アーム方式の搬送装置であり、搬送ユニット11a、11bは、固定台Aの両側において例えば被搬送物のウェハを直線搬送する構成である。よって、以下の説明では、搬送ユニット11aについてのみ説明し、搬送ユニット11bについては説明を省略する。
本発明の第2実施形態に係る搬送装置について説明する。本実施形態の搬送装置が第1実施形態の搬送装置と主に異なる点は、ベルト伝動機構Dの構成である。したがって、本実施形態の搬送装置の構成が第1実施形態の搬送装置と同一の構成については説明を省略する。
本発明の第3実施形態に係る搬送装置について説明する。本実施形態の搬送装置が第1実施形態の搬送装置と主に異なる点は、ベルト伝動機構Dの構成である。したがって、本実施形態の搬送装置の構成が第1実施形態の搬送装置と同一の構成については説明を省略する。
本発明の第4実施形態に係る搬送装置について説明する。本実施形態の搬送装置が第1実施形態の搬送装置と主に異なる点は、ベルト伝動機構Dの構成である。したがって、本実施形態の搬送装置の構成が第1実施形態の搬送装置と同一の構成については説明を省略する。
C 先端リンク板(第2リンク台)
E 中間リンク台
D ベルト伝動機構
DT 張力調節手段
LD1 第1リンク機構(第1平行四節リンク機構)
L1a,L1b 第1リンク
LD2 第2リンク機構(第2平行四節リンク機構)
L2a,L2b 第2リンク
P1a、P1b プーリ体(第1プーリ)
P2a プーリ体(第2プーリ)
P3 押圧部材
N1 突出部(回転制限手段)
N2 規制部(回転制限手段)
T ベルト
Claims (6)
- 同一長さの一対の第1リンクの基端部が第1リンク台に回転可能に連結されていると共に、当該一対の第1リンクの先端部が中間リンク台に回転可能に連結された第1平行四節リンク機構と、
同一長さの一対の第2リンクの基端部が前記中間リンク台に回転可能に連結されていると共に、当該一対の第2リンクの先端部が第2リンク台に回転可能に連結された第2平行四節リンク機構と、
前記中間リンク台に配置され、前記一対の第1リンクのそれぞれに連結された一対の第1プーリと、前記一対の第2リンクの一方に連結された第2プーリと、前記一対の第1プーリと前記第2プーリとに張設されたベルトとを有し、前記第1リンクと前記第2リンクとが互いに反対方向に回転するように回転駆動力を伝達するベルト伝動機構とを備えることを特徴とする搬送装置。 - 前記ベルト伝動機構は、前記ベルトの張力を調節する張力調節手段を有することを特徴とする請求項1に記載の搬送装置。
- 前記張力調節手段は、前記ベルトに対する押圧力が変化するように前記中間リンク台に対して移動可能に構成された押圧部材を有することを特徴とする請求項2に記載の搬送装置。
- 前記張力調節手段は、前記押圧部材を1つだけ有することを特徴とする請求項3に記載の搬送装置。
- 前記押圧部材は、前記ベルトの移動にともなって回転可能に構成された従動ローラであることを特徴とする請求項3または4に記載の搬送装置。
- 前記ベルト伝動機構は、前記中間リンク台に対して前記一対の第2リンクの他方が回転可能な範囲を制限する回転制限手段を有することを特徴とする請求項1〜5のいずれかに記載の搬送装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018127106A JP7177332B2 (ja) | 2018-07-03 | 2018-07-03 | 搬送装置 |
US16/458,759 US11227783B2 (en) | 2018-07-03 | 2019-07-01 | Transfer device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018127106A JP7177332B2 (ja) | 2018-07-03 | 2018-07-03 | 搬送装置 |
Publications (2)
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JP2020009816A true JP2020009816A (ja) | 2020-01-16 |
JP7177332B2 JP7177332B2 (ja) | 2022-11-24 |
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JP2018127106A Active JP7177332B2 (ja) | 2018-07-03 | 2018-07-03 | 搬送装置 |
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US (1) | US11227783B2 (ja) |
JP (1) | JP7177332B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7183635B2 (ja) * | 2018-08-31 | 2022-12-06 | 東京エレクトロン株式会社 | 基板搬送機構、基板処理装置及び基板搬送方法 |
CN112357551A (zh) * | 2020-10-13 | 2021-02-12 | 山东科技大学 | 一种蔬菜盆栽苗搬运机器人 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09323276A (ja) * | 1996-06-03 | 1997-12-16 | Toyota Autom Loom Works Ltd | 搬送装置及びロボットアーム |
JPH1133951A (ja) * | 1997-07-16 | 1999-02-09 | Daihen Corp | 2アーム方式の搬送用ロボット装置 |
JP2000042954A (ja) * | 1998-07-25 | 2000-02-15 | Daihen Corp | 搬送用ロボット装置 |
JP2006231454A (ja) * | 2005-02-24 | 2006-09-07 | Oki Electric Ind Co Ltd | 多関節アーム機構 |
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2018
- 2018-07-03 JP JP2018127106A patent/JP7177332B2/ja active Active
-
2019
- 2019-07-01 US US16/458,759 patent/US11227783B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09323276A (ja) * | 1996-06-03 | 1997-12-16 | Toyota Autom Loom Works Ltd | 搬送装置及びロボットアーム |
JPH1133951A (ja) * | 1997-07-16 | 1999-02-09 | Daihen Corp | 2アーム方式の搬送用ロボット装置 |
JP2000042954A (ja) * | 1998-07-25 | 2000-02-15 | Daihen Corp | 搬送用ロボット装置 |
JP2006231454A (ja) * | 2005-02-24 | 2006-09-07 | Oki Electric Ind Co Ltd | 多関節アーム機構 |
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Publication number | Publication date |
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US20200013653A1 (en) | 2020-01-09 |
JP7177332B2 (ja) | 2022-11-24 |
US11227783B2 (en) | 2022-01-18 |
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