JP4699312B2 - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
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- JP4699312B2 JP4699312B2 JP2006227300A JP2006227300A JP4699312B2 JP 4699312 B2 JP4699312 B2 JP 4699312B2 JP 2006227300 A JP2006227300 A JP 2006227300A JP 2006227300 A JP2006227300 A JP 2006227300A JP 4699312 B2 JP4699312 B2 JP 4699312B2
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- 230000007246 mechanism Effects 0.000 claims description 42
- 239000003507 refrigerant Substances 0.000 claims description 28
- 230000002093 peripheral effect Effects 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000032258 transport Effects 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 9
- 230000003028 elevating effect Effects 0.000 description 9
- 239000000758 substrate Substances 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000191 radiation effect Effects 0.000 description 3
- 239000002826 coolant Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
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)
Description
1 固定ベース
2 旋回ベース
23A,23A’,23B,23B’ 真空シール(気密シール)
3 リンクアーム機構
4 ハンド
5 ガイドレール
60 減速機
100a〜100f 往路用の通路
110A,110B 往路用の環状溝
110A’,110B’往路用の環状空間
200a〜200f 復路用の通路
210A,210B 復路用の環状溝
210A’,210B’復路用の環状空間
500 環状パイプ
Claims (8)
- 真空環境下で用いられる搬送装置であって、
支持ベースと、この支持ベースに対して所定の旋回軸を中心として旋回可能に保持された旋回ベースと、この旋回ベースに対して揺動可能に支持されたリンクアーム機構と、このリンクアーム機構に支持されたハンドと、を備え、
上記支持ベースと上記旋回ベースには、冷媒循環路が設けられており、
上記支持ベースと上記旋回ベースとの間に形成され、上記真空環境に開放する環状すきまには、真空圧を遮断する真空シールが配置されており、
上記支持ベースと上記旋回ベースとの間には、上記支持ベースと上記旋回ベースとが協働して形成し、上記真空シールに対して当該真空シールよりも上記環状すきまの内方側に近接して位置するとともに、上記旋回軸を中心とする環状空間が形成されており、かつ、
上記環状空間には、上記支持ベース側の冷媒循環路と、上記旋回ベース側の冷媒循環路とがそれぞれ連通させられていることを特徴とする、搬送装置。 - 上記環状空間としては、往路用の環状空間と復路用の環状空間とが同心円状に設けられている、請求項1に記載の搬送装置。
- 上記環状空間は、上記支持ベースまたは上記旋回ベースに設けた環状溝によって形成されている、請求項2に記載の搬送装置。
- 上記環状空間としては、往路用の環状空間と復路用の環状空間とが気密シールを介して互いに分離した空間をなすように設けられている、請求項1に記載の搬送装置。
- 上記冷媒循環路は、上記往路用の環状空間に連通する往路用の通路と、上記復路用の環状空間に連通する復路用の通路とを備えている、請求項2または4に記載の搬送装置。
- 上記往路用および復路用の通路は、上記旋回ベースから上記リンクアーム機構まで延びて互いに連通している、請求項5に記載の搬送装置。
- 上記旋回ベースには、上記リンクアーム機構に駆動力を伝えるための減速機が設けられており、この減速機の周部に上記往路用および復路用の通路が設けられている、請求項5に記載の搬送装置。
- 上記旋回ベースには、上記リンクアーム機構が揺動する際に上記ハンドを支持しながら所定の方向に移動案内するためのガイドレールが固定されており、上記往路用および復路用の通路は、上記ガイドレールの周囲まで延びて互いに連通している、請求項5に記載の搬送装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006227300A JP4699312B2 (ja) | 2005-09-30 | 2006-08-24 | 搬送装置 |
TW095133666A TW200740576A (en) | 2005-09-30 | 2006-09-12 | Transferring device |
KR1020060094919A KR100797537B1 (ko) | 2005-09-30 | 2006-09-28 | 반송장치 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005285942 | 2005-09-30 | ||
JP2005285942 | 2005-09-30 | ||
JP2006227300A JP4699312B2 (ja) | 2005-09-30 | 2006-08-24 | 搬送装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2007118171A JP2007118171A (ja) | 2007-05-17 |
JP2007118171A5 JP2007118171A5 (ja) | 2009-08-06 |
JP4699312B2 true JP4699312B2 (ja) | 2011-06-08 |
Family
ID=38142556
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006227300A Active JP4699312B2 (ja) | 2005-09-30 | 2006-08-24 | 搬送装置 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP4699312B2 (ja) |
KR (1) | KR100797537B1 (ja) |
TW (1) | TW200740576A (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4879833B2 (ja) * | 2007-07-30 | 2012-02-22 | 株式会社ダイヘン | 搬送装置 |
JP2010158759A (ja) * | 2008-12-08 | 2010-07-22 | Daihen Corp | ワーク搬送装置 |
JP5324211B2 (ja) | 2008-12-26 | 2013-10-23 | 株式会社ダイヘン | ワーク搬送装置 |
KR101477366B1 (ko) * | 2009-12-28 | 2015-01-06 | 가부시키가이샤 아루박 | 구동장치 및 반송 장치 |
KR101230467B1 (ko) | 2010-07-29 | 2013-02-25 | 주식회사 티이에스 | 기판 이송 유닛 및 이를 포함하는 기판 이송 장치 |
KR101291811B1 (ko) * | 2011-06-08 | 2013-07-31 | 주식회사 나온테크 | 하이브리드 진공 로봇 이송장치 |
JP5841382B2 (ja) | 2011-09-06 | 2016-01-13 | 株式会社ダイヘン | ワーク搬送装置 |
CN103084909B (zh) * | 2011-10-31 | 2015-11-25 | 鸿富锦精密工业(深圳)有限公司 | 搬运装置 |
KR101358004B1 (ko) * | 2012-06-29 | 2014-02-04 | 나승옥 | 워크 반송 테이블장치 |
JP5663638B2 (ja) | 2012-10-11 | 2015-02-04 | 株式会社ティーイーエス | 基板移送装置 |
TWI623397B (zh) * | 2016-06-30 | 2018-05-11 | Kawasaki Heavy Ind Ltd | Horizontal articulated robot |
JP6783459B2 (ja) * | 2016-10-11 | 2020-11-11 | 株式会社レクザム | ワーク搬送ロボット |
KR102571863B1 (ko) * | 2022-12-27 | 2023-08-29 | (주)네오스테크놀로지스 | 다축 틸팅형 오토 레벨링 장치 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0193695A (ja) * | 1987-09-30 | 1989-04-12 | Mita Ind Co Ltd | ロボットの流体伝達機構 |
JPH01118882U (ja) * | 1988-02-08 | 1989-08-11 | ||
JPH02129314A (ja) * | 1988-11-08 | 1990-05-17 | Sumitomo Metal Ind Ltd | 真空精錬容器継手部の冷却方法 |
JPH03208334A (ja) * | 1990-01-10 | 1991-09-11 | Fujitsu Ltd | 半導体装置製造装置 |
JPH0796490A (ja) * | 1993-09-24 | 1995-04-11 | Yaskawa Electric Corp | 産業用ロボットのスイベル構造 |
JP2000087237A (ja) * | 1998-09-11 | 2000-03-28 | Japan Science & Technology Corp | 同軸型真空加熱装置 |
JP2000306849A (ja) * | 1999-04-23 | 2000-11-02 | Kokusai Electric Co Ltd | 基板処理装置 |
JP2001035902A (ja) * | 1999-07-26 | 2001-02-09 | Jel:Kk | 基板搬送用ロボット |
JP2003185022A (ja) * | 2001-12-18 | 2003-07-03 | Sumitomo Metal Ind Ltd | 封止構造 |
JP2003251144A (ja) * | 2002-03-04 | 2003-09-09 | Sumitomo Metal Ind Ltd | ガス分解装置及びガス分解システム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1133949A (ja) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | 産業用ロボット |
JPH11333778A (ja) * | 1998-05-29 | 1999-12-07 | Daihen Corp | 搬送用ロボット装置 |
JP4208169B2 (ja) * | 2000-03-15 | 2009-01-14 | ナブテスコ株式会社 | 減速機及びロボットの関節装置 |
-
2006
- 2006-08-24 JP JP2006227300A patent/JP4699312B2/ja active Active
- 2006-09-12 TW TW095133666A patent/TW200740576A/zh unknown
- 2006-09-28 KR KR1020060094919A patent/KR100797537B1/ko not_active IP Right Cessation
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0193695A (ja) * | 1987-09-30 | 1989-04-12 | Mita Ind Co Ltd | ロボットの流体伝達機構 |
JPH01118882U (ja) * | 1988-02-08 | 1989-08-11 | ||
JPH02129314A (ja) * | 1988-11-08 | 1990-05-17 | Sumitomo Metal Ind Ltd | 真空精錬容器継手部の冷却方法 |
JPH03208334A (ja) * | 1990-01-10 | 1991-09-11 | Fujitsu Ltd | 半導体装置製造装置 |
JPH0796490A (ja) * | 1993-09-24 | 1995-04-11 | Yaskawa Electric Corp | 産業用ロボットのスイベル構造 |
JP2000087237A (ja) * | 1998-09-11 | 2000-03-28 | Japan Science & Technology Corp | 同軸型真空加熱装置 |
JP2000306849A (ja) * | 1999-04-23 | 2000-11-02 | Kokusai Electric Co Ltd | 基板処理装置 |
JP2001035902A (ja) * | 1999-07-26 | 2001-02-09 | Jel:Kk | 基板搬送用ロボット |
JP2003185022A (ja) * | 2001-12-18 | 2003-07-03 | Sumitomo Metal Ind Ltd | 封止構造 |
JP2003251144A (ja) * | 2002-03-04 | 2003-09-09 | Sumitomo Metal Ind Ltd | ガス分解装置及びガス分解システム |
Also Published As
Publication number | Publication date |
---|---|
TW200740576A (en) | 2007-11-01 |
KR100797537B1 (ko) | 2008-01-24 |
TWI310724B (ja) | 2009-06-11 |
KR20070037362A (ko) | 2007-04-04 |
JP2007118171A (ja) | 2007-05-17 |
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