JP5288338B2 - 無限駆動媒体を備えた搬送システムとそのキャリアの識別方法並びにキャリア - Google Patents
無限駆動媒体を備えた搬送システムとそのキャリアの識別方法並びにキャリア Download PDFInfo
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- JP5288338B2 JP5288338B2 JP2011518113A JP2011518113A JP5288338B2 JP 5288338 B2 JP5288338 B2 JP 5288338B2 JP 2011518113 A JP2011518113 A JP 2011518113A JP 2011518113 A JP2011518113 A JP 2011518113A JP 5288338 B2 JP5288338 B2 JP 5288338B2
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- 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
- H01L21/67703—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 between different workstations
- H01L21/67727—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 between different workstations using a general scheme of a conveying path within a factory
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- H—ELECTRICITY
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- 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
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- 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
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- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
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- H—ELECTRICITY
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- 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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67294—Apparatus for monitoring, sorting or marking using identification means, e.g. labels on substrates or labels on containers
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- H—ELECTRICITY
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- 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
- H01L21/67703—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 between different workstations
- H01L21/6773—Conveying cassettes, containers or carriers
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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
- H01L21/67703—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 between different workstations
- H01L21/67736—Loading to or unloading from a conveyor
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
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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
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/46—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points
- B65G47/50—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to destination signals stored in separate systems
- B65G47/503—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to destination signals stored in separate systems the system comprising endless moving means
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Description
前記無限駆動媒体に取り付けられ、物品を保持して搬送し、かつ前記無限駆動媒体への取付部からなるキャリア識別用の被識別部(マーク)を備えた複数個のキャリアと、
前記キャリアとの間で物品を受け渡しするハンドと、無限駆動媒体の周回方向に沿ってハンドの上流側の所定位置で前記被識別部を検出することにより、キャリアの検出信号とキャリアの識別信号とを出力するセンサとを備え、前記キャリアの検出信号を前記ハンドの受け渡し動作を開始するためのタイミング信号とする複数個のステーション、とを備えている。そして前記複数個のキャリアを識別するために、前記無限駆動体の周回方向に沿って、前記取付部の幅をキャリア間で変えてある。
前記複数個のキャリアを識別するために、前記無限駆動体の周回方向に沿って、前記取付部の幅をキャリア間で変え、
前記キャリアとの間で物品を受け渡しするハンドと、無限駆動体の周回方向に沿ってハンドの上流側の所定位置で前記被識別部を検出することにより、キャリアの検出信号とキャリアの識別信号とを出力するセンサ、とを備えたステーションを複数個設けて、
前記キャリアの識別信号によりキャリアを識別すると共に、前記キャリアの検出信号によりキャリアが所定位置に出現したことを認識して、所望のキャリアに対して前記ハンドを動作させる。
該キャリア本体の上部に設けられた無限駆動媒体への取付部とからなり、
前記無限駆動媒体の運動方向に沿った前記取付部の幅によりキャリアを識別自在にする。
前記センサは前記無限駆動媒体の下端とキャリア本体の上部との間の高さ位置で、前記取付部を検出する。
特に、無限駆動媒体の下端とキャリア本体との間に高さ方向に隙間を置いて、この隙間の高さで無限駆動媒体の周回方向に沿った取付部の幅を検出すると、搬送中の物品に妨げられず、被識別部を検出できる。
(1) キャリアの検出用の光電センサを用いて、キャリアのアドレスの妥当性を確認できる。
(2) 検出ラインをキャリア本体とエンドレスベルトとの間の隙間の高さに配置すると、キャリアの取付部を、識別用のマークに兼用でき、しかもキャリア本体等に妨げられずに、マークを検出できる。
(3) 搬送物品のカセットなどにより、キャリアの識別が妨げられない。
8 ステーション 10 処理装置 12 キャリア
14 カセット 20 生産管理コントローラ
22 搬送管理コントローラ 24 エンドレスベルトドライバ
26 ステーションコントローラ 27 ハンドドライバ
28 ハンド 29R,L 先入品センサ 31,32 整形回路
33 カウンタ 34 キャリアカウンタ 35 比較器
36 ラッチ 37 加算器 38 比較器
40 エンコーダチェッカ 41 パラメータ記憶部
42 通信インターフェース 43〜45 エンコーダ
46 駆動モータ 48,48f,48r 取付部 49 支承面
50 フランジ 51 キャリア本体 52 支柱
54 ガイド溝 56 昇降レール 58 ハンド基部
59 車輪 60 監視ライン 70 ベースライン
71〜73 検出信号 80,90 キャリア
91,92 取付部 94 光学マーク
s1,s2 光電センサ enc エンコーダ M1〜M3 モータ
P1〜P7 パラメータ K0〜K2 パラメータ
Claims (5)
- 周回動作する無限駆動媒体と、
前記無限駆動媒体に取り付けられ、物品を保持して搬送し、かつ前記無限駆動媒体への取付部からなるキャリア識別用の被識別部を備えた複数個のキャリアと、
前記キャリアとの間で物品を受け渡しするハンドと、無限駆動媒体の周回方向に沿ってハンドの上流側の所定位置で前記被識別部を検出することにより、キャリアの検出信号とキャリアの識別信号とを出力するセンサとを備え、前記キャリアの検出信号を前記ハンドの受け渡し動作を開始するためのタイミング信号とする複数個のステーション、とを備え、
前記複数個のキャリアを識別するために、前記無限駆動体の周回方向に沿って、前記取付部の幅をキャリア間で変えてある搬送システム。 - 前記取付部は前記無限駆動媒体の下端に取り付けられ、前記取付部の下側に、無限駆動媒体の下端との間に高さ方向に隙間を置いて、キャリア本体が設けられ、
前記センサは前記無限駆動媒体の下端とキャリア本体の上部との間の高さ位置で、前記取付部を検出する、請求項1に記載の搬送システム。 - 所定個数のキャリア毎に他のキャリアの被識別部とは異なる被識別部を設けると共に、前記異なる被識別部を検出した後に検出した被識別部の数をカウントすることにより、キャリアを識別する請求項1に記載の搬送システム。
- 周回動作する無限駆動媒体に、物品を保持して搬送し、かつ前記無限駆動媒体への取付部からなるキャリア識別用の被識別部を備えた複数個のキャリアを取り付けて周回させ、
前記複数個のキャリアを識別するために、前記無限駆動体の周回方向に沿って、前記取付部の幅をキャリア間で変え、
前記キャリアとの間で物品を受け渡しするハンドと、無限駆動体の周回方向に沿ってハンドの上流側の所定位置で前記被識別部を検出することにより、キャリアの検出信号とキャリアの識別信号とを出力するセンサ、とを備えたステーションを複数個設けて、
前記キャリアの識別信号によりキャリアを識別すると共に、前記キャリアの検出信号によりキャリアが所定位置に出現したことを認識して、所望のキャリアに対して前記ハンドを動作させる、搬送システムでのキャリアの識別方法。 - 半導体基板を収容するカセットを支持するためのキャリア本体と、
該キャリア本体の上部に設けられた無限駆動媒体への取付部とからなり、
前記無限駆動媒体の運動方向に沿った前記取付部の幅によりキャリアを識別自在にした、キャリア。
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Application Number | Priority Date | Filing Date | Title |
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PCT/JP2009/060075 WO2010140220A1 (ja) | 2009-06-02 | 2009-06-02 | 無限駆動媒体を備えた搬送システムとそのキャリアの識別方法並びにキャリア |
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JPWO2010140220A1 JPWO2010140220A1 (ja) | 2012-11-15 |
JP5288338B2 true JP5288338B2 (ja) | 2013-09-11 |
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JP2011518113A Expired - Fee Related JP5288338B2 (ja) | 2009-06-02 | 2009-06-02 | 無限駆動媒体を備えた搬送システムとそのキャリアの識別方法並びにキャリア |
Country Status (7)
Country | Link |
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US (1) | US8567586B2 (ja) |
EP (1) | EP2439773B1 (ja) |
JP (1) | JP5288338B2 (ja) |
KR (1) | KR101310132B1 (ja) |
CN (1) | CN102405519B (ja) |
SG (1) | SG177242A1 (ja) |
WO (1) | WO2010140220A1 (ja) |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP5522477B2 (ja) * | 2010-12-17 | 2014-06-18 | 株式会社ダイフク | 搬送設備 |
EP2746882B1 (en) * | 2012-12-21 | 2018-09-05 | Robert Bosch Gmbh | Conveying system of a machine |
CN110303218B (zh) * | 2018-03-27 | 2021-03-02 | 英业达科技有限公司 | 载盘监控系统及其方法 |
KR102253632B1 (ko) * | 2019-06-24 | 2021-05-18 | 세메스 주식회사 | 반송 대차 |
CN112110155A (zh) * | 2020-10-28 | 2020-12-22 | 浙江瑞晟智能科技股份有限公司 | 原点驱动器判定方法、驱动器标识方法及系统 |
CN114634009B (zh) * | 2022-04-12 | 2024-06-07 | 唐山贺祥智能科技股份有限公司 | 一种带自校正的产品托板识别方法 |
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2009
- 2009-06-02 JP JP2011518113A patent/JP5288338B2/ja not_active Expired - Fee Related
- 2009-06-02 WO PCT/JP2009/060075 patent/WO2010140220A1/ja active Application Filing
- 2009-06-02 KR KR1020117031529A patent/KR101310132B1/ko not_active IP Right Cessation
- 2009-06-02 EP EP09845505.8A patent/EP2439773B1/en not_active Not-in-force
- 2009-06-02 CN CN200980158761.7A patent/CN102405519B/zh not_active Expired - Fee Related
- 2009-06-02 US US13/322,591 patent/US8567586B2/en not_active Expired - Fee Related
- 2009-06-02 SG SG2011083292A patent/SG177242A1/en unknown
Patent Citations (11)
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JPS61150878A (ja) * | 1984-12-24 | 1986-07-09 | Honda Motor Co Ltd | 被組立て本体両側への部品組立て方法 |
JPS62502503A (ja) * | 1985-04-12 | 1987-09-24 | ソシエテ プ−ル レチユ−ド エ ラ フアブリカシヨン ドウ シルキユイ アンテグレ スペシオ−−ウ−エフセ−イ−エス | 塵の濃度を制御された環境下で敏感な物体を処理するための装置 |
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JPH058854A (ja) * | 1991-07-09 | 1993-01-19 | Murata Mach Ltd | トランスフアーロボツト |
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CN102405519A (zh) | 2012-04-04 |
WO2010140220A1 (ja) | 2010-12-09 |
KR20120025562A (ko) | 2012-03-15 |
US20120067695A1 (en) | 2012-03-22 |
CN102405519B (zh) | 2014-08-20 |
KR101310132B1 (ko) | 2013-09-23 |
EP2439773A4 (en) | 2012-10-24 |
SG177242A1 (en) | 2012-02-28 |
US8567586B2 (en) | 2013-10-29 |
EP2439773A1 (en) | 2012-04-11 |
EP2439773B1 (en) | 2016-11-09 |
JPWO2010140220A1 (ja) | 2012-11-15 |
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