JP5447470B2 - ハンドおよびロボット - Google Patents
ハンドおよびロボット Download PDFInfo
- Publication number
- JP5447470B2 JP5447470B2 JP2011208045A JP2011208045A JP5447470B2 JP 5447470 B2 JP5447470 B2 JP 5447470B2 JP 2011208045 A JP2011208045 A JP 2011208045A JP 2011208045 A JP2011208045 A JP 2011208045A JP 5447470 B2 JP5447470 B2 JP 5447470B2
- Authority
- JP
- Japan
- Prior art keywords
- fork
- substrate
- coating layer
- hand
- polyimide
- 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 - Fee Related
Links
Images
Classifications
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate 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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/06—Fibrous reinforcements only
- B29C70/08—Fibrous reinforcements only comprising combinations of different forms of fibrous reinforcements incorporated in matrix material, forming one or more layers, and with or without non-reinforced layers
- B29C70/086—Fibrous reinforcements only comprising combinations of different forms of fibrous reinforcements incorporated in matrix material, forming one or more layers, and with or without non-reinforced layers and with one or more layers of pure plastics material, e.g. foam layers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
10 ロボット
11 昇降機構
12 旋回機構
13 伸縮機構
14 支持部材
15 ハンド
16 ベース
20 コントローラ
30 カセット
100 基板
150 フォーク
150a CFRP層
150b ポリイミドコーティング層
150b1、150b2、150b3 ポリイミドコーティング層
150ba 接着剤
151 ガイド
152 受け座
153 センサ
154 ネジ穴
155 キャップ
155a 露出部
155b 挿入部
155c ネジ穴
200 ネジ
Claims (7)
- 繊維強化プラスチックによって形成され、ポリイミドを含むフィルム素材であるポリイミドフィルムがらせん状に巻回されることによって形成されたコーティング層を有するフォーク
を備えることを特徴とするハンド。 - 前記フォークは、
外周面の一部に前記コーティング層を有することを特徴とする請求項1に記載のハンド。 - 前記フォークは、
基板を載置する部材であって、
前記基板を載置する領域の外周面に前記コーティング層を有することを特徴とする請求項2に記載のハンド。 - 前記フォークは、
当該フォークの部位によって前記コーティング層の厚みが異なることを特徴とする請求項1、2または3に記載のハンド。 - 前記フォークは、
前記部位それぞれについて、あらかじめ想定される温度分布に応じた厚みの前記コーティング層を有することを特徴とする請求項4に記載のハンド。 - 前記フォークは、
先端部の前記コーティング層の厚みが、基部の前記コーティング層の厚みと比べて大きいことを特徴とする請求項4または5に記載のハンド。 - 請求項1〜6のいずれか一つに記載のハンド
を備えることを特徴とするロボット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011208045A JP5447470B2 (ja) | 2011-09-22 | 2011-09-22 | ハンドおよびロボット |
TW101132023A TW201321146A (zh) | 2011-09-22 | 2012-09-03 | 機械手及機器人 |
KR1020120105401A KR20130032279A (ko) | 2011-09-22 | 2012-09-21 | 핸드 및 로봇 |
CN2012204876675U CN202805205U (zh) | 2011-09-22 | 2012-09-21 | 机器人手以及机器人 |
CN2012103558171A CN103009394A (zh) | 2011-09-22 | 2012-09-21 | 机器人手以及机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011208045A JP5447470B2 (ja) | 2011-09-22 | 2011-09-22 | ハンドおよびロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013066981A JP2013066981A (ja) | 2013-04-18 |
JP5447470B2 true JP5447470B2 (ja) | 2014-03-19 |
Family
ID=47864147
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011208045A Expired - Fee Related JP5447470B2 (ja) | 2011-09-22 | 2011-09-22 | ハンドおよびロボット |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP5447470B2 (ja) |
KR (1) | KR20130032279A (ja) |
CN (2) | CN202805205U (ja) |
TW (1) | TW201321146A (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5447470B2 (ja) * | 2011-09-22 | 2014-03-19 | 株式会社安川電機 | ハンドおよびロボット |
DE102013206875A1 (de) | 2013-04-16 | 2014-10-16 | Dürr Ecoclean GmbH | Anlage für das Behandeln von Werkstücken |
JP6629012B2 (ja) * | 2015-08-31 | 2020-01-15 | 豊田鉄工株式会社 | 加熱炉用のワーク搬送装置 |
CN113510740B (zh) * | 2021-07-13 | 2023-11-28 | 彩虹(合肥)液晶玻璃有限公司 | 一种超级加热器专用安装装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100402246C (zh) * | 2001-03-29 | 2008-07-16 | 日石三菱株式会社 | 机器人手部件及其制造方法 |
AU2002361894A1 (en) * | 2002-07-29 | 2004-02-16 | E. I. Du Pont De Nemours And Company | Carbon fiber composite transfer member with reflective surfaces |
JP2005187198A (ja) * | 2003-12-26 | 2005-07-14 | Nippon Oil Corp | 炭素繊維強化金属複合材料製搬送用部材 |
US20080247857A1 (en) * | 2007-04-05 | 2008-10-09 | Ichiro Yuasa | End effector and robot for transporting substrate |
JP2008305839A (ja) * | 2007-06-05 | 2008-12-18 | Kyocera Chemical Corp | 搬送用治具 |
JP5189843B2 (ja) * | 2008-01-04 | 2013-04-24 | Jx日鉱日石エネルギー株式会社 | Cfrp製搬送用部材及びそれを用いたロボットハンド |
US8276959B2 (en) * | 2008-08-08 | 2012-10-02 | Applied Materials, Inc. | Magnetic pad for end-effectors |
JP2010056467A (ja) * | 2008-08-29 | 2010-03-11 | Kyocera Chemical Corp | 搬送用治具 |
JP5447470B2 (ja) * | 2011-09-22 | 2014-03-19 | 株式会社安川電機 | ハンドおよびロボット |
-
2011
- 2011-09-22 JP JP2011208045A patent/JP5447470B2/ja not_active Expired - Fee Related
-
2012
- 2012-09-03 TW TW101132023A patent/TW201321146A/zh unknown
- 2012-09-21 KR KR1020120105401A patent/KR20130032279A/ko active Search and Examination
- 2012-09-21 CN CN2012204876675U patent/CN202805205U/zh not_active Expired - Lifetime
- 2012-09-21 CN CN2012103558171A patent/CN103009394A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
TW201321146A (zh) | 2013-06-01 |
KR20130032279A (ko) | 2013-04-01 |
CN103009394A (zh) | 2013-04-03 |
CN202805205U (zh) | 2013-03-20 |
JP2013066981A (ja) | 2013-04-18 |
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