JP6298933B2 - 基板搬送方法 - Google Patents
基板搬送方法 Download PDFInfo
- Publication number
- JP6298933B2 JP6298933B2 JP2017526170A JP2017526170A JP6298933B2 JP 6298933 B2 JP6298933 B2 JP 6298933B2 JP 2017526170 A JP2017526170 A JP 2017526170A JP 2017526170 A JP2017526170 A JP 2017526170A JP 6298933 B2 JP6298933 B2 JP 6298933B2
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- Prior art keywords
- circuit unit
- amplitude
- power supply
- capacitor
- substrate
- Prior art date
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- 238000012546 transfer Methods 0.000 title claims description 20
- 239000000758 substrate Substances 0.000 title claims description 17
- 238000000034 method Methods 0.000 title claims description 7
- 239000003990 capacitor Substances 0.000 claims description 33
- 238000001179 sorption measurement Methods 0.000 claims description 16
- 239000000969 carrier Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 14
- 235000012431 wafers Nutrition 0.000 description 9
- 238000012545 processing Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Images
Classifications
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0045—Contactless power transmission, e.g. by magnetic induction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
-
- 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
-
- 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
- B25J19/06—Safety devices
-
- 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
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/05—Circuit arrangements or systems for wireless supply or distribution of electric power using capacitive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
Claims (3)
- 対向配置される一対の電極間で機械的に分離され、静電容量が50pF〜300pFの範囲内のキャパシタと、キャパシタの一方の電極に接続される給電回路ユニットと、キャパシタの他方の電極に接続される受電回路ユニットとを備える非接触式給電システムにより、搬送ロボットのロボットハンドに設けた静電チャックの吸着用電極に非接触で給電して基板を吸着した状態で搬送するための基板搬送方法において、
ロボットハンドの所定位置に基板を設置する工程と、
給電回路ユニットの発振器から100kHz〜1MHzの範囲内の搬送波を出力し、給電回路ユニットの変調器にて第1振幅に振幅変調をかけてこれを電力供給用搬送波としてキャパシタを通して供給すると共に、第1振幅と異なる振幅の第2振幅に振幅変調をかけてこれを制御信号用搬送波としてキャパシタを通して供給する工程と、
受電回路ユニットに所定回数の制御信号用搬送波が供給されると、キャパシタを通して供給される電力供給用搬送波を整流した直流電圧を吸着用電極に印加すると共に、受電回路ユニットの負荷接続回路を制御して予め設定された対応関係で間欠的に負荷に接続する工程と、
給電回路ユニットが負荷変動に伴う電流値または電圧値の変化を認識すると、搬送ロボットの移動を許可する工程と、
搬送ロボットが所定の位置まで移動した後、給電回路ユニットの変調器にて第1振幅と異なる振幅の第2振幅に振幅変調をかけてこれを制御信号用搬送波としてキャパシタを通して供給し、受電回路ユニットに上記と異なる所定回数の制御信号用搬送波が供給されると、吸着用電極をアース接地して被吸着基板の静電吸着を解除する工程とを含むことを特徴とする基板搬送方法。 - 前記受電回路ユニットが、複数のスイッチングトランジスタを有するブリッジ回路で構成される切換回路を備えて、前記受電回路ユニットに所定回数の制御信号用搬送波が供給されたとき、この切換回路により前記直流電圧を吸着用電極に選択的に印加することを特徴とする請求項1記載の基板搬送方法。
- 前記切換回路が前記負荷接続回路を兼用し、前記切換回路の各スイッチングトランジスタの切換により前記給電回路ユニットが負荷変動を認識することを特徴とする請求項2記載の基板搬送方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015133632 | 2015-07-02 | ||
JP2015133632 | 2015-07-02 | ||
PCT/JP2016/003038 WO2017002340A1 (ja) | 2015-07-02 | 2016-06-23 | 非接触式給電システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6298933B2 true JP6298933B2 (ja) | 2018-03-20 |
JPWO2017002340A1 JPWO2017002340A1 (ja) | 2018-04-05 |
Family
ID=57608008
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017526170A Active JP6298933B2 (ja) | 2015-07-02 | 2016-06-23 | 基板搬送方法 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP6298933B2 (ja) |
KR (1) | KR101904145B1 (ja) |
CN (2) | CN107852030A (ja) |
TW (1) | TWI645643B (ja) |
WO (1) | WO2017002340A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7006910B2 (ja) * | 2017-08-30 | 2022-01-24 | 株式会社ダイヘン | ロボットシステム |
JP7080074B2 (ja) * | 2018-03-15 | 2022-06-03 | 株式会社ダイヘン | 搬送装置 |
MX2020010865A (es) | 2018-04-16 | 2020-12-11 | Sekisui Chemical Co Ltd | Pelicula de capa intermedia para vidrio laminado, y vidrio laminado para techo de automovil. |
CN113452148B (zh) * | 2021-06-08 | 2022-09-16 | 华中科技大学 | 用于模块化变换器的具备信息传输功能的辅助电源 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009089520A (ja) * | 2007-09-28 | 2009-04-23 | Takenaka Komuten Co Ltd | 電力供給システム |
JP2012085404A (ja) * | 2010-10-08 | 2012-04-26 | Murata Mfg Co Ltd | 電力伝送システム及び電子棚札システム |
JP2013235991A (ja) * | 2012-05-10 | 2013-11-21 | Ulvac Japan Ltd | 給電装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2920061A1 (fr) * | 2007-08-17 | 2009-02-20 | Patrick Camurati | Procede et dispositif de transport, distribution et gestion de l'energie electrique par couplage longitudinal a distance en champ proche entre dipoles electriques |
JP5238420B2 (ja) * | 2008-09-11 | 2013-07-17 | 矢崎総業株式会社 | 車両用ワイヤレス充電システム |
CN101924396B (zh) * | 2009-06-16 | 2014-02-05 | 上海科勒电子科技有限公司 | 用于洁具上的无线充/供电系统 |
JP5677875B2 (ja) * | 2011-03-16 | 2015-02-25 | 日立マクセル株式会社 | 非接触電力伝送システム |
US9502920B2 (en) * | 2011-11-16 | 2016-11-22 | Semiconductor Energy Laboratory Co., Ltd. | Power receiving device, power transmission device, and power feeding system |
-
2016
- 2016-06-23 KR KR1020187003267A patent/KR101904145B1/ko active IP Right Grant
- 2016-06-23 WO PCT/JP2016/003038 patent/WO2017002340A1/ja active Application Filing
- 2016-06-23 CN CN201680039186.9A patent/CN107852030A/zh active Pending
- 2016-06-23 JP JP2017526170A patent/JP6298933B2/ja active Active
- 2016-06-23 CN CN202111330511.6A patent/CN114050667A/zh active Pending
- 2016-06-28 TW TW105120310A patent/TWI645643B/zh active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009089520A (ja) * | 2007-09-28 | 2009-04-23 | Takenaka Komuten Co Ltd | 電力供給システム |
JP2012085404A (ja) * | 2010-10-08 | 2012-04-26 | Murata Mfg Co Ltd | 電力伝送システム及び電子棚札システム |
JP2013235991A (ja) * | 2012-05-10 | 2013-11-21 | Ulvac Japan Ltd | 給電装置 |
Also Published As
Publication number | Publication date |
---|---|
KR101904145B1 (ko) | 2018-10-04 |
KR20180025937A (ko) | 2018-03-09 |
WO2017002340A1 (ja) | 2017-01-05 |
JPWO2017002340A1 (ja) | 2018-04-05 |
CN107852030A (zh) | 2018-03-27 |
TW201707339A (zh) | 2017-02-16 |
TWI645643B (zh) | 2018-12-21 |
CN114050667A (zh) | 2022-02-15 |
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