JP6617832B2 - 搬送車及び搬送方法 - Google Patents
搬送車及び搬送方法 Download PDFInfo
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- JP6617832B2 JP6617832B2 JP2018518138A JP2018518138A JP6617832B2 JP 6617832 B2 JP6617832 B2 JP 6617832B2 JP 2018518138 A JP2018518138 A JP 2018518138A JP 2018518138 A JP2018518138 A JP 2018518138A JP 6617832 B2 JP6617832 B2 JP 6617832B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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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
- H01L21/67733—Overhead conveying
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
- B66C1/16—Slings with load-engaging platforms or frameworks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or 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
- H01L21/67005—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
- 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
- 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
- H01L21/67706—Mechanical details, e.g. roller, belt
-
- 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
- H01L21/67712—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 the substrate being handled substantially vertically
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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
- H01L21/6773—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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- 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
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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
- H01L21/683—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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
FP・・・物品
40・・・移載装置
41・・・本体部
42・・・昇降台
42a・・・グリッパ(保持部)
43・・・昇降駆動部
43a・・・ベルト(吊持部材)
44・・・センサ
45・・・横出し機構
46、60A、60B、60C・・・補正機構
47・・・揺れ検出センサ(センサ)
48・・・ルックダウンセンサ(センサ)
60、60D・・・第1補正機構(補正機構)
66a、76a・・・アクチュエータ
70、70D・・・第2補正機構(補正機構)
100・・・搬送車
Claims (7)
- 本体部と、
物品を保持する保持部を有しかつ前記本体部に対して昇降可能な昇降台と、
可撓性を有する吊持部材の繰り出し及び巻き取りにより前記昇降台を昇降させる昇降駆動部と、
前記昇降駆動部に設けられ、下方の所定位置に向けて指向性を有する検出波を照射するセンサと、
前記昇降駆動部を片持ち支持した状態で前記本体部の側方に突出させる横出し機構と、
前記横出し機構により前記昇降駆動部を前記本体部の側方に突出させた状態において、前記横出し機構の撓みにより生じる前記検出波の照射方向のズレを補正する補正機構と、を備える搬送車。 - 前記補正機構は、前記昇降駆動部に対する前記センサの角度を変化させる、請求項1に記載の搬送車。
- 前記補正機構は、前記センサの角度を変化させるアクチュエータを有する、請求項2に記載の搬送車。
- 前記補正機構は、重力によって前記センサの角度を変化させる、請求項2に記載の搬送車。
- 前記補正機構は、前記横出し機構による前記昇降駆動部の突出動作に連動して前記センサの角度を変化させる、請求項2に記載の搬送車。
- 前記センサは、前記昇降台を昇降させる際に前記検出波が前記昇降台の所定範囲に照射されるか否かを検出する揺れ検出センサ、及び前記昇降台の降下先の近傍に向けて前記検出波を照射して異物が存在するか否かを検出するルックダウンセンサのうち、少なくとも一方である、請求項1〜5のいずれか一項に記載の搬送車。
- 本体部と、
物品を保持する保持部を有しかつ前記本体部に対して昇降可能な昇降台と、
可撓性を有する吊持部材の繰り出し及び巻き取りにより前記昇降台を昇降させる昇降駆動部と、
前記昇降駆動部に設けられ、下方の所定位置に向けて指向性を有する検出波を照射するセンサと、
前記昇降駆動部を片持ち支持した状態で前記本体部の側方に突出させる横出し機構と、を備える搬送車により物品を搬送する方法であって、
前記横出し機構により前記昇降駆動部を前記本体部の側方に突出させる場合に、前記横出し機構の撓みにより生じる前記検出波の照射方向のズレを補正することを含む、搬送方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016101338 | 2016-05-20 | ||
JP2016101338 | 2016-05-20 | ||
PCT/JP2017/013244 WO2017199593A1 (ja) | 2016-05-20 | 2017-03-30 | 搬送車及び搬送方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017199593A1 JPWO2017199593A1 (ja) | 2019-03-14 |
JP6617832B2 true JP6617832B2 (ja) | 2019-12-11 |
Family
ID=60326494
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018518138A Active JP6617832B2 (ja) | 2016-05-20 | 2017-03-30 | 搬送車及び搬送方法 |
Country Status (8)
Country | Link |
---|---|
US (1) | US11027949B2 (ja) |
EP (1) | EP3460834B1 (ja) |
JP (1) | JP6617832B2 (ja) |
KR (1) | KR102138208B1 (ja) |
CN (1) | CN109155269B (ja) |
SG (1) | SG11201810030TA (ja) |
TW (1) | TWI708725B (ja) |
WO (1) | WO2017199593A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113165807B (zh) * | 2018-12-14 | 2022-07-26 | 村田机械株式会社 | 输送车 |
JP7173291B2 (ja) * | 2019-03-22 | 2022-11-16 | 村田機械株式会社 | 搬送車システム |
JP7248147B2 (ja) * | 2019-11-20 | 2023-03-29 | 村田機械株式会社 | 天井搬送車 |
KR102238169B1 (ko) * | 2020-01-07 | 2021-04-07 | 세메스 주식회사 | 비히클 및 오버헤드 호이스트 트랜스포트 |
US11862494B2 (en) * | 2020-07-09 | 2024-01-02 | Changxin Memory Technologies, Inc. | Crane monitoring system and method |
KR102573505B1 (ko) * | 2020-10-29 | 2023-08-31 | 세메스 주식회사 | 오버헤드 호이스트 이송 장치 및 그 제어 방법 |
US20240128113A1 (en) | 2021-02-17 | 2024-04-18 | Murata Machinery, Ltd. | Overhead transport vehicle |
WO2023281781A1 (ja) * | 2021-07-05 | 2023-01-12 | 村田機械株式会社 | 天井搬送車 |
JPWO2023281827A1 (ja) * | 2021-07-08 | 2023-01-12 | ||
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JP6507594B2 (ja) | 2014-11-28 | 2019-05-08 | トヨタ紡織株式会社 | 乗物用シート及び乗物用シートと他部材の配設方法 |
JP6304084B2 (ja) * | 2015-03-16 | 2018-04-04 | 株式会社ダイフク | 物品搬送設備及び検査用治具 |
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- 2017-03-30 JP JP2018518138A patent/JP6617832B2/ja active Active
- 2017-03-30 CN CN201780029995.6A patent/CN109155269B/zh active Active
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US11027949B2 (en) | 2021-06-08 |
EP3460834B1 (en) | 2020-08-05 |
EP3460834A4 (en) | 2020-01-15 |
JPWO2017199593A1 (ja) | 2019-03-14 |
KR20180133900A (ko) | 2018-12-17 |
TW201741214A (zh) | 2017-12-01 |
TWI708725B (zh) | 2020-11-01 |
WO2017199593A1 (ja) | 2017-11-23 |
CN109155269B (zh) | 2023-04-21 |
KR102138208B1 (ko) | 2020-07-27 |
US20200270102A1 (en) | 2020-08-27 |
EP3460834A1 (en) | 2019-03-27 |
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