JPWO2013146763A1 - 多関節ロボット、搬送装置 - Google Patents
多関節ロボット、搬送装置 Download PDFInfo
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- JPWO2013146763A1 JPWO2013146763A1 JP2014507907A JP2014507907A JPWO2013146763A1 JP WO2013146763 A1 JPWO2013146763 A1 JP WO2013146763A1 JP 2014507907 A JP2014507907 A JP 2014507907A JP 2014507907 A JP2014507907 A JP 2014507907A JP WO2013146763 A1 JPWO2013146763 A1 JP WO2013146763A1
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- 238000012546 transfer Methods 0.000 title abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 149
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- 230000005540 biological transmission Effects 0.000 description 19
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- 238000006243 chemical reaction Methods 0.000 description 9
- 238000011144 upstream manufacturing Methods 0.000 description 8
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- 239000012212 insulator Substances 0.000 description 5
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- 230000008859 change Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
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- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J18/00—Arms
-
- 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
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67161—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers
-
- 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
- H01L21/67739—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 into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/21—Flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
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- Engineering & Computer Science (AREA)
- Robotics (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)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
2 :アーム
3 :把持部
4 :第1アーム
5E :一端
6 :第2アーム
7E :他端
8 :第1関節部
10 :第2関節部
12 :第3関節部
16 :折返し部
17 :基台
50 :インライン型処理装置
54 :処理部
55 :搬送部
56 :基板(被処理物)
60 :角度調整部
94 :搬送モジュール
1.第1実施形態
(多関節ロボットの構成)
図1、図2、図4、図5を参照して本実施形態に係る多関節ロボット1Aの動作について説明する。アーム2が収縮した状態、すなわち第1アーム4と第2アーム6とが上下方向に重なった状態(図2)を原点とする。原点において、第1関節部8(図1)と第3関節部12は同軸上に重なった状態である。また、把持部3は、折返し部16が移動軸Wに対し平行の状態である。
本実施形態に係る多関節ロボット1Aを適用した搬送装置としてのインライン型処理装置について図6を参照して説明する。
図7〜図9を参照して、インライン型処理装置50における搬送手順について説明する。インライン型処理装置50では、各搬送部55における多関節ロボット1Aが上流の処理部54から下流の処理部54へ被処理物を同時に搬送する。搬送手順は、上流と下流の関係にある処理部54間において同様である。一例として、第1処理部としての処理部54Hから第2処理部としての処理部54Jへ被処理物を搬送する手順についてのみ説明する。
第2実施形態に係る多関節ロボット1Bについて図を参照して説明する。
上記第1実施形態と同様の構成については同様の符号を付し、説明を省略する。図3と同様の構成について同様の符号を付した図10に示す多関節ロボット1Bは、角度調整部60を備える。
角度調整部60により、把持部3の位置を調整する動作を説明する。角度調整部60は、第1関節部8を中心として第1プーリ22(図10)を微小に回転させる。これにより多関節ロボット1Bは、伸張した状態の第2アーム6の先端、すなわち把持部3を図12に示すy方向又は−y方向に移動させることにより、載置台58に対する基板56の微小な位置調整を行う。
本発明に係るインライン型処理装置の実施形態について図面を参照して説明する。図17に示すインライン型処理装置80Aは、処理部82と搬送部84とが直線状に配置された処理ラインを有している。処理ラインは全体として逆U字型に形成されている。処理部82と搬送部84の間にはゲートバルブ86が設けられている。搬送部84内には多関節ロボット1Bが設けられている。
本発明は上記実施形態に限定されるものではなく、本発明の趣旨の範囲内で適宜変更することが可能である。上記実施形態の場合、折返し部16の折返し面33にはピン35が把持部3に合計4個設けられている場合について説明したが、本発明はこれに限らず、3個又は5個以上であってもよい。
Claims (5)
- 第1処理部から、当該第1処理部に対し直線状に配置された第2処理部へ、被処理物を搬送する多関節ロボットにおいて、
伸縮自在のアームと、
前記アームの先端の下側に設けられ、前記被処理物を把持する把持部と
を備え、
前記把持部を前記把持部の一端から前記第1処理部へ進入させると共に、前記把持部を前記一端に対向する前記把持部の他端から前記第2処理部へ進入させる
ことを特徴とする多関節ロボット。 - 前記アームは、
基部に対し第1関節部によって回転自在に連結される第1アームと、
前記第1アームに対し第2関節部によって回転自在に連結された第2アームと
を有し、
前記把持部は、前記第2アームに対し第3関節部によって回転自在に連結されていることを特徴とする請求項1に記載の多関節ロボット。 - 前記把持部は側部に一対の折返し部を有し、当該折返し部により前記被処理物の側部の下面を支持することを特徴とする請求項1に記載の多関節ロボット。
- 前記基部に対する前記アームの角度を調整する角度調整部を備えたことを特徴とする請求項2に記載の多関節ロボット。
- 第1処理部と
当該第1処理部と連接された1つの搬送部とを備え、
前記搬送部には、
伸縮自在のアームと、
前記アームの先端の下側に設けられ、被処理物を把持する把持部と
を備える多関節ロボットが設けられており、
前記多関節ロボットは、
前記把持部を前記把持部の一端から前記第1処理部へ進入させると共に、
前記把持部を前記一端に対向する前記把持部の他端から、前記搬送部を挟んで前記第1処理部に対し直線状に配置される第2処理部へ進入させる
ことを特徴とする搬送装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2012077328 | 2012-03-29 | ||
JP2012077328 | 2012-03-29 | ||
PCT/JP2013/058742 WO2013146763A1 (ja) | 2012-03-29 | 2013-03-26 | 多関節ロボット、搬送装置 |
Publications (2)
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JPWO2013146763A1 true JPWO2013146763A1 (ja) | 2015-12-14 |
JP6053757B2 JP6053757B2 (ja) | 2016-12-27 |
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JP2014507907A Active JP6053757B2 (ja) | 2012-03-29 | 2013-03-26 | 多関節ロボット、搬送装置 |
Country Status (4)
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US (1) | US9561586B2 (ja) |
JP (1) | JP6053757B2 (ja) |
KR (1) | KR102035369B1 (ja) |
WO (1) | WO2013146763A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150314454A1 (en) | 2013-03-15 | 2015-11-05 | JIBO, Inc. | Apparatus and methods for providing a persistent companion device |
CN105409197A (zh) | 2013-03-15 | 2016-03-16 | 趣普科技公司 | 用于提供持久伙伴装置的设备和方法 |
USD746886S1 (en) * | 2014-05-23 | 2016-01-05 | JIBO, Inc. | Robot |
USD822735S1 (en) * | 2017-03-17 | 2018-07-10 | Donald Dimattia, Jr. | Positionable end effector link |
JP7371365B2 (ja) * | 2019-06-27 | 2023-10-31 | セイコーエプソン株式会社 | ロボット |
CN112824267B (zh) * | 2019-11-21 | 2022-08-26 | 辛耘企业股份有限公司 | 输送装置 |
TWI703079B (zh) * | 2019-11-21 | 2020-09-01 | 辛耘企業股份有限公司 | 輸送裝置 |
US11450506B2 (en) * | 2020-04-24 | 2022-09-20 | Tel Manufacturing And Engineering Of America, Inc. | Pattern enhancement using a gas cluster ion beam |
KR102448495B1 (ko) * | 2021-06-23 | 2022-09-29 | 주식회사 진양정밀 | 산업용 자동화기기의 로봇 암 유닛 |
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JPH09234681A (ja) * | 1996-02-29 | 1997-09-09 | Sony Corp | 搬送装置 |
JP2002158272A (ja) * | 2000-11-17 | 2002-05-31 | Tatsumo Kk | ダブルアーム基板搬送装置 |
JP2004330321A (ja) * | 2003-05-01 | 2004-11-25 | Honda Electron Co Ltd | ロボット位置制御装置及び方法並びにロボットシステム |
JP2005004227A (ja) * | 2004-08-27 | 2005-01-06 | Olympus Corp | レンズ鏡筒 |
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JPH08327959A (ja) | 1994-06-30 | 1996-12-13 | Seiko Epson Corp | ウエハ及び基板の処理装置及び処理方法、ウエハ及び基板の移載装置 |
JPH0825151B2 (ja) * | 1988-09-16 | 1996-03-13 | 東京応化工業株式会社 | ハンドリングユニット |
US5908281A (en) * | 1996-09-20 | 1999-06-01 | Brooks Automation Inc. | Coaxial drive loader arm |
JP2001310287A (ja) | 2000-04-28 | 2001-11-06 | Shinko Electric Co Ltd | ロボット用アーム装置 |
JPWO2003017344A1 (ja) * | 2001-08-20 | 2004-12-09 | 株式会社ニコン | マスク交換方法及び露光装置 |
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-
2013
- 2013-03-26 US US14/388,618 patent/US9561586B2/en active Active
- 2013-03-26 WO PCT/JP2013/058742 patent/WO2013146763A1/ja active Application Filing
- 2013-03-26 KR KR1020147029842A patent/KR102035369B1/ko active IP Right Grant
- 2013-03-26 JP JP2014507907A patent/JP6053757B2/ja active Active
Patent Citations (4)
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JPH09234681A (ja) * | 1996-02-29 | 1997-09-09 | Sony Corp | 搬送装置 |
JP2002158272A (ja) * | 2000-11-17 | 2002-05-31 | Tatsumo Kk | ダブルアーム基板搬送装置 |
JP2004330321A (ja) * | 2003-05-01 | 2004-11-25 | Honda Electron Co Ltd | ロボット位置制御装置及び方法並びにロボットシステム |
JP2005004227A (ja) * | 2004-08-27 | 2005-01-06 | Olympus Corp | レンズ鏡筒 |
Also Published As
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KR102035369B1 (ko) | 2019-10-22 |
US20150343630A1 (en) | 2015-12-03 |
US9561586B2 (en) | 2017-02-07 |
KR20140140097A (ko) | 2014-12-08 |
JP6053757B2 (ja) | 2016-12-27 |
WO2013146763A1 (ja) | 2013-10-03 |
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