KR19990012735U - Drive control device of wafer transfer robot - Google Patents
Drive control device of wafer transfer robot Download PDFInfo
- Publication number
- KR19990012735U KR19990012735U KR2019970025862U KR19970025862U KR19990012735U KR 19990012735 U KR19990012735 U KR 19990012735U KR 2019970025862 U KR2019970025862 U KR 2019970025862U KR 19970025862 U KR19970025862 U KR 19970025862U KR 19990012735 U KR19990012735 U KR 19990012735U
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- power supply
- unit
- power failure
- wafer transfer
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
본 고안은 웨이퍼이송로봇트의 구동제어장치에 관한 것으로, 종래에는 순간정전이 발생했을 때, 로봇트와 공정기기가 충돌하여 파손될 우려가 있고, 위험부담이 따르는 문제점이 있었다. 이와같은 문제점을 감안한 본 고안은 주전원을 적정전압으로 분배하는 전압분배부와; 그 전압분배부에 접속되어 순간정전시 구동차단신호를 출력하는 전원처리부와; 그 구동차단신호를 입력받아 각 공정기기를 제어하는 공정기기제어부와; 상기 전압분배부에 접속되어 순간정전 또는 불규칙한 전원공급시 일정한 전압을 출력하는 무정전전원공급부와; 그 무정전전원공급부의 일정한 전압을 전원처리부를 통해 입력받아 순간정전 또는 불규칙한 전원공급시에도 각 공정을 제어하는 입출력부와; 상기 무정전전원공급부의 일정한 전압을 전원처리부를 통해 입력받아 로봇트의 웨이퍼이송을 제어하는 로봇트제어부로 구성되는 웨이퍼이송로봇트의 구동제어장치에 있어서, 상기 무정전전원공급부에 접속되어 순간정전시 제어신호를 로봇트제어부로 출력하여 로봇트의 구동을 정지시키는 순간정전제어부를 더 포함하는 웨이퍼이송로봇트의 구동제어장치를 제공하여 순간정전시 로봇트의 구동을 정지시킴으로써, 로봇트와 공정기기의 충돌을 방지할 수 있는 효과가 있다.The present invention relates to a drive control apparatus for a wafer transfer robot, and in the related art, when a momentary power failure occurs, there is a risk that the robot and the process equipment collide with each other and are damaged. The present invention in consideration of such a problem and the voltage distribution unit for distributing the main power to an appropriate voltage; A power supply processor connected to the voltage distribution unit for outputting a drive interruption signal during momentary power failure; A process device control unit which receives the drive blocking signal and controls each process device; An uninterruptible power supply unit connected to the voltage distribution unit to output a constant voltage in case of instantaneous power failure or irregular power supply; An input / output unit which receives a constant voltage of the uninterruptible power supply unit through a power processing unit and controls each process even in case of instantaneous power failure or irregular power supply; In the drive control apparatus for a wafer transfer robot comprising a robot control unit for controlling the wafer transfer of the robot by receiving a constant voltage of the uninterruptible power supply unit through a power processing unit, the uninterruptible power supply is connected to the robot control signal at the moment of power failure Provides a drive control device for a wafer transfer robot, which further includes an instantaneous power failure control unit outputting to a control unit to stop driving of the robot, and stopping driving of the robot during momentary power failure, thereby preventing collision between the robot and the process equipment. have.
Description
본 고안은 웨이퍼이송로봇트의 구동제어장치에 관한 것으로, 특히 순간정전이 발생하였을 때 웨이퍼이송로봇트의 구동을 정지시키기에 적당하도록 한 웨이퍼이송로봇트의 구동제어장치에 관한 것이다.The present invention relates to a drive control apparatus for a wafer transfer robot, and more particularly, to a drive control apparatus for a wafer transfer robot adapted to stop driving of the wafer transfer robot when a momentary power failure occurs.
일반적으로, 웨이퍼를 이송할 때 위치설정과 오염문제에 있어서 로봇트는 수작업에 비해 매우 뛰어난 성능을 발휘하지만, 순간정전과 같은 불규칙한 전원공급시 오동작을 유발하는 단점이 있었다. 따라서, 순간정전과 같은 불규칙한 전원이 공급되더라도, 이를 일정한 전압으로 공급해 주는 무정전전원공급부(UPS)를 설치하여 상기 단점을 보완하였다. 이와같은 종래 웨이퍼이송로봇트의 구동제어장치를 첨부한 도면을 참조하여 상세히 설명하면 다음과 같다.In general, the robot exhibits superior performance compared to manual operation in terms of positioning and contamination when transferring wafers, but has a disadvantage of causing malfunctions in irregular power supply such as instantaneous power failure. Therefore, even if irregular power supply such as instantaneous power failure, the uninterruptible power supply (UPS) for supplying this at a constant voltage is provided to compensate for the above disadvantage. If described in detail with reference to the accompanying drawings, the drive control apparatus of the conventional wafer transfer robot as follows.
도1은 종래 웨이퍼이송로봇트의 구동제어장치를 도시한 블록도로서, 이에 도시한 바와같이 주전원부(1)의 내부에 설치되어 주전원(main power)을 각각의 기기에 필요한 적정전압으로 분배하는 전압분배부(2),(3)와; 전압분배부(2)에 접속되어 순간정전시 구동차단신호를 출력하는 전원처리부(4)와; 그 전원처리부(4)의 구동차단신호를 입력받아 제어신호를 출력하여 각 공정기기(미도시)를 중지시킨 후, 초기상태로 되돌리는 공정기기제어부(5)와; 상기 전압분배부(3)에 접속되어 순간정전 또는 불규칙한 전원공급시 일정한 전압을 출력하는 무정전전원공급부(6)와; 그 무정전전원공급부(6)의 일정한 전압을 전원처리부(7)를 통해 입력받아 순간정전 또는 불규칙한 전원공급시에도 내부의 호스트컴퓨터를 통해 각 공정을 제어하는 입출력부(8)와; 상기 무정전전원공급부(6)의 일정한 전압을 전원처리부(7)를 통해 입력받아 로봇트의 웨이퍼이송을 제어하는 로봇트제어부(9)로 구성된다. 이하, 상기한 바와같이 구성된 종래 장치의 동작을 설명한다.FIG. 1 is a block diagram showing a drive control apparatus of a conventional wafer transfer robot. As shown in FIG. 1, a voltage is provided inside the main power supply unit 1 to distribute main power to an appropriate voltage required for each device. Distribution sections 2, 3; A power supply processor (4) connected to the voltage distribution unit (2) for outputting a drive interruption signal during momentary power failure; A process device controller (5) which receives the drive cutoff signal of the power supply processing unit (4), outputs a control signal to stop each process device (not shown), and returns to an initial state; An uninterruptible power supply (6) connected to the voltage divider (3) and outputting a constant voltage at the time of power failure or irregular power supply; An input / output unit 8 which receives a constant voltage of the uninterruptible power supply unit 6 through the power processing unit 7 and controls each process through an internal host computer even during a momentary power failure or irregular power supply; The robot controller 9 is configured to receive a constant voltage of the uninterruptible power supply 6 through the power processor 7 to control wafer transfer of the robot. The operation of the conventional apparatus configured as described above will be described below.
공정기기제어부(5)가 전압분배부(2) 및 전원처리부(4)를 통해 전원을 입력받아 각 공정기기를 제어하여 구동시키고, 아울러 로봇트제어부(9)가 전압분배부(3), 무정전전원공급부(6) 및 전원처리부(7)를 통해 전원을 입력받아 해당 공정기기로 웨이퍼를 이송하도록 로봇트를 제어하며, 또한 입출력부(8)는 전압분배부(3), 무정전전원공급부(6) 및 전원처리부(7)를 통해 전원을 입력받아 내부의 호스트컴퓨터를 통해 각 공정의 입출력을 제어함으로써, 웨이퍼상에 반도체공정이 행해진다.The process device controller 5 receives power through the voltage divider 2 and the power processor 4 to control and drive each process device, and the robot controller 9 controls the voltage divider 3 and the uninterruptible power supply. The robot is controlled so as to receive power through the supply unit 6 and the power processing unit 7 and transfer the wafer to the corresponding process equipment. The input / output unit 8 also includes a voltage divider 3, an uninterruptible power supply 6, and The semiconductor process is performed on the wafer by receiving power through the power processing unit 7 and controlling the input / output of each process through an internal host computer.
이때, 공정이 진행되는 도중에 주전원부(1)에 순간정전이 발생하면, 전원처리부(4)는 구동차단신호를 공정기기제어부(5)로 출력하므로, 이에 따라 공정기기제어부(5)는 각 공정기기를 중지시킨 후, 초기상태로 되돌리고, 무정전전원공급부(6)로부터 일정한 전압을 입력받는 전원처리부(7)는 입출력부(8) 및 로봇트제어부(9)가 순간정전에 상관없이 구동되도록 한다.At this time, if a momentary power interruption occurs in the main power supply unit 1 while the process is in progress, the power supply processing unit 4 outputs a driving cutoff signal to the process device control unit 5, and thus the process device control unit 5 processes each process. After the device is stopped, the power processing unit 7 which returns to the initial state and receives a constant voltage from the uninterruptible power supply unit 6 causes the input / output unit 8 and the robot control unit 9 to be driven regardless of the momentary power failure.
그러나, 상기한 바와같이 구동되는 종래 웨이퍼이송로봇트의 구동제어장치는 순간정전이 발생했을 때, 각 공정기기는 초기상태로 설정되지만, 공정을 제어하는 입출력부나 로봇트는 순간정전에 상관없이 구동되므로, 로봇트와 공정기기가 충돌하여 파손될 우려가 있고, 위험부담이 따르는 문제점이 있었다.However, the drive control apparatus of the conventional wafer transfer robot driven as described above is set to an initial state when an instantaneous power failure occurs, but the input / output unit or robot controlling the process is driven regardless of the momentary power failure. There is a risk that the robot and the process equipment collide with each other and are damaged, and there is a problem that the risk is accompanied.
본 고안은 상기한 바와같은 문제점을 해결하기 위하여 창안한 것으로, 본 고안의 목적은 순간정전이 발생했을 때, 로봇트의 구동을 제어하여 로봇트와 공정기기의 충돌을 방지할 수 있는 웨이퍼이송로봇트의 구동제어장치를 제공하는데 있다.The present invention was devised to solve the above problems, and an object of the present invention is to control the driving of the robot when momentary power failure occurs, thereby driving the wafer transfer robot that can prevent the robot and the process equipment from colliding. To provide a control device.
도1은 종래 웨이퍼이송로봇트의 구동제어장치를 도시한 블록도.1 is a block diagram showing a drive control apparatus of a conventional wafer transfer robot.
도2는 본 고안에 의한 웨이퍼이송로봇트의 구동제어장치를 도시한 블록도.Figure 2 is a block diagram showing a drive control device for a wafer transfer robot according to the present invention.
***도면의 주요 부분에 대한 부호의 설명****** Description of the symbols for the main parts of the drawings ***
1:주전원부 2,3:전압분배부1: main power supply 2, 3: voltage distribution
4,7:전원처리부 5:공정기기제어부4,7: power processing unit 5: process equipment control unit
6:무정전전원공급부 8:입출력부6: Uninterruptible power supply 8: I / O
9:로봇트제어부 10:순간정전제어부9: Robot control unit 10: Instantaneous power failure control unit
상기한 바와같은 본 고안의 목적은 주전원을 적정전압으로 분배하는 전압분배부와; 그 전압분배부에 접속되어 순간정전시 구동차단신호를 출력하는 전원처리부와; 그 구동차단신호를 입력받아 각 공정기기를 제어하는 공정기기제어부와; 상기 전압분배부에 접속되어 순간정전 또는 불규칙한 전원공급시 일정한 전압을 출력하는 무정전전원공급부와; 그 무정전전원공급부의 일정한 전압을 전원처리부를 통해 입력받아 순간정전 또는 불규칙한 전원공급시에도 각 공정을 제어하는 입출력부와; 상기 무정전전원공급부의 일정한 전압을 전원처리부를 통해 입력받아 로봇트의 웨이퍼이송을 제어하는 로봇트제어부로 구성되는 웨이퍼이송로봇트의 구동제어장치에 있어서, 상기 무정전전원공급부에 접속되어 순간정전시 제어신호를 로봇트제어부로 출력하여 로봇트의 구동을 정지시키는 순간정전제어부를 더 포함하여 구성함으로써 달성되는 것으로, 본 고안에 의한 로봇트이송로봇트의 구동제어장치를 첨부한 도면을 참조하여 상세히 설명하면 다음과 같다.An object of the present invention as described above and the voltage distribution unit for distributing the main power to an appropriate voltage; A power supply processor connected to the voltage distribution unit for outputting a drive interruption signal during momentary power failure; A process device control unit which receives the drive blocking signal and controls each process device; An uninterruptible power supply unit connected to the voltage distribution unit to output a constant voltage in case of instantaneous power failure or irregular power supply; An input / output unit which receives a constant voltage of the uninterruptible power supply unit through a power processing unit and controls each process even in case of instantaneous power failure or irregular power supply; In the drive control apparatus for a wafer transfer robot comprising a robot control unit for controlling the wafer transfer of the robot by receiving a constant voltage of the uninterruptible power supply unit through a power processing unit, the uninterruptible power supply is connected to the robot control signal at the moment of power failure It is achieved by further comprising a momentary power outage control unit outputting to the control unit to stop the driving of the robot, and will be described in detail with reference to the accompanying drawings, the drive control apparatus for a robot transport robot according to the present invention.
도2는 본 고안에 의한 웨이퍼이송로봇트의 구동제어장치를 도시한 블록도로서, 이에 도시한 바와같이 주전원부(1)의 내부에 설치되어 주전원을 각각의 기기에 필요한 적정전압으로 분배하는 전압분배부(2),(3)와; 전압분배부(2)에 접속되어 순간정전시 구동차단신호를 출력하는 전원처리부(4)와; 그 전원처리부(4)의 구동차단신호를 입력받아 제어신호를 출력하여 각 공정기기(미도시)를 중지시킨 후, 초기상태로 되돌리는 공정기기제어부(5)와; 상기 전압분배부(3)에 접속되어 순간정전 또는 불규칙한 전원공급시 일정한 전압을 출력하는 무정전전원공급부(6)와; 그 무정전전원공급부(6)의 일정한 전압을 전원처리부(7)를 통해 입력받아 순간정전 또는 불규칙한 전원공급시에도 내부의 호스트컴퓨터를 통해 각 공정을 제어하는 입출력부(8)와; 상기 무정전전원공급부(6)의 일정한 전압을 전원처리부(7)를 통해 입력받아 로봇트의 웨이퍼이송을 제어하는 로봇트제어부(9)와; 순간정전시 상기 무정전전원공급부(6)로부터 알람신호를 입력받아 로봇트제어부(9)로 제어신호를 출력하여 로봇트의 구동을 정지시키는 순간정전제어부(10)로 구성된다. 이하, 상기한 바와같이 구성된 본 고안에 의한 웨이퍼이송로봇트의 구동제어장치의 동작을 설명한다.FIG. 2 is a block diagram showing a drive control apparatus for a wafer transfer robot according to the present invention. As shown in FIG. 2, the voltage is provided inside the main power supply unit 1 to distribute the main power to an appropriate voltage required for each device. Allocation (2) and (3); A power supply processor (4) connected to the voltage distribution unit (2) for outputting a drive interruption signal during momentary power failure; A process device controller (5) which receives the drive cutoff signal of the power supply processing unit (4), outputs a control signal to stop each process device (not shown), and returns to an initial state; An uninterruptible power supply (6) connected to the voltage divider (3) and outputting a constant voltage at the time of power failure or irregular power supply; An input / output unit 8 which receives a constant voltage of the uninterruptible power supply unit 6 through the power processing unit 7 and controls each process through an internal host computer even during a momentary power failure or irregular power supply; A robot controller 9 for controlling a wafer transfer of the robot by receiving a constant voltage of the uninterruptible power supply 6 through a power processor 7; The momentary power failure is configured with an instantaneous power failure control unit 10 which receives an alarm signal from the uninterruptible power supply unit 6 and outputs a control signal to the robot control unit 9 to stop driving of the robot. Hereinafter, the operation of the drive control apparatus for the wafer transfer robot according to the present invention configured as described above will be described.
공정기기제어부(5)가 전압분배부(2) 및 전원처리부(4)를 통해 전원을 입력받아 각 공정기기를 제어하여 구동시키고, 아울러 로봇트제어부(9)가 전압분배부(3), 무정전전원공급부(6) 및 전원처리부(7)를 통해 전원을 입력받아 해당 공정기기로 웨이퍼를 이송하도록 로봇트를 제어하며, 또한 입출력부(8)는 전압분배부(3), 무정전전원공급부(6) 및 전원처리부(7)를 통해 전원을 입력받아 내부의 호스트컴퓨터를 통해 각 공정의 입출력을 제어함으로써, 웨이퍼상에 반도체공정이 행해지는데, 공정이 진행되는 도중에 주전원부(1)에 순간정전이 발생하면, 전원처리부(4)는 구동차단신호를 공정기기제어부(5)로 출력하므로, 이에 따라 공정기기제어부(5)는 각 공정기기를 중지시킨 후, 초기상태로 되돌리고, 무정전전원공급부(6)로부터 일정한 전압을 입력받는 전원처리부(7)는 입출력부(8)가 순간정전에 상관없이 구동되도록 한다. 이때, 로봇트제어부(9)는 순간정전제어부(10)로부터 제어신호를 입력받아 로봇트의 구동을 정지시킨다.The process device controller 5 receives power through the voltage divider 2 and the power processor 4 to control and drive each process device, and the robot controller 9 controls the voltage divider 3 and the uninterruptible power supply. The robot is controlled so as to receive power through the supply unit 6 and the power processing unit 7 and transfer the wafer to the corresponding process equipment. The input / output unit 8 also includes a voltage divider 3, an uninterruptible power supply 6, and The semiconductor process is performed on the wafer by receiving the power through the power processing unit 7 and controlling the input / output of each process through the internal host computer. When a momentary power failure occurs in the main power supply unit 1 during the process, Since the power processing unit 4 outputs the drive cutoff signal to the process device control unit 5, the process device control unit 5 stops each process device, and then returns to an initial state, and then, from the uninterruptible power supply unit 6. Power source receiving constant voltage Unit 7 so that the output unit (8) driving irrespective of the voltage dip. At this time, the robot controller 9 receives the control signal from the momentary power failure controller 10 and stops the driving of the robot.
상기한 바와같이 동작되는 본 고안에 의한 웨이퍼이송로봇트의 구동제어장치는 순간정전시 로봇트의 구동을 정지시킴으로써, 로봇트와 공정기기의 충돌을 방지할 수 있는 효과가 있다.The driving control apparatus of the wafer transfer robot according to the present invention operated as described above has an effect of preventing the collision between the robot and the process equipment by stopping the driving of the robot during momentary power failure.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019970025862U KR200162284Y1 (en) | 1997-09-12 | 1997-09-12 | Control apparatus for driving of robot conveying wafer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019970025862U KR200162284Y1 (en) | 1997-09-12 | 1997-09-12 | Control apparatus for driving of robot conveying wafer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR19990012735U true KR19990012735U (en) | 1999-04-15 |
| KR200162284Y1 KR200162284Y1 (en) | 2000-04-01 |
Family
ID=19510293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019970025862U KR200162284Y1 (en) | 1997-09-12 | 1997-09-12 | Control apparatus for driving of robot conveying wafer |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR200162284Y1 (en) |
-
1997
- 1997-09-12 KR KR2019970025862U patent/KR200162284Y1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| KR200162284Y1 (en) | 2000-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7456520B2 (en) | Control system, method and product for uninterruptible power supply | |
| US9419434B2 (en) | Power switching apparatus, power supply unit, and computer system | |
| US7210222B2 (en) | Power supply control method | |
| KR200162284Y1 (en) | Control apparatus for driving of robot conveying wafer | |
| JPH0297239A (en) | Power source equipment for aligner | |
| EP3316670B1 (en) | Work unit power supply device | |
| JP3332669B2 (en) | Programmable controller | |
| JP3051771B2 (en) | Power supply stop processing method for production management computer system | |
| KR101515474B1 (en) | Automatic load transfer switch | |
| US20090019294A1 (en) | Redundant power supply system | |
| JP7025279B2 (en) | Board processing device, power control device, board processing method and power control method | |
| JP2000201440A (en) | Uninterruptible power supply system and its power supply method | |
| JP2002189538A (en) | Method for controlling power source of information processing system | |
| JP6214861B2 (en) | Substrate processing apparatus and power management method for substrate processing apparatus | |
| JPH09261889A (en) | Power supply device and substrate processing equipment provided therewith | |
| KR100693876B1 (en) | Power supplying apparatus for semiconductor device equipment | |
| KR20080018511A (en) | Power supply system of time division type | |
| JPS6282859A (en) | Automatic feeding system for carrier-frequency terminal station | |
| KR20010084593A (en) | control system for semiconductor manufacturing apparaus | |
| JP2003208245A (en) | Communication adapter connected to information processor and ups | |
| KR200375289Y1 (en) | Delay Power Controller | |
| KR100492261B1 (en) | Vacuum processing system and operating method of vacuum processing system | |
| KR100841852B1 (en) | Auto Guarded Vehicle | |
| JP2000078773A (en) | Power unit | |
| KR200205337Y1 (en) | Semiconductor device manufacturing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination | ||
| E701 | Decision to grant or registration of patent right | ||
| REGI | Registration of establishment | ||
| FPAY | Annual fee payment |
Payment date: 20100825 Year of fee payment: 12 |
|
| LAPS | Lapse due to unpaid annual fee |