KR20080016614A - Container transporting apparatus and container transporting system - Google Patents

Abstract

Provided are a container transporting apparatus and a container transporting system which can suitably transport containers corresponding to a process speed, arrangement configuration and the like of a processing apparatus. The container transporting system is provided for transporting the container which stores substrates inside, and is provided with a plurality of container transporting apparatuses. The container transporting apparatus is provided with a transporting robot having a lifting means for lifting the container being held and a linearly shifting means; and a placing table for placing at least one container.

Description

CONTAINER TRANSPORTING APPARATUS AND CONTAINER TRANSPORTING SYSTEM}

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a conveying apparatus and a conveying system for a container for storing a substrate or the like conveyed and processed under a high clean environment.

In general, since substrates such as LCDs and semiconductor wafers are reluctant to dust, their manufacture is performed in a high clean environment, a so-called clean room. In such a manufacturing plant, it is necessary to transport a substrate between a plurality of processing apparatuses which perform various processes such as a washing process before forming a thin film, a thin film forming process, a resist process, and the like. A container called is used. The container can hold 25 substrates on an internal shelf, and is suspended on an AGV (Automatic Guided Vehicle) running on the factory, or on a rail mounted on the ceiling of the factory, and the mono rail and It is carried by overhead hoist transfer (OHT).

Each processing apparatus is provided with a container loading stand, and the container is transferred between the container loading stand and the AGV, for example, by a robot (loader / unloader) provided in the processing device or AGV. In addition, the conveyance of the board | substrate to each processing apparatus from the container on a container mounting stand is performed for every board | substrate using a well-known scalar robot.

As an example of the conventional container conveyance apparatus, there exist some described in patent document 1, for example. The container conveyance apparatus disclosed by patent document 1 is demonstrated below with reference to FIG. This container conveying apparatus is a container loader between the container loader A1 which loads the container 110 which accommodated the board | substrate, and the container unloader A2 which unloads the container 110 which accommodates a processed board | substrate. The container transverse conveyance base 111 which moves and raises and lowers the container 110 emptied by (A1) can load / unload the some container 110, and waits for AGV by container delivery. You can drive without.

Recently, it is required to reduce inventory by storing as few substrates as necessary in a container and flowing them to a production line. In this case, since the processing time by a processing apparatus becomes short, a container conveyance apparatus is comprised so that a container can be mounted in the front surface of a processing apparatus, and a board | substrate can be supplied to a processing apparatus without generating a waiting time. On the other hand, in the case of a processing apparatus with a long processing time, the AGV can be efficiently operated by configuring the container conveying apparatus so that a plurality of containers can be received from the AGV and stored temporarily.

Patent Document 1: Japanese Patent Application Laid-open No. Hei 8-167641

However, in the container conveying apparatus of patent document 1, the board | substrate loading stand S1, the buffer stand SB, and the board | substrate unloading stand S2 are one row between the container loader A1 and the container unloader A2. It is arrange | positioned, and the predetermined processing apparatus needs to be arrange | positioned behind the board | substrate loading stand S1 and the board | substrate unloading stand S2. Therefore, there exists a problem that there exists big restriction in arrangement | positioning of each apparatus, for example, which needs to enlarge the space | interval between adjacent processing apparatuses.

In addition, when AGV is used to convey a container to the container loader A1 or collect | recover a container from the container unloader A2, since it is necessary to operate the AGV which can run freely in a factory, and a container conveying apparatus in synchronization. And all the apparatuses related to container conveyance must be collectively controlled. In addition, the AGV not only conveys or recovers the container to the container loader A1 or the container unloader A2, but also needs to move between the container loader A1 and the container unloader A2, so that the AGV movement range is It becomes wider and it becomes difficult to secure a safety area of an operator.

On the other hand, when OHT is used for transporting a container, since the OHT is installed in the ceiling of a factory, its installation work, maintenance work, etc. become difficult. In addition, since the driving portion of the OHT and the traveling rail are provided above the processing apparatus and the like, there are also problems such as dust falling from the upper side and the cleanliness of the clean room. In addition, since the traveling rail is arranged to circulate in the factory, it is very difficult to reattach the rail in the case of layout change or expansion in the factory.

Moreover, in the conventional container conveying apparatus, since the arrangement | positioning and the structure are largely constrained as mentioned above, the waiting time arises in the processing apparatus with a short processing time, AGV waits for a long time in front of the processing apparatus with a long processing time, etc. Has occurred, and there have been problems such as a delay in the production process.

Accordingly, the present invention has been made to solve these problems, and an object of the present invention is to provide a container conveying apparatus and a container conveying system capable of appropriately conveying containers in accordance with a processing speed, a batch configuration, and the like of a processing apparatus.

The 1st aspect of the container conveyance apparatus of this invention is the container conveyance apparatus which conveys the container which accommodates a board | substrate inside, The conveyance robot which has the lifting means which raises and lowers the said container up and down, and the linear movement means which moves back and forth, and said It is characterized by comprising a loading table for loading one or more containers.

Another aspect of the container conveying apparatus of this invention is equipped with the arm body which the said linear movement means hold | maintains the said container, and rotates in a vertical plane, It is characterized by moving the said container back and forth by rotating the said arm body.

Another aspect of the container conveyance apparatus of this invention is the said arm body is provided with the connection part which connects two arms and each end of each of these two arms, The other end of the said one arm is fixed, and the said other The container is held at the other end of the arm on the side, and the container is moved back and forth by rotating the two arms in the reverse direction about the connecting portion.

According to another aspect of the container conveying apparatus of the present invention, the two arms are each composed of two connecting members, and the connecting portion is rotation transmission means containing two gears fitted with each other, and constitutes one of the arms. The said one connecting member and the said one connecting member which comprises the other said arm are respectively connected to each of the said two gears, It is characterized by the above-mentioned.

Another aspect of the container conveyance apparatus of this invention is further provided with the motor for rotating either one of the said connection members connected to the said gear.

According to another aspect of the container conveying apparatus of the present invention, the elevating means includes a movable member to which the linear movement means is fixed, and a screw shaft for elevating the movable member up and down by rotating, and the linear movement by rotating the screw shaft. The container held by the means is lifted up and down.

Another aspect of the container conveyance apparatus of this invention is further provided with the motor for rotating the said screw shaft.

According to another aspect of the container conveying apparatus of the present invention, the elevating means is configured to be capable of elevating above the height of the container.

Another aspect of the container conveyance apparatus of this invention is further provided with the rotation means which can rotate the said container in a horizontal direction.

Another aspect of the container conveyance apparatus of this invention is equipped with one said conveyance robot and two or more said loading platforms, and the said one conveying robot is comprised so that the said container can be conveyed to the whole loading table. It is done.

The 1st aspect of the container conveyance system of this invention is provided with the container conveyance apparatus of any one of said aspect adjacent to each other in a linear direction or the direction perpendicular | vertical to the said linear direction, The said provided with the said container conveyance apparatus The conveying robot is capable of conveying the container between at least the adjacent container conveying device.

According to another aspect of the container conveying system of the present invention, the plurality of container conveying apparatuses are operated in synchronization.

According to this invention, the container conveyance apparatus and container conveyance system which can convey a container suitably according to the processing speed, arrangement | positioning structure, etc. of a processing apparatus can be provided. Since the container conveying apparatus of this invention is equipped with the conveying robot which can convey a container in a vertical direction and a horizontal direction, it becomes easy to convey a container to the loading stand of the adjacent apparatus.

Moreover, according to the container conveyance system of this invention, it becomes possible to considerably increase the efficiency of a processing apparatus by flexibly combining the container conveyance apparatus of this invention according to arrangement | positioning structure, processing speed, etc. of a processing apparatus. In addition, it is also possible to easily cope with a layout change or expansion of the production line.

1 is a perspective view showing one embodiment of a container conveying apparatus and a container conveying system of the present invention.

2 is a cross-sectional view showing an embodiment of a carrier robot.

3 is a perspective view showing another embodiment of the transfer robot.

4 is a sectional view showing a rotation transmission means of another embodiment of the transfer robot.

Fig. 5 is a side view showing the holding means of the transfer robot.

6 is a plan view showing an embodiment of a container conveying apparatus and a container conveying system of the present invention.

7 is a plan view showing another embodiment of the container conveying apparatus and the container conveying system of the present invention.

8 is a side view showing the operation of the transfer robot.

Fig. 9 is a side view showing a state in which stacked containers are conveyed by a transfer robot.

10 is a plan view showing still another embodiment of the container conveying apparatus of the present invention.

11 is a side view showing a conventional container conveying apparatus.

[Description of the code]

1: container conveying device

2: carrier robot

3: container

4: loading table

5: substrate transfer device

7: processing unit

8: load port

9: stage

10: lifting means

11: housing

12: linear guide means

13: screw shaft

14: motor

15: movable member

16: first arm

17: second arm

18: arm body

19: pulley

20: Bearings

21: belt

22: rotating shaft

23: container holding means

24: first connecting member

25: second connecting member

26: rotation transmission means

28: housing

29: third connecting member

30: fourth connecting member

31: rotating support shaft

32: gear

33: housing of the holding means

34: rotary actuator

35: rotating support shaft

36: connection member

37: holding member

40: AGV

110: container

111: container transverse conveyance base

The container conveying apparatus and container conveying system of this invention are applicable to the process of moving and processing an article in a high clean environment (clean room etc.), The following demonstrates the example which conveys the board | substrate of the LCD which is an electronic component. The container conveyance apparatus and container conveyance system of this invention are demonstrated.

1 is a perspective view showing a container conveying apparatus and a container conveying system in a preferred embodiment of the present invention. The container conveyance system 100 of this embodiment is comprised combining eight container conveyance apparatuses 1 (1a-1h). Each container conveying apparatus 1 is provided with the conveyance robot 2 (2a-2h) and the loading table 4 (4a-4h) for loading the container 3.

In the back of the container conveyance system 100, the board | substrate conveying apparatus 5 (5a, 5b) for conveying the board | substrate accommodated in the container 3 to the various processing apparatuses 7 is arrange | positioned. The board | substrate conveying apparatus 5 is a mechanism (not shown) which correct | amends the stage 9 for loading the container 3 conveyed by the conveyance robot 2, and the cover of the container 3; The load ports 8 (8a, 8b) having these are provided. In the container conveyance system 100 of this embodiment, container conveyance apparatuses 1c-1e are provided in front of the substrate conveyance apparatus 5a, and container conveyance apparatuses 1f-1h are provided in front of the substrate conveyance apparatus 5b. The container conveying apparatus 1a is further placed in parallel in the longitudinal direction (the direction perpendicular to the front of the substrate conveying apparatus 5), and the container conveying apparatus 1a is further placed in front of the container conveying apparatuses 1c to 1e. In front of 1f-1h, the container conveyance apparatus 1b is arrange | positioned in the horizontal direction, respectively.

By disposing the container conveying apparatuses 1a to 1h as described above, the conveying robots 2a and 2b can move the container 3 in the transverse direction (lengthwise direction) of the mounting tables 4a and 4b, and convey the conveyance. The robots 2c to 2h can move the container 3 between the mounting tables 4a and 4b and the substrate transfer device 5. The transfer robot 2a can move the container 3 to a position which can be held by the parallel transfer robots 2b to 2e, and the transfer robot 2b similarly carries the transfer robots 2f to 2h. The container 3 can be moved to a position that can be held.

In addition, the conveyance robots 2a and 2b can also be used for conveying the container 3 from the AGV stopped near the ends of the respective mounting tables 4a and 4b, for example. Therefore, since there is no need to provide a conveyance robot in AGV, it becomes possible to widen the loading table of AGV and to convey more containers.

Next, an example of the internal structure of the transfer robot 2 is demonstrated using sectional drawing shown in FIG. The transfer robot 2 is comprised by the lifting means 10 and the arm body 18 which were installed horizontally of the loading table 4. The elevating means 10 includes a linear motion guide means 12 provided in the housing 11 of the container conveying apparatus 1, a motor 14a provided in the lower portion of the housing 11, and a screw shaft connected to the motor 14a. 13) and the movable member 15 which moves up and down by the rotation of the screw shaft 13. The screw shaft 13 rotates by the rotation of the motor 14a, and the movable member 15 moves up and down by this structure.

Moreover, the arm body 18 has the 1st arm 16 and the 2nd arm 17, One end of the 1st arm 16 is connected to the motor 14b fixed to the movable member 15, have. Moreover, the pulley 19a fixed to the movable member 15 concentrically with the motor 14 is provided. In the vicinity of the other end of the first arm 16, a pulley 19b is provided to be rotatable through the bearing 20, and the belt 21a is caught between the pulley 19a and the pulley 19b. One end of the second arm 17 is fixed to the rotation shaft 22 (connection portion) of the pulley 19b, and the pulleys 19c and 19d are similarly to the first arm 16 inside the second arm 17. And a belt 21b are provided. The pulley 19c is rotatably attached to the second arm 17, and the pulley 19d rotatably provided near the other end of the second arm 19 is fixed to the holding means 23. . The holding means 23 is rotatable relative to the second arm 17 via the bearing 20 in accordance with the rotation of the pulley 19d.

In the arm body 18 of the said structure, the 1st arm 16 rotates by rotation of the motor 14b, and the belt 21a moves the pulley 19a in the reverse direction with this, and a pulley ( 19b rotates in the reverse direction to the rotation of the motor 14b. The diameter of the pulley 19b is set to half of the diameter of the pulley 19a, and the pulley 19b rotates in the reverse direction by twice the rotation of the motor 14b. As a result, the second arm 17 is rotated twice in the opposite direction to the first arm 16. By the pulleys 19c and 19d and the belt 21b being connected by the same structure, it becomes possible to hold | maintain the container holding means 23 horizontally.

Another embodiment of the arm body 18 included in the transfer robot 2 will be described below using the perspective view shown in FIG. 3. One end of each of the first connecting member 24 and the second connecting member 25 is rotatably provided to the movable member 15. Moreover, the rotation transmission means 26 (connection part) is provided in the other end part of the 1st connection member 24 and the 2nd connection member 25. As shown in FIG. The link mechanism is formed by the connection members 24 and 25, the movable member 15, and the housing 28 of the rotation transmission means 26, and is operated by the operation of the motor 14 provided in the movable member 15. The one connecting member 24 rotates, and the other member also rotates in association with this. Similarly, a link mechanism is formed of the third connecting member 29, the fourth connecting member 30, the rotation transmission means 26, and the cassette holding means 23, and the first connecting member 24 is connected to the first connecting member 24. It is configured to rotate in conjunction.

FIG. 4 is a sectional view showing the structure of the rotation transmission means 26 shown in FIG. Rotational support shafts 31a to 31d of the connecting members 24, 25, 29, and 30 are provided on the rotation transmission means 26 so as to be rotatable through the bearing 20. Gears 32a and 32b are provided at the front end portions of the rotation support shafts 31a and 31d, and both of them are fitted together so that the rotation of the first connecting member 24 is reversed to the fourth connecting member 30. It is transmitted at the same speed in the direction of rotation. Thereby, by rotating the motor 14, the connecting members 24 and 25 and the connecting members 29 and 30 can be rotated in the opposite direction, and accordingly, the cassette holding means 23 is shown in FIG. You can move from side to side.

As described above, the transfer robot 2 includes the arm body 18 rotatable in the vertical plane, so that the container 3 can be moved in a straight line, so that the operator moves the arm body 18. The work can be easily avoided, and the safety area of the work can be easily secured.

An embodiment of the container holding means 23 provided in the transfer robot 2 will be described below with reference to FIG. 5. For example, as for the container holding means 23 provided in the front-end | tip part of the 2nd arm 17, the support shaft is rotatable by the rotary actuator 34 (in this embodiment, an air cylinder) on the housing 33 of it. The air actuator) is provided, and the center portion of the connecting member 36 is fixed to the rotary support shaft 35 thereof. Two members are rotatably connected, and the connecting member 36 is rotatably connected to the both ends of the holding member 37a, 37b. These holding members 37a and 37b are rotatably provided in the housing 33, and can rotate the part fixed to the housing 33 to a support point by the operation of the rotary actuator 34. As shown in FIG. As a result, the other end portions of the holding members 37a and 37b approach or are spaced apart, whereby the container 3 can be held.

Next, the example which the container conveyance apparatus was suitably arrange | positioned about the container conveyance system of this invention comprised by arranging the container conveyance apparatus of this invention in multiple numbers is demonstrated below using drawing.

FIG. 6 is a plan view of an embodiment in which the arrangement of the container conveying apparatus 1 is the same as that of the container conveying system 100 shown in FIG. 1. That is, the container 3 can be moved in the horizontal direction (up and down direction in the drawing) by the container conveying apparatus 1a, 1b etc. arrange | positioned at the front surface, and conveyance of the container conveying apparatus 1a, 1b and a board | substrate The container conveying apparatus 1 arranged in the longitudinal direction between the apparatuses 5 makes it possible to move the container 3 between the container conveying apparatuses 1a and 1b and the substrate conveying apparatus 5.

Another embodiment of the container conveying apparatus and container conveying system of this invention is shown in FIG. In the container conveyance system shown in FIG. 7, all of the loading platforms 4 of the container conveyance apparatus 1 shown in FIG. 6 can load two or more containers 3, but in this embodiment, only one can be loaded. The container conveyance apparatus 1k which can be provided is provided. Moreover, AGV 40 is stopped in the vicinity of the edge part of container conveying apparatus 1i, 1j arrange | positioned adjacent to the container conveying apparatus 1c, and hold | maintains the container 3x mounted on AGV, and is a loading stand. It can convey at (4i, 4j).

The container conveying apparatus 1j of this embodiment is provided with three conveying robots 2, and the AGV 40 also has a loading table into which a plurality of containers 3 can be loaded. This makes it possible to simultaneously transfer the plurality of containers 3 between the AGV 40 and the container transport apparatuses 1i and 1j using three transport robots 2. Since the container conveying apparatus 1 of this invention is equipped with the conveying robot 2, the AGV 40 does not need to provide the conveying robot, and it can load the several container 3 in the AGV 40. FIG. It can be provided with a mounting table. Moreover, the inside can also be made into a mini-environment (higher clean environment) so that the loading table 4 of the container conveying apparatus 1 can be temporarily stored.

Since the container conveying apparatus 1 of this invention is equipped with the conveying robot 2 which has a lifting means and a linear movement means, even if the some container 3 is mounted on the loading table 4, the order listed It is not necessary to convey the container 3 as it is, and it is also possible to change the order of conveying the container 3 as shown, for example in FIG. In the side view shown in Fig. 8, two containers 3a and 3b are stacked on the loading table 4, and the container 3b is given priority over the container 3a on the load port 8 side to the load port. The procedure in the case of conveyance is shown.

8A illustrates a state in which the transfer robot 2 holds the upper portion of the container 3b. FIG. 8B shows a state where the container 3b is lifted by operating the lifting means 10. FIG. 8C shows a state where the container 3b is moved above the stage 9 of the load port 8 by operating the arm body 18. FIG. 8 (d) shows a state where the lifting means 10 are operated to lower the container 3b and load it on the stage 9.

As described above, since the order in which the container 3 is conveyed can be changed, in the manufacturing process of the substrate, the container 3 that has been introduced into the production line later is overtaken first by passing the container 3 that has been introduced first. Since it becomes possible to make it possible, it becomes possible to be able to perform various processes quickly.

Moreover, according to the container conveying apparatus 1 of this invention, by using a lifting means and a linear movement means, as shown in FIG. 9, for example, as shown in FIG. It is also possible to load. Alternatively, the plurality of stacked containers 3 can be conveyed sequentially from the upper container 3.

Another embodiment of the container conveyance apparatus 1 of this invention is shown in FIG. The container conveying apparatus 1 of this embodiment is equipped with the two mounting tables 4 on both sides with the conveying robot 2 and the conveying robot 2 interposed. In addition to the elevating means and the linear movement means, the transfer robot 2 of the present embodiment further includes rotation means capable of rotating the container 3 in the horizontal direction.

In the embodiment shown in FIG. 10, three board | substrate conveying apparatuses 5 are arrange | positioned on both sides with the container conveying apparatus 1 interposed. Each of the two mounting tables 4 has a length as long as the container 3 can be transferred to face each of the three substrate transfer devices 5. By constructing the container conveying apparatus of this invention as shown in FIG. 10, it becomes possible to convey the container 3 between six board | substrate conveying apparatuses 5 and the mounting table 4 with one conveyance robot 2.

As mentioned above, the container conveying apparatus of this invention consists of a loading stand and at least 1 conveyance robot, and can cope with the layout change and expansion of a production line easily by providing a plurality of container conveying apparatus on the floor of a clean room. Therefore, maintenance work can also be performed easily. In addition, even when a small amount of substrate is accommodated in a container and a large amount of containers are flowed to the production line, the container can be conveyed to various processing apparatuses without waiting for AGV.

Moreover, in the container conveyance apparatus of this invention, it is possible to easily reduce generation | occurrence | production of dust by sealing a movable part.

In addition, the technique in this embodiment shows an example of the container conveyance apparatus and container conveyance system which concern on this invention, It is not limited to this. The detailed configurations, detailed operations, and the like of the container conveying apparatus and the container conveying system in the present embodiment can be changed as appropriate without departing from the spirit of the present invention.

This specification is based on the JP Patent application 2005-193804 of a July 1, 2005 application. All of this is included here.

The present invention can be readily applied to articles where movement and processing need to be carried out in a high clean environment.

Claims (12)

It is a container conveyance apparatus which conveys the container which accommodates a board | substrate inside, A transport robot having elevating means for elevating the container up and down and linear movement means for moving back and forth; Container carrying apparatus characterized by comprising a loading table capable of loading at least one container. According to claim 1, wherein said linear movement means has an arm body for holding said container and rotating in a vertical plane, The container conveying apparatus characterized by moving the said container back and forth by rotating the said arm body. The arm of claim 1 or 2, wherein the arm body includes two arms and a connecting portion connecting one end of each of the two arms. The other end of the one arm is fixed, the container is held at the other end of the other arm, The container conveying apparatus characterized by moving the said container back and forth by rotating the two arms in the reverse direction about the said connection part. 4. The connecting arm according to claim 3, wherein the two arms are each composed of two connecting members, and the connecting portion is rotation transmission means containing two gears fitted together. The member and the said one connecting member which comprises the said other arm are respectively connected to each of the said two gears, The container conveying apparatus characterized by the above-mentioned. The container conveyance apparatus of Claim 4 further equipped with the motor for rotating any one of the said connection member connected to the said gear. The said lifting means has a movable member to which the said linear movement means is fixed, and the screw shaft which raises and lowers the said movable member by rotating, The container conveying apparatus characterized by lifting and lowering the container held by the linear movement means up and down by rotating the screw shaft. 7. The container conveying apparatus according to claim 6, further comprising a motor for rotating the screw shaft. 8. The container conveying apparatus according to any one of claims 1, 6 and 7, wherein the elevating means is configured to be capable of elevating above a height of the container. The container conveyance apparatus of Claim 1 further equipped with the rotation means which can rotate the said container in a horizontal direction. 10. The system according to any one of claims 1 to 9, comprising one of the transfer robots and two or more of the mounting tables, The said 1 conveyance robot is comprised so that the said container can be conveyed to all the said loading boards, The container conveying apparatus characterized by the above-mentioned. The container conveyance apparatus in any one of Claims 1-10 is provided in multiple numbers by adjoining each other in a linear direction or the direction perpendicular | vertical to the said linear direction, The container conveyance system characterized by the said conveyance robot equipped with the said container conveyance apparatus being able to convey the said container at least with the adjacent container conveyance apparatus. 12. The container conveyance system according to claim 11, wherein the plurality of container conveyance devices are synchronously operating.

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