TWI294336B - - Google Patents
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- Publication number
- TWI294336B TWI294336B TW094121400A TW94121400A TWI294336B TW I294336 B TWI294336 B TW I294336B TW 094121400 A TW094121400 A TW 094121400A TW 94121400 A TW94121400 A TW 94121400A TW I294336 B TWI294336 B TW I294336B
- Authority
- TW
- Taiwan
- Prior art keywords
- workpiece
- transfer robot
- frame member
- hand
- air
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims description 56
- 238000012546 transfer Methods 0.000 claims description 45
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000013022 venting Methods 0.000 claims description 7
- 239000002023 wood Substances 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 11
- 206010011469 Crying Diseases 0.000 description 10
- 238000007667 floating Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 239000012535 impurity Substances 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 241000555745 Sciuridae Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000008267 milk Substances 0.000 description 2
- 210000004080 milk Anatomy 0.000 description 2
- 235000013336 milk Nutrition 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- DOSMHBDKKKMIEF-UHFFFAOYSA-N 2-[3-(diethylamino)-6-diethylazaniumylidenexanthen-9-yl]-5-[3-[3-[4-(1-methylindol-3-yl)-2,5-dioxopyrrol-3-yl]indol-1-yl]propylsulfamoyl]benzenesulfonate Chemical compound C1=CC(=[N+](CC)CC)C=C2OC3=CC(N(CC)CC)=CC=C3C(C=3C(=CC(=CC=3)S(=O)(=O)NCCCN3C4=CC=CC=C4C(C=4C(NC(=O)C=4C=4C5=CC=CC=C5N(C)C=4)=O)=C3)S([O-])(=O)=O)=C21 DOSMHBDKKKMIEF-UHFFFAOYSA-N 0.000 description 1
- 240000005528 Arctium lappa Species 0.000 description 1
- 235000003130 Arctium lappa Nutrition 0.000 description 1
- 235000008078 Arctium minus Nutrition 0.000 description 1
- 241000283690 Bos taurus Species 0.000 description 1
- 108010039838 Tau-66 Proteins 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
- B25J15/0658—Pneumatic type, e.g. air blast or overpressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Warehouses Or Storage Devices (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004195470A JP2006016144A (ja) | 2004-07-01 | 2004-07-01 | トランスファロボット |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW200603966A TW200603966A (en) | 2006-02-01 |
| TWI294336B true TWI294336B (enExample) | 2008-03-11 |
Family
ID=35790735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW094121400A TW200603966A (en) | 2004-07-01 | 2005-06-27 | Transfer robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2006016144A (enExample) |
| KR (1) | KR20060049255A (enExample) |
| TW (1) | TW200603966A (enExample) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5013987B2 (ja) | 2007-06-22 | 2012-08-29 | 東京エレクトロン株式会社 | 基板処理装置および基板搬送装置 |
| KR101321618B1 (ko) | 2007-09-13 | 2013-10-23 | 가부시키가이샤 야스카와덴키 | 이송 로봇 및 이의 제어 방법 |
| JP5480605B2 (ja) * | 2009-12-01 | 2014-04-23 | 東京エレクトロン株式会社 | 基板搬送装置および基板処理システム |
| JP5613001B2 (ja) * | 2010-10-13 | 2014-10-22 | 東京エレクトロン株式会社 | 基板処理システム及び基板搬送方法 |
| CN103857497B (zh) * | 2011-09-20 | 2015-09-09 | 株式会社安川电机 | 处理系统 |
| KR101386035B1 (ko) * | 2012-03-16 | 2014-04-24 | (주)동부로봇 | 다단 슬라이드형 기판이송장치 |
| CN102922525B (zh) * | 2012-10-24 | 2015-11-25 | 宁波江丰生物信息技术有限公司 | 机械手、玻片自动装卸系统和数字病理切片扫描仪 |
| JP5717797B2 (ja) | 2013-06-26 | 2015-05-13 | ファナック株式会社 | 物品を搬送するためのロボットハンド、ロボットハンドを備えたロボットおよびロボットシステム、ならびにロボットハンドの制御方法 |
| TW201507829A (zh) * | 2013-08-23 | 2015-03-01 | Chiuan Yan Technology Co Ltd | 升降取送裝置 |
| KR101606259B1 (ko) | 2014-02-18 | 2016-03-24 | (주) 러스 | 트랜스퍼용 수평 운송 암 및 이 수평 운송 암이 적용된 트랜스퍼 로봇 |
| JP6869137B2 (ja) * | 2017-07-28 | 2021-05-12 | 日本電産サンキョー株式会社 | 産業用ロボット |
| CN109695363A (zh) * | 2017-10-24 | 2019-04-30 | 刘思邦 | 塔式立体停车库 |
| CN109407359A (zh) * | 2018-10-29 | 2019-03-01 | 武汉华星光电技术有限公司 | 机械手 |
| JP7179680B2 (ja) * | 2019-05-27 | 2022-11-29 | 株式会社メイキコウ | 荷下ろし装置 |
| CN110587635A (zh) * | 2019-08-02 | 2019-12-20 | 湖南海纳赋能科技有限公司 | 一种用于寄存柜中的智能存储机械手 |
| JP7243855B2 (ja) * | 2019-11-13 | 2023-03-22 | 株式会社安川電機 | バッテリー装着システム及びバッテリー装着方法 |
| CN111017541A (zh) * | 2019-11-19 | 2020-04-17 | 哈工大机器人南昌智能制造研究院 | 一种板类零件的转运装置及其转运方法 |
| JP7425701B2 (ja) * | 2020-09-16 | 2024-01-31 | 芝浦メカトロニクス株式会社 | 基板搬送装置 |
| TWI834061B (zh) * | 2021-09-10 | 2024-03-01 | 鴻勁精密股份有限公司 | 載送機構及其應用之輸送裝置、作業機 |
| CN115431584A (zh) * | 2022-09-05 | 2022-12-06 | 格林美（天津）城市矿产循环产业发展有限公司 | 一种报废汽车压扁系统 |
-
2004
- 2004-07-01 JP JP2004195470A patent/JP2006016144A/ja not_active Withdrawn
-
2005
- 2005-06-27 TW TW094121400A patent/TW200603966A/zh not_active IP Right Cessation
- 2005-06-30 KR KR1020050057944A patent/KR20060049255A/ko not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| TW200603966A (en) | 2006-02-01 |
| JP2006016144A (ja) | 2006-01-19 |
| KR20060049255A (ko) | 2006-05-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |