TWI574905B - A conveyor with a jaw - Google Patents
A conveyor with a jaw Download PDFInfo
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- TWI574905B TWI574905B TW103134729A TW103134729A TWI574905B TW I574905 B TWI574905 B TW I574905B TW 103134729 A TW103134729 A TW 103134729A TW 103134729 A TW103134729 A TW 103134729A TW I574905 B TWI574905 B TW I574905B
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- vibration
- finger
- damping
- hole
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Classifications
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- 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
- B25J19/06—Safety devices
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Vibration Prevention Devices (AREA)
Description
本發明係關於一種具備夾爪之搬送裝置及夾爪之抑振方法。 The present invention relates to a method of suppressing vibration of a conveying device and a jaw having a jaw.
專利文獻1、2揭示有藉由於搬送裝置之物品支撐部設置黏彈性體,而抑制施加於物品之振動的內容。專利文獻1(JP2001-298065)係表示設置於無人搬送車之水平多關節型機械臂(Selective Compliance Assembly Robot Arm)前端之手部之抑振,揭示有以2層構成手部,並於2層之間配置黏彈性體之內容。專利文獻2(JP2006-298535)係揭示有於高架移行車之夾爪即具有握持物品之手部之升降台、與夾爪之升降驅動部之間配置抑振材之內容。而且,亦揭示有由黏彈性體構成手部之與物品之接觸面之內容。 Patent Documents 1 and 2 disclose that the vibrating elastic body is provided by the article supporting portion of the conveying device, and the vibration applied to the article is suppressed. Patent Document 1 (JP2001-298065) shows vibration suppression of a hand provided at the front end of a Selective Compliance Assembly Robot Arm of an unmanned transport vehicle, and discloses that the hand is formed in two layers and is on the second floor. Configure the content of the viscoelastic body between. Patent Document 2 (JP 2006-298535) discloses a configuration in which a vibration-damping material is disposed between a lifting platform of an arm of an overhead traveling vehicle, that is, a hand having a gripping article, and a lifting and lowering driving portion of the jaw. Moreover, the content of the contact surface of the hand with the article formed by the viscoelastic body is also disclosed.
[專利文獻1]JP2001-298065 [Patent Document 1] JP2001-298065
[專利文獻2]JP2006-298535 [Patent Document 2] JP2006-298535
然而,於專利文獻2之構成中,由於可配置抑振材料 之範圍被限制於與物品之接觸面內,因此,難以使用面積較大而可獲得充分之抑振效果之抑振材。又,亦未檢討假設抑振材料發生破損時之安全機構。 However, in the constitution of Patent Document 2, since the vibration damping material can be disposed Since the range is limited to the contact surface with the article, it is difficult to use a vibration damping material having a large area to obtain a sufficient vibration damping effect. Moreover, the safety mechanism when the vibration-suppressing material is damaged is not reviewed.
本發明之課題在於能夠使用面積較大而可獲得充分之抑振效果之抑振構件,並且提供假設抑振構件發生破損時之安全機構。 An object of the present invention is to provide a vibration damping member having a large area and obtaining a sufficient vibration damping effect, and to provide a safety mechanism when a vibration damping member is broken.
本發明係一種具備有自下方將物品加以支撐之夾爪之搬送裝置,其特徵在於,夾爪係具備有複數個手部、及以同步之方式開關複數個手部之開關構件,且手部係具備有:固定構件,其被固定在開關構件;指構件,其自下方將物品加以支撐;抑振構件,其由抑振材料所構成,配置在固定構件與指構件之間,且被載置在固定構件上,並且載置指構件;及限制構件,其限制指構件相對於固定構件超過容許範圍之移動。 The present invention relates to a conveying device provided with a jaw supporting an article from below, wherein the jaw is provided with a plurality of hands, and a switching member that switches a plurality of hands in a synchronized manner, and the hand The utility model comprises: a fixing member fixed to the switch member; a finger member supporting the article from below; the vibration suppressing member being composed of the vibration suppressing material, disposed between the fixing member and the finger member, and being carried Provided on the fixing member and placing the finger member; and a restricting member that restricts movement of the finger member beyond the allowable range with respect to the fixing member.
又,本發明係一種搬送裝置中之夾爪之抑振方法,該搬送裝置係具備有自下方將物品加以支撐之夾爪,該夾爪之抑振方法的特徵在於,夾爪具備有複數個手部、及同步地開關複數個手部之開關構件,且手部係具備有: 固定構件,其被固定在開關構件;指構件,其自下方將物品加以支撐;抑振構件,其由抑振材料所構成,配置在固定構件與指構件之間,且被載置在固定構件上,並且載置指構件;及限制構件,其限制指構件相對於固定構件之相對位置;藉由抑振構件抑制固定構件之振動被傳遞至指構件,並且藉由限制構件限制指構件相對於固定構件超過容許範圍之移動。 Moreover, the present invention is a vibration suppression method for a jaw in a conveying apparatus, the conveying apparatus including a jaw supporting an article from below, and the vibration damping method of the jaw is characterized in that the jaw has a plurality of The hand and the switch members of the plurality of hands are synchronously turned on, and the hand system has: a fixing member fixed to the switch member; a finger member that supports the article from below; the vibration suppressing member, which is composed of the vibration suppressing material, disposed between the fixing member and the finger member, and placed on the fixing member And placing a finger member; and a restricting member that limits a relative position of the finger member with respect to the fixing member; suppressing vibration of the fixing member from being transmitted to the finger member by the vibration suppressing member, and restricting the finger member relative to the member by the restricting member The movement of the fixed member beyond the allowable range.
於本發明中,由於無須將抑振構件配置於與物品接觸之面之範圍內,因此能夠使用面積較大且容易變形之抑振構件,從而能夠有效地抑振。又,假設抑振構件發生破損,則可藉由限制構件限制指構件之位置。因此,可使用容易吸收振動之抑振材料。於本說明書中,與搬送裝置相關之記載亦可直接適用於夾爪之抑振方法。 In the present invention, since it is not necessary to arrange the vibration-damping member in the range in contact with the article, it is possible to use the vibration-damping member having a large area and being easily deformed, and it is possible to effectively suppress vibration. Further, if the vibration-damping member is broken, the position of the finger member can be restricted by the restriction member. Therefore, a vibration damping material that absorbs vibration easily can be used. In the present specification, the description relating to the conveying device can also be directly applied to the vibration suppression method of the jaws.
較佳為抑振構件係具有上下方向之貫通孔,且於貫通孔內配置有限制構件。如此一來,無需配置限制構件之額外之空間,從而可使手部小型化。例如,以與抑振構件之貫通孔於上下產生重疊之方式,於固定構件或者指構件之一側的構件,設置有第2貫通孔。限制構件係構成為包含有:第1構件,其安裝在固定構件或者指構件之另一側的構件,且朝向第2貫通孔內延伸,限制水平方向之相對移動;及凸緣,其安裝在第1構件,貫通第2貫通孔,且直徑大於第2貫通孔,限制朝向鉛垂方向之相對移動。 Preferably, the vibration-damping member has a through hole in the vertical direction, and a regulating member is disposed in the through hole. In this way, it is not necessary to configure an extra space for the restriction member, so that the hand can be miniaturized. For example, a second through hole is provided in the member on one side of the fixing member or the finger member so as to overlap the through hole of the vibration damping member. The restricting member is configured to include a first member attached to the other member of the fixing member or the finger member and extending toward the second through hole to restrict relative movement in the horizontal direction; and a flange mounted on the flange The first member penetrates the second through hole and has a larger diameter than the second through hole, and restricts relative movement in the vertical direction.
較佳為指構件係具備有:安裝構件,其被載置在抑振構件上;支撐構件,其位在低於安裝構件之位置,將物品加以支撐; 及連結構件,其將安裝構件與支撐構件加以連結。如此一來,與單純地將固定構件、抑振構件、指構件上下重疊之情形相比,可獲得於高度方向上小型化之手部。例如,抑振構件係至少設置有一對,安裝構件及連結構件亦設置有一對,且於一對安裝構件之間,配置有支撐構件。 Preferably, the finger member is provided with: a mounting member mounted on the vibration damping member; and a support member positioned to be lower than the mounting member to support the article; And a connecting member that connects the mounting member and the supporting member. In this way, it is possible to obtain a hand that is miniaturized in the height direction as compared with a case where the fixing member, the vibration-damping member, and the finger member are vertically overlapped. For example, at least a pair of vibration-damping members are provided, and a pair of mounting members and coupling members are also provided, and a support member is disposed between the pair of mounting members.
2‧‧‧高架移行車 2‧‧‧Elevated moving vehicle
4‧‧‧移行軌道 4‧‧‧Transition orbit
6‧‧‧移行驅動部 6‧‧‧Transition Drive Department
7‧‧‧軸 7‧‧‧Axis
8‧‧‧橫向移動部 8‧‧‧Transverse movement
9‧‧‧旋轉驅動部 9‧‧‧Rotary Drives
10‧‧‧升降驅動部 10‧‧‧ Lifting and Driving Department
12‧‧‧吊持材 12‧‧‧ hanging material
14‧‧‧夾爪 14‧‧‧claw
16‧‧‧手部 16‧‧‧Hands
17‧‧‧物品 17‧‧‧ Items
18‧‧‧開關構件 18‧‧‧Switch components
19‧‧‧防掉落外罩 19‧‧‧Anti-drop cover
19a‧‧‧防掉落片 19a‧‧‧Anti-drop film
20‧‧‧固定構件 20‧‧‧Fixed components
22‧‧‧指構件 22‧‧‧ finger components
24、26‧‧‧抑振構件 24, 26‧‧‧ vibration suppression members
25、46、70‧‧‧貫通孔 25, 46, 70‧‧‧through holes
27‧‧‧中央部 27‧‧‧Central Department
28、29‧‧‧兩端部 28, 29‧‧‧ Both ends
30、66‧‧‧筒狀片 30, 66‧‧‧Cylinder
32‧‧‧突出部 32‧‧‧Protruding
34、68、71‧‧‧錐形面 34, 68, 71‧‧ ‧ tapered surface
36、44、45‧‧‧安裝構件 36, 44, 45‧‧‧ installation components
38‧‧‧纜線 38‧‧‧ Cable
40‧‧‧支撐構件 40‧‧‧Support members
42‧‧‧連結構件 42‧‧‧Connected components
48‧‧‧突出片 48‧‧‧ highlights
50‧‧‧螺釘 50‧‧‧ screws
51‧‧‧凸緣 51‧‧‧Flange
52‧‧‧擺動片 52‧‧‧Swing piece
54‧‧‧就位感測器 54‧‧‧ Position sensor
56‧‧‧支架 56‧‧‧ bracket
58‧‧‧線束 58‧‧‧Wiring harness
60‧‧‧插座 60‧‧‧ socket
62‧‧‧捆束帶 62‧‧‧Bundle
64‧‧‧固定環 64‧‧‧Fixed ring
圖1係實施例之高架移行車之側視圖。 Figure 1 is a side elevational view of an elevated walker of the embodiment.
圖2係表示實施例之夾爪之分解狀態之俯視圖,鏈線係表示構件之連接關係,且於圖上部之指構件與下部之固定構件之間配置有抑振構件。 Fig. 2 is a plan view showing an exploded state of the jaws of the embodiment, the chain line showing the connection relationship of the members, and a vibration damping member disposed between the finger member at the upper portion of the figure and the lower fixing member.
圖3係實施例之夾爪之前視圖。 Figure 3 is a front elevational view of the jaw of the embodiment.
圖4係實施例之夾爪之主要部分剖面圖。 Fig. 4 is a cross-sectional view showing the main part of the jaw of the embodiment.
圖5係變化例之夾爪之主要部分剖面圖。 Fig. 5 is a cross-sectional view showing a main portion of a jaw of a modification.
以下表示用以實施本發明之最佳實施例。本發明之範圍應根據申請專利範圍之記載,參考說明書之記載與本領域中眾所周知之技術,並依照本發明所屬技術領域中具有通常知識者之理解而決定。 The preferred embodiments for carrying out the invention are shown below. The scope of the present invention should be determined in accordance with the description of the scope of the claims, the description of the specification and the well-known embodiments of the invention, and the understanding of the ordinary skill in the art.
於圖1至圖5中表示實施例及其變形。圖1係表示作為搬送裝置之例之高架移行車2,元件符號4係設置於無塵室之天花板空間之移行軌道,6係高架移行車2之移行驅動部,且配置於移行軌道4內。自移行驅動部6,並經由軸7而垂吊有由橫向移動 部8、旋轉驅動部9、升降驅動部10、夾爪14等所構成之高架移行車本體。橫向移動部8係使旋轉驅動部9、升降驅動部10等沿著移行軌道4而在水平面內朝向直角方向橫向移動,旋轉驅動部9係使升降驅動部10繞鉛垂軸旋轉。再者,亦可不設置橫向移動部8、旋轉驅動部9。 The embodiment and its modifications are shown in Figures 1 to 5. Fig. 1 shows an overhead traveling vehicle 2 as an example of a conveying device. The component symbol 4 is a traveling rail provided in a ceiling space of a clean room, and a traveling drive unit of a 6-series overhead traveling vehicle 2, and is disposed in the traveling rail 4. Self-moving drive unit 6 and suspended by the shaft 7 The overhead traveling vehicle body constituted by the portion 8, the rotation driving portion 9, the elevation driving portion 10, the gripper 14, and the like. The lateral movement unit 8 causes the rotation drive unit 9, the elevation drive unit 10, and the like to move laterally in the horizontal direction in the horizontal plane along the travel rail 4, and the rotation drive unit 9 rotates the elevation drive unit 10 around the vertical axis. Further, the lateral movement unit 8 and the rotation drive unit 9 may not be provided.
升降驅動部10係經由皮帶、繩索、金屬線等吊持材12,而使夾爪14升降。夾爪14係藉由使一對手部16、16沿圖1之X-X方向(與高架移行車2之移行方向平行之方向)開關,而自下方支撐前開式晶圓傳送盒(FOUP,Front Opening Unified Pod)等之物品17之凸緣部。手部之數量為複數個,並不限定於1對,亦可為3個或4個等。元件符號18係開關構件,藉由使手部16、16同步地沿X-X方向進退,而使手部16、16開關。元件符號19、19係前後一對之防掉落外罩,藉由使防掉落片19a、19a進退,而防止物品17自手部16、16脫離而掉落。搬送裝置只要為具備支撐物品17之凸緣部之下部並且具有於水平方向上開關自如之複數個手部的夾爪者即可,可為具有台車者,亦可為不具有台車者。 The elevation drive unit 10 raises and lowers the jaws 14 via a suspension material 12 such as a belt, a rope, or a metal wire. The jaws 14 support the front opening wafer transfer cassette (FOUP, Front Opening Unified) by switching the pair of hands 16 and 16 in the XX direction of FIG. 1 (the direction parallel to the traveling direction of the overhead traveling vehicle 2). The flange portion of the article 17 such as Pod). The number of the hands is plural, and is not limited to one pair, and may be three or four. The component symbol 18 is a switch member that switches the hands 16 and 16 by moving the hands 16 and 16 in the X-X direction in synchronization. The component symbols 19 and 19 are a pair of front and rear anti-drop covers, and the articles 17 are prevented from falling out of the hands 16 and 16 by falling forward and backward of the falling prevention pieces 19a and 19a. The transporting device may be any one having a lower portion of the flange portion supporting the article 17 and having a plurality of hand portions that are freely switchable in the horizontal direction, and may be a bogie or a bogie.
圖2係表示手部16、16之構造,一對手部16、16係為相同構造。元件符號20係安裝於開關構件18且位於手部16之下部的固定構件,22係位於固定構件20之上部且支撐物品17之凸緣部的指構件,24、26係抑振構件,位於指構件22與固定構件20之間,用以支撐指構件22,並且防止固定構件20之振動傳遞至指構件22。抑振構件24、26係為片狀、長方體狀等之黏彈性體,但亦可為防振橡膠、抑振合金等。又,假設抑振構件24發生破損,則指構件22之位置可藉由由筒狀片30與凸緣51所構成之限制構 件,被限制於容許範圍內。因此,相較於強度與剛性等,抑振構件24可根據振動吸收能力之方面進行選擇。再者,抑振構件26破損之可能性小於抑振構件24。抑振構件24具備有貫通孔25,於貫通孔25內配置筒狀片30,並藉由凸緣51與筒狀片30,防止指構件22相對於固定構件20而朝上下方向中之任一方向進行容許長度以上之移位。筒狀片30係於內周設置有母螺紋之筒狀構件,且固定於兩端部28,但亦可為不具備母螺紋之單純之筒狀構件。藉由筒狀片30與凸緣51構成限制構件。 Fig. 2 shows the structure of the hands 16, 16, and the pair of hands 16, 16 have the same structure. The component symbol 20 is a fixing member that is attached to the switch member 18 and located at the lower portion of the hand 16, 22 is a finger member that is located above the fixing member 20 and supports the flange portion of the article 17, and 24, 26 is a vibration-damping member, located at the finger Between the member 22 and the fixing member 20, the finger member 22 is supported, and vibration of the fixing member 20 is prevented from being transmitted to the finger member 22. The vibration-damping members 24 and 26 are viscoelastic bodies such as a sheet shape or a rectangular parallelepiped shape, but may be anti-vibration rubber or vibration-suppressing alloy. Further, assuming that the vibration-damping member 24 is broken, the position of the finger member 22 can be restricted by the tubular piece 30 and the flange 51. The pieces are limited to the allowable range. Therefore, the vibration-damping member 24 can be selected in terms of vibration absorption capability as compared with strength, rigidity, and the like. Furthermore, the possibility that the vibration-damping member 26 is broken is smaller than that of the vibration-damping member 24. The vibration-damping member 24 is provided with a through hole 25, and the tubular piece 30 is disposed in the through hole 25, and the flange 51 and the tubular piece 30 prevent the finger member 22 from moving in the vertical direction with respect to the fixing member 20. The direction is shifted beyond the allowable length. The tubular piece 30 is a cylindrical member provided with a female screw on the inner circumference, and is fixed to the both end portions 28, but may be a simple cylindrical member that does not have a female screw. The restricting member is constituted by the tubular piece 30 and the flange 51.
圖2之鏈線係表示固定構件20與指構件22之位置關係、及抑振構件24、26在固定構件20與指構件22上之位置。指構件22位於上部,固定構件20位於下部,且於該等之間配置有抑振構件24、26。再者,FOUP等之物品17係具有對一對手部16、16之其中一個施加大於另一個之負重之構造。因此,若使負重較大側之抑振構件24、26之彈性率大於負重較小側,則可水平地支撐FOUP等之物品17。亦可取代改變彈性率,而使抑振構件24、26中負重較大側之面積增大,使負重較小側之面積減小。 The chain line of Fig. 2 indicates the positional relationship between the fixing member 20 and the finger member 22, and the positions of the vibration-damping members 24, 26 on the fixing member 20 and the finger member 22. The finger member 22 is located at the upper portion, the fixing member 20 is located at the lower portion, and the vibration-suppressing members 24, 26 are disposed between the members. Further, the article 17 of the FOUP or the like has a configuration in which a load greater than the other is applied to one of the pair of hands 16, 16. Therefore, if the elastic modulus of the vibration-damping members 24 and 26 on the larger load side is larger than the side where the load is small, the article 17 such as FOUP can be horizontally supported. Instead of changing the modulus of elasticity, the area of the vibration-damping members 24 and 26 on the larger side of the load is increased, and the area on the side where the load is smaller is reduced.
固定構件20係於中央部27之左右兩側,具備有朝FOUP等之物品17側突出之兩端部28、28。於兩端部28之上表面設置有上述筒狀片30,於兩端部28、28之物品17側之前端設置有突出部32、32,突出部32、32之上表面成為朝向突出部32、32之前端側下降之錐形面34、34。安裝構件36係將手部16安裝於夾爪本體側之開關構件18。又,纜線38係連接指構件22之就位感測器54與夾爪本體。 The fixing member 20 is attached to the right and left sides of the center portion 27, and has both end portions 28 and 28 that protrude toward the article 17 side of the FOUP or the like. The cylindrical piece 30 is provided on the upper surface of the both end portions 28, and the front ends of the end portions 28 and 28 are provided with protruding portions 32 and 32, and the upper surfaces of the protruding portions 32 and 32 are oriented toward the protruding portion 32. The tapered faces 34, 34 of the front end 32 are lowered. The mounting member 36 is a switch member 18 that mounts the hand 16 to the side of the jaw body. Further, the cable 38 is coupled to the in-position sensor 54 and the jaw body of the finger member 22.
指構件22係於左右方向之中央具備有支撐構件40, 支撐構件40與FOUP等之物品17之凸緣部相接而自下方支撐。再者,本說明書中之左右係為圖2之左右方向,為中央部27與支撐構件40之長度方向。於支撐構件40之左右兩側設置有安裝構件44,安裝構件44係位於較支撐構件40高之位置,於支撐構件40與安裝構件44之間存在有連結構件42,用以連結支撐構件40與安裝構件44。安裝構件44具有貫通孔46,藉由抑振構件24、26之上表面支撐安裝構件44之底面,且抑振構件24、26之底面係由兩端部28所支撐。而且,於筒狀片30之母螺紋部螺固有螺釘50。 The finger member 22 is provided with a support member 40 at the center in the left-right direction. The support member 40 is in contact with the flange portion of the article 17 such as FOUP and is supported from below. In addition, the left-right direction in this specification is the left-right direction of FIG. 2, and is the longitudinal direction of the center part 27 and the support member 40. A mounting member 44 is disposed on the left and right sides of the support member 40. The mounting member 44 is located higher than the supporting member 40. A connecting member 42 is present between the supporting member 40 and the mounting member 44 for coupling the supporting member 40 with Mounting member 44. The mounting member 44 has a through hole 46 that supports the bottom surface of the mounting member 44 by the upper surface of the vibration damping members 24, 26, and the bottom surfaces of the vibration damping members 24, 26 are supported by the both end portions 28. Further, the intrinsic screw 50 is screwed to the female screw portion of the tubular piece 30.
筒狀片30與凸緣51之作用,在於將安裝構件44相對於兩端部28之移動範圍限制於容許範圍內,亦可僅以嵌合來取代螺固。於實施例中,雖然將筒狀片30設置於固定構件20,並將凸緣51與貫通孔46設置於指構件22,但亦可使該等之配置上下顛倒,而將筒狀片30設置於指構件22,並將凸緣51與貫通孔46設置於固定構件20。元件符號52係擺動片,當物品17之凸緣部之底面接觸於支撐構件40時就會旋動,藉由就位感測器54檢測出擺動片52之旋動,並經由安裝於支架56之線束58,向安裝構件36佈線。 The tubular piece 30 and the flange 51 function to limit the range of movement of the attachment member 44 with respect to the both end portions 28 within an allowable range, or may be replaced by a fitting instead of a screw. In the embodiment, although the tubular piece 30 is provided to the fixing member 20, and the flange 51 and the through hole 46 are provided in the finger member 22, the arrangement may be reversed upside down, and the cylindrical piece 30 may be set. The member 22 is referred to, and the flange 51 and the through hole 46 are provided to the fixing member 20. The component symbol 52 is a wobble piece that is rotated when the bottom surface of the flange portion of the article 17 contacts the support member 40, and the swivel of the wobble piece 52 is detected by the in-position sensor 54 and is mounted to the bracket 56. The wire harness 58 is routed to the mounting member 36.
於圖3、圖4中表示手部16之詳細構成,且於圖4中省略就位感測器54、安裝構件36等。於貫通孔25內配置有筒狀片30,凸緣51係藉由螺釘50而螺固於筒狀片30。安裝構件44可於貫通孔46與筒狀片30之外徑之差之範圍內沿水平方向移位,指構件22可藉由抑振構件24、26之變形而相對於固定構件20沿鉛垂方向移位,且可於貫通孔46與筒狀片30之外徑之差之範圍內沿水平方向移位。 The detailed configuration of the hand 16 is shown in FIGS. 3 and 4, and the in-position sensor 54, the mounting member 36, and the like are omitted in FIG. A tubular piece 30 is disposed in the through hole 25, and the flange 51 is screwed to the tubular piece 30 by a screw 50. The mounting member 44 is displaceable in the horizontal direction within a range of the difference between the outer diameter of the through hole 46 and the cylindrical piece 30, and the finger member 22 can be vertically inclined with respect to the fixing member 20 by deformation of the vibration suppressing members 24, 26. The direction is shifted and can be displaced in the horizontal direction within a range of the difference between the outer diameter of the through hole 46 and the cylindrical piece 30.
於假設抑振構件24發生破損之情形時,藉由凸緣51與筒狀片30將指構件22卡止,可防止指構件22相對於固定構件20超過容許範圍之移位。又,若假設抑振構件24發生破損,則突出片48會朝圖4之下方向下降,並搭靠於錐形面34上,藉此可限制突出片48朝向圖4右側之後退範圍。因此,亦可藉由突出片48與錐形面34防止指構件22超過容許範圍後退而自物品17脫離。再者,可藉由抑振構件26向上方被拉長而防止安裝構件44因來自物品17之負重而以圖4之左側為前方向前傾。 When the vibration-damping member 24 is broken, the finger 51 is locked by the flange 51 and the tubular piece 30, so that the finger member 22 can be prevented from shifting beyond the allowable range with respect to the fixing member 20. Further, if it is assumed that the vibration-damping member 24 is broken, the protruding piece 48 is lowered toward the lower direction of FIG. 4 and abuts against the tapered surface 34, whereby the protruding piece 48 can be restricted from retreating toward the right side of FIG. Therefore, it is also possible to prevent the finger member 22 from being detached from the article 17 by the protruding piece 48 and the tapered surface 34 preventing the finger member 22 from retreating beyond the allowable range. Further, the vibration-damping member 26 can be elongated upward to prevent the attachment member 44 from leaning forward on the left side of FIG. 4 due to the load from the article 17.
就位感測器54之信號係經由插座60而藉由線束58輸出。每當物品17就位時,由於指構件22會相對於固定構件20下降,因此線束58會重複進行彎曲。由於線束58可能會因此斷線,因此,利用捆束帶62對線束58於下方進行捆束,且於線束58之上方利用固定環64將線束58固定於支架56,藉此防止線束58之斷線。 The signal of the in-position sensor 54 is output via the socket 60 via the wire harness 58. Whenever the article 17 is in place, the wire harness 58 is repeatedly bent as the finger member 22 is lowered relative to the fixing member 20. Since the wire harness 58 may be broken as a result, the wire harness 58 is bundled underneath by the binding band 62, and the wire harness 58 is fixed to the bracket 56 above the wire harness 58 by the fixing ring 64, thereby preventing the wire harness 58 from being broken. line.
圖5表示變形例之手部,除了特別指出之構成以外係與圖1至圖4之實施例相同,且相同符號係表示相同構件。兩端部29除了不具有前端之突出部32以外,與兩端部28相同,安裝構件45除了貫通孔70具有朝向下方擴展之錐形面以外,與安裝構件44相同。筒狀片66除了具有上方變窄之錐形面68以外,與筒狀片30相同。於圖5之變形例中,若假設抑振構件24發生破損,則錐形面68會接觸於錐形面71而被卡止,從而將安裝構件45之位置與姿勢固定。 Fig. 5 shows a hand of a modification, which is the same as the embodiment of Figs. 1 to 4 except for the specific configuration, and the same reference numerals denote the same members. The both end portions 29 are the same as the both end portions 28 except for the protruding portions 32 having the distal ends, and the attachment member 45 is the same as the attachment member 44 except that the through holes 70 have a tapered surface that expands downward. The tubular piece 66 is the same as the tubular piece 30 except that it has a tapered surface 68 that is narrowed upward. In the modification of FIG. 5, when the vibration-damping member 24 is damaged, the tapered surface 68 comes into contact with the tapered surface 71 and is locked, thereby fixing the position and posture of the attachment member 45.
對抑振進行說明。因高架移行車2之移行,上下方向、移行方向、左右方向等之振動會自移行驅動部6施加至手部 16、16,而藉由抑振構件24、26,可將任一方向之振動均進行抑振。由於抑振構件24面積較大且彈性率較小而容易變形,因此可有效地抑振。因此,可減小振動對物品17中之半導體晶圓等之影響。 Describe the vibration suppression. Due to the movement of the overhead traveling vehicle 2, vibrations in the up-and-down direction, the traveling direction, the left-right direction, and the like are applied from the traveling drive unit 6 to the hand. 16, 16, and by the vibration-damping members 24, 26, the vibration in either direction can be suppressed. Since the vibration-damping member 24 has a large area and a small elastic modulus and is easily deformed, it can effectively suppress vibration. Therefore, the influence of vibration on the semiconductor wafer or the like in the article 17 can be reduced.
實施例具有以下特徵。 The embodiment has the following features.
1)可使用比彈性率較小、即較柔軟之抑振構件24,且以較大之面積支撐安裝構件44、45。因此,相較於使用比彈性率較大、即較硬且面積較小之抑振構件之情形,可有效地對指構件22進行抑振。 1) The vibration-damping member 24 having a smaller specific modulus, that is, a softer one, can be used, and the mounting members 44, 45 are supported in a larger area. Therefore, the finger member 22 can be effectively suppressed in vibration as compared with the case of using a vibration-damping member having a larger elastic modulus, that is, a harder and smaller area.
2)藉由由位於較低位置之支撐構件40、位於較高位置之安裝構件44、及連結該等之連結構件42構成指構件22,可實現於高度方向上小型化之手部16。 2) By forming the finger member 22 from the support member 40 at a lower position, the attachment member 44 at a higher position, and the connection member 42 connecting the members, the hand 16 that is miniaturized in the height direction can be realized.
3)藉由筒狀片30及凸緣51、貫通孔46限制指構件22之運動範圍,則即便於抑振構件24發生破損之情形時,亦可限制指構件22之位置與姿勢。 3) By restricting the range of movement of the finger member 22 by the tubular piece 30, the flange 51, and the through hole 46, the position and posture of the finger member 22 can be restricted even when the vibration-damping member 24 is broken.
4)由於將筒狀片30與凸緣51配置於貫通孔25內,因此可成為小型化。 4) Since the tubular piece 30 and the flange 51 are disposed in the through hole 25, the size can be reduced.
5)藉由錐形面34與突出片48、或錐形面68、71,可防止指構件22不預期地後退。 5) By the tapered surface 34 and the protruding piece 48, or the tapered faces 68, 71, the finger member 22 can be prevented from retreating unexpectedly.
6)可藉由抑振構件26抑制指構件22之前傾。 6) The finger member 22 can be prevented from tilting forward by the vibration damping member 26.
7)由於抑振構件24、26不與物品17接觸,因此不易污染或損傷物品17。 7) Since the vibration-damping members 24, 26 are not in contact with the article 17, it is less likely to contaminate or damage the article 17.
8)若藉由捆束帶62對線束58之下方進行捆束,且於線束58之上方藉由固定環64固定於支架56,則即便線束58重複升降亦不會斷線。 8) When the lower portion of the wire harness 58 is bundled by the binding band 62 and fixed to the bracket 56 by the fixing ring 64 above the wire harness 58, the wire harness 58 is not broken even if it is repeatedly raised and lowered.
9)於來自物品17之負重不均衡地施加至一對手部16、16之情 形時,若使負重較大側之抑振構件24、26之彈性率高於負重較小側,即可水平地支撐物品17。 9) The load from the article 17 is unevenly applied to the pair of hands 16, 16 In the case of the shape, if the elastic modulus of the vibration-damping members 24, 26 on the larger side of the load is higher than the side where the load is smaller, the article 17 can be horizontally supported.
16‧‧‧手部 16‧‧‧Hands
20‧‧‧固定構件 20‧‧‧Fixed components
22‧‧‧指構件 22‧‧‧ finger components
24、26‧‧‧抑振構件 24, 26‧‧‧ vibration suppression members
25‧‧‧貫通孔 25‧‧‧through holes
28‧‧‧兩端部 28‧‧‧ Both ends
30‧‧‧筒狀片 30‧‧‧Cylinder
32‧‧‧突出部 32‧‧‧Protruding
34‧‧‧錐形面 34‧‧‧Conical surface
44‧‧‧安裝構件 44‧‧‧Installation components
46‧‧‧貫通孔 46‧‧‧through holes
48‧‧‧突出片 48‧‧‧ highlights
50‧‧‧螺釘 50‧‧‧ screws
51‧‧‧凸緣 51‧‧‧Flange
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KR101898633B1 (en) * | 2016-11-25 | 2018-09-13 | 비전세미콘(주) | Gripper of transfer apparatus for semiconductor wafer |
JP7435605B2 (en) | 2019-06-20 | 2024-02-21 | 村田機械株式会社 | Transport vehicle |
CN112936741B (en) * | 2021-01-28 | 2022-06-14 | 威利文化产业(河源)有限公司 | Adsorption type injection molding manipulator |
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JP2004189361A (en) * | 2002-12-09 | 2004-07-08 | Murata Mach Ltd | Ceiling carrier and its system |
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