WO2003102475A1 - Module d'assemblage propre, appareillage de production le contenant, robot industriel et systeme antipollution - Google Patents
Module d'assemblage propre, appareillage de production le contenant, robot industriel et systeme antipollution Download PDFInfo
- Publication number
- WO2003102475A1 WO2003102475A1 PCT/JP2003/006734 JP0306734W WO03102475A1 WO 2003102475 A1 WO2003102475 A1 WO 2003102475A1 JP 0306734 W JP0306734 W JP 0306734W WO 03102475 A1 WO03102475 A1 WO 03102475A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- clean
- area
- work
- assembly module
- contamination
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
- B25J21/005—Clean rooms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
- F24F11/74—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity
- F24F11/77—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity by controlling the speed of ventilators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F3/00—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems
- F24F3/12—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling
- F24F3/16—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling by purification, e.g. by filtering; by sterilisation; by ozonisation
- F24F3/163—Clean air work stations, i.e. selected areas within a space which filtered air is passed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F7/00—Ventilation
- F24F7/04—Ventilation with ducting systems, e.g. by double walls; with natural circulation
- F24F7/06—Ventilation with ducting systems, e.g. by double walls; with natural circulation with forced air circulation, e.g. by fan positioning of a ventilator in or against a conduit
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/0001—Control or safety arrangements for ventilation
- F24F2011/0002—Control or safety arrangements for ventilation for admittance of outside air
- F24F2011/0004—Control or safety arrangements for ventilation for admittance of outside air to create overpressure in a room
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/50—Air quality properties
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/50—Air quality properties
- F24F2110/64—Airborne particle content
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Definitions
- the “clean assembly module device” is configured to perform one or more of various operations such as assembling, processing, cleaning, and transporting a work, and a clean state in which the operations are performed.
- the present invention relates to a clean assembly module device, a production system configured thereby, an industrial robot, and a pollution propagation prevention system. More specifically, the present invention relates to an improvement of a structure for ensuring cleanliness of a clean assembly module device for working on a work in a clean environment, and assembly and processing of a work in a clean assembly module device and the like. And improvement of the structure of industrial mouth pots that perform operations such as transport, and contamination propagation in production systems that form a clean area by connecting clean assembly module devices with tubular connection paths to realize a series of clean production processes. Improvement of prevention system.
- Clean assembly module devices are used to perform work such as assembling, processing, and transporting workpieces in a clean environment.
- a clean assembly module device for example, it is covered with a shielding wall that is the outer wall, and is further sealed by being sealed, and is blown with clean air that has passed through a filter to create an atmosphere inside the device, especially in the work area. Is kept in a clean state.
- a production system is also used in which a plurality of such clean assembly module devices are connected, and a process for a work is sequentially performed and work is performed in each module.
- a production system in which a plurality of these clean assembly module devices are connected by a connection path has excellent features such as being small and having a high degree of freedom.
- the contamination is connected without stopping in the clean assembly module device. To the clean assembly module device.
- connection path should be as small as possible, but the ratio of the working area to the space should be considerably large. Therefore, it is necessary to ensure cleanliness not only in the work area but also in the connection area.
- an object of the present invention is to provide a clean assembly module device capable of securing cleanliness in a work area where a work is assembled, processed, transported, and the like, and a production system configured with the module.
- the deformed cylindrical structure includes (1) a slide mechanism 101, an elevating mechanism 100, and an arm rotating mechanism 103, which operate in the order of sliding, elevating, and rotating to position the tip of the arm (Fig. (See Fig. 39) and (2) Positioning by moving in the order of slide, turn, and elevate (see Fig. 40).
- an object of the present invention is to provide an industrial mouth pot that can ensure high rigidity and operation accuracy and is suitable for downsizing.
- a production system that connects the above-mentioned clean assembly module devices with a tubular connection path to form a purification area D, and realizes a series of clean production processes (see Fig. 42).
- the clean assembly module device 1 1 1 1 is connected to the other clean assembly module device 1 1 1 by a connection path 1 1 2 so as to be connected to another clean assembly module device 1 1 1.
- It is configured to perform In the clean area D, for example, a structure in which the clean air flow that has passed through the filter 113 flows down from the fan 114 above the clean assembly module and passes through the small holes of the partition wall 115 below the clean area D downward. Is kept clean.
- Such a production system has the excellent features of being able to be miniaturized and realizing a high degree of design freedom, but has a structure in which the clean assembly module devices 1 1 1 are sequentially connected, and the volume of the clean area is small. If contamination occurs for some reason in the clean area D, this contamination is propagated not only to one clean assembly module device 1 1 1 but also to each connected clean assembly module device 1 1 1. (See Fig. 42).
- Such problems are particularly acute in miniaturized, so-called desktop production systems, where the spacing between the equipment is so close that the problem of contamination transmission is even more acute.
- the present invention provides a method for preventing pollution propagation that can efficiently and reliably prevent the propagation of pollution, particularly when unexpected pollution occurs in a clean area of a small production system.
- the purpose is to provide a stop system.
- the present inventor has made various studies, and as a result, as a structure suitable for keeping the inside of the work area clean in a single clean assembly module device, it is difficult for dust to enter the work area, and In the event of intrusion, they came to know a structure that can be quickly discharged from the work area, and furthermore, when connecting these clean assembly module devices, they learned a suitable connection structure to ensure cleanliness in the work area. Reached.
- the present invention has been made based on such knowledge, and the present invention relates to a clean assembly module device for performing an operation on a workpiece, the clean assembly module device including a clean air generating means in an upper portion of the device and a device. It is configured to have a work area, a clean air stopped exhaust area, and a mechanical section area from the top side, and the outer periphery of the work area is shielded by a clean area shielding wall.
- the flow resistance is controlled by a partition wall with small holes, and an exhaust fan is provided in the mechanism area, and the air flowing through the working area and the clean air stop / exhaust area is exhausted outside the equipment.
- the working area is maintained at a positive pressure by means of clean air generation means, and the mechanical area is depressurized with respect to the working area.
- the pressure is adjusted by the small holes in the partition and the rotation speed of the exhaust fan so that the pressure is intermediate between the area and the mechanism section area.
- a partition wall having a plurality of small holes acts as a flow resistance against the clean air generated from the clean air generating means and flowing into the work area, and a part thereof is stopped and stays in the work area.
- the internal pressure in the working area (and the pressure in the purifying air holding / exhausting area) becomes higher than in the mechanism area or outside the equipment, and the air with low cleanliness, that is, dusty air, flows in from the outside.
- the cleanliness in the work area is maintained by preventing the contamination.
- dust that has entered the work area or dust that may be generated in the work area can be discharged from the small holes of the partition wall toward the mechanism section area.
- the pressure in the working area and the flow rate of clean air can be independently controlled.
- the pressure in the disconnected state it is important from the viewpoint of preventing the propagation of contamination that the pressure in the disconnected state be set lower than that of other modules.
- a work mechanism for performing work such as assembling, processing, and transporting the work is provided in a work area of the clean assembly module device.
- work such as assembling, processing, and transporting the work can be performed while maintaining cleanliness in the work area by the work mechanism provided in the work area.
- the working mechanism is a mechanism in which a part of the working mechanism penetrates the clean air stagnant exhaust area and enters the mechanical section area.
- the clean assembly module device according to the present invention is provided with a transport means for loading and unloading the work, and the transport means penetrates through the clean area shielding wall, and the transport area penetrates the work area. It is preferable to provide a penetrating portion that allows connection with the wire. In this case, the work can be carried into the work area from the through portion on one side and carried out from the through portion on the other side by the transport means penetrating the clean area shielding wall.
- the work area has a maintenance door, and that the door has a plurality of opening areas that can be selected according to the content of the maintenance.
- the door can be selected from multiple opening areas according to the type of maintenance, making it easier to work, and by opening the opening unnecessarily wide, dust can be trapped in the work area. It is preferable in that it can be prevented from entering.
- the production system of the present invention has a plurality of the above-mentioned clean assembly module devices, and the clean assembly module device is connected to a through portion so that a work can be loaded and unloaded by the transport means. And the connection is made by fitting a U-shaped sealing member into the flange of the through portion and sealing between the through portions. It is.
- work such as work assembling is performed by connecting clean assembly module devices by connecting through-holes that enable connection with the outside.
- the U-shaped sealing member fits into the flange of the penetrating portion and seals the gap between the penetrating portions, even after the production system is constructed, the inside of each connected clean assembly module device is maintained. The cleanliness of the work area, especially in the work area, is ensured.
- the production system of the present invention has a plurality of the above-mentioned clean assembly module devices, and the clean assembly module device accommodates the penetrating portion and the transfer means so that the work can be loaded and unloaded by the transfer means.
- the U-shaped sealing material fits into the flange of the penetration and the tunnel, and the connection between the penetration and the tunnel. It is characterized by being sealed.
- a gel-like sealing material is applied between the U-shaped sealing member and the flange of the penetrating portion.
- the sealing is more reliably performed, and it is possible to prevent the air from leaking from the gap between the connection portions.
- the U-shaped sealing member is attached with the U-shaped opening facing downward. In such a case, since the release part faces downward, dust hardly enters the work area from the release part.
- the present invention relates to an industrial mouth pot that has a horizontal slide mechanism, an up-and-down elevating mechanism, and an arm turning mechanism, and performs assembling and adding to a work.
- the vertical lifting mechanism comprises a shaft, a shaft guide for supporting the shaft, and a vertical driving device for vertically moving the shaft.
- the arm rotating mechanism includes a rotating arm and a rotating drive device for rotating the rotating arm.
- the turning arm is arranged above the shaft guide part, and the horizontal slide mechanism and the vertical drive unit are arranged below the shaft guide part. It is characterized by the following.
- the industrial pot according to the present invention includes a partition wall for maintaining a working environment for assembling and working on a work, at a position above the turning drive device and the shaft guide portion and below the turning arm. Preferably, it is provided. In this case, the arrangement balance centered on the shaft guide portion is maintained.
- the slit provided in the partition wall for penetrating the shaft only needs to have a simple linear shape.
- a partition is provided above the swing drive unit and the shaft guide, and below the swing arm to maintain the working environment for assembling and processing the work. It is easy to keep the work area clean. It is preferable that the partition is composed of a first partition having a slit so that the industrial robot can slide in the horizontal direction, and a second partition having a through-hole of the shaft.
- the slit opening can be closed by directing the second partition overlapped with the first partition to the slit hole of the first partition.
- the industrial mouth pot of the present invention has a rotating shaft at the arm end of the revolving arm for rotating the work or performing a rotating operation on the work. In this case, by combining the operation of rotating the swing arm and the operation of linearly moving the shaft supporting the swing arm, the work can be freely conveyed within the oval range.
- this industrial robot it is not necessary to have a multi-joint structure unlike a conventional articulated robot, so that there is no need to consider interference between joints and the like, and it is easy to reduce the size.
- the number of the swing arms is plural. In such a case, it is possible to simultaneously transport a plurality of works by each turning arm.
- the mounting surface for mounting the industrial robot is provided in a direction parallel to the axial direction of the shaft.
- this industrial mouth pot is used, for example, in a clean assembly module device, the flow resistance of the down flow can be suppressed by mounting the pot on the wall surface.
- the inventor of the present application has studied variously to realize such various countermeasures, and has come to know a system suitable for preventing the propagation of the contamination when the contamination occurs in the production system.
- the present invention is based on such knowledge, and forms a clean area by connecting a plurality of clean assembling module devices that perform predetermined production processes such as work assembly and processing by a tubular connection path, thereby forming a series of clean production.
- a contamination detection method that detects contamination that occurs in a clean area inside the system or a contamination generation that predicts the occurrence of contamination in a clean assembly module device or connection path
- Pollution propagation prediction means for predicting the propagation of generated contamination to at least one of the clean assembly module devices, and contamination propagation for preventing the generated contamination to be propagated to other clean assembly module devices. And preventing means.
- the contamination when contamination occurs in a clean area, the contamination can be detected or the occurrence of contamination can be predicted, and the generated contamination can be transmitted to other clean assembly module devices. Can be predicted and prevented. Contamination can be detected, for example, by monitoring the air in the production system using a particle counter or by counting the particles that have settled on the image sensor.
- the pollution occurrence prediction means is preferably means for predicting the occurrence of pollution based on information on the flow velocity and the flow direction of the air in the connection path. For example, if the air velocity or flow direction changes suddenly, the door will open and It is possible to predict that contamination has occurred due to communication. Alternatively, the occurrence of contamination can also be predicted by stopping the means for producing purified air or changing the pressure difference between the clean area and the outside air.
- the pollution propagation predicting means is a means for predicting the propagation of pollution based on information on the flow velocity and the flow direction of the air in the connection path. For example, when the air velocity or the flow direction changes suddenly, it is possible to predict that the contamination generated in any of the clean assembly module devices will propagate.
- the contamination propagation preventing means is configured to detect the contamination based on the information on the flow rate and the flow direction of the air in the clean assembly module device in which the contamination is detected or predicted and the connection route connected to the clean assembly module device.
- the control means be a means for controlling a clean air generating means provided in a clean assembly module device connected to the apparatus. By controlling the flow rate and flow rate of the clean air generated by the clean air generating means, it is possible to prevent the propagation of contamination to the clean assembly module device which is not contaminated.
- Clean assembly module It is preferable to perform defective discharge or re-cleaning of the workpieces that existed in the device or the connection path. This avoids the production of defective products and prevents the transfer of contaminated particles to downstream jigs and tools.
- the production of a work existing in a process further downstream than a predetermined number of clean assembly module devices sequentially connected downstream from the clean assembly module device in which contamination is detected or predicted is performed. It is preferable to continue and interrupt the production of the clean assembly module device in which contamination is detected or predicted and the production of the work in a predetermined clean assembly module device sequentially connected upstream from the clean assembly module device. As far as there is no possibility of transmission, normal production work can be continued to the extent that there is no possibility of contamination and production efficiency can be maintained within the possible range.
- the contamination propagation prevention system has cleanliness recovery means for recovering the cleanliness of the clean assembly module device or the connection path where the contamination is detected or predicted. Is preferred. According to this system, production can be resumed after the cleanliness of the clean assembly module device or the connection path in which the contamination has occurred is restored.
- the cleanliness recovery means includes a clean air generating means and an exhaust means for exhausting the clean assembly module device. The clean assembly module device and the clean assembly module device in which the propagation of the contamination is prevented or the contamination is detected or predicted.
- the recovery of cleanliness can be performed by increasing the reduced flow rate of clean air from the clean air generation means to the flow rate necessary to ensure cleanliness in the clean area. preferable. This can prevent a sudden downflow from occurring and the contamination from flowing into other clean assembly module devices before the contamination is resolved.
- FIG. 1 is a perspective view schematically showing the configuration of a clean assembly module device according to the present invention.
- Fig. 2 is a longitudinal sectional view showing an example of the internal structure of the clean assembly module device.
- Fig. 3 is a plan view showing the outline of a clean assembly module device provided with a penetrating part and a transport means.
- Fig. 4 is a perspective view showing the structure of the flange provided in the penetrating part and an example of the shape of the sealing member.
- Hg. 5 is a partial sectional view showing the flange portion of the penetrating portion connected and the sealing member fitted to this flange portion.
- FIG. 1 is a perspective view schematically showing the configuration of a clean assembly module device according to the present invention.
- Fig. 2 is a longitudinal sectional view showing an example of the internal structure of the clean assembly module device.
- Fig. 3 is a plan view showing the outline of a clean assembly module device provided with a penetrating part and a
- FIG. 6 is a partial cross-sectional view showing a flange portion of a penetrating portion connected via a tunnel and a sealing member fitted to the flange portion and the tunnel.
- FIG. 7 is a perspective view showing another embodiment of the present invention.
- 1 shows the structure of a tunnel provided with a slide-type transport path converter and a turntable type transport path converter.
- Fi g. 8 is a diagram showing a structure around the tunnel sliding conveying path converter.
- Fig. 9 is a diagram showing the structure around the tunnel turntable type transfer path converter.
- Fig. 10 is a partial perspective view showing the transfer means (rails) with chamfered corners.
- L 1 is a partial plan view showing a rail gap X 2 in the case of chamfering the corners of the conveying means.
- Fig. L2 is a partial perspective view showing a conveying means without a bottom surface with a chamfered corner.
- Fig. L 3 is a partial plan view showing a rail gap X 3 in the case of chamfering the corners of the conveying means without the bottom.
- Fig. 14 is a partial perspective view showing the transport means without chamfering for reference. It is.
- Fig. 15 is a partial plan view showing the rail gap without chamfering for reference.
- Fig. L6 shows the structure of a tunnel with another partition installed inside.
- FIG. 17 is a perspective view showing still another embodiment of the present invention, and shows the structure of a tunnel provided with a slide-type transport path conversion device and a turntable type transport path conversion device.
- Fig. L8 is a view showing a structure around a tunnel-type transfer device of a slide type in another embodiment of the present invention.
- Fig. L9 is a diagram showing a structure around a tunnel turntable type transfer path changing device according to another embodiment of the present invention.
- FIG. 20 is a view showing a structure of a tunnel in which another partition is installed in another embodiment of the present invention.
- Fig. 21 is a perspective view showing the configuration in which the transport means (rails) are installed in parallel in the same module.
- Fig. 2 is a perspective view of an industrial lopot showing one embodiment of the present invention.
- Fig. 23 is a partial perspective view showing an example of a bifurcated swing arm.
- Fig. 24 is a perspective view showing an example of a swing arm configured so that the chuck rotates around a horizontal axis.
- Fig. 25 is a perspective view of an industrial mouth pot showing another embodiment of the present invention.
- Fig. 26 is an overall view of a pollution propagation prevention system showing one embodiment of the present invention.
- Fig. 21 is a perspective view showing the configuration in which the transport means (rails) are installed in parallel in the same module.
- Fig. 2 is a perspective view of an industrial lopot showing one embodiment of the present invention.
- FIG. 27 is a schematic diagram showing a configuration example of particle counting.
- Fig. 28 is a perspective view of the solid-state imaging device with the cover removed and exposed.
- Fig. 29 shows a survey of tobacco smoke introduced into the clean area D with a straw.
- Fig. 30 is a diagram showing the test performed assuming a “destruction” case.
- Fig. 31 shows the investigation with the front door completely open.
- Fig. 32 is a diagram showing the pollution and air flow generated in the clean area.
- Fig. 33 shows (A) a plan view and (B) a side view (including the connection to a DC power supply) showing the structure of the temperature sensor.
- Fig. 34 shows a pollution propagation prevention system to which a monitoring system is connected.
- Fig. 35 is a diagram of a pollution propagation prevention system showing a control method for generating airflow in a direction perpendicular to the pollution propagation.
- Fig. 36 is a diagram showing the shut-off state of the clean assembly module device when contamination occurs.
- Fig. 37 is a diagram showing the situation when a sudden downflow occurs in a clean assembly module device where contamination has occurred.
- Fig. 38 is a diagram showing the situation when the downflow gradually occurs in the clean assembly module device where contamination has occurred.
- Fig. 33 shows (A) a plan view and (B) a side view (including the connection to a DC power supply) showing the structure of the temperature sensor.
- Fig. 34 shows a pollution propagation prevention system to which a monitoring system is
- Fig. 39 is a schematic perspective view showing an example of a conventional industrial pot.
- Fig. 40 shows the conventional It is a schematic perspective view which shows the other example of an industrial robot.
- Fig. 41 is a schematic perspective view showing still another example of a conventional industrial robot.
- Fig.42 is a diagram showing an example of how contamination occurred in one of the connected multiple clean assembly module devices.
- Fig. 43 is a diagram showing an example of a state in which a clean area inside one of the connected clean assembly module devices is connected to outside air and contamination has occurred.
- the clean assembling module device 1 is a device for performing work such as assembling and processing on a work 14 and is provided with a clean air generating means 2 at the upper portion of the device, and a work area A, clean air from the device upper side. It is configured to have a stationary exhaust area B and a mechanical section area C. Further, the clean assembling module device 1 is covered with a shielding wall serving as an outer wall, and is further shielded from the outside of the device by being subjected to sealing.
- the clean air generating means 2 is a means for supplying clean air to the work area A, and is attached to the upper part of the clean area shielding wall 3 forming the work area A as shown in Fig. 1, and supplies the clean air from the upper part of the work area A. Let it flow down.
- the clean air generating means 2 includes a fan for blowing air and a filter for filtering dust.
- the work area A is a clean area for performing work such as assembling and processing the work 14 in a clean atmosphere.
- the work area A is surrounded by the clean area shielding wall 3 and is externally provided. It is shielded and the lower side is separated by a permeable partition wall 4.
- the above-mentioned purified air generating means 2 for supplying clean air to the work area A is provided.
- the partition wall 4 is a partition between the areas provided with the plurality of small holes.
- the punch metal separates the working area A and the mechanical section area C as the partition walls 4 And the clean air stagnant exhaust area B) (hereinafter referred to as “punch metal 4”).
- the punch metal 4 acts as a resistance that partially blocks the flow of the clean air that has flowed down, stays in the work area A, and acts to exhaust a part of the flow from the small holes to the mechanical section area C side. For this reason, this punch According to the barrel 4, the fluid resistance is controlled, that is, the resistance of the downflowing clean air is set to a moderate pressure slightly higher than the external pressure in the work area A, and the mechanism area C side.
- the opening ratio of the punch metal 4 and the fan rotation speed of the clean air generating means 2 are major factors that determine the pressure in the work area A. That is, if the opening ratio of the punch metal 4 is small and the amount of air blown by the clean air generating means 2 is large, the inside of the work area A becomes more positive pressure. No. In the present embodiment, these are appropriately adjusted and managed so that the working area A has a positive pressure within an appropriate range.
- the aperture ratio of the punch metal 4 is a ratio of the small holes occupied in the entire punch metal 4 which changes according to the size and the number of the small holes. If the density varies depending on the location or density, it may affect the flow of clean air and change the pressure.Therefore, when the aperture ratio of the punched metal 4 includes the difference in these positions and densities It is assumed that there is.
- the punch metal 4 in the clean assembly module device 1 of the present embodiment has slit holes 4a for passing a part of the mechanism 13 for assembling the work 14 in addition to the small holes for ventilation. (See Fig. 2).
- the slit hole 4a needs to be a round hole that only passes through this axis, and when the mechanism 13 moves horizontally, Is a long hole (passage) formed along this movement.
- the shaft 15 constituting the mechanism 13 is linearly moved at a constant stroke, the slit hole 4a is defined as a long hole. are doing.
- the main body of the mechanism 13 is located in the mechanism area C, and only the portion above the shaft 15 of the mechanism 13 is located in the work area A. Therefore, dust that may be generated when the mechanism 13 is operated is exhausted by the exhaust fan 5 without entering the work area A, and has no effect on the cleanliness of the work area A, which is an important area. It is.
- the clean air stagnant exhaust area B is lower than the work area A (in this embodiment, lower than the punch metal 4), and is a mechanical section area C in which a driving source serving as a dust generation source is located. It is an area above. Part of the clean air that has flowed down in the work area A passes through the small holes of the punch metal 4 and is exhausted to the clean air stop / exhaust area B side.
- the opening ratio of the punch metal 4 and the rotation speed of the exhaust fan 5 are adjusted so that the magnitude of the pressure in the clean air stagnant exhaust area B is approximately between the pressures in the work area A and the mechanical section area C. Coordinated and managed.
- the exhaust fan 5 is controlled to independently control the pressure and flow rate of the clean air flow.
- the rotation of the exhaust fan 5 is controlled.
- Increasing the number can reduce the pressure in the mechanism area C, and also set the pressure in the work area A lower, and can increase the flow rate of purified air. That is, in the present embodiment, the flow rate of the work area A is controlled by the clean air generating means 2 and the pressure of the work area A is controlled by the exhaust fan 5, so that the flow rate and the pressure of the work area A are different. It can be controlled independently as a parameter. For example, by increasing the flow rate in the work area A, dust can be more easily discharged to the clean air stop / exhaust area B and later. By adjusting the pressure with the exhaust fan 5, such a situation can be avoided because there is a possibility that the gas flows to the assembly module device 1. In short, it is possible to create an environment where dust can be easily discharged by increasing the flow rate and suppressing the increase in pressure.
- the mechanical section area C is an area where the main body of the mechanism 13 is provided, and accommodates the main body of the mechanism 13 such as a robot for working such as assembling and processing the work 14 and its driving source.
- the pressure in the mechanism area C is lower than the pressure in the work area A, and air flows from the work area A to the mechanism area C, but air does not flow back from the mechanism area C to the work area A. It has become.
- the exhaust fan is located on the side of this mechanism area C, etc. The air flowing into the mechanism area C via the work area A and the clean air holding / exhausting area B is exhausted outside the machine, thereby maintaining the inside of the mechanism area C at a negative pressure. I have.
- the flow of clean air in the clean assembly module device 1 is formed by the exhaust action of the exhaust fan 5, so that it is difficult for dust to enter the clean assembly module device 1. Further, dust that has entered the module device 1 or dust that may be generated in the module device 1 can be blown out by the exhaust fan 5.
- the mechanism 13 is, for example, an industrial robot for assembling the work 14.
- the main body and the drive source of the mechanism 13 are provided in the mechanism area C, and the work area A is assembled in the work area A.
- a part of the working mechanism 6 (concretely, a shaft 15 connecting the working mechanism 6 and the mechanism 13) penetrates through the clean air stopping / exhausting area B and enters the mechanism section area C. I have.
- the mechanism 13 will be described in detail later.
- the clean assembly module device 1 has a conveying means 7 for carrying the work 14 into or out of the work area A, for example, a work transfer pallet 1 for conveying the work 14. Equipped with a transport rail to guide 2 (see Fig. 3).
- a penetrating portion 8 is provided in the work area A of the clean assembly module device 1 so that the transfer means 1 can penetrate and connect to the outside.
- the penetrations 8 are provided at four locations, two of which face the clean area shielding wall 3 so that the main work 14 can be transported linearly in the clean assembly module device 1.
- a straight transfer means 7 (indicated by reference numeral 7a in the figure) is provided at a position where it runs straight through the work area A (see Fig. 3).
- the remaining two penetration portions 8 are arranged side by side on the same clean area shielding wall 3, and pass through different transport means 7b and 7c, respectively.
- These transfer means 7b and 7c are mainly used as transfer paths for the work 14 such as parts assembled to the main work 14, and are provided so as to be orthogonal to the linear transfer means 7a as shown in FIG. It is provided so that it comes to a dead end before hitting the linear transport means 7a.
- the air chuck 17 of the mechanism (industrial mouth pot) 13 described later is used.
- the area where parts and the like are sucked up and the area where the parts and the like are attached to the main work 14 are indicated by hatching.
- the penetrating portion 8 in the present embodiment is provided so that its peripheral edge protrudes outside the wall surface of the clean area shielding wall 3 (in the present specification, this protruding portion is referred to as a “flange”,
- the flanges 8a are used to connect the through-holes 8 so that the adjacent clean assembly module devices 1 can be connected.
- a production system can be formed by connecting a plurality of clean assembly module devices 1, and each cleaning device can be provided by providing a transport means 7 that penetrates through the through portion 8 of the plurality of clean assembly module devices 1.
- the work 14 can be sequentially loaded or unloaded to the assembly module device 1.
- each of the clean assembly module devices 1 needs to be connected in a sealed state so as to maintain the cleanliness and pressure in the work area A, and a connecting means for sealing between the through portions 8 is required. It is provided as appropriate.
- a U-shaped sealing member 10 that fits into the flange portions 8a of the respective penetrating portions 8 and seals between them is provided as such a connecting means, thereby providing a clean connection.
- the assembly module device 1 is connected in a sealed state from the outside (see Figs. 4 and 5). In this case, since the inside of the working area A of each clean assembly module device 1 is maintained at a positive pressure, air flows from the clean assembly module devices 1 on both sides into this connection portion (see Fig.
- the sealing member 10 is attached from the upper side of the flange portion 8a such that the U-shaped open portion faces downward. In such a case, since the release portion faces downward, dust hardly enters the work area A from the release portion.
- a gel-like sealing material is applied between the sealing member 10 and the flange portion 8 a to securely seal. It is more preferable to take measures to prevent the air from leaking from the space between them.
- the clean assembly module devices 1 are directly connected to each other by the flange portions 8a of the penetrating portions 8, but other members such as cylindrical members are interposed between them. It does not matter.
- the clean assembly module device 1 shown in Fig. 6 has a tunnel interposed between a penetration 8 and another penetration 8. 1 is connected to another clean assembly module device 1 by 1. Both ends of the tunnel 11 are respectively connected to the flange portions 8a of the through portions 8, and the tunnels 11 are sealed by U-shaped sealing members 10 similar to the above, which are fitted to the respective connection portions. .
- the tunnel 11 has a size that accommodates the transfer means 7 therein and allows the work transfer pallet 12 to pass therethrough.
- a gel-like sealing material is applied between the sealing member 10 and the flange portion 8a and between the sealing member 10 and the tunnel 11 at the joints.
- the point 0 is preferably the same as that described above in that it is preferably mounted so that the U-shaped open portion faces downward.
- a maintenance door 9 is provided on the clean area shielding wall 3 so that an operator or the like can inspect the inside of the work area A by opening the door 9.
- the door 9 has a plurality of opening areas that can be selected according to the contents of maintenance, so that the work can be more easily performed. Further, by opening the opening unnecessarily widely, the work area A, etc. This is preferable in that dust can be prevented from entering.
- a mode in which a plurality of opening areas can be selected for example, not only a mode in which the opening area can be changed by only one door 9 but also several doors 9 having different opening areas are provided as necessary.
- a mode in which the door 9 can be appropriately selected is included.
- the clean assembly module apparatus 1 provided with the transport means 7 (7a) penetrating the clean assembly module apparatus 1 or the transport means 7 (7b, 7c) which stops in this apparatus is provided.
- a conversion device such as a turntable are provided along the way so that the transfer path of the work transfer pallet 12 can be changed. Since a production system is sometimes used, the structure of the tunnel 11 which is one form of the clean assembly module device 1 in such a production system will be described below (see Fig.
- the transfer means 7 in the production system shown in Figs. 7 to 9 is equipped with a slide-type transfer path conversion device 31 and a turntable-type transfer path conversion device 32 in the middle of the transfer system. 2 can be changed, but since each of these converters 31 and 32 can serve as a dust source inside the tunnel 11 or the like, the work area A is the same as in the above-described embodiment. It is necessary to take some measures to keep the inside clean.
- the clean air generating means 2 is installed above the upper partition 33 on the upper part of the tunnel 11, and the lower partition having a plurality of small holes. 4 is provided below the transport means 7. Further, the tunnel 11 is shielded from the outside by a clean area shielding wall 3 covering the outer periphery.
- the area from the upper bulkhead 33 to the lower bulkhead 4 is the area corresponding to the work area A (hereinafter simply referred to as work area A).
- the lower partition wall 4 is a partition wall having a plurality of small holes, for example, a punch metal or a grating. Maintain an appropriate pressure and secure an appropriate amount of outflow from the small holes to control the cleanliness and flow of air in the work area A.
- a driving source 34 for driving the slide-type transport path converter 31 or the evening-type transport path converter 32 is provided in the tunnel 11.
- the area where these driving sources 34 are provided corresponds to the mechanical section area C in the above-described embodiment. Therefore, in the tunnel 11 in this embodiment, a part of the work area A and the mechanical section area C overlap.
- the inside of the tunnel 11 including the work area A is maintained at a more positive pressure than the outside, and the opening ratio and exhaust of the lower bulkhead 4 are set such that clean air flows from top to bottom in the tunnel 11. It is controlled by the rotation speed of a fan (not shown in this embodiment).
- the work transport pallet 12 on which the work 14 is placed is above the driving source 34, which is a dust source, and therefore, the clean air blown downward from the clean air generation means 2 is A lower partition wall with a small hole passing around the work 14 and the work transfer pallet 12, and then below the transfer means 7, the slide type transfer path converter 31, and the turntable type transfer path converter 3 2 Than Exhaust outside the tunnel 1 1
- the dust 14 on the work transport pallet 12 which needs to be cleaned does not accumulate any dust inside the tunnel 11. Can be transported.
- the mechanisms (units) arranged in the mechanism area C be arranged in order from the top, with the transporting means 7, the driving source 34, and the dust being generated in descending order.
- the tunnel 11 as described above is installed between the clean assembly module devices 1 of the above-described embodiment to configure a production system.
- the tunnel 11 preferably has a maintenance door 9 on a side wall or the like, similarly to the clean assembly module device 1 described above.
- the rotating transfer means (rails) 7 on the turntable type transfer path conversion device 32 avoids interference with the adjacent fixed-side transfer means (rails) 7 so as not to generate dust. Further, it is preferable that the gap X between the two is as small as possible. As a result, the work transfer pallet 12 can smoothly move between the two transfer means 7. For example, in the case of this embodiment, Fig. 1 0, Fig. 1 when no chamfered rail gap X 2 by chamfering the corners of the conveyance unit 7 as shown in 1 rail clearance (Fig. 1 4, Fig (Refer to 15). Further, Fig. L 2, Fig. When applied to the conveying means 7 consisting of no bottom rail as shown in l 3, it is possible to further lower than rail gap x 3 rail gap x 2 .
- FIG. L6 another partition 35 made of film, cloth, or punched metal with a fine mesh is installed at a certain distance below the upper partition 33 of the tunnel 11. You may make it. In this case, the clean air blown out from the clean air generating means 2 can be widely and evenly spread in the tunnel 11.
- the clean assembly module device 1 is provided with the clean air generating means 2 on the upper portion of the device, and also has a working area A, a clean air stopped exhaust area B, and a mechanism section area C from the upper side of the apparatus.
- clean air generating means 2 is provided on the side of the clean assembly module device 1, and from the side of the clean air generating means 2, a work area A, a clean air stopped exhaust area B, and a mechanical section area C are provided.
- the working area A is kept in a positive pressure state as in the above-described embodiment. By doing so, the cleanliness of the work area A is maintained, and dust that has entered the work area A or dust that may be generated in the work area A is transferred from the small holes of the punch metal 4 to the mechanism area C side. Can be discharged.
- Tunnel 11 shown in Fig. 17 to Fig. 20 is composed of clean air generating means 2, upper bulkhead 33, and lower bulkhead 4 installed at the upper part of tunnel 11, and work area A and mechanism And an external area C, and is shielded from the outside by a clean area shielding wall 3 covering the outer periphery.
- the working area A and the mechanical area C are separated by a lower partition wall 4 with holes such as punched metal, and the fluid resistance is controlled for each (see Fig. 18).
- the driving source 34 which is a large dust source, is installed outside the tunnel 11 (for example, below the lower bulkhead 4).
- the inside of the tunnel 11 is maintained at a positive pressure with respect to the outside of the tunnel 11 by the above-described means 2 for generating clean air, and the clean air has a flow from top to bottom in the tunnel 11. It is controlled by the opening ratio of the lower partition 4 and the rotation speed of the exhaust fan 5. Also, the work transport pallet 12 on which the work pieces 14 are placed is above the transport means 7, and therefore, the clean air blown downward from the clean air generating means 2 first receives the work 14 and the workpiece transport palettes 1, 1. After that, the air passes through the transporting means 7 below it, and is exhausted to the outside of the tunnel 11 from the perforated lower bulkhead 4.
- the inside of the closed tunnel 11 having a part of the rotating device (sliding type transfer path conversion device 31) or the sliding device (turntable type transfer path conversion device 32) is provided.
- the work 14 on the work transfer pallet 12 requiring cleaning can be transferred in the tunnel 11 without any dust.
- the clean assembly module device 1 is connected at the end of the tunnel 11.
- a maintenance door is provided on the clean partition wall 3 of the tunnel 11.
- the end surface of the transfer means (rail) 7 of the turntable type transfer path conversion device 32 is chamfered in the same manner as in the above-described embodiment, whereby the adjacent fixed-side transfer means (rail) is provided.
- the work transfer pallet 12 can move smoothly without generating dust due to the interference with 7 and minimizing the rail gap X2 between the two .
- Rail gap X when chamfering is not name greater than rail gap X 2.
- Fig. L 2 Fig. L rail gap X 3 of the conveying means 7 the bottom without, as shown in 3 is even smaller than X 2, further in terms of smoothness when Noriutsuri workpiece transfer pallet 1 2 This is advantageous.
- Fig. L 2 Fig. L rail gap X 3 of the conveying means 7 the bottom without, as shown in 3 is even smaller than X 2, further in terms of smoothness when Noriutsuri workpiece transfer pallet 1 2 This is advantageous.
- the upper partition 3 3 of the tunnel 1 3 It is also preferable to install a partition wall 35 made of a film, cloth, or the like or a punched metal having a fine mesh at a lower position away from the object by a predetermined distance.
- two or more rows of transfer means (rails) 7 of the work transfer pallets 12 may be installed in the same module of the clean assembly module apparatus 1 (see Fig. 21). Any two or more transfer means 7 installed close to the work area A may be used as the outward or return path of the work transfer pallet 12.
- the transfer means indicated by reference numeral 7d is set to the forward path and the transfer means indicated by reference numeral 7e is set to the return path
- the transport means 7e can be used as a bypass.
- transporting means 7d and 7e are in the same module, so that the clean air from the upper clean air generating means 2 strikes all the transporting means 7a and 7b, and the cleanliness is maintained.
- a compact and inexpensive clean assembly module device 1 capable of shortening the tact time (work time) while maintaining the same cleanliness can be configured. It should be noted that the same effect can be obtained if the number of the transporting means 7 is not limited to two but three or more.
- the deer source 34 serving as a dust source is installed outside the module, and the fastening plate 36 is connected to the conveying means 7 through an escape hole 71 provided in the clean area shielding wall 3.
- Fig. 1, Fig. 2 and Fig. 22 show one embodiment of the industrial mouth pot according to the present invention.
- the industrial mouth pot according to the present embodiment is provided as a mechanism 13 in the clean assembly module device 1 (hereinafter, referred to as “industrial lopot 13”).
- the industrial robot 13 is a mouth pot having a horizontal slide mechanism 44, an up-and-down elevating mechanism 45, and an arm turning mechanism 46, and for assembling and processing the work 14. Further, in the present embodiment, the industrial mouth pot 13 is a clean mouth pot for transporting parts and the like to a predetermined position in order to mount the parts and the like on a main work (work serving as a base on which various parts are mounted). Installed in assembly module device 1.
- the horizontal slide mechanism 44 includes, for example, a linear motor (not shown) for horizontally moving the shaft 15 linearly, a horizontal slide guide 24 and a horizontal slide shaft 38.
- a linear motor for horizontally moving the shaft 15 linearly, a horizontal slide guide 24 and a horizontal slide shaft 38.
- the shaft 15 together with the frame 39 can be linearly moved in the horizontal direction.
- the shaft 15 of the present embodiment can move at a constant stroke as shown in FIG.
- a hollow shaft is used as the shaft 15.
- the center axis of rotation of the shaft 15 is indicated by the symbol R.
- a mounting surface for mounting the industrial pot 13 is provided in a direction parallel to the axial direction of the shaft 15. That is, as shown in Fig. 22, the surface on which the horizontal slide guide 24 and the horizontal slide shaft 38 are attached is a vertical surface in the drawing, and the shaft 15 stands vertically. In the present embodiment, as described above, the surface parallel to the axial direction of the shaft 15 is used as the mounting surface of the entire lopot.
- the vertical lifting mechanism 45 includes a shaft 15, a shaft guide part 18 that supports the shaft 15, and a vertical lifting drive device 20 that vertically moves the shaft 15.
- the up-and-down elevating drive device 20 is a drive source such as a motor for raising and lowering the shaft 15 to raise and lower the working mechanism 6 (hereinafter referred to as “elevation motor 20”).
- the shaft guide portion 18 is a bearing that supports the shaft 15 rotatably and slidably.
- the shaft 15 is supported near the axial center so that the moment and inertia acting on the shaft 15 during riding are equalized. Further, a bearing 19 that supports a position different from that of the shaft guide portion 18 is provided below the shaft guide portion 18.
- a screw 15 a is provided around a portion below the bearing 19 of the shaft 15, and a rotary cylinder 37 having an internal thread that engages with the screw 15 a on the inner periphery is provided. It is provided around the threaded portion 15a (see Fig. 2).
- the rotary cylinder 37 is supported by a bearing 47 so as to be rotatable and not to move in the axial direction.
- a pulley 22 for rotating the rotary cylinder 37 is fixed around the rotary cylinder 37.
- a timing belt 23 is stretched between the pulley 22 and the pulley 21 attached to the shaft of the elevating motor 20.
- the rotary cylinder 37 is rotated accordingly, and the shaft 15 is raised and lowered by the action of the engaging screws.
- the shaft guide portion 18 of the present embodiment is fitted into the hollow portion of the turning drive device 42 penetrating the shaft 15 until the flange portion is hooked, and is integrated with the turning drive device 42. .
- the arm swing mechanism 46 includes a swing arm 16 to which a chuck (here, an air chuck is included) 17, a shaft swing guide 40, a swing piece 41, and a swing drive device 42. ing.
- the swing drive device 42 is a drive source (hereinafter referred to as “slew motor 42”) such as a motor for rotating the shaft 15 by a predetermined amount via the shaft swing guide 40 and the swing piece 41.
- the shaft turning guide 40 is a large-diameter portion provided in the middle of the shaft 15 and is integrated with the shaft 15 so as not to rotate.
- the revolving piece 41 is, for example, a semi-cylindrical member that rotates concentrically with the shaft 15, and has a groove that engages with a side edge of the shaft revolving guide 40 on the inner surface side. This groove is formed by a groove extending in the axial direction of the shaft 15, and allows the shaft turning guide 40 to move in the vertical direction, but restricts free rotation.
- a turning motor 42 is provided on the upper side of the turning piece 4 1. The turning piece 4 1 is rotated by driving the turning piece 4 2, and the shaft is turned through the turning piece 4 1. By rotating the guide 40 and the shaft 15 by the same amount, the swing arm 16 can be swung.
- the shaft 15 of the present embodiment can be moved within a fixed stroke range as shown in Fig. 2, and by combining linear movement and rotary movement, the chuck 1 can be moved within the range of the ellipse shown by the dashed line in Fig. 3. 7 can be moved. Therefore, the workpiece 14 such as a part can be freely moved within this range.
- the main body of the industrial mouth pot 13 and the driving source (specifically, the part of the arm turning mechanism 46 except for the turning arm 16, the horizontal slide mechanism 44, and the up-and-down elevating mechanism 45) are mechanical parts.
- the work area A includes a part for performing work such as transport of a peak 14 (specifically, a part including the revolving arm 16 and the chuck 17 provided at the end of the arm.
- this part is referred to as “working mechanism 6”).
- the punch metal 4 is provided at a position above the turning motor 42 and the shaft guide 18 and below the turning arm 16.
- the turning arm 16 is attached so as to extend laterally from the upper end of the rotatable shaft 15, and turns as the shaft 15 rotates.
- a part or the like is gripped (or sucked) by the chuck 17 provided at the arm end of the revolvable swivel arm 16 to a predetermined position (the mounting position on the main work 14 or its vicinity).
- Position The chuck 17 is rotatable by being attached to the rotating shaft 43, and can rotate the work 14 held by suction or the like.
- the central axis of the rotating shaft 43 is indicated by the symbol S in Fig. 22 and the like.
- the industrial mouth pot 13 includes a motor 26 disposed at the upper end of the shaft 15, a pulley 27 coaxial with the motor 26, and a pulley fixed to the rotating shaft 43. 28, and a timing belt 29 extending over these pulleys 27, 28, etc. It is possible to attach.
- the dust suction hole 30 for sucking dust that may be generated from the chuck 17 and preventing the dust from falling down to the work area A is provided with a swivel arm 16. And at a position near the chuck 17.
- Mechanism area C Is provided with a suction means 25 for sucking the inside of the hollow shaft 15 from the lower end. Dust sucked through the dust suction hole 30 passes through the hollow shaft 15 and is sucked by the suction means 25.
- the working mechanism 6 including the turning arm 16 and the like is disposed above the shaft guide 18 and horizontally below the shaft guide 18. Since the slide mechanism 44 and the up-and-down elevating mechanism 45 are arranged, the weight distribution in the axial direction of the shaft 15 is equalized, and the weight balance with the shaft guide 18 is maintained. For this reason, the moment and inertia acting on the shaft 15 during horizontal sliding become uniform, and the rigidity is increased, so that accuracy can be easily obtained.
- the industrial mouth pot 13 of the present embodiment has an operation of turning the turning arm 16 in the work area A and an operation of linearly moving the shaft 15 supporting the turning arm 16. By combining them, the work 14 can be transported freely within the oval range. In this case, since it is not necessary to have a multi-joint structure as in the conventional articulated mouth pot arm, there is no need to consider interference between joints and the like, and it is easy to reduce the size.
- the work 14 is conveyed by a single swivel arm 16, but as shown in FIG. 23, a swivel arm 16 such as a forked swivel arm 16 is used.
- a structure having a plurality of 6s may be used. In such a case, it is possible to simultaneously transport a plurality of works 14 by providing chucks 17 at the arm ends of the respective turning arms 16.
- the chuck 17 is attached to the rotating shaft 43 that rotates around the vertical axis.
- the chuck 17 is not limited to this, and for example, as shown in FIG. It is good also as what rotates.
- the interval between the swing motor 42 and the swing arm 16 is not particularly limited, and can be appropriately changed according to the type and size of the work 14.
- the distance between the swing motor 42 and the swing arm 16 is large, The shafts 15 are easily penetrated by the punch metal 4.
- the partition wall (punch metal) 4 is constituted by the second punch metal 4 ′ having the through hole 4 a ′.
- the opening portion of the slit hole 4a can be closed by contacting the second punch metal 4 ', which is preferable in that dust is more easily prevented from entering the work area A.
- the contamination propagation prevention system 51 of the present invention includes a plurality of clean assembly module devices 1 (hereinafter, also referred to as “modules 1”) for performing predetermined production processes such as assembling and processing of a work 14. a or a tunnel 11 connected by a tubular connection path 52 composed of a etc. to form a clean area D, which is applied as a system to prevent the propagation of contamination in a production system that realizes a series of clean production processes. It is something.
- the clean assembly module device 1 or the connection path 52 has a pollution occurrence detecting means for detecting contamination occurring in the clean area D inside the system or predicting the occurrence of contamination.
- the pollution propagation prediction means for predicting the propagation of the generated pollution to the other clean assembly module apparatus 1, and to the other clean assembly module apparatus 1 for the generated pollution. Means for preventing the propagation of contamination.
- the module 1 is provided with a clean air generating means 2 including a fan 53 and a filter 54.
- a clean air generating means 2 including a fan 53 and a filter 54.
- clean air that has passed through a filter 54 such as HEPA (High Efficiency Particulate Air filter) is blown out by a fan 53.
- the clean air flows downward through a partition wall (for example, made of punched metal) 4 provided with a plurality of small holes.
- a thin plate-like work mounting portion for mounting the work 14 is detachably attached to the work transport pallet 12.
- Both the work transport pallet 12 and the work placement part are provided with a rewritable storage function. It is possible to update information such as 14 at any time.
- the contamination transmission prevention system 51 of the present embodiment stores the information, for example, when it is determined that there is a contaminated work 14, and indicates that there is a possibility of contamination based on the stored contents. Is stored in the work transport pallet 12 or the work placement part, and can be transported to a point where it can be discharged.
- a means for directly measuring contaminant particles (particles) using a particle counter 55 as shown in Fig. 27 is to add light from the photodiode 57 to the sample air sucked by the suction device 56. Irradiation is performed with laser light from a laser device 58, and light scattered by particles is detected to detect the degree of contamination. Also, as shown in Fig.
- a sedimentation test that measures the luminance change of each pixel of the solid-state image sensor 59 whose cover has been removed and is exposed, and detects particle sedimentation based on the number of pixels with reduced luminance within a unit time Has also been done.
- indirect measures such as measurement of the differential pressure between the clean area D and the non-clean area, the measurement of the flow velocity of the clean air flow, and the measurement of the flow velocity vector are also performed. These indirect measurements do not measure the pollution itself, but because these are one of the major factors of the pollution, the contamination is predicted in advance by detecting an abnormality in the control state of the clean air. I can do it.
- pollution occurrence prediction means that is, means for predicting the occurrence of pollution based on information on the flow velocity and flow direction of the air in the connection path 52. It can also be used as a pollution propagation prediction means, that is, a means for predicting the propagation of pollution based on information on the flow velocity and the flow direction of the air in the connection path 52.
- the opening of the door 9 in the local clean area D in the module 1 and the execution of the specific operation of the specific process are factors that cause the occurrence of contamination without fail. I can. Therefore, door switches and maintenance switches are also important for detecting and predicting contamination.
- Table 1 shows the factors of each case of “contamination,” “destruction,” and “suspension,” and the urgency of the case (a measure of how urgent it is to deal with the case). Are also shown.
- the work 14 existing in the module 1 in which the contamination is detected or predicted and the work existing in the predetermined number of modules 1 or the connection path 52 sequentially connected upstream or downstream from the module 1 Perform the discharge of 14.
- the work 14 is discharged and discarded, while the work mounting portion is cleaned and used again.
- the stored potential contamination memory is rewritten as non-contaminated at this point in time when discarding is performed. Instead of discharging the work 14, it is also possible to wash and use the work 14 in the same manner as the work mounting portion. 3. Identification of contaminated work
- Module 1 where contamination was predicted and detected and work 14 near it were marked as defective as described above, but were rejected.However, work 14 that was downstream and within the range where contamination propagation was prevented was assembled. It is possible to continue. On the upstream side, production can be continued without waste by temporarily waiting, that is, waiting until normal production processing is resumed. Also, in the case of “stop” due to an abnormality of the fan 53, the time from the prediction to the actual contamination is long, and the work 14 immediately after detection is not contaminated. In this case, efficient production can be maintained by performing processing such as stopping the transfer of the work 14 into the process after a certain period of time. The extent to which contamination is propagated is determined in part by the structure of the production system to maintain cleanliness, methods of preventing propagation, methods of detection, and their duration.
- the “negative direction” here refers to the direction from the clean environment to the contaminated environment
- the positive direction refers to the direction to flow from the contaminated environment to the clean environment (see Fig. 32).
- the conclusion of (3) is that the fan 53 on the open side is stopped when the front door 9 is fully opened, and then the fan 53 on the module 1 is stopped next to it, and after standing for 30 seconds or more, This is based on the fact that counting of particles has started.
- Contamination does not occur in a short time even if a decrease in the differential pressure is confirmed. Therefore, if the process time in the module 1 is, for example, 30 seconds or less, it can be considered as a non-defective product. However, the decrease in the differential pressure is likely to occur almost simultaneously in the connected module 1, and if only the differential pressure decrease is detected, it is difficult to identify the module 1 that caused the decrease. In addition, since it takes time, it is difficult to recover within 30 seconds, and it is not desirable to use only differential pressure detection as a detection prediction method.
- the extent of contamination can be estimated fairly accurately.
- the path through which the contamination propagates is only the connection path 52, and the diffusion speed of the contaminated particles is very slow relative to the wind speed. It is because it is considered that it is. That is, if the movement of the work transport pallet 12 is not considered, the contamination is considered to move only by using the air passing through the connection path 52 as a medium, and detecting the movement of the air on the connection path 52 maintains the cleanliness. Is very important to If the velocity vector is detected in the discharge direction for the module 1 where the contamination was detected, it may be determined that the contamination has propagated.
- the treatment of potentially contaminated workpieces 14 is related to the method of blocking propagation described below, but basically all the potentially contaminated workpieces 14 are discharged as defective products. Discard or wash again and reload.
- the production of workpieces 14 existing in a process further downstream than a predetermined number of modules 1 sequentially connected downstream from the module 1 where the contamination is detected or predicted is continued, and the contamination is detected or predicted.
- the production of the measured module 1 and the work 14 in the predetermined module 1 sequentially connected upstream from the module 1 is interrupted. In other words, normal production work is to be continued to the extent that there is no possibility of contamination if it is determined that there is no possibility of transmission.
- detection of flow velocity is an effective means for estimating the propagation of pollution.
- the detection of the decrease in the differential pressure is not immediately linked to the contamination in a short time as described above.
- the differential pressure detection often used in the conventional clean room is not suitable, and it can be said that the detection of the flow velocity vector is an effective means.
- connection path 52 (1) When all negative direction vectors are detected in connection path 52
- the “direct connection” includes, for example, opening of the maintenance door 9. If such a judgment is made, it is highly probable that contamination has occurred, and the module 1 can be cleaned for a particle monitor that can perform only a certain level of local measurement, such as evening. The entire area D is possible.
- a similar situation occurs when the fan 53 is stopped. However, the velocity of the flow velocity vector is slower than the opening of the door 9. Since the detection of the stoppage of the fan 53 does not require much cost, it is better to have a separate detector, but it is possible to detect even the vector fluctuation detection.
- Contamination may be transmitted from the negative connection 52. Therefore, contamination must be determined by checking the determination status of the module 1 connected to the connection path 52. In this case, the propagation of contamination is considered to be proportional to the magnitude of the velocity vector.
- a temperature consisting of a resistance heating element 62, a thermostat 63, a heat insulating board 64, a DC power supply 65, etc.
- Sensor 61 can be used.
- a pollution propagation preventing means for preventing the propagation of the pollution to the clean module 1 when the pollution occurs is provided.
- the means for preventing the propagation of contamination is, for example, based on the information on the flow velocity and the flow direction of the module 1 in which contamination has been detected or predicted, and the flow direction and flow direction of the connection path 52 connected to the module 1 '.
- the present invention is not limited to this, and can be realized by, for example, the following methods a) to me. 1 Mechanical disconnection of connection line 52
- the blocking method of inflating balloon-shaped objects can prevent the occurrence of contamination by moving parts, but actually requires a pneumatic source to inflate them.
- the method of generating an airflow at right angles to the connection path 52 in d) can be a method of controlling the airflow at the time of contamination detection and prediction.However, unlike c), even if this air flows during air control, There is no problem and it is possible to realize a state where the propagation of pollution is always interrupted.
- the air flow in a right angle direction can always achieve a state where the propagation of contamination is cut off.
- the fan 67 and the filter 68 are provided when the pressure in the connection line 52 cannot be maintained at a positive pressure.
- an exhaust fan 69 is provided in the connection path 52. -7.
- the contamination propagation prevention system 51 has a cleanliness recovery means for recovering the cleanliness of the module 1 or the connection line 52 in which the contamination is detected or predicted.
- the cleanliness recovery means includes, for example, a clean air generating means 2 (fan 53 and filter 54) and an exhaust means (exhaust fan 5), which prevents the propagation of the contamination and the module 1 in which the contamination is detected or predicted.
- the clean air from the clean air generation means 2 provided in the module 1 connected to the connection path 52 is determined.
- the cleanliness recovery is performed by reducing the flow rate, and the cleanliness recovery is performed by reducing the reduced flow rate of the clean air from the clean air generating means 2 to a flow rate necessary to secure the cleanliness of the clean area D. This is done by gradually increasing.
- the air flowing from the non-contaminated module 1 to the contaminated module 1 can prevent the propagation of contamination, but if the fan 53 is suddenly rotated in the contaminated module 1, As shown in Fig. 37, a sudden downflow occurs, and the contamination may flow into the non-contaminated module 1 before the contamination is resolved.
- the following two-stage control is performed on the fan 53 to recover the contaminated module 1 without transmitting the contamination to the module 1 connected to the surroundings. (See Fig. 38).
- step (2) Wait 10 seconds at the set value. Almost all of the pollution has already been recovered in step (1), but it will be necessary to wait in step (2) until the cleaning conditions are stabilized (the air flow is normal). If the time in (1) is too short, the propagation of contamination to the surroundings will occur, but the longer time will only require recovery time. If the productivity of this case is not a major issue, the time as much as possible And start up slowly.
- cleanliness management is established at the time of initial startup.
- the differential pressure, flow velocity, and direction are displayed on the screen of the monitor system 66 as shown in Fig. 34, and a sufficient downflow condition can be established for each module 1 and the required cleanliness
- the flow direction of the flow in the connection path 52 according to the occurrence of contamination in the process can be checked, and the movement of each fan 53 can be determined based on this information.
- the pollution propagation prevention system 51 of the present embodiment can perform the following.
- Effective contamination module 1 can be specified by using the contamination detection together with the detection of the flow velocity vector in the connection line 52.
- the detection of the stoppage of the fan 53 and the open state of the door 9 can be used together with the flow velocity vector detection of the connection path 52 to improve the accuracy of detection and prediction, and take appropriate measures according to the situation. I can do it.
- Detection of the flow velocity vector in the connection line 52 is a major problem in the production system (especially a small system using the work transport pallet 12). Useful information can also be provided for setting the speed of the fan 53 for such purposes.
- Propagation prevention by airflow control can be performed at low cost for emergency transmission interruption. In this case, it can be realized without any additional hardware, which is advantageous for cost reduction.
- In the mechanical method it is necessary to take measures against dust generation of the mechanism itself.
- airflow control it is only necessary to consider the lifting of particles due to changes in airflow.
- the pollution occurrence prediction means in the present embodiment predicts the occurrence of contamination based on information on the flow velocity and the flow direction of air in the connection path.
- the cleanliness of the production system Predict the occurrence of contamination by detecting that the door that separates area D from the outside air has been opened, or detecting that an operator has explicitly pressed a button or the like to declare that maintenance should be performed. Can also.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Ventilation (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/516,767 US20060151013A1 (en) | 2002-06-03 | 2003-05-29 | Clean assembling module device, produciton system formed with the module, industrial robot, and pollution spred prevention system |
KR10-2004-7019750A KR20050007588A (ko) | 2002-06-03 | 2003-05-29 | 클린 조립 모듈 장치, 이것에 의해 구성한 생산 시스템,산업용 로봇 및 오염 전파 방지 시스템 |
AU2003241884A AU2003241884A1 (en) | 2002-06-03 | 2003-05-29 | Clean assembling module device, production system formed with the module, industrial robot, and pollution spred prevention system |
EP03730691A EP1515100A4 (en) | 2002-06-03 | 2003-05-29 | CLEAN ASSEMBLY MODULE, PRODUCTION EQUIPMENT CONTAINING SAME, INDUSTRIAL ROBOT AND ANTI-EMISSION SYSTEM |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-162089 | 2002-06-03 | ||
JP2002162089A JP2004009152A (ja) | 2002-06-03 | 2002-06-03 | 産業用ロボット |
JP2002163328A JP4010540B2 (ja) | 2002-06-04 | 2002-06-04 | 汚染伝播防止システム |
JP2002-163328 | 2002-06-04 | ||
JP2002-167555 | 2002-06-07 | ||
JP2002167555A JP3950745B2 (ja) | 2002-06-07 | 2002-06-07 | クリーン組立モジュール装置およびこれにより構成した生産システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003102475A1 true WO2003102475A1 (fr) | 2003-12-11 |
Family
ID=29715914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/006734 WO2003102475A1 (fr) | 2002-06-03 | 2003-05-29 | Module d'assemblage propre, appareillage de production le contenant, robot industriel et systeme antipollution |
Country Status (5)
Country | Link |
---|---|
US (1) | US20060151013A1 (ja) |
EP (1) | EP1515100A4 (ja) |
KR (1) | KR20050007588A (ja) |
AU (1) | AU2003241884A1 (ja) |
WO (1) | WO2003102475A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114101185A (zh) * | 2021-11-30 | 2022-03-01 | 鹏得精密科技(深圳)有限公司 | 一种五金加工表面毛坯表面清理去油装置 |
CN114783095A (zh) * | 2022-04-20 | 2022-07-22 | 湖南敏求电子科技有限公司 | 一种高安全性访客系统及其访客监控设备 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100866726B1 (ko) * | 2007-07-09 | 2008-11-05 | 세미텍 주식회사 | 집진력이 향상된 자동 몰딩 장치용 클린장치 |
FR2922453B1 (fr) | 2007-10-17 | 2011-01-14 | Millipore Corp | Procede de decontamination et systeme le mettant en oeuvre |
FR2922649B1 (fr) * | 2007-10-17 | 2010-01-01 | Millipore Corp | Machine d'analyse microbiologique |
KR101506034B1 (ko) * | 2008-09-29 | 2015-03-26 | 코오롱인더스트리 주식회사 | 가압식 모듈의 정렬 장치 및 이를 포함한 여과 시스템 |
CH699754B1 (de) * | 2008-10-20 | 2020-11-13 | Tec Sem Ag | Speichervorrichtung für eine Zwischenlagerung von Objekten für die Produktion von Halbleiterbauelementen |
JP5568620B2 (ja) * | 2012-12-07 | 2014-08-06 | 興研株式会社 | 局所空気清浄化装置 |
KR20140089894A (ko) * | 2013-01-08 | 2014-07-16 | 삼성디스플레이 주식회사 | 기판의 식각 장치 및 이를 이용한 식각 방법 |
RS58170B1 (sr) * | 2014-04-18 | 2019-03-29 | Dompe Farm Spa | Čista soba sa pregradom i postupak njenog obezbeđivanja |
GB2551714A (en) * | 2016-06-27 | 2018-01-03 | Energy Efficiency Consultancy Group Ltd | Cleanroom control system and method |
JP6756539B2 (ja) * | 2016-08-04 | 2020-09-16 | オークマ株式会社 | 工作機械 |
US10578521B1 (en) | 2017-05-10 | 2020-03-03 | American Air Filter Company, Inc. | Sealed automatic filter scanning system |
CN107957105B (zh) * | 2017-11-20 | 2020-12-18 | 嘉兴市万荣电器股份有限公司 | 一种负压抽风水洗式空气净化设备 |
CN108262634A (zh) * | 2018-01-31 | 2018-07-10 | 江西博大精机科技有限公司 | 防止粉尘污染的自动上下料装置及其控制方法 |
EP3847400A1 (en) | 2018-09-07 | 2021-07-14 | American Air Filter Company, Inc. | Filter testing apparatus and method |
CN113654140A (zh) * | 2021-08-05 | 2021-11-16 | 合肥创科电子工程科技有限责任公司 | 一种具有压力检测和自清洁功能的工业空调及其使用方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06278062A (ja) * | 1993-03-29 | 1994-10-04 | Yamaha Motor Co Ltd | ロボットのy軸方向割出し方法および同装置 |
JPH11165281A (ja) * | 1997-12-04 | 1999-06-22 | Mitsubishi Heavy Ind Ltd | ロボットの移動構造 |
JP2000085963A (ja) * | 1998-09-16 | 2000-03-28 | Shin Meiwa Ind Co Ltd | クリーン作業装置 |
JP2001274218A (ja) * | 2000-03-23 | 2001-10-05 | Sankyo Seiki Mfg Co Ltd | ダブルアーム型ロボット |
JP2001284248A (ja) * | 2001-02-07 | 2001-10-12 | Dainippon Screen Mfg Co Ltd | 基板処理装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5401212A (en) * | 1990-08-29 | 1995-03-28 | Intelligent Enclosures Corporation | Environmental control system |
DE4142365A1 (de) * | 1990-12-20 | 1992-07-02 | Gold Star Co | Verschmutzungsgrad-messvorrichtung und -verfahren fuer ein luftreinigungsgeraet |
JPH056614A (ja) * | 1991-06-28 | 1993-01-14 | Omron Corp | 光カード記録再生装置 |
US5641354A (en) * | 1995-07-10 | 1997-06-24 | Seh America, Inc. | Puller cell |
US6186744B1 (en) * | 1996-10-12 | 2001-02-13 | Synetics Solutions Inc. | Volumetric airflow indicator and control device |
-
2003
- 2003-05-29 KR KR10-2004-7019750A patent/KR20050007588A/ko not_active Application Discontinuation
- 2003-05-29 US US10/516,767 patent/US20060151013A1/en not_active Abandoned
- 2003-05-29 EP EP03730691A patent/EP1515100A4/en not_active Withdrawn
- 2003-05-29 WO PCT/JP2003/006734 patent/WO2003102475A1/ja active Application Filing
- 2003-05-29 AU AU2003241884A patent/AU2003241884A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06278062A (ja) * | 1993-03-29 | 1994-10-04 | Yamaha Motor Co Ltd | ロボットのy軸方向割出し方法および同装置 |
JPH11165281A (ja) * | 1997-12-04 | 1999-06-22 | Mitsubishi Heavy Ind Ltd | ロボットの移動構造 |
JP2000085963A (ja) * | 1998-09-16 | 2000-03-28 | Shin Meiwa Ind Co Ltd | クリーン作業装置 |
JP2001274218A (ja) * | 2000-03-23 | 2001-10-05 | Sankyo Seiki Mfg Co Ltd | ダブルアーム型ロボット |
JP2001284248A (ja) * | 2001-02-07 | 2001-10-12 | Dainippon Screen Mfg Co Ltd | 基板処理装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1515100A4 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114101185A (zh) * | 2021-11-30 | 2022-03-01 | 鹏得精密科技(深圳)有限公司 | 一种五金加工表面毛坯表面清理去油装置 |
CN114783095A (zh) * | 2022-04-20 | 2022-07-22 | 湖南敏求电子科技有限公司 | 一种高安全性访客系统及其访客监控设备 |
CN114783095B (zh) * | 2022-04-20 | 2023-11-21 | 湖南敏求电子科技有限公司 | 一种高安全性访客系统及其访客监控设备 |
Also Published As
Publication number | Publication date |
---|---|
EP1515100A4 (en) | 2006-09-20 |
EP1515100A1 (en) | 2005-03-16 |
KR20050007588A (ko) | 2005-01-19 |
AU2003241884A1 (en) | 2003-12-19 |
US20060151013A1 (en) | 2006-07-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2003102475A1 (fr) | Module d'assemblage propre, appareillage de production le contenant, robot industriel et systeme antipollution | |
JP3476395B2 (ja) | クリーンルーム及びクリーンルームの空調方法 | |
TWI712096B (zh) | 具有工廠界面環境控制之基板處理系統、設備與方法 | |
CN102760673B (zh) | 基板处理装置及其异常显示方法、参数设定方法 | |
KR100281942B1 (ko) | 도킹 및 환경 정화 시스템 | |
US4963069A (en) | Container for the handling of semiconductor devices and process for particle-free transfer | |
TWI575631B (zh) | 半導體儲存櫃系統與方法 | |
JP4912008B2 (ja) | 基板処理装置 | |
TW201620065A (zh) | 裝載埠及裝載埠的氣氛置換方法 | |
JP2004200669A (ja) | ミニエンバイロメント装置、薄板状物製造システム及び清浄容器の雰囲気置換方法 | |
JP5498241B2 (ja) | ワーク搬送システム | |
TWI702383B (zh) | 容器載置裝置、半導體製造裝置以及容器內環境氣體之控制方法 | |
JP2010003867A (ja) | 搬送用局所クリーンルーム、およびミニエン装置 | |
JP3970749B2 (ja) | 産業用ロボット | |
JP3852570B2 (ja) | クリーンルーム装置 | |
JP2011220631A (ja) | 処理装置 | |
JP3950745B2 (ja) | クリーン組立モジュール装置およびこれにより構成した生産システム | |
JP2000085963A (ja) | クリーン作業装置 | |
JP4010540B2 (ja) | 汚染伝播防止システム | |
JP2013219113A (ja) | 半導体素子の搬送装置 | |
JP3183066B2 (ja) | 搬送システム | |
JP7316104B2 (ja) | ウエハ搬送装置 | |
JP5075458B2 (ja) | 表面検査装置 | |
US20230017221A1 (en) | Core module for semiconductor production facility machinery | |
CN117133691B (zh) | 一种晶圆盒清洗后环境检测方法、检测装置及清洗设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2003730691 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020047019750 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 1020047019750 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2003730691 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2006151013 Country of ref document: US Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10516767 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 10516767 Country of ref document: US |