WO2005082751A1 - 基板搬出入装置および基板搬出入方法 - Google Patents
基板搬出入装置および基板搬出入方法 Download PDFInfo
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- WO2005082751A1 WO2005082751A1 PCT/JP2004/002471 JP2004002471W WO2005082751A1 WO 2005082751 A1 WO2005082751 A1 WO 2005082751A1 JP 2004002471 W JP2004002471 W JP 2004002471W WO 2005082751 A1 WO2005082751 A1 WO 2005082751A1
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- WIPO (PCT)
- Prior art keywords
- tray
- substrate
- pallet
- loading
- elevating
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D21/00—Nestable, stackable or joinable containers; Containers of variable capacity
- B65D21/02—Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
Definitions
- the present invention relates to a substrate loading / unloading device, and more particularly to a substrate loading / unloading device for taking out a substrate from a tray stacked on a pallet and mounting the processed substrate on the tray again.
- a tray shelf that supports a plurality of trays so that they can enter and exit is provided, and the work loaded on one tray taken out of the tray shelf is taken out and supplied to a plate material processing machine.
- Various substrate transfer devices have been proposed and realized which take out a processed work from a tray and load it on another tray.
- FIG. 1 is an explanatory view schematically showing a conventional substrate transfer device
- FIG. 2 is an enlarged explanatory view of a main part of FIG.
- the substrate transfer device 10 is provided at a side position of a laser processing machine (not shown), which is a plate material processing machine. As shown in FIG. It is equipped with a single material take-off section 12, a processing machine communication section 13, and a product loading section 14.
- TRAY CHANGE 3 ⁇ 4 ⁇ 1 is a material tray tray 17 that can hold a material tray 16 with a plate material before processing up and down in multiple stages, and a material tray that is stored in a material tray tray 17
- Material tray transport means 18 is provided for transporting the ray 16 to a material removal position provided at a position below the material tray force 17.
- the material one sheet take-out unit 12 includes a material take-out means 21 for taking out a material from the material tray 16 transported to a material take-out position.
- the processing machine communication unit 13 includes a processing tray 23 that reciprocates with the laser processing machine. In this state, the unprocessed plate is loaded into the laser processing machine with the plate placed on 23, and the processed plate is removed from the laser processing machine.
- the product loading section 14 includes a product lifter 15 that moves up and down, and performs an operation of placing the processed plate material taken out of the processing machine communication section 13 on the product tray 19 placed on the product lift 15.
- a transfer means 24 is provided for transferring the processed plate material from the processing machine communication unit 13 to the product loading unit 14.
- the transfer means 24 is provided with a fork 25 which is suspended on a horizontally provided rail extending from the single material picking-up section 12 to the product loading section 14 and is movable by a driving motor.
- the fork 25 has a plurality of arms 25a extending in the direction of movement supporting one side of the movement direction in a cantilever manner, and a plate material before or after processing is placed on the arm portion 25a. Can be transported.
- the method of placing the processed plate material transferred to the product loading section 14 by the fork 25 on the product tray 19 is as follows. First, the product lifter 15 is raised from below the fork 25, As shown in FIG. 2, the restraint plate 20 of the product tray 19 is raised to a position where the restraint plate 20 protrudes above the arm 25 a of the fork 25.
- the suppression plate 20 of the product tray 19 is provided at a side end of the product tray 19 on the side of the processing machine communication part, and is provided at a position where it can pass between the arms 25a. ing.
- the fork 25 is moved to the processing machine communication part 13 side.
- the processed plate material placed on the arm portion 25a of the fork 25 attempts to move to the processing machine communication portion 13 side together with the fork 25, but the movement is suppressed by the suppression plate 20. And is retained in the product loading section 14. Therefore, only the fork 25 moves into the processing machine communication part 13, and the processed plate material is placed on the product tray 19 from the arm part 25 a.
- the material taken out by the above-described substrate transfer device 10 is a glass substrate. Care should be taken when handling materials that are easily damaged. In other words, in the conventional substrate transfer device, the distance to move the substrate before the substrate is taken out is long and the operation is complicated, so there is a risk that the substrate may be damaged on the way. This danger needs to be eliminated as much as possible.
- the stacking of the trays is not good. If the trays are misaligned, the position of the material (substrate) taken out is May not be at the center where it should be. In particular, the tray is gradually distorted due to friction and heat during use, so it is necessary to correct the misalignment caused by these. Is not provided.
- this positioning is performed in a processing device.However, when there are a plurality of types of processing devices fi, the positioning must be accurately performed in the processing device, and the positioning device is suitable for the processing device. A positioning mechanism must be provided, which is inconvenient. Therefore, it is very convenient if positioning can be accurately performed in the substrate transfer device, which is a relay point of each processing device, which will contribute to cost reduction and device miniaturization.
- the present invention mainly solves the above-mentioned problems of the prior art. Even a substrate requiring careful handling can be smoothly removed from the tray, and the processed substrate can be removed again. It is an object of the present invention to provide a substrate loading / unloading device that can be efficiently mounted on a ray.
- Another object of the present invention is to provide a substrate loading / unloading device capable of easily correcting a displacement of a substrate caused by a distortion of a tray or the like and accurately placing the substrate at a fixed position on the tray.
- the present invention has been made to achieve the above-mentioned object, and is a substrate loading / unloading device for performing removal of a substrate from a tray or loading a substrate into the tray.
- a conveyor for moving the pallets loaded with the trays, pallet positioning means for positioning the pallets at predetermined positions on the conveyor, and the pallets being positioned by the positioning means.
- a lift pin that passes through the pallet and the passage hole provided in the tray, lifts the substrate from the tray, and the plurality of trays stacked on the pallet are processed into a target tray.
- a first tray group including and below the tray, and a second tray group above the processing target tray, wherein the lift pins and the first tray are separated.
- the substrate loading / unloading device according to the present invention is a substrate loading / unloading device for removing a substrate from a tray or loading a substrate into the tray, and includes a pallet on which a plurality of trays are stacked.
- the substrate loading and unloading method according to the present invention is a substrate loading and unloading method for removing a substrate from a tray or loading and unloading a substrate into a tray.
- a pallet moving step of moving the pallet a pallet positioning step of positioning the pallet at a predetermined position on the conveyor, and a plurality of trays stacked on the pallet. And a second set of trays located above and below the tray to be processed, and a lift pin for lifting the substrate from the tray to be processed.
- a tray raising / lowering step for raising and lowering the first tray group relatively, and a tray lifting / lowering control step for controlling a relative lifting / lowering operation in the tray lifting / lowering step; Then, when a space is reliably secured between the first tray group and the second tray group by the tray lifting / lowering step, the tip of the lift pin moves a predetermined distance from the tray to be processed.
- the positional relationship between the lift pins and the tray to be processed is controlled so that the substrate can be taken out or loaded.
- FIG. 1 is a diagram schematically showing a conventional substrate carrying-in / out device.
- FIG. 2 is an enlarged view of a main part of a conventional substrate carrying-in / out device.
- FIG. 3 is a configuration diagram schematically showing a substrate loading / unloading device according to the present invention.
- 4A to 4C are diagrams for explaining the pallet positioning operation in the substrate loading / unloading device according to the present invention.
- FIG. 5 is a diagram for explaining the structure and operation of the first positioning unit 112. As shown in FIG.
- FIG. 6 illustrates the structure and operation of the second positioning unit 113.
- FIG. 7 is a flowchart for explaining the operation when removing the substrate from the tray.
- FIG. 8A to 8C are diagrams for explaining the operation of the tray chuck 107.
- FIG. 8A to 8C are diagrams for explaining the operation of the tray chuck 107.
- FIG. 9 is a diagram for explaining the structure of the tray.
- FIGS. 10A to 10C are diagrams for explaining the structure of the tray chuck.
- FIG. 11 is a flowchart for explaining the operation when loading a processed substrate into a tray.
- FIGS. 12A to 12C are diagrams for explaining the structure of the position adjusting member 105.
- FIG. 13 is a diagram for explaining a positional relationship between the position adjusting member 105 and the traicack 107.
- FIG. 14 is a diagram for explaining the operation at the time of tray exchange. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 3 is an external view showing the entire substrate loading / unloading device 100 according to the present invention.
- the substrate loading / unloading device 100 takes out the glass substrates 108 from the plurality of trays stacked on the pallet 101 in order from the bottom of the trays 102, and again processes the processed substrate. It has a function to be mounted on the tray. When substrates are contained in all the trays, the glass substrates 108 are taken out in order from the lowermost tray. Further, for example, when all the trays below a certain tray are empty, the glass substrate 108 can be taken out of the tray or carried into the tray with that stage as a processing target. .
- reference numeral 0 3 denotes a first conveyor for positioning and transporting the pallet 101 on which the loaded tray 102 is placed to the take-out position of the glass substrate 108.
- Reference numeral 104 denotes a second conveyor for sending out the pallets 101 and trays 102 to the first conveyor 103.
- the first conveyor 103 and the second conveyor 104 are connected so as to have the same height from the installation surface (ground) of the apparatus.
- the second conveyor 104 includes a driving roller 104a for moving the pallet 101 in the X direction (both positive and negative directions) and a free roller 1 for supporting the pallet 101 from below. 0 4 b.
- the first conveyor 103 has driving rollers at both ends, and no free roller is provided at the center of the transport surface.
- Reference numeral 105 denotes a lift pin which expands and contracts in a telescopic manner, and passes through the hole 102 a provided with the tray 102 and moves the glass substrate 108 from the tray to a predetermined height. I'm going to lift by a minute.
- the number of the lift pins 105 may be any number as long as the glass substrate # 08 is stable.
- the tip of the lift pin 105 may be covered with a soft material such as rubber so as not to damage the glass substrate 08.
- Reference numeral 106 denotes a tray chuck drive unit, which includes a tray chuck 107.
- the trays 107 for the required number of stages are suppressed by the tray chucks 107 from both sides in the Y direction, and in this state, the tray chuck ⁇ 07 is moved up and down by the tray chuck drive unit 106. It has been made.
- the tray jack 106 is provided with a locking portion (gripping claw) 107 a for locking the marked tray 102.
- Reference numeral 109 denotes a robot for taking out the glass substrate 108 lifted by a predetermined height from the tray 102 by the lift pins 105.
- Reference numeral 110 denotes a U-shaped arm of the robot 109. This arm goes under the glass substrate 108 lifted by the lift pins 105, and sucks and holds the glass substrate 108. Then lift it up and pick it up from the lift pins 105.
- the taken-out glass substrate 108 is processed by a processing device (not shown), and the processed glass substrate 108 (product) is mounted on the tray 102 again. Can also be performed. In this case, the processing substrates are mounted in order from the top of the tray 102.
- the operation of the substrate transport device 100 having the above configuration will be described with reference to FIGS. 4A to 4C.
- FIGS. 4A to 4C are diagrams for explaining the positioning operation when the tray 102 placed on the pallet 101 is transported on the conveyor and arrives at a fixed position for the glass substrate unloading operation.
- FIG. 4A to 4C are diagrams for explaining the positioning operation when the tray 102 placed on the pallet 101 is transported on the conveyor and arrives at a fixed position for the glass substrate unloading operation.
- the pallet 101 on which the tray 102 is placed is transported from the upstream side of the conveyor (positive direction of the X-axis) to the downstream side (negative direction of the X-axis) of the first conveyor.
- Conveyor 103 is controlled to stop when it comes into contact with positioning block 111 provided at one end (downstream end) of 103.
- the stop operation of the conveyor No. 03 is performed by a sensor (not shown) for detecting that the positioning stopper 101a of the pallet 101 abuts on the positioning block 111. Have been. When this sensor detects the contact of the pallet 101 with the positioning block 111, it stops only the conveyor 103.
- a sensor is provided, and a mechanism is used in which the mechanical switch is turned on when the knob 101 comes into contact with the positioning block 111. You may.
- the first conveyor ⁇ 03 stops as shown in FIG. 4B, the first positioning unit 112 from the end of the pallet 101 with respect to the traveling direction moves the conveyor 103 from the end. It protrudes from the lower surface, sandwiches the pallet 103 with the positioning block 111, fixes the pallet by positioning in the direction of travel (X-axis direction).
- the more detailed structure of the first positioning unit 112 will be described later with reference to FIG.
- the conveyor 103 has drive (eg, chain drive) rollers at both ends, and the center of the transfer surface is vacant. Therefore, the lifting unit 114 shown in FIG. Lift the palette 1 0 1 several centimeters from the bottom of 0 3.
- the first positioning unit 1 1 2 also has a mechanism in which the contact surface 1 1 a with the pallet 101 1 a rises several centimeters according to the lift operation of the lifting unit 114 (details). Will be described later).
- the top and bottom of the lifting unit 114 is a free roller (the rotation direction is the Y-axis direction), the palette 101 can move easily in a horizontal plane.
- the second positioning units 113 project from the conveyor 103 in the river width direction (X-axis direction). (The other unit is not shown and protrudes from the opposite side.) Hold the conveyor 101 from both sides in the ⁇ -axis direction (river width direction) of the conveyor 103, and move in the Y-axis direction. Is performed.
- the positioning unit since the pallet 101 is lifted from below by the lifting unit 114, the positioning unit has the same structure as the first positioning unit 112.
- the contact surface (roller portion) 1 1 a of the block 1 1 1 also follows a few centimeters and rises.
- the second positioning unit 113 is moved. Move away from the pallet 1 0 1.
- the lifting unit 114 is lowered, and the loading / unloading operation of the glass substrate 108 is started.
- a lower limit sensor is provided in the descending unit 1 14, and the sensor is set to 0 N when it descends after ascending, so that it can start the next board unloading operation. It becomes a trigger signal.
- the pallet sandwiching operation by the positioning blocks 111 and the second positioning unit ⁇ 12 is continued until the glass substrates 108 placed on all the trays 102 are taken out. You.
- FIG. 5 is a diagram showing details of the first positioning unit 112. As shown in FIG. As shown in FIG. 5, when the first positioning unit 112 is in the standby state, it is arranged in the position W. Further, the working portion 115 a of the cylinder 115 is also arranged in the position W. When detecting that the pallet 101 has contacted the positioning block 111, a control signal is sent to the cylinder 115. In response to the control signal, the working unit 1 15a is moved from position W to position S by the cylinder so that the second positioning unit 1 1 2 is set from position W in the standby state to position S ⁇ in the positioning state. Move to 1.
- the contact of the first positioning unit ⁇ 12 with the pallet 101 is made via a roller 112a, and the roller 112a is centered on the shaft 112b.
- the pallet 101 is positioned in the traveling direction (X-axis direction) on the conveyor, and then the pallet 101 is lifted by the lifting unit 114 from the lower surface of the conveyor.
- the pallet 101 is lifted, positioning in the X-axis direction is performed.
- the center of the pallet 101 is aligned with the center axis 112 so that the roller 112 can follow the pallet 101. Slide against it.
- the shaft of the central axis 1 1 2b is somewhat longer.
- FIG. 6 is a diagram showing details of the second positioning unit 113.
- the operation ⁇ 16a of the cylinder ⁇ ⁇ ⁇ ⁇ 6 is also arranged in the position W.
- a control signal is sent to the cylinder 115.
- the working unit 1 16a is moved from position W to position S by the cylinder so that the second positioning unit 1 13 is set from position W in the standby state to position S 2 in the positioning state according to the control signal.
- Move to 2 The second positioning unit is provided at both ends of the conveyor 103 in order to position the pallet 101 so that the side surface in the Y-axis direction is sandwiched from both sides.
- FIG. 7 is a flowchart for explaining the operation of taking out the glass substrate 108.
- FIGS. 8A to 8C are diagrams showing the operation when the tray is lifted.
- FIG. 9 is a diagram showing the structure of the tray 102.
- step S701 the above-described pallet positioning operation is performed.
- the operation proceeds to step S702.
- the tray chuck 107 has a locking portion (gripping claw) 107a, and the locking portion (gripping claw) 107a is an extended portion of the tray 102 (locked claw). Part)
- the structure is such that it is locked to 102 a and only the locked tray is lifted. After confirming the gripping operation of the tray 102 by the tray chuck 107 and the raising operation by the tray chuck driving unit 106, the process proceeds to step 704.
- step S704 the lift pins 105 are raised, and the glass substrate 108 is lifted from the first tray.
- the lift pins 105 are set so as to always rise by a constant stroke. This rising stroke has a thickness of one tray, and is set to, for example, 3 Om m.
- step S705 the robot hand 110 of the robot 109 takes out the glass substrate 108. In this case, it is considered that the removal of the glass substrate is completed by the posture change signal of the robot 109, and the process proceeds to step S706.
- step S706 when the glass substrate is taken out, the lift pins 105 raised in step S704 are lowered, and when the completion of the lowering operation is confirmed, the tray chuck 107 is further lowered. .
- the lowering stroke of the lift pin is set to, for example, 95 mm.
- the bottom is 15 mm below the tray.
- the initial rise is set to 95 mm, and it is set to descend 95 mm after the substrate is removed.
- the descending stroke is always set to 95 mm, but the ascent stroke is always the initial value of 95 mm + (30 mm x number of ascents).
- step S707 it is determined whether the number of processing steps k is equal to the number n of trays 102, that is, whether or not all the glass substrates 108 have been taken out. The operation ends. If there are still trays that have not been removed, the process proceeds to step S708. Preparations are made for the next tray, and the processing from step S703 to step S706 is repeated. For the trays in the third and subsequent stages, the tray chuck 7 07 restores the tray 102 once lowered to its original state, then raises the whole by 30 mm and resumes gripping. .
- step S703 When the glass substrate 108 is taken out from the last (n-th) tray, there is no tray lifted in step S703, so a lid exists on the ⁇ -th tray. In that case only the lid is lifted. If there is no lid, nothing will be lifted and all trays will be stacked on pallet # 01.
- tray chuck 106 Normally, trays 102 are processed in order from the bottom, but every time they are processed, all trays are returned to the original state (all trays are stacked), and tray chuck ⁇ 07 Release the grip. Then, the tray chuck 106 rises by 30 mm, and the tray to be processed is left, and the tray above it is gripped and lifted. This is the basic operation of the tray chuck 106.
- the tray chuck 106 is divided into three parts, each of which can hold and lift a tray of, for example, 20 steps. I have.
- the tray of the entire tray chuck can be gripped and lifted by 60 steps.
- each tray chuck enters a standby state.
- the lower tray chuck ⁇ 07 d is in a standby state, and when processing of the 21st to 40th tray is completed, the middle tray is processed.
- the chuck 107c enters a standby state.
- the tray chuck 107 holds and lifts the tray 40 in the upper 40 steps.
- the tray chuck is lowered to return the tray to its original state.
- the entire tray chuck 107 is lowered to a position where the step-down of the tray 102 (also called a gripping operation release or tray separating operation) is started.
- the position at which the separation is started means the position of the uppermost tray among the processed trays stacked.
- the reason why the tray chuck 107 is divided into three units is to reduce the height of the entire apparatus as much as possible. In other words, if three tray chucks always move up and down, the processing height of nearly 60 steps requires almost twice the height of the tray. Is unable to respond.
- tray chuck 107 when the tray chuck 107 is divided as in the present embodiment, for example, if the apparatus is capable of processing 60 stages of trays, approximately (60 + 20) stages are required. All that is required is the height.
- the number of tray chucks is not limited to three, but may be any number technically. (Structure of tray chuck 107)
- FIGS. 1OA to 0C show the structure of the tray chuck 107.
- FIG. FIG. 10A is a schematic front view of the tray chuck
- FIG. 10B is a schematic side view of the tray chuck
- FIG. 10C is an enlarged view of a driving portion P for gripping the tray chuck.
- the tray chuck 107 is provided on a tray chuck drive unit 106 via a tray chuck holder 104, for example, to three units 107 b to d. It is divided and has 20 stages of gripping claws 107 a (not shown in FIG. 1 OA). Each of the units 107 b to d includes four vertical pillars 103 connected by a first bar 1001.
- a second fixed (fixed by the connecting block 106) provided so as to protrude from the tray chuck holder 104.
- the bar 1002 and the first bar 1001 are connected to each other via a guide rail 1009 and a slider 110.10.
- a cylinder shaft 1007 is fixed to the tray chuck 1004, and a cylinder operating section 1008 is provided to the first bar 1001. Therefore, the first bar 1001 moves in the direction of arrow G (the direction of the Y axis in FIG. 3). Since the vertical bar 1003 to which the units 107b to d are attached is fixed to the first bar 1001, the unit 107b to d also turns the arrow G by this operation. The tray moves in the direction, so that the tray can be gripped.
- the pole screw 101 is rotated by the servomotor 11012 provided in the tray chuck drive unit 106, thereby the tray chuck holder. 1 0 4 is controlled to move up and down in the H direction.
- the position adjusting member 1005 is provided on the second bar 1002, This is used particularly when a processed glass substrate is put into a tray, and its operation will be described later.
- the position adjusting member 105 is provided in each unit 107b to 107d.
- FIG. 11 shows a state in which the glass substrate 108 is taken out of the tray 102, processed by a predetermined processing device (not shown), and then the processed glass substrate 108 is put into the tray 102 again.
- a predetermined processing device not shown
- FIG. 11 shows a state in which the glass substrate 108 is taken out of the tray 102, processed by a predetermined processing device (not shown), and then the processed glass substrate 108 is put into the tray 102 again.
- step S111 the pallet 101 on which the empty trays 102 are stacked and loaded is first set at a fixed position of the first conveyor 103.
- the trays are counted as 1 stage, 2 stages, ... n stages from the bottom.
- step S1102 the nozzle 101 is positioned.
- This positioning operation is the same as the above-described positioning operation (step S701 in FIG. 7) at the time of the glass substrate unloading operation, and a description thereof will be omitted.
- step S114 the lid that covers the uppermost (n-th) tray is gripped by the tray chuck 107 and lifted.
- the processing shifts to step S1105.
- the delivery of the substrate at the time of carrying in the substrate is always performed at a predetermined position (for example, 80 mm) on the tray. Therefore, the first lift pin 1 0
- 30 mm is equivalent to the height of the tray, which is one rise.
- step S1106 the robot hand 110 holding the processed glass substrate 108 enters the uppermost tray.
- the robot hand 110 stops when it reaches a preset position (8 Omm on the tray). If it is confirmed that the operation has stopped, the process proceeds to step S111.
- step S ⁇ 107 the holding operation by the robot hand 110 is switched from suction holding to floating holding by air blowing.
- the floating of the board at this time is about several millimeters from above the hand, and this is performed for the purpose of preventing damage to the board due to a position adjustment operation (positioning of the board 108) described later.
- step S1108 while the substrate is held in a floating state by the robot hand 110, the position adjusting member 1005 approaches from the four directions of the substrate 108, and the position adjustment (positioning) in the long side direction is performed first. Is performed.
- the position adjusting member 1005 first comes into contact with the tray 102, not the substrate 108. That is, the tray position check roller 1203a (see FIG. 11) of the grip position adjusting member 1005 comes into contact with the tray 102, and the position of the side (long side) parallel to the X axis is first checked. Subsequently, the position of the substrate 108 in the X-axis direction is adjusted (positioned) by the substrate position adjusting roller 1202a so as to follow the position of the tray 102. It is.
- step S1109 the position of the short side of the tray 102, that is, the side parallel to the Y axis, is confirmed by the roller 1203b. Further, the position of the substrate 108 in the Y-axis direction is adjusted (positioned) by the substrate position adjusting roller # 202b so as to follow the position of the tray # 02. That is, as shown in FIG. 12A, the glass substrate 108 is loaded so that the center point of the glass substrate 108 always coincides with the center point 0 of the tray 102. In addition, since the tray position confirmation doors ⁇ 203 a and b are engaged with the four corners of the tray 102, unnecessary No force is applied.
- step SI110 the robot hand 1-0 passes the substrate 108 to the lift pin 105, and then in step S1111, the lift pin 105 descends and the substrate 108 In the tray 102.
- the descending stroke is 125 mm (8 O mm + 3 O mm + 15 mm) in this embodiment.
- the reason why the length is 15 mm is that the lift pin 105 is set to wait at 15 mm below the tray 102.
- step S111 the tray chuck 107 is lowered, and all the trays above the lid and the tray to be processed which have been lifted by the tray chuck 107 are empty trays. It is returned to the top and placed on the pallet 10 mm. That is, the entire tray is once returned to the pallet. This completes the loading operation of the first substrate, and thereafter, the above operations are repeated up to the last substrate.
- the above loading operation is basically repeated until the processing of the lowermost tray is completed.
- the substrate 108 can always be accurately accommodated in a predetermined position of the tray even if the tray has some distortion or undulation. You can (Senyu ring).
- the glass substrate can be controlled so as to be carried into an arbitrary tray.
- the tray below the tray to be processed needs to be empty.
- FIG. 12A is a top view of the substrate take-out / load-in position.
- the tray 102 shows a state where the glass substrate 108 is finished.
- the position adjusting member 1005 is fixed to both ends of the second bar 1002. Therefore, one set is provided for each tray chuck 107 b to d.
- FIG. 12B is an enlarged view of the position adjusting member 1005.
- This position adjustment member Reference numeral 1 2005 denotes a centering member 1 201 and two tray position confirmation rollers 1 2 0 3 provided on the lower surface thereof, and 2 0 3 a and b and 2 substrate position adjustment rollers 1 2 0 provided on the upper surface. 2 a and b are provided so that the cylinder can move in the X-axis direction by the cylinder 124, and the cylinder can move in the X-axis direction by the cylinder 125.
- FIG. 12C is a sectional view of the position adjusting member 1005. Figures ⁇ 28 and ⁇ show the positional relationship of each roller.
- FIG. 13 is an enlarged view showing the structure of the tray chuck 107 (for one unit). From this, the relationship between the position adjusting member 105 and the tray chuck 107 can be clearly understood. Position adjustment members 1005 are provided at both ends of the second bar 1002 at the bottom of one unit. By providing the position adjusting member 105 at the bottom of one unit in this way, it is possible to appropriately cope with the tray 102 to which the substrate 108 is to be loaded. In addition, by integrating the tray chuck 107 and the position adjusting member 105 in this way, it contributes to downsizing of the apparatus.
- the position adjusting member ⁇ 05 is fixed to the second bar via the cylinders 124, 125 that enable it to move forward, backward, left, and right. Then, as described in step S1108 above, the position of the tray in the long side direction is confirmed by the back and forth operation of the cylinder 124, and as described in step S1109. The position of the tray in the short side direction is confirmed by the back and forth movement of the cylinder 125. As described above, the tray position confirmation rollers 1203 a and b contribute to the tray position confirmation.
- Fig. 14 shows that the board loading / unloading device shown in Fig. 3 is further equipped with a pallet sorter 1401 and a A sorting conveyor 1442 that moves back and forth parallel to the axis, and a relay conveyor 1443 are provided.
- the pallet on which the processed tray is placed is moved from the first conveyor 103 to the second conveyor 104, transferred to the relay conveyor 144, and then stopped. Then, instead of moving the processed tray from the second conveyor 104 to the relay conveyor 144, the pallet on which a new tray is placed from the position SB of the sorting conveyor 144 is replaced with: It is arranged at a fixed position of the first conveyor 103 via the second conveyor 104. After that, the sorting conveyor 1402 moved to the end 1401a by the pallet machine 1401 and received the processed tray from the relay conveyor 1443 again. Soviet conveyor 1402 returns to position SB and unloads the processed tray. Then, the operation shifts to the positioning operation, the substrate removing operation or the processed substrate loading operation as described above.
- the height of the first and second conveyors 103 and 104 is fixed, and the glass substrate 1 is moved up and down by lifting the lift pins 105. 08 is lifted up and taken out Z is carried in.Therefore, it is not necessary to raise and lower the first and second conveyors 103 and 104 themselves, so that the operation of the device can be simplified and the This is effective for saving space, especially when the height is limited.
- the pins are fixed, so the pin length (the length of the number of trays) as the absolute length and the height of the number of trays are the minimum requirements for the equipment.
- the lift pins are raised and lowered, so that the device height of twice the number of trays is not required.
- the weight of each tray is Not so much, but it can be quite heavy when stacked in layers. In such a case, it is important to minimize the vertical movement itself of the heavy object, which can be realized in the present embodiment.
- the lift pins 105 are moved to a position higher than the uppermost tray (the tray to be processed). Since the tray is returned to the bottom, even if the tray chuck 107 is accidentally released, there is no worry that the lift pins 105 will pierce the glass substrate 108 stored in the untreated tray. The risk of breakage of the glass substrate 108 is dramatically reduced. If the pin is fixed and the tray chuck comes off, it is easy to imagine that most of the glass substrates stored in the gripped tray are likely to be damaged.
- the tray and the glass substrate position adjusting mechanism 1005 are provided especially when the treated glass substrate is reloaded. Even if the strain caused by wear during use is on the tray, the position of the substrate on the tray can be kept constant.
- the tray chuck 107 is divided into three to provide three units having the same structure and operation. For example, at the stage when the processing of the tray for each of the 20 stages is completed. Since the unit to be operated by the chuck is reduced, the height of the device can be minimized, Can be realized.
- the number of tray chucks is not limited to three, and the number of trays that can be gripped by the unit is not limited to twenty steps.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Warehouses Or Storage Devices (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006510368A JP4516067B2 (ja) | 2004-03-01 | 2004-03-01 | 基板搬出入装置および基板搬出入方法 |
CNA2004800421768A CN1922087A (zh) | 2004-03-01 | 2004-03-01 | 基板输出输入装置以及基板输出输入方法 |
PCT/JP2004/002471 WO2005082751A1 (ja) | 2004-03-01 | 2004-03-01 | 基板搬出入装置および基板搬出入方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/002471 WO2005082751A1 (ja) | 2004-03-01 | 2004-03-01 | 基板搬出入装置および基板搬出入方法 |
Publications (1)
Publication Number | Publication Date |
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WO2005082751A1 true WO2005082751A1 (ja) | 2005-09-09 |
Family
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Family Applications (1)
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PCT/JP2004/002471 WO2005082751A1 (ja) | 2004-03-01 | 2004-03-01 | 基板搬出入装置および基板搬出入方法 |
Country Status (3)
Country | Link |
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JP (1) | JP4516067B2 (ja) |
CN (1) | CN1922087A (ja) |
WO (1) | WO2005082751A1 (ja) |
Cited By (4)
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KR100820755B1 (ko) | 2006-12-04 | 2008-04-11 | 주식회사 신성이엔지 | 평판자재 낱장 이송용 다단이송장치 |
CN108820795A (zh) * | 2018-07-13 | 2018-11-16 | 广州精陶机电设备有限公司 | 一种大幅面打印机的定位机架及定位方法 |
CN109250502A (zh) * | 2018-10-18 | 2019-01-22 | 深圳市华星光电半导体显示技术有限公司 | 基板输送装置 |
WO2020170547A1 (ja) * | 2019-02-19 | 2020-08-27 | 村田機械株式会社 | 搬送システム |
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US8926255B2 (en) * | 2007-08-02 | 2015-01-06 | Hirata Corporation | Component transfer apparatus and method |
JP4921316B2 (ja) * | 2007-10-22 | 2012-04-25 | 株式会社ディスコ | ワーク収納搬送装置及び該ワーク収納搬送装置を備えた切削装置 |
CN101656222B (zh) * | 2009-07-29 | 2011-07-27 | 东莞宏威数码机械有限公司 | 嵌套顶柱设备 |
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JP2013074112A (ja) * | 2011-09-28 | 2013-04-22 | Yaskawa Electric Corp | ハンドおよび基板搬送装置 |
CN103508214A (zh) * | 2013-10-11 | 2014-01-15 | 武汉人天包装技术有限公司 | 托盘自动拆分机 |
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US10901328B2 (en) * | 2018-09-28 | 2021-01-26 | Applied Materials, Inc. | Method for fast loading substrates in a flat panel tool |
CN111337511B (zh) * | 2020-04-21 | 2020-10-27 | 渭南高新区木王科技有限公司 | 一种集成电路板自动化检测线 |
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Citations (1)
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JP2003341845A (ja) * | 2002-05-22 | 2003-12-03 | Fujitsu Ltd | 部品供給装置 |
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JP2913439B2 (ja) * | 1993-03-18 | 1999-06-28 | 東京エレクトロン株式会社 | 移載装置及び移載方法 |
JP4270434B2 (ja) * | 2002-11-29 | 2009-06-03 | シャープ株式会社 | 基板移載装置並びに基板の取り出し方法および基板の収納方法 |
JP4003882B2 (ja) * | 2003-09-26 | 2007-11-07 | シャープ株式会社 | 基板移載システム |
-
2004
- 2004-03-01 WO PCT/JP2004/002471 patent/WO2005082751A1/ja active Application Filing
- 2004-03-01 CN CNA2004800421768A patent/CN1922087A/zh active Pending
- 2004-03-01 JP JP2006510368A patent/JP4516067B2/ja not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003341845A (ja) * | 2002-05-22 | 2003-12-03 | Fujitsu Ltd | 部品供給装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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KR100820755B1 (ko) | 2006-12-04 | 2008-04-11 | 주식회사 신성이엔지 | 평판자재 낱장 이송용 다단이송장치 |
CN108820795A (zh) * | 2018-07-13 | 2018-11-16 | 广州精陶机电设备有限公司 | 一种大幅面打印机的定位机架及定位方法 |
CN108820795B (zh) * | 2018-07-13 | 2024-04-09 | 广州精陶机电设备有限公司 | 一种大幅面打印机的定位机架及定位方法 |
CN109250502A (zh) * | 2018-10-18 | 2019-01-22 | 深圳市华星光电半导体显示技术有限公司 | 基板输送装置 |
WO2020170547A1 (ja) * | 2019-02-19 | 2020-08-27 | 村田機械株式会社 | 搬送システム |
JPWO2020170547A1 (ja) * | 2019-02-19 | 2021-10-14 | 村田機械株式会社 | 搬送システム |
JP7192960B2 (ja) | 2019-02-19 | 2022-12-20 | 村田機械株式会社 | 搬送システム |
Also Published As
Publication number | Publication date |
---|---|
JPWO2005082751A1 (ja) | 2008-01-17 |
JP4516067B2 (ja) | 2010-08-04 |
CN1922087A (zh) | 2007-02-28 |
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