WO2008111410A1 - 基板搬送ロボット - Google Patents

基板搬送ロボット Download PDF

Info

Publication number
WO2008111410A1
WO2008111410A1 PCT/JP2008/053622 JP2008053622W WO2008111410A1 WO 2008111410 A1 WO2008111410 A1 WO 2008111410A1 JP 2008053622 W JP2008053622 W JP 2008053622W WO 2008111410 A1 WO2008111410 A1 WO 2008111410A1
Authority
WO
WIPO (PCT)
Prior art keywords
linear motion
section
motion mechanism
belt
end effector
Prior art date
Application number
PCT/JP2008/053622
Other languages
English (en)
French (fr)
Inventor
Kenichi Motonaga
Hidenari Ono
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to JP2009503967A priority Critical patent/JP5195745B2/ja
Publication of WO2008111410A1 publication Critical patent/WO2008111410A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • H01L21/683—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 supporting or gripping
    • H01L21/687—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 supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
    • H01L21/68707—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 supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance

Abstract

　コンパクトな直動軸で搬送軌跡精度を向上させたロボットを提供すること。 　エンドエフェクタ（９４）を最先端のアーム（３７）に対して直線状に駆動する直動機構部（９３）を備え、アーム部（９２）と直動機構部（９３）を駆動して基板（９５）を所望の位置に搬送する搬送ロボット（９０）において、直動機構部（９３）が、最先端のアーム（３７）に搭載される第１及び第２のプーリ（３４）、（３７）と、第１及び第２のプーリ（３４）、（３７）に巻装されるベルト（３６）と、ベルト（３６）の近傍に設置される案内ガイド（３９）と、案内ガイド（３９）とベルト（３６）に連結されるとともに、エンドエフェクタ（９４）を搭載するエンドエフェクタ搭載部（４０）と、から構成され、第１または第２のプーリ（３４）、（３７）を回転させる直動機構駆動用モータ（５）を、本体部（９１）に設けるよう構成した。
PCT/JP2008/053622 2007-03-14 2008-02-29 基板搬送ロボット WO2008111410A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009503967A JP5195745B2 (ja) 2007-03-14 2008-02-29 基板搬送ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-064481 2007-03-14
JP2007064481 2007-03-14

Publications (1)

Publication Number Publication Date
WO2008111410A1 true WO2008111410A1 (ja) 2008-09-18

Family

ID=39759353

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/053622 WO2008111410A1 (ja) 2007-03-14 2008-02-29 基板搬送ロボット

Country Status (3)

Country Link
JP (1) JP5195745B2 (ja)
TW (1) TW200849450A (ja)
WO (1) WO2008111410A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011069409A1 (zh) * 2009-12-10 2011-06-16 北京北方微电子基地设备工艺研究中心有限责任公司 一种机械手臂装置及包括该机械手臂装置的基片处理系统
CN104260108A (zh) * 2014-09-09 2015-01-07 上海浩淼自动化设备有限公司 Scara型机械手臂
CN106003009A (zh) * 2016-06-15 2016-10-12 广东工业大学 一种隔轴同步驱动机械手
KR20180061393A (ko) * 2015-10-23 2018-06-07 어플라이드 머티어리얼스, 인코포레이티드 로봇 조립체들, 기판 프로세싱 장치, 및 전자 디바이스 제조에서 기판들을 운송하기 위한 방법들
CN108789399A (zh) * 2017-05-05 2018-11-13 沈阳新松机器人自动化股份有限公司 一种轻惯量机械手臂
CN112635378A (zh) * 2020-12-25 2021-04-09 上海广川科技有限公司 一种晶圆传输系统
CN112744311A (zh) * 2020-12-04 2021-05-04 北京理工大学 腿部平衡结构及包含该腿部平衡结构的仿生机器人
CN113021324A (zh) * 2019-12-09 2021-06-25 宁波智能制造技术研究院有限公司 一种机器人用阶梯式同轴传动机构
CN114851216A (zh) * 2022-04-18 2022-08-05 湖南宁庆航空航天智能装备有限公司 一种多自由度取料机械手

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6499826B2 (ja) * 2014-01-29 2019-04-10 日本電産サンキョー株式会社 産業用ロボット
CN105479451B (zh) * 2015-12-29 2017-06-20 哈尔滨工业大学 一种平面冗余度机器人
CN109760029B (zh) * 2019-03-22 2020-09-01 中国电子科技集团公司第三十八研究所 基于同步带轮传动的扁平型单臂机器人
CN109760036A (zh) * 2019-03-22 2019-05-17 中国电子科技集团公司第三十八研究所 基于同步带轮传动的仿人双臂协作机器人
CN111823216A (zh) * 2020-07-22 2020-10-27 广州大学 一种机器人实验平台

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0492446A (ja) * 1990-08-07 1992-03-25 Plasma Syst:Kk 基板搬送ロボット
JPH106267A (ja) * 1996-06-20 1998-01-13 Tokico Ltd 工業用ロボット
JP2001148410A (ja) * 1999-09-06 2001-05-29 Tokyo Electron Ltd 半導体処理用の搬送装置及び収容装置、並びに半導体処理システム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4302693B2 (ja) * 2003-05-30 2009-07-29 東京エレクトロン株式会社 真空処理室の蓋体開閉機構および蓋体開閉方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0492446A (ja) * 1990-08-07 1992-03-25 Plasma Syst:Kk 基板搬送ロボット
JPH106267A (ja) * 1996-06-20 1998-01-13 Tokico Ltd 工業用ロボット
JP2001148410A (ja) * 1999-09-06 2001-05-29 Tokyo Electron Ltd 半導体処理用の搬送装置及び収容装置、並びに半導体処理システム

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011069409A1 (zh) * 2009-12-10 2011-06-16 北京北方微电子基地设备工艺研究中心有限责任公司 一种机械手臂装置及包括该机械手臂装置的基片处理系统
CN104260108A (zh) * 2014-09-09 2015-01-07 上海浩淼自动化设备有限公司 Scara型机械手臂
KR20180061393A (ko) * 2015-10-23 2018-06-07 어플라이드 머티어리얼스, 인코포레이티드 로봇 조립체들, 기판 프로세싱 장치, 및 전자 디바이스 제조에서 기판들을 운송하기 위한 방법들
KR102182483B1 (ko) 2015-10-23 2020-11-24 어플라이드 머티어리얼스, 인코포레이티드 로봇 조립체들, 기판 프로세싱 장치, 및 전자 디바이스 제조에서 기판들을 운송하기 위한 방법들
CN106003009A (zh) * 2016-06-15 2016-10-12 广东工业大学 一种隔轴同步驱动机械手
CN106003009B (zh) * 2016-06-15 2018-05-18 广东工业大学 一种隔轴同步驱动机械手
CN108789399A (zh) * 2017-05-05 2018-11-13 沈阳新松机器人自动化股份有限公司 一种轻惯量机械手臂
CN113021324A (zh) * 2019-12-09 2021-06-25 宁波智能制造技术研究院有限公司 一种机器人用阶梯式同轴传动机构
CN112744311A (zh) * 2020-12-04 2021-05-04 北京理工大学 腿部平衡结构及包含该腿部平衡结构的仿生机器人
CN112635378A (zh) * 2020-12-25 2021-04-09 上海广川科技有限公司 一种晶圆传输系统
CN112635378B (zh) * 2020-12-25 2023-05-16 上海广川科技有限公司 一种晶圆传输系统
CN114851216A (zh) * 2022-04-18 2022-08-05 湖南宁庆航空航天智能装备有限公司 一种多自由度取料机械手

Also Published As

Publication number Publication date
JPWO2008111410A1 (ja) 2010-06-24
JP5195745B2 (ja) 2013-05-15
TW200849450A (en) 2008-12-16

Similar Documents

Publication Publication Date Title
WO2008111410A1 (ja) 基板搬送ロボット
WO2005097540A3 (de) Stellantrieb
WO2007076326A3 (en) Reciprocating drive apparatus and method
ATE291993T1 (de) Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm
EP1712254A4 (en) DEVICE FOR LIMITING THE RADIATION AREA
US20130081502A1 (en) Robot with reducer
WO2008094212A3 (en) Belt-driven robot having extended z-axis motion
EP2165916A3 (en) Cart moving machine
WO2009118547A3 (en) Slat deployment mechanism
ATE485135T1 (de) Roboterstruktur vom scara-typ und entsprechender roboter
ZA200705636B (en) Gripper device
WO2007143859A8 (en) Surgical manipulator with right-angle pulley drive mechanisms
WO2006108380A3 (de) Verfahren und vorrichtung zur positionierung eines bauelements
EP1746668A3 (de) Antriebsvorrichtung zum linearen Bewegen von länglichen Körpern
EP2116383A3 (en) Conveying apparatus and recording apparatus
WO2004094296A8 (en) Discharge arm assembly with guiding cable
WO2007129059A3 (en) Drive arrangement
GB201213061D0 (en) Saw
ATE511942T1 (de) Förderbandmodul
WO2011029206A8 (en) Suction device
EP2100695A3 (en) Processing machine with reciprocation device
WO2009034826A1 (ja) 昇降送り機構及びこれを備えたワーク搬送装置、並びに直動装置
WO2007079709A3 (de) Werkstückträger mit zwei führungseinrichtungen
WO2007105057A3 (en) Industrial door
EP1518468A3 (de) Fördertrommel mit Spanneinrichtung

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08712144

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2009503967

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08712144

Country of ref document: EP

Kind code of ref document: A1