WO2009028178A1 - 産業用ロボット - Google Patents

産業用ロボット Download PDF

Info

Publication number
WO2009028178A1
WO2009028178A1 PCT/JP2008/002319 JP2008002319W WO2009028178A1 WO 2009028178 A1 WO2009028178 A1 WO 2009028178A1 JP 2008002319 W JP2008002319 W JP 2008002319W WO 2009028178 A1 WO2009028178 A1 WO 2009028178A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
hand
industrial robot
holding
pivot center
Prior art date
Application number
PCT/JP2008/002319
Other languages
English (en)
French (fr)
Inventor
Takayuki Yazawa
Hiroto Nakajima
Original Assignee
Nidec Sankyo Corporation
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 Nidec Sankyo Corporation filed Critical Nidec Sankyo Corporation
Priority to CN200880105098.XA priority Critical patent/CN101790441A/zh
Priority to US12/675,807 priority patent/US8882430B2/en
Publication of WO2009028178A1 publication Critical patent/WO2009028178A1/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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • H01L21/677—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 conveying, e.g. between different workstations
    • H01L21/67739—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 conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67742—Mechanical parts of transfer devices
    • 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

産業用ロボット（１）は、複数の搬送対象物（２）を搭載する第１ハンド（３）、第２ハンド（４）と、第１ハンド（３）、第２ハンド（４）をそれぞれ保持する第１アーム（５）、第２アーム（６）と、第１アーム（５）および第２アーム（６）を保持する共通アーム（７）と、共通アーム（７）に対する第１アーム（５）、第２アーム（６）のそれぞれの回動中心となる第１回動中心部（３１）、第２回動中心部（４１）と、共通アーム（７）を保持する本体部とを備えている。第１ハンド（３）と第２ハンド（４）とはロボット（１）の旋回動作時に重なるように配置され、第１ハンド（３）および第２ハンド（４）には、第１回動中心部（３１）および第２回動中心部（４１）との干渉を防止するための逃げ部（４３、４４）が形成されている。これにより、産業用ロボット（１）は、旋回径を小さくしつつ、１回の搬入動作あるいは搬出動作で複数の搬送対象物（２）を搬送することが可能となる。
PCT/JP2008/002319 2007-08-31 2008-08-27 産業用ロボット WO2009028178A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN200880105098.XA CN101790441A (zh) 2007-08-31 2008-08-27 工业用机器人
US12/675,807 US8882430B2 (en) 2007-08-31 2008-08-27 Industrial robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007225687A JP5102564B2 (ja) 2007-08-31 2007-08-31 産業用ロボット
JP2007-225687 2007-08-31

Publications (1)

Publication Number Publication Date
WO2009028178A1 true WO2009028178A1 (ja) 2009-03-05

Family

ID=40386918

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002319 WO2009028178A1 (ja) 2007-08-31 2008-08-27 産業用ロボット

Country Status (6)

Country Link
US (1) US8882430B2 (ja)
JP (1) JP5102564B2 (ja)
KR (1) KR101574357B1 (ja)
CN (2) CN104647368B (ja)
TW (1) TWI462812B (ja)
WO (1) WO2009028178A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160007420A (ko) 2014-07-10 2016-01-20 니혼 덴산 산쿄 가부시키가이샤 산업용 로봇

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2207909B1 (en) * 2007-10-24 2012-08-29 OC Oerlikon Balzers AG Method for manufacturing workpieces and apparatus
TWI691388B (zh) * 2011-03-11 2020-04-21 美商布魯克斯自動機械公司 基板處理裝置
JP5818345B2 (ja) * 2011-04-27 2015-11-18 日本電産サンキョー株式会社 回転機構、産業用ロボットおよび回転体の原点位置復帰方法
JP5871550B2 (ja) * 2011-10-07 2016-03-01 株式会社アルバック 搬送ロボット及び真空装置
WO2013154863A1 (en) * 2012-04-12 2013-10-17 Applied Materials, Inc Robot systems, apparatus, and methods having independently rotatable waists
JP2014093420A (ja) * 2012-11-02 2014-05-19 Toyota Motor Corp ウェハを支持ディスクに接着する治具、および、それを用いた半導体装置の製造方法
CN103802100B (zh) * 2012-11-08 2016-06-01 沈阳新松机器人自动化股份有限公司 机械手
CN103802099A (zh) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 一种机械手机构
CN103802090A (zh) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 一种双臂搬运机械手
US10224232B2 (en) 2013-01-18 2019-03-05 Persimmon Technologies Corporation Robot having two arms with unequal link lengths
JP6487266B2 (ja) * 2015-04-27 2019-03-20 日本電産サンキョー株式会社 製造システム
JP6487267B2 (ja) * 2015-04-27 2019-03-20 日本電産サンキョー株式会社 製造システム
KR102139934B1 (ko) * 2018-02-21 2020-08-03 피에스케이홀딩스 (주) 기판 처리 장치, 및 이를 이용하는 기판 처리 방법
KR101931290B1 (ko) * 2018-09-12 2018-12-20 주식회사 싸이맥스 7축 이송로봇
JPWO2021206071A1 (ja) * 2020-04-07 2021-10-14

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04258148A (ja) * 1991-02-12 1992-09-14 Tokyo Electron Ltd 板状体の搬送装置
JPH07142552A (ja) * 1993-11-20 1995-06-02 Tokyo Electron Ltd 搬送アーム装置及びこれを用いた処理室集合装置
JPH11325102A (ja) * 1998-05-19 1999-11-26 Yasuhito Itagaki ショックリミッターおよびそれを用いた搬送ロボット
JP2001185596A (ja) * 1999-12-22 2001-07-06 Jel:Kk 搬送アーム
JP2002504744A (ja) * 1997-11-28 2002-02-12 マットソン テクノロジイ インコーポレイテッド 真空処理を行う非加工物を、低汚染かつ高処理能力で取扱うためのシステムおよび方法
JP2002222845A (ja) * 2001-01-24 2002-08-09 Meidensha Corp 基板搬送用ロボット
JP2002299413A (ja) * 2001-03-30 2002-10-11 Shibaura Mechatronics Corp ロボット装置及び処理装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2580489B2 (ja) 1993-11-04 1997-02-12 株式会社ハイテック・プロダクト 多関節搬送装置，その制御方法及び半導体製造装置
JPH10163296A (ja) 1996-11-27 1998-06-19 Rootsue Kk 基板搬送装置
JPH11188671A (ja) * 1997-12-26 1999-07-13 Daihen Corp ２アーム方式の搬送用ロボット装置
TW471084B (en) 1999-12-22 2002-01-01 Jel Kk Transfer arm
US20030029479A1 (en) * 2001-08-08 2003-02-13 Dainippon Screen Mfg. Co, Ltd. Substrate cleaning apparatus and method
CN100461363C (zh) * 2004-12-10 2009-02-11 株式会社爱发科 搬运机械手以及搬运装置
JP5004612B2 (ja) * 2007-02-15 2012-08-22 大日本スクリーン製造株式会社 基板処理装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04258148A (ja) * 1991-02-12 1992-09-14 Tokyo Electron Ltd 板状体の搬送装置
JPH07142552A (ja) * 1993-11-20 1995-06-02 Tokyo Electron Ltd 搬送アーム装置及びこれを用いた処理室集合装置
JP2002504744A (ja) * 1997-11-28 2002-02-12 マットソン テクノロジイ インコーポレイテッド 真空処理を行う非加工物を、低汚染かつ高処理能力で取扱うためのシステムおよび方法
JPH11325102A (ja) * 1998-05-19 1999-11-26 Yasuhito Itagaki ショックリミッターおよびそれを用いた搬送ロボット
JP2001185596A (ja) * 1999-12-22 2001-07-06 Jel:Kk 搬送アーム
JP2002222845A (ja) * 2001-01-24 2002-08-09 Meidensha Corp 基板搬送用ロボット
JP2002299413A (ja) * 2001-03-30 2002-10-11 Shibaura Mechatronics Corp ロボット装置及び処理装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160007420A (ko) 2014-07-10 2016-01-20 니혼 덴산 산쿄 가부시키가이샤 산업용 로봇

Also Published As

Publication number Publication date
CN101790441A (zh) 2010-07-28
TW200914219A (en) 2009-04-01
US8882430B2 (en) 2014-11-11
KR20100058515A (ko) 2010-06-03
KR101574357B1 (ko) 2015-12-03
CN104647368A (zh) 2015-05-27
TWI462812B (zh) 2014-12-01
JP5102564B2 (ja) 2012-12-19
US20100284770A1 (en) 2010-11-11
CN104647368B (zh) 2017-04-19
JP2009056545A (ja) 2009-03-19

Similar Documents

Publication Publication Date Title
WO2009028178A1 (ja) 産業用ロボット
EP3927635A4 (en) ROBOTIC MULTI-ITEM PALLETIZING AND DEPALLETTIZING
SI1999048T1 (sl) Prijemalni element
DE502006008250D1 (de) Vorrichtung zum be- und/oder entladen von stückgütern
WO2006118903A3 (en) Microporous article having metallic nanoparticle coating
WO2007041390A3 (en) Extensible task engine framework for humanoid robots
WO2007087942A8 (en) Unit for applying opening devices to packages of pourable food products
EP1885630A4 (en) CHAIN DRIVEN ROBOT ARM
WO2007008702A3 (en) Unequal link scara arm
WO2008021216A3 (en) Methods and apparatus for a robot wrist assembly
WO2003092050A3 (en) Substrate transfer apparatus
WO2008019850A3 (de) Vorrichtung zum bearbeiten und/oder handling von gegenständen
WO2009065831A3 (de) Roboter, medizinischer arbeitsplatz und verfahren zum projizieren eines bildes auf die oberfläche eines objekts
WO2007121795A3 (de) Vorrichtung zur förderung einer oder mehrerer materialrollen mit einem transportsystem und rollenlogistiksystem
TW200738414A (en) Robot
WO2009034795A1 (ja) 基板搬送ロボット、真空処理装置
WO2009037675A3 (en) Transfer mechanism with multiple wafer handling capability
WO2008059454A3 (en) Integrated gripper for workpiece transfer
WO2007028074A3 (en) Workpiece transfer device
WO2007147969A3 (fr) Installation d’encaissage d’objets du type bouteilles de formats varies
WO2008117350A1 (ja) ワークハンドリング装置
WO2007090002A3 (en) Alignment correction system and methods of use thereof
EP4026660A4 (en) DESKTOP ROBOT ARM DRIVE STRUCTURE, DESKTOP ROBOT ARM AND ROBOT
ATE510663T1 (de) Greifmechanismus mit zwei antriebswellen pro greiferfinger
EP1954607A4 (en) HANDLING ARRANGEMENT FOR A PACKAGING UNIT

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200880105098.X

Country of ref document: CN

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

Ref document number: 08828698

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20107004399

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 12675807

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 08828698

Country of ref document: EP

Kind code of ref document: A1