WO2012043110A1 - 移載システム - Google Patents
移載システム Download PDFInfo
- Publication number
- WO2012043110A1 WO2012043110A1 PCT/JP2011/069434 JP2011069434W WO2012043110A1 WO 2012043110 A1 WO2012043110 A1 WO 2012043110A1 JP 2011069434 W JP2011069434 W JP 2011069434W WO 2012043110 A1 WO2012043110 A1 WO 2012043110A1
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- WO
- WIPO (PCT)
- Prior art keywords
- transfer
- article
- transfer system
- gripping
- placement
- Prior art date
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Classifications
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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
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
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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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
- H01L21/67265—Position monitoring, e.g. misposition detection or presence detection of substrates stored in a container, a magazine, a carrier, a boat or the like
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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
- H01L21/677—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
- H01L21/67703—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 between different workstations
- H01L21/6773—Conveying cassettes, containers or carriers
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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
- H01L21/677—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
- H01L21/67703—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 between different workstations
- H01L21/67733—Overhead conveying
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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
- H01L21/677—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
- H01L21/67703—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 between different workstations
- H01L21/67736—Loading to or unloading from a conveyor
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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
- H01L21/683—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
Definitions
- the present invention relates to a transfer system technique for transferring an article such as a FOUP (Front Opening Unified Unified Pod) that houses various substrates for manufacturing semiconductor elements, for example, between a transport vehicle such as a vehicle and a mounting table such as a port.
- FOUP Front Opening Unified Unified Pod
- a suspended transport facility As a system of this type, a suspended transport facility has been proposed (for example, see Patent Document 1).
- a lifting position adjustment amount and a lowering position adjustment amount are set for each support base.
- the work hand of the equipment raises or lowers the work (that is, the article) in the suspended state
- the position of the work in the suspended state by the set position adjustment amount according to the work lifting or lowering work. Make adjustments.
- a lateral adjustment base for position adjustment (hereinafter simply referred to as a “lateral movement base”). Is moved to the right, for example, in the right and left lateral direction, the lateral movement table, the lifting unit and the work hand connected to the lower side, and the work hand are overhanging in the right direction. Then, depending on the degree of overhang, the lateral movement base is deflected by the weights of the lifting unit and the work hand, and the work hand and the work held by the work hand are tilted in the direction of rotation about the travel route.
- the present invention has been made in view of the above-described problems, and an object of the present invention is to provide a transfer system that can transfer an article to a desired position even during horizontal transfer.
- a transfer system includes a transport vehicle that transports an article while traveling along a track provided on a ceiling, and an article that is provided below the track. And a mounting table that can be mounted at a predetermined position.
- the transport vehicle includes a transfer unit capable of a gripping operation for gripping an article on the mounting table and a mounting operation for mounting the article on the mounting table.
- the transfer unit can transfer the article by a horizontal transfer method between the transport vehicle and the mounting table.
- the transfer system further includes a storage unit and a control unit.
- the storage unit stores the following information (i) and (ii).
- Placement position information indicating the transfer position of the article when the transfer part performs the placement operation
- Gripping position information indicating the transfer position of the article when the transfer part performs the gripping operation
- the transfer is performed at the transfer position of the stored mounting position information.
- the transfer position of the stored gripping position information is The transfer unit is controlled so that transfer is performed.
- a transport vehicle is, for example, an OHT (Overhead / Hoist / Transfer) that transports FOUPs, etc., and a load port for transporting the semiconductor device in / out of a semiconductor device or a stocker, or a transport conveyor Articles can be transferred not only in the vertical transfer system but also in the horizontal transfer system with a mounting table such as a buffer installed above.
- the “lateral transfer method” refers to a lateral direction orthogonal to the direction of the track. It shows that the FOUP can be moved and the FOUP is transferred to and from a mounting table installed in the lateral direction of the carrier body. That is, the transfer is performed through the process of moving the FOUP in the horizontal direction.
- the FOUP when the FOUP is moved in the lateral direction of the transport vehicle body, the FOUP, the gripping part that grips the FOUP, and the moving part that moves the gripping part in the vertical direction, the lateral direction, and the like,
- the center of gravity of the transport vehicle body shifts due to the weight.
- the traveling roller that travels along the track is deformed or a part of the moving part is bent, and the main body of the transport vehicle is tilted in the rotation direction that rotates about the direction of the track.
- the inclination of the carrier body also becomes the inclination of the gripping part, and the FOUP gripped by this also tilts.
- the FOUP In such a tilted state, if a lateral transfer is performed at a transfer position where this state is not taken into account, the FOUP is placed in a tilted state on the mounting table or protrudes from the mounting table, and is set in advance on the mounting table. It deviates from the position (that is, the predetermined position). If the FOUP deviates from the predetermined position, the manufacturing process for manufacturing the semiconductor element, the transporting process included in the manufacturing process, or a part of the transporting process must be stopped. Conversely, positioning is performed in advance so as to eliminate a shift during the transfer operation (that is, the mounting operation) due to the inclination (in other words, weight) of the FOUP (that is, strictly before the FOUP is lowered).
- the transfer device when performing horizontal transfer, the FOUP is reliably mounted at a predetermined position of the mounting table in both the mounting operation and the gripping operation, or the predetermined The transport vehicle is controlled to hold the FOUP at the position.
- the storage unit such as the ROM or the memory is provided in the transport vehicle, for example.
- the storage unit stores placement position information corresponding to the placement operation and gripping position information corresponding to the gripping operation.
- a control unit such as a CPU is provided in the transport vehicle, for example, similarly to the storage.
- the control unit reads position information (that is, placement position information or gripping position information) corresponding to the operation to be executed (that is, the placement operation and the gripping operation) from the storage unit, and transfers the read position information.
- the transport vehicle is controlled so that the operation is performed at the position.
- the mounting operation is performed at the transfer position of the mounting position information
- the gripping operation is performed at the transfer position of the gripping position information. That is, in the placement operation, the transfer position is made different from that in the gripping operation in order to eliminate the shift of the article that may occur with the transfer. Accordingly, it is possible to perform lateral transfer in which the article is placed at a desired position, which is a predetermined position of the placing table, regardless of the magnitude of the deflection of the moving unit or the like caused by the weight of the article.
- the above-described effects are not limited to the transfer by the lateral transfer method.
- This is also effective for transfer using the vertical transfer method.
- the track, the traveling roller in the transport vehicle, the pair of belts that suspend the gripping part, and the state of the article to be placed or gripped eg, the deformation of the track, the inclination of the traveling roller, the difference in belt length, the FOUP center of gravity
- the transfer position may be shifted between the mounting operation and the gripping operation even in the vertical transfer due to the above-mentioned deviation.
- the storage unit and the control unit may be provided in a main control unit that controls the transfer system in an integrated manner instead of being provided in the transport vehicle.
- the main control unit corresponds to, for example, a database serving as a storage unit that stores the authentication number of the transport vehicle and position information unique to the transport vehicle in association with each other, and a placement operation or a gripping operation read from the database.
- a transport vehicle control unit that is a control unit that controls the transport vehicle according to the position information.
- the transfer system can include a plurality of transport vehicles and a plurality of mounting tables.
- each of the placement position information and the gripping position information includes common data representing a transfer position common to a plurality of transport vehicles, and unique to each transport vehicle. It is shown as the sum of the machine difference data representing the transfer position.
- “common data” related to the mounting position information and the gripping position information represents data common to a plurality of transport vehicles in each of the plurality of mounting tables. This common data is the same in the case of mounting position information and gripping position information, for example.
- the “machine difference data” represents data unique to each transport vehicle in each of the plurality of mounting tables. The machine difference data differs depending on, for example, the placement position information and the grip position information.
- each of the mounting position information and the gripping position information is composed of two data, that is, common data and machine difference data, so that, for example, the common data is mainly managed and updated regularly. By doing so, it is possible to always hold the data related to the transfer position with high accuracy by the storage means.
- the acquisition time of common data common to a plurality of transport vehicles can be extremely shortened. Considering that there are a large number of transport vehicles and a large number of transfer positions in the transfer system, shortening the data acquisition time in this way leads to a reduction in transfer time and is extremely useful in practice. .
- the difference between the machine difference data of the placement position information and the machine difference data of the gripping position information corresponds to the amount of deviation of the article based on the degree of inclination at the transfer position of the article and the height of the article. Also good.
- the “degree of inclination” relating to the article indicates the inclination angle of the article at the transfer position with respect to the mounting table.
- the position of the article in the horizontal state at the transfer position is set to zero when performing the placement operation and the gripping operation in the vertical transfer and the gripping operation in the horizontal transfer.
- the “deviation amount” represents a distance from the zero point to an article that is tilted at the transfer position when performing the transfer operation in the horizontal transfer.
- Such a shift amount ⁇ can be uniquely calculated based on the inclination degree ⁇ and the height h of the article, for example, using the following equation (1).
- deviation amount information representing the deviation amount ⁇ is added to the grip position information in the machine difference data, thereby determining the placement position information in the machine difference data.
- the machine difference data can be composed of two pieces of data of gripping position information and deviation amount information, and the data capacity of the storage means can be minimized.
- the transfer unit includes a gripping unit, a vertical movement unit, a horizontal and horizontal movement unit, and a rotation movement unit.
- the gripping unit grips and releases the article.
- the vertical moving part can move the grip part up and down in the vertical direction.
- the horizontal and horizontal movement unit can horizontally move the gripping portion in a horizontal direction orthogonal to the direction of the track.
- the rotation moving unit can rotate the gripping unit around the vertical axis.
- Each of the mounting position information and the gripping position information represents a position in four directions, ie, a trajectory direction, a lateral direction, a vertical direction, and a vertical axis rotation direction.
- the transfer unit is capable of moving a gripping unit such as a gripper capable of gripping an article in three directions of the vertical direction, the lateral direction, and the vertical axis rotation direction.
- a gripping unit such as a gripper capable of gripping an article in three directions of the vertical direction, the lateral direction, and the vertical axis rotation direction.
- Each of the placement position information and the grip position information represents a position in four directions including the direction of the track in three directions.
- the grip position information is (X ** 1 , Y ** 1 , Z ** 1 , ⁇ ** 1 )
- the placement position information is (X ** 2 , Y *). * 2 , Z ** 2 , ⁇ ** 2 ).
- the article has a bottom surface in which a concave portion is formed, and the mounting table has a top surface in which a convex portion that can be engaged with the concave portion is formed. Then, the article is placed at a predetermined position where the article is positioned with respect to the placement table by the engagement of the concave portion and the convex portion.
- the “concave portion” related to the article is a recess called, for example, a V-groove formed in an inverted V shape on the bottom surface of the article, and the “convex portion” related to the mounting table is formed on the upper surface of the mounting table.
- a protrusion called a kinema pin formed so as to be engageable with the concave portion of the article.
- the transfer system in which each of the mounting position information and the gripping position information is indicated as the sum of common data and machine difference data further includes teaching means for teaching common data among a plurality of transport vehicles. Good.
- the teaching means including at least communication means by radio or infrared rays is provided in the transport vehicle in the same manner as the storage means and the control means, for example.
- the teaching means teaches the common data to other transport vehicles by distributing the common data stored in the storage means. With this configuration, teaching from one transport vehicle to a plurality of transport vehicles is facilitated, and all the transport vehicles in the teaching area that is the communicable area can hold the latest common data. . Thereby, it is possible to acquire the placement position information and the grip position information for knowing the transfer position in a short time, and to shorten the transfer time.
- FIG. 1 is a front view schematically showing the configuration of the transfer system 100 and the structure of the vehicle 2 in the transfer system 100.
- a transfer system 100 is included in a transport system 200 for transporting a FOUP 3 that is a semiconductor element manufacturing substrate.
- the FOUP 3 is transferred to a vehicle 2 in accordance with an instruction signal from a transport instruction unit 201 in the transport system 200. It is configured to be able to transfer to and from the mounting table 4.
- the transfer system 100 mainly includes a rail 1, a vehicle 2, and a mounting table 4.
- the FOUP 3 includes a flange 3a serving as a handle when the vehicle 2 grips as an example of the “article” according to the present invention.
- the FOUP 3 has a V-groove 3b (that is, an example of the “concave portion” according to the present invention) that can be engaged with the kinematic pin 4a of the mounting table 4 on the lower surface thereof.
- the V-groove 3 b is used for positioning the FOUP 3 main body with respect to the mounting table 4.
- the mounting table 4 is installed below the rail 1 in various forms such as a manufacturing apparatus port, UTB (Under Track Buffer), and left and right STB (Side Table Buffer).
- Each mounting table 4 includes a kinema pin 4a (that is, an example of a “convex portion” according to the present invention) that can be engaged with the V groove 3b of the FOUP 3 on the upper surface thereof.
- the kinema pin 4 a is used for positioning the FOUP 3 with respect to the mounting table 4.
- the rail 1 is an example of a “track” according to the present invention, and is laid on a ceiling inside a building such as a semiconductor element manufacturing factory where the transfer system 200 is installed.
- the inside of the rail 1 is a part of the traveling path of the vehicle 2.
- the center part is open
- the vehicle 2 is an example of a “transport vehicle” according to the present invention, and includes a traveling unit 20, a main body unit including a gripper 21, an elevating mechanism 22, a lateral mechanism 23, and a rotating mechanism 24, a memory 101, a vehicle controller 102, and And a control unit including a transmission / reception unit 103.
- the traveling unit 20 includes a motor (not shown) serving as a power source and a pair of rollers 20a, and the pair of rollers 20a is driven by the power of the motor, so that the body unit is moved along the rail 1 from the traveling unit 20. Move.
- the gripper 21 is an example of the “gripping part” according to the present invention, and includes a motor (not shown) serving as a power source and a pair of fingers 21a.
- the gripper 21 drives the pair of fingers 21a with the power of the motor, thereby displacing the pair of fingers 21a between a gripping state in which the FOUP 3 is gripped and a release state in which the FOUP 3 is released.
- the elevating mechanism 22 is an example of the “vertical moving unit” according to the present invention, and includes a motor (not shown) serving as a power source, a winding unit 22a, and a belt 22b.
- the elevating mechanism 22 winds or unwinds the belt 22b whose one end is fixed to the upper surface of the gripper 21 by rotating the winding portion 22a in the winding direction or the unwinding direction by the power of the motor. In this way, the lifting mechanism 22 moves the gripper 21 in the vertical direction.
- the lateral mechanism 23 is an example of a “horizontal and horizontal moving portion” according to the present invention, and includes a motor (not shown) serving as a drive source and a slide portion 23a.
- the lateral mechanism 23 slides the elevating mechanism 22 fixed to the lower surface of the slide portion 23a by sliding the slide portion 23a in the lateral direction orthogonal to the rail 1 (that is, the horizontal direction in FIG. 1) by the power of the motor. Move in the direction.
- the rotation mechanism 24 is an example of a “rotation moving unit” according to the present invention, and is included in the lifting mechanism 22 and includes a motor (not shown) serving as a drive source.
- the rotating mechanism 24 rotates the winding portion 22a fixed to the lower surface of the rotating mechanism 24 main body in the vertical axis rotation direction around the vertical axis by the power of the motor, thereby causing the winding portion 22a and the belt 22b to rotate.
- the gripper 21 connected via the vertical axis is moved in the vertical axis rotation direction.
- FIG. 2 is a front view for explaining the state of the vehicle 2 that performs horizontal transfer.
- the FOUP 3 is not only vertically transferred but also horizontally transferred between the vehicle 2 and the mounting table 4.
- the vehicle slides the slide portion 23 a and moves the lifting mechanism 22 in the horizontal direction.
- the weight of the lifting mechanism 22 moved in the lateral direction, one of the pair of travel rollers 20a that is far from the lifting mechanism 22 is lifted, and the other that is close to the lifting mechanism 22 is pressed toward the lifting mechanism 22 and deformed.
- the lateral mechanism 23 is deflected by the weight of the lifting mechanism 22, and the vehicle 2 body is tilted.
- This inclination direction is the orbital rotation direction that rotates about the rail 1 as an axis center.
- the gripper 21 connected to the elevating mechanism 22 via the belt 22b and the gripper 21 are gripped.
- FOUP3 is also tilted by ⁇ 1 degree. Moreover, such a tilt is caused by whether the vehicle 2 is empty (that is, when the FOUP 3 is taken) or the FOUP 3 is held (ie, when the FOUP 3 is taken down). Accordingly, in other words, the position of the gripper 21 or the FOUP 3 differs depending on the weight of the FOUP 3 so that it cannot be ignored.
- the memory 101 is an example of the “storage unit” according to the present invention, and data representing a transfer position that is the position that the gripper 21 should take when the FOUP 3 is transferred between the vehicle 2 and the mounting table 4. Is remembered. However, this data differs between the mounting operation for performing the horizontal transfer from the vehicle 2 to the mounting table 4 and the gripping operation for performing the horizontal transfer from the mounting table 4 to the vehicle 2.
- FIG. 3 is a front view illustrating the transfer position during the gripping operation
- FIG. 4 is a front view illustrating the transfer position during the mounting operation.
- FIG. 3 shows a mounting table 4 functioning as the right STB and a position positioned with respect to the mounting table 4 (that is, an example of a “predetermined position” according to the present invention, which is appropriately referred to as a “positioning position”). And the gripper 21 in a state where the FOUP 3 is held.
- the FOUP 3 at the positioning position is normally placed horizontally on the placing table 4.
- FIG. 3 shows an inclination angle (that is, an example of the “degree of inclination”) ⁇ of the gripper 21 with respect to the FOUP 3 (in other words, the mounting table 4).
- a gripping operation in which the vehicle 2 grips the FOUP 3 is performed at a transfer position where the center of the gripper 21 and the center of the flange 3a of the FOUP 3 are on the same vertical line. That is, it is possible to perform the gripping operation without moving the gripper 21 that does not grip the FOUP 3 in the lateral direction.
- FIG. 4 shows a mounting table 4 that functions as a right STB, a FOUP 3 that is to be transferred to the mounting table 4, and a gripper 21 that is holding the FOUP 3. Further, an inclination angle ⁇ 1 of the FOUP 3 (in other words, the gripper 21) with respect to the mounting table 4 and a height h of the FOUP 3 are shown.
- the vehicle 2 is moved to the FOUP 3 with the position moved in the lateral direction (that is, the arrow direction in FIG. 4) by the shift amount ⁇ Y calculated based on the tilt angle ⁇ 1 and the FOUP height h. Is placed at the positioning position of the mounting table 4.
- the center of the kinema pin 4a of the placement table 4 is The ends of the V-groove 3b of the FOUP 3 face each other in the vertical direction, and the FOUP 3 is placed out of the positioning position of the mounting table 4.
- the lateral displacement ⁇ Y of the FOUP 3 is set so that the center of the kinema pin 4a and the center of the V-groove 3b coincide with each other in the vertical position. calculate. For example, when the FOUP height h is 330 mm and the tilt angle ⁇ 1 is 0.5 degrees, ⁇ Y is 2.9 mm.
- the vehicle controller 102 connected to the memory 101 is an example of a “control unit” according to the present invention, and reads data corresponding to a gripping operation or placement operation to be executed from the memory 101, and the read data indicates At the transfer position, a gripping operation or mounting operation to be executed is executed.
- the transmission / reception unit 103 connected to the memory 101 and the vehicle controller 102 is an example of the “teaching means” according to the present invention, and when the data recorded in the memory 101 is updated, the updated data is transferred to another Send to vehicle 2. On the other hand, the update data transmitted from the other vehicle 2 is received. In this case, the vehicle controller 102 stores the received update data in the memory 101.
- FIG. 5 is a top view for explaining various mounting tables 4 installed in the transfer system
- FIGS. 6 and 7 are tables for explaining the structure of data stored in the memory 101.
- FIG. 5 shows manufacturing equipment ports: A and B and UTB: A installed vertically below the rail 1, a left STB: A installed below the rail 1 and in the left lateral direction, and the rail 1.
- the right STB A installed below and in the right lateral direction is shown.
- each transfer position during the gripping operation and the placement operation is indicated by the sum of coordinates representing common data common to all the vehicles 2 and coordinates representing machine difference data unique to the vehicles 2. It is.
- FIG. 6 shows common data.
- the common data indicates data in which each mounting table 4 and a common coordinate corresponding to each mounting table 4 are linked.
- FIG. 7 shows machine difference data.
- the machine difference data is associated with the manufacturing equipment port, UTB and left and right STB mounting tables 4, presence / absence of FOUP 3 on various mounting tables 4, and machine difference coordinates with and without FOUP 3. Data is shown.
- “no FOUP” indicates a gripping operation in which the gripper 21 performs transfer in a released state where the FOUP 3 is not gripped
- “no FOUP” indicates a gripping state where the gripper 21 grips the FOUP 3.
- the mounting operation for transferring is shown.
- each of the common coordinates and the machine difference coordinates includes a position X in the extending direction of the rail 1, a position Y in the lateral direction, a position Z in the vertical direction, and a position or inclination ⁇ in the vertical axis rotation direction. Shown as coordinates in four directions.
- the first subscript located on the left side is the mounting table.
- the manufacturing device port is “1”, UTB “2”, right STB “3”, or left STB “4”.
- the second subscript located on the right side represents the identification number of the mounting table, and is a number greater than or equal to “1” assigned to each mounting table 4.
- the first subscript located on the left side of the subscript attached to the position in each direction in the machine difference coordinates (X *** , Y *** , Z *** , ⁇ *** ) Represents the type of the mounting table in the same manner as the common coordinates.
- the second subscript located at the center represents the identification number of the vehicle 2 and is a number equal to or greater than “1” attached to each vehicle 2.
- the third subscript located on the right side indicates the presence or absence of FOUP3, and is a number “1” when FOUP is present and “2” when FOUP3 is absent.
- the transfer position during the gripping operation is the common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and machine difference coordinates (X 111 , Y 111 , Z 111 , ⁇ ). 111 ).
- the transfer position at the time of mounting operation is shown by the sum of common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and machine difference coordinates (X 112 , Y 112 , Z 112 , ⁇ 112 ). .
- the shift amount ⁇ of the FOUP 3 between the gripping operation and the mounting operation is shown as four-direction coordinates.
- the first subscript located on the left side of the subscript attached to the position in each direction in the coordinates ( ⁇ x * , ⁇ y * , ⁇ z * , ⁇ ⁇ * ) indicating the shift amount ⁇ .
- the second subscript located on the right side is the manufacturing device port “1”, UTB “2”, and right STB “ 3 ”and the left STB“ 4 ”.
- the shift amount ⁇ which is the difference in the transfer position between the gripping operation and the mounting operation, is ( ⁇ X1 , ⁇ Y1 , ⁇ Z1 , ⁇ ⁇ 1 ).
- the machine difference data is not limited to showing machine difference coordinates corresponding to the presence or absence of FOUP3, as shown in FIG.
- the difference from the reference vehicle is indicated as machine difference coordinates (X 111 , Y 111 , Z 111 , ⁇ 111 ) at the time of the gripping operation, in other words, when FOUP: None.
- the difference from the FOUP: no-time machine difference coordinates may be indicated as machine difference coordinates ( ⁇ X1 , ⁇ Y1 , ⁇ Z1 , ⁇ ⁇ 1 ).
- the transfer position during the gripping operation is the common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and machine difference coordinates (X 111 , Y 111 , Z 111 , ⁇ ). 111 ).
- the transfer position at the time of the placement operation is the common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and the machine difference coordinates (X 111 , Y 111 , Z 111 , ⁇ 111 ) at the time of the gripping operation. It is shown by adding machine difference coordinates ( ⁇ X1 , ⁇ Y1 , ⁇ Z1 , ⁇ ⁇ 1 ) worth the deviation amount ⁇ to the sum.
- the difference from the reference vehicle (X 112 , Y 112 , Z 112 , ⁇ 112) is set during the placement operation, in other words, when FOUP is present.
- FOUP the difference from the machine difference coordinate with FOUP: present may be indicated as machine difference coordinates ( ⁇ X1 , ⁇ Y1 , ⁇ Z1 , ⁇ ⁇ 1 ).
- the transfer position during the mounting operation is the common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and machine difference coordinates (X 112 , Y 112 , Z 112 , ( ⁇ 112 ).
- the transfer position at the time of the gripping operation is the common coordinates (X 1A , Y 1A , Z 1A , ⁇ 1A ) and the machine difference coordinates (X 112 , Y 112 , Z 112 , ⁇ 112 ) at the time of the mounting operation. It is shown by subtracting the machine difference coordinates ( ⁇ X1 , ⁇ Y1 , ⁇ Z1 , ⁇ ⁇ 1 ) worth the deviation amount ⁇ from the sum.
- FIG. 9 is a flowchart showing the transfer process in the transfer system 100. It is assumed that all the vehicles 2 in the transfer system 100 teach the common data between the vehicles 2 via the transmission / reception unit 103 and always hold the latest common data.
- the vehicle controller 102 first determines whether the operation to be executed is a gripping operation or a mounting operation in accordance with an instruction signal from the transport instruction unit 201 (step S51). If the result of this determination is a gripping operation (step S51: gripping), common data and machine difference data associated with one mounting table 4 as a transfer destination are read from the memory 101, and gripping is performed from these read data. The transfer position during operation is calculated (step S52). Then, a gripping operation is executed at the calculated transfer position (step S53). Thereby, a series of transfer processes is completed.
- step S51 placement
- common data and machine difference data associated with one placement table 4 as a transfer destination are read from the memory 101 and read. From these data, the transfer position during the mounting operation is calculated (step S54). Then, a mounting operation is executed at the calculated transfer position (step S55). Thereby, a series of transfer processes is completed.
- the gripping operation when performing the gripping operation, the gripping operation is performed at the transfer position corresponding to the gripping operation, and at the transfer position corresponding to the mounting operation when performing the mounting operation. Perform the mounting operation. That is, in the mounting operation, the transfer position is made different from that in the gripping operation in order to eliminate the shift of the FOUP 3 that may occur with the vertical transfer or the horizontal transfer. As a result, the FOUP 3 can be reliably transferred to the positioning position of the mounting table 4.
- each transfer position at the time of gripping operation and mounting operation is composed of two data, common data and machine difference data.
- common data common to all the vehicles 2 is taught among all the vehicles 2 in the transfer system 100 and is constantly updated.
- each vehicle 2 can always hold the transfer position information with high accuracy. As a result, it is possible to save time for acquiring the latest common data before the transfer operation, and to minimize the transfer time.
- the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a transfer system with such a change is also possible. Moreover, it is included in the technical scope of the present invention.
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Abstract
Description
(i)移載部が載置動作を行う際の物品の移載位置を表す載置位置情報
(ii)移載部が把持動作を行う際の物品の移載位置を表す把持位置情報
制御部は、載置動作を行う場合、記憶されている載置位置情報の移載位置で移載が行われるように、他方、把持動作を行う場合、記憶されている把持位置情報の移載位置で移載が行われるように移載部を制御する。
そこで、本発明の一見地に係る移載装置では、横移載を行う際に、載置動作及び把持動作のいずれにおいても、FOUPを確実に載置台の所定位置に載置する、或いは該所定位置にあるFOUPを把持するように搬送車を制御する。
このように構成すれば、機差データとして、把持位置情報及びずれ量情報の2つのデータから構成し、記憶手段のデータ容量を最小限に抑えることも可能である。
<実施形態>
<実施形態の構成>
始めに、図1を参照し、本発明の実施形態に係る移載システム100の構成について説明する。ここに、図1は、移載システム100の構成及び移載システム100におけるビークル2の構造を模式的に表す正面図である。
ここで、メモリ101、ビークルコントローラ102及び送受信部103を説明する前に、図2を参照し、移載システム100における横移載について説明する。ここに、図2は、横移載を行うビークル2の状態を説明する正面図である。
本実施形態では、把持動作を行う際に、グリッパ21中心とフランジ3a中心とが同一鉛直線上にあれば移載位置の変更を必要としないのに対し、載置動作を行う際には、FOUP3(言い換えれば、グリッパ21)の傾き角度Φ1及び高さhに基づくずれ量σY分、移載位置をずらす。即ち、把持動作時の移載位置と、載置動作時の移載位置とは、横方向にずれ量σYだけ差異を有することとなる。
次に、図5から図7を参照し、移載位置を表すデータについて説明する。ここに、図5は、当該移載システムに設置される各種載置台4を説明する上面図であり、図6及び図7は、メモリ101に記憶されるデータの構造を説明する表である。
次に、図9を参照し、本発明の本実施形態に係る移載システム100の動作について説明する。ここに、図9は、移載システム100における移載処理を示すフローチャートである。尚、移載システム100における全てのビークル2は、送受信部103を介してビークル2間で共通データを教示し、常時最新の共通データを保持するものとする。
2 ビークル
3 FOUP
4 載置台
100 移載システム
101 メモリ
102 ビークルコントローラ
103 送受信部
Claims (23)
- 天井に設けられた軌道に沿って走行しつつ物品を搬送する搬送車と、
前記軌道より下方に設けられており前記物品を所定位置に載置可能である載置台と、を備え、
前記搬送車は、前記載置台上の前記物品を把持する把持動作と、前記物品を前記載置台に載置する載置動作とが可能な移載部を有しており、
前記移載部は、前記搬送車と前記載置台との間で前記物品が横移載方式で移載可能であり
(i)前記移載部が載置動作を行う際の前記物品の移載位置を表す載置位置情報、及び(ii)前記移載部が把持動作を行う際の前記物品の移載位置を表す把持位置情報を記憶する記憶部と、
前記載置動作を行う場合、記憶されている載置位置情報の移載位置で移載が行われるように、他方、前記把持動作を行う場合、記憶されている把持位置情報の移載位置で移載が行われるように前記移載部を制御する制御部と
をさらに備える移載システム。 - 前記載置位置情報及び前記把持位置情報の各々は、複数の搬送車に共通する移載位置を表す共通データと、各搬送車に固有の移載位置を表す機差データとの和として示される、請求項1に記載の移載システム。
- 前記載置位置情報の前記機差データと前記把持位置情報の前記機差データとの差は、前記移載位置での前記物品の傾き度合い及び前記物品の高さに基づく、前記物品のずれ量に相当する、請求項2に記載の移載システム。
- 前記移載部は、
前記物品を把持及び解放する把持部と、
前記把持部を鉛直方向に昇降可能な鉛直移動部と、
前記把持部を前記軌道の方向に直交する横方向に水平移動可能な横水平移動部と、
前記把持部を鉛直軸を中心として回転可能な回転移動部と
を備え、
前記載置位置情報及び前記把持位置情報の各々は、前記軌道の方向、前記横方向、前記鉛直方向及び前記鉛直軸回転方向の四方向での位置を表す、請求項1に記載の移載システム。 - 前記移載部は、
前記物品を把持及び解放する把持部と、
前記把持部を鉛直方向に昇降可能な鉛直移動部と、
前記把持部を前記軌道の方向に直交する横方向に水平移動可能な横水平移動部と、
前記把持部を鉛直軸を中心として回転可能な回転移動部と
を備え、
前記載置位置情報及び前記把持位置情報の各々は、前記軌道の方向、前記横方向、前記鉛直方向及び前記鉛直軸回転方向の四方向での位置を表す、請求項2に記載の移載システム。 - 前記移載部は、
前記物品を把持及び解放する把持部と、
前記把持部を鉛直方向に昇降可能な鉛直移動部と、
前記把持部を前記軌道の方向に直交する横方向に水平移動可能な横水平移動部と、
前記把持部を鉛直軸を中心として回転可能な回転移動部と
を備え、
前記載置位置情報及び前記把持位置情報の各々は、前記軌道の方向、前記横方向、前記鉛直方向及び前記鉛直軸回転方向の四方向での位置を表す、請求項3に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項1に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項2に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項3に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項4に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項5に記載の移載システム。 - 前記物品は、凹部が形成された底面を有し、
前記載置台は、前記凹部に係合可能な凸部が形成された上面を有し、
前記載置動作では、前記凹部及び前記凸部の係合により前記載置台に対し前記物品が位置決めされる前記所定位置に前記物品が載置される、請求項6に記載の移載システム。 - 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項2に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項3に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項4に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項5に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項6に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項7に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項8に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項9に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項10に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項11に記載の移載システム。
- 複数の前記搬送車の間で相互に前記共通データを教示する教示部を更に備える、請求項12に記載の移載システム。
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CN201180046057.XA CN103118962B (zh) | 2010-09-30 | 2011-08-29 | 移载系统 |
US13/876,471 US9117853B2 (en) | 2010-09-30 | 2011-08-29 | Transfer system |
KR1020137007802A KR101425105B1 (ko) | 2010-09-30 | 2011-08-29 | 이송 시스템 |
SG2013022504A SG189109A1 (en) | 2010-09-30 | 2011-08-29 | Transfer system |
EP11828671.5A EP2623437B1 (en) | 2010-09-30 | 2011-08-29 | Transfer system |
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- 2011-08-29 WO PCT/JP2011/069434 patent/WO2012043110A1/ja active Application Filing
- 2011-08-29 US US13/876,471 patent/US9117853B2/en active Active
- 2011-09-28 TW TW100134999A patent/TWI513639B/zh active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007191235A (ja) * | 2006-01-17 | 2007-08-02 | Murata Mach Ltd | 天井走行車システム |
JP2010208816A (ja) * | 2009-03-11 | 2010-09-24 | Murata Machinery Ltd | 移載装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9852934B2 (en) | 2014-02-14 | 2017-12-26 | Taiwan Semiconductor Manufacturing Company, Ltd. | Semiconductor wafer transportation |
US10262882B2 (en) | 2014-02-14 | 2019-04-16 | Taiwan Semiconductor Manufacturing Co., Ltd. | Semiconductor wafer transportation |
Also Published As
Publication number | Publication date |
---|---|
EP2623437A4 (en) | 2015-03-11 |
KR101425105B1 (ko) | 2014-08-04 |
CN103118962A (zh) | 2013-05-22 |
JP2012076852A (ja) | 2012-04-19 |
CN103118962B (zh) | 2014-12-10 |
SG189109A1 (en) | 2013-05-31 |
US9117853B2 (en) | 2015-08-25 |
TW201213215A (en) | 2012-04-01 |
KR20130066674A (ko) | 2013-06-20 |
EP2623437A1 (en) | 2013-08-07 |
TWI513639B (zh) | 2015-12-21 |
JP5636849B2 (ja) | 2014-12-10 |
EP2623437B1 (en) | 2018-08-15 |
US20130197691A1 (en) | 2013-08-01 |
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