WO2015033567A1 - ロボット - Google Patents
ロボット Download PDFInfo
- Publication number
- WO2015033567A1 WO2015033567A1 PCT/JP2014/004551 JP2014004551W WO2015033567A1 WO 2015033567 A1 WO2015033567 A1 WO 2015033567A1 JP 2014004551 W JP2014004551 W JP 2014004551W WO 2015033567 A1 WO2015033567 A1 WO 2015033567A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- belt section
- fixed
- roller
- opening
- housing
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/08—Arrangements for covering or protecting the ways
- F16C29/084—Arrangements for covering or protecting the ways fixed to the carriage or bearing body movable along the guide rail or track
- F16C29/088—Seals extending in the longitudinal direction of the carriage or bearing body
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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
- H01L21/67763—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 the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/02—Sliding-contact bearings
Definitions
- the present invention relates to a robot, and more particularly, to a robot provided with a dustproof mechanism that prevents outflow of particles generated by a driving unit provided inside.
- Patent Document 1 a substrate transport robot apparatus that transports a substrate is known (see, for example, Patent Document 1).
- the substrate transfer robot apparatus includes a hollow vertical housing having an opening extending in a vertical direction, a vertical axis moving mechanism housed in the vertical housing, a horizontal housing that reciprocates in the vertical direction by the vertical axis moving mechanism, It has a shield film above the housing and a shield film below the vertical housing.
- the horizontal housing is connected to the vertical axis moving mechanism, and has a hollow column penetrating the opening.
- the upper shield film has a fixed end fixed to the support, is turned back by a moving pulley, and is coupled to the upper end surface of the hollow support through a fixed pulley.
- the lower shield film has a fixed end fixed to the support, is folded back by a moving pulley, and is coupled to the lower end surface of the hollow column via a fixed pulley.
- the upper pulley and the lower shield film are connected so that a certain tension is applied to the upper and lower shield films.
- the vertical axis moving mechanism is driven and the horizontal housing moves to any position within the vertical stroke, so that the opening of the vertical housing is always covered by the hollow support column, the upper shield film, and the lower shield film. Can be kept.
- the substrate transfer robot device described in Patent Document 1 has a certain dustproof effect because the opening of the vertical housing is covered with the shield film. However, the dustproof effect was still insufficient. In addition, if the gas in the external space of the housing contains corrosive gas, the vertical axis moving mechanism is corroded by the corrosive gas flowing into the vertical housing, shortening the life of the substrate transfer robot device. There was a case. These problems are common to not only substrate transfer robots but also robots that require a dustproof function.
- the present invention has been made in view of such problems, and a first object of the present invention is to provide a robot capable of improving the dustproof effect against particles generated by a drive mechanism as compared with the prior art.
- a second object is to provide a robot capable of preventing the corrosion of the drive mechanism due to the corrosive gas flowing into the inside from the outside.
- a robot includes a housing that extends in a certain direction and has an opening having a first end and a second end in the extending direction, and the opening.
- a movable body that extends to the inside and the outside of the casing through which the hand is provided at a portion that extends to the outside of the casing, and is accommodated in the casing,
- a drive mechanism that acts on an inward portion extending inside and moves the movable body in the direction in which the opening extends, and a seal belt housed inside the housing, the seal belt including the opening
- the inner belt section includes an inner belt section and an outer belt section respectively extending in the extending direction of the opening such that both side edges are located outside the both side edges of the opening, as viewed from the normal direction of the inner belt section,
- the first end of the internal portion of the movable body One end is held by the portion, and the other portion extends from the first end side portion of the inner portion of the moving body to the first
- One end is held by the second end side portion of the inner portion of the movable body between the first portion held at the intermediate position, the inner belt section and the opening, and the other portion of the movable body is A second portion extending from the second end side portion of the inherent portion to the fourth space position exceeding the second end along the opening and held at the fourth space position, and the movement of the moving body Accordingly, the length of the first portion and the length of the second portion are changed so that the other increases by one decrease, and the drive mechanism is surrounded by the inner belt section. It is located in the space.
- the drive mechanism located in the space surrounded by the inner belt section is covered with the outer belt section and the inner baltic section that double the openings formed in the housing.
- the effect (dustproof effect) that prevents the particles to flow out to the external space of the housing can be improved as compared with the prior art.
- a first moving roller attached to the moving body so as to rotate around a rotation axis extending in a width direction of the opening at the first end side portion of the inner portion of the moving body;
- a second moving roller attached to the moving body so as to rotate around a rotation axis extending in a width direction of the opening, and located at the first space position, on the second end side portion of the portion,
- a first fixed roller fixed to the housing to rotate around a rotation axis extending in the width direction of the opening; and a rotation axis positioned in the second space position and extending in the width direction of the opening.
- the other part of the second part of the outer belt section extends from the second moving roller to the fourth space position and is fixed to the housing at the fourth space position, and the inner belt A portion between the one end and the other end of the section is wound around the first fixed roller and the second fixed roller, and the inner side between the first fixed roller and the second fixed roller. Opposite the belt section It may be wound applied to the roller for causing.
- a third fixed roller positioned at the first space position and fixed to the housing so as to rotate about a rotation axis extending in a width direction of the opening; and positioned at the second space position;
- a fourth fixed roller fixed to the casing so as to rotate around a rotation axis extending in the width direction, and positioned outside the first end and the third fixed roller inside the casing,
- a fifth fixed roller fixed to the casing so as to rotate around a rotation axis extending in the width direction, and positioned outside the second end and the fourth fixed roller inside the casing;
- a sixth fixed roller fixed to the housing so as to rotate about a rotation axis extending in the width direction, wherein the one end of the inner belt section is the first end side portion of the inner portion of the movable body The other end of the inner belt section is fixed to the inside of the moving body.
- a portion between the one end and the other end of the inner belt section is wound around the third fixed roller and the fourth fixed roller. It is wound around a roller for reversing the inner belt section between the third fixed roller and the fourth fixed roller, and one end of the first portion of the outer belt section is connected to the moving body.
- One end of the second portion of the outer belt section is fixed to the second end side portion of the movable body and fixed to the first end side portion of the inner portion, and in the outer belt section
- the other part of the first part extends beyond the held part and the other part of the second part extends beyond the held part, the first part And the second part
- the other end is continuous, and the portion between the one end of the first portion and the one end of the second portion is located between the inner belt section and the housing.
- And is wound around a roller for reversing the outer belt section halfway between the fifth fixed roller and the sixth fixed roller, and wound around the fixed roller and the sixth fixed roller,
- the inner belt section and the outer belt section may constitute an inner belt and
- a partition wall arranged so as to extend may be further provided.
- An air intake mechanism that inhales gas in a buffer space between the outer belt section and the inner belt section may be further provided.
- the intake mechanism sucks the gas in the buffer space between the outer belt section and the inner belt section, the gas in the outer space of the housing flows into the space surrounded by the inner belt section. Can be effectively prevented.
- the drive mechanism will be corroded by the corrosive gas by flowing into the space surrounded by the inner belt section. Can be prevented.
- particles generated in the drive mechanism included in the gas in the space surrounded by the inner belt section It is possible to more effectively prevent the product from flowing out into the external space of the housing and reducing the product yield.
- the present invention has an effect that the dust-proofing effect on particles generated by the drive mechanism can be improved in the robot as compared with the prior art.
- FIG. 3 is a cross-sectional view showing an AA cross section of FIG. 2. It is a longitudinal cross-sectional view which shows the structural example of the robot which concerns on Embodiment 2 of this invention.
- FIG. 1 is a partially broken perspective view showing a configuration example of a robot 100 according to Embodiment 1 of the present invention.
- FIG. 2 is a longitudinal sectional view showing a configuration example of the robot 100.
- FIG. 3 is a cross-sectional view of FIG. 2AA.
- the robot 100 is a robot used for transporting a substrate in equipment for performing various process processing such as heat treatment, impurity introduction processing, thin film formation processing, lithography processing, cleaning processing, and planarization processing on the substrate.
- the robot 100 is not limited to the substrate transfer robot, and may be any robot provided with a dustproof mechanism for preventing particles generated by a driving unit provided therein from flowing out.
- the substrate is, for example, a semiconductor wafer, a glass wafer, etc., and examples of the semiconductor wafer include a silicon wafer, a sapphire (single crystal alumina) wafer, and other various wafers.
- the robot 100 includes a housing 1, a moving body 2, a drive mechanism 3, a seal belt 4, a plurality of fixed rollers fixed to the housing 1, and a hand. 6 and a control unit 9.
- the housing 1 is a box.
- the housing 1 is formed with an opening 10 extending in a certain direction and having a first end and a second end in the extending direction.
- the housing 1 is a hollow rectangular parallelepiped extending in the vertical direction as shown in FIG. 2, and includes a front wall 11 and a back wall 12 facing the front wall 11.
- a pair of side walls 13 that connect both side edges of the front wall 11 and the back wall 12, a top wall 14 that connects top edges of the front wall 11 and the back wall 12, and a bottom edge of the front wall 11 and the back wall 12 are connected.
- a bottom wall 15 A rectangular opening 10 extending in a straight line in the vertical direction is formed in the front wall 11.
- the upper end 10a of the opening 10 constitutes the first end, and the lower end 10b of the opening 10 constitutes the second end.
- the back wall 12 has an exhaust port 16 that is a through hole formed so that the inside and the outside of the housing 1 communicate with each other.
- the moving body 2 extends through the opening 10 to the inside and outside of the housing 1.
- a hand 6 is provided at a portion extending outside the housing 1. Since the hand 6 is a known robot hand, its description is omitted.
- the moving body 2 includes a moving base 21, a first moving roller 22, and a second moving roller 23.
- the moving table 21 extends to the inside and the outside of the housing 1, and a portion extending on the inner side of the housing 1 than the opening 10 constitutes an internal portion 21 a of the moving table 21.
- a portion extending on the outer side of the housing 1 with respect to 10 constitutes an outer portion 21 b of the movable table 21.
- the hand 6 is provided in the external portion 21b.
- the first moving roller 22 is a cylindrical body extending in the width direction of the opening 10, and above the opening 10 in the inner portion 21 a of the moving base 21 (the first end side portion of the inner portion 21 a of the moving body 2).
- the first moving roller 22 is supported so that both ends of the first moving roller 22 are rotatable with respect to the moving base 21 and are rotated around a rotation axis extending in the width direction of the opening 10.
- the second moving roller 23 is a cylindrical body extending in the width direction of the opening 10, and below the opening 10 in the vicinity of the inner portion 21 a of the moving base 21 (second end side portion of the inner portion 21 a of the moving body 2). It is attached to the movable table 21 so as to be positioned.
- the second moving roller 23 is rotatably supported at both ends, and is attached so as to rotate around a rotation axis extending in the width direction of the opening 10.
- the driving mechanism 3 is housed in the housing 1 and is a mechanism that acts on the internal portion 21a of the moving base 21 of the moving body 2 to move the moving body 2 in the extending direction of the opening 10, that is, in the vertical direction. Further, the drive mechanism 3 is located in an internal space S1 surrounded by an inner belt section 41 described later of the seal belt 4.
- the drive mechanism 3 is a known ball screw mechanism, and includes a ball screw 31 that rotates around a rotation axis that extends in the vertical direction, and a slider 32 that is screwed into the ball screw 31.
- the guide rail 33 extends parallel to the ball screw 31, prevents the moving base 21 from rotating together with the ball screw 31, and guides in the extending direction of the slider 32, and is provided at the lower end of the ball screw 31.
- a servo motor 35 that rotates the ball screw 31 via a gear 34.
- the ball screw 31 is attached to the housing 1 via a bearing (not shown). Both ends of the guide rail 33 are fixed to the housing 1 via a support body (not shown).
- the servo motor 35 is fixed to the housing 1.
- An internal portion 21 a of the moving base 21 is fixed to the slider 32. Then, the rotation of the ball screw 31 causes the slider 32 to be guided by the guide rail 33 over a predetermined stroke range and move in the direction of the rotation axis (vertical direction) of the ball screw 31, thereby moving the moving body 2. Is configured to move in a direction perpendicular to the housing 1 over a predetermined stroke range.
- the rotation of the servo motor 35 is controlled by the control unit 9.
- the drive mechanism 3 is not limited to the ball screw mechanism, and instead, for example, a rack and pinion mechanism or a linear motor mechanism can be applied.
- the seal belt 4 is accommodated in the housing 1.
- the seal belt 4 includes an inner belt section 41 and an outer belt section that extend in the extending direction of the opening 10 such that both side edges are located outside the both side edges of the opening 10 when viewed from the normal direction of the opening 10. 42.
- one end 41 a of the inner belt section 41 is held on the upper surface in the vicinity of the opening 10 of the inner portion 21 a of the moving base 21 (first end side portion of the inner portion 21 a of the moving body 2).
- the other part of the inner belt section 41 is located in the first space position on the upper end 10a side of the opening 10 from the upper surface in the vicinity of the opening 10 of the moving base 21 along the opening 10 along the opening 10. It extends to P1.
- a portion extending from the upper surface in the vicinity of the opening 10 of the inner portion 21 a of the movable base 21 to the first space position P ⁇ b> 1 constitutes an inner upper seal section 45 of the seal belt 4.
- the inner belt section 41 extends from the first space position P1 to the second space position P2 on the lower end 10b side of the opening 10 with respect to the inner portion 21a of the moving base 21 so as to be reversed halfway.
- the inner belt section 41 extends along the opening 10 from the second space position P2.
- the other end 41 b of the inner belt section 41 is configured to be held on the lower surface (the second end side portion of the inner portion 21 a of the moving body 2) near the opening 10 of the inner portion 21 a of the moving base 21.
- a portion extending from the second space position P2 to the lower surface in the vicinity of the opening 10 of the inner portion 21a of the movable base 21 constitutes an inner lower seal section 46 of the seal belt 4.
- the inner belt section 41 is configured to go around as the moving body 2 moves.
- the outer belt section 42 includes a first portion 43 and a second portion 44.
- the first portion 43 has an end 43 a between the inner belt section 41 and the opening 10 on the upper surface (the first end side portion of the inner portion 21 a of the moving body 2) in the vicinity of the opening 10 of the inner portion 21 a of the moving base 21.
- the other part extends from the upper surface in the vicinity of the opening 10 of the inner part 21 a of the movable base 21 to the third space position P3 extending along the opening 10 and exceeding the upper end 10 a.
- a portion extending from the upper surface in the vicinity of the opening 10 of the inner portion 21 a of the movable base 21 to the third space position P 3 constitutes an outer upper seal section 47 of the seal belt 4.
- the other end 43b of the first portion 43 is held at the third space position P3.
- the second portion 44 has an end 44 a between the inner belt section 41 and the opening 10, and a lower surface in the vicinity of the opening 10 of the inner portion 21 a of the moving base 21 (second end side portion of the inner portion 21 a of the moving body 2).
- the other portion extends from the lower surface near the opening 10 of the internal portion 21a of the movable base 21 to the fourth space position P4 along the opening 10 and beyond the lower end 10b.
- a portion extending from the lower surface in the vicinity of the opening 10 of the inner portion 21 a of the movable base 21 to the fourth space position P 4 constitutes an outer lower seal section 48 of the seal belt 4.
- the first portion 43 and the second portion 44 change so that the length of the first portion 43 and the length of the second portion 44 increase by one decrease amount as the moving body 2 moves. Is configured to do.
- the seal belt 4 is constituted by a single band-like body that does not substantially have stretchability.
- the one end 41a of the inner belt section 41 of the seal belt 4 and the one end 43a of the first portion 43 of the outer belt section 42 are continuous.
- the continuous portion is wound around the first moving roller 22 and held by the moving body 2.
- the other portion of the first portion 43 of the outer belt section 42 extends from the first moving roller 22 to the third space position P3 and is fixed to the housing 1 at the third space position P3.
- the other end 41 b of the inner belt section 41 of the seal belt 4 and the one end 44 a of the second portion 44 of the outer belt section 42 are continuous.
- the continuous portion is wound around the second moving roller 23 and held by the moving body 2.
- the other portion of the second portion 44 of the outer belt section 42 extends from the second moving roller 23 to the fourth space position P4 and is fixed to the housing 1 at the fourth space position P4.
- both side edges of the other portions of the first portion 43 and the second portion 44 of the outer belt section 42 are provided so as to contact the front wall 11 of the housing 1. Thereby, it is possible to prevent a gap from being generated between the opening 10 and the seal belt 4, and to effectively isolate the atmosphere of the internal space of the housing 1 from the atmosphere of the external space of the housing 1. it can.
- a portion between the one end 41a and the other end 41b of the inner belt section 41 is a plurality of fixed rollers (a first fixed roller 51, a second fixed roller 52, and a first reverse roller described later) fixed to the housing 1. 53 and the second reversing roller 54).
- the plurality of fixed rollers includes a first fixed roller 51, a second fixed roller 52, a first reverse roller 53, and a second reverse roller 54.
- the first fixed roller 51, the second fixed roller 52, the first reversing roller 53, and the second reversing roller 54 are cylindrical bodies that extend in the width direction of the opening 10, and both ends of the housing are supported via a support (not shown).
- the body 1 is rotatably supported and is fixed to the housing 1 so as to rotate around a rotation axis extending in the width direction of the opening 10.
- the first fixed roller 51, the second fixed roller 52, the first reverse roller 53, and the second reverse roller 54 may be directly attached to the housing 1 and fixed.
- the first fixed roller 51 is located at the first space position P1.
- the second fixed roller 52 is located at the second space position P2.
- the first reverse roller 53 is located between the first fixed roller 51 and the back wall 12.
- the second reversing roller 54 is located between the second fixed roller 52 and the back wall 12.
- the first reversing roller 53 and the second reversing roller 54 constitute a roller for reversing the inner belt section 41 halfway between the first fixed roller 51 and the second fixed roller 52 in the extending direction of the seal belt 4. To do.
- the inner belt section 41 of the seal belt 4 extends in this order from the first fixed roller 51, the first reverse roller 53, the second reverse roller 54, and the second fixed roller 52 in the direction from the one end 41a to the other end 41b. It is wrapped around.
- the drive mechanism 3 is located in the inner space S1 surrounded by the inner belt section 41 of the seal belt 4, and between the housing 1 and the outer belt section 42 and the inner belt section 41, A buffer space S2 is formed. Therefore, the exhaust port 16 formed in the bottom wall 15 connects the external space S3 and the buffer space S2 of the housing.
- the robot 100 further includes a pair of partition walls 7 and an exhaust mechanism (intake mechanism) 8.
- the pair of partition walls 7 includes the second space from the drive mechanism 3 side of the portion extending from one end 41 a of the inner belt section 41 toward the first space position P ⁇ b> 1 and the other end 41 b of the inner belt section 41. It is arranged to extend along the drive mechanism 3 side of the portion extending toward the position P2. That is, as shown in FIGS. 2 and 3, the pair of partition walls 7 is configured to be positioned at the boundary between the internal space S ⁇ b> 1 and the buffer space S ⁇ b> 2, and the pair of partition walls 7 is the inner upper seal section of the seal belt 4. 45 and the inner lower seal section 46 and the drive mechanism 3. The pair of partition walls 7 are disposed so as to extend along the inner upper seal section 45 and the inner lower seal section 46.
- the outer side edge part 7a of a pair of partition 7 is attached to the inner surface of a pair of side wall 13, and is extended in the width direction of the opening 10. As shown in FIG. And the inner side edge part 7b of a pair of partition 7 is located inside the side edge of the said inner side upper seal
- the atmosphere of the internal space S1 and the atmosphere of the buffer space S2 can be isolated, and the effect of preventing particles generated in the drive mechanism 3 located in the internal space S1 from flowing out to the external space of the housing 1 is achieved. Further improvement can be achieved.
- the exhaust mechanism 8 is a mechanism that sucks the gas in the buffer space S2.
- the exhaust mechanism 8 is configured by, for example, a blower such as a fan or a blower, an exhaust pump, or the like, and has an intake port 81 and a discharge port 82.
- the suction port 81 is connected to the suction port 16.
- the discharge port 82 is connected to the exhaust duct 110. Then, the exhaust mechanism 8 sucks the gas in the buffer space S ⁇ b> 2 through the intake port 16 by the drive, and discharges the gas from the discharge port 82 to the exhaust duct 110.
- the atmospheric pressure in the buffer space S2 becomes negative relative to the atmospheric pressure in the internal space S1, so that the gas in the internal space S1 flows out into the buffer space S2.
- the air pressure in the buffer space S2 becomes negative even with respect to the air pressure in the external space S3. Without being substantially discharged, the air is discharged to the exhaust duct 110 through the exhaust port 16.
- the gas in the internal space S1 can be prevented from flowing into the external space S3, the particles generated from the drive mechanism 3 contained in the gas in the internal space S1 flow out into the external space S3, and the yield of the product is increased. Can be prevented more effectively.
- the seal belt 4 in contact with the front wall 11 is slightly As a result, a gap is formed between the front wall 11 and the seal belt 4.
- the gas in the external space S1 flows into the buffer space S2 through this gap.
- the atmospheric pressure in the buffer space S2 is negative relative to the atmospheric pressure in the internal space S1
- the gas in the external space S3 flowing into the buffer space S2 is substantially transferred from the buffer space S2 to the internal space S1. Without flowing into the exhaust duct 110 through the exhaust port 16.
- the gas in the external space S3 can be effectively prevented from flowing into the internal space S1, when the gas in the external space S3 contains a corrosive gas, the gas enters the internal space S1. By flowing in, it is possible to prevent the drive mechanism 3 from being corroded by corrosive gas.
- the seal belt 4 is fed out from the inner lower seal section 46 of the inner belt section 41 to the second portion 44 of the outer belt section 42, and one end 44a of the second section 44 of the outer belt section 42 moves upward.
- the length of the second portion 44 is increased by the decrease of the first portion 43. Therefore, even if the moving body 2 moves, the length and the extended position of the entire outer belt section 42 do not change, and the movement of the moving body 2 causes a gap between the upper end 10a of the opening 10 and the lower end 10b. And the moving body 2 are prevented from generating a gap. Thereby, the atmosphere of the external space S3 and the atmosphere of the internal space S1 can be isolated.
- the outer upper seal section 47 and the inner upper seal section 45 and the outer lower seal section 48 and the inner lower seal section 46 are located between the outer space S3 and the inner space S1, the outer space S3 The atmosphere and the atmosphere of the internal space S1 can be effectively separated.
- the first portion 43 of the outer belt section 42 is drawn into the inner belt section 41, the other end 43b of the first portion 43 of the outer belt section 42 of the seal belt 4 is held at the third space position P3. Therefore, the first portion 43 of the seal belt 4 does not move relative to the front wall 11 of the housing 1, and both side edges of the first portion 43 and the front wall 11 of the housing 1 do not rub against each other. It is like that.
- the control unit 9 drives the drive mechanism 3 and moves the moving body 2
- the inner belt section 41 circulates and the inner side as the moving body 2 moves.
- One end 43 a of the first portion 43 and one end 44 a of the second portion 44 of the belt section 41 move in the moving direction of the moving body 2. Accordingly, the movement of the moving body 2 prevents a gap from being formed between the upper end 10a and the moving body 2 of the opening 10 and between the lower end 10b and the moving body 2, and the opening formed in the housing 1 10 is kept in a state where the outer belt section 42 and the inner belt section 41 are doubly covered.
- the atmosphere of the external space S3 and the atmosphere of the internal space S1 can be isolated, and the effect (dustproof effect) of preventing particles generated from the drive mechanism 3 in the internal space S3 from flowing out to the external space S1 is conventionally achieved. It can be improved compared to technology. Further, since the exhaust mechanism 8 sucks the gas in the buffer space S2 between the inner belt section 41 and the outer belt section 42, it is possible to effectively prevent the gas in the outer space S3 of the housing 1 from flowing into the inner space S1. Can be prevented. As a result, when corrosive gas is contained in the gas of the external space S1, it is possible to effectively prevent the corrosive gas from flowing into the internal space S1.
- FIG. 4 is a longitudinal sectional view showing a configuration example of the robot 200 according to the second embodiment of the present invention.
- the robot 200 includes a housing 201, a moving body 202, a driving mechanism 3, a seal belt 204, a plurality of fixed rollers fixed to the housing 1, a hand 6, and a control unit. 9 is provided.
- the housing 201 has an exhaust port 216 that is a through hole formed so that the buffer space S2 inside the housing 1 formed in one side wall 13 and the external space S3 communicate with each other. Since the configuration of the other casing 201 is the same as that of the casing 1 of the first embodiment, description thereof is omitted.
- the moving body 202 includes the moving base 21 in the form exemplified in the present embodiment, but members corresponding to the first moving roller 22 and the second moving roller 23 in the first embodiment are not provided. Since the structure of the other moving body 202 is the same as that of the moving body 2 of the first embodiment, the description thereof is omitted.
- the seal belt 204 includes an inner belt 241 and an outer belt 242 which are belt-like bodies having substantially no elasticity.
- the outer belt 242 is disposed between the inner belt 241 and the opening 10 of the housing 1.
- the inner belt 241 constitutes an inner belt section
- the outer belt 242 constitutes an outer belt section.
- the inner belt section and the outer belt section are configured by separate belts.
- One end 241 a of the inner belt 241 is fixed to the upper surface of the inner portion 21 a of the moving body 202 near the opening 10.
- the other end 241 b of the inner belt 241 is fixed to the lower surface near the opening 10 of the internal portion 21 a of the moving body 202.
- a portion between the one end 241a and the other end 241b of the inner belt 241 has a plurality of fixed rollers (a third fixed roller 251, a fourth fixed roller 252, and a third reverse roller 255 described later) fixed to the housing 1. And the fourth reversing roller 256).
- the outer belt 242 includes a first portion 43 and a second portion 44.
- One end 43a of the first portion 43 is an upper surface in the vicinity of the opening 10 of the inner portion 21a of the moving body 202, and is fixed to a portion between the portion where the one end 241a of the inner belt 241 is fixed.
- one end 44 a of the second portion 44 of the outer belt 242 is a lower surface in the vicinity of the opening 10 of the inner portion 21 a of the moving body 202, and between the portion 10 where the other end 241 b of the inner belt 241 is fixed. It is fixed to the part.
- the other part of the 1st part 43 is extended from the upper surface of the internal part 21a vicinity of the moving base 21 to the 3rd space position P3 exceeding the upper end 10a along the opening 10, and also of 3rd space position P3. It has been extended. Further, the other part of the second part 44 extends from the lower surface in the vicinity of the opening 10 of the inner part 21a of the movable base 21 to the fourth space position P4 that passes the lower end 10b along the opening 10 and further extends to the fourth space position P4. It has been extended.
- the other end of the first portion 43 and the other end of the second portion 44 are continuous.
- a portion between the one end 43 a of the first portion 43 and the one end 44 a of the second portion 44 of the outer belt 242 is a plurality of fixed rollers (fifth fixed rollers 253 and sixth described later) fixed to the housing 1. It is wound around a fixed roller 254, a fifth reverse roller 257, and a sixth reverse roller 258).
- the outer belt 242 is disposed so that a gap is formed between a portion extending along the opening 10 of the first portion 43 and the second portion 44 and the front wall 11 of the housing 1. . This prevents a portion of the first portion 43 and the second portion 44 extending along the opening 10 from rubbing against the front wall 11 of the housing 1 to generate particles, thereby reducing the product yield. can do.
- the robot 200 also includes a third fixed roller 251, a fourth fixed roller 252, a fifth fixed roller 253, a sixth fixed roller 254, a third reverse roller 255, a fourth reverse roller 256, a fifth reverse roller 257, and a A 6 reversing roller 258 is provided.
- the third fixed roller 251, the fourth fixed roller 252, the fifth fixed roller 253, the sixth fixed roller 254, the third reverse roller 255, the fourth reverse roller 256, the fifth reverse roller 257, and the sixth reverse roller 258 are: It is a cylindrical body extending in the width direction of the opening 10, and both ends thereof are rotatably supported with respect to the housing 1 via a support body (not shown), and rotate around a rotation axis extending in the width direction of the opening 10. As shown in FIG. These third to tenth fixing rollers may be directly attached to the housing 1 and fixed.
- the third fixed roller 251 is located at the first space position P1.
- the fourth fixed roller 252 is located at the second space position P2.
- the third reverse roller 255 is located between the third fixed roller 251 and the back wall 12.
- the fourth reverse roller 256 is located between the fourth fixed roller 252 and the back wall 12.
- the third reverse roller 255 and the fourth reverse roller 256 constitute a roller for reversing the inner belt 241 on the way between the first fixed roller 51 and the second fixed roller 52 in the extending direction of the inner belt 241. ing.
- the inner belt 241 is wound around the third fixed roller 251, the third reverse roller 255, the fourth reverse roller 256, and the fourth fixed roller 252 in this order in the direction from the one end 241a to the other end 241b. Yes.
- the fifth fixed roller 253 is located on the upper end 10a of the opening 10 inside the housing 1 and outside the third fixed roller 251. This position constitutes the third space position P3 of the first embodiment.
- the sixth fixed roller 254 is located outside the lower end 10 b of the opening 10 inside the housing 1 and the fourth fixed roller 252. This position constitutes the fourth space position P4 of the first embodiment.
- the fifth reverse roller 257 is located between the fifth fixed roller 253 and the back wall 12 and outside the third reverse roller 255.
- the sixth reverse roller 258 is located between the sixth fixed roller 254 and the back wall 12 and outside the fourth reverse roller 256.
- the fifth reverse roller 257 and the sixth reverse roller 258 constitute a roller for reversing the outer belt 242 halfway between the fifth fixed roller 253 and the sixth fixed roller 254 in the extending direction of the outer belt 242. ing.
- the outer belt 242 has a fifth fixed roller 253, a fifth reverse roller 257, a sixth reverse roller 258, and a sixth fixed roller in the direction from the one end 43a of the first portion 43 to the one end 44a of the second portion 44. It is wound around 254 in this order.
- the drive mechanism 3 is located in the internal space S1 surrounded by the inner belt 241, and the buffer space S2 is located between the outer belt 242 and the inner belt 241. Therefore, the exhaust port 16 formed in the one side wall 13 connects the external space S3 and the buffer space S2.
- the control unit 9 drives the drive mechanism 3 to move the moving body 202
- the inner belt 241 and the outer belt 242 circulate as the moving body 2 moves. Accordingly, the movement of the moving body 202 prevents a gap from being formed between the upper end 10a of the opening 10 and the moving body 202, and between the lower end 10b and the moving body 202. 10 is kept in a state where the outer belt 242 and the inner belt 241 are double-covered. Thereby, the atmosphere of the external space S3 and the atmosphere of the internal space S1 can be isolated, and the effect (dustproof effect) of preventing particles generated from the drive mechanism 3 in the internal space S3 from flowing out to the external space S1 is conventionally achieved. It can be improved compared to technology.
- the opening 10 of the housing 1 is illustrated as extending in a straight line, but is not limited thereto.
- the opening 10 may be curved and extended.
- the opening 10 illustrated what was formed so that it might extend in a perpendicular direction, it is not restricted to this,
- the opening 10 is horizontal. It may extend in the direction.
- the present invention can be applied to a transfer device in a facility for processing a workpiece.
Abstract
Description
これらの課題は、基板搬送ロボットに限らず、防塵機能を要求されるロボットに共通する課題である。
前記外側ベルト区間の第1部分の前記その他の部分が前記第1移動ローラから前記第3空間位置まで延びて該第3空間位置で前記筐体に固定されており、前記内側ベルト区間の前記他端と前記外側ベルト区間の第2部分の前記一端とが連続していて、当該連続する部分が前記第2移動ローラに巻き掛けられて前記移動体の内在部の前記第2端側部分に保持されており、前記外側ベルト区間の第2部分の前記その他の部分が前記第2移動ローラから前記第4空間位置まで延びて該第4空間位置で前記筐体に固定されており、前記内側ベルト区間の前記一端と前記他端との間の部分が、前記第1固定ローラと前記第2固定ローラとに巻き掛けられるととともに前記第1固定ローラと前記第2固定ローラとの間において該内側ベルト区間を途中で反転させるためのローラに巻き掛けられていてもよい。
図1は、本発明の実施の形態1に係るロボット100の構成例を示す一部破断斜視図である。図2は、ロボット100の構成例を示す縦断面図である。図3は、図2A-A断面図である。
次に、ロボット100の動作例を説明する。
図4は、本発明の実施の形態2に係るロボット200の構成例を示す縦断面図である。
上記実施の形態においては、筐体1の開口10は、一直線に延在するものを例示したがたがこれに限られるものではない。例えば、これに代えて、開口10は湾曲して延在していてもよい。
S2 緩衝空間
S3 外部空間
1 筐体
2 移動体
3 駆動機構
4 シールベルト
6 ハンド
7 隔壁
7a 外側側縁部
7b 内側側縁部
8 排気機構
9 制御部
10 開口
10a 上端
10b 下端
11 正面壁
12 背面壁
13 側壁
14 上壁
15 底壁
16 吸気口
21 移動台
21a 内在部
21b 外在部
22 第1移動ローラ
23 第2移動ローラ
31 ボールねじ
32 スライダ
33 ガイドレール
34 歯車
35 サーボモータ
41 内側ベルト区間
41a 一端
41b 他端
42 外側ベルト区間
43 第1部分
43a 一端
43b 他端
44 第2部分
44a 一端
44b 他端
45 内側上部シール区間
46 内側下部シール区間
47 外側上部シール区間
48 外側下部シール区間
51 第1固定ローラ
52 第2固定ローラ
53 第1反転ローラ
54 第2反転ローラ
81 吸入口
82 吐出口
100 ロボット
110 排気ダクト
Claims (5)
- ある方向に延在して、その延在方向に第1端および第2端を有する開口が形成された筐体と、
前記開口を通って前記筐体の内部及び外部に延在し、該筐体の外部に延在する部分にハンドが設けられた移動体と、
前記筐体に収容され、前記移動体の前記筐体の内部に延在する内在部に作用して当該移動体を前記開口の延在方向に移動させる駆動機構と、
前記筐体内部に収容されたシールベルトと、を備え、
前記シールベルトは、前記開口の法線方向から見て、両側縁が前記開口の両側縁の外側に位置するように該開口の延在方向にそれぞれ延在する内側ベルト区間及び外側ベルト区間を含み、
前記内側ベルト区間が、前記筐体の内部において、前記移動体の内在部の前記第1端側部分に一端が保持され、その他の部分が前記移動体の内在部の前記第1端側部分から前記開口に沿って前記移動体の内在部よりも前記第1端側の第1空間位置に延び、前記第1空間位置から途中で反転するようにして前記移動体の内在部よりも前記第2端側の第2空間位置まで延び、且つ前記第2空間位置から前記開口に沿って延びて、前記移動体の内在部の前記第2端側部分に他端が保持されるように構成されるとともに前記移動体の移動に伴って周回するように構成され、
前記外側ベルト区間が、前記内側ベルト区間と前記開口との間において、前記移動体の内在部の前記第1端側部分に一端が保持され、その他の部分が前記移動体の内在部の前記第1端側部分から前記開口に沿って前記第1端を越える第3空間位置まで延びて該第3空間位置で保持される第1部分と、前記内側ベルト区間と前記開口との間において、前記移動体の内在部の前記第2端側部分に一端が保持され、その他の部分が前記移動体の内在部の前記第2端側部分から前記開口に沿って前記第2端を越える第4空間位置まで延びて該第4空間位置で保持される第2部分とを含み、且つ前記移動体の移動に伴って前記第1部分の長さ及び前記第2部分の長さが一方の減少分だけ他方が増加するようにして変化するように構成され、
前記駆動機構が、前記内側ベルト区間で囲まれた空間に位置している、ロボット。 - 前記移動体の内在部の前記第1端側部分に、前記開口の幅方向に延在する回転軸周りに回転するように前記移動体に取り付けられた第1移動ローラと、前記移動体の内在部の前記第2端側部分に、前記開口の幅方向に延在する回転軸周りに回転するように前記移動体に取り付けられた第2移動ローラと、前記第1空間位置に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第1固定ローラと、前記第2空間位置に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第2固定ローラと、を備え、
前記内側ベルト区間の前記一端と前記外側ベルト区間の第1部分の前記一端とが連続していて、当該連続する部分が前記第1移動ローラに巻き掛けられて前記移動体の内在部の前記第1端側部分に保持されており、
前記外側ベルト区間の第1部分の前記その他の部分が前記第1移動ローラから前記第3空間位置まで延びて該第3空間位置で前記筐体に固定されており、
前記内側ベルト区間の前記他端と前記外側ベルト区間の第2部分の前記一端とが連続していて、当該連続する部分が前記第2移動ローラに巻き掛けられて前記移動体の内在部の前記第2端側部分に保持されており、
前記外側ベルト区間の第2部分の前記その他の部分が前記第2移動ローラから前記第4空間位置まで延びて該第4空間位置で前記筐体に固定されており、
前記内側ベルト区間の前記一端と前記他端との間の部分が、前記第1固定ローラと前記第2固定ローラとに巻き掛けられるととともに前記第1固定ローラと前記第2固定ローラとの間において該内側ベルト区間を途中で反転させるためのローラに巻き掛けられている、請求項1に記載のロボット。 - 前記第1空間位置に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第3固定ローラと、前記第2空間位置に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第4固定ローラと、前記筐体内部の前記第1端及び前記第3固定ローラの外側に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第5固定ローラと、前記筐体内部の前記第2端及び前記第4固定ローラの外側に位置し、前記開口の幅方向に延在する回転軸周りに回転するよう前記筐体に固定された第6固定ローラと、を備え、
前記内側ベルト区間の前記一端が前記移動体の内在部の前記第1端側部分に固定されるとともに該内側ベルト区間の前記他端が前記移動体の内在部の前記第2端側部分に固定されており、
前記内側ベルト区間の前記一端と前記他端との間の部分が、前記第3固定ローラと前記第4固定ローラとに巻き掛けられるととともに前記第3固定ローラと前記第4固定ローラとの間において該内側ベルト区間を途中で反転させるためのローラに巻き掛けられており、
前記外側ベルト区間の前記第1部分の一端が前記移動体の内在部の前記第1端側部分に固定されるとともに該外側ベルト区間の前記第2部分の一端が前記移動体の内在部の前記第2端側部分に固定されており、
前記外側ベルト区間において、前記第1部分の前記その他の部分が前記保持される部分の先まで延在するとともに前記第2部分のその他の部分が前記保持される部分の先まで延在していて、該第1部分の他端と該第2部分の他端とが連続しており、前記第1部分の一端と前記第2部分の一端との間の部分が、前記内側ベルト区間と前記筐体との間に位置するようにして、前記第5固定ローラと前記第6固定ローラとに巻き掛けられるととともに前記第5固定ローラと前記第6固定ローラとの間において該外側ベルト区間を途中で反転させるためのローラに巻き掛けられており、
前記内側ベルト区間及び前記外側ベルト区間が、それぞれ別個に、内側ベルト及び外側ベルトを構成している、請求項1に記載のロボット。 - 前記内側ベルト区間の前記一端から第1空間位置に向かって延びる部分の前記駆動機構側と、前記内側ベルト区間の前記他端から第2空間位置に向かって延びる部分の前記駆動機構側とに沿って延在するように配設された隔壁を更に備える、請求項1乃至3の何れかに記載のロボット。
- 前記外側ベルト区間と前記内側ベルト区間との間の緩衝空間の気体を吸気する吸気機構を更に備える、請求項1乃至4の何れかに記載のロボット。
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US14/917,699 US10083851B2 (en) | 2013-09-09 | 2014-09-04 | Robot with inner and outer belt sections |
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2014
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- 2014-09-04 CN CN201480048301.XA patent/CN105473290B/zh active Active
- 2014-09-04 KR KR1020167003821A patent/KR101741093B1/ko active IP Right Grant
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110081078A (zh) * | 2019-04-28 | 2019-08-02 | 广西科技大学 | 一种用于减重机构与悬吊机构间的连接装置 |
CN110081078B (zh) * | 2019-04-28 | 2024-04-19 | 广西科技大学 | 一种用于减重机构与悬吊机构间的连接装置 |
Also Published As
Publication number | Publication date |
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TWI543854B (zh) | 2016-08-01 |
US20160218031A1 (en) | 2016-07-28 |
KR20160032196A (ko) | 2016-03-23 |
KR101741093B1 (ko) | 2017-05-29 |
TW201515790A (zh) | 2015-05-01 |
EP3045275A4 (en) | 2018-05-23 |
JP2015051488A (ja) | 2015-03-19 |
CN105473290A (zh) | 2016-04-06 |
JP6220197B2 (ja) | 2017-10-25 |
CN105473290B (zh) | 2017-03-29 |
US10083851B2 (en) | 2018-09-25 |
EP3045275A1 (en) | 2016-07-20 |
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