WO2015104887A1 - 移載装置及び移載装置の制御方法 - Google Patents
移載装置及び移載装置の制御方法 Download PDFInfo
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- WO2015104887A1 WO2015104887A1 PCT/JP2014/078748 JP2014078748W WO2015104887A1 WO 2015104887 A1 WO2015104887 A1 WO 2015104887A1 JP 2014078748 W JP2014078748 W JP 2014078748W WO 2015104887 A1 WO2015104887 A1 WO 2015104887A1
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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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- 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
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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
- H01L21/67706—Mechanical details, e.g. roller, belt
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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
- H01L21/683—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 device and a control method of the transfer device.
- the transfer device includes a main body connected to the overhead traveling vehicle, and a moving unit that can move to the side of the traveling direction of the overhead traveling vehicle with respect to the main body.
- the moving unit is moved by a driving mechanism such as a belt mechanism or a gear mechanism so as to protrude to the side of the main body, and the article is transferred in this state.
- the moving unit is returned to the main body by the drive mechanism.
- the moving part for example, after moving the moving part to the side of the main body part, when the belt is cut or the gear is disengaged when returning to the main body part side, the moving part is moved to the opposite side. It may jump out and interfere with other overhead traveling vehicles.
- an object of the present invention is to provide a transfer device and a control method for the transfer device that can reliably prevent inadvertent popping of the moving unit.
- a transfer unit that includes a moving unit that is movable with respect to the main body, and that transfers the article in a state in which the moving unit protrudes from the main body. And a second state in which the movement of the moving unit from the reference position in either the first direction or the second direction opposite to the first direction is allowed and the movement of the moving unit to the other is restricted. Equipped with an appropriate movement control unit.
- the movement restricting unit may be formed to be switchable to a third state that allows the movement of the moving unit in the first direction and the second direction by a predetermined range.
- the movement restricting portion includes a rotating body having a stopper portion that comes into contact with the engaging portion in the moving direction of the engaging portion provided in the moving portion, and at least in a first state and a second state depending on a rotation position of the rotating body. May be switched.
- the rotating body may include an outer stopper portion that allows the movement of the engaging portion within a predetermined range on the outer side of the stopper portion.
- the movement restricting unit includes an index unit that rotates with the rotation of the rotating body, a sensor unit that detects the index unit, a control unit that controls the rotational position of the rotating body based on a detection result from the sensor unit, May be provided.
- a plurality of sensor units may be arranged along the rotation direction of the index unit, and the control unit may control the rotational position of the rotating body based on detection results from the plurality of sensor units.
- the main body may be connected to the overhead traveling vehicle, and the moving unit may include a gripper capable of holding an article and a lift driving unit that lifts and lowers the gripper.
- the first direction and the second direction may be a direction that intersects the traveling direction of the overhead traveling vehicle in the horizontal direction.
- the transfer device control method is a transfer device control method that includes a moving unit that is movable with respect to the main body, and transfers the article in a state in which the moving unit protrudes from the main body.
- the moving unit is allowed to move in the first state in which the moving unit is restricted to the reference position and the first direction and the second direction opposite to the first direction from the reference position, and the moving unit moves to the other side. And switching the second state in which the movement is restricted by the movement restriction unit.
- the movement restricting unit moves the moving unit from the reference position to either the first direction or the second direction opposite to the first direction by restricting the moving unit to the reference position.
- the moving unit is moved in the first direction and then moved in the second direction in order to return to the reference position, the second state in which the moving unit is allowed to be switched can be switched. Then, the movement restricting portion suppresses jumping out in the second direction. Thereby, inadvertent jumping out of the moving part is surely suppressed.
- the movement restriction unit is formed to be switchable to a third state that allows movement of the moving unit in the first direction and the second direction by a predetermined range.
- the position of the moving portion can be finely adjusted within a predetermined range.
- the movement restricting portion includes a rotating body having a stopper portion that contacts the engaging portion in the moving direction of the engaging portion provided in the moving portion, and at least the first state and the second state depending on the rotation position of the rotating body. In the switching, the movement restricting portion can be easily switched at least between the first state and the second state simply by rotating the rotating body.
- the movement restricting unit is an index unit that rotates as the rotating body rotates, a sensor unit that detects the index unit, a control unit that controls the rotational position of the rotating body based on a detection result from the sensor unit, With this, the movement restriction unit can be automatically switched.
- a plurality of sensor units are arranged along the rotation direction of the index unit, and the control unit controls the rotation position of the rotating body based on the detection results from the plurality of sensor units. The rotational position of the rotating body can be reliably controlled.
- the moving unit is the main body.
- the moving unit may inadvertently jump out in the direction intersecting the traveling direction of the overhead traveling vehicle. It can be reliably suppressed. Thereby, when the overhead traveling vehicle travels on each of the tracks extending in parallel, the overhead traveling vehicles can be prevented from interfering with each other.
- FIG. 1 It is a figure which shows an example of the ceiling part of a process chamber. It is a figure which shows an example of a belt mechanism. It is a figure which shows an example of the operation state of a transfer apparatus. It is a perspective view which shows an example of a movement control part. It is a side view which shows an example of a movement control part.
- (A) is a figure which shows an example of a rotary body
- (b) is a figure which shows an example of a parameter
- (A)-(d) is a figure for demonstrating operation
- the direction of the arrow in the figure is the + direction
- the direction opposite to the arrow direction is the ⁇ direction.
- the rotation direction around the X axis is expressed as the ⁇ X direction
- the rotation direction around the Y axis as the ⁇ Y direction
- the rotation direction around the Z axis as the ⁇ Z direction.
- FIG. 1 is a diagram illustrating an example of a ceiling portion of the processing chamber 1.
- the processing chamber 1 is inside a clean room, for example, and is provided with a semiconductor processing apparatus (not shown).
- a ceiling member 4, a first support column 6, and a second support column 15 are provided in the ceiling portion of the processing chamber 1.
- a ceiling surface 4 a is formed on the ceiling member 4.
- the ceiling surface 4a is formed in parallel to the horizontal plane.
- the first support column 6 is fixed to the ceiling member 4 and extends downward ( ⁇ Z direction) from the ceiling surface 4a.
- First support members 8 and 9 are fixed to the ⁇ Z side end of each group of the first support columns 6, respectively.
- the first support members 8 and 9 are formed to be long in the Y direction.
- the first support members 8 and 9 are fixed to the ceiling member 4 via the first support column 6.
- the ⁇ Z side surfaces (support surfaces) 8a and 9a of the first support members 8 and 9 are arranged in parallel to the ceiling surface 4a.
- the rails 10 are provided adjacent to the support surfaces 8a and 9a, respectively.
- the rail 10 is a track that guides the overhead traveling vehicle 20.
- the rail 10 includes a travel rail 11 and a power supply rail 12. At least a part of the rail 10 is provided, for example, along the longitudinal direction (Y direction) of the first support members 8 and 9. Adjacent rails 10 are arranged in parallel to each other. In FIG. 1, the illustration of the overhead traveling vehicle provided on the rail 10 of the first support member 9 is omitted.
- the overhead traveling vehicle 20 is disposed inside the traveling rail 11.
- the overhead traveling vehicle 20 travels in the + Y direction along the rail 10.
- the overhead traveling vehicle 20 includes a traveling drive unit 21, a power receiving unit 22, and a connecting unit 23.
- the traveling drive unit 21 includes a plurality of rollers 21 a that abut on the inner surface of the traveling rail 11 and a driving device (not shown) that rotates the plurality of rollers 21 a.
- the power reception unit 22 receives power via a non-contact power supply line provided on the power supply rail 12 and supplies power to the traveling drive unit 21 and the like.
- the connecting unit 23 is attached to the ⁇ Z side of the travel drive unit 21 and connects the travel drive unit 21 and the transfer device 40.
- the transfer device 40 includes a base part (main body part) 41, a moving part 42, and a movement restricting part 43.
- the base part 41 is connected to the overhead traveling vehicle 20 (traveling drive part 21) via the connecting part 23. Therefore, the base portion 41 can move integrally with the overhead traveling vehicle 20.
- the moving part 42 has a middle part 44 and a top part 45.
- the middle part 44 is attached to the base part 41.
- the middle portion 44 moves in the first direction D1 and the second direction D2 along the X direction by a guide (not shown).
- the top part 45 is attached to the middle part 44.
- the top portion 45 is movable in the first direction D1 and the second direction D2 along the X direction as the middle portion 44 moves.
- a turning portion 46 turns the configuration below the lift drive unit 47 (the lift drive unit 47, the lift platform 48, and the gripper 49) with respect to the top portion 45 in the ⁇ Z direction.
- the elevating drive unit 47 controls the elevating and lowering (movement in the Z direction) of the elevating table 48.
- the raising / lowering drive part 47 is connected to the raising / lowering stand 48 via the belt 48a (refer FIG. 3) formed in the predetermined length.
- the elevating drive unit 47 is provided with a drum (not shown) around which the belt 48a is wound.
- the raising / lowering drive part 47 moves the raising / lowering stand 48 to a Z direction by winding up and sending out the belt 48a.
- the lifting platform 48 is moved integrally with the gripper 49 in the Z direction by driving of the lifting drive unit 47.
- the gripper 49 has a pair of claw portions 49a.
- the claw portion 49a can hold an article FP such as a semiconductor wafer transfer container (FOUP).
- the pair of claw portions 49a grips the protrusions FPa provided on the + Z side surface of the article FP.
- the third support column 16 is provided on the support surfaces 8a, 9a of the first support members 8, 9.
- pillar 16 is arrange
- the third support column 16 extends in the ⁇ Z direction.
- Second support members 17 and 18 are fixed to ends of the third support column 16 in the ⁇ Z direction, respectively.
- the second support member 17 is disposed on the + X side of the first support member 8, and the second support member 18 is disposed on the ⁇ X side of the first support member 8.
- the second support members 17 and 18 have mounting surfaces 17a and 18a, respectively.
- the mounting surfaces 17a and 18a are formed in parallel to the horizontal plane.
- the second support members 17 and 18 can temporarily place articles on the placement surfaces 17a and 18a, and are used as buffers.
- the second support member 17 is supported by the third support column 16 and the second support column 15 arranged on the + X side.
- the second support column 15 extends in the ⁇ Z direction from the ceiling surface 4a, and is fixed to the second support member 17 at the ⁇ Z side end.
- the second support member 18 includes a ⁇ X side column among the third columns 16 provided on the first support member 8 and a + X side column among the third columns 16 provided on the first support member 9. And is supported by.
- first support member 9, the rail 10, the overhead traveling vehicle 20, and the like disposed on the first support member 9 may not be provided.
- the second support member 18 may not be provided.
- FIG. 2 is a diagram schematically illustrating an example of the belt mechanism 30 that drives the base portion 41 and the moving portion 42.
- the belt mechanism 30 is not limited to the configuration shown in FIG. As shown in FIG. 2, the middle portion 44 and the top portion 45 are driven by the belt mechanism 30.
- the belt mechanism 30 includes a drive motor 31, drive pulleys 32 and 33, driven pulleys 34 and 35, and drive belts 36 and 37.
- the drive motor 31, the drive pulley 32, and the driven pulley 34 are fixed to the ⁇ Z side of the base portion 41.
- the driving pulley 32 is rotated by the driving force of the driving motor 31.
- the drive belt 36 is hung between the drive pulley 32 and the driven pulley 34, and has a fixed portion 36a.
- the fixed portion 36 a is fixed to the middle portion 44.
- the driving pulley 33 and the driven pulley 35 are fixed to the ⁇ Z side of the middle portion 44.
- the drive pulley 33 is connected to the drive motor 31 or the drive pulley 32 via a rotational force transmission mechanism (not shown).
- the drive pulley 33 rotates in synchronization with the rotation of the drive pulley 32.
- the drive belt 37 is hung between the drive pulley 33 and the driven pulley 35, and has a fixed portion 37a.
- the fixing portion 37 a is fixed to the top portion 45.
- the drive belts 36 and 37 are rotated via the drive pulleys 32 and 33.
- the middle portion 44 moves so as to protrude toward the + X side and the ⁇ X side of the base portion 41 (for example, the + X side in FIG. 2).
- the top portion 45 moves so as to protrude toward the + X side and the ⁇ X side (for example, the + X side in FIG. 2) of the middle portion 44.
- FIG. 3 is a diagram illustrating an example of an operation state of the transfer device 40.
- the transfer device 40 does not move the moving unit 42 to the + X side or the ⁇ X side, but is arranged at a predetermined reference position P1, as shown in FIG. (First state).
- the reference position P1 is the position of the moving unit 42 when the overhead traveling vehicle 20 travels.
- the base unit 41 and the moving unit 42 the middle unit 44 and the top unit 45.
- the present invention is not limited to this.
- the transfer apparatus 40 makes the state (2nd state) which moved the top part 45 among the moving parts 42 to the protrusion position P2 of the 1st direction D1 side or the protrusion position P3 of the 2nd direction D2. .
- the protruding position P2 is disposed on the + Z direction of the second support member 17.
- the protruding position P3 is disposed on the + Z direction of the second support member 18.
- the elevator 48 and the gripper 49 can be moved below by sending out the belt 48a from this 2nd state.
- the gripper 49 holds the article FP, for example, the article FP can be placed on the second support members 17 and 18. Further, when the gripper 49 does not hold the article FP and the article FP is placed on the second support members 17 and 18, the article FP on the second support members 17 and 18 is moved by the gripper 49. It can be gripped.
- the article FP gripped by the gripper 49 is to be placed at a predetermined position such as a device disposed below the rail 10, or placed at a predetermined position such as a device disposed below the rail 10.
- the overhead traveling vehicle 20 is stopped. Then, without moving the moving part 42 to the protruding position P2 and the protruding position P3, the elevator 48 is moved to the ⁇ Z direction (third state).
- the moving unit 42 can be moved by a predetermined range in the X direction.
- FIG. 4 is a perspective view showing an example of the movement restricting portion 43.
- FIG. 5 is a side view showing an example of the movement restricting unit 43.
- the movement restricting unit 43 includes a drive source 51, a rotation transmission gear 52, a rotating shaft 53, a rotating body 54, an index unit 55, a sensor unit 56, and a control unit 57. And a mechanical stopper 60.
- the drive source 51 is, for example, a motor and has an output shaft 51a that outputs rotation.
- the drive source 51 rotates the output shaft 51a in the ⁇ Z direction.
- the rotation transmission gear 52 includes a first gear 52a and a second gear 52b.
- the first gear 52 a is fixed to the output shaft 51 a of the drive source 51.
- the second gear 52b meshes with the first gear 52a, and converts the rotation of the first gear 52a in the ⁇ Z direction into the rotation in the ⁇ Y direction.
- the rotating shaft 53 is fixed to the second gear 52b.
- the rotation shaft 53 rotates in the direction around the rotation center axis AX along the Y direction ( ⁇ Y direction) with the rotation of the second gear 52b.
- the rotating body 54 is provided integrally with the rotating shaft 53. As the rotating shaft 53 rotates, the rotating body 54 rotates in the direction around the rotation center axis AX ( ⁇ Y direction).
- the rotating body 54 is fixed so that the position does not change in the X direction, the Y direction, and the Z direction.
- the rotating body 54 includes a first stopper portion (stopper portion) 54a, a second stopper portion (stopper portion) 54b, a third stopper portion (outer stopper portion) 54c, and a fourth stopper portion (outer stopper portion) 54d. Yes.
- the first stopper portion 54a and the second stopper portion 54b are formed along the same cylindrical surface around the rotation center axis AX of the rotating body 54. Between the first stopper portion 54a and the second stopper portion 54b, gaps 54m and 54n are provided. Further, the third stopper portion 54c and the fourth stopper portion 54d are formed along the same cylindrical surface outside the first stopper portion 54a and the second stopper portion 54b with the rotation center axis AX as the center.
- an engagement portion 45a protruding in the ⁇ Y direction is provided on the surface of the top portion 45 on the ⁇ Y side.
- the engaging portion 45a is formed in a columnar shape or a rod shape, for example.
- the first stopper portion 54a to the fourth stopper portion 54d are disposed around the engaging portion 45a. That is, the distal end portion on the ⁇ Y side of the engaging portion 45a is in a state of being disposed in a portion surrounded by the first stopper portion 54a to the fourth stopper portion 54d.
- the first stopper portion 54a to the fourth stopper portion 54d are in contact with the engaging portion 45a, thereby restricting the movement of the engaging portion 45a and thereby restricting the movement of the top portion 45.
- the middle part 44 moves in synchronization with the top part 45, the movement of the middle part 44 is restricted when the movement of the top part 45 is restricted. Therefore, the movement of the moving part 42 (the middle part 44 and the top part 45) can be restricted by restricting the movement of the engaging part 45a.
- FIG. 6A is a diagram showing an example when the rotating body 54 is viewed in the ⁇ Y direction.
- the engaging portion 45 a of the top portion 45 is shown together with the rotating body 54.
- the clockwise direction as viewed in the traveling direction (+ Y direction) will be referred to as + ⁇ Y direction
- the counterclockwise direction as ⁇ Y direction.
- the + ⁇ Y direction is shown in the clockwise direction in the figure
- the ⁇ Y direction is shown in the counterclockwise direction in the figure.
- the first stopper portion 54a is formed over a range of an angle ⁇ 1 in the ⁇ Y direction with the rotation center axis AX as a reference.
- the angle ⁇ 1 is set to about 120 °, for example, but is not limited thereto.
- the second stopper portion 54b is formed over a range of an angle ⁇ 2 in the ⁇ Y direction with the rotation center axis AX as a reference.
- the angle ⁇ 2 can be set to about 60 °, for example, but is not limited thereto.
- the gap 54m is formed from the + ⁇ Y side end of the first stopper portion 54a to the ⁇ Y side end of the second stopper portion 54b over a range of an angle ⁇ 3 in the ⁇ Y direction with respect to the rotation center axis AX.
- the gap 54n is formed from the ⁇ Y side end of the first stopper portion 54a to the + ⁇ Y side end of the second stopper portion 54b over a range of an angle ⁇ 4 in the ⁇ Y direction with respect to the rotation center axis AX.
- the angle ⁇ 3 is set to be larger than the angle ⁇ 4.
- the angle ⁇ 4 is set according to the diameter of the engaging portion 45a so that the engaging portion 45a can pass through the gap 54n.
- the angle ⁇ 4 may be set first, and the diameter of the engaging portion 45a may be set according to the value of the angle ⁇ 4.
- the angle ⁇ 3 is set to about 120 ° and the angle ⁇ 4 is set to about 60 °, but is not limited thereto.
- the third stopper portion 54c is formed over a range of an angle ⁇ 5 in the ⁇ Y direction with the rotation center axis AX as a reference.
- the angle ⁇ 5 is set to about 60 °, for example, but is not limited thereto.
- the third stopper portion 54c is arranged so as to cover a gap portion provided on the ⁇ Y side of the first stopper portion 54a in the rotation direction of the rotating body 54.
- the fourth stopper portion 54d is arranged at a position shifted by 180 ° from the third stopper portion 54c with the rotation center axis AX as a reference.
- the fourth stopper portion 54d is formed over a range of an angle ⁇ 6 in the ⁇ Y direction.
- the angle ⁇ 5 is set to about 60 °, for example, but is not limited thereto.
- the fourth stopper portion 54d is disposed so as to cover a part of the gap provided on the + ⁇ Y side of the first stopper portion 54a in the rotation direction of the rotating body 54.
- FIG. 6B is a diagram illustrating an example when the index unit 55 and the sensor unit 56 are viewed from the + Y side.
- the clockwise direction when viewed in the traveling direction (+ Y direction) is represented as + ⁇ Y direction
- the counterclockwise direction is represented as ⁇ Y direction.
- the indicator portion 55 is formed in a disc shape and is fixed to the second gear 52 b or the rotating shaft 53.
- the posture of the index unit 55 shown in FIG. 6B corresponds to the posture of the rotating body 54 shown in FIG. That is, when the rotating body 54 is in the posture shown in FIG. 6A, the index unit 55 is in the posture shown in FIG. Conversely, when the index unit 55 assumes the posture shown in FIG.
- the rotating body 54 assumes the posture shown in FIG.
- the indicator portion 55 rotates in the ⁇ Y direction integrally with the second gear 52b or the rotation shaft 53. Since the rotating body 54 is fixed to the rotating shaft 53 in addition to the index portion 55, when the rotating shaft 53 rotates, the index portion 55 rotates integrally with the rotating body 54.
- the indicator portion 55 is disposed on the ⁇ Y side with respect to the second gear 52b.
- the indicator portion 55 has a base portion 55a and a light shielding portion 55b.
- the base 55a is a portion formed in a circular shape.
- the light shielding part 55b is provided on a part of the outer periphery of the base part 55a, and is formed so as to be able to shield the detection light used in the sensor part 56.
- the light shielding part 55b has end faces 55c and 55d, for example.
- the end face 55c and the end face 55d are arranged so as to have an angle ⁇ 1 in the ⁇ Y direction around the rotation center axis AX.
- the angle ⁇ 1 is formed at an angle of less than 120 °, for example, about 116 °, but is not limited thereto.
- the light shielding portion 55b is disposed on the + X side with respect to the base portion 55a.
- the sensor unit 56 includes a first sensor 61, a second sensor 62, a third sensor 63, and a fourth sensor 64.
- each of the first sensor 61 to the fourth sensor 64 has a base portion 56a, a light emitting portion 56b, and a light receiving portion 56c.
- the base portion 56a is formed in a U shape (or U shape) and has two parallel tip portions (a first end portion 56m and a second end portion 56n).
- the light emitting part 56b is provided at the first end part 56m.
- the light emitting unit 56b emits inspection light.
- the light receiving portion 56c is provided at the second end portion 56n.
- an LED or the like is used as the light emitting unit 56b, and a photoelectric conversion element such as a photodiode is used as the light receiving unit 56c.
- the light emitting unit 56b and the light receiving unit 56c are arranged to face each other.
- a predetermined gap in the Y direction is provided between the light emitting unit 56b and the light receiving unit 56c.
- the inspection light emitted from the light emitting unit 56b travels through this gap and enters the light receiving unit 56c.
- the light receiving unit 56c photoelectrically converts the incident inspection light and outputs a light reception signal (electric signal).
- the first sensor 61 to the fourth sensor 64 are arranged so that the light emitting part 56b and the light receiving part 56c face each other across the track of the light shielding part 55b.
- the index unit 55 rotates, the light blocking unit 55b enters between the light emitting unit 56b and the light receiving unit 56c depending on the rotation angle.
- the inspection light is shielded by the light shielding part 55b. For this reason, the light receiving unit 56c does not output a light reception signal.
- the first sensor 61 to the fourth sensor 64 can detect whether or not there is a light-shielding part 55b between the light-emitting part 56b and the light-receiving part 56c by detecting the presence or absence of this light-receiving signal. ing.
- the first sensor 61 is arranged on the ⁇ X side of the rotation center axis AX.
- the second sensor 62 is disposed at an angle ⁇ 2 with respect to the first sensor 61 in the ⁇ Y direction.
- the third sensor 63 is arranged with respect to the second sensor 62 at an angle ⁇ 3 in the ⁇ Y direction.
- the fourth sensor 64 is arranged at an angle ⁇ 4 in the ⁇ Y direction with respect to the third sensor 63.
- the angles ⁇ 2, ⁇ 3, ⁇ 4 are set to about 60 °, for example. With this arrangement, the light shielding portion 55b does not overlap three or more of the first sensor 61 to the fourth sensor 64 at the same time.
- the first sensor 61 and the third sensor 63 are provided 120 ° apart in the ⁇ Y direction with respect to the rotation center axis AX, and the range in the ⁇ Y direction of the light shielding portion 55b is 116 °. It has become. Accordingly, in a state where the light shielding part 55b is disposed between the first sensor 61 and the third sensor 63, for example, the distance between the + ⁇ Y side end of the light shielding part 55b and the first sensor 61 is about 2 ° in the ⁇ Y direction. However, similarly, the distance between the ⁇ Y side end of the light shielding portion 55b and the third sensor 63 is only about 2 ° in the ⁇ Y direction.
- the mechanical stopper 60 has a stopper surface 65 and a stopper surface 66.
- the stopper surface 65 is in contact with the end surface 55c of the light shielding portion 55b. Further, the stopper surface 66 is in contact with the end surface 55d of the light shielding portion 55b.
- the end surfaces 55c and 55d of the light shielding portion 55b are brought into contact with the stopper surfaces 65 and 66, respectively, so that the rotation of the indicator portion 55 in the ⁇ Y direction is restricted.
- the end surface 55c is in contact with the stopper surface 65 (the light shielding portion 55b is disposed on the + X side with respect to the base portion 55a), and the end surface 55d is in contact with the stopper surface 66 (The indicator portion 55 is restricted to rotate within a range of 180 ° between the light-shielding portion 55b and the base portion 55a on the ⁇ X side.
- FIGS. 7A to 7D are diagrams for explaining the operation of the movement restricting unit 43.
- FIG. Fig.7 (a) has shown the operation
- the control part 57 includes a second stopper part 54b on the + X side of the engaging part 45a and the engaging part 45a.
- the posture of the rotating body 54 is adjusted so that the first stopper portion 54a is disposed on the ⁇ X side.
- this posture is referred to as a first posture.
- the light shielding portion 55 b of the indicator portion 55 is disposed between the first sensor 61 and the third sensor 63.
- the inspection light from the light emitting unit 56b is received by the light receiving unit 56c, and a light reception signal is output.
- the second sensor 62 blocks the inspection light and does not output a light reception signal.
- control unit 57 adjusts the posture of the index unit 55 so that the light reception signal is output from the first sensor 61, the third sensor 63, and the fourth sensor 64 and the light reception signal is not output from the second sensor 62. By doing so, the posture of the rotating body 54 can be set to the first posture.
- the control unit 57 detects the light reception signals of the first sensor 61 to the fourth sensor 64 and rotates the index unit 55 in the + ⁇ Y direction or the ⁇ Y direction according to the detection result. For example, when the first sensor 61 detects a light-shielded state, the control unit 57 rotates the indicator unit 55 in the ⁇ Y direction. Then, immediately after the first sensor 61 is switched from light shielding to light receiving, the rotation of the indicator portion 55 is stopped. Thereby, the light shielding part 55 b can be disposed between the first sensor 61 and the third sensor 63.
- the control unit 57 rotates the indicator unit 55 in the + ⁇ Y direction so that the third sensor 63 is shielded from light. Then, when the control unit 57 detects the state where the third sensor 63 is shielded from light, the control unit 57 further detects the output of the third sensor 63 while rotating the indicator unit 55 in the + ⁇ Y direction, and the third sensor 63 changes from light shielding to light reception. Immediately after switching, the rotation of the indicator portion 55 is stopped. Also in this case, the light shielding part 55 b can be disposed between the first sensor 61 and the third sensor 63.
- the moving part 42 when moving the moving part 42 to the second state, the moving part 42 is moved to the protruding position P2 in the first direction D1, and the moving part 42 is moved to the protruding position P3 in the second direction D2.
- the control part 57 when the moving part 42 is moved to the protruding position P2, as shown in FIG. 7B, the control part 57 has a gap 54m disposed on the + X side of the engaging part 45a and is engaged.
- the posture of the rotating body 54 is adjusted so that the first stopper portion 54a is disposed on the ⁇ X side of the portion 45a.
- this posture is referred to as a second posture.
- the rotating body 54 By setting the rotating body 54 to the second posture, when the moving part 42 tries to move in the + X direction, the engaging part 45a passes through the gap 54m, and thus the movement of the engaging part 45a is not restricted. For this reason, the moving part 42 can move in the first direction D1. Further, when the moving part 42 tries to move in the ⁇ X direction, the engaging part 45a is brought into contact with the first stopper part 54a, so that the movement of the engaging part 45a in the ⁇ X direction is restricted. Therefore, for example, when the moving unit 42 tries to return from the protruding position P2 to the reference position P1, it can be restricted from moving in the ⁇ X direction beyond the reference position P1.
- the end surface 55d of the light shielding portion 55b is brought into contact with the stopper surface 66 as shown in FIG. Further, the light shielding portion 55b is disposed on the + ⁇ Y side of the second sensor 62. Further, the central portion of the light shielding portion 55 b in the ⁇ Y direction is disposed so as to correspond to the first sensor 61. In this case, in the second sensor 62, the third sensor 63, and the fourth sensor 64, the inspection light from the light emitting unit 56b is received by the light receiving unit 56c, and a light reception signal is output. The first sensor 61 blocks the inspection light and does not output a light reception signal.
- control unit 57 adjusts the posture of the index unit 55 so that the light reception signal is output from the second sensor 62, the third sensor 63, and the fourth sensor 64 and the light reception signal is not output from the first sensor 61. By doing so, the posture of the rotating body 54 can be set to the second posture.
- the control unit 57 detects the light reception signals of the first sensor 61 to the fourth sensor 64 and rotates the index unit 55 in the + ⁇ Y direction or the ⁇ Y direction according to the detection result. For example, when any of the third sensor 63 and the fourth sensor 64 is detected to be shielded from light, the control unit 57 rotates the indicator unit 55 in the + ⁇ Y direction so that the second sensor 62 is shielded from light. . When the control unit 57 detects the state where the second sensor 62 is shielded from light, the control unit 57 further detects the output of the second sensor 62 while rotating the indicator unit 55 in the + ⁇ Y direction. Immediately after switching, the rotation of the indicator portion 55 is stopped. Thereby, the light shielding part 55b can be arranged on the + ⁇ Y side of the second sensor 62.
- the stopper surface 66 since the stopper surface 66 is disposed, the rotation of the indicator portion 55 can be restricted by bringing the end surface 55d of the light shielding portion 55b into contact with the stopper surface 66.
- a sensor having the same function as the first sensor 61 to the fourth sensor 64 may be provided at the position of the stopper surface 66. In this configuration, the control unit 57 can be controlled to stop the rotation of the index unit 55 using the detection result of the sensor.
- the control part 57 when the moving part 42 is moved to the protruding position P3 in the second direction D2, the control part 57, as shown in FIG. 7C, the first stopper part 54a on the + X side of the engaging part 45a. And the posture of the rotating body 54 is adjusted so that the gap 54m is arranged on the ⁇ X side of the engaging portion 45a.
- this posture is referred to as a third posture.
- the moving part 42 when the moving part 42 tries to move in the + X direction, the engaging part 45a is brought into contact with the first stopper part 54a, so that the movement of the engaging part 45a in the + X direction is restricted. Therefore, for example, when the moving unit 42 tries to return from the protruding position P3 to the reference position P1, it can be restricted from moving in the + X direction beyond the reference position P1.
- the end surface 55c of the light shielding portion 55b is brought into contact with the stopper surface 65 as shown in FIG.
- the light shielding portion 55b is disposed on the ⁇ Y side of the third sensor 63. Further, the central portion of the light shielding portion 55 b in the ⁇ Y direction is disposed so as to correspond to the fourth sensor 64.
- the fourth sensor 64 blocks the inspection light and does not output a light reception signal.
- control unit 57 adjusts the posture of the index unit 55 so that the light reception signal is output from the first sensor 61, the second sensor 62, and the third sensor 63, and the light reception signal is not output from the fourth sensor 64. By doing so, the posture of the rotating body 54 can be set to the third posture.
- the control unit 57 detects the light reception signals of the first sensor 61 to the fourth sensor 64 and rotates the index unit 55 in the + ⁇ Y direction or the ⁇ Y direction according to the detection result. For example, when one of the first sensor 61 and the second sensor 62 detects a state where the light is shielded from light, the control unit 57 rotates the indicator portion 55 in the ⁇ Y direction so that the third sensor 63 is shielded from light. To do. Then, when the control unit 57 detects the state where the third sensor 63 is shielded from light, the control unit 57 detects the output of the third sensor 63 while further rotating the indicator unit 55 in the ⁇ Y direction, and the third sensor 63 receives light from the light shielding. Immediately after switching to, the rotation of the indicator portion 55 is stopped. Thereby, the light shielding part 55b can be arranged on the ⁇ Y side of the third sensor 63.
- the rotation of the indicator portion 55 can be regulated by bringing the end surface 55c of the light shielding portion 55b into contact with the stopper surface 65.
- a sensor having the same function as the first sensor 61 to the fourth sensor 64 may be provided at the position of the stopper surface 65.
- the control unit 57 can be controlled to stop the rotation of the index unit 55 using the detection result of the sensor.
- the control unit 57 has a gap 54n disposed on the + X side of the engaging portion 45a and a second portion on the + X side of the gap 54n.
- the position of the rotating body 54 is adjusted so that the third stopper portion 54c is disposed, the gap 54m is disposed on the ⁇ X side of the engaging portion 45a, and the fourth stopper portion 54d is disposed on the ⁇ X side of the gap 54m.
- this posture is referred to as a fourth posture.
- the engaging portion 45a passes through the gap 54n when the moving portion 42 attempts to move in the + X direction, but when the moving portion 42 further attempts to move in the + X direction, the engaging portion. 45a contacts the third stopper portion 54c. Therefore, in the predetermined range L from the gap 54n to the third stopper portion 54c, the engagement portion 45a is allowed to move in the + X direction. Similarly, when the moving portion 42 tries to move in the ⁇ X direction, the engaging portion 45a passes through the gap 54m, and when the moving portion 42 tries to move further in the ⁇ X direction, the engaging portion 45a moves to the fourth stopper portion 54d. Abut.
- the engagement portion 45a is allowed to move in the ⁇ X direction within a predetermined range from the gap 54m to the fourth stopper portion 54d. For this reason, the movement of the moving part 42 in the X direction is allowed in the range from the third stopper part 54c to the fourth stopper part 54d, and further movement in the X direction is restricted.
- the light shielding portion 55b of the indicator portion 55 is disposed between the second sensor 62 and the fourth sensor 64.
- the inspection light from the light emitting unit 56b is received by the light receiving unit 56c, and a light reception signal is output.
- the third sensor 63 blocks the inspection light and does not output a light reception signal.
- control unit 57 adjusts the posture of the index unit 55 so that the light reception signal is output from the first sensor 61, the second sensor 62, and the fourth sensor 64 and the light reception signal is not output from the third sensor 63. By doing so, the posture of the rotating body 54 can be set to the fourth posture.
- the control unit 57 detects the light reception signals of the first sensor 61 to the fourth sensor 64, and rotates the index unit 55 in the + ⁇ Y direction or the ⁇ Y direction according to the detection result. For example, when detecting a state where the first sensor 61 is shielded from light, the control unit 57 rotates the indicator unit 55 in the ⁇ Y direction so that the second sensor 62 is shielded from light. Then, when the control unit 57 detects the state where the second sensor 62 is shielded from light, the control unit 57 detects the output of the second sensor 62 while further rotating the indicator unit 55 in the ⁇ Y direction, and the second sensor 62 receives light from the light shielding. Immediately after switching to, the rotation of the indicator portion 55 is stopped. Thereby, the light shielding part 55 b can be disposed between the second sensor 62 and the fourth sensor 64.
- the control unit 57 detects the output of the fourth sensor 64 while rotating the indicator 55 in the + ⁇ Y direction, and the fourth sensor 64 receives light from the light shielding. Immediately after switching to, the rotation of the indicator portion 55 is stopped. Also in this case, the light shielding part 55 b can be disposed between the second sensor 62 and the fourth sensor 64.
- the movement restricting portion 43 restricts the moving portion 42 to the reference position P1, and one of the first direction D1 and the second direction D2 from the reference position P1. Since it is possible to switch between the second state in which the movement of the moving unit 42 is allowed and the movement of the moving unit 42 is restricted to the other, the reference position P1 is moved after the moving unit 42 is moved in the first direction D1. When moving in the second direction D2 to return to the position, the movement restricting portion 43 suppresses the jumping out in the second direction D2. Thereby, inadvertent jumping out of the moving part 42 is surely suppressed.
- the present invention is not limited to the above description, and various modifications can be made without departing from the gist of the present invention.
- a case where the posture of the rotating body 54 is detected by using four sensors (first sensor 61 to fourth sensor 64) and the index unit 55 as the sensor unit 56 will be described as an example.
- the present invention is not limited to this.
- the sensor unit 56 a part of the first sensor 61 to the fourth sensor 64 may be omitted, or the same sensor may be added separately.
- the structure which detects the rotation information of the rotating shaft 53 using other sensors, such as a rotary encoder, and adjusts the rotation of the rotating shaft 53 according to the detection result may be sufficient.
- the configuration in which the control unit 57 that controls the rotation of the drive source 51 according to the detection result of the sensor unit 56 is described as an example.
- the configuration is not limited thereto.
- movement may be sufficient.
- the operation of each unit is stopped by the main control unit, and the operation of the drive source 51 is performed by the control unit 57. May be configured to stop.
- the configuration in which the belt mechanism 30 is used as the configuration for moving the moving unit 42 has been described as an example.
- the configuration is not limited to this, and other driving such as a gear mechanism is used.
- a system may be used.
Abstract
Description
処理室1の天井部分には、天井部材4と、第1支柱6と、第2支柱15とが設けられている。天井部材4には、天井面4aが形成されている。天井面4aは、水平面に平行に形成される。第1支柱6は、天井部材4に固定されており、天井面4aから下方(-Z方向)に延びている。
図2に示すように、上記のミドル部44及びトップ部45は、ベルト機構30によって駆動される。ベルト機構30は、駆動モータ31と、駆動プーリ32、33と、従動プーリ34、35と、駆動ベルト36、37とを有している。駆動モータ31、駆動プーリ32及び従動プーリ34は、ベース部41の-Z側に固定されている。駆動プーリ32は、駆動モータ31の駆動力によって回転する。駆動ベルト36は、駆動プーリ32と従動プーリ34との間に掛けられており、固定部36aを有している。固定部36aはミドル部44に固定されている。
天井走行車20を走行させる場合、移動部42がレール10の+X側又は-X側に飛び出すと、周囲の構造物に干渉するおそれがある。これは、グリッパ49が物品FPを把持している場合も、物品FPを把持していない場合も同様である。そのため、天井走行車20を走行させる場合、移載装置40は、移動部42を+X側又は-X側に移動させることなく、図3に示すように、所定の基準位置P1に配置させた状態(第1状態)とする。第1状態において、基準位置P1は、天井走行車20を走行させる場合の移動部42の位置であり、本実施形態では、一例としてベース部41と移動部42(ミドル部44及びトップ部45)とがZ方向視で重なる位置としているが、これには限定されない。
図4及び図5に示すように、移動規制部43は、駆動源51と、回転伝達歯車52と、回転軸53と、回転体54と、指標部55と、センサ部56と、制御部57と、メカストッパ60とを有している。
図6(b)に示すように、指標部55は、円板状に形成されており、第2歯車52b又は回転軸53に固定されている。なお、図6(b)で示す指標部55の姿勢は、図6(a)で示す回転体54の姿勢と対応している。つまり、回転体54が図6(a)で示す姿勢となる場合、指標部55は図6(b)に示す姿勢となる。また、逆に指標部55が図6(b)に示す姿勢となる場合、回転体54は図6(a)に示す姿勢となる。指標部55は、第2歯車52b又は回転軸53と一体的にθY方向に回転する。回転軸53には、指標部55に加えて回転体54が固定されているため、回転軸53が回転する場合、指標部55は、回転体54と一体的に回転する。
図7(a)は、移載装置40が第1状態(図3等参照)となる場合の、移動規制部43の動作を示している。
また、上記した実施形態では、センサ部56の検出結果に応じて駆動源51の回転を制御する制御部57を設けた構成を例に挙げて説明したが、これに限定されるものではなく、例えば、レール10、天井走行車20及び移載装置40を統括的に制御する主制御部にこの動作を行わせる構成であってもよい。また、上記した実施形態において、第1センサ61~第4センサ64のいずれかにおいて検出不良等が生じた場合、上記主制御部によって各部の動作を停止させ、制御部57によって駆動源51の動作を停止させる構成であってもよい。
Claims (9)
- 本体部に対して移動可能な移動部を備え、前記移動部が前記本体部から突出した状態で物品を移載する移載装置であって、
前記移動部を基準位置に規制する第1状態と、前記基準位置から第1方向及び前記第1方向と反対の第2方向のいずれか一方への前記移動部の移動を許容しかつ他方への前記移動部の移動を規制する第2状態と、を切り替え可能な移動規制部を備える移載装置。 - 前記移動規制部は、前記第1状態及び前記第2状態に加えて、前記第1方向及び前記第2方向への前記移動部の移動を所定範囲だけ許容する第3状態に切り替え可能に形成される請求項1記載の移載装置。
- 前記移動規制部は、前記移動部に設けられた係合部の移動方向において前記係合部に当接するストッパ部を持つ回転体を備え、前記回転体の回転位置により少なくとも前記第1状態と前記第2状態とを切り替える請求項1または請求項2記載の移載装置。
- 前記回転体は、前記係合部の移動を所定範囲だけ許容する外側ストッパ部を前記ストッパ部の外側に備える請求項3記載の移載装置。
- 前記移動規制部は、前記回転体の回転に伴って回転する指標部と、前記指標部を検出するセンサ部と、前記センサ部からの検出結果に基づいて前記回転体の回転位置を制御する制御部と、を備える請求項3または請求項4記載の移載装置。
- 前記センサ部は、前記指標部の回転方向に沿って複数配置され、
前記制御部は、前記複数のセンサ部からの検出結果に基づいて前記回転体の回転位置を制御する請求項5記載の移載装置。 - 前記本体部は、天井走行車に連結され、
前記移動部は、物品を保持可能なグリッパと、前記グリッパを昇降させる昇降駆動部とを備える請求項1~請求項6のいずれか1項に記載の移載装置。 - 前記第1方向及び前記第2方向は、水平方向のうち前記天井走行車の走行方向と交差する方向である請求項7記載の移載装置。
- 本体部に対して移動可能な移動部を備え、前記移動部が前記本体部から突出した状態で物品を移載する移載装置の制御方法であって、
前記移動部を基準位置に規制する第1状態と、前記基準位置から第1方向及び前記第1方向と反対の第2方向のいずれか一方への前記移動部の移動を許容しかつ他方への前記移動部の移動を規制する第2状態と、を移動規制部により切り替えることを含む移載装置の制御方法。
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EP14877673.5A EP3093258B1 (en) | 2014-01-07 | 2014-10-29 | Transfer device and control method of transfer device |
US15/109,785 US9881824B2 (en) | 2014-01-07 | 2014-10-29 | Transfer apparatus and control method thereof |
JP2015556715A JP6160711B2 (ja) | 2014-01-07 | 2014-10-29 | 移載装置及び移載装置の制御方法 |
KR1020167017908A KR101829650B1 (ko) | 2014-01-07 | 2014-10-29 | 이동 재치 장치 및 이동 재치 장치의 제어 방법 |
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- 2014-10-29 JP JP2015556715A patent/JP6160711B2/ja active Active
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Cited By (6)
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JPWO2017150005A1 (ja) * | 2016-03-03 | 2018-12-06 | 村田機械株式会社 | 搬送システム |
JP7054379B2 (ja) | 2016-03-03 | 2022-04-13 | 村田機械株式会社 | 搬送システム |
JPWO2017199593A1 (ja) * | 2016-05-20 | 2019-03-14 | 村田機械株式会社 | 搬送車及び搬送方法 |
WO2019102743A1 (ja) * | 2017-11-22 | 2019-05-31 | 村田機械株式会社 | 走行台車 |
JP2019093875A (ja) * | 2017-11-22 | 2019-06-20 | 村田機械株式会社 | 走行台車 |
WO2024034175A1 (ja) * | 2022-08-09 | 2024-02-15 | 村田機械株式会社 | 天井搬送車 |
Also Published As
Publication number | Publication date |
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TWI630166B (zh) | 2018-07-21 |
IL246504B (en) | 2020-06-30 |
CN105899444A (zh) | 2016-08-24 |
US9881824B2 (en) | 2018-01-30 |
TW201540641A (zh) | 2015-11-01 |
IL246504A0 (en) | 2016-08-31 |
EP3093258A1 (en) | 2016-11-16 |
KR101829650B1 (ko) | 2018-02-19 |
EP3093258B1 (en) | 2020-10-21 |
US20160329226A1 (en) | 2016-11-10 |
EP3093258A4 (en) | 2017-08-09 |
CN105899444B (zh) | 2017-11-10 |
SG11201605180TA (en) | 2016-08-30 |
KR20160095062A (ko) | 2016-08-10 |
JPWO2015104887A1 (ja) | 2017-03-23 |
JP6160711B2 (ja) | 2017-07-12 |
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