WO2016056119A1 - 基板搬送ロボットおよびその運転方法 - Google Patents
基板搬送ロボットおよびその運転方法 Download PDFInfo
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- WO2016056119A1 WO2016056119A1 PCT/JP2014/077170 JP2014077170W WO2016056119A1 WO 2016056119 A1 WO2016056119 A1 WO 2016056119A1 JP 2014077170 W JP2014077170 W JP 2014077170W WO 2016056119 A1 WO2016056119 A1 WO 2016056119A1
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- pulley
- arm
- rotation axis
- link member
- axis
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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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
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
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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
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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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
Definitions
- the present invention relates to a substrate transfer robot having left and right arms having a common swivel axis, and an operation method thereof.
- a substrate transfer robot having left and right arms is known as a substrate transfer robot for transferring a substrate such as a semiconductor wafer.
- Each arm of the substrate transport robot is rotated around the pivot axis, a second link member rotatably connected to the distal end portion of the first link member, and a distal end portion of the second link member.
- a substrate holding member (hand) connected to each other.
- the first link member and the second link member are configured to have the same length, and the left and right substrate holding members are disposed at different heights.
- the arm is set to the same length as the first link member and the second link member
- the length of the second link member is set shorter than the length of the first link member. Can be considered.
- the rotation speed of the 1st link member around a turning axis and the 1st axis of rotation around the 1st axis of rotation of the tip of a 1st link member By setting the rotation speed of the second link member to 1: 2, the movement locus of the tip portion of the second link member can be made linear.
- the length of the second link member is made longer than the length of the first link member.
- the movement trajectory of the distal end portion of the second link member during the expansion / contraction operation of the arm has a curved shape greatly deviating from the straight line.
- the first link member, the second link member, and the substrate holding member are configured to be interlocked by a power transmission mechanism including a pulley and a belt, the front-rear direction (X direction) and the left-right direction (Y It is difficult to adjust the position of the substrate holding member with a sufficiently high degree of freedom.
- the present invention has been made in view of the above-described problems of the prior art, and includes a left and right substrate holding member disposed at the same height, including left and right arms having a common pivot axis.
- An object of the robot is to make the movement trajectory of the substrate transport member substantially linear when the arm is extended or contracted.
- the present invention provides a substrate transfer robot having left and right arms having a common pivot axis and having left and right substrate holding members arranged at the same height, in the front-rear direction (X direction) and the left-right direction (Y direction).
- An object of the present invention is to make it possible to adjust the position of the substrate holding member with a sufficiently high degree of freedom.
- a substrate transfer robot includes left and right arms having a common turning axis, arm driving means for driving the left and right arms, and the arm driving means.
- Each of the left and right arms includes a first link member having the pivot axis at a base end portion and a first rotation axis at a tip end portion; A second link member having a first rotation axis and having a second rotation axis at the tip, and a substrate holding member configured to hold a substrate and rotatable about the second rotation axis,
- the substrate holding members of the left and right arms are arranged at the same height, the second rotation axis is located on the inner side in the left and right direction with respect to the first rotation axis, and the arm driving means is The first around the pivot axis
- the swivel pulley, the first pulley, and the like so that the movement trajectory of the substrate holding member is substantially linear when the first link member is rotated around the swivel axis by the drive unit to extend and contract the arm.
- the second Over Li, and the pulley ratio between said third pulley is set, characterized in that.
- the pulley ratio is set so that the movement trajectory of the substrate holding member is substantially linear within an actual application stroke range of the arm. It is characterized by that.
- the pulley ratio is such that the movement locus of the substrate holding member in a stroke range of a front region of the actual application stroke range of the arm is substantially linear. It is set so that it may become.
- control unit rotates the second link member around the first rotation axis by rotating the turning pulley. And a function of adjusting the position of the substrate holding member by rotating the substrate holding member around the second rotation axis.
- a substrate transfer robot includes a left and right arm having a common turning axis, an arm driving unit for driving the left and right arm, and the arm driving unit.
- Each of the left and right arms includes a first link member having the pivot axis at a base end portion and a first rotation axis at a tip end portion; A second link member having a first rotation axis and having a second rotation axis at the tip, and a substrate holding member configured to hold a substrate and rotatable about the second rotation axis,
- the substrate holding members of the left and right arms are arranged at the same height, the second rotation axis is located on the inner side in the left and right direction with respect to the first rotation axis, and the arm driving means is The first around the pivot axis
- a sixth aspect of the present invention is characterized in that, in any of the first to fifth aspects, two sets of the left and right arms are provided vertically.
- the swivel pulley of any one of the left and right arms in the upper stage and the arm of any one of the left and right arms in the lower stage is connected so as to rotate integrally with each other.
- the swivel pulley of the upper left arm and the swivel pulley of the lower right arm are connected to each other and the swivel pulley of the upper right arm is connected. And the swivel pulley of the lower left arm are connected to each other.
- the turning radius is minimized from an arm extension state in which the turning radius is maximized when the arm is rotated around the turning axis.
- the second rotation axis moves from the front side to the rear side beyond the position of the turning axis.
- the arm driving unit is configured to be capable of independently driving each of the left and right arms. To do.
- control means rotates the swing pulley and the first link member at the same time or at different timings during the expansion / contraction operation of the arm. It has the function to make it have.
- the twelfth aspect of the present invention is characterized in that, in any one of the first to eleventh aspects, the arm further includes lifting drive means for moving the arm up and down along the turning axis.
- the thirteenth aspect of the present invention is characterized in that, in any of the first to twelfth aspects, the belt is a steel belt.
- a fourteenth aspect of the present invention is the operation of a substrate transfer robot comprising left and right arms having a common pivot axis and arm driving means for driving the left and right arms.
- Each of the left and right arms has a first link member having the pivot axis at the proximal end and a first rotational axis at the distal end, and the first rotational axis at the proximal end, A second link member having a second rotation axis at a tip end; and a substrate holding member configured to be able to hold a substrate and rotatable about the second rotation axis, and holding the substrate of the left and right arms
- the members are disposed at the same height, the second rotation axis is located on the inner side in the left-right direction with respect to the first rotation axis, and the arm driving means is arranged around the pivot axis.
- the substrate transfer robot includes two sets of the left and right arms up and down, and the one of the left and right arms on the upper stage.
- the swivel pulley and the swivel pulley of any one of the left and right arms at the lower stage are connected so as to rotate integrally with each other.
- the swivel pulley of the upper left arm and the swivel pulley of the lower right arm are connected to each other and the swivel pulley of the upper right arm is connected. And the swivel pulley of the lower left arm are connected to each other.
- the seventeenth aspect of the present invention is characterized in that, in any of the fourteenth to sixteenth aspects, each of the left and right arms is driven independently.
- the swing pulley and the first link member are rotated at the same time or at different timings in the expansion and contraction operation of the arm.
- the movement trajectory of the substrate transfer member at the time of arm expansion and contraction is substantially reduced.
- the front-rear direction (X direction) and the left-right direction (Y direction) can be adjusted with a sufficiently high degree of freedom.
- FIG. 6 is another plan view for explaining a schematic configuration of the substrate transfer robot shown in FIG. 1.
- FIG. 3 is a longitudinal sectional view for explaining arm driving means of the substrate transfer robot shown in FIG. 1.
- FIG. 6 is another longitudinal sectional view for explaining an arm driving unit of the substrate transfer robot shown in FIG. 1.
- substrate conveyance robot shown in FIG. The top view for demonstrating the arm expansion-contraction operation
- FIG. 6 is another diagram for explaining a method for optimizing the pulley ratio of the substrate transfer robot shown in FIG. 1.
- FIG. 6 is another diagram for explaining a method for optimizing the pulley ratio of the substrate transfer robot shown in FIG. 1.
- substrate conveyance robot shown in FIG. The top view for demonstrating the position adjustment operation
- FIG. 6 is another plan view for explaining the position adjustment operation of the substrate holding member in the substrate transfer robot shown in FIG. 1.
- the substrate transfer robot 1 includes an upper left and right arm 2La, 2Ra having a common turning axis L0, and a lower left and right arm 2Lb having a common turning axis L0. 2Rb.
- the common turning axis L0 of the upper left and right arms 2La, 2Ra and the common turning axis L0 of the lower left and right arms 2Lb, 2Rb are the same.
- the upper left and right arms 2La and 2Ra are in an arm contracted state
- the lower left and right arms 2Lb and 2Rb are in an arm extended state
- the arm contracted state is a state where the turning radius is minimized when the arm is rotated about the turning axis L0
- the arm extended state is a turning radius when the arm is rotated about the turning axis L0. Is the maximum state.
- the upper left and right arms 2La, 2Ra and the lower left and right arms 2Lb, 2Rb overlap each other when viewed in the vertical direction in the arm contracted state, and both have a common minimum turning radius. Further, the upper left and right arms 2La and 2Ra and the lower left and right arms 2Lb and 2Rb overlap each other when viewed in the vertical direction even in the arm extended state, and both have a common maximum reach.
- the upper left and right arms 2La, 2Ra include a hollow first link member 3a, a hollow second link member 4a, and a substrate holding member (hand) 5a, respectively.
- the first link member 3a has the pivot axis A0 at the base end portion and the first rotation axis A1a at the distal end portion, and can rotate around the pivot axis A0.
- the second link member 4a has the first rotation axis A1a at the base end portion and the second rotation axis A2a at the tip end portion, and is rotatable around the first rotation axis A1a.
- the second rotation axis A2a at the tip of the second link member 4a is located on the inner side in the left-right direction than the first rotation axis A1a at the tip of the first link member 3a.
- each of the lower left and right arms 2Lb, 2Rb includes a hollow first link member 3b, a hollow second link member 4b, and a substrate holding member (hand) 5b.
- the first link member 3b has a turning axis A0 at the base end and a first rotation axis A1b at the tip, and can rotate around the turning axis A0.
- the second link member 4b has a first rotation axis A1b at the proximal end portion and a second rotation axis A2b at the distal end portion, and is rotatable around the first rotation axis A1b.
- the second rotation axis A2b at the distal end portion of the second link member 4b is located on the inner side in the left-right direction than the first rotation axis A1b at the distal end portion of the first link member 3b.
- the substrate holding members 5a and 5b are configured to be able to hold a substrate S such as a semiconductor wafer, have second rotation axes A2a and A2b at the base end portions, and can rotate around the second rotation axes A2a and A2b. .
- the members constituting the upper right arm 2Ra are, in order from the top, a hollow first link member 3a, a hollow second link member 4a, and a substrate holding member (hand). 5a.
- the upper left arm 2La has the same configuration.
- the members constituting the lower right arm 2Rb are, in order from the bottom, a hollow first link member 3b, a hollow second link member 4b, and a substrate holding member (hand) 5b.
- the lower left arm 2Lb has the same configuration.
- an arm drive shaft (first drive) for rotating the first link member 3b around the turning axis A0.
- the upper end of 6Rb is fixed.
- a turning pulley 7Rb that can rotate around the turning axis A0 independently of the first link member 3b.
- An upper end of a pulley driving shaft 8B for rotating the turning pulley 7Rb around the turning axis A0 is fixed to the lower center surface of the turning pulley 7Rb.
- a cylindrical pulley drive shaft 8B is inserted into the cylindrical arm drive shaft 6Rb, and the arm drive shaft 6Rb and the pulley drive shaft 8B are arranged concentrically around the turning axis A0.
- a first pulley 9Rb that is rotatable around the first rotation axis A1b independently of the first link member 3b is provided inside the distal end portion of the first link member 3b.
- the upper surface of the first pulley 9Rb is connected to the lower surface of the base end portion of the second link member 4b via a connecting shaft.
- the first pulley 9Rb rotates integrally with the second link member 4b around the first rotation axis A1b.
- the turning pulley 7Rb and the first pulley 9Rb are connected by a first belt 10Rb, and both pulleys 7Rb and 9Rb rotate in conjunction with each other via the first belt 10Rb.
- the first belt 10Rb is preferably a steel belt. By using a steel belt, the generation of particles can be suppressed and the generation of outgas can be suppressed, so that the steel belt is suitable for use in a clean environment such as a processing chamber of a semiconductor manufacturing apparatus or in a vacuum region.
- the belt that can be used in the substrate transfer robot according to the present invention is not limited to a steel belt, and for example, a rubber timing belt can be used.
- a second pulley 11Rb that is rotatable around the first rotation axis A1b independently of the second link member 4b is provided inside the base end portion of the second link member 4b.
- the lower surface of the second pulley 11Rb is fixed to the first link member 3b via a connecting shaft.
- the connecting shaft of the second pulley 11Rb is inserted into the cylindrical connecting shaft of the first pulley 9Rb, and the first pulley 9Rb and the second pulley 11Rb are concentrically about the first rotation axis A1b. Has been placed.
- a third pulley 12Rb that is rotatable around the second rotation axis A2b independently of the second link member 4b is provided inside the distal end portion of the second link member 4b.
- the upper surface of the third pulley 12Rb is connected to the lower surface of the base end portion of the substrate holding member 5b via a connecting shaft.
- the third pulley 12Rb rotates integrally with the substrate holding member 5b around the second rotation axis A2b.
- the second pulley 11Rb and the third pulley 12Rb are connected by a second belt 13Rb, and both pulleys 11Rb and 12Rb rotate in conjunction with each other via the second belt 13Rb.
- the second belt 13Rb is preferably a steel belt. As described above, the generation of particles can be suppressed by using the steel belt.
- the arm drive shaft 6Rb, the pulley drive shaft 8B, the turning pulley 7Rb, the first pulley 9Rb, the second pulley 11Rb, the third pulley 12Rb, the first belt 10Rb, and the second belt 13Rb described above are the arms of the lower right arm 2Rb.
- the structure of the lower right arm 2Rb and the arm driving means has been described.
- the structure of the upper right arm 2Ra and the arm driving means are basically the same.
- the configuration of the lower right arm 2Rb and its arm driving means is vertically inverted with respect to the portions other than the arm driving shaft and the pulley driving shaft.
- the upper right arm 2Ra and the driving means thereof have internal structures similar to the lower right arm 2Rb described above, the turning pulley 7Ra, the first pulley 9Ra, the first belt 10Ra, the second pulley 11Ra, the third pulley 12Ra, And a second belt 13Ra.
- the configuration of the lower left arm 2Lb and its arm driving means is basically a configuration in which the configuration of the lower right arm 2Rb and its arm driving means is reversed left and right.
- the upper left arm 2La and the arm driving means thereof are basically configured by horizontally reversing the upper right arm 2Ra.
- the substrate holding members 5b of the lower left and right arms 2Lb, 2Rb are arranged at the same height, and the substrate holding members 5a of the upper left and right arms 2La, 2Ra are They are arranged at the same height.
- Each arm driving means of the upper left and right arms 2La, 2Ra is configured to be able to drive each of the left and right arms 2La, 2Ra independently.
- each arm drive means of the lower left and right arms 2Lb, 2Rb is configured to be able to drive each of the left and right arms 2Lb, 2Rb independently.
- the arm drive shaft 6Ra of the upper right arm 2Ra is disposed on the innermost side, and the arm drive shaft 6La of the upper left arm 2La is disposed on the outer side thereof.
- the pulley drive shaft 8B of the lower right arm 2Rb is disposed outside the arm drive shaft 6La of the upper left arm 2La.
- the turning pulley 7Rb of the lower right arm 2Rb and the turning pulley 7La of the upper left arm 2La are connected by a pulley connecting member 14A, and both pulleys 7Rb, 7La rotate together. For this reason, two pulleys 7Rb and 7La can be simultaneously rotated by a single drive source.
- the arm drive shaft 6Rb of the lower right arm 2Rb is disposed outside the pulley drive shaft 8B, and the arm drive shaft 6Lb of the lower left arm 2Lb is disposed outside the pulley drive shaft 8B.
- the pulley drive shaft 8A of the lower left arm 2Lb is disposed outside the arm drive shaft 6Lb of the lower left arm 2Lb.
- the turning pulley 7Lb of the lower left arm 2Lb and the turning pulley 7Ra of the upper right arm 2Ra are connected by a pulley connecting member 14B, and both pulleys 7Lb and 7Ra rotate together. For this reason, the two pulleys 7Lb and 7Ra can be simultaneously rotated by a single drive source.
- the arrangement of the arm drive shafts 6La, 6Ra, 6Lb, 6Rb and the pulley drive shafts 8A, 8B is not limited to the arrangement shown in FIG. 5, and various arrangements can be taken.
- the first belts 10La and 10Ra are mounted on the swing pulleys 7La and 7Ra of the upper left and right arms 2La and 2Ra, respectively.
- the first belts 10Lb and 10Rb are attached to the swivel pulleys 7Lb and 7Rb of the lower left and right arms 2Lb and 2Rb, respectively.
- Each arm drive shaft 6La, 6Ra, 6Lb, 6Rb and each pulley drive shaft 8A, 8B are rotatably supported by each bearing member 15.
- Each arm drive shaft 6La, 6Ra, 6Lb, 6Rb and each pulley drive shaft 8A, 8B has a power transmission portion 16 formed at each lower end. The power from each servo motor (not shown) is transmitted to each power transmission unit 16, whereby each arm drive shaft 6La, 6Ra, 6Lb, 6Rb and each pulley drive shaft 8A, 8B are independently Driven by rotation.
- the substrate transfer robot 1 includes an elevating drive means 17 for elevating the entire upper and lower left and right arms 2La, 2Ra, 2Lb, 2Rb along the turning axis A0. I have.
- the elevating drive means 17 preferably has a servo motor as a drive source.
- the driving source of each arm driving means of the upper and lower arms 2La, 2Ra, 2Lb, 2Rb and the driving source of the elevating driving means are controlled by a robot controller (control means) 18.
- the arm drive shafts 6La, 6Ra, 6Lb, and 6Rb are swung while the pulley drive shafts 8A and 8B are fixed and the swing pulleys 7La, 7Ra, 7Lb, and 7Rb are fixed.
- the first link members 3a and 3b are rotated around the turning axis A0, power is transmitted to the second link members 4a and 4b and the board holding members 5a and 5b by a power transmission mechanism constituted by pulleys and belts.
- the arms 2La, 2Ra, 2Lb, 2Rb are expanded and contracted.
- Rotating the first link members 3a, 3b with the swivel pulleys 7La, 7Ra, 7Lb, 7Rb fixed in this way maintains the posture of the substrate holding members 5a, 5b at the time of arm expansion / contraction operation. This ensures interference with surrounding structures during substrate transport and interference with the inner wall surface of the substrate housing portion when the substrate is inserted into the substrate housing portion (FOUP, substrate mounting shelf in the load lock chamber, etc.). Can be prevented.
- the arm drive shafts 6La, 6Ra, 6Lb, 6Rb and pulleys are used.
- the drive shafts 8a and 8b are simultaneously rotated at the same rotational speed.
- the arm 2La, 2Ra, 2Lb, 2Rb is rotated from the arm extended state where the turning radius becomes maximum when the arms 2La, 2Ra, 2Lb, 2Rb are rotated around the turning axis A0 to the arm contracted state where the turning radius is minimized.
- the second rotation axis A2a, A2b moves from the front side to the rear side beyond the position of the turning axis A0.
- the first link member 3a is driven by the arm drive shafts (first drive units) 6La, 6Ra, 6Lb, 6Rb in a state where the swing pulleys 7La, 7Ra, 7Lb, 7Rb are fixed.
- Rotating pulleys 7La, 7Ra, 7Lb so that the movement trajectory of the substrate holding members 5a, 5b is substantially linear when the arms 2La, 2Ra, 2Lb, 2Rb are expanded and contracted by rotating the rotating shaft 3b around the turning axis A0.
- 7Rb, the first pulleys 9Ra, 9Rb, the second pulleys 11Ra, 11Rb, and the pulley ratios between the third pulleys 12Ra, 12Rb are set.
- the pulley ratios between the swing pulleys 7La, 7Ra, 7Lb, 7Rb, the first pulleys 9Ra, 9Rb, the second pulleys 11Ra, 11Rb, and the third pulleys 12Ra, 12Rb are the arms 2La, 2Ra, 2Lb.
- the movement trajectories of the substrate holding members 5a and 5b within the actual application stroke range of 2Rb are set to be substantially linear.
- the origin O of the orthogonal coordinates corresponds to the position of the turning axis A0
- the X axis represents the distance in the front-rear direction from the position of the turning axis A0
- the Y axis represents the distance in the left-right direction from the position of the turning axis A0.
- the postures of the substrate holding members 5a and 5b are parallel to the X axis.
- the arm 2La, 2Ra, 2Lb, and 2Rb are in the contracted state where the turning radius is minimum.
- the second rotation axes A2a and A2b are located on the rearmost side in the front-rear direction (the leftmost side in the X-axis direction).
- the arm 2La, 2Ra, 2Lb, and 2Rb have the second rotation axes A2a and A2b in the arm extension state where the turning radius is maximum. It is located on the foremost side in the front-rear direction (the rightmost side in the X-axis direction).
- the actual application stroke of the arms 2La, 2Ra, 2Lb, 2Rb corresponds to the distance ST in the front-rear direction from the rearmost position to the frontmost position of the second rotation axis A2a, A2b.
- the stroke ST1 belonging to the area ahead of the position of the turning axis A0 (coordinate origin O) and the stroke ST2 belonging to the area behind the position of the turning axis A0 among the actual applied strokes. They are the same (ST1 ST2).
- the trajectory of the substrate holding members 5a and 5b when the arm is extended is substantially within the actual application stroke range.
- the pulley ratio is optimized so that it is linear.
- FIG. 9 shows various design parameters related to the arms 2La, 2Ra, 2Lb, and 2Rb in the arm extended state.
- the meaning of each code is as follows.
- the pulley ratio (pulley diameter ratio) of the swing pulleys 7La, 7Ra, 7Lb, 7Rb to the first pulleys 9Ra, 9Rb is K 1
- the pulley ratio of the second pulleys 11Ra, 11Rb to the third pulleys 12Ra, 12Rb Pulley ratio
- ⁇ 30 ⁇ 10 ⁇ 20
- each of the solid line indicating this embodiment and the broken line indicating the comparative example corresponds to the case where the first link member and the second link member are linearly extended in the front region, and the left end is This corresponds to the case where the first link member and the second link member of the arm are linearly extended in the rear region with the substrate holding member facing forward.
- the movement trajectory of the substrate transport member greatly deviates from the straight line and becomes curved.
- the pulley ratios K 1 and K 2 are optimized as described above, the movement trajectories of the substrate holding members 5a and 5b during the arm expansion / contraction operation as shown by the solid line in FIG.
- the arm 2La, 2Ra, 2Lb, 2Rb can be substantially linear within the range of the actual application stroke ST.
- the stroke ST1 in the front region and the stroke ST2 in the rear region are set to be the same, but as a modification, the front stroke ST1 and the rear stroke ST2 Can be different.
- the front stroke ST1 and the rear stroke ST2 are different, either the front stroke ST1 or the rear stroke ST2 is selected as a reference stroke for optimization of the pulley ratio.
- the linearity of the movement trajectory in the front stroke ST1 is important during board conveyance. Therefore, when the front stroke ST1 and the rear stroke ST2 are different, the front stroke ST1 is selected to optimize the pulley ratio. It is preferred to do so.
- the robot controller (control means) 18 performs the first link members 3a, 3b and the arm 2La, 2Ra, 2Lb, 2Rb in the extending / contracting operation.
- the swing pulleys 7La, 7Ra, 7Lb, and 7Rb may be rotated simultaneously or at different timings.
- the trajectory of the substrate holding members 5a and 5b can be displaced in the left-right direction as shown in FIG. 11 by rotating the turning pulleys 7La, 7Ra, 7Lb, and 7Rb in the middle of the arm extension / contraction operation.
- Such a driving method is effective, for example, when it is necessary to avoid an obstacle in the middle of the moving route.
- the first link members 3a, 3b are rotated to extend the arms 2La, 2Ra, 2Lb, 2Rb, and the substrate holding members 5a, 5b are moved to the vicinity of the target position.
- the rotation pulleys 7La, 7Ra, 7Lb, 7Rb are rotated to rotate the second link members 4a, 4b around the first rotation axes A1a, A1b, and the substrate holding members around the second rotation axes A2a, A2b. 5a and 5b are rotated.
- the position of the substrate holding members 5a and 5b that is, the position of the substrate S can be adjusted with a sufficiently high degree of freedom in the front-rear direction (X direction) and the left-right direction (Y direction).
- the position of the substrate holding members 5a and 5b can be adjusted by rotating the swing pulleys 7La, 7Ra, 7Lb and 7Rb before the substrate holding members 5a and 5b reach the vicinity of the target position.
- FIG. 12 shows a case where the position of the substrate holding member 5a of the upper left arm 2La is adjusted. At this time, the substrate holding member 5b of the lower right arm 2Rb also swings simultaneously. However, the substrate holding member 5b of the lower right arm 2Rb is in an arm contracted state as shown in FIG.
- the substrate holding members 5a of the upper left and right arms 2La and 2Ra are used for transporting the substrate S before processing
- the substrate holding members 5b of the lower left and right arms 2Lb and 2Rb are used for transporting the substrate S after processing.
- the first link of the arm in the contracted state has a problem such as interference with surrounding structures or coming out of the minimum turning radius.
- the member is rotated at the same rotational speed as the swivel pulley rotates.
- the entire arm in the contracted state only pivots around the pivot axis A0, and the swinging operation of the substrate holding member of the arm in the contracted state can be suppressed. It is possible to prevent interference and exit from the minimum turning radius.
- the two upper and lower swivel pulleys 7La, 7Ra, 7Lb, 7Rb are coupled by the pulley coupling members 14A, 14B, the two swivel pulleys 7La, 7Ra are coupled by a single drive source. , 7Lb, 7Rb can be driven, and there is an advantage that the required number of drive sources can be reduced.
- FIG. 13 shows a case where the positions of the substrate holding members 5a of the upper left and right arms 2La and 2Ra are adjusted. Since the swing pulleys 7La and 7Ra of the upper left and right arm arms 2La and 2Ra can be driven independently of each other, the positions of the left and right substrate holding members 5a can be adjusted independently of each other.
- the left and right arms 2La, 2Ra, 2Lb, 2Rb having the common turning axis A0 are provided, and the same
- the movement trajectory of the substrate transfer members 5a and 5b during the arm expansion / contraction operation is made substantially linear within the range of the actual application stroke. be able to.
- the position of the substrate holding members 5a and 5b is adjusted by rotating the swing pulleys 7La, 7Ra, 7Lb, and 7Rb.
- a substrate transfer robot 1 that includes left and right arms 2La, 2Ra, 2Lb, 2Rb having a common turning axis A0 and has left and right substrate holding members 5a, 5b arranged at the same height, the front-rear direction (X direction) and The positions of the substrate holding members 5a and 5b can be adjusted with a sufficiently high degree of freedom in the left-right direction (Y direction).
- the swing pulley 7Rb of the lower right arm 2Rb and the swing pulley 7La of the upper left arm 2La are connected by the pulley connecting member 14A, and the lower arm 2Lb of the lower stage 2Lb is connected. Since the swing pulley 7Lb and the swing pulley 7Ra of the upper right arm 2Ra are connected by the pulley connecting member 14B, the two connected swing pulleys rotate together, so that the swing pulleys 7La, 7Ra, 7Lb, 7Rb The required number of drive sources for driving can be halved.
- the swing pulley 7Ra of the upper right arm 2Ra and the swing pulley 7Rb of the lower right arm 2Rb are connected, and the swing pulley of the upper left arm 2La is connected.
- 7La and the swivel pulley 7Lb of the lower left arm 2Lb may be coupled.
- the swing pulleys 7La and 7Ra of any one of the upper left and right arms 2La and 2Ra and the swing pulleys 7Lb and 7Rb of any one of the lower left and right arms 2Lb and 2Rb are connected to the pulley. What is necessary is just to connect with a connection member and to mutually rotate.
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Abstract
Description
以上、下段の右アーム2Rbおよびそのアーム駆動手段の構成について説明したが、図4に示したように、上段の右アーム2Raおよびそのアーム駆動手段の構成は、基本的に、下段の右アーム2Rbおよびそのアーム駆動手段の構成を、アーム駆動軸およびプーリ駆動軸以外の部分について上下反転させた構成となっている。
P:基板保持部材の基準点
L1:第1回転軸線から第2回転軸線までの長さ
L2:第2回転軸線から第3回転軸線までの長さ
L3:第3回転軸線から基板保持部材の基準点までの長さ
θ10:長さL1の線分とY軸とで規定される内角の角度
θ20:長さL1の線分と長さL2の線分とで規定される内角の角度
θ30:長さL3の線分と長さL2に直交する線分とで規定される内角の角度
l’:座標原点から第3回転軸線までの長さ
Φ:長さl’の線分とY軸とで規定される内角の角度
X10,Y10:第1回転軸線のX、Y座標
X20,Y20:第2回転軸線のX、Y座標
X30,Y30:基板保持部材の基準点のX、Y座標
ST1:実適用ストローク全体のうちの前方領域に属する部分
なお、基板保持部材5a、5bの基準点Pは、図9において、第2回転軸線の位置(X20,Y20)からX軸に平行な直線を引いた場合、この直線に対して、基板保持部材5a、5bに保持された基板(ウェハ)Sの中心から垂線を引いたときの交点に対応している。
Y20=L1-L2
Φ=tan-1(-X20/Y20)
l’=(X20 2+Y20 2)1/2
θ10=Φ+cos-1((l’2+L1 2-L2 2)/(2×l’×L1))
θ20=cos-1((L1 2+L2 2-l’2)/(2×L1×L2))
そして、旋回プーリ7La、7Ra、7Lb、7Rbの第1プーリ9Ra、9Rbに対するプーリ比(プーリの直径比)をK1、第2プーリ11Ra、11Rbの第3プーリ12Ra、12Rbに対するプーリ比(プーリの直径比)をK2とすると、
θ20=-K1×θ10 → K1=-θ20/θ10
となる。
θ10+θ20+θ30=0 → θ30=-θ10-θ20
となる。
θ30=-K2×θ20 → K2=-θ30/θ20
ここで、上記の通り、
θ30=-θ10-θ20
なので、
K2=-(-θ10-θ20)/θ20
=(θ10+θ20)/θ20
本実施形態による基板搬送ロボット1によれば、上述したようにプーリ比K1、K2を最適化することにより、図10に示したように、実適用ストロークSTの範囲において、アーム伸縮動作時における基板搬送部材5a、5bの移動軌跡を略直線状にすることができる。なお、図10において本実施形態を示す実線および比較例を示す破線のそれぞれの右端は、第1リンク部材および第2リンク部材を前方の領域にて直線状に延ばした場合に相当し、左端は、基板保持部材を前方に向けた状態で、アームの第1リンク部材および第2リンク部材を後方の領域にて直線状に延ばした場合に相当する。
2La、2Ra 上段の左右アーム
2Lb、2Rb 下段の左右アーム
3a 上段の左右アームの第1リンク部材
3b 下段の左右アームの第1リンク部材
4a 上段の左右アームの第2リンク部材
4b 下段の左右アームの第2リンク部材
5a 上段の左右アームの基板保持部材(ハンド)
5b 下段の左右アームの基板保持部材(ハンド)
6La、6Ra 上段の左右アームのアーム駆動軸(第1駆動部)
6Lb、6Rb 下段の左右アームのアーム駆動軸(第1駆動部)
7La、7Ra 上段の左右アームの旋回プーリ
7Lb、7Rb 下段の左右アームの旋回プーリ
8A、8B プーリ駆動軸
9Ra 上段の右アームの第1プーリ
9Rb 下段の右アームの第1プーリ
10La、10Ra 上段の左右アームの第1ベルト
10Lb、10Rb 下段の左右アームの第1ベルト
11Ra 上段の右アームの第2プーリ
11Rb 下段の右アームの第2プーリ
12Ra 上段の右アームの第3プーリ
12Rb 下段の右アームの第3プーリ
13Ra 上段の右アームの第2ベルト
13Rb 下段の右アームの第2ベルト
14A、14B プーリ連結部材
15 軸受け部材
16 動力伝達部
17 昇降駆動手段
18 ロボットコントローラ(制御手段)
A0 旋回軸線
A1a 上段の左右アームの第1回転軸線
A1b 下段の左右アームの第1回転軸線
A2a 上段の左右アームの第2回転軸線
A2b 下段の左右アームの第2回転軸線
S 基板(ウェハ)
Claims (18)
- 共通の旋回軸線を有する左右のアームと、
前記左右のアームを駆動するためのアーム駆動手段と、
前記アーム駆動手段を制御するための制御手段と、を備え、
前記左右のアームのそれぞれは、
基端部に前記旋回軸線を持ち、先端部に第1回転軸線を持つ第1リンク部材と、
基端部に前記第1回転軸線を持ち、先端部に第2回転軸線を持つ第2リンク部材と、
基板を保持可能に構成され、前記第2回転軸線周りに回転可能な基板保持部材と、を有し、
前記左右のアームの前記基板保持部材同士は、互いに同じ高さに配置されており、
前記第2回転軸線は、前記第1回転軸線よりも左右方向内側に位置しており、
前記アーム駆動手段は、
前記旋回軸線周りに前記第1リンク部材を回転させるための第1駆動部と、
前記第1リンク部材から独立して前記旋回軸線周りに回転可能な旋回プーリと、
前記第1回転軸線周りに前記第2リンク部材と一体に回転可能な第1プーリと、
前記旋回プーリと前記第1プーリとを連結するベルトと、
前記第1回転軸線に合わせて配置され、前記第1リンク部材に固定された第2プーリと、
前記第2回転軸線周りに前記基板保持部材と一体に回転可能な第3プーリと、
前記第2プーリと前記第3プーリとを連結するベルトと、を有し、
前記旋回プーリを固定した状態で前記第1駆動部によって前記第1リンク部材を前記旋回軸線周りに回転させて前記アームを伸縮させたときの前記基板保持部材の移動軌跡が略直線状となるように、前記旋回プーリ、前記第1プーリ、前記第2プーリ、および前記第3プーリの間のプーリ比が設定されている、基板搬送ロボット。 - 前記プーリ比は、前記アームの実適用ストローク範囲内における前記基板保持部材の前記移動軌跡が略直線状となるように設定されている、請求項1記載の基板搬送ロボット。
- 前記プーリ比は、前記アームの前記実適用ストローク範囲のうちの前方領域のストローク範囲における前記基板保持部材の前記移動軌跡が略直線状となるように設定されている、請求項2記載の基板搬送ロボット。
- 前記制御手段は、前記旋回プーリを回転させることにより、前記第1回転軸線周りに前記第2リンク部材を回転させると共に前記第2回転軸線周りに前記基板保持部材を回転させて前記基板保持部材の位置を調整する機能を有する、請求項1乃至3のいずれか一項に記載の基板搬送ロボット。
- 共通の旋回軸線を有する左右のアームと、
前記左右のアームを駆動するためのアーム駆動手段と、
前記アーム駆動手段を制御するための制御手段と、を備え、
前記左右のアームのそれぞれは、
基端部に前記旋回軸線を持ち、先端部に第1回転軸線を持つ第1リンク部材と、
基端部に前記第1回転軸線を持ち、先端部に第2回転軸線を持つ第2リンク部材と、
基板を保持可能に構成され、前記第2回転軸線周りに回転可能な基板保持部材と、を有し、
前記左右のアームの前記基板保持部材同士は、互いに同じ高さに配置されており、
前記第2回転軸線は、前記第1回転軸線よりも左右方向内側に位置しており、
前記アーム駆動手段は、
前記旋回軸線周りに前記第1リンク部材を回転させるための第1駆動部と、
前記第1リンク部材から独立して前記旋回軸線周りに回転可能な旋回プーリと、
前記第1回転軸線周りに前記第2リンク部材と一体に回転可能な第1プーリと、
前記旋回プーリと前記第1プーリとを連結するベルトと、
前記第1回転軸線に合わせて配置され、前記第1リンク部材に固定された第2プーリと、
前記第2回転軸線周りに前記基板保持部材と一体に回転可能な第3プーリと、
前記第2プーリと前記第3プーリとを連結するベルトと、を有し、
前記制御装置は、前記旋回プーリを回転させることにより、前記第1軸線周りに前記第2リンク部材を回転させると共に前記第2回転軸線周りに前記基板保持部材を回転させて前記基板保持部材の位置を調整する機能を有する、基板搬送ロボット。 - 前記左右のアームを上下に二組備えている、請求項1乃至5のいずれか一項に記載の基板搬送ロボット。
- 上段の前記左右のアームのうちのいずれか1つのアームの前記旋回プーリと、下段の前記左右のアームのうちのいずれか1つのアームの前記旋回プーリとが、互いに一体に回転するように連結されている、請求項6記載の基板搬送ロボット。
- 上段左側の前記アームの前記旋回プーリと下段右側の前記アームの前記旋回プーリとが連結されると共に、上段右側の前記アームの前記旋回プーリと下段左側の前記アームの前記旋回プーリとが連結されている、請求項7記載の基板搬送ロボット。
- 前記アームを前記旋回軸線周りに回転させたときの旋回半径が最大となるアーム伸長状態から、前記旋回半径が最小となるアーム収縮状態へと前記左右のアームの状態を変化させる際に、前記第2回転軸線が前記旋回軸線の位置を越えて前側から後側に移動する、請求項1乃至8のいずれか一項に記載の基板搬送ロボット。
- 前記アーム駆動手段は、前記左右のアームのそれぞれを独立して駆動できるように構成されている、請求項1乃至9のいずれか一項に記載の基板搬送ロボット。
- 前記制御手段は、前記アームの伸縮動作において、前記旋回プーリおよび前記第1リンク部材を、同時または異なるタイミングで回転させる機能を有する、請求項1乃至10のいずれか一項に記載の基板搬送ロボット。
- 前記アームを前記旋回軸線に沿って昇降させるための昇降駆動手段をさらに有する、請求項1乃至11のいずれか一項に記載の基板搬送ロボット。
- 前記ベルトは、スチールベルトである、請求項1乃至12のいずれか一項に記載の基板搬送ロボット。
- 共通の旋回軸線を有する左右のアームと、前記左右のアームを駆動するためのアーム駆動手段と、を備えた基板搬送ロボットの運転方法であって、
前記左右のアームのそれぞれは、基端部に前記旋回軸線を持ち、先端部に第1回転軸線を持つ第1リンク部材と、基端部に前記第1回転軸線を持ち、先端部に第2回転軸線を持つ第2リンク部材と、基板を保持可能に構成され、前記第2回転軸線周りに回転可能な基板保持部材と、を有し、前記左右のアームの前記基板保持部材同士は、互いに同じ高さに配置されており、前記第2回転軸線は、前記第1回転軸線よりも左右方向内側に位置しており、
前記アーム駆動手段は、前記旋回軸線周りに前記第1リンク部材を回転させるための第1駆動部と、前記第1リンク部材から独立して前記旋回軸線周りに回転可能な旋回プーリと、前記第1回転軸線周りに前記第2リンク部材と一体に回転可能な第1プーリと、前記旋回プーリと前記第1プーリとを連結するベルトと、前記第1回転軸線に合わせて配置され、前記第1リンク部材に固定された第2プーリと、前記第2回転軸線周りに前記基板保持部材と一体に回転可能な第3プーリと、前記第2プーリと前記第3プーリとを連結するベルトと、を有し、
前記旋回プーリを回転させることにより、前記第1軸線周りに前記第2リンク部材を回転させると共に前記第2回転軸線周りに前記基板保持部材を回転させて前記基板保持部材の位置を調整する、基板搬送ロボットの運転方法。 - 前記基板搬送ロボットは、前記左右のアームを上下に二組備えており、
上段の前記左右のアームのうちのいずれか1つのアームの前記旋回プーリと、下段の前記左右のアームのうちのいずれか1つのアームの前記旋回プーリとが、互いに一体に回転するように連結されている、請求項14記載の基板搬送ロボットの運転方法。 - 上段左側の前記アームの前記旋回プーリと下段右側の前記アームの前記旋回プーリとが連結されると共に、上段右側の前記アームの前記旋回プーリと下段左側の前記アームの前記旋回プーリとが連結されている、請求項15記載の基板搬送ロボットの運転方法。
- 前記左右のアームのそれぞれを独立に駆動する、請求項14乃至16のいずれか一項に記載の基板搬送ロボットの運転方法。
- 前記アームの伸縮動作において、前記旋回プーリおよび前記第1リンク部材を、同時または異なるタイミングで回転させる、請求項14乃至17のいずれか一項に記載の基板搬送ロボットの運転方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2014/077170 WO2016056119A1 (ja) | 2014-10-10 | 2014-10-10 | 基板搬送ロボットおよびその運転方法 |
CN201480082607.7A CN106796907B (zh) | 2014-10-10 | 2014-10-10 | 衬底搬送机器人及其运转方法 |
KR1020177012436A KR102075827B1 (ko) | 2014-10-10 | 2014-10-10 | 기판 반송 로봇 및 그 운전 방법 |
US15/517,985 US10269613B2 (en) | 2014-10-10 | 2014-10-10 | Substrate conveying robot and method of operating the same |
JP2016552782A JP6453353B2 (ja) | 2014-10-10 | 2014-10-10 | 基板搬送ロボットおよびその運転方法 |
TW104121750A TWI581929B (zh) | 2014-10-10 | 2015-07-03 | Substrate transfer robot and its operation method |
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US20170040203A1 (en) * | 2014-01-28 | 2017-02-09 | Brooks Automation, Inc. | Substrate transport apparatus |
CN109311171A (zh) * | 2016-06-27 | 2019-02-05 | 川崎重工业株式会社 | 工件保持机构 |
JP2019521869A (ja) * | 2016-06-28 | 2019-08-08 | アプライド マテリアルズ インコーポレイテッドApplied Materials,Incorporated | 間隔を置いて配置された上腕部と交互に配置されたリストとを含むデュアルロボット、及びこれらを含むシステム及び方法 |
US11850742B2 (en) | 2019-06-07 | 2023-12-26 | Applied Materials, Inc. | Dual robot including splayed end effectors and systems and methods including same |
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US9149936B2 (en) * | 2013-01-18 | 2015-10-06 | Persimmon Technologies, Corp. | Robot having arm with unequal link lengths |
JP7183635B2 (ja) * | 2018-08-31 | 2022-12-06 | 東京エレクトロン株式会社 | 基板搬送機構、基板処理装置及び基板搬送方法 |
JP6880519B2 (ja) | 2019-11-11 | 2021-06-02 | 株式会社安川電機 | ロボットシステム、ロボットの制御方法、半導体製造システム |
TWI834061B (zh) * | 2021-09-10 | 2024-03-01 | 鴻勁精密股份有限公司 | 載送機構及其應用之輸送裝置、作業機 |
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Also Published As
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CN106796907B (zh) | 2020-04-03 |
JP6453353B2 (ja) | 2019-01-16 |
KR20170063957A (ko) | 2017-06-08 |
KR102075827B1 (ko) | 2020-02-10 |
US20170294335A1 (en) | 2017-10-12 |
US10269613B2 (en) | 2019-04-23 |
TWI581929B (zh) | 2017-05-11 |
TW201613732A (en) | 2016-04-16 |
CN106796907A (zh) | 2017-05-31 |
JPWO2016056119A1 (ja) | 2017-07-20 |
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