JP2009028847A - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
- Publication number
- JP2009028847A JP2009028847A JP2007195307A JP2007195307A JP2009028847A JP 2009028847 A JP2009028847 A JP 2009028847A JP 2007195307 A JP2007195307 A JP 2007195307A JP 2007195307 A JP2007195307 A JP 2007195307A JP 2009028847 A JP2009028847 A JP 2009028847A
- Authority
- JP
- Japan
- Prior art keywords
- base
- elevating
- turning
- screw
- mechanisms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 152
- 230000003028 elevating effect Effects 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 11
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000000758 substrate Substances 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
【解決手段】本発明に係る搬送装置A1は、固定ベース1と、昇降ベース2と、昇降ベース2を昇降させる昇降機構3と、昇降ベース2に搭載された旋回ベース4と、旋回ベース4を鉛直状の旋回軸Os周りに旋回させる旋回機構5と、旋回ベース4に支持された直線移動機構6と、直線移動機構6の作動によりワークを水平直線状の移動行程に沿って搬送するハンド7A,7Bとを備える。昇降機構3は、固定ベース1に設けられたガイドレール311、および、昇降ベース2に設けられたガイド部材312からなるスライドガイド機構31と、固定ベース1に配置されたネジ軸321、および、昇降ベース2に設けられたナット部材322を備えたネジ送り機構32と、を備えて構成される。ネジ送り機構32は、旋回軸Osを挟んで対向状に2つ設けられている。
【選択図】図3
Description
GL 移動行程
Os 旋回軸
W ワーク
1 固定ベース
2 昇降ベース
3 昇降機構
4 旋回ベース
5 旋回機構
6 直線移動機構
7A,7B ハンド
31 スライドガイド機構
32 ネジ送り機構
311 ガイドレール
312 ガイド部材
321 ネジ軸
321a プーリ
322 ナット部材
323 ベルト
Claims (5)
- 固定ベースと、昇降ベースと、この昇降ベースを上記固定ベースに対して昇降させる昇降機構と、上記昇降ベースに搭載された旋回ベースと、この旋回ベースを鉛直状の旋回軸周りに旋回させる旋回機構と、上記旋回ベースに支持された直線移動機構と、この直線移動機構に支持され、この直線移動機構の作動によりワークを水平直線状の移動行程に沿って搬送するハンドとを備えた搬送装置であって、
上記昇降機構は、
上記固定ベースに設けられた鉛直状のガイドレール、および、上記昇降ベースに設けられ、かつ上記ガイドレールに対してスライド係合するガイド部材からなるスライドガイド機構と、
上記固定ベースに鉛直状に延びるように配置され、かつ回転駆動されるネジ軸、および、上記昇降ベースに設けられ、かつ上記ネジ軸に螺合されたナット部材と、を備えたネジ送り機構とを備えて構成されており、
上記ネジ送り機構は、複数設けられているとともに、少なくとも2つが上記旋回軸を挟んで対向状に設けられていることを特徴とする、搬送装置。 - 上記複数のネジ送り機構は、同期して駆動される、請求項1に記載の搬送装置。
- 各ネジ送り機構のネジ軸の下端部にそれぞれ設けられた同径のプーリにベルトが掛け回されることにより、上記複数のネジ送り機構が同期して駆動される、請求項2に記載の搬送装置。
- 上記スライドガイド機構は、少なくとも2つ設けられているとともに、これら2つのスライドガイド機構は、上記旋回軸を挟んで対向状に設けられた2つのネジ送り機構のそれぞれに対して対をなして配置されている、請求項1ないし3のいずれかに記載の搬送装置。
- 上記2つのスライドガイド機構は、上記2つのネジ送り機構の各ネジ軸の中心を含む垂直平面上、もしくは、この垂直平面に対して同じ側に配置されている、請求項4に記載の搬送装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007195307A JP4971063B2 (ja) | 2007-07-27 | 2007-07-27 | 搬送装置 |
US12/220,535 US8011874B2 (en) | 2007-07-27 | 2008-07-25 | Transfer apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007195307A JP4971063B2 (ja) | 2007-07-27 | 2007-07-27 | 搬送装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2009028847A true JP2009028847A (ja) | 2009-02-12 |
JP2009028847A5 JP2009028847A5 (ja) | 2010-07-08 |
JP4971063B2 JP4971063B2 (ja) | 2012-07-11 |
Family
ID=40338323
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007195307A Active JP4971063B2 (ja) | 2007-07-27 | 2007-07-27 | 搬送装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8011874B2 (ja) |
JP (1) | JP4971063B2 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101338857B1 (ko) | 2011-01-31 | 2013-12-16 | 주식회사 나온테크 | 4개의 기판 지지부 갖는 기판 이송 장치 |
JP2014037027A (ja) * | 2012-08-16 | 2014-02-27 | Ulvac Japan Ltd | 搬送装置 |
JP2015195257A (ja) * | 2014-03-31 | 2015-11-05 | 株式会社ダイヘン | 搬送装置、搬送システム |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8528438B2 (en) * | 2009-11-25 | 2013-09-10 | Chung-Shan Institute Of Science And Technology, Armaments Bureau, Ministry Of National Defense | Robotic arm for transporting substrate in ultrahigh vacuum |
US20120063874A1 (en) * | 2010-09-15 | 2012-03-15 | Applied Materials, Inc. | Low profile dual arm vacuum robot |
CN102642715A (zh) * | 2011-02-21 | 2012-08-22 | 亚特控制***股份有限公司 | 伸缩承载装置 |
CN103183238A (zh) * | 2011-12-29 | 2013-07-03 | 贵州久联民爆器材发展股份有限公司 | 自动均匀倒药的方法及装置 |
CN103192275A (zh) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | 立柱结构 |
WO2013137887A1 (en) * | 2012-03-15 | 2013-09-19 | Moog Inc. | Sealed robot base system |
CN102774526B (zh) * | 2012-07-26 | 2014-08-13 | 常州天合光能有限公司 | 太阳能光伏组件自动装箱机以及自动装箱方法 |
KR20220044392A (ko) * | 2014-01-17 | 2022-04-07 | 브룩스 오토메이션 인코퍼레이티드 | 기판 이송 장치 |
CN104008988B (zh) * | 2014-05-29 | 2017-01-18 | 华南理工大学 | 一种led封装基板和透镜同时上料装置 |
US10597779B2 (en) * | 2015-06-05 | 2020-03-24 | Applied Materials, Inc. | Susceptor position and rational apparatus and methods of use |
CN105500404B (zh) * | 2015-12-29 | 2018-02-02 | 东莞市圣荣自动化科技有限公司 | 一种带辅助增高结构的机械手臂 |
CN107378470B (zh) * | 2017-07-19 | 2023-09-05 | 许昌学院 | 一种大型圆柱体工件的轴线对准装置 |
CN107737848A (zh) * | 2017-11-09 | 2018-02-27 | 江苏亚威机床股份有限公司 | 一种折边机板料定位装置 |
CN111223804B (zh) * | 2018-11-26 | 2022-09-09 | 合肥欣奕华智能机器股份有限公司 | 一种基板运送装置 |
CN113086641B (zh) * | 2021-03-16 | 2023-01-10 | 深圳市华星光电半导体显示技术有限公司 | 一种传送装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6452240U (ja) * | 1987-09-26 | 1989-03-31 | ||
JPH0465148A (ja) * | 1990-05-17 | 1992-03-02 | Cybeq Syst Inc | 自動ハンドリング装置 |
JP2005032994A (ja) * | 2003-07-14 | 2005-02-03 | Hitachi Kokusai Electric Inc | 基板処理装置 |
JP2006007347A (ja) * | 2004-06-23 | 2006-01-12 | Rorze Corp | 駆動装置及びその駆動方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE410410B (sv) * | 1976-06-23 | 1979-10-15 | Inst Elektroswarki Patona | Anlaeggning foer framstaellning av metallgoet med stor vikt genom elektroslaggraffinering |
JPS584376A (ja) * | 1981-06-29 | 1983-01-11 | ファナック株式会社 | 工業用ロボツト |
JP4291709B2 (ja) | 2003-04-16 | 2009-07-08 | 株式会社ダイヘン | 直線移動機構およびこれを用いた搬送ロボット |
-
2007
- 2007-07-27 JP JP2007195307A patent/JP4971063B2/ja active Active
-
2008
- 2008-07-25 US US12/220,535 patent/US8011874B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6452240U (ja) * | 1987-09-26 | 1989-03-31 | ||
JPH0465148A (ja) * | 1990-05-17 | 1992-03-02 | Cybeq Syst Inc | 自動ハンドリング装置 |
JP2005032994A (ja) * | 2003-07-14 | 2005-02-03 | Hitachi Kokusai Electric Inc | 基板処理装置 |
JP2006007347A (ja) * | 2004-06-23 | 2006-01-12 | Rorze Corp | 駆動装置及びその駆動方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101338857B1 (ko) | 2011-01-31 | 2013-12-16 | 주식회사 나온테크 | 4개의 기판 지지부 갖는 기판 이송 장치 |
JP2014037027A (ja) * | 2012-08-16 | 2014-02-27 | Ulvac Japan Ltd | 搬送装置 |
JP2015195257A (ja) * | 2014-03-31 | 2015-11-05 | 株式会社ダイヘン | 搬送装置、搬送システム |
TWI628131B (zh) * | 2014-03-31 | 2018-07-01 | 日商大亨股份有限公司 | Handling device, handling system |
Also Published As
Publication number | Publication date |
---|---|
US8011874B2 (en) | 2011-09-06 |
US20090035114A1 (en) | 2009-02-05 |
JP4971063B2 (ja) | 2012-07-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4971063B2 (ja) | 搬送装置 | |
JP4950745B2 (ja) | 搬送装置 | |
JP4694436B2 (ja) | 搬送ロボット | |
JP4955447B2 (ja) | 搬送装置 | |
US7946799B2 (en) | Transfer apparatus | |
WO2010041562A1 (ja) | 基板搬送ロボットおよびシステム | |
JP2008135630A (ja) | 基板搬送装置 | |
KR20110052454A (ko) | 아암 기구 및 그것을 구비한 진공 로봇 | |
JP2011199121A (ja) | 搬送装置 | |
WO2012074007A1 (ja) | 搬送ロボット | |
JP4369851B2 (ja) | 直線移動機構およびこれを用いた搬送ロボット | |
KR101680993B1 (ko) | 산업용 로봇 | |
JP2019029670A (ja) | 搬送装置 | |
JP5021397B2 (ja) | 搬送装置 | |
KR102398519B1 (ko) | 가공물 반송장치 | |
KR102398520B1 (ko) | 가공물 반송장치 | |
JP4364001B2 (ja) | 搬送ロボット | |
JP4879833B2 (ja) | 搬送装置 | |
JP5255683B2 (ja) | 搬送装置 | |
JP2017127956A (ja) | 産業用ロボット | |
JP2022034669A (ja) | 搬送装置 | |
JP5474328B2 (ja) | 基板搬送ロボット | |
JP2010153687A (ja) | 基板搬送ロボットおよび基板搬送装置 | |
JP5309324B2 (ja) | 基板搬送システム | |
JP2009208174A (ja) | 産業用ロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100524 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100524 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20111124 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20111129 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120126 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120403 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120405 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150413 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4971063 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |