DE69931057D1 - Transfer arm - Google Patents

Transfer arm

Info

Publication number
DE69931057D1
DE69931057D1 DE69931057T DE69931057T DE69931057D1 DE 69931057 D1 DE69931057 D1 DE 69931057D1 DE 69931057 T DE69931057 T DE 69931057T DE 69931057 T DE69931057 T DE 69931057T DE 69931057 D1 DE69931057 D1 DE 69931057D1
Authority
DE
Germany
Prior art keywords
transfer arm
arm
transfer
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.)
Expired - Fee Related
Application number
DE69931057T
Other languages
English (en)
Other versions
DE69931057T2 (de
Inventor
Hiroaki Saeki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Electron Ltd
Original Assignee
Tokyo Electron Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tokyo Electron Ltd filed Critical Tokyo Electron Ltd
Publication of DE69931057D1 publication Critical patent/DE69931057D1/de
Application granted granted Critical
Publication of DE69931057T2 publication Critical patent/DE69931057T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • 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
    • 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
    • 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
    • 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
    • Y10T74/20329—Joint between elements
DE69931057T 1998-07-22 1999-07-22 Transfer arm Expired - Fee Related DE69931057T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP22361398 1998-07-22
JP22361398 1998-07-22
PCT/JP1999/003921 WO2000005762A1 (fr) 1998-07-22 1999-07-22 Bras de transfert

Publications (2)

Publication Number Publication Date
DE69931057D1 true DE69931057D1 (en) 2006-06-01
DE69931057T2 DE69931057T2 (de) 2006-11-23

Family

ID=16800952

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69931057T Expired - Fee Related DE69931057T2 (de) 1998-07-22 1999-07-22 Transfer arm

Country Status (5)

Country Link
US (2) US6575691B1 (de)
EP (1) EP1113491B1 (de)
KR (1) KR100532531B1 (de)
DE (1) DE69931057T2 (de)
WO (1) WO2000005762A1 (de)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020182036A1 (en) * 2001-06-04 2002-12-05 Applied Materials, Inc. Semiconductor wafer handling robot for linear transfer chamber
JP4000036B2 (ja) * 2002-09-30 2007-10-31 東京エレクトロン株式会社 搬送装置
US6892618B2 (en) * 2003-08-06 2005-05-17 Chang Chin-Chin Circular sawing machine having a link mechanism
DE102005052443A1 (de) * 2005-11-03 2007-05-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboterarm sowie Roboter-Tragstruktur
TW200900210A (en) * 2006-11-09 2009-01-01 Ihi Corp Frog-leg arm robot and control method thereof
TWI398335B (zh) * 2006-11-27 2013-06-11 Nidec Sankyo Corp Workpiece conveying system
KR101071606B1 (ko) * 2007-04-05 2011-10-10 가부시키가이샤 알박 반송 장치
US8414246B2 (en) * 2007-06-06 2013-04-09 Cycogs, Llc Modular hybrid snake arm
US20090088912A1 (en) * 2007-09-28 2009-04-02 Anorad Corporation Linear driven x-z robot
CN103192372B (zh) * 2012-01-06 2015-03-11 沈阳新松机器人自动化股份有限公司 连杆型机械手
DE102012201059A1 (de) * 2012-01-25 2013-07-25 Krones Ag Eine Vorrichtung und ein Verfahren zum Ausleiten von Produkten, insbesondere Füllgutbehältern wie Flaschen
FR3032698B1 (fr) * 2015-02-13 2022-10-14 Sidel Participations "dispositif de convoyage de recipients comportant un organe de prehension mobile transversalement a la direction de deplacement"
KR20210069029A (ko) * 2018-06-27 2021-06-10 팹웍스 솔루션스 인코포레이티드 엘보 하드 스톱을 구비한 로봇식 아암 조립체

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4666366A (en) 1983-02-14 1987-05-19 Canon Kabushiki Kaisha Articulated arm transfer device
GB2145691B (en) * 1983-08-29 1987-06-03 Toshiba Kk Extendible and contractable arms
JP2588418B2 (ja) * 1988-03-31 1997-03-05 新明和工業株式会社 ３次元マニピュレータ
JPH0236083A (ja) * 1988-07-22 1990-02-06 Kiyouhou Seisakusho:Kk パンタグラフ型ロボットアーム
US5227708A (en) 1989-10-20 1993-07-13 Applied Materials, Inc. Two-axis magnetically coupled robot
US5180276A (en) 1991-04-18 1993-01-19 Brooks Automation, Inc. Articulated arm transfer device
JPH04331090A (ja) * 1991-04-24 1992-11-18 Tokyo Electron Ltd 搬送装置
JP2972008B2 (ja) * 1991-11-07 1999-11-08 東京エレクトロン株式会社 搬送アーム
JPH06132380A (ja) * 1992-09-04 1994-05-13 Fujitsu Ltd 搬送装置
GB2298934B (en) * 1993-11-22 1998-03-25 Sony Corp Multi-articulate arm type transport device
AU1290497A (en) 1995-12-15 1997-07-03 Brooks Automation, Inc. Wide wrist articulated arm transfer device
JP3769802B2 (ja) * 1996-02-09 2006-04-26 株式会社日立製作所 半導体装置の製造方法
JPH09216182A (ja) * 1996-02-14 1997-08-19 Hitachi Tokyo Electron Co Ltd 多関節ロボットおよびその駆動方法ならびにロボットアームの位置検出装置
JPH09254061A (ja) * 1996-03-15 1997-09-30 Komatsu Ltd ハンドリング用ロボット

Also Published As

Publication number Publication date
US6884019B2 (en) 2005-04-26
EP1113491B1 (de) 2006-04-26
EP1113491A1 (de) 2001-07-04
US20030190224A1 (en) 2003-10-09
US6575691B1 (en) 2003-06-10
WO2000005762A1 (fr) 2000-02-03
KR100532531B1 (ko) 2005-11-30
EP1113491A4 (de) 2004-05-12
DE69931057T2 (de) 2006-11-23
KR20010053569A (ko) 2001-06-25

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee