Robot having end effector and method of operating the same

Patent metadata

Field	Value
Publication number	US-9616577-B2
Application number	US-201514984008-A
Country	US
Kind code	B2
Filing date	Dec 30, 2015
Priority date	Mar 13, 2009
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

The present invention relates to an end effector including: blade members for holding substrates, each configured to hold the substrate, and configured such that each interval between the blade members can be changed; a blade support unit configured to support the blade members, the blade support unit being configured to be driven integrally with the blade members by the robot; and blade drive means configured to change the interval between the blade members by moving at least one of the blade members relative to another blade member.

First claim

The invention claimed is:

1. An end effector configured to be provided to an arm of a robot, comprising:
a plurality of blade members for holding substrates, each of the blade members being configured to hold each of the substrates, and at least one of the blade members being configured to be movable relative to another blade member;
a blade support unit configured to support the blade members, the blade support unit being configured to be driven integrally with the blade members by the robot; and
blade drive means configured to move the at least one blade member relative to the another blade member, whereby a state in which a substrate holding face of the at least one blade member is positioned on a substrate holding side relative to a substrate holding face of the another blade member and a state in which the substrate holding face of the another blade member is positioned on the substrate holding side relative to the substrate holding face of the at least one blade member can be switched in a direction perpendicular to a surface of the substrate held by each blade member,
wherein each of the blade members has holding means configured to hold the substrate in order to prevent the substrate from being detached from the blade member upon transferring the substrate by the blade member,
wherein the holding means includes an edge guide mechanism having a movable contact part configured to be in brought into releasable contact with an edge of the substrate, and
wherein the edge guide mechanism of each of the blade members is configured to be driven independently with each other.

2. The end effector according to claim 1 , wherein the blade members are respectively configured not to be overlapped with one another when seen in a direction perpendicular to the surface of each substrate.

3. The end effector according to claim 1 , wherein a direction in which the blade member is moved by the blade drive means is the direction perpendicular to the surface of the substrate.

4. The end effector according to claim 1 , wherein a maximum distance in the direction perpendicular to the surface of the substrate between the substrate holding face of the at least one blade member and the substrate holding face of the another blade member is set within a range of a substrate arrangement pitch of multiple stages on which the substrates are respectively placed.

5. The end effector according to claim 1 , wherein a maximum total thickness of the blade members in the direction perpendicular to the surface of the substrate is less than a blade-insertable thickness defined between adjacent two stages of multiple stages on which the substrates are respectively placed.

6. The end effector according to claim 1 , wherein the holding means has a suction mechanism including a suction member which is configured to provide a vacuum suction to the substrate.

7. A robot comprising:
the end effector according to claim 1 ; and
the arm having the end effector provided to the arm.

8. The robot according to claim 7 , wherein an additional end effector is provided together with the end effector such that the additional end effector can be driven independently of the end effector.

9. The robot according to claim 8 , wherein an interval between the substrate holding face of the blade member of the end effector and the substrate holding face of the blade member of the additional end effector is set to correspond to a substrate arrangement pitch of multiple stages on which substrates are respectively placed.

10. The robot according to claim 8 , wherein the additional end effector is the same as the end effector.

11. The robot according to claim 8 , wherein the additional end effector has a plurality of blade members, each of the blade members being configured to hold the substrate, while an interval between the blade members of the additional end effector is fixed.

12. A method of operating the robot according to claim 8 , comprising the steps of:
carrying a plurality of substrates at a time by using both of the end effector and the additional end effector; and
carrying one or more substrates by using either one of the end effector and the additional end effector.

13. A method of operating the robot according to claim 7 , comprising the step of:
changing conditions of applications between the at least one blade member and the another blade member.

14. The method of operating the robot according to claim 13 , wherein the conditions of applications include those for handling clean substrates and for handling unclean substrates and/or those for handling the substrates at a high temperature and for handling the substrates at a normal temperature.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Yoshida Tetsuya

Classifications

• H10P72/7602

  the wafers being placed on a robot blade or gripped by a gripper for conveyance · CPC title

• H10P72/3302

  Mechanical parts of transfer devices · CPC title

• B25J11/0095

  Manipulators transporting wafers · CPC title

• H01L21/68707

  Electricity · mapped topic

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title