Articulated arm transfer device

• US 5,813,823 A
• Filed: 10/30/1996
• Issued: 09/29/1998
• Est. Priority Date: 04/16/1993
• Status: Expired due to Term

• Current Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Original Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Inventors: Hofmeister, Christopher
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US08/740,496
• Time in Patent Office: 699 Days
• Field of Search: 414/744.5, 414/744.2, 901/23, 901/24, 901/15, 310/101, 310/103, 74/490.03
• US Class Current: 414/744.5
• CPC Class Codes: B25J 21/00 Chambers provided with manipulation devices constructional features of the mounting of the manipulator in the wall B25J1/08 ; glove-boxes for nuclear applications G21F7/04
• CPC Class Codes: B25J 9/107 of the froglegs type
• CPC Class Codes: B25J 9/126 Rotary actuators
• CPC Class Codes: H01L 21/67742 Mechanical parts of transfer devices robots in general in B25J
• CPC Class Codes: H01L 21/68707 the wafers being placed on a robot blade, or gripped by a gripper for conveyance
• CPC Class Codes: H02K 16/00 Machines with more than one rotor or stator machines for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts H02K51/00; permanent magnet machines with multiple rotors or stators relatively rotated for vectorially combining the excitation fields or the armature voltages H02K21/029
• CPC Class Codes: H02K 5/128 using air-gap sleeves or air-gap discs

Abstract

A concentric-shaft rotational drive system for an articulated arm transfer device adaptable for imparting movement to an assembly inside a vacuum chamber wherein rotary movement is imparted to rotors inside the vacuum chamber by means of magnetic fields produced by stators outside the vacuum chamber.

Claims

1. A transport apparatus having a movable arm assembly operably connected to a drive mechanism, the drive mechanism comprising:

a housing having a chamber;

electromagnetic stators stationarily connected to the housing at different heights relative to the chamber, the stators being located outside of the chamber;

a drive shaft assembly located, at least partially, in the chamber, the assembly including two independently rotatable coaxial shafts, a first one of the shafts extending coaxially through a second one of the shafts, one of the shafts having a set of permanent magnets that are aligned with a first one of the electromagnetic stators; and

a first brake system having two disks separately connected respectively to the two coaxial shafts, wherein a first one of the disks is located at a second one of the electromagnetic stators and, when the second electromagnetic stator is energized, the first disk is magnetically moved into contact with a second one of the disks to lock the two coaxial shafts to each other.

2. An apparatus as in claim 1 wherein the first disk is slidably supported on the first shaft.

3. An apparatus as in claim 1 wherein the first disk is comprised of magnetic material.

4. An apparatus as in claim 1 further comprising means for independently sensing angular position of the first shaft relative to the housing.

5. An apparatus as in claim 4 wherein the means for sensing includes an optical disk connected to the first shaft and a disk reader stationarily connected to the housing.

6. An apparatus as in claim 1 further comprising a second brake system having two disks separately connected to the second shaft and the housing, respectively.

7. An apparatus as in claim 6 wherein the second brake system has a third electromagnetic stator which, when energized, moves the disks of the second brake system into contact with each other.

8. An apparatus as in claim 6 wherein the two disks of the second brake system are comprised of magnetic material.

9. An apparatus as in claim 6 wherein one of the two disks of the second brake system is slidably supported on the housing.

10. A transport apparatus having a movable arm assembly operably connected to a drive mechanism, the drive mechanism comprising:

a housing having a chamber;

a drive shaft assembly located, at least partially, in the chamber, the assembly including two independently rotatable coaxial shafts, a first one of the shafts extending coaxially through a second one of the shafts;

a drive system for moving at least one of the shafts relative to the housing, the drive system including a first electromagnetic coil stationarily connected to the housing;

a brake system having two disks, a first one of the disks being connected to the housing and a second one of the disks being connected to one of the coaxial shafts; and

a second electromagnetic coil connected to the housing spaced from the first electromagnetic coil;

wherein the two disks are located at the second electromagnetic coil and, when the second electromagnetic coil is energized, the two disks are moved into contact with each other to thereby prevent rotation of the second shaft relative to the housing.

11. An apparatus as in claim 10 wherein the first disk is slidably supported on the housing.

12. An apparatus as in claim 10 wherein the first disk is comprised of magnetic material.

13. An apparatus as in claim 10 further comprising means for sensing angular position of the first shaft relative to the housing.

14. An apparatus as in claim 13 wherein the means for sensing includes an optical disk connected to the first shaft and a disk reader stationarily connected to the housing.

15. An apparatus as in claim 13 wherein the means for sensing angular position comprises an optical disk connected to the first coaxial shafts, a light emitter connected to the housing, and a light read head connected to the housing, the optical disk being located between the light emitter and the light read head and having a coded pattern of opaque portions, wherein the light read head is adapted to output a signal indicative of angular position of the first coaxial shaft relative to the housing based upon light passing through a portion of the coded pattern in front of the light read head.

16. An apparatus as in claim 10 further comprising another brake system having two additional disks connected to the two coaxial shafts, respectively, and a third electromagnetic coil connected to the housing which, when energized, moves the two additional disks of the another brake system into contact with each other.