Double arm substrate transport unit
First Claim
Patent Images
1. A double arm substrate transport unit for transporting a work piece, comprising:
- a base arm supported by a base so as to be freely rotatable;
a first forearm supported by a tip part of said base arm so as to be freely rotatable;
a first end effector on which a work piece is placeable, said first end effector being supported by a tip part of the first forearm so as to be freely rotatable;
a second forearm supported by the tip part of the base arm so as to be freely rotatable, said second forearm being attached to said base arm above the first forearm; and
a second end effector on which a work piece is placeable, said second end effector being supported by a tip part of the second forearm so as to be freely rotatable.
1 Assignment
0 Petitions
Accused Products
Abstract
A double arm substrate transport unit for transporting a work piece, such as a semiconductor wafer, includes a robotic arm formed of a first forearm supported by the tip part of a base arm so as to be freely rotatable. A first end effector on which a work piece is placed is supported by the tip part of the first forearm so as to be freely rotatable. A second forearm is supported by the tip part of the base arm so as to be freely rotatable is attached above the first forearm so as to overlap the first forearm. A second end effector on which a work piece is placed is supported by the tip part of the second forearm so as to be freely rotatable.
83 Citations
9 Claims
-
1. A double arm substrate transport unit for transporting a work piece, comprising:
-
a base arm supported by a base so as to be freely rotatable;
a first forearm supported by a tip part of said base arm so as to be freely rotatable;
a first end effector on which a work piece is placeable, said first end effector being supported by a tip part of the first forearm so as to be freely rotatable;
a second forearm supported by the tip part of the base arm so as to be freely rotatable, said second forearm being attached to said base arm above the first forearm; and
a second end effector on which a work piece is placeable, said second end effector being supported by a tip part of the second forearm so as to be freely rotatable. - View Dependent Claims (2, 3)
-
-
4. A double arm substrate transport unit for transporting a work piece, comprising:
-
a base;
a base arm supported by the base so as to be freely rotatable;
a first forearm supported by a tip part of said base arm so as to be freely rotatable;
a first end effector on which a work piece is placeable, said first end effector being supported by a tip part of the first forearm so as to be freely rotatable;
a second forearm supported by the tip part of the base arm so as to be freely rotatable, said second forearm being attached to said base arm above the first forearm; and
a second end effector on which a work piece is placeable, said second end effector being supported by a tip part of the second forearm so as to be freely rotatable; and
three independent motors being disposed within the base placed in the lower portion of the unit, said first motor being provided so as to rotate a first support rod that serves as a rotational axis of the base arm, said second motor being provided so as to rotate a second support rod having a same axis as the rotational axis of the base arm such that torque is conveyed to a fourth support rod integrally fixed to the second forearm via a first transmission means provided within the base arm and, thereby, rotates the second forearm, the fourth support rod being provided within a fifth support rod that is hollow, that has a same axis as a rotational axis of the second forearm and that is fixed to the base arm so as to be non-rotatable, said third motor being provided so as to rotate a third support rod provided within the second support rod so that the torque is conveyed to a sixth support rod integrally fixed to the first forearm via a second transmission means provided within the base arm and, thereby, rotates the first forearm, the sixth support rod having a same axis as the rotational axis of the first and second forearms, a third transmission means being provided within the first forearm so that the fifth support rod that is hollow and the rotational axis of the first end effector convey rotations of which the rotational speed ratio is 1;
2, the fifth support rod that is hollow being provided at the tip part of the base arm so as to have a same axis as the rotational axis of the first and second forearms in order to have the fourth support rod as the center, anda fourth transmission means being provided within the second forearm so that the fifth support rod that is hollow and the rotational axis of the second end effector convey rotations of which the rotational speed ratio is 1;
2.- View Dependent Claims (5, 6, 7, 8, 9)
-
Specification