Redundantable robot assembly for workpiece transfer
View Patent ↗A redundantable robotic mechanism is disclosed for improving reliability of transport equipment. The redundantable robot assembly typically comprises independent robots with separate controls, motors, linkage arms, or power, thus providing the capability of operation even if parts of the assembly are not operational or when parts of the assembly are removed for repair. The redundantable robot assembly can be also designed to allow in-situ servicing, e.g. servicing one robot when the other is running. The disclosed redundantable robot assembly provides virtual uninterrupted process flow, and thus greatly increases the yield for the manufacturing facility.
1. A method for improving reliability of an equipment having workpiece movement, the equipment comprising a redundantable workpiece transfer mechanism, the redundantable workpiece transfer mechanism comprises
at least two independent workpiece transfer assemblies,
wherein each independent workpiece transfer assembly is configured to perform same workpiece transfers on a same workpiece as the other workpiece transfer assemblies, so that when a workpiece transfer assembly fails, the other workpiece transfer assemblies are capable of performing the transfer for the failed workpiece transfer assembly,
wherein each independent workpiece transfer assembly is capable of transferring the workpieces regardless of the operating status of other workpiece transfer assemblies,
the method comprising
rotating a carousel stocker storage,
wherein the carousel stocker storage is configured to support multiple workpieces arranged in circular configurations around an axis of rotation,
wherein the carousel stocker storage is rotated to present a workpiece to the redundantable workpiece transfer mechanism,
determining operatable workpiece transfer assemblies, and
allocating the movement of the workpieces to the operatable workpiece transfer assemblies,
wherein allocating to the operatable workpiece transfer assemblies comprises re-assigning workpieces that are assigned to an inoperative workpiece transfer assembly, and
wherein allocating to the operatable workpiece transfer assemblies comprises re-assigning the movement of the workpieces to a just-become-operating workpiece transfer assembly.
2. A method as in claim 1 further comprising sensors for determining the inoperative state of the workpiece transfer assemblies.
3. A method as in claim 1
wherein the workpiece transfer assemblies have a substantially overlapping capability of transferring the workpieces, and
wherein non-overlapping workpieces are not re-assignable.
4. A method as in claim 1 wherein allocating workpiece movement comprises bypassing an inoperative transfer assembly.
5. A method as in claim 1 further comprising
moving the non-operatable independent workpiece transfer assembly to allow repair while the others are operating.
6. A method as in claim 1 further comprising
establishing a service zone around the workpiece transfer assembly for safe servicing an inoperative workpiece transfer assembly while other workpiece transfer assemblies still operating.
7. A method as in claim 1 further comprising
ejecting an inoperative workpiece transfer assembly to a serviceable area.
8. A method comprising
rotating a carousel stocker storage,
wherein the carousel stocker storage is configured to support multiple workpieces arranged in circular configurations around an axis of rotation,
wherein the carousel stocker storage is rotated to present a workpiece to the redundantable workpiece transfer mechanism,
transferring the workpiece using the redundantable workpiece transfer mechanism,
wherein the redundantable workpiece transfer mechanism comprises at least two independent workpiece transfer assemblies,
wherein each independent workpiece transfer assembly is configured to perform a same workpiece transfer operation on a same workpiece as the other workpiece transfer assemblies, so that when a workpiece transfer assembly fails, the other workpiece transfer assemblies are capable of performing the transfer for the failed workpiece transfer assembly,
wherein each independent workpiece transfer assembly is capable of transferring the workpieces regardless of the operating status of other workpiece transfer assemblies,
wherein the redundantable workpiece transfer mechanism is configured to allow in-situ servicing an independent workpiece transfer assembly while other independent workpiece transfer assemblies are still operational.
9. A method as in claim 8 further comprising
ejecting an inoperative workpiece transfer assembly to a serviceable area.
10. A method as in claim 9 wherein ejecting comprises sliding the transfer assembly to a serviceable area.
11. A method as in claim 9 wherein ejecting comprises coupling the transfer assembly to a hinged door, wherein the hinged door is operable to move the inoperative workpiece transfer assembly to a serviceable area.
12. A method as in claim 8 further comprising
coordinating the transferring of the workpieces between the independent workpiece transfer assemblies,
wherein coordinating comprises recognizing the operating status of the workpiece transfer assemblies and
wherein coordinating comprises assigning the transferring of the workpieces to operating workpiece transfer assemblies.
13. A method as in claim 8 wherein each independent workpiece transfer assembly comprises a 6-axis robot.
14. A method as in claim 8 wherein the redundantable workpiece transfer mechanism comprises two robots facing a carousel stocker storage.