Modular Robot Architecture With Concentric Direct-Drive Motors
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Modular robots for semiconductor manufacturing face challenges in maintaining a small size or footprint while accommodating interchangeable modules and handling long lead time parts, particularly direct drive motors, which are essential for space-confined areas.
Innovation Solution
A modular robot apparatus with a 4-axis design featuring a Z module, motor module, arm module, and controller module, where direct drive motors are centrally located to minimize size, and interchangeable end effectors allow for versatile sample handling, with a software module for controlling and training operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot is designed with modular architecture to accommodate interchangeable modules and long lead time parts, then the adaptability and ease of repair are improved, but the size or footprint of the robot increases
Solution Approach 1:
The patent applies nesting by placing the direct drive motors inside the central core of the robot structure. The motors are positioned concentrically, with each motor housed within the structural core rather than externally mounted. This nested arrangement allows the interchangeable modules to be integrated within the compact central region, reducing the overall footprint while maintaining modular adaptability.
Solution Approach 2:
The patent transitions from a traditional external motor mounting arrangement to a centralized core structure by utilizing the vertical and radial dimensions of the robot's central axis. The direct drive motors are arranged along the central core in a compact configuration, effectively using the third dimension (vertical stacking) to reduce the horizontal footprint while preserving modular interchangeability.
2Ease of repair
If the robot is designed with modular architecture to accommodate interchangeable modules and long lead time parts, then the ease of repair is improved, but the size or footprint of the robot increases
Solution Approach 1:
The direct drive motors are nested within the central core structure, creating a compact centralized housing that contains all motor components. This nested arrangement allows for modular access to the motors for repair and replacement, as the entire motor assembly can be serviced from the central core region without requiring external space, thereby improving ease of repair while minimizing footprint.
Solution Approach 2:
The central core structure serves multiple functions: it provides structural support, houses the direct drive motors, and facilitates modular interchangeability. By making the central core a multi-functional element that accommodates both structural and motor housing roles, the design improves ease of repair through standardized access points while maintaining a compact footprint.
3Area of stationary object
If direct drive motors are localized within a central core to minimize size, then the footprint is reduced, but the device complexity increases
Solution Approach 1:
The patent merges the motor housing with the central structural core, combining what would traditionally be separate components (structural support and motor mounting) into a single integrated central core assembly. This merging reduces the overall footprint by eliminating redundant structural elements while the modular design of the motor modules themselves keeps the added complexity manageable through standardization.
Solution Approach 2:
The central core is designed as a universal structure that simultaneously provides mechanical support, motor housing, and modular interface functions. By making the central core multi-functional, the patent reduces footprint by eliminating separate dedicated structures for each function, while the complexity is managed through the standardized universal interface that simplifies the integration of multiple functions into one component.
Data Source
AI summary
Described are modular robot apparatuses for transferring samples. An apparatus can include a Z module configured to transfer the sample along a vertical axis; a motor module operatively coupled to the Z module and configured to independently operate one or more arms of the apparatus; an arm module comprising the one or more arms operatively coupled to the motor module and configured to transfer the sample along one or more horizontal axes orthogonal to the vertical axis; one or more interchangeable end effectors operatively coupled to the arm module and configured to releasably hold the sample; and a controller module configured to control the Z module, the motor module, the arm module, and the one or more interchangeable end effectors for transferring the sample.