Replaceable Wafer Contact Pads for Robotic End Effector
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Solution Overview
Problem
Existing robotic end effectors with integral contact pads require full replacement when pads wear out, leading to significant costs and downtime due to recalibration needs, and previous designs with removable pads suffer from variable force application, increased particulate generation, and insecure attachment.
Innovation Solution
The design features wafer support pads with a central protrusion and apertures on opposing sides for secure fastening, allowing for easy replacement without recalibrating the end effector, reducing contact surface area to minimize particulate generation, and using a complimentary shaped depression and fasteners for secure and reproducible pad placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If contact pads are made integral to the end effector body, then structural simplicity and manufacturing ease are improved, but replacement cost and downtime increase when pads wear out
Solution Approach 1:
The contact pad is separated from the end effector body into a distinct replaceable component. The pad is mounted in a recess within the body, allowing it to be removed and replaced independently when worn, thus resolving the contradiction between manufacturing simplicity and replacement efficiency.
2Loss of time
If contact pads are made removable and replaceable, then replacement cost and downtime are reduced, but attachment security and force application consistency worsen
Solution Approach 1:
A recess is pre-formed in the end effector body to receive and securely hold the contact pad. This preliminary structural preparation ensures that when the pad is installed, it achieves secure attachment and consistent force application, resolving the reliability concern while maintaining replaceability.
3Loss of time
If contact pads are made removable and replaceable, then replacement cost and downtime are reduced, but particulate generation increases due to less secure attachment
Solution Approach 1:
The recess structure is pre-designed to provide secure retention of the contact pad, preventing loosening and particulate generation during operation. This preliminary structural preparation eliminates the harmful effect of particulate generation while maintaining the benefit of easy replacement.
4Ease of operation
If variable force is applied to contact pads, then ease of replacement is improved, but wafer support consistency and reliability worsen
Solution Approach 1:
The recess structure is pre-formed to ensure consistent and reliable force application to the wafer support pad. This preliminary structural preparation guarantees consistent wafer support during operation while maintaining ease of replacement when the pad wears out.
Data Source
AI summary
A robotic end effector is provided which includes an end effector blade, and a plurality of wafer support pads disposed on the surface of the end effector blade. Each of the plurality of wafer support pads includes a pad body having a central protrusion and having first and second fasteners disposed on opposing sides of the central protrusion.