Patent ID: 9117865
Filing Date: 2015-08-25
Classification: H01L,Y10S,Y10T

Abstract:
1. A robot apparatus, comprising: a first boom adapted to rotate about a first rotational axis; a first upper arm coupled to the first boom at a position offset from the first rotational axis, the first upper arm independently rotatable about a second rotational axis relative to the first boom; a first forearm coupled to and adapted for rotation relative to the first upper arm about a third rotational axis at a position offset from the second rotational axis; a first forearm drive assembly having a first forearm driving member rigidly coupled to the first boom; a first wrist member coupled to and adapted for rotation relative to the first forearm about a fourth rotational axis at a position offset from the third rotational axis, the first wrist member adapted to couple to a first end effector; and a second boom positioned above the first boom and adapted to rotate about the first rotational axis independent of the first boom; a second upper arm coupled to the second boom at a position offset from the first rotational axis, the second upper arm independently rotatable about a fifth rotational axis relative to the second boom; a second forearm coupled to and adapted for rotation relative to the second upper arm about a sixth rotational axis at a position offset from the fifth rotational axis; a second forearm drive assembly having a second forearm driving member rigidly coupled to the second boom; and a second wrist member coupled to and adapted for rotation relative to the second forearm about an seventh rotational axis at a position offset from the sixth rotational axis, the second wrist member adapted to couple to a second end effector, wherein the first end effector and the second end effector are offset horizontally from each other in a horizontal direction and configured and adapted to be inserted into and service adjacent, side-by-side twin chambers by being extendable in generally parallel longitudinal directions orthogonal to the horizontal direction.