JP2005019761A - Clamping device confirming gripping of discoid article - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping confirming device, which can prevent a non-gripping accident and is simple and low in cost of, in a clamping device gripping a discoid article such as a wafer substrate. <P>SOLUTION: A dog 2 is installed directly to or while moving interlocking with a finger 5 to the finger 5 gripping a wafer 6 as the discoid article, and a gripping is confirmed by detecting whether or not the dog 2 is positioned at a specified place by a transmission type photosensor 3 or the like. A spring material 25 is mounted between the finger 5 and a motor 9 as a driving source, and an excess gripping stress is not applied to the wafer 6. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a clamping device for gripping a peripheral portion of a disk-like object such as a semiconductor wafer. More specifically, the present invention relates to a clamp apparatus having a dog and a sensor for confirming whether or not a disc-shaped object as a target object has been securely grasped in a clamp-type positioning apparatus, an end effector of a robot, or the like.
[0002]
[Prior art]
Conventionally, a vacuum suction method is generally used as a method of fixing a disk-shaped object such as a semiconductor wafer substrate to a rotary spindle type positioning device. However, in recent years, in order to prevent the back surface of the semiconductor wafer from being contaminated by coming into contact with a suction portion having a large area, there has been proposed a method of holding the periphery of the semiconductor wafer, that is, a clamping method. For example, Japanese Patent Laid-Open No. 2000-133696 proposes a positioning device that holds the edge of a substrate and positions the center of the substrate and an orientation flat. Also, a clamping method has been proposed as a method for fixing a disk-shaped object such as a semiconductor wafer substrate on an end effector of a transfer device such as a robot.
[0003]
[Problems to be solved by the invention]
However, in the clamp method, when the peripheral edge of a thin disk is gripped with a small nail, the grip may fail to be fixed, which may cause damage to the clamp-type positioning device, cause damage to the wafer, Accidents such as dropping a disk-shaped object occurred. In order to avoid this accident, in Japanese Patent Laid-Open No. 2002-134586, in a robot end effector that grips and conveys an edge of a substrate, a pusher provided in a wrist unit has an origin position P1 and an overstroke position P3. It proposes the use of a position confirmation auto switch that recognizes P2 between the two as the normal gripping position of the substrate. FIG. 4 shows an end effector according to this document. The wafer clamp is confirmed by attaching an expensive clamp origin confirmation auto switch 151 and a wafer clamp position confirmation auto switch 152. Japanese Patent Laid-Open No. 2002-134586 proposes the use of a cylinder with a two-point position confirmation sensor as a drive source for the pusher, and detects the origin position P1 and the normal gripping position P2. All of these are not only disadvantageous in cost, but also cannot avoid impact during gripping, and there is a risk of breaking brittle materials such as wafers and glass substrates.
[0004]
[Means for Solving the Problems]
As a result of intensive studies on a simpler means for confirming whether or not the disc-like object has been securely grasped, the inventor grasps the disc-like object by moving at least one finger having a claw portion at the tip. Or, in the clamping device to be opened, means for detecting whether or not the disc-like object is properly gripped by installing at least one dog interlocking with the finger and at least one sensor for detecting the dog. The present invention has been reached.
[0005]
The dog is a plate-like or bar-like projection attached to the movable part to indicate the position. This dog is detected by a transmissive or reflective optical sensor, a proximity sensor, a limit switch, or the like. In the present invention, when a dog shorter than the maximum moving distance is attached to the finger, the sensor detects the specific position of the dog at a distance where the disk-like object is properly gripped, and before moving and without gripping, By arranging so that the specific position of the dog is not detected, it is possible to detect whether or not the dog is normally held before and after the exercise. On the contrary, the same effect can be produced by attaching a dog larger than the maximum moving distance to the finger and providing a hole or slit in the dog at a distance where the disc-shaped object is properly gripped. Here, the number of sensors that detect one dog may be one or more. Further, if a specific point of the dog is arranged at a position where the sensor detects normal gripping, it is not necessary to detect the operation start point or the end point after the overstroke.
[0006]
Also, in a clamp device that holds a disk-like object by moving a plurality of fingers simultaneously toward one point and releases them by moving in the opposite direction, at least one dog interlocked with the fingers. And at least one sensor for detecting the dog. Here, when a dog is attached to one of a plurality of fingers and the finger only moves linearly, only one sensor is required. However, if the finger rotates while gripping a disk-like object, the dog may not be detected if the sensor is fixed. For example, the sensor may be rotated in conjunction with the dog, or the sensor may be arranged on the circumference. Thus, by detecting a specific point of the dog, it can be confirmed whether or not the disk-like object is gripped.
[0007]
Further, when the plurality of fingers move simultaneously toward one point, the plurality of dogs are attached to the fingers, respectively, and the sensor is at a certain distance from the center point, and the certain distance is radiused. The specific store of the dog may be detected at all positions on the circumference. That is, in a clamping device having a finger that rotates about a straight line passing through the one point and moves toward the central axis, the rotating dog is detected from any angle by a sensor attached at a fixed position, and the disk It may be confirmed whether or not the object is gripped. At this time, it is preferable that dogs are attached to all or most of the fingers and arranged so that there is no break between the dogs.
[0008]
Next, in the clamp device that grips the disk-like object by moving the plurality of fingers simultaneously toward the center point and releases the object by moving in the opposite direction, the dog moves the one point. A short tube with a straight line passing through as the central axis. The short tube is moved up and down in conjunction with the movement of the previous finger so that the sensor detects when the lower part of the short tubular dog reaches a specific height. Also good. That is, the movement of the finger in the substantially horizontal direction is converted into a vertical movement using a cam, an interlocking rod, an inclined linear guide or the like, and a short tubular dog is attached thereto. The short tubular dog stops at a certain height when the disc-shaped object is gripped, and when it is not gripped, the short tubular dog rises or descends past this and the sensor detects an abnormality.
[0009]
In the clamping device of the present invention, a spring material can be interposed between the claw portion that holds the disc-like object and the drive source that moves the claw portion. Since the claw is often fixed to the tip of the finger, it is usually a brittle material substrate such as silicon wafer or glass with this spring material interposed at an appropriate location between the finger and a driving source such as a motor or air cylinder. The disk-shaped object can be gripped without impact and with a constant stress.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
In the present invention, the various clamping devices described above can be realized as a transport machine end effector or a disk-shaped object positioning device 1.
FIG. 1 illustrates a wafer positioning apparatus 1 which is a kind of the clamping apparatus of the present invention. In the positioning apparatus 1, notches at the center and the periphery of the wafer 6 are arranged at predetermined positions and directions. Here, three fingers 5 are coupled to a tilted linear guide member 4 that is grooved obliquely in the vertical direction at the center, and simultaneously toward the center, the lift shaft 7 coupled to the tilted linear guide member 4 is lowered. The center position of the wafer is determined by a mechanism that moves horizontally linearly and grips the wafer placed on the claw portion. Next, the finger rotates while holding the wafer, detects a notch on the periphery of the wafer by a sensor (not shown), and stops at a predetermined position. The elevating shaft 7 is coupled to an air cylinder 15 via a spring material 25 and a rotary joint 16, and this cylinder is fixed to a casing. As shown in FIG. 1, the dog 2 is a short circular tube whose central portion is fixed to the lower part of the inclined linear guide member 4, and two sets of transmission type optical sensors 3 each composed of a projector and a light receiver are provided. As shown in FIG. 1, when both sets of sensors are receiving light, it indicates that the finger is not opening and gripping. Next, when the gripping operation is started, as shown in FIG. 2, when the dog 2 descends and the upper sensor is shielded from light, the lower sensor receives light, indicating that the wafer is being gripped normally. . Although not shown, when both of the two sets of sensors are shielded from light, it indicates that gripping has failed and the finger has overstroked. When such a malfunction is detected, the rotation for detecting the notch is not started.
[0011]
As a specific example of FIG. 1, a clamp type positioning device for a wafer having a diameter of 300 mm was manufactured. The positioning time for detecting the notch of this device is the time until the notch is detected within one rotation and stops at a predetermined position. If the notch does not overlap with the nail, the nail overlaps with the nail at an average of 4.0 seconds. In the case, the time was 5.2 seconds on average including the time for changing on the temporary table (not shown).
[0012]
FIG. 4 shows another embodiment of the present invention, in which a fan-shaped dog 2 having an arc-shaped slit is horizontally fixed to all three horizontal linearly moving fingers 5 instead of the short tubular dog in FIG. It is a partial top view of a type wafer positioning device. In this figure, the sensor 3 is a pair of transmissive sensors, which shields light when the finger 5 is open, detects the light by detecting the slit of the dog 2 when the wafer is just gripped, and shields light again when overstroke occurs. In this apparatus, since the three dogs are not continuous, it is necessary to always rotate the dog 2 and the sensor 3 to a position where the dog 2 and the sensor 3 overlap each other at the start or after the wafer is taken away. As in FIG. 1, when a failure is detected, rotation for notch detection does not start. Note that the wafer gripping mechanism in this figure is based on the same inclined linear guide member as in FIG.
[0013]
As a specific example of FIG. 4, a positioning apparatus for a wafer having a diameter of 300 mm was manufactured. In this experiment, at the time of starting, an operation of always aligning the dog 2 with the sensor position is performed, and then the wafer is placed on the three claw portions 13. The positioning time of notch detection of this device was 4.5 seconds on average when the notch overlapped with the nail part, and was 7.1 seconds on average including the changeover time when the notch overlapped with the notch. .
[0014]
FIG. 5 shows the clamp-type end effector 20 of the present invention attached to the tip of the arm 12 of the robot 11. In FIG. 5, after a wafer is placed on two fixed claws 21 and one movable claw part 22, a spring connected by two spring members 25 by a screw shaft 33 of a motor 9 provided on the wrist part. The coupling member 36 and the finger coupling member 30 are pushed out along the linear guide 28, and the dog 2 shields the sensor 3 from light when the wafer is just held. Next, the spring connecting member 36 stops at a predetermined position beyond the gripping point while compressing the spring member 25. That is, light reception and light shielding are normal at the time of gripping before the start of the gripping operation, but when the light is received next time, the finger connecting member 30 is pushed out, indicating that the wafer is not gripped. When the wafer is opened, the reverse operation is performed.
[0015]
【The invention's effect】
According to the present invention, it is possible to provide a clamping device having means for confirming gripping of a disk-like object such as a wafer by combining dogs having various shapes with known inexpensive sensors. In the wafer positioning apparatus which is an application example of the present invention, after confirming the gripping of the wafer, the rotation operation for detecting the notch is started, so that it is possible to recognize the idle operation and the case where the wafer is not normally placed on the claw member. It has become possible to prevent finger breakage, equipment failure, and disk-like damage.
[0016]
In addition, the robot end effector, which is another application example, can confirm the gripping of the wafer reliably, and not only accidents such as dropping and damaging expensive products have been eliminated, but also a small dog and sensor are used. By doing so, it was possible to contribute to weight reduction of the entire end effector.
[0017]
In addition, by interposing a spring material between the finger and a drive source such as a motor or a cylinder, when a silicon wafer or glass substrate, which is a brittle material, is gripped by a nail portion, it can be contacted without giving an impact. There are no longer any accidents that cause damage to the disk-shaped object or accidents that cause it to fall.
[Brief description of the drawings]
FIG. 1 is a side view of a clamp device of the present invention having a short tubular dog that moves up and down in conjunction with an operation in which three fingers simultaneously expand and contract horizontally toward one point, and is an example applied to a positioning device It is.
2 is a side view showing a state in which three fingers are contracted in the clamping device shown in FIG. 1; FIG.
3 is a side view showing a case where three fingers cannot hold a wafer in the clamping device shown in FIG. 1; FIG.
FIG. 4 is a plan view of a clamping device of the present invention in which a plate-like dog provided with a slit is horizontally disposed on one of fingers, and is an example applied to a positioning device.
FIG. 5 is a perspective view of a robot clamping device including a dog of the present invention in which a claw portion is pushed out to hold a wafer.
FIG. 6 is a perspective view of a conventional robot clamping device that does not include a dog for gripping a wafer by pushing out a claw portion.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Positioning device 2 Dog 3 Sensor 4 Inclined linear guide member 5 Finger 6 Wafer 7 Elevating shaft 8 Rotating shaft 9 Motor 11 Transfer robot 12 Arm 13 Claw portion 15 Air cylinder 16 Rotary joint 20 End effector 21 Fixed claw portion 22 Movable claw portion 25 Spring material 28 Linear guide 30 Finger connecting member 33 Screw shaft 36 Spring connecting plate

Claims (6)

In a clamp device in which at least one finger having a claw portion at a tip grips or releases a disk-like object by moving,
At least one dog interlocking with the finger;
At least one sensor for detecting the dog;
A clamping device comprising: A plurality of said fingers moving simultaneously towards one point;
At least one dog interlocking with the finger;
At least one sensor for detecting the dog;
The clamping device according to claim 1, comprising: The said dog is a short pipe centering on the straight line which passes through said 1 point | piece, Comprising: This short pipe moves up and down in conjunction with the movement of a pre-finger, It is characterized by the above-mentioned. Clamping device. The clamping device according to any one of claims 1 to 3, wherein a spring material is interposed between the claw portion and a drive source for moving the claw portion. The clamp apparatus according to claim 1, wherein the clamp apparatus is an end effector for a transport machine. The clamp apparatus according to any one of claims 1 to 4, wherein the clamp apparatus is a disk-shaped object positioning apparatus that rotates about the central axis.

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