JP2005022844A - Substrate conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a substrate conveying device preventing the occurrence of an error by certainly sucking and retaining the substrate the end surface of which is bent and twisted. <P>SOLUTION: In the substrate conveying device, when the glass substrate 7 which is bent and twisted is sucked/retained for conveying, a blow nozzle 18 is arranged at an opposed position while clamping the end of the glass plate between suction pads 12, 13 at a receiving/giving position. At the suction by the suction pads 12, 13, a gas is delivered from the blow nozzle 18 to the bent part of the glass plate 7 to make it adhere to the suction pads 12, 13. Thus, the occurrence of conveying error is prevented. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transfer device for a substrate for a display such as a large substrate, for example, a liquid crystal display (LCD) or a plasma display panel (PDP).
[0002]
[Prior art]
In general, flat panel displays (hereinafter simply referred to as displays) such as LCDs and PDPs, which achieve a reduction in size and weight and power consumption, are becoming popular in place of conventional display devices such as cathode ray tubes.
[0003]
These displays are often used in display units of televisions, personal computers, and the like, and there is a strong demand for large screens in televisions. With this demand, the size of the display substrate is increased, and the size of the display apparatus is also increased in the manufacturing apparatus.
[0004]
A glass substrate is mainly used as a display substrate, and a plurality of pixels, drive circuits, and the like are formed on the glass substrate through a plurality of manufacturing steps. In these manufacturing processes, a technique has been proposed in which a glass substrate is transported by air levitation. For example, Patent Document 1 discloses a technique in which a front end of a thin plate such as a liquid crystal substrate is gripped in an inspection apparatus, and the thin plate is floated on the surface plate using an air slider and an air bearing. Has been.
[0005]
[Patent Document 1]
Japanese Patent Laid-Open No. 2002-181714
[Problems to be solved by the invention]
In Patent Document 1, a thin plate such as a liquid crystal substrate is held and transferred. In general, a glass substrate is used as the liquid crystal substrate. As described above, the glass substrate is increased in size and reduced in thickness. For this reason, the glass substrate gripped by the mechanical part is subject to stress concentrated on the gripped part and may be broken and broken.
[0007]
In addition, even if the glass substrate is flat before manufacturing, heat treatment such as CVD during film formation or heat treatment such as annealing treatment will have a significant effect on the glass substrate, causing a considerable amount of twisting and warping. ing. Furthermore, when a metal film or the like is formed on a glass substrate, stress acts due to the difference in thermal expansion coefficient between the glass and the metal film even at room temperature, causing the glass substrate to be twisted or warped. . As the glass substrate becomes larger, warpage is more likely to occur, and the warpage amount (warpage angle) becomes larger. In particular, since the warpage increases toward the end of the glass substrate, it is difficult to reliably grip the end of the glass substrate, and the gripping portion may collide with the tip of the glass substrate and be damaged. For this reason, in order to hold | grip the glass substrate which has generate | occur | produced the curvature with a mechanical site | part, the countermeasure of damage prevention is required.
[0008]
Further, since circuit elements and patterns are formed on the upper surface of the glass substrate, it is not preferable to hold the upper surface of the substrate.
[0009]
On the other hand, for example, in Japanese Patent Application No. 2002-116581, the applicant of the present application proposes a technique for holding the glass substrate by sucking the back end portion of the glass substrate with a plurality of suction pads. However, even with this holding technique, if a large warp occurs, if there is a gap between the suction pad and the suction pad, the glass substrate will not be sucked and it will not be ready for transport, resulting in a transport error. .
[0010]
SUMMARY OF THE INVENTION An object of the present invention is to provide a substrate transport apparatus that reliably attracts and holds a substrate having warped or twisted edges and prevents a transport error.
[0011]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the present invention is arranged so that a substrate is sucked and held by suction for conveyance, and the substrate holding part and the substrate are opposed to each other, and gas is discharged onto the substrate. A substrate transfer device that includes a gas discharge unit, and discharges gas from the gas discharge unit to the substrate when the substrate is poured and held on the substrate holding unit, and presses the substrate against the substrate holding unit. provide.
[0012]
Furthermore, a substrate transport unit that transports the glass substrate, a substrate stage that transfers the glass substrate to the outside and places the glass substrate in a floating state, and a transport unit that is provided in the transport unit, the glass substrate in a floating state A movable substrate stage that can be placed and moved, a substrate holding unit that can be moved separately from or integrally with the floating stage, and that holds the glass substrate by suction, and the substrate stage and the substrate transport unit A sensor unit that detects warpage or twist of the glass substrate that is conveyed and is opposed to the substrate holding unit with the glass substrate interposed therebetween, and is disposed at a position where the delivery is performed, and the substrate holding unit Provided is a substrate transport apparatus comprising: a gas discharge unit that discharges gas when pressing and holding a glass substrate and presses the glass substrate against the substrate holding unit.
[0013]
The substrate transport apparatus having the above-described configuration is configured such that when a substrate with warping or twisting is sucked and held on the substrate holding portion for transport, the substrate is sandwiched and opposed to the substrate holding portion provided at the transfer position. Then, the gas discharge unit is arranged, and at the time of suction holding, the gas is discharged from the gas discharge unit onto the warped portion of the substrate and is sucked to the substrate holding unit, thereby avoiding the occurrence of a transport error.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
An embodiment in which a substrate transfer apparatus according to the present invention is mounted on a substrate inspection apparatus will be described. FIG. 1 is a diagram illustrating an external configuration example of a substrate inspection apparatus according to an embodiment. In the following description of the embodiment, the surface of the glass substrate 7 for display on which circuit elements, wiring patterns, and the like are formed is referred to as an element forming surface 7a (which is the upper surface in FIG. 2). The non-element-forming surface that does not exist is referred to as a holding surface 7b (becomes the lower surface in FIG. 2).
[0015]
This substrate inspection apparatus is roughly divided into a substrate carry-in unit 1, an apparatus main body (substrate transfer unit) 2, an inspection unit 3, a substrate carry-out unit 4, and substrate transfer robots 5 and 6.
[0016]
The substrate carry-in unit 1 receives the glass substrate 7 sucked and held by the transfer arm 8 of the substrate transfer robot 5 at the substrate stage 9. The upper surface (substrate mounting surface) of the substrate stage 9 is provided with a large number of air holes 10 and grooves 11 through which the transfer arm 8 enters during delivery. Further, suction pad portions 12 and 13 functioning as substrate holding portions for sucking and holding the holding surface 7b of the glass substrate 7 are provided at both ends of the substrate stage 9 on the conveyance direction side.
[0017]
The substrate carrying-in unit 1 is in a state where the glass substrate 7 is floated by discharging compressed air from the air holes 10 on the substrate stage 9 while adsorbing the end portions of the holding surface 7b of the glass substrate 7 with the suction pad portions 12 and 13. And is transported to the next apparatus main body 2.
[0018]
At both front ends of the substrate stage 9, support portions 17a and 17b are provided which are movable along sliders 14 and 15 provided on both sides of the apparatus main body. The substrate carry-out unit 4 has the same configuration as the substrate carry-in unit 1, and the substrate transfer robot 6 has the same configuration as the substrate transfer robot 5.
[0019]
Furthermore, the sliders 14 and 15 described above are provided on both sides of the apparatus main body 2 so as to reach the substrate carry-out section 4, and two rails 16 for moving the movable substrate stage 19 are provided on the inside thereof. . Similar to the substrate stage 9 described above, the movable substrate stage 19 is provided with a plurality of air holes 10, and compressed air is discharged from these air holes 10 to hold the glass substrate 7 in a floating state. To do. Furthermore, an inspection unit 3 is provided on the apparatus main body 2.
[0020]
Further, a delivery position A where the support portion 17 a is disposed when the glass substrate 7 is delivered from the substrate transfer robot 5 to the substrate stage 9, and a support portion when the glass substrate 7 is delivered from the substrate stage 9 to the moving substrate stage 19. Blow nozzles 18 each functioning as a gas discharge portion described later are provided at the transfer position B where 17b is disposed.
[0021]
FIG. 2 is a diagram illustrating an external configuration of a holding mechanism that holds the substrate 7 in the substrate transport apparatus, and FIG. 3 is a block diagram illustrating the holding mechanism.
[0022]
As shown in FIG. 2, the suction pad portion 13 (12) has a plurality of suction pads 13a, 13b, 13c (12a, 12b, 12c) that suck the holding surface 7b of the glass substrate 7 on the support portions 17a, 17b. Arranged and configured. One or more of these suction pads may be provided on both sides of the substrate stage 9, and the number thereof is not particularly limited. In the present embodiment, three suction pads are provided.
[0023]
All of the suction pads 12 and 13 are connected via a valve 22 to a suction source 24 such as an exhaust pump. The blow nozzle 18 is provided above the element formation surface 7a of the substrate 7 at a position substantially opposite to the suction pad 13b (13a). The blow nozzle 18 is connected to the compressor 20 via a valve 21. The compressor 20 supplies gas, for example, compressed air, to the blow nozzle 18. In this embodiment, an example in which air is used as a gas to be blown onto the glass substrate will be described. However, the present invention is not limited to this. For example, an inert gas such as nitrogen gas or argon gas may be used.
[0024]
Further, in the vicinity of the suction pad portions 12 and 13, a sensor 25 that detects warpage and twist of the glass substrate 7 to be conveyed is provided. For example, the sensor 25 detects the distance to the glass substrate 7 with a laser beam or the like, and detects the presence or absence of warpage of the glass substrate 7 based on the distance. If the sensor 25 is provided in front of the suction pad 13a in the transport direction, and the glass substrate 7 that moves while being brought close to the substrate stage 9 is continuously detected by the transport arm 8, the state of warping (warping condition and It is also possible to detect the amount of warping. In this case, the compressed air is discharged from the air holes 10 so that the glass substrate 7 does not contact the substrate stage 9. In addition, the sensor 25 may not be provided as long as a pressing process for suction described later is performed on all glass substrates.
The sensor 25, the compressor 20, and the valves 21 and 22 are controlled by the control unit 23, respectively.
[0025]
The operation of the holding mechanism configured as described above will be described.
First, the glass substrate 7 placed on the substrate transport robot 5 is transferred to the substrate stage 9 of the substrate carry-in unit 1 by the transport arm 8. At this time, the compressed air may be discharged from the air holes 10 to receive the glass substrate 7 in a floating state so as not to contact the glass substrate 7 to the substrate stage 9. Further, the support portions 17 a and 17 b are moved to the delivery position A, and the movable substrate stage 19 is brought into contact with the substrate stage 9 of the substrate carry-in portion 1.
[0026]
Thereafter, the sensor 25 detects whether the glass substrate 7 is warped. When the control unit 23 determines that the warp has occurred, the control unit 23 opens the valve 21 and the valve 22, blows air (discharge) by the blow nozzle 18, and uses the suction pad units 12 and 13. Aspirate each.
[0027]
By this air blowing, the warped portion of the glass substrate 7 is pressed closer to the suction pad portions 12 and 13. The warped portion of the glass substrate 7 is returned by pressing and is sucked to the suction pad portions 12 and 13. This suction is detected by providing a pressure sensor (not shown) between the suction pad portions 12 and 13 and the valve 22. Here, if the pressure detected by the pressure sensor decreases, it is determined that the adsorption has occurred.
[0028]
Further, when the sensor 25 is not provided, the presence or absence of warpage cannot be determined. Therefore, each time the glass substrate 7 is placed on the placement surface of the substrate stage 9, air is blown by the blow nozzle 18. While performing suction by the suction pad portions 12 and 13.
[0029]
Then, after the glass substrate 7 is sucked by the suction pad portions 12 and 13, the support portion 17 a is moved to the delivery position B to the moving substrate stage 19. Along with this movement, the glass substrate 7 sucked by the suction pad portions 12 and 13 is transferred onto the moving substrate stage 19.
[0030]
At the delivery position B, the support portion 17a releases the suction, returns to the delivery position A, and waits for the next glass substrate 7 to be carried. The support portion 17b moves to the delivery position B and performs suction by the suction pad portions 12 and 13 while blowing air by the blow nozzle 18. When the suction is completed, the support portion 17a and the movable substrate stage 19 move integrally and move to the inspection portion 3.
[0031]
As described above, in the present embodiment, even when a glass substrate is warped or twisted, when held by the transfer device, the gas (air) is blown to press the warped or twisted portion against the suction pad portion. Thus, the suction can be reliably suctioned in a short time, and a conveyance error can be avoided.
[0032]
Further, by detecting the warped state by the sensor and adjusting the discharge pressure and the discharge amount to be sprayed so as to be suitable for the warped state, it is possible to more reliably and appropriately adsorb. In order to realize this, the valve 21 may be a variable valve whose gas flow rate can be adjusted.
[0033]
In the present embodiment, one blow nozzle 18 is arranged on each side, but the present invention is not limited to this. For example, two blow nozzles 18 may be arranged and used according to the arrangement of the suction pad portions.
[0034]
【The invention's effect】
As described above in detail, according to the present invention, it is possible to provide a substrate transport apparatus that reliably attracts and holds a substrate having warped or twisted ends and prevents a transport error.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an external configuration example of a substrate inspection apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram showing an external configuration of a holding mechanism that holds a substrate in the substrate transfer apparatus.
FIG. 3 is a diagram showing a block configuration of a holding mechanism.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Substrate carrying-in part, 2 ... Apparatus main body (substrate conveyance part), 3 ... Inspection part, 4 ... Substrate carrying-out part, 5, 6 ... Substrate conveyance robot, 7 ... Glass substrate, 8 ... Conveyance arm, 9 ... Substrate stage, DESCRIPTION OF SYMBOLS 10 ... Air hole, 11 ... Groove, 12, 13 ... Suction pad, 14, 15 ... Slider, 16 ... Rail, 17a, 17b ... Supporting part, 18 ... Blow nozzle, 19 ... Moving substrate stage, 20 ... Processor, 21, 22 ... valve, 23 ... control unit, 24 ... suction source, 25 ... sensor.

Claims (4)

A substrate holding unit that holds the substrate by suction for conveyance;
A gas discharge part that is disposed opposite to the substrate holding part and sandwiches the substrate, and discharges gas to the substrate;
A substrate transfer apparatus, wherein when the substrate is sucked and held by the substrate holding portion, gas is discharged from the gas discharge portion onto the substrate and the substrate is pressed against the substrate holding portion. A levitation stage for placing the glass substrate in a levitation state;
A substrate holding part for sucking and holding the glass substrate on the floating stage;
Gas discharge, which is arranged to face the substrate holding part with the glass substrate interposed therebetween, discharges gas when pressing and holding the glass substrate by the substrate holding part, and presses the glass substrate against the substrate holding part And
A substrate transport unit that transports the glass substrate by moving the substrate holding unit in the transport direction;
A substrate transfer apparatus comprising: In the substrate transfer apparatus, further
Provided in the substrate holding unit, comprising a sensor unit for detecting the amount of warp of the glass substrate being conveyed,
The substrate transfer apparatus according to claim 2, wherein a gas flow rate of the gas discharge unit is adjusted according to a warp amount of the glass substrate. The sensor unit detects the warping direction of the glass substrate, and when the warping direction is determined to be upward, the gas is discharged from the gas discharge unit to the glass substrate, and when the warping direction is determined to be downward, The substrate transfer apparatus according to claim 3, wherein gas discharge from the gas discharge unit is stopped.

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