JP4633161B2 - Substrate transfer device - Google Patents

Description

  In the present invention, for example, a glass substrate in a flat panel display (hereinafter abbreviated as FPD) such as a large liquid crystal display (hereinafter abbreviated as LCD) or a plasma display panel (hereinafter abbreviated as PDP) is used as a conveyance path. The present invention relates to a substrate transport apparatus that floats and transports the substrate.

  In recent years, in order to meet the demand for larger screens and cost reductions, the size of glass substrates to be processed in the FPD manufacturing process tends to increase more and more in the FPD field. As a method for transporting a large glass substrate in an FPD manufacturing process, it is known to use a rolling transport mechanism using a roller.

  Techniques for conveying a large glass substrate are described in Patent Document 1 and Patent Document 2, for example. The former is supported by contacting a pair of support roller mechanisms on only the left and right sides of the lower surface of a substrate to be inspected (corresponding to a glass substrate), and by a pair of regulating roller mechanisms that abut on the left and right edges of the glass substrate. To regulate the position. Further, since the middle portion of the glass substrate is bent downward by its own weight, pressure air is blown onto the lower surface of the glass substrate in order to regulate the bending of the glass substrate.

In the latter, the glass substrate is transported to the defect inspection unit by the roller transport unit, the glass substrate is positioned, and the end of the glass substrate is gripped by the gripping mechanism to perform the defect inspection. At the time of defect inspection, in order to support the glass substrate in a non-contact manner, high-pressure air is blown out from an outlet provided in the air levitation stage to keep the height of the glass substrate constant.
JP 2000-193604 A JP 2000-9661 A

However, since the former glass substrate is transported using a pair of support roller mechanisms and a pair of regulating roller mechanisms, when the glass substrate is transported at a high speed, a roller friction mark is generated on the rolling surface of the glass substrate in contact with the roller. .
In the latter case, when the glass substrate is conveyed at a high speed in the same manner as the former in order to convey the glass substrate by the roller conveying unit, friction marks of the roller are generated on the rolling surface of the glass substrate in contact with the roller.

  Then, an object of this invention is to provide the board | substrate conveyance apparatus which can be conveyed in a non-contact state and can convey at high speed, without scratching a glass substrate.

A substrate transfer apparatus according to a main aspect of the present invention is a substrate transfer block for transferring a substrate manufactured in a flat panel display manufacturing process, and a substrate floating block in which air holes for blowing out air for floating the substrate are formed, an alignment means for positioning in a state of being floated said substrate on said substrate floating block movably disposed along the conveying direction of the substrate relative to the substrate floating blocks, the substrate was floated by the substrate floating block A substrate carrying means for adsorbing and holding the back surface of the substrate after being positioned by the alignment means and carrying it in the carrying direction of the substrate, and a plurality of holding means provided on the carry-in side or the carry-out side of the substrate floating block. A transfer robot having a hand arm; and on the carry-in side or the carry-out side of the substrate floating block A plurality of grooves formed at regular intervals and into which the hand arms can be inserted, and the transfer robot inserts the plurality of hand arms into the plurality of grooves to form the substrate on the substrate floating block. In addition to delivering the substrate, the hand arm is lifted, rotated, and moved forward in a state where the suction of the substrate transfer means is released, and the substrate is taken out from the substrate floating block .

  According to the present invention, a plurality of hand arms of a transfer robot are inserted into a plurality of grooves, and the substrate is transferred on the substrate floating block, so that the substrate is transferred in a non-contact state without damaging the glass substrate. In addition, it is possible to provide a substrate transfer apparatus capable of shortening the substrate transfer time and performing high-speed transfer.

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a plan configuration diagram when the substrate transport apparatus is applied to in-line inspection in a manufacturing process of an FPD such as a large LCD or PDP, and FIG. 2 is a side configuration diagram of the apparatus.
The substrate mounting table 1 for carrying in is provided on the vibration isolation table 2. The substrate mounting table 1 is for mounting the glass substrate 3 that has been carried in, and the width (perpendicular to the transport direction C) is slightly shorter than the width of the glass substrate 3. A plurality of air holes 4 for both air blowing and suction are provided on the upper surface of the substrate mounting table 1. The air holes 4 may be provided almost regularly on the entire surface of the substrate mounting table 1. On the substrate platform 1, two grooves 5 are formed in a direction parallel to the transport direction C and at a predetermined interval. The substrate mounting table 1 is provided with a plurality of lift pins 6 that move up and down when the glass substrate 3 is loaded.

  A carry-in transfer robot 7 is provided on the entrance side in the direction perpendicular to the transfer direction C of the substrate platform 1. The carry-in transfer robot 7 takes out the uninspected glass substrate 3 from the cassette and carries it on the substrate platform 1 while rotating, moving forward and backward with the two hand arms 8 by a multi-joint arm (not shown).

On the exit side of the substrate mounting table 1, a transport frame 9 is arranged in parallel along the transport direction C. The transport frame 9 is formed to have a length from the carry-in side to the carry-out side of the glass substrate 3. This transport base 9 is placed on a vibration isolation base 10.
A floating block 11 is provided from the carry-in side to the carry-out side on the carrier base 9 over the entire length of the carry-in side and the carry-out side. The floating block 11 has a width (perpendicular to the conveyance direction C) slightly shorter than the width of the glass substrate 3. A plurality of air holes 12 for both air blowing and suction are provided on the upper surface of the floating block 11. The air holes 12 may be provided almost uniformly on the entire surface of the floating block 11. On the floating block 11, two grooves 13 are formed in a direction parallel to the transport direction C and at a predetermined interval. The surface height of the floating block 11 is substantially the same as the height of the surface of the substrate mounting table 1.

  An inspection unit E that performs various inspections on the glass substrate 3 that is transported at a constant speed is provided at a substantially intermediate position in the transport direction C on the transport base 9. The inspection unit E has various inspection devices 14 such as a microscope, a line sensor, or a CCD camera mounted on the portal arm 15. For example, the inspection device 14 acquires image data of the glass substrate 3 by a plurality of line sensors arranged. Then, the image data is subjected to image processing or the like, for example, pattern inspection or defect inspection of the glass substrate 3 is performed.

  On the exit side of the transport gantry 9, a substrate mounting table 16 for unloading is provided in parallel along the transport direction C. The substrate mounting table 16 is provided on the vibration isolation table 17. This substrate mounting table 16 is temporarily mounted to carry out the glass substrate 3 conveyed from the floating block 11, and its width (perpendicular to the conveying direction C) is larger than the width of the glass substrate 3. Is slightly shorter. On the upper surface of the substrate mounting table 16, a plurality of air holes 18 are provided for both air blowing and suction. The air holes 18 may be provided almost regularly on the entire surface of the substrate mounting table 16. On the substrate mounting table 16, two grooves 19 are formed in a direction parallel to the transport direction C and at a predetermined interval. The substrate mounting table 16 is provided with a plurality of lift pins 20 that move up and down when the glass substrate 3 is unloaded. The surface height of the substrate mounting table 16 is substantially the same as the height of the surface of the floating block 11.

On the exit side in the direction perpendicular to the transport direction C of the substrate mounting table 16, a carry-out transport raw hot 21 is provided. This unloading transfer raw hot 21 stores the inspected glass substrate 3 in a cassette while rotating, moving forward and backward with two articulated arms (not shown).
A plurality of pairs of sliders 23 to 28 are provided in parallel with each other along the conveyance direction C on the conveyance platform 9 and the vibration isolation table 17 with the floating block 11 and the substrate mounting table 16 interposed therebetween. The pair of sliders 23, 24 and 27, 28 is provided outside the pair of sliders 25, 26. The sliders 23 to 28 are provided at the same height position.

  The pair of sliders 23, 24 are provided in the alignment part A on the entrance side of the transport frame 9. Each of the sliders 23 and 24 is provided with a pair of conveying end portions 29 and 30 so as to be movable. These conveyance end portions 29 and 30 are provided at the respective arms 29 a and 30 a that can be expanded and contracted in the vertical direction and are rotatable, and at the tip portions of these arms 29 a and 30 a, and both end portions on the back surface of the glass substrate 3. Each suction pad 29b, 30b, and each plunger provided in each conveyance end 29, 30 and each plunger 29 for moving each arm 29a, 30a in the direction perpendicular to the conveyance direction C.

  The pair of sliders 25, 26 are provided between the exit side of the alignment unit A and the exit side of the transport frame 9. Each of the sliders 25 and 26 is provided with a pair of transfer end portions 31 and 32 movably. These conveyance end parts 31 and 32 have each arm 31a and 32a and each suction pad 31b and 32b similarly to each conveyance end part 29 and 30. As shown in FIG.

  The pair of sliders 27 and 28 are provided between the exit side of the transport frame 9 and the exit side of the substrate platform 16. Each of the sliders 27 and 28 is provided with a pair of conveying end portions 33 and 34 movably. Similar to the transport end portions 29 and 30, the transport end portions 33 and 34 have arms 33a and 34a and suction pads 33b and 34b, respectively.

Since the pair of sliders 23, 24 and 27, 28 are provided outside the pair of sliders 25, 26, the suction pads 29b, 30b, 33b, 34b of the sliders 23, 24, 27, 28 are provided. The lengths of the arms 29a, 30a, 33a, and 34a are set so that the positions are the same as the positions of the suction pads 31b and 32b of the sliders 25 and 26, respectively.
These transport end portions 29, 30, 31, 32, 33, and 34 can be any mechanism that can finely move the arms 29a, 30a, 31a, 32b, 33a, and 34a holding the glass substrate 3 in the XY directions. Such a configuration may be adopted.

  The alignment unit A on the floating block 11 is provided with three positioning sensors 43 to 45. These positioning sensors 43 to 45 detect respective edges of two sides (vertical and horizontal) orthogonal to each other of the glass substrate 3 and output detection signals indicating the edge positions. Each of the positioning sensors 43 to 45 is a line sensor in which a plurality of detection elements are arranged in a line.

The positioning sensor 43 is provided at the intermediate position in the width direction of the floating block 11 so that the line detection direction is the same as the conveyance direction C. The positioning sensor 43 detects an edge on the front side in the transport direction C of the glass substrate 3 that is suspended from the alignment portion A.
The positioning sensors 44 and 45 are provided on the side surface of the floating block 11 at a predetermined interval. These positioning sensors 44 and 45 are provided with the line detection direction perpendicular to the transport direction C. These positioning sensors 44 and 45 detect an edge in the same direction as the conveyance direction C of the glass substrate 3 that has stopped floating at the alignment portion A.

  On the other hand, the compressed air supply unit 46 communicates with the respective gaps of the substrate mounting table 1 for loading, the floating block 11, and the substrate mounting table 16 for unloading through a pipe, and selectively supplies compressed air. The compressed air is blown up from the air holes 4, 12, and 18, and the glass substrate 3 is floated on the substrate mounting table 1 for loading, the floating block 11, or the substrate mounting table 16 for unloading. Moreover, the compressed air supply part 46 blows up the air which has the static elimination effect from each air hole 4, 12, 18, for example, the air ionized by the positive ion or the negative ion.

The vacuum suction portion 47 communicates with each of the gap portions of the substrate mounting table 1 for loading, the floating block 11, and the substrate mounting table 16 for unloading through a pipe, and selectively evacuates each air hole 4. , 12 and 18, the glass substrate 3 is sucked and held on the substrate mounting table 1 for loading or the substrate mounting table 16 for unloading.
The vacuum suction portion 47 communicates with the suction pads 29b, 30b, 31b, 32b, 33b, and 34b through the pipes, and vacuums the suction pads 29b, 30b, 31b, 32b, 33b, and 34b to obtain a glass substrate. 3 is sucked and held.

  The movement control unit 48 controls the movement of the transport end portions 29, 30, 31, 32, 33, and 34 on the sliders 23, 24, 25, 26, 27, and 28, respectively.

The posture recognition unit 49 inputs each detection signal output from each of the three positioning sensors 43 to 45, and determines the posture of the glass substrate 3 based on the edge position information of the three locations of the glass substrate 3 indicated by these detection signals. recognize.
The posture control unit 50 moves the pair of transport end portions 31 and 32 in the transport direction C and in the direction perpendicular to the transport direction C in order to align the posture of the glass substrate 3 recognized by the posture recognition unit 49 with the reference position. Move control.

Next, the operation of the apparatus configured as described above will be described.
Each conveyance end part 29 and 30 moves to the carrying-in side on each slider 23 and 24, stops, and waits.

The carry-in transfer robot 7 rotates, advances, and retracts the hand arm 8 to take out the uninspected glass substrate 3 from the cassette, and conveys it above the substrate mounting table 1. At the same time, the lift pins 6 of the substrate platform 1 are raised. The carry-in transfer robot 7 lowers the hand arm 8 to place the glass substrate 3 on each lift pin 6. As each lift pin 6 is lowered, the glass substrate 3 is placed on the substrate platform 1. Since the width of the glass substrate 3 is longer than the width of the substrate mounting table 1, both end portions of the glass substrate 3 come out of the substrate mounting table 1.

Next, each conveyance end part 29 and 30 raises each arm 29a and 30a, and adsorb | sucks each suction pad 29b and 30b to the back surface of the glass substrate 3 which has come out from the substrate mounting base 1. FIG. The suction positions of these suction pads 29b and 30b are the back surface end portions where the circuit pattern is not formed on the glass substrate 3, for example, both end portions of the back surface that are the front side of the glass substrate 3 in the transport direction C. . At this time, the suction pads 29b and 30b are slightly raised from the surface height of the substrate mounting table 1 in a state of being sucked on the back surface of the glass substrate 3.
At the same time, the compressed air supply unit 46 supplies compressed air to the gap of the substrate mounting table 1 through the piping, and blows up the compressed air from the air holes 4. At this time, the compressed air uses an ionized one having a charge eliminating effect, thereby neutralizing static electricity of the glass substrate 3 and preventing the glass substrate 3 from being charged.

  By blowing up the compressed air, an air layer is formed between the substrate mounting table 1 and the glass substrate 3, and the glass substrate 3 floats from the surface of the substrate mounting table 1 as shown in FIG. At this time, the air blown up from each air hole 4 flows through each groove 5 from the air layer between the substrate mounting table 1 and the glass substrate 3. Therefore, air flows without accumulating between the substrate mounting table 1 and the glass substrate 3, so that the glass substrate 3 floats on the substrate mounting table 1 while maintaining flatness.

Next, as shown in FIG. 4, the movement controller 48 moves the transport end portions 29 and 30 (arms 29 a and 30 a) having the suction pads 29 b and 30 b sucked on the back surface of the glass substrate 3 at the same speed. The sliders 23 and 24 are moved in the transport direction C in synchronization with each other.
As a result, the glass substrate 3 floats and is pulled by the transport end portions 29 and 30 at a high speed in the transport direction C while being completely in non-contact with the top surface of the substrate mounting table 1 and the top surface of the floating block 11. Is done. The glass substrate 3 reaches the alignment part A on the floating block 11 by this high speed conveyance.

When reaching the alignment part A, the glass substrate 3 may be inclined with respect to the transport direction C as shown in FIG. In the alignment unit A, the positioning sensor 43 detects an edge of one side on the front side in the transport direction C of the glass substrate 3 that has stopped floating at the alignment unit A, and outputs a detection signal thereof.
Each positioning sensor 44, 45 detects an edge on the other side in the same direction as the conveyance direction C of the glass substrate 3 that has stopped floating at the alignment portion A, and outputs a detection signal thereof.

  The posture recognition unit 49 inputs each detection signal output from each of the three positioning sensors 43 to 45, and determines the posture of the glass substrate 3 based on the edge position information of the three locations of the glass substrate 3 indicated by these detection signals. recognize. In this case, in the glass substrate 3, the right end portion on the front end side with respect to the transport direction C protrudes forward from the left end portion and is tilted to the left with respect to the transport direction C.

Next, from the result of the recognition of the posture of the glass substrate 3 by the posture recognition unit 49, the posture control unit 50 first moves one conveyance end 30 in the reverse direction (rear side) with respect to the conveyance direction C as shown in FIG. ). As a result, the crow substrate 3 rotates in the direction of arrow F with the suction pad 29a as the central axis, and is arranged parallel to the transport direction C.
Again, the posture recognition unit 49 recognizes the posture of the glass substrate 3 by inputting each detection signal output from each of the three positioning sensors 43 to 45. As a result of this recognition, the glass substrate 3 has a left end portion close to the slider 23 as shown in FIG.

As shown in FIG. 6, the posture control unit 50 drives the plunger of one transport end 29 to extend the arm 29a in the direction of arrow H (perpendicular to the transport direction C), and in synchronization with this, The arm 30a is contracted in the direction of arrow H by driving the plunger of the transport end 30 and the glass substrate 3 is moved in the direction of arrow H to align the center position of the glass substrate 3 with the center position of the transport path.
Thereafter, the posture control unit 50 moves the transport end portions 29 and 30 to the front side in synchronization with each other so that the front end portion of the glass substrate 3 matches the center of the positioning sensor 43. In this case, the respective transport end portions 29 and 30 finely move in the direction of arrow N as shown in FIG.

  As a result, the glass substrate 3 is aligned so that it is parallel to the reference position, that is, the transport direction C, and the center of the glass substrate 3 substantially coincides with the center position of the transport path as shown in FIG. The reference position is where each edge position of the glass substrate 3 is detected at the sensor center in each of the three positioning sensors 43 to 45.

When the alignment of the glass substrate 3 is completed, the movement control unit 48 synchronizes the transport end portions 31 and 32 at the same speed in the direction opposite to the transport direction C as shown in FIG. Move to.
When these conveyance end portions 31 and 32 reach below the glass substrate 3, they stop at the substrate delivery reference positions on the sliders 25 and 26, raise the arms 31a and 32a, and move the suction pads 31b and 32b Adsorbed on the back surface of the glass substrate 3. The suction positions of these suction pads 31b and 32b are both end portions of the back surface which is the front side in the transport direction C in the glass substrate 3.

When the suction pads 31b and 32b suck the glass substrate 3, the suction of the suction pads 29b and 30b of the transport end portions 29 and 30 is released, and the arms 29a and 30a are lowered.
Thereby, the suction holding of the glass substrate 3 is transferred from the transport end portions 29 and 30 to the transport end portions 31 and 32. The transport end portions 29 and 30 move on the sliders 23 and 24 in the direction opposite to the transport direction C (rear side), stop at the substrate transfer reference position of the substrate mounting table 1 for loading, and wait. When the delivery of the glass substrate 3 is completed, the transport end portions 31 and 32 move in the transport direction C on the sliders 25 and 26 in synchronization with each other at the same speed as shown in FIG. As a result, the glass substrate 3 floating on the floating block 11 is pulled by the transfer end portions 31 and 32 and transferred at high speed in the transfer direction C, and reaches the inspection unit E.

In the inspection unit E, the compressed air supply unit 46 stops the supply of compressed air to the air holes 4 of the floating block 11.
Next, switching from the compressed air supply unit 46 to the vacuum suction unit 47 is performed. The vacuum suction unit 47 evacuates each air hole 12 of the floating block 11 through the pipe, and holds the glass substrate 3 on the floating block 11 by suction. At this time, the suction of the suction pads 31b and 32b holding the back surface of the glass substrate 3 is released, and the arms 31a and 32a are lowered.

  In the inspection unit E, for example, pattern inspection and defect inspection of the glass substrate 3 are performed using image data acquired by various inspections of the glass substrate 3 using an inspection device 14 including a line sensor. In this case, the entire surface of the glass substrate 3 is inspected by the inspection device 14 by moving the portal arm 15 on which the inspection device 14 is mounted in the front-rear direction with respect to the transport direction C.

When the inspection by the inspection unit E is completed, the transport end portions 31 and 32 raise the arms 31a and 32a so that the suction pads 31b and 32b are on the front side in the transport direction C in the glass substrate 3. Adsorb to both ends of the back.
At the same time, the vacuum suction section 47 stops evacuation of the air holes 12 of the floating block 11. And the switching from the vacuum suction part 47 to the compressed air supply part 46 is performed. The compressed air supply unit 46 supplies compressed air to the air holes 12 of the floating block 11, blows up the compressed air ionized from the air holes 12, and floats the glass substrate 3.

In the inspection by the inspection unit E, the sliders 23 and 24 are synchronized with the transport end portions 31 and 32 in the transport direction C at a constant speed in a state where the glass substrate 3 is floated on the floating block 11. You may go while moving up.
Thereafter, in the same manner as described above, in the state where the glass substrate 3 on the floating block 11 is completely floated by the blow-up pressure of the compressed air, the transport end portions 31 and 32 move on the sliders 25 and 26 to move to the glass substrate. 3 is conveyed in the conveyance direction C at high speed.

  When the glass substrate 3 reaches the exit side of the floating block 11, the suction holding of the glass substrate 3 is transferred from the transport end portions 31 and 32 to the transport end portions 33 and 34, and the compressed air supply unit 46 is mounted on the substrate. The compressed air is supplied to each air hole 8 of the mounting table 16. The glass substrate 3 is transferred from the transfer end portions 31 and 32 to the transfer end portions 33 and 34 in the same manner as the transfer from the transfer end portions 29 and 30 to the transfer end portions 31 and 32.

  When the delivery of the glass substrate 3 is completed, the transport end portions 33 and 34 move on the sliders 27 and 28 to transport the glass substrate 3 in the transport direction C. Then, when the glass substrate 3 reaches above the substrate mounting table 16 for carrying out, the respective transport end portions 33 and 34 are stopped at the substrate delivery reference position.

  Each lift pin 20 ascends in the substrate mounting table 16. The compressed air supply unit 46 stops supplying compressed air to each air hole 18 of the substrate mounting table 16, and the suction pads 33 b and 34 b together with this release the suction to the back surface of the glass substrate 3, and each arm 33 a. , 34a are lowered. Thereby, the glass substrate 3 is mounted on each lift pin 20. The carry-out transfer robot 21 rotates, advances, and retracts the hand arm 22 to take out the inspected glass substrate 3 from each lift pin 20 and store it in the cassette.

  Thereafter, the carrying-in of the plurality of glass substrates 3 to the substrate mounting table 1, the air conveyance, the alignment, the inspection, and the carrying out of the substrate mounting table 16 are sequentially repeated.

  As described above, in the first embodiment, the glass substrate 3 is floated by blowing air from the plurality of air holes 4, 18, and 12 formed in the substrate mounting tables 1 and 16 and the floating block 11. In this state, the both ends of the front end portion in the transport direction C of the glass substrate 3 are sucked and held and transported. Thereby, it can convey at high speed, without damaging the glass substrate 3 in the state which floated the large sized glass substrate 3. FIG.

  The plurality of air holes 4, 18, 12 are regularly provided on the air transfer surfaces of the substrate mounting tables 1, 16 and the floating block 11, and the grooves 5, 13, 19 are provided. The air blown up from 18, 12 flows through the grooves 5, 13, 19, so that air does not collect between the glass substrate 3, the substrate mounting tables 1, 16, and the floating block 11, It flows through each groove 5, 13, 19. Thereby, the large sized glass substrate 3 can be conveyed, maintaining high flatness, without bending, such as a center part rising.

Since each of the grooves 5, 13, and 19 is formed in the same direction as the conveyance direction C, the air blowing pressure distribution is uniform in the conveyance direction C. Thereby, the glass substrate 3 can be conveyed in a stable state without shaking in the vertical direction during conveyance.
The glass substrate 3 is conveyed at a high speed while forcibly holding and pulling both ends of the front side toward the conveyance direction C of the glass substrate 3. As a result, the glass substrate 3 can be stably transported without being shaken with respect to the transport direction C, such as meandering, in a floating state. In addition, since both ends of the back surface of the glass substrate 3 are sucked and held, the circuit pattern is not affected without contacting the circuit pattern portion formed on the glass substrate 3.

As described above, since the large glass substrate 3 can be conveyed at high speed in a non-contact manner, in the field of semiconductor manufacturing such as FPD manufacturing, it is possible to satisfy the demand for improving product productivity without deteriorating product quality. .
Since the compressed air ionized from each of the air holes 4, 18, and 12 is blown up to convey the glass substrate 3 at high speed, static electricity is neutralized and charging to the glass substrate 3 can be prevented.

In the alignment unit A, since the alignment is performed by the three positioning sensors 43 to 45, the posture recognition unit 49, and the posture control unit 50 in a state where the glass substrate 3 is floated, a large size is obtained in a non-contact state in which the glass substrate 3 is floated. The glass substrate 3 can be reliably aligned without scratching or the like.
Moreover, in this alignment, each conveyance end part 29 and 30 which conveys the glass substrate 3 is finely moved in a two-dimensional direction, and these conveyance end parts 29 and 30 are also used as an alignment in addition to the conveyance function of the glass substrate 3. In addition, the alignment can be continuously performed following the conveyance of the glass substrate 3, and the time required for the alignment can be shortened.

  In the alignment, since the posture of the glass substrate 3 is recognized by the three positioning sensors 43 to 45, the posture of the glass substrate 3 can be detected with high accuracy.

Further, since the three positioning sensors 43 to 45 are embedded in the floating block 11, each glass substrate 3 is always attached based on the three edge position information without shifting the reference position of each positioning sensor 43 to 45. Alignment can be performed with high accuracy.
The first embodiment may be applied to a process in which, for example, a plurality of inspection units E are provided or various processing processes are provided.

Next, a second embodiment of the present invention will be described. The same parts as those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.
FIG. 9 is a configuration diagram of the substrate transfer apparatus. The substrate transfer apparatus includes the transfer robots 7 and 21 so that the forward and backward directions of the hand arms 8 and 22 of the transfer robots 7 and 21 for loading and unloading are the same as the transfer direction C. In addition, the holder 60 that sucks and holds the glass substrate 3 on the transport base 9 is movable in the transport direction C.

  Further, the lift pins 6 and 20 provided on the substrate mounting tables 1 and 16 for carrying-in and carrying-out are omitted. As a result, the transfer robots 7 and 21 place the glass substrates 3 directly on the substrate platform 1 by placing the hand arms 8 and 22 in the grooves 5 and 19 of the substrate platforms 1 and 16. The glass substrate 3 is directly taken out from the substrate mounting table 16.

Two rails 61 are laid in parallel to the transport direction C on the transport base 9. A moving floating block (hereinafter referred to as a holder) 60 is movably provided on these rails 61.
A plurality of air holes 62 are provided on the entire surface of the holder 60 for both air blowing and suction. Similar to the substrate mounting table 1, the holder 60 is formed with a width slightly shorter than the width of the glass substrate 3, and the height of the holder surface is substantially the same as the height of the surface of the substrate mounting table 1. Yes.

  A pair of sliders 63 and 64 are provided in parallel with each other along the conveyance direction C on the conveyance platform 9 with the holder 60 interposed therebetween. These sliders 63 and 64 are provided between the substrate mounting table 1 on the carry-in side and the transfer robot 21 on the carry-out side. The sliders 63 and 64 are movably provided with a pair of conveyance end portions 29 and 30 on the alignment side and a pair of conveyance end portions 31 and 32 on the inspection side.

  The transfer-side end portions 29 and 30 on the alignment side reciprocate between the left-side end portion on the transfer-side transfer robot 7 side on the sliders 63 and 64 and the right-side end portion Aa of the alignment portion A. The conveyance end portions 31 and 32 on the inspection side reciprocate between the right end portion Aa of the alignment portion A on the sliders 63 and 64 and the right end portion on the substrate mounting table 16 side for unloading. Delivery of the glass substrate 3 from the respective conveyance end portions 29, 30 on the alignment side to each conveyance end portion 31, 32 on the inspection side is performed in the same manner as in the first embodiment.

Next, the operation of the apparatus configured as described above will be described.
The glass substrate 3 carried in from the carat by the transfer robot 7 floats on the substrate mounting table 1 and is pulled by the transfer end portions 29 and 30 in synchronization with the movement in the transfer direction C and waits at the alignment unit A. It is conveyed above the holder 60. The suction positions of the transport end portions 29 and 30 are both end portions of the back surface on the front side in the transport direction C in the glass substrate 3.

  In the alignment part A, the glass substrate 3 is aligned by the fine movement of the conveying end parts 29 and 30 on the holder 60 as in the first embodiment. When the alignment of the glass substrate 3 is completed, the compressed air supply unit 46 is switched to the vacuum suction unit 47, and the glass substrate 3 is sucked and held on the holder 60.

  At this time, the transfer end portions 29 and 30 release the suction holding to the glass substrate 3 and return to the left end portion (substrate delivery reference position) on the loading-side transfer robot 7 side on the sliders 63 and 64.

Next, the holder 60 moves in the transport direction C while holding the glass substrate 3 by suction. When the holder 11 reaches the inspection part E, various inspections of the glass substrate 3 are performed in the inspection part E as described above.
When the inspection of the glass substrate 3 is completed, the arms 31a and 32a of the transport end portions 31 and 32 waiting at the substrate delivery reference position are raised, and the back surface of the glass substrate 3 is sucked and held by the suction pads 31b and 32b. To do. The suction positions of the transport end portions 31 and 32 are both end portions of the rear surface on the front side in the transport direction C in the glass substrate 3. Thereafter, compressed air is supplied from the compressed air supply unit 46 to the substrate mounting table 16, and the glass substrate 3 is floated from the holder 60. In this state, the crow substrate 3 is pulled by the transfer end portions 31 and 32 and transferred onto the substrate mounting table 16 at a high speed.

  The carry-out transfer robot 21 is inserted into the groove 19 and slightly lifted to suck and hold the back surface of the glass substrate 3. At this time, the suction of the suction pads 31b and 32b of the transport end portions 31 and 32 is released from the back surface of the glass substrate 3. The unloading transfer robot 21 raises the hand arm 22 and rotates, advances, and retracts the hand arm 22 to take out the inspected glass substrate 3 from the substrate mounting table 16 and store it in the cassette.

Thus, according to the second embodiment, the same effects as those of the first embodiment can be obtained. Further, since the lift pins 6 and 20 provided in the substrate mounting tables 1 and 16 for carrying in and out are eliminated, the time can be shortened by the operation time of the lift pins 6 and 20.
The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention at the stage of implementation.

  The method of levitating the glass substrate 3 is not limited to blowing air to the back surface of the glass substrate 3, but may be levitated by an electrostatic method. When the glass substrate 3 is levitated by an electrostatic method, the glass substrate 3 may be neutralized.

  The method of transporting the floating glass substrate 3 is not limited to, for example, moving the pair of transport end portions 29 and 30 to the pair of sliders 23 and 24, but transporting each suction pad in each groove 13. The end portion may be provided so as to be movable, and the back end of the front end portion of the glass substrate 3 may be sucked and held by these transport end portions.

  The suction holding position when the glass substrate 3 is transported is not limited to both ends of the front end portion of the glass substrate 3 in the transport direction C, but is suction held at both ends of the front end portion and the rear end portion of the glass substrate 3. You may adsorb | suck and hold | maintain in multiple places along each center part or 2 sides of 2 sides which oppose. If the glass substrate 3 is sucked and held at a plurality of locations along the four corners of the glass substrate 3, two opposite sides, or two sides, not only in the conveying direction C but also in the opposite direction to the conveying direction C. Transport in the direction is also possible. Further, the suction holding position of the glass substrate 3 may be the front surface or the front and back surfaces of the glass substrate 3 as long as the circuit pattern is not formed.

In order to place the glass substrate 3 on the substrate mounting table 1 or to remove the glass substrate 3 from the substrate mounting table 16, any mechanism other than the respective transfer robots 7 and 21 may be used, and air transfer from other lines. Substrate floating conveyance means such as the above may be used.
In the above embodiment, the conveyance of the glass substrate 3 in the in-line inspection in the manufacturing process of a flat panel such as a large LCD or PDP has been described. However, the present invention is not limited to this, and various substrates such as semiconductor wafers and plate-like objects are used. It can also be applied to levitates and transports at high speed. Further, the method of floating the glass substrate 3 at a high speed is not limited to the transfer from the substrate mounting table 1 to the holder 60, and the transfer between the holders 60 when a plurality of movable holders 60 are provided. It can also be applied to.

Although the positioning sensors 43 to 45 used in the alignment unit A use line sensors, the present invention is not limited thereto, and the edge position of the glass substrate 3 may be recognized using a two-dimensional CCD camera.
Each substrate mounting table 1, 16 and the floating block 11 are provided with two grooves 5, 13, 19 that serve as air escape paths in order to eliminate the deflection of the central portion of the glass substrate 3 and maintain flatness. However, a plurality of these grooves 5, 13, and 19 may be provided in parallel to the conveyance direction C as shown in FIG. These grooves 5, 13, 19 serve as escape routes for the air blown up from the air holes 4, 12, 18, so that both ends of the grooves are opened to the atmosphere so that the air can be discharged well, or the grooves It is preferable to provide a round or slit-shaped air escape hole penetrating the back surface.

  Moreover, the shape of these grooves 5, 13, and 19 may be a quadrilateral shape, a U-shape, a V-shape, or an arcuate concave shape. The widths of the grooves 5, 13, and 19 are good enough to allow the glass substrate 3 to float by forming an air layer between the substrate mounting tables 1 and 16 and the floating block 11 and the glass substrate 3. .

The widths of these grooves 5, 13, and 19 are preferably formed to be the same in the conveyance direction C, and the air pressure portion applied to the glass substrate 3 in the conveyance direction C is preferably uniform.
Further, in order to eliminate downward bending at both ends of the glass substrate 3, a large number of air blowing holes are provided at both ends of the substrate mounting tables 1, 16 and the floating block 11, and both ends of the glass substrate 3 are respectively provided. Air may be blown.
In the second embodiment, the sliders 63 and 64 are extended to the carrying robot 21 for carrying out, but may be extended to the carrying robot 7 for carrying.

  INDUSTRIAL APPLICABILITY The present invention is used for conveying a glass substrate in an in-line inspection in a manufacturing process of an FPD such as a large LCD or PDP, or for high-speed conveyance by floating various substrates or plate-like objects.

1 is a plan configuration diagram illustrating a first embodiment of a substrate transfer apparatus according to the present invention. The side block diagram of the apparatus. The figure which shows the glass substrate which floated on the substrate mounting base in the apparatus. The figure which shows the air conveyance operation | movement of the glass substrate in the same apparatus. The figure which shows the alignment operation | movement in the apparatus. The figure which shows the alignment operation | movement in the apparatus. The figure which shows the alignment operation | movement in the apparatus. The figure which shows conveyance of the glass substrate after alignment operation in the same apparatus. The block diagram which shows 2nd Embodiment of the board | substrate conveyance apparatus concerning this invention. The figure which shows the some groove | channel formed in the floating block in the same apparatus.

Claims (5)

In a substrate transfer apparatus for transferring a substrate manufactured in a flat panel display manufacturing process,
A substrate floating block formed with air holes for blowing out air for floating the substrate;
Alignment means for positioning the substrate on the substrate floating block in a floating state;
The substrate floating block is arranged so as to be movable along the substrate transfer direction, and the substrate floated by the substrate floating block is positioned by the alignment means, and then the back surface of the substrate is sucked and held. Substrate transport means for transporting in the transport direction;
A transfer robot provided on the carry-in side or the carry-out side of the substrate floating block and having a plurality of hand arms for holding the substrate;
A plurality of grooves formed at predetermined intervals on the carry-in side or the carry-out side of the substrate floating block, and a groove into which the hand arm can be inserted;
With
The transfer robot inserts the plurality of hand arms into the plurality of grooves, delivers the substrate on the substrate floating block , and lifts the hand arm in a state where the suction of the substrate transfer means is released. , Rotate, advance and take out the substrate from the substrate floating block,
A substrate transfer apparatus. Before SL substrate conveying means conveys the out side of the substrate floating block in the state of being floated said substrate positioned by the alignment means,
The transfer robot provided in the carry-out side receives the substrate that has been conveyed by said substrate conveying means the hand arm is inserted into the plurality of grooves provided in the carry-out side,
The substrate transfer apparatus according to claim 1. The transfer robot provided on the carry-out side raises the hand arm in a state of being inserted into the plurality of grooves provided on the carry-out side to suck and hold the substrate, and from above the substrate floating block. The substrate transfer device according to claim 1, wherein the substrate transfer device is stored in a cassette.   4. The substrate transfer apparatus according to claim 3, wherein the substrate transferred to the carry-out side is transferred to the hand arm of the transfer robot while being positioned by the alignment means.   5. The substrate according to claim 1, wherein the transfer robot directly puts or removes the substrate from the substrate floating block by inserting the hand arm into the groove. 6. Conveying device.

Images