KR100582697B1 - 피처리 기판의 반송 장치 및 회전 위치를 검출하는 기능을갖는 구동 기구 - Google Patents
피처리 기판의 반송 장치 및 회전 위치를 검출하는 기능을갖는 구동 기구 Download PDFInfo
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- KR100582697B1 KR100582697B1 KR1020057005371A KR20057005371A KR100582697B1 KR 100582697 B1 KR100582697 B1 KR 100582697B1 KR 1020057005371 A KR1020057005371 A KR 1020057005371A KR 20057005371 A KR20057005371 A KR 20057005371A KR 100582697 B1 KR100582697 B1 KR 100582697B1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Abstract
Description
Claims (22)
- 피처리 기판의 반송 장치에 있어서,회전 가능한 회전 기대와,상기 회전 기대측으로부터 순서대로 서로 선회 가능하게 연결된 기단 아암과 중간 아암과 피크를 각각 구비하고, 상기 피크는 상기 피처리 기판을 지지하도록 설치되는, 상기 회전 기대에 장착된 굴신 가능한 제 1 및 제 2 아암 기구와,상기 제 1 및 제 2 아암 기구를 구동하도록 상기 제 1 및 제 2 아암 기구의 상기 기단 아암에 연결된 링크 기구와,상기 회전 기대를 회전 구동하는 제 1 구동원과,상기 제 1 및 제 2 아암 기구를 굴신시키도록 상기 링크 기구를 구동하는 제 2 구동원을 구비하는피처리 기판의 반송 장치.
- 제 1 항에 있어서,상기 링크 기구는 상기 제 1 및 제 2 아암 기구를 연동시키고, 상기 제 1 및 제 2 아암 기구의 한쪽이 실질적으로 신장 상태에 있을 때에 다른쪽이 실질적으로 수축 상태에 있는피처리 기판의 반송 장치.
- 제 2 항에 있어서,상기 링크 기구는 상기 제 2 구동원에 의해 선회 구동되는 구동 링크와, 상기 구동 링크와 상기 제 1 및 제 2 아암 기구의 상기 기단 아암을 각각 연결하는 제 1 및 제 2 종동 링크를 구비하는피처리 기판의 반송 장치.
- 제 3 항에 있어서,상기 구동 링크의 선회축은 상기 회전 기대의 회전축과 동축 형상으로 배치되는피처리 기판의 반송 장치.
- 제 3 항에 있어서,상기 링크 기구는 상기 회전 기대에 선회 가능하게 연결되고, 상기 구동 링크의 선회축은 상기 회전 기대의 회전축으로부터 어긋난 위치에 배치되는피처리 기판의 반송 장치.
- 제 3 항에 있어서,상기 구동 링크는 단일의 링크 레버로 실질적으로 이루어진피처리 기판의 반송 장치.
- 제 3 항에 있어서,상기 구동 링크는 서로 연결된 복수의 링크 레버를 구비하는피처리 기판의 반송 장치.
- 제 3 항에 있어서,상기 제 1 종동 링크는 상기 구동 링크에 대하여, 중심선을 넘어서 상기 제 2 아암 기구측에 축 지지되고, 상기 제 2 종동 링크는 상기 구동 링크에 대하여, 상기 중심선을 넘어서 상기 제 1 아암 기구측에서 축 지지되며, 여기서 상기 중심선은 상기 제 1 및 제 2 아암 기구의 양자가 수축되는 초기 상태에 있어서의 상기 제 1 및 제 2 아암 기구의 피크의 중심을 연결한 선분의 수직 이등분선인피처리 기판의 반송 장치.
- 제 8 항에 있어서,상기 제 1 및 제 2 종동 링크는 다른 높이 레벨로 배치되고 또한 동시에 서로 교차하는피처리 기판의 반송 장치.
- 제 1 항에 있어서,상기 제 2 구동원은 회전 모터를 구비하는피처리 기판의 반송 장치.
- 제 1 항에 있어서,상기 제 2 구동원은 리니어 모터를 구비하는피처리 기판의 반송 장치.
- 제 1 항에 있어서,상기 제 1 및 제 2 아암 기구의 상기 기단 아암은 상기 회전 기대상에 있어서 동일 평면상에서 서로 이간된 축을 중심으로 하여 회전 가능하게 지지되는피처리 기판의 반송 장치.
- 제 12 항에 있어서,상기 제 1 및 제 2 아암 기구의 상기 피크는 동일 평면상에서 서로 다른 방향을 향해 배치되고, 상기 피크의 개방각은 60 내지 180도의 범위로 설정되는피처리 기판의 반송 장치.
- 제 1 항에 있어서,상기 제 1 및 제 2 아암 기구의 상기 기단 아암은 상기 회전 기대상에 있어서 서로 상하로 서로 중첩시켜서 동일축을 중심으로 하여 회전 가능하게 지지되는피처리 기판의 반송 장치.
- 제 14 항에 있어서,상기 제 1 및 제 2 아암 기구의 상기 피크는 서로 상하로 중첩시켜서 동일 방향을 향해 배치되는피처리 기판의 반송 장치.
- 회전 위치를 검출하는 기능을 갖는 구동 기구에 있어서,동축 형상으로 서로 회전 가능하게 이루어진 중공 파이프 형상의 내측 및 외측 구동축과,상기 내측 및 외측 구동축의 각각에 결합된 복수의 구동원과,상기 외측 구동축의 내면상에 설치된 검출 패턴과,상기 검출 패턴으로부터의 반사광을 취입하기 위해서 상기 내측 구동축에 설치된 광통과 윈도우와,상기 광통과 윈도우를 통과한 광을 상기 내측 구동축의 축 방향을 따라 반사하는 반사 부재와,상기 반사 부재에서 반사된 광을 수광하는 수광부와,상기 수광부의 출력에 기초하여 상기 내측 및 외측 구동축의 회전 방향에 있어서의 위치 관계를 구하는 위치 검출부를 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 16 항에 있어서,상기 내측 구동축의 축방향을 따라 광을 방사하는 발광부와,상기 발광부로부터의 광을 반경 방향으로 반사하고, 상기 광통과 윈도우를 통과시켜서 상기 검출 패턴에 조사하는 반사 부재를 더 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 16 항에 있어서,상기 수광부는 상기 검출 패턴의 화상을 검출하는 화산 센서를 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 18 항에 있어서,상기 검출 패턴에 조명광을 조사하는 조명 부재를 더 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 18 항에 있어서,상기 검출 패턴은 다른 색의 영역의 배열을 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 18 항에 있어서,상기 검출 패턴은 상이한 도형의 배열을 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
- 제 18 항에 있어서,상기 검출 패턴은 다른 명도의 영역의 배열을 구비하는회전 위치를 검출하는 기능을 갖는 구동 기구.
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JPJP-P-2003-00197689 | 2003-07-16 | ||
JP2003197689 | 2003-07-16 | ||
JPJP-P-2004-00009506 | 2004-01-16 | ||
JP2004009506 | 2004-01-16 |
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KR20050057605A KR20050057605A (ko) | 2005-06-16 |
KR100582697B1 true KR100582697B1 (ko) | 2006-05-23 |
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US (1) | US7837425B2 (ko) |
EP (1) | EP1657743B1 (ko) |
JP (1) | JP5024411B2 (ko) |
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WO (1) | WO2005008769A1 (ko) |
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- 2004-07-09 EP EP04747644.5A patent/EP1657743B1/en not_active Not-in-force
- 2004-07-09 KR KR1020057005371A patent/KR100582697B1/ko active IP Right Grant
- 2004-07-09 WO PCT/JP2004/010178 patent/WO2005008769A1/ja active IP Right Grant
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KR101475421B1 (ko) * | 2007-04-06 | 2014-12-23 | 브룩스 오토메이션 인코퍼레이티드 | 독립적으로 움직임가능한 다중 관절형 아암들을 구비한 기판 이송 장치 |
KR20140130243A (ko) * | 2007-05-08 | 2014-11-07 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
KR101629734B1 (ko) * | 2007-05-08 | 2016-06-13 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
KR20170124613A (ko) * | 2007-05-08 | 2017-11-10 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
US10335945B2 (en) | 2007-05-08 | 2019-07-02 | Brooks Automation, Inc. | Substrate transport appartatus with multiple movable arms utilizing a mechanical switch mechanism |
KR20200007102A (ko) * | 2007-05-08 | 2020-01-21 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
KR102121016B1 (ko) * | 2007-05-08 | 2020-06-09 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
KR102216638B1 (ko) | 2007-05-08 | 2021-02-17 | 브룩스 오토메이션 인코퍼레이티드 | 기계적 스위치 메카니즘을 이용한 복수의 가동 암들을 갖는 기판 이송 장치 |
US11801598B2 (en) | 2007-05-08 | 2023-10-31 | Brooks Automation Us, Llc | Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism |
Also Published As
Publication number | Publication date |
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EP1657743B1 (en) | 2013-06-05 |
JP2010166083A (ja) | 2010-07-29 |
EP1657743A1 (en) | 2006-05-17 |
JP5024411B2 (ja) | 2012-09-12 |
WO2005008769A1 (ja) | 2005-01-27 |
US20060210387A1 (en) | 2006-09-21 |
US7837425B2 (en) | 2010-11-23 |
EP1657743A4 (en) | 2011-10-05 |
KR20050057605A (ko) | 2005-06-16 |
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