KR20230000797A - Substrate transfer apparatus - Google Patents

Abstract

The present invention provides an apparatus for transporting a substrate. In one example, the apparatus for transporting a substrate comprises: a hand on which the substrate is placed; a base supporting the hand; and a driving unit which moves the base in the vertical direction. The driving unit includes a vertical frame on one side of which a slit-shaped hole is provided in an upward and downward direction so that one end of the base is inserted; a bracket located inside the vertical frame and coupled to one end of the base; and a pulley and belt type driving member to move the bracket in the vertical direction. The driving member may adjust the height of the pulley housing by rotating the height screw with a wrench on the upper plate of the vertical frame. Accordingly, the present invention enables precise position adjustment.

Description

Substrate transfer device {SUBSTRATE TRANSFER APPARATUS}

The present invention relates to a substrate conveying device for conveying a substrate.

In a semiconductor manufacturing process, a photolithography process is a process of forming a desired resist pattern by applying a resist solution to a substrate and exposing and developing the resist solution using a photo mask. This photolithography process includes a resist solution application process, exposure and development process. And the substrate transfer device transfers the substrate to a processing unit (or process chamber) that processes each process.

As shown in FIG. 16, in this substrate transport device, the pulley housing 1 is fixed to one side of the frame 2, so that it sags to the other side, and as a result, friction between the pulley 3 and the belt 4 causes particles to This occurs, and it is difficult to precisely adjust the height of the pulley housing 1.

An object of the present invention is to provide a substrate transport device capable of preventing deflection of a pulley housing and precisely adjusting its position.

The problem to be solved by the present invention is not limited to the problem mentioned above. Other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to one aspect of the present invention, the hand on which the substrate is placed; a base supporting the hand; Includes a drive unit for moving the base in a vertical direction, the drive unit, a vertical frame having a slit-shaped hole provided in the vertical direction so that one end of the base is inserted into one side; a bracket located inside the vertical frame and coupled to one end of the base; A substrate transport device comprising a pulley and a belt-type driving member to move the bracket in the vertical direction, and the driving member adjusts the height of the pulley housing by rotating a height screw with a wrench on an upper plate of the vertical frame. can be provided.

In addition, after the height of the pulley housing is completely adjusted through the height screw, the driving member may fasten and fix the pulley housing and the side plate of the vertical frame with a fixing screw.

In addition, the driving unit may further include a guide plate installed on the upper plate of the vertical frame and preventing any rotation when the height of the pulley housing is adjusted by the height screw.

In addition, the guide plate may be provided on both sides of the pulley housing.

In addition, the height screw may be positioned at the center of the pulley housing and fastened to a screw hole formed in the upper plate.

According to another aspect of the present invention, a robot body having hands capable of supporting a substrate and moving forward and backward; a horizontal driving unit for guiding horizontal movement of the robot body; and a vertical drive unit for guiding movement of the robot body in a vertical direction, wherein the vertical drive unit is located inside the vertical frame, and includes a bracket to which one end of the robot body is coupled; A substrate transport device comprising a pulley and a belt-type driving member to move the bracket in the vertical direction, and the driving member adjusts the height of the pulley housing by rotating a height screw with a wrench on an upper plate of the vertical frame. can be provided.

In addition, after the height of the pulley housing is completely adjusted through the height screw, the driving member may fasten and fix the pulley housing and the side plate of the vertical frame with a fixing screw.

The vertical driver may further include a guide plate installed on the upper plate of the vertical frame and preventing any rotation when the height of the pulley housing is adjusted by the height screw.

In addition, the guide plate may be provided on both sides of the pulley housing.

In addition, the height screw may be positioned at the center of the pulley housing and fastened to a screw hole formed in the upper plate.

According to an embodiment of the present invention, deflection of the pulley housing is prevented and precise position adjustment is possible.

The effects of the present invention are not limited to the effects described above. Effects not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings.

1 is a perspective view schematically showing a substrate processing apparatus according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view of a substrate processing apparatus showing the application block or developing block of FIG. 1 .
FIG. 3 is a plan view of the substrate processing apparatus of FIG. 1 .
4 is a diagram showing an example of a hand of a transfer robot.
FIG. 5 is a plan view schematically showing an example of the heat treatment chamber of FIG. 3 .
6 is a front view of the thermal processing chamber of FIG. 5;
7 is a cross-sectional view showing an embodiment of a liquid processing chamber for liquid processing a substrate by supplying a processing liquid to a rotating substrate.
8 is a plan view of the liquid processing chamber of FIG. 7 .
9 is a perspective view showing an example of the transfer robot of FIG. 3 .
10 is a view for explaining a vertical driving unit.
11 is a perspective view showing a mounting structure of the driven pulley shown in FIG. 10;
12 is an exploded perspective view of FIG. 11;
Fig. 13 is a side view of Fig. 11;
Fig. 14 is a front view of Fig. 11;
15 is a sectional view of FIG. 11
16 is a view showing a structure for mounting a pulley housing of a conventional substrate conveying device.

Other advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, but only the present embodiments make the disclosure of the present invention complete, and the common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims.

Even if not defined, all terms (including technical or scientific terms) used herein have the same meaning as generally accepted by common technology in the prior art to which this invention belongs. Terms defined by general dictionaries may be interpreted to have the same meaning as they have in the related art and/or the text of the present application, and are not conceptualized or overly formalized, even if not expressly defined herein. won't Terms used in this specification are for describing embodiments and are not intended to limit the present invention.

In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used in the specification, 'comprise' and/or various conjugations of this verb, such as 'comprise', 'comprising', 'comprising', 'comprising', etc., refer to a mentioned composition, ingredient, component, Steps, acts and/or elements do not preclude the presence or addition of one or more other compositions, ingredients, components, steps, acts and/or elements. In addition, 'to have', 'to have', etc. should be interpreted in the same way.

The equipment of this embodiment is described as being used to perform a photolithography process on a substrate such as a semiconductor wafer or a flat panel display panel, but this is for convenience of description and the present invention provides a robot for transferring a substrate to process the substrate. It can also be used for other devices including

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 14 .

1 is a perspective view schematically showing a substrate processing apparatus according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of the substrate processing apparatus showing an application block or developing block of FIG. 1, and FIG. 3 is a substrate processing apparatus of FIG. 1 is a plan view of

1 to 3, the substrate processing apparatus 10 according to an embodiment of the present invention includes an index module 100, a processing module 300, and an interface module 500. ).

According to one embodiment, the index module 100, the processing module 300, and the interface module 500 are sequentially arranged in a line. Hereinafter, the direction in which the index module 100, the processing module 300, and the interface module 500 are arranged is referred to as a first direction 12, and a direction perpendicular to the first direction 12 when viewed from above is Referred to as the second direction 14 , a direction perpendicular to both the first direction 12 and the second direction 14 is defined as the third direction 16 .

The index module 100 transports the substrate W from the container F containing the substrate W to the processing module 300 and stores the processed substrate W into the container F. The longitudinal direction of the index module 100 is provided in the second direction 14 . The index module 100 has a load port 110 and an index frame 130 . Based on the index frame 130, the load port 110 is located on the opposite side of the processing module 300. The container F in which the substrates W are stored is placed in the load port 110 . A plurality of load ports 110 may be provided, and the plurality of load ports 110 may be disposed along the second direction 14 .

As the container F, an airtight container F such as a Front Open Unified Pod (FOUP) may be used. The container F may be placed in the load port 110 by an operator or a transport means (not shown) such as an overhead transfer, an overhead conveyor, or an automatic guided vehicle. can

An index robot 132 is provided inside the index frame 130 . A guide rail 136 having a longitudinal direction in the second direction 14 is provided within the index frame 130 , and the index robot 132 may be provided to be movable on the guide rail 136 . The index robot 132 includes a hand on which the substrate W is placed, and the hand is capable of forward and backward movement, rotation about a third direction 16 as an axis, and movement along the third direction 16. can

The processing module 300 may perform a coating process and a developing process on the substrate (W). The processing module 300 may receive the substrate W stored in the container F and perform a substrate processing process. The processing module 300 has an application block 300a and a developing block 300b. The coating block 300a performs a coating process on the substrate W, and the developing block 300b performs a developing process on the substrate W. A plurality of application blocks 300a are provided, and they are provided to be stacked on each other. A plurality of developing blocks 300b are provided, and they are provided stacked on top of each other. According to the embodiment of FIG. 1 , two application blocks 300a and two developing blocks 300b are provided. The application blocks 300a may be disposed below the developing blocks 300b. According to one example, the two application blocks 300a may perform the same process and may be provided with the same structure. Also, the two developing blocks 300b may perform the same process and have the same structure.

Referring to FIG. 3 , the application block 300a has a heat treatment chamber 320, a transport chamber 350, a liquid treatment chamber 360, and buffer chambers 312 and 316. The heat treatment chamber 320 performs a heat treatment process on the substrate (W). The heat treatment process may include a cooling process and a heating process. The liquid processing chamber 360 supplies liquid to the substrate W to form a liquid film. The liquid film may be a photoresist film or an antireflection film. The transfer chamber 350 transfers the substrate W between the heat processing chamber 320 and the liquid processing chamber 360 within the coating block 300a.

The conveyance chamber 350 is provided with its longitudinal direction parallel to the first direction 12 . A transfer robot 900 is provided in the transfer chamber 350 . The transfer robot 900 transfers substrates between the thermal processing chamber 320 , the liquid processing chamber 360 , and the buffer chambers 312 and 316 . According to an example, the transfer robot 900 has a hand on which the substrate W is placed, and the hand moves forward and backward, rotates about a third direction 16 as an axis, and moves along the third direction 16. can possibly be provided. A guide rail 356 whose longitudinal direction is parallel to the first direction 12 is provided in the transfer chamber 350, and the transfer robot 900 can be provided to be movable on the guide rail 356. .

4 is a diagram showing an example of a hand of a transfer robot.

Referring to FIG. 4 , a hand 910 includes a hand body 910a and support fingers 910b. The hand body 910a is formed in a substantially horseshoe shape having an inner diameter larger than the diameter of the substrate. However, the shape of the hand body 910a is not limited thereto. Support fingers 910b are installed inward at four locations including the front end of the hand body 910a. A vacuum flow path (not shown) is formed inside the hand body 910a. A vacuum flow path (not shown) is connected to the vacuum pump through a vacuum line.

Referring back to FIGS. 1 to 3 , a plurality of heat treatment chambers 320 are provided. Thermal treatment chambers 320 are disposed along a first direction 12 . Heat treatment chambers 320 are located on one side of the transfer chamber 350 .

FIG. 5 is a plan view schematically illustrating an example of the heat treatment chamber of FIG. 3 , and FIG. 6 is a front view of the heat treatment chamber of FIG. 5 .

Referring to FIGS. 5 and 6 , the heat treatment chamber 320 includes a housing 321 , a cooling unit 322 , a heating unit 323 , and a transfer plate 324 .

The housing 321 is generally provided in a rectangular parallelepiped shape. An entrance (not shown) through which the substrate W is taken in and out is formed on the sidewall of the housing 321 . The intake port may remain open. A door (not shown) may be provided to selectively open and close the carry-in port. A cooling unit 322 , a heating unit 323 , and a conveying plate 324 are provided within a housing 321 . A cooling unit 322 and a heating unit 323 are arranged along the second direction 14 . According to one example, the cooling unit 322 may be located closer to the transfer chamber 350 than the heating unit 323 .

The cooling unit 322 has a cooling plate 322a. The cooling plate 322a may have a substantially circular shape when viewed from above. The cooling plate 322a is provided with a cooling member 322b. According to one example, the cooling member 322b is formed inside the cooling plate 322a and may be provided as a passage through which cooling fluid flows.

The heating unit 323 has a heating plate 323a, a cover 323c, and a heater 323b. The heating plate 323a has a substantially circular shape when viewed from above. The heating plate 323a has a larger diameter than the substrate W. A heater 323b is installed on the heating plate 323a. The heater 323b may be provided as a heating resistor to which current is applied. The heating plate 323a is provided with lift pins 323e that can be driven vertically along the third direction 16 . The lift pins 323e receive the substrate W from a transfer unit outside the heating unit 323 and put it down on the heating plate 323a or lift the substrate W from the heating plate 323a to transfer the substrate W to the heating unit 323. Hand over to an external transport means. According to an example, three lift pins 323e may be provided. The cover 323c has an open lower portion therein.

The cover 323c is positioned above the heating plate 323a and is moved up and down by a driver 3236d. The cover 323c is moved so that the space formed by the cover 323c and the heating plate 323a serves as a heating space for heating the substrate W.

The conveying plate 324 is generally provided in a disk shape and has a diameter corresponding to that of the substrate W. A notch 324b is formed at an edge of the conveying plate 324 . The notch 324b may have a shape corresponding to the protrusion 3543 formed on the hand 354 of the transfer robot 352 described above. In addition, the notch 324b is provided in a number corresponding to the protrusion 3543 formed on the hand 354 and is formed at a position corresponding to the protrusion 3543 . When the vertical position of the hand 354 and the conveying plate 324 is changed at a position where the hand 354 and the conveying plate 324 are aligned in the vertical direction, the substrate W is transferred between the hand 354 and the conveying plate 324. transmission takes place The transport plate 324 is mounted on the guide rail 324d and can be moved between the first area 3212 and the second area 3214 along the guide rail 324d by the driver 324c. The transport plate 324 is provided with a plurality of slit-shaped guide grooves 324a. The guide groove 324a extends from the end of the transport plate 324 to the inside of the transport plate 324 . The guide grooves 324a are provided along the second direction 14 in their longitudinal direction, and the guide grooves 324a are spaced apart from each other along the first direction 12 . The guide groove 324a prevents the transfer plate 324 and the lift pins 323e from interfering with each other when the transfer of the substrate W is performed between the transfer plate 324 and the heating unit 323 .

Cooling of the substrate W is performed in a state where the transfer plate 324 on which the substrate W is placed is in contact with the cooling plate 322a. The transport plate 324 is made of a material with high thermal conductivity so that heat can be easily transferred between the cooling plate 322a and the substrate W. According to one example, the transport plate 324 may be made of a metal material.

The heating unit 323 provided in some of the heat treatment chambers 320 may supply gas while heating the substrate W to improve the adhesion rate of the photoresist on the substrate. According to one example, the gas may be hexamethyldisilane (HMDS) gas.

Referring back to FIGS. 1 to 3 , a plurality of liquid processing chambers 360 are provided. Some of the liquid processing chambers 360 may be stacked on top of each other. The liquid processing chambers 360 are disposed on one side of the transfer chamber 350 . The liquid processing chambers 360 are arranged side by side along the first direction 12 . Some of the liquid processing chambers 360 are provided adjacent to the index module 100 . Hereinafter, the liquid processing chamber 360 located adjacent to the index module 100 is referred to as a front liquid processing chamber 362 (front liquid processing chamber). Other portions of the liquid processing chambers 360 are provided adjacent to the interface module 500 . Hereinafter, the liquid processing chamber 360 located adjacent to the interlace module 500 is referred to as a rear heat processing chamber 364 .

The previous liquid processing chamber 362 applies the first liquid on the substrate W, and the subsequent liquid processing chamber 364 applies the second liquid on the substrate W. The first liquid and the second liquid may be different types of liquids. According to an embodiment, the first liquid is an antireflection film, and the second liquid is a photoresist. The photoresist may be applied on the substrate W coated with the anti-reflection film. Optionally, the first liquid may be a photoresist and the second liquid may be an antireflection film. In this case, the anti-reflection film may be applied on the substrate W to which the photoresist is applied. Optionally, the first liquid and the second liquid are the same type of liquid, and they may both be photoresists.

The developing block 300b has the same structure as the application block 300a, and a liquid processing chamber provided in the developing block 300b supplies a developer onto the substrate.

The interface module 500 connects the processing module 300 to an external exposure apparatus 700 . The interface module 500 includes an interface frame 510 , an additional process chamber 520 , an interface buffer 530 , and an interface robot 550 .

A fan filter unit forming a downdraft therein may be provided at the upper end of the interface frame 510 . The additional process chamber 520 , the interface buffer 530 , and the interface robot 550 are disposed inside the interface frame 510 . The additional process chamber 520 may perform a predetermined additional process before the substrate W, the process of which has been completed in the application block 300a, is carried into the exposure apparatus 700 . Optionally, the additional process chamber 520 may perform a predetermined additional process before the substrate W, which has been processed in the exposure apparatus 700, is transferred to the developing block 300b. According to an example, the additional process may be an edge exposure process of exposing the edge region of the substrate W, an upper surface cleaning process of cleaning the upper surface of the substrate W, or a lower surface cleaning process of cleaning the lower surface of the substrate W. can A plurality of additional process chambers 520 may be provided, and they may be stacked on top of each other. Additional process chambers 520 may all be provided to perform the same process. Optionally, some of the additional process chambers 520 may be provided to perform different processes.

The interface buffer 530 provides a space in which the substrate W transported between the coating block 300a, the additional process chamber 520, the exposure apparatus 700, and the developing block 300b temporarily stays during transport. A plurality of interface buffers 530 may be provided, and the plurality of interface buffers 530 may be stacked on top of each other.

According to an example, the additional process chamber 520 may be disposed on one side of the extension line of the transfer chamber 350 in the longitudinal direction, and the interface buffer 530 may be disposed on the other side.

The interface robot 550 transports the substrate W between the coating block 300a, the additional process chamber 520, the exposure apparatus 700, and the developing block 300b. The interface robot 550 may have a transfer hand that transfers the substrate (W). The interface robot 550 may be provided as one or a plurality of robots. According to an example, the interface robot 550 includes a first robot 552 and a second robot 554 . The first robot 552 transports the substrate W between the coating block 300a, the additional process chamber 520, and the interface buffer 530, and the second robot 554 transfers the substrate W between the interface buffer 530 and the exposure device. 700, the second robot 4604 may be provided to transfer the substrate W between the interface buffer 530 and the developing block 300b.

The first robot 552 and the second robot 554 each include a transfer hand on which the substrate W is placed, and the hand moves forward and backward, rotates about an axis parallel to the third direction 16, and It may be provided to be movable along the third direction 16 .

Hereinafter, the structure of the liquid processing chamber will be described in detail. Below, the liquid treatment chamber provided in the application block will be described as an example. In addition, a case where the liquid processing chamber is a chamber for coating a photoresist on the substrate W will be described as an example. However, the liquid processing chamber may be a chamber for forming a film such as a protective film or an anti-reflection film on the substrate W. Also, the liquid processing chamber may be a chamber that develops the substrate W by supplying a developing solution to the substrate W.

FIG. 7 is a cross-sectional view showing an embodiment of a liquid processing chamber for liquid processing the substrate W by supplying a processing liquid to the rotating substrate W, and FIG. 8 is a plan view of the liquid processing chamber of FIG. 7 .

7 and 8 , the liquid processing chamber 1000 includes a housing 1100, a first processing unit 1201a, a second processing unit 1201b, a liquid supply unit 1400, an exhaust unit 1600, and a controller 1800.

The housing 1100 is provided in a rectangular tubular shape having an inner space. One side of the housing 1100 is formed with openings 1101a and 1101b. The openings 1101a and 1101b function as passages through which the substrate W is carried in and out. Doors 1103a and 1103b are installed in the openings 1101a and 1101b, and the doors 1103a and 1103b open and close the openings 1101a and 1101b.

A fan filter unit 1130 is disposed on the upper wall of the housing 1100 to supply downdraft to the interior space. The fan filter unit 1130 has a fan for introducing external air into the internal space and a filter for filtering external air.

A first processing unit 1201a and a second processing unit 1201b are provided in the inner space of the housing 1100 . The first processing unit 1201a and the second processing unit 1201b are arranged along one direction. Hereinafter, the direction in which the first processing unit 1201a and the second processing unit 1201b are arranged is referred to as a unit arrangement direction, and is shown as an X-axis direction in FIG. 11 .

The first processing unit 1201a has a first processing container 1220a and a first support unit 1240a.

The first processing container 1220a has a first inner space 1222a. The top of the first inner space 1222a is open.

The first support unit 1240a supports the substrate W in the first inner space 1222a of the first processing container 1220a. The first support unit 1240a has a first support plate 1242a, a first driving shaft 1244a, and a first actuator 1246a. The upper surface of the first support plate 1242a is provided in a circular shape. The first support plate 1242a has a smaller diameter than the substrate W. The first support plate 1242a is provided to support the substrate W by vacuum pressure. Optionally, the first support plate 1242a may have a mechanical clamping structure supporting the substrate W. A first drive shaft 1244a is coupled to the center of the bottom surface of the first support plate 1242a, and a first drive shaft 1246a providing rotational force to the first drive shaft 1244a is provided to the first drive shaft 1244a. The first actuator 1246a may be a motor.

The second processing unit 1201b has a second processing container 1220b and a second support unit 1240b, and the second support unit 1240b includes a second support plate 1242b, a second drive shaft 1244b, and a second support unit 1240b. It has 2 actuators 1246b. The second processing container 1220b and the second support unit 1240b have substantially the same structure as the first processing container 1220a and the first support unit 1240a.

The liquid supply unit 1400 supplies liquid onto the substrate W. The liquid supply unit 1400 includes a first nozzle 1420a, a second nozzle 1420b, and a treatment liquid nozzle 1440. The first nozzle 1420a supplies liquid to the substrate W provided on the first support unit 1240a, and the second nozzle 1420b supplies liquid to the substrate W provided on the second support unit 1240b. do. The first nozzle 1420a and the second nozzle 1420b may be provided to supply the same type of liquid. According to an example, the first nozzle 1420a and the second nozzle 1420b may supply a rinse liquid for cleaning the substrate W. For example, the rinsing liquid may be water. According to another example, the first nozzle 1420a and the second nozzle 1420b may supply a removal liquid for removing the photoresist from the edge area of the substrate W. For example, the removal liquid may be a thinner. The first nozzle 1420a and the second nozzle 1420b may be rotated between a process position and a stand-by position about their rotational axes, respectively. The process position is a position in which liquid is discharged onto the substrate W, and the standby position is a position in which the first nozzle 1420a and the second nozzle 1420b respectively stand by without discharging liquid onto the substrate W.

The treatment liquid nozzle 1440 supplies a treatment liquid to the substrate W provided on the first support unit 1240a and the substrate W provided on the second support unit 1240b. The treatment liquid may be photoresist. The nozzle driver 1448 drives the treatment liquid nozzle 1440 so that the treatment liquid nozzle 1440 moves between the first process position, the standby position, and the second process position along the guide 1442 . The first process position is a position to supply the treatment liquid to the substrate W supported by the first support unit 1240a, and the second process position is a position to supply the treatment liquid to the substrate W supported by the second support unit 1240b. is a location that supplies The standby position is a position in which the photoresist is not discharged from the treatment liquid nozzle 1440 and is in standby at the standby port 1444 located between the first processing unit 1201a and the second processing unit 1201b.

A gas-liquid separation plate 1229a may be provided in the inner space 1201a of the first processing container 1220a. The gas-liquid separator 1229a may be provided to extend upward from the bottom wall of the first processing container 1220a. The gas-liquid separation plate 1229a may be provided in a ring shape.

According to an example, the outer side of the gas-liquid separator 1229a may be provided as a discharge space for liquid discharge, and the inner side of the gas-liquid separator 1229a may be provided as an exhaust space for exhausting the atmosphere. A discharge pipe 1228a for discharging the treatment liquid is connected to the bottom wall of the first treatment container 1220a. The discharge pipe 1228a discharges the processing liquid introduced between the sidewall of the first processing container 1220a and the gas-liquid separation plate 1229a to the outside of the first processing container 1220a. The air current flowing in the space between the sidewall of the first processing vessel 1220a and the gas-liquid separation plate 1229a flows into the gas-liquid separation plate 1229a. During this process, the processing liquid contained in the airflow is discharged from the discharge space through the discharge pipe 1228a to the outside of the first processing container 1220a, and the airflow is introduced into the exhaust space of the first processing container 1220a.

Although not shown, a lift driver for adjusting relative heights of the first support plate 1242a and the first processing container 1220a may be provided.

9 is a perspective view showing an example of the transfer robot of FIG. 3 .

Hereinafter, the robot 900 of FIG. 9 is explained as being a transfer robot of FIG. 3 . However, unlike this, the transfer robot may be an index robot, and may optionally be another robot provided in the substrate processing apparatus 1 .

Referring to FIG. 9 , the transfer robot 900 may include a robot body 902 , a horizontal driving unit 930 , and a vertical driving unit 940 .

The robot body 902 may include a hand driving unit 920 including a hand 910 capable of moving forward and backward (X direction) and rotational motion (θ direction) by supporting a substrate, and a base supporting the hand 910. there is.

The hand driving unit 920 moves the hands 910 horizontally, and the hands 910 are individually driven by the hand driving unit 920 . The hand drive unit 920 includes a connection arm 912 connected to an internal drive unit (not shown), and the hand 910 is installed at an end of the connection arm 912 . In this embodiment, the transfer robot 900 includes two hands 910, but the number of hands 910 may increase according to the process efficiency of the substrate processing system 1000. A rotating unit (not shown) is installed below the hand driving unit 920 . The rotating unit is coupled to the hand driving unit 920 and rotates to rotate the hand driving unit 920 . Accordingly, the hands 910 rotate together.

The horizontal driving unit 930 and the vertical driving unit 940 are mounted on one body frame 990.

The body frame 990 may be provided in a form in which several frames are coupled to each other. The body frame 990 includes an upper horizontal driving unit 930a and a lower horizontal driving unit 930b that guide the robot body in the Y direction, and a vertical auxiliary frame 992 erected vertically between the upper and lower horizontal driving units 930a and 930b. The body frame ( 990) may be composed of a coupling auxiliary frame 994 to create a side form.

In this way, since the body frame 990 is coupled by a plurality of auxiliary frames 992 , 993 , and 994 , its rigidity is enhanced, and thus its durability is enhanced such that its shape can be maintained intact even when used for a long time.

As described above, the horizontal driving units 930a and 930b are driving guides for moving the robot body 902 in the Y direction, and are combined with both front ends of the vertical driving unit 940 . Among the horizontal driving units 930a and 930b, a horizontal driving unit (not shown) including a transfer belt is embedded on the inner surface of the lower horizontal driving unit 930b. Accordingly, the robot body 902 is horizontally moved along the horizontal driving units 930a and 930b by driving the transfer belt.

The vertical driving unit 940 is a kind of traveling driving unit for moving the robot body 902 in the Z direction, and is combined with the upper and lower horizontal driving units 930b and 930a. Accordingly, the robot body 902 is guided by the horizontal drive units 930b and 930a to move in the Y direction, and at the same time guided by the vertical drive unit 940 to move in the Z direction. That is, the robot body 902 can be moved in an oblique direction corresponding to the sum of the Y and Z directions.

On the other hand, the vertical driving unit 940 is composed of a plurality of spaced apart from each other, for example, two vertical frames, and the robot body 902 can freely move in and out of the space between the two frames.

Inside the vertical frame 950 of the vertical driving unit 940, a vertical driving unit including a transfer belt (hereinafter referred to as a vertical driving unit) is built in.

10 is a view for explaining a vertical driving unit.

As shown in FIG. 10 , the vertical driving unit 940 may include a vertical frame 950 , a driving member 960 and a bracket 942 . The bracket 942 is located inside the vertical frame 950 and is connected to the moving base of the robot body 902.

The vertical frame 950 has a slit-shaped hole on one side provided in the vertical direction into which one end of the moving base 904 supporting the robot body 902 is inserted.

The driving member 960 may be provided in the form of a pulley and a belt to move the bracket 942 in the vertical direction. For example, the driving member 960 may include a driving pulley 962 , a driven pulley 964 , a driving motor 969 , and a rotating belt 968 . The driving pulley 962 and the driving motor 969 may be fixedly installed at the bottom of the vertical frame 950 , and the driven pulley 964 may be installed at the top of the vertical frame 950 .

11 is a perspective view showing a mounting structure of the driven pulley shown in FIG. 10, FIG. 12 is an exploded perspective view of FIG. 11, FIG. 13 is a side view of FIG. 11, FIG. 14 is a front view of FIG. 11, and FIG. 15 is a front view of FIG. is a cross-section of

11 to 15, the driven pulley 964 includes a pulley housing 965, and the pulley housing 965 is a vertical frame 950 on an upper plate 952 by using a wrench to lower the height screw 970. It may be provided to rotate and adjust its height.

After the height adjustment of the pulley housing 965 is completed through the height screw 970, the drive member 960 connects the pulley housing 965 and the side plate 954 of the vertical frame 950 with a fixing screw 972. can be fastened. Meanwhile, a guide plate 980 may be installed on the upper plate 952 of the vertical frame 950 . The guide plate 980 prevents any rotation when the height of the pulley housing 965 is adjusted by the height screw 970 .

The drive member having the above configuration can prevent the pulley housing from sagging, thereby minimizing generation of particles due to friction between the pulley and the belt. In addition, the position of the pulley housing can be precisely adjusted.

It should be understood that the above embodiments are presented to aid understanding of the present invention, do not limit the scope of the present invention, and various deformable embodiments also fall within the scope of the present invention. The technical protection scope of the present invention should be determined by the technical idea of the claims, and the technical protection scope of the present invention is not limited to the literal description of the claims per se, but is substantially equal to the technical value. It should be understood that it extends to the invention of

100: index module 300: processing module
500: interface module 900: transfer robot
920: hand drive unit 965: pulley housing

Claims (10)

an arm on which a substrate is placed;
a base supporting the arm;
Including a driving unit for moving the base in the vertical direction,
The driving unit is
a vertical frame having a slit-shaped hole formed on one side thereof in a vertical direction into which one end of the base is inserted;
a bracket located inside the vertical frame and coupled to one end of the base;
It includes a pulley and a belt-type driving member to move the bracket in the vertical direction,
The driving member rotates a height screw with a wrench on the upper plate of the vertical frame to adjust the height of the pulley housing. According to claim 1,
The driving member is
After the height adjustment of the pulley housing is completed through the height screw, the substrate conveying device sieve is fixed between the pulley housing and the side plate of the vertical frame with a fixing screw. According to claim 1,
the drive unit
The substrate conveying apparatus further comprises a guide plate installed on the upper plate of the vertical frame and preventing any rotation when the height of the pulley housing is adjusted by the height screw. According to claim 3,
The guide plate is provided on both sides of the pulley housing.
According to claim 1,
The height screw is
A substrate transport device positioned at the center of the pulley housing and fastened to a screw hole formed in the upper plate. In the substrate conveying device:
a robot body having hands capable of supporting a substrate and moving forward and backward;
a horizontal driving unit for guiding horizontal movement of the robot body; and
And a vertical drive unit for guiding vertical movement of the robot body,
the vertical drive
a bracket located inside the vertical frame and coupled to one end of the robot body;
It includes a pulley and a belt-type driving member to move the bracket in the vertical direction,
The driving member rotates a height screw with a wrench on the upper plate of the vertical frame to adjust the height of the pulley housing. According to claim 6,
The driving member is
After the height adjustment of the pulley housing is completed through the height screw, the substrate conveying device sieve is fixed between the pulley housing and the side plate of the vertical frame with a fixing screw. According to claim 6,
the vertical drive
The substrate conveying apparatus further comprises a guide plate installed on the upper plate of the vertical frame and preventing any rotation when the height of the pulley housing is adjusted by the height screw. According to claim 8,
the guide plate
A substrate conveying device provided on both sides of the pulley housing. According to claim 6,
The height screw is
A substrate transport device positioned at the center of the pulley housing and fastened to a screw hole formed in the upper plate.

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