WO2006006554A1 - 駆動源および搬送ロボット - Google Patents
駆動源および搬送ロボット Download PDFInfo
- Publication number
- WO2006006554A1 WO2006006554A1 PCT/JP2005/012746 JP2005012746W WO2006006554A1 WO 2006006554 A1 WO2006006554 A1 WO 2006006554A1 JP 2005012746 W JP2005012746 W JP 2005012746W WO 2006006554 A1 WO2006006554 A1 WO 2006006554A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive source
- fixed shaft
- arm
- drive
- housing
- Prior art date
Links
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
-
- 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
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/07—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers Not used, see H01L21/677
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/02—Controlled or contamination-free environments or clean space conditions
-
- 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
-
- 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
- Y10T74/20317—Robotic arm including electric motor
-
- 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
- Y10T74/20329—Joint between elements
Definitions
- the present invention relates to a drive source and a transfer robot used in a vacuum atmosphere. More specifically, the present invention relates to a drive source provided at the boundary between an environment that requires a highly clean environment when moving and processing and the atmosphere, and a transfer robot such as a substrate provided with the drive source.
- the present invention can be applied to any article that requires a high clean environment when moving and processing.
- a semiconductor wafer or LCD which is an electronic component will be described.
- this is for illustrative purposes and does not limit the present invention.
- a manufacturing apparatus such as a semiconductor wafer provided in the clean room may have a plurality of processing apparatuses in order to perform various kinds of processing.
- the processing chamber in which various types of processing are performed is hermetically closed, and the inside is made a vacuum atmosphere, thereby further purifying the interior. And keep processing.
- the processing chamber of each processing apparatus is connected to a transfer chamber for transferring a product between the apparatuses, and the transfer chamber itself can be hermetically closed.
- the load port chamber force for loading and unloading the substrate into and from the manufacturing apparatus can also move the substrate to each processing chamber.
- the carrying device has been improved (see Patent Document 1).
- a transfer apparatus 1A shown in FIG. 10 transfers wafers and the like in a multi-chamber which is an ultra-vacuum environment in a clean room.
- the transfer device 1A is installed in an opening formed in a part of the wall of the vacuum chamber 50 (housing).
- the transfer device 1A has a flange portion 11 (base member).
- the flange portion 11 And the wall of the vacuum chamber 50 are attached in an airtight state so as to withstand the high vacuum in the vacuum chamber 50.
- the flange 11 has a fixed shaft 10 (fixed shaft member) facing the inside of the vacuum chamber 50. Is placed. On the outer side of the fixed shaft 10, operating shafts 21 and 22 (rotating members) having a hollow structure are installed. The operating shafts 21 and 22 are coaxial with the fixed shaft 10, are held at positions shifted from each other in the vertical direction, and are rotatably attached via bearings.
- an electromagnetic stator 3 (armature) is installed on the outer periphery of the fixed shaft 10, and a rotor R using permanent magnets is installed on the inner periphery of the operating shafts 21 and 22.
- the stator S and the rotor R are disposed at positions facing each other, and an electromagnetic motor M is configured by these.
- the stator S is accommodated in a recess 13 formed in the fixed shaft 10, and a partition wall member 14 is welded to the outer periphery (opening surface of the recess 13). Is isolated.
- a resolver type position detector 40 is installed inside each of the operating shafts 21 and 22 for detecting the position of each of the operating shafts 21 and 22.
- the position detector 40 is installed in a region shifted from the motor M in the axial direction of the fixed shaft 10.
- the position detector 40 has a stator 42 and a rotor 41.
- the stator 42 is housed in the recess 13 of the fixed shaft 10 and the outer periphery is sealed by the partition member 14 as in the motor M. It has been.
- the above-described flange portion 11 or fixed shaft 10, partition member 14, operating shafts 21, 22, motor M, and position detector 40 constitute a high vacuum driving source.
- a transport arm assembly 30 (drive arm) is connected to the operating shafts 21 and 22.
- a pulley 31 is connected to the operating shaft 21 and an arm 32 is connected to the operating shaft 22.
- These are connected to a semiconductor wafer or the like via a movable mechanism (not shown) installed at the tip of the transfer arm assembly 30. The product can be handled.
- the transfer arm assembly 30 and the drive source constitute the transfer device 1A (transfer robot).
- Patent Document 1 JP 2000-167792 A
- a pair of bearings B are arranged so as to sandwich the motor M corresponding to each of the operating shafts 21 and 22 in the axial direction.
- the axial length of the operating shafts 21 and 22 is the sum of the axial length of the motor M and the axial length of the bearing B.
- the operating shafts 21 and 22 The length in the axial direction has become large, which has been a problem in miniaturization.
- the above-described axial length becomes a further problem.
- the position of the operation shafts 21 and 22 is detected by the resolver type position detector 40.
- the resolver type position detector 40 is affected by the stator S and needs to be provided at a position away from the stator S in the axial direction. For this reason, there is a problem that the size (height) in the axial direction of the entire conveying apparatus 1A is further increased.
- the stator S is accommodated in the concave portion 13 of the fixed shaft 10, and the partition wall member 14 is welded to the outside thereof. For this reason, when the thickness of the partition member is increased, the distance from the stator S to the rotor R is increased, so that the motor torque is reduced and the accuracy of the stop position is also reduced.
- the fixed shaft 10 and the operating shafts 21 and 22 are attached via a bearing B. At this time, it is necessary to provide an allowance for the distance from the partition wall member 14 to the port R in consideration of the stagnation and vibration of the operation shaft itself due to the rotation of the operation shafts 21 and 22. There is concern about a decrease and a decrease in position accuracy.
- the transport arm assembly 130 is operated via the belt by the rotation of the pulley mounted inside the arm 32 and attached to the operating shaft 21.
- the arm 32 of this transfer device 1A is in a vacuum atmosphere, and measures against dust generation have been taken with a magnetic seal or the like to shut off the inside of the arm 32 and the vacuum atmosphere. If this transfer device is used in an ultra-high vacuum (10 _ 6 Pa) and high temperature environment, organic substances contained in the belt 77 volatilize and move into the vacuum chamber 50, causing contamination and product yield (good product quality). The problem of worsening the rate) occurs.
- the drive source of the present invention includes a base member installed in a housing, a fixed shaft installed from the base member toward the inside of the housing, and a coaxial with the fixed shaft outside the fixed shaft.
- An outer peripheral member installed in a shape, a rotating member arranged coaxially with the fixed shaft, a bearing for rotatably supporting the rotating member around the fixed shaft, and coaxial with the fixed shaft
- a stator that is disposed; a rotor that is disposed on the rotating member and that faces the stator; and is disposed coaxially with the fixed shaft between the stator and the rotor.
- Extracorporeal A partition member that separates the air atmosphere from the vacuum atmosphere in the housing, the stator is disposed on either the outer periphery of the fixed shaft or the inner periphery of the outer peripheral member, and the bearing is the fixed member
- the stator and the bearing are arranged on the other side of the outer circumference of the shaft or the inner circumference of the outer circumferential member, and are arranged coaxially in the same region in the axial direction of the fixed shaft.
- the stator and the rotor constituting the motor, and the bearing are coaxially arranged in the same region in the axial direction of the rotating shaft of the rotating member,
- the axial length as a drive source can be suppressed. For this reason, even when a plurality of motors or rotating members are arranged in the axial direction, it is possible to prevent the axial dimension as a drive source from increasing.
- the base member is disposed in an opening portion of the casing, and the outer peripheral member and the fixed shaft are respectively installed on the same side of the base member toward the inner side of the casing.
- the opening portion of the housing can be sealed, and the simplest configuration can be obtained when installing in the housing.
- the base member is disposed farther outside the housing than the opening of the housing, and the base member and the housing are connected by the outer peripheral member. It can be used as a configuration.
- the base portion is supported via the outer peripheral member, and the drive source can be installed in the form of projecting outside the housing. As a result, it is possible to avoid the drive source from occupying the space in the housing.
- the base member is disposed farther inside the housing than the opening of the housing, and the base member and the housing are coupled by the fixed shaft. It's good!
- the base portion is supported via the fixed shaft.
- the movable member or the motor has a dual configuration, it is suitable as a configuration on the side where the opening partial force of the housing is also separated.
- the rotating member, the rotor, the stator, and the A plurality of sets of bearings may be installed at positions shifted in the axial direction of the same fixed shaft.
- one of the bearings rotatably connects one of the rotating members and the fixed shaft, and the other one of the bearings is the rotating member. It is desirable that one of the two is rotatably connected to the other one of the rotating members. According to such a configuration, the bearings of each set can be further overlapped in the same region in the axial direction, and the drive source can be made more compact.
- the drive source according to the present invention is a drive source provided in a housing that can be in a vacuum atmosphere, and includes a base member for mounting inside the housing, an air atmosphere and a vacuum atmosphere on the base member.
- the drive source of the present invention may include a plurality of armatures that are shifted in the height direction, and a rotation member that corresponds to each armature.
- the casing of the present invention is a processing chamber (vacuum chamber) of a processing apparatus that performs various types of substrate processing, a transfer chamber for transferring a substrate or the like to the processing chamber by a transfer robot, and the like.
- This casing can be hermetically sealed, and can be filled with a gas having a pressure lower than the normal atmospheric pressure by a vacuum pump (hereinafter referred to as a vacuum atmosphere).
- This fixed distance is specifically 0.2 mm to 1. Omm, preferably 0.2 mm to 0.5 mm, and more preferably 0.2 mm to 0.3 mm. It is better if this fixed distance is 0.2 mm or less.
- the amount of eccentricity when the rotating member rotates and the minute expansion when the partition member is placed in a vacuum atmosphere As a result of considering (shrinkage), it is 0.2 mm or more.
- the thickness is 0.05 m. Even with m, it can sufficiently withstand the ultra-high vacuum when processing with a processing apparatus. However, the above-mentioned thickness is widened in consideration of individual differences when mass-producing this drive source.
- a magnet may be provided on the rotating member, so that a position detecting means provided in the inner part of the partition wall member may detect the position of the rotating member.
- the material of the partition member is a nickel alloy.
- the rotating member may be provided via a bearing member at a location different from the partition member on the base member.
- the thickness can be set considering only the condition that it can withstand vacuum.
- the amount of eccentricity of the rotating member due to the stagnation and vibration caused by the rotation of the rotating member is reduced as compared with the case where the partition member includes the rotating member. For these reasons, the distance from the partition member to the rotating member can be made narrower than the conventional one.
- the partition wall member of the present invention has a cylindrical shape, and the ceiling portion can withstand a pressure difference between the vacuum atmosphere and the atmosphere, compared to the side portion where the thickness of the ceiling portion is a cylindrical portion.
- a thick flat plate or a corrugated plate material may be used.
- the material of the partition member is not limited to a metal such as stainless steel but may be a material having high magnetic permeability, such as crystal glass or nickel alloy.
- the drive source of the present invention can also be used for displacement of a SCARA robot such as a link robot having a frog redder shape.
- the transport robot of the present invention includes the drive source of the present invention described above, a drive arm that protrudes and is fixed to a rotation member provided in the drive source, and a follower arm that is rotatably provided at the other end of the drive arm. And an end effector that is rotatably provided at the other end of the driven arm, and the drive arm is rotated by the operation of the armature and the driven arm is interlocked to thereby move the end effector. It is characterized by being able to move forward and backward.
- a transport robot of the present invention includes the above-described drive source of the present invention, a first drive arm that protrudes and is fixed to a rotating member provided in the drive source, and a first drive arm that rotates at a position different in the axial direction.
- a second drive arm having a moving center, a first driven arm and a second driven arm connected to the first drive arm and the second drive arm, and a circuit from the first drive arm and the Z or second drive source. It is good also as a structure provided with the rotation transmission means which transmits a motion to the 1st driven arm and Z or the 2nd driven arm, and the end effector supported so that rotation to the 1st driven arm and the 2nd driven arm is possible. .
- the drive source of the present invention as described above can isolate a dust generation source by providing an armature on the atmosphere side with a partition wall in between.
- a rotating member is provided on the vacuum atmosphere side of the partition wall, and a bearing member for rotatably supporting the rotating member is provided in the inside of the housing separate from the partition wall.
- the partition is provided on the base member independently of the fixed shaft member and the rotating shaft member, so that the structure can be simplified as long as the thickness can withstand an ultra-vacuum environment. It becomes easy to maintain a vacuum atmosphere.
- the driving source of the present invention by providing the magnetic shielding means between the armature and the sensor, the distance between the armature and the sensor can be narrowed without affecting the operation of the sensor. As a result, the overall height of the drive source can be reduced, and space can be saved.
- FIG. 1 is a longitudinal sectional view showing a drive source including one rotating member according to the first embodiment of the present invention.
- FIG. 2 is a longitudinal sectional view showing a drive source including two rotating members in a second embodiment of the present invention.
- FIG. 3 is a partially cutaway perspective view showing the drive source of FIG. 2.
- FIG. 4 is a perspective view showing a transfer arm in the second embodiment.
- FIG. 5 is a perspective view showing a deformation of the transfer arm in the second embodiment.
- FIG. 6 is a perspective view showing a deformation of the transfer arm in the second embodiment.
- FIG. 7 is a partially cutaway perspective view showing a joint portion of the transfer arm of FIG.
- FIG. 8 is a longitudinal sectional view showing a drive source including two rotating members in a third embodiment of the present invention.
- FIG. 9 is a longitudinal sectional view showing a drive source including two rotating members in a fourth embodiment of the present invention.
- FIG. 10 is a sectional side view showing a conventional drive source.
- FIG. 1 shows a drive source la according to the first embodiment of the present invention.
- the drive source la is installed in an opening portion of the housing 2 in which the inside can be in a vacuum atmosphere, and drives a transport robot that performs product transport in the housing 2.
- the drive source la has a base member 3 and is attached to the housing 2 by fixing the base member 3 so as to cover the opening of the housing 2.
- a 0-ring 4 is installed at the contact point between the base member 3 and the opening periphery of the housing 2 and is kept airtight between each other.
- a fixed shaft member 8 extending inside the housing 2 is installed in the center of the base member 3.
- the fixed shaft member 8 is hollow, and its internal space communicates with the base member 3.
- a bottomed cylindrical partition wall member 5 that covers the fixed shaft member 8 is installed.
- the base member 3 is formed in a convex shape downward in the figure, and this rising portion (outer peripheral member) is formed coaxially with the partition wall member 5.
- Two rows of bearings 11 are installed inside the outer peripheral member, and a cylindrical rotating member 10 is rotatably supported via the bearing 11.
- the rotating member 10 is supported so that its inner circumference is a fixed distance from the outer circumference of the partition member 5! RU
- a magnet 9 (rotor) and sensors 7a and 7b are coaxially arranged on the inner periphery of the rotating member 10.
- an armature 6 (stator) and sensors 7e and 7f are coaxially arranged on the outer periphery of the fixed shaft member 8.
- the magnet 9 and the armature 6 are disposed to face each other with the partition wall member 5 interposed therebetween, and the sensors 7a and 7b and the sensors 7e and 7f are also disposed to face each other with the partition wall member 5 interposed therebetween.
- Each of these opposed arrangements is arranged so that the tip thereof is sufficiently close to the partition wall member 5 and is opposed to each other at a minimum fixed interval.
- up to the bearing 11 are arranged coaxially in the same region in the axial direction of the fixed shaft member 8. As a result, the axial length of the drive source la can be shortened.
- FIGS. 2 and 3 show a drive source lb in which two rotating members 10a and 10b are shifted in the height direction on one fixed shaft member 8 and provided.
- the drive source lb is installed in a housing 2 that can be evacuated inside. Since the configuration of the base member 3 and its outer peripheral member, the partition member 5, the fixed shaft member 8, and the like are the same as those in the first embodiment, a duplicate description is omitted.
- two rotating members 10 a and 10 b are installed on one fixed shaft member 8.
- one rotating member 10a is rotatably supported by the outer peripheral member of the base member 3 via the two rows of bearings 1la as described in the first embodiment.
- the other rotating member 10b is rotatably connected to the inside of the upper edge of the rotating member 10a via two rows of bearings ib, and is supported by the base member 3 via the rotating member 10a.
- the base member 3 and the rotating member 10a are rotatable, and the rotating members 10a and 10b are rotatable with respect to each other. Therefore, the rotating members 10a and 10b are both rotatable with respect to the base member 3. is there.
- Sensors 7e and 7f and magnets 9a and 9b as rotors are installed on the inner periphery of the rotating member 10a.
- sensors 7a and 7b and the armatures 6a and 6b, which are stators, facing each other with the partition wall member 5 interposed therebetween are installed. These opposing end portions are respectively close to the partition wall member 5 and are opposed to each other with a slight fixed interval.
- Sensors 7g and 7h and magnets 9c and 9d as rotors are installed on the inner periphery of the rotating member 10b.
- sensors 7c and 7d facing each other with the partition wall member 5 interposed therebetween and armatures 6c and 6d as stators are installed. These opposing end portions are respectively close to the partition wall member 5 and are opposed to each other with a slight fixed interval.
- the armatures 6a and 6b that are the stator and the magnets 9a and 9b that are the rotor are arranged, and the bearings 11a and 1 lb are located in the same axial region of the fixed shaft member 8. It is arranged coaxially. This makes it possible to reduce the axial length of the drive source lb. Become.
- the partition wall member 5 of the present embodiment has a thickness of about 0.3 mm. And vacuum from a high vacuum 10 _1 Pa of about 10 _5 Pa to do this semiconductor ⁇ E Ha processing such as, on the order of a thickness which can operate without also be deformed or broken by an ultra high vacuum 1 0 _6 Pa is there.
- a transfer arm connected to the rotating members 10a and 10b is provided, and the transfer robot 12a is configured to transfer a product inside the housing 2.
- the transfer robot 12a is provided so that the direction of the end effector holding the substrate 16 and the like is different from the turning direction.
- This transfer robot 12a is provided with drive arms 13a and 13b projecting into the horizontal plane on the side and upper surfaces of the rotating members 10a and 10b of the drive source lb.
- the drive arms 13a and 13b are rotated by the operation of the drive source 1, and the follower arms 14a and 14b supported on the upper surfaces of the end portions of the drive arms 13a and 13b are interlocked to follow the follower arm 14a,
- the end effector 15 rotatably supported by 14b can be moved back and forth in a horizontal plane.
- the two steel belts 18 are shifted in the height direction on the side surfaces of the support shafts 17a and 17b that rotatably support the end effector 15 provided on the driven arms 14a and 14b, so that they are S-shaped and reversed. Wound in an S shape.
- the support shaft 17a and the support shaft 18b can rotate relative to the end effector 15 in the opposite directions by the same angle.
- This rotation transmission means is the same mechanism as the rotation transmission means shown in FIG.
- one driven arm 14 is provided on the upper surface of the end of the drive arm 13, respectively.
- the transfer robot 12b shown in FIG. 5 includes two driven arms 14a and 14b on the upper surface of the end of the drive arm 13, respectively. End effectors 15a and 15b are provided near the ends of the driven arms 14a and 14b. As a result, it is possible to move back and forth in directions different by 180 °, and when one of the two travels due to the operation of the drive source, the other moves back and forth to deliver the substrate.
- the transfer robot 12c in FIG. 6 has the drive source la in FIG. 1, the drive arm 13a that protrudes and is fixed to the rotation member 10 provided in the drive source la, and a rotation center at a position different from the drive arm 13a.
- Drive arm 13b, drive arms 13a, 13b and driven arms 14a, 14b can be rotated It is a transfer robot that is supported by the rotation transmission means 19 that supports the rotation of the drive arms 13a and 13b to the driven arms 14a and 14b, and the end effector 15 that rotatably supports the driven arms 14a and 14b. is there.
- FIG. 7 is a partially cutaway perspective view showing the rotation transmitting means 19 of the transfer robot 12c of FIG.
- the rotation transmission means 19 has a housing 20, and the housing 20 rotatably supports a support shaft 17a provided in the drive arms 13a and 13b and a 17b provided in the driven arms 14a and 14b.
- Two steel belts 18 are wound around the sides of the support shafts 17a and 17b in an S-shape and an inverted S-shape.
- the rotation of the drive arms 13a and 13b can be transmitted to the driven arms 14a and 14b.
- FIG. 8 shows a drive source lc in which two rotating members 10a and 10b are shifted in the height direction on one fixed shaft member 8 and provided.
- the drive source lc is installed in the housing 2 that can be in a vacuum atmosphere. Since the configurations of the base member 3, the outer peripheral member 3a, the partition member 5, the fixed shaft member 8, and the like are the same as those in the second embodiment, a duplicate description is omitted.
- the outer peripheral member 3a is formed relatively long in the axial direction, and the armatures 6a, 6b and the magnets 9a, 9b of the two sets of rotating members 10a, 10b are almost outside the casing 2. Has been placed.
- the rotating member 10b is rotatably supported on the outer periphery of the fixed shaft member 8 via four rows of bearings 1la, and on the outer side thereof via two rows of bearings ib.
- the rotating member 10a is rotatably supported.
- the rotation members 10a and 10b are rotatable with respect to the base member 3, respectively, as in the second embodiment.
- the inside and outside of the armatures 6a and 6b that are the stators and the magnets 9a and 9b that are the rotors are opposite to those of the second embodiment.
- a recess is formed in the inner periphery of the outer peripheral member 3a of the base member 3, and armatures 6a and 6b are housed therein. The opening of the recess is closed by the partition member 5a.
- Magnets 9a and 9b facing the armatures 6a and 6b are arranged on the outer periphery of the rotating members 10a and 10b, and are arranged close to each other at a constant interval, as in the second embodiment.
- the sensors 7a to 7h are arranged in the reverse manner to the second embodiment.
- the armatures 6a and 6b that are the stator and the magnets 9a and 9b that are the rotor are arranged so that the bearings 11a and 1 lb are located in the same axial region of the fixed shaft member 8. It is arranged coaxially. As a result, the axial length of the drive source lc can be shortened.
- FIG. 9 shows a drive source Id in which one fixed shaft member 8 is provided with four rotating members 10a ⁇ : LOd shifted in the height direction.
- the drive source Id is installed in the housing 2 that can be in a vacuum atmosphere. Since the configurations of the base member 3, the partition member 5, the fixed shaft member 8, and the like are the same as those in the second embodiment, redundant description is omitted.
- a cylindrical outer peripheral member 3a rises in the axial direction from the base member 3 toward the inside of the housing 2.
- a tip member 13 is fixed to the tip of the fixed shaft member 8.
- the tip member 13 has a disk shape corresponding to the base member 3, and an outer peripheral member 13 a rising toward the base member 3 is formed on the outer periphery thereof.
- a rotating member 10a is rotatably supported on the inner periphery of the outer peripheral member 3a via two rows of bearings 1la, and the rotating member 10b is rotated on the inner side thereof via two rows of bearings ib. It is supported freely. Thereby, the rotating members 10a and 10b are rotatable with respect to the base member 3, respectively.
- a rotating member 10c is rotatably supported on the inner periphery of the outer peripheral member 13a via two rows of bearings 11c, and a rotating member 10d is rotatably supported on the inner side thereof via two rows of bearings id. ing.
- the rotating members 10c and 10d are rotatable with respect to the tip member 13 or the base member 3, respectively.
- Each rotating member 10a ⁇ Magnets 9a to 9d, which are rotors, are arranged on the inner periphery of LOd, and armatures 6a to 6d, which are stators, are arranged on the outer periphery of fixed shaft member 8 so as to face them. Is arranged. Between these, a cylindrical partition member 5b is disposed, and magnets 9a to 9d opposed to the armatures 6a to 6d are disposed close to each other at regular intervals with the partition member 5b interposed therebetween.
- Sensors 7a to 7p are arranged adjacent to the armatures 6a to 6d and the magnets 9a to 9d. Also in the fourth embodiment, the armatures 6a to 6d that are the stator and the magnets 9a to 9d that are the rotor are arranged, and the bearings lla to lld are the same in the axial direction of the fixed shaft member 8. It is arranged coaxially in the area. As a result, the axial length of the drive source Id can be shortened.
- each functional component in each embodiment may be replaced by the same one.
- the bearing is not limited to a so-called rolling bearing, and may be one using a self-lubricating synthetic resin material.
- the partitioning or joining structure of each member is also a matter that can be appropriately designed, and the material of each part may be appropriately selected according to the necessary conditions.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2005800228407A CN1981371B (zh) | 2004-07-09 | 2005-07-11 | 驱动源及移动式搬运机器人 |
JP2006529027A JP4452279B2 (ja) | 2004-07-09 | 2005-07-11 | 駆動源および搬送ロボット |
DE112005001568T DE112005001568T5 (de) | 2004-07-09 | 2005-07-11 | Antrieb und Transferroboter |
KR1020077000094A KR100909993B1 (ko) | 2004-07-09 | 2005-07-11 | 구동원 및 반송 로보트 |
US11/631,679 US7704036B2 (en) | 2004-07-09 | 2005-07-11 | Drive source and transportation robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-203997 | 2004-07-09 | ||
JP2004203997 | 2004-07-09 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006006554A1 true WO2006006554A1 (ja) | 2006-01-19 |
Family
ID=35783894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/012746 WO2006006554A1 (ja) | 2004-07-09 | 2005-07-11 | 駆動源および搬送ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US7704036B2 (ja) |
JP (1) | JP4452279B2 (ja) |
KR (1) | KR100909993B1 (ja) |
CN (1) | CN1981371B (ja) |
DE (1) | DE112005001568T5 (ja) |
WO (1) | WO2006006554A1 (ja) |
Cited By (5)
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US7946800B2 (en) | 2007-04-06 | 2011-05-24 | Brooks Automation, Inc. | Substrate transport apparatus with multiple independently movable articulated arms |
JP2012177617A (ja) * | 2011-02-25 | 2012-09-13 | Nsk Ltd | レゾルバ装置及びモータ回転角度検出装置 |
US8752449B2 (en) | 2007-05-08 | 2014-06-17 | Brooks Automation, Inc. | Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism |
JP2014520681A (ja) * | 2011-07-13 | 2014-08-25 | ブルックス オートメーション インコーポレイテッド | 小型ダイレクトドライブ式スピンドル |
JP2017503149A (ja) * | 2013-11-13 | 2017-01-26 | ブルックス オートメーション インコーポレイテッド | 密閉環境のための位置フィードバック |
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US7891935B2 (en) | 2002-05-09 | 2011-02-22 | Brooks Automation, Inc. | Dual arm robot |
KR100980283B1 (ko) * | 2008-02-12 | 2010-09-06 | 주식회사 뉴파워 프라즈마 | 기판 이송 장치 및 이를 구비한 기판 처리 시스템 |
JP4770856B2 (ja) * | 2008-03-21 | 2011-09-14 | トヨタ自動車株式会社 | 移送用ロボット |
US8529136B2 (en) * | 2009-03-30 | 2013-09-10 | Wafertech, Llc | High temperature ball bearing |
US10705692B2 (en) | 2009-05-21 | 2020-07-07 | Sony Interactive Entertainment Inc. | Continuous and dynamic scene decomposition for user interface |
CN103503127B (zh) | 2011-03-11 | 2016-05-11 | 布鲁克斯自动化公司 | 基底处理工具 |
TWI667110B (zh) * | 2011-07-13 | 2019-08-01 | 布魯克斯自動機械公司 | 基板運送裝置及密封致動器 |
KR102371755B1 (ko) | 2011-09-16 | 2022-03-07 | 퍼시몬 테크놀로지스 코포레이션 | 패시브 회전자를 가진 로봇 구동 |
US10569430B2 (en) | 2011-09-16 | 2020-02-25 | Persimmon Technologies Corporation | Low variability robot |
US9202733B2 (en) | 2011-11-07 | 2015-12-01 | Persimmon Technologies Corporation | Robot system with independent arms |
CN103192371B (zh) * | 2012-01-06 | 2015-07-01 | 沈阳新松机器人自动化股份有限公司 | 空间连杆型机械手 |
JP2016537948A (ja) | 2013-11-13 | 2016-12-01 | ブルックス オートメーション インコーポレイテッド | 密封スイッチトリラクタンスモータ |
WO2015073647A1 (en) | 2013-11-13 | 2015-05-21 | Brooks Automation, Inc. | Sealed robot drive |
KR20230116962A (ko) | 2013-11-13 | 2023-08-04 | 브룩스 오토메이션 인코퍼레이티드 | 브러쉬리스 전기 기계 제어 방법 및 장치 |
TWI677166B (zh) * | 2013-11-13 | 2019-11-11 | 美商布魯克斯自動機械公司 | 密封切換的磁阻馬達 |
KR20240046638A (ko) | 2014-01-21 | 2024-04-09 | 퍼시몬 테크놀로지스 코포레이션 | 기판 이송 진공 플랫폼 |
JP6378595B2 (ja) * | 2014-09-19 | 2018-08-22 | 東京エレクトロン株式会社 | 基板搬送装置 |
US10515834B2 (en) | 2015-10-12 | 2019-12-24 | Lam Research Corporation | Multi-station tool with wafer transfer microclimate systems |
JP6827437B2 (ja) * | 2018-03-30 | 2021-02-10 | ファナック株式会社 | ロボット用駆動ユニット、ロボットおよびシール構造 |
US11312006B2 (en) | 2018-03-30 | 2022-04-26 | Fanuc Corporation | Robot drive unit and robot |
JP2023518164A (ja) * | 2020-03-02 | 2023-04-28 | パーシモン テクノロジーズ コーポレイション | コンパクトなトラバースロボット |
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JP2000167792A (ja) * | 1998-12-04 | 2000-06-20 | Daihen Corp | 搬送装置 |
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TW473420B (en) * | 1999-12-02 | 2002-01-21 | Komatsu Mfg Co Ltd | Robotic manipulator for conveyance |
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- 2005-07-11 US US11/631,679 patent/US7704036B2/en not_active Expired - Fee Related
- 2005-07-11 CN CN2005800228407A patent/CN1981371B/zh not_active Expired - Fee Related
- 2005-07-11 WO PCT/JP2005/012746 patent/WO2006006554A1/ja active Application Filing
- 2005-07-11 JP JP2006529027A patent/JP4452279B2/ja active Active
- 2005-07-11 DE DE112005001568T patent/DE112005001568T5/de not_active Withdrawn
- 2005-07-11 KR KR1020077000094A patent/KR100909993B1/ko not_active IP Right Cessation
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JP2002059386A (ja) * | 1999-12-02 | 2002-02-26 | Komatsu Ltd | 搬送用ロボット |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
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US7946800B2 (en) | 2007-04-06 | 2011-05-24 | Brooks Automation, Inc. | Substrate transport apparatus with multiple independently movable articulated arms |
US8651796B2 (en) | 2007-04-06 | 2014-02-18 | Brooks Automation, Inc. | Substrate transport apparatus with multiple independently movable articulated arms |
US8752449B2 (en) | 2007-05-08 | 2014-06-17 | Brooks Automation, Inc. | Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism |
US10335945B2 (en) | 2007-05-08 | 2019-07-02 | Brooks Automation, Inc. | Substrate transport appartatus with multiple movable arms utilizing a mechanical switch mechanism |
JP2012177617A (ja) * | 2011-02-25 | 2012-09-13 | Nsk Ltd | レゾルバ装置及びモータ回転角度検出装置 |
US9751209B2 (en) | 2011-07-13 | 2017-09-05 | Brooks Automation, Inc. | Compact direct drive spindle |
JP2018201040A (ja) * | 2011-07-13 | 2018-12-20 | ブルックス オートメーション インコーポレイテッド | 基板搬送装置 |
JP2014520681A (ja) * | 2011-07-13 | 2014-08-25 | ブルックス オートメーション インコーポレイテッド | 小型ダイレクトドライブ式スピンドル |
US10493620B2 (en) | 2011-07-13 | 2019-12-03 | Brooks Automation, Inc. | Compact direct drive spindle |
US11110598B2 (en) | 2011-07-13 | 2021-09-07 | Brooks Automation, Inc. | Compact direct drive spindle |
US11772261B2 (en) | 2011-07-13 | 2023-10-03 | Brooks Automation Us, Llc | Compact direct drive spindle |
JP7473606B2 (ja) | 2011-07-13 | 2024-04-23 | ブルックス オートメーション ユーエス、エルエルシー | 基板搬送装置 |
JP2017503149A (ja) * | 2013-11-13 | 2017-01-26 | ブルックス オートメーション インコーポレイテッド | 密閉環境のための位置フィードバック |
Also Published As
Publication number | Publication date |
---|---|
CN1981371A (zh) | 2007-06-13 |
JPWO2006006554A1 (ja) | 2008-04-24 |
JP4452279B2 (ja) | 2010-04-21 |
CN1981371B (zh) | 2010-05-05 |
DE112005001568T5 (de) | 2007-08-23 |
US7704036B2 (en) | 2010-04-27 |
KR20070057758A (ko) | 2007-06-07 |
KR100909993B1 (ko) | 2009-07-29 |
US20080019816A1 (en) | 2008-01-24 |
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