WO2011062051A1 - 搬送装置及び真空装置 - Google Patents
搬送装置及び真空装置 Download PDFInfo
- Publication number
- WO2011062051A1 WO2011062051A1 PCT/JP2010/069413 JP2010069413W WO2011062051A1 WO 2011062051 A1 WO2011062051 A1 WO 2011062051A1 JP 2010069413 W JP2010069413 W JP 2010069413W WO 2011062051 A1 WO2011062051 A1 WO 2011062051A1
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- WIPO (PCT)
- Prior art keywords
- driven
- drive
- link
- biasing
- downstream
- Prior art date
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Classifications
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
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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
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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
- H01L21/677—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
- H01L21/683—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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- 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
- H01L21/68714—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 susceptor, stage or support
- H01L21/6875—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 susceptor, stage or support characterised by a plurality of individual support members, e.g. support posts or protrusions
Definitions
- the present invention relates to a transfer device for transferring a transfer object such as a substrate, and more particularly to a transfer device suitable for a vacuum apparatus including a plurality of process chambers such as a semiconductor manufacturing apparatus.
- the substrate transport apparatus 201 includes a drive unit 202, an arm unit 203 formed of a plurality of arms connected to the drive unit 202, and an end effector 204 connected to the tip of the arm unit 203.
- the back surface of the substrate W is supported by the upper surface of the effector 204, and the substrate W is transferred between a plurality of process chambers (not shown).
- the end effector 204 is generally made of ceramics or stainless steel. Therefore, when the arm part 203 is extended or retracted or swiveled at a high speed, the end effector 204 also operates at a high speed. Therefore, the substrate W slides on the end effector 204 due to the acceleration applied to the substrate W, and the substrate W is placed in the correct position. There is a problem that can not be transported. In addition, in the prior art, there is a problem that dust generated when the substrate W slides on the end effector 204 contaminates the surface of the substrate W.
- the holding portion 205 is generally formed of a resin-based elastic material such as rubber or elastomer, the holding portion 205 suppresses the slip of the back surface of the substrate W and functions as a non-slip pad. Accordingly, the substrate W is held in a stable transport posture without slipping on the upper surface of the end effector 204 (see, for example, Patent Document 1).
- the holding portion 205 formed of a resin-based elastic material such as an elastomer has a relatively low temperature of the substrate W and the surrounding atmosphere (for example, 200 ° C. or lower), the slip of the substrate W is efficiently suppressed.
- the temperature is high (for example, 300 to 500 ° C.)
- the holding portion 205 cannot be prevented from slipping due to heat deterioration or deformation.
- the substrate W may stick due to the adhesive force of the holding unit 205, and the substrate W may not be properly separated from the end effector 204.
- the substrate W is delivered to the stage in the process chamber, there are problems that the substrate W is not separated from the holding unit 205 and that the substrate W is not separated and that the substrate W cannot be transferred to the correct position.
- the present invention has been made in order to solve the above-described problems of the prior art, and the object of the present invention is to provide an environment in which the temperature of the conveyed product and the surrounding atmosphere is high even in a relatively low environment. In this case, the transported object is reliably held and high-speed transport is achieved. Another object of the present invention is to provide a technique for reducing dust as much as possible during conveyance of a conveyed product.
- the present invention which has been made to achieve the above object, is connected to a telescopic link mechanism having a plurality of arms to which power from a driving source is transmitted, and a driving link portion at the operating tip of the link mechanism. And a placement section for placing the transported object, and the side portion of the transported object is abutted against the side portion of the transporting mechanism at the downstream side of the placement section in the substrate transport direction in accordance with the operation of the drive link section of the link mechanism.
- a downstream urging mechanism is provided that contacts and urges the conveyed object in a direction toward the link mechanism, and holds the conveyed object from both sides in the substrate conveying direction by urging by the downstream urging mechanism. It is the conveyance apparatus comprised by this.
- the transported portion is attached to the upstream side of the placement unit in the substrate transport direction in contact with the side portion of the transport object.
- the downstream biasing mechanism is provided with a cam-type drive unit, and the downstream biasing mechanism has a cam-type downstream biasing unit driven by the cam-type drive unit. It is also effective when provided.
- the downstream biasing mechanism is provided with a cam-type drive unit, and the downstream biasing mechanism is engaged with and driven by the link-type drive unit. This is also effective when an urging portion is provided.
- the two downstream urging portions are provided, and the grip portions provided in the respective downstream urging portions extend in the substrate transport direction through the rotation center axes of the first and second drive shafts. It is also effective when arranged so as to be symmetric with respect to a straight line.
- the upstream side urging mechanism has a cam drive surface provided in a drive link portion of the link mechanism and a driven roller that can be driven in contact with the cam drive surface to move the driven roller. Accordingly, it is also effective in the case of including a driven mechanism portion having an urging portion guided and moved along the substrate conveyance direction.
- the upstream side urging mechanism has a pair of adjacent link members that are provided in the drive link portion of the link mechanism and whose rotation directions are opposite to each other, and is formed of a band-shaped integral elastic member. It is also effective when the urging means is provided across the pair of adjacent link members.
- the upstream side biasing mechanism includes a drive support portion provided in a drive link portion of the link mechanism, and a driven mechanism portion driven by the drive support portion
- the driven mechanism portion includes: A driven portion having a long groove-like sliding portion that can be slidably engaged with the drive support portion, and connected to the driven portion in the substrate transport direction in accordance with the movement of the drive support portion in the long groove-like sliding portion of the driven portion It is also effective when it has an urging portion guided and moved along.
- the upstream biasing mechanism is provided with a plurality of driving magnets having different polarities in the drive link portion, and the driven mechanism portion is provided with a driven magnet having a single polarity.
- the present invention also includes a telescopic link mechanism having a plurality of arms to which power from a drive source is transmitted, and an operating tip portion of the link mechanism connected via a drive link portion to place a transported object.
- An upstream urging mechanism for urging the substrate downstream in the substrate transport direction, and a side portion of the transported object that is provided at the downstream portion of the placement unit in the substrate transport direction, along with the operation of the drive link portion of the link mechanism.
- a downstream urging mechanism that urges the conveyed object in a direction toward the link mechanism located upstream in the substrate conveyance direction, and the upstream urging mechanism includes a drive link of the link mechanism.
- a pair of adjacent link parts provided in the part Respectively, a pair of driven rollers that can be driven by being in contact with the pair of cam driving surfaces, respectively, and a linear movement in the substrate transport direction according to the movement of the pair of driven rollers.
- the biasing portion of the driven mechanism portion does not contact the side portion of the transported object, and the link mechanism is contracted.
- the moving distance of the urging portion of the driven mechanism portion is set so that the urging portion of the driven mechanism portion abuts on the side portion of the conveyed product, and the upstream urging mechanism and the downstream urging force are set.
- It is a transfer device configured to hold the transfer object from both sides in the substrate transfer direction by urging by a mechanism.
- the downstream urging mechanism includes a pair of driving members provided to move in the substrate transport direction in accordance with the movement of the driven mechanism portion of the upstream urging mechanism, and the pair of driving members.
- Each having a cam driving surface provided at an end on the downstream side in the substrate transport direction, and a driven locking member having a gripping portion that can be driven by contacting each cam driving surface of the pair of driving members,
- the driven locking member is configured such that the gripping portions rotate and move up to the upstream side in the substrate transport direction in association with the movement of the pair of drive members to the downstream side in the substrate transport direction, and In the state where the link mechanism is extended, the gripping portion of the driven locking member is not in contact with the side portion of the conveyed product, and in the state where the link mechanism is contracted, the gripping portion of the driven locking member is Abutting against the side of the conveyed product Is effective even when the moving distance of the biasing portion of the driven engaging member is set.
- the present invention also includes a vacuum chamber and any one of the above-
- the substrate in accordance with the operation of the drive link portion of the link mechanism, the substrate is brought into contact with the side portion of the transported object toward the link mechanism at the downstream side of the placement unit in the substrate transport direction. Since the downstream urging mechanism for urging in the direction is provided and the conveyed product is mechanically held by being urged by the downstream urging mechanism from both sides in the substrate conveying direction, It is possible to realize high-speed conveyance of the conveyed object by suppressing the slip of the conveyed object (in principle, without slipping).
- the upstream of the placement unit that is in contact with the side of the transported object and urges the transported object in the substrate transporting direction in accordance with the operation of the drive link unit of the link mechanism at the upstream side of the substrate transporting direction.
- the side urging mechanism is provided, the conveyed product can be gripped from both sides in the substrate conveying direction at the same time. Therefore, it is possible to provide a conveying device in which the conveyed item does not slip and does not generate dust. it can.
- the downstream biasing mechanism when the downstream biasing mechanism is provided with a cam-type drive unit and a cam-type downstream biasing unit driven by the cam-type drive unit, the cam mechanism Therefore, for example, contamination of the substrate surface due to dust generated at the sliding portion can be prevented.
- the downstream biasing mechanism when the downstream biasing mechanism is provided with a link type driving unit and a link type downstream biasing unit that is driven by being engaged with the link type driving unit. Since the sliding part of the link mechanism can be arranged at a position separated from the substrate which is the conveyed product, for example, contamination of the substrate surface by dust generated at the sliding part can be prevented.
- two downstream urging portions are provided, and the grip portions provided in the respective downstream urging portions pass through the rotation center axes of the first and second drive shafts in the substrate transport direction.
- the substrate When arranged so as to be symmetric with respect to the extending straight line, the substrate can be urged and held (gripped) in a balanced manner by the two gripping portions.
- the upstream side urging mechanism has a cam drive surface provided in the drive link portion of the link mechanism and a driven roller that can be driven by contacting the cam drive surface.
- the upstream biasing mechanism has a pair of adjacent link members provided in the drive link portion of the link mechanism and whose rotation directions are opposite to each other, and is composed of a band-shaped integral elastic member.
- the upstream biasing mechanism includes a drive support portion provided in a drive link portion of the link mechanism, and a driven mechanism portion driven by the drive support portion, and the driven mechanism portion includes a drive support portion and a drive support portion.
- a driven portion having a long groove-like sliding portion capable of engaging and sliding, and guided movement along the substrate transport direction in accordance with the movement of the drive support portion in the long groove-like sliding portion of the driven portion connected to the driven portion. Power is transmitted by a slide mechanism, a small transport device can be provided with a simple configuration, and a portion that slides on a portion that grips a transported object is provided. Since there is no, generation
- the upstream biasing mechanism is provided with a plurality of drive magnets having different polarities in the drive link portion
- the driven mechanism portion is provided with a single polarity driven magnet, and the drive link portion and the driven link portion are driven.
- summary of the conveying apparatus which concerns on this invention (A): The block diagram which shows the example of the driven mechanism part of the upstream biasing mechanism in this invention, (b): The block diagram which shows the whole upstream biasing mechanism (A) (b): The figure explaining the operating principle and structure of the upstream urging mechanism in detail
- the top view which shows the downstream urging mechanism and the upstream urging mechanism (A): Plan view showing the main part of the downstream urging mechanism, (b): Partial sectional view showing the main part of the downstream urging mechanism (A): Plan view showing the main part of the downstream urging mechanism, (b): Partial sectional view showing the main part of the downstream urging mechanism (A)-(c): Explanatory drawing showing the operation of the transport device in this example
- the top view which shows the upstream biasing mechanism and downstream biasing mechanism in the other example of this invention (A) (b): The top view which shows the principal part of the downstream biasing mechanism The figure which shows the
- FIG. 15 (a) The figure explaining the operation
- Schematic configuration diagram of a transfer device according to the prior art Schematic configuration diagram of the main part of a conventional transport device
- FIG. 1 is a plan view schematically showing a general configuration of a transport apparatus according to the present invention.
- the transfer apparatus 50 of the present invention is of a so-called frog-leg type that transfers a substrate 10 as a transfer object in a vacuum processing tank, for example, to drive a link mechanism 20 described below.
- the first and second drive shafts 11 and 12 are arranged concentrically in the vertical direction.
- Each of the drive shafts 11 and 12 is configured such that the rotational power in the clockwise direction or the counterclockwise direction is transmitted from the independent first and second drive sources M1 and M2, respectively.
- One end (base end) of the first left arm 1L is fixed to the first drive shaft 11, and one end (base end) of the first right arm 1R is fixed to the second drive shaft 12. End) is fixed.
- One end portion (base end portion) of the second left arm 2L is attached to the other end portion (tip portion) of the first left arm 1L so as to be rotatable in the horizontal direction around the support shaft 21L.
- One end portion (base end portion) of the second right arm 2R is attached to the other end portion (tip end portion) of the first right arm 1R so as to be rotatable in the horizontal direction around the support shaft 21R. ing.
- the first left arm 1L and the first right arm 1R are formed in a straight line and have the same distance between fulcrums.
- the second left arm 2L is formed in a straight line, and one end (base end) of the third left arm 3L is fixed to the other end (tip) by a fixing screw 22L.
- the second right arm 2R is formed in a straight line, and one end (base end) of the third right arm 3R is fixed to the other end (tip) by a fixing screw 22R. ing.
- the third left arm 3L and the third right arm 3R constitute a drive link portion, and are formed in a substantially “ ⁇ ” shape, and the convex portions of the respective bent portions are outward of the link. It is arranged facing the side. Further, the other end portion (tip portion) of the third left arm 3L is attached so as to be rotatable in the horizontal direction around a support shaft 23L provided on the surface of the power transmission mechanism 4 described later.
- the other end portion (tip portion) of the third right arm 3R is attached so as to be rotatable in the horizontal direction around a support shaft 23R provided on, for example, the surface side of the power transmission mechanism 4 described later.
- a support shaft 23R provided on, for example, the surface side of the power transmission mechanism 4 described later.
- the distance between the fulcrums of the support shaft 23R is configured to have the same distance.
- the power transmission mechanism 4 includes a pair of gears (not shown) that mesh with each other in a rectangular thin box-shaped housing, for example. These gears have the same number of teeth, and the respective rotation shafts are fixed to the above-described support shafts 23L and 23R, and thus are configured to rotate at the same speed in the reverse direction to act as posture control mechanisms. Has been.
- These support shafts 23L and 23R are arranged close to each other in a direction orthogonal to the substrate transport direction. In the case of the present invention, there is no particular limitation, but from the viewpoint of holding the conveyed product in a balanced manner, it passes through the rotation center axis of the first and second drive shafts 11 and 12, and the substrate conveyance direction (arrow P direction). It is preferable that the support shafts 23L and 23R are arranged at positions orthogonal to the axis.
- the placement unit 5 includes support members 5L and 5R provided at a predetermined interval.
- the downstream urging mechanism 7 for holding the substrate 10 is provided at the downstream end of the support members 5L and 5R in the substrate transport direction.
- the downstream side urging mechanism 7 is a portion of the mounting portion 5 on the downstream side in the substrate transport direction in accordance with the operation of the third left arm 3L and the third right arm 3R constituting the link mechanism 20.
- the substrate 10 is configured to abut against the side portion of the substrate 10 and bias the substrate 10 toward the link mechanism 20 (upstream side in the substrate transport direction) (indicated by reference numerals f1 and f2).
- an upstream side biasing mechanism 9 is provided at a site upstream of the placement unit 5 in the substrate transport direction.
- the upstream urging mechanism 9 abuts against the side portion of the substrate 10 in accordance with the operation of the third left arm 3L and the third right arm 3R of the link mechanism 20, and causes the substrate 10 to move. It is configured to be urged in the substrate transport direction (indicated by reference numeral F).
- FIG. 2A is a configuration diagram illustrating an example of a driven mechanism portion of the upstream biasing mechanism in the present invention
- FIG. 2B is a configuration diagram illustrating the entire upstream biasing mechanism
- FIG. (B) is a figure explaining the operating principle and structure of an upstream urging mechanism in detail.
- the base portion 71 of the downstream biasing mechanism 7 is provided on the main body portion 60 of the driven mechanism portion 6, as shown in FIG. Although attached and fixed, the description of the downstream side urging mechanism 7 is omitted here for convenience.
- the third left arm 3L and the third right arm 3R have respective semicircular tips, and each tip is downstream in the substrate transport direction.
- arc-shaped cam drive surfaces 31L and 31R are provided.
- the upstream urging mechanism 9 is configured to include the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R and the driven mechanism portion 6 shown in FIG. ing.
- the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R cut out, for example, the upper surface sides of the third left arm 3L and the third right arm 3R in a step shape.
- it is formed in a circular arc shape that is convex with respect to the downstream direction in the substrate transport direction.
- the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R are provided with displacement amounts (distances between the support shaft 23L and the inner contact surface 31L1,
- the distance r1 between the support shaft 23R and the inner contact surface 31R1 is the displacement amount on each base end side (the distance between the support shaft 23L and the outer contact surface 31L0, the distance between the support shaft 23R and the outer contact surface 31R0).
- It is configured to be smaller than r0 (r1 ⁇ r0).
- the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R pass through the rotation center axes of the first and second drive shafts 11 and 12 in the substrate transport direction. It is formed so as to be line symmetric with respect to the extending straight line.
- the driven mechanism portion 6 of the present example is preferably made of a metal member such as stainless steel and has a straight bar-shaped main body portion 60.
- a trapezoidal support member 61 for example, is attached to one end of the main body 60 of the driven mechanism unit 6, and a true circular driven roller 62L having the same diameter is attached to both ends of the trapezoid base of the support member 61, for example. , 62R are provided.
- the driven rollers 62 ⁇ / b> L and 62 ⁇ / b> R are, for example, arranged so as to be line-symmetric with respect to a straight line in the extending direction of the main body 60, and the support shaft 63 ⁇ / b> L in a direction orthogonal to the plane including the main body 60. It is configured to rotate around 63R.
- a convex (here, pin-shaped) biasing portion 6 a is attached to the other end portion of the main body portion 60 of the driven mechanism portion 6.
- the tip of the urging portion 6a can be coated with a heat-resistant resin material such as PTFE (polytetrafluoroethylene resin) for preventing the generation of dust.
- a compression coil spring 64 is mounted around the main body 60 between the middle part of the main body 60 of the driven mechanism 6 and the support member 61 described above. The tip of the compression coil spring 64 is fixed to the support member 61.
- the driven rollers 62L and 62R of the driven mechanism section 6 are respectively provided on the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R.
- the main body 60 of the driven mechanism unit 6 is rotated at the center of rotation of the first and second drive shafts 11 and 12 by being guided by, for example, a guide member 65 provided on the surface of the mounting unit 5 in the contact state. It is configured to move linearly in the substrate transport direction through the axis.
- the compression coil spring 64 attached to the main body portion 60 of the driven mechanism portion 6 is locked with the distal end portion on the biasing portion 6a side coming into contact with the guide member 65, and is driven by the elastic force.
- the driven rollers 62L and 62R are pressed against the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R.
- the angle formed by the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R is 180, for example. Set to be larger than degree.
- the angle formed by the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R is, for example, 180 degrees. Set to be smaller.
- the biasing portion 6a on the downstream side in the substrate transport direction of the driven mechanism portion 6 is the side portion of the substrate 10 to be transported.
- the length of the driven mechanism unit 6 (here, the distance from the tip of the urging unit 6a to the inner contact surfaces 31L1 and 31R1 of the cam drive surfaces 31L and 31R of the driven rollers 62L and 62R)
- the angles of the mounting surfaces 30L and 30R of the third left arm 3L and the third right arm 3R and the displacement r1 of the cam drive surfaces 31L and 31R are set, and the inner sides of the driven rollers 62L and 62R are set.
- a distance between the contact surfaces 31L1 and 31R1 and the side portion of the substrate 10 is determined, and this is defined as a distance D.
- the angle formed by the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R is smaller than 180 degrees.
- the driven rollers 62L and 62R of the driven mechanism 6 move to the outer contact surfaces 31L0 and 31R0 side along the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R, respectively. Thereby, the distance between the supporting shafts 23L and 23R of the third left arm 3L and the third right arm 3R and the cam drive surfaces 31L and 31R is increased (r0> r1).
- the angle of the straight line connecting the contact portions of the driven rollers 62L and 62R of the driven mechanism unit 6 and the cam drive surfaces 31L and 31R and the support shafts 23L and 23R with respect to the substrate transport direction is determined by the link mechanism 20 Since the link mechanism 20 is smaller in the contracted state than in the extended state ( ⁇ 0 ⁇ 1), the driven mechanism unit 6 is rotated along with the rotation of the third left arm 3L and the third right arm 3R in the contraction direction.
- the downstream portion (biasing portion 6a) of the driven mechanism portion 6 in the substrate transport direction comes into contact with the side portion of the substrate 10 to be transported, and the force F in the substrate transport direction is exerted on the side portion of the substrate 10.
- the portion of the compression coil spring 64 on the downstream side in the transport direction contacts the guide member 65 and is compressed during the above operation, the driven roller 62L of the driven mechanism portion 6 is compressed by the elastic force of the compression coil spring 64.
- 62R is pressed and brought into close contact with the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R, so that the driven mechanism section 6 can reliably and accurately follow the guide member 65 with high accuracy. Move downstream in the transport direction.
- FIG. 4 is a plan view showing the downstream side biasing mechanism and the upstream side biasing mechanism in this example
- FIG. 5A is a plan view showing the main part of the downstream side biasing mechanism
- FIG. 6A is a plan view showing the main part of the downstream side urging mechanism
- FIG. 6B shows the downstream side urging mechanism. It is a fragmentary sectional view which shows the principal part.
- a downstream urging mechanism 7 having a left downstream urging portion 70 ⁇ / b> L and a right downstream urging portion 70 ⁇ / b> R is provided at a site downstream of the placement unit 5 in the substrate transport direction.
- the downstream side urging mechanism 7 has a linear rod-like base 71 that is attached and fixed to the main body 60 of the driven mechanism 6 described above and extends in a direction orthogonal to the substrate transport direction (arrow P direction). Yes.
- the base portion 71 has a length substantially equal to the interval between the support members 5L and 5R of the mounting portion 5, and a linear rod-shaped left drive member 71L extending in the substrate transport direction is attached and fixed to the left support member 5L.
- a straight bar-like left drive member 71R extending in the substrate transport direction is fixedly attached to the right support member 5R.
- the left drive member 71L and the right drive member 71R are respectively disposed on the lower side along the support members 5L and 5R.
- the left drive member 71L and the right drive member 71R are arranged so as to be line-symmetric with respect to a straight line that passes through the rotation center axis of the first and second drive shafts 11 and 12 and extends in the substrate transport direction. Yes.
- a left downstream biasing portion 70L and a right downstream biasing portion 70R are provided at the tip portions of the left and right support members 5L, 5R of the mounting portion 5.
- a drive mechanism is configured by the base 71, the left drive member 71L, and the right drive member 71R described above, and the left downstream biasing portion 70L and the right downstream biasing portion 70R are respectively connected with the operation of the link mechanism 20. It is configured to drive.
- the left downstream biasing portion 70L and the right downstream biasing portion 70R are configured to operate by the same mechanism, and pass through the rotation center axes of the first and second drive shafts 11 and 12, respectively. It arrange
- the right downstream side urging portion 70R of the present example includes a box-shaped holding portion 51 attached to the lower portion of the support member 5R. On the bottom 51a of the holding portion 51, the right drive member 71R described above is supported in the horizontal direction.
- support shafts 72R extending in a direction perpendicular to the substrate transport direction and directed in the horizontal direction are rotatably supported.
- a right clamp locking member 73R constituting the right downstream side urging portion 70R is attached and fixed to the support shaft 72R.
- the right clamp locking member 73R is formed in a substantially “L” shape and includes a grip portion 730 extending vertically upward and a cam follower 731 extending downstream in the substrate transport direction with respect to the support shaft 72R.
- the gripping portion 730 of the right clamp locking member 73R is configured such that the tip portion protrudes upward from an opening 74R provided in the support member 5R.
- the length, ie, the distance between fulcrum may become longer than the cam follower part 731, and it is comprised so that a front-end
- one end of, for example, a tension coil spring 75 which is an elastic member, is attached to the downstream side of the gripping portion 730 of the right clamp locking member 73R in the substrate transport direction. Further, the other end of the tension coil spring 75 is attached to an attachment member 76 provided at a position on the support member 5R on the downstream side in the substrate transport direction. And as shown in FIG.5 (b), the tension coil spring 75 is comprised so that the holding part 730 of the right clamp latching member 73R may be pulled in the board
- the gripping portion 730 of the right clamp locking member 73R has, for example, a planar gripping surface 732 inclined at a predetermined angle (for example, about 45 ° inward of the substrate 10 to be transported) with respect to the substrate transport direction. Is provided.
- the gripping surface 732 of the right clamp locking member 73R can be coated with a heat resistant resin material such as PTFE for preventing dust generation.
- the cam follower 731 of the right clamp locking member 73R is formed slightly downward with respect to the support shaft 72R, and the portion directly below the support shaft 72R and the lower surface 734 of the cam follower 731 are the upper surface of the drive member 71R. It is comprised so that it may contact with 710 (and the cam drive surface 711 demonstrated below).
- the cam follower 731 has a round shape at the tip.
- the cam drive surface 711 is formed in a concave shape, and is formed in a concave curved surface shape that fits into the lower surface 734 of the cam driven portion 731 of the right clamp locking member 73R.
- a coating made of a heat-resistant resin material such as PTFE is applied to a portion where the cam follower 731 of the right clamp locking member 73R and the upper surface 710 of the drive member 71R are in contact with each other. You can also.
- the left downstream biasing portion 70L has the same configuration as the right downstream biasing portion 70R described above, and is arranged to be line-symmetric with respect to a straight line extending in the substrate transport direction, as shown in FIG.
- a support shaft 72L, a left clamp locking member 73L, and an opening 74L are provided.
- the left clamp locking member 73L is provided with a grip portion 730, a cam follower portion 731 and a grip surface 732.
- the drive member 71L has the same configuration as the drive member 71R described above.
- the upper surface of the drive member 71L is a recess that fits into the lower surface 734 of the cam follower 731 of the left clamp locking member 73L.
- a curved cam drive surface 711 is formed.
- the base portion 71 fixed to the main body portion 60 of the driven mechanism portion 6 is located at a predetermined position on the upstream side in the substrate transport direction, whereby the left drive member 71L and the right drive member 71R are also on the upstream side in the substrate transport direction. Located at a predetermined position. Therefore, in such a positional relationship, for example, as shown in FIGS. 5A and 5B, the bottom portion of the cam drive surface 711 provided on the right drive member 71R and the cam follower of the right clamp locking member 73R.
- the cam driven portion 731 of the right clamp locking member 73R comes out of the cam drive surface 711 of the right drive member 71R, and the lower surface 734 of the cam driven portion 731 is driven.
- the gripping portion 730 of the right clamp locking member 73R rotates around the support shaft 72R in the direction opposite to the substrate transport direction, that is, in the standing direction.
- the left downstream side urging portion 70 ⁇ / b> L is configured so that the gripping surface 732 of the left clamp locking member 73 ⁇ / b> L contacts the edge portion of the substrate 10.
- the cam drive surface 711 the position of the support shaft 72L, the length and shape of the grip portion 730 of the left clamp locking member 73L, and the position and shape of the grip surface 732 are set.
- the gripping portion 730 and the right side of the left clamp locking member 73L with respect to the movement distance of the left drive member 71L and the right drive member 71R, that is, the movement distance of the driven mechanism unit 6 It is preferable to set the moving distance (stroke) of the grip portion 730 of the clamp locking member 73R to be small.
- the force F in the substrate transport direction acts from the biasing portion 6a of the driven mechanism portion 6 as shown in FIG.
- Forces f1 and f2 inward of the substrate 10 act in the direction from the left clamp locking member 73L of the downstream biasing portion 70L and the right clamp locking member 73R of the right downstream biasing portion 70R toward the link mechanism 20,
- a pressing force acts on the substrate 10 from the upstream side and the downstream side in the substrate transport direction, and the substrate 10 is reliably held (gripped) on the placement unit 5.
- the first left arm 1 ⁇ / b> L and the first right arm 1 ⁇ / b> R can be rotated in the same direction so that the turning operation can be performed while the substrate 10 is held.
- the timing at which the urging portion 6a of the driven mechanism 6 and the gripping surface 732 of the left clamp locking member 73L and the gripping surface 732 of the right clamp locking member 73R come into contact with the edge of the substrate 10 is the link mechanism 20. May be at the same time as when the link mechanism 20 is fully contracted, or may be before (immediately before) the link mechanism 20 is fully contracted, and may be changed as appropriate according to the size and arrangement of the transport apparatus and vacuum apparatus to which the present invention is applied. Can do.
- the gripping surface 732 of the left clamp locking member 73L and the right clamp locking member 73R after the urging portion 6a of the driven mechanism portion 6 contacts the edge of the substrate 10. It is preferable that the gripping surface 732 is in contact with the edge of the substrate 10.
- the left downstream biasing portion 70L (the gripping surface 732 of the left clamp locking member 73L) and the right downstream biasing portion 70R (the gripping surface 732 of the right clamp locking member 73R) are the first. Since the second drive shafts 11 and 12 are arranged so as to be line-symmetric with respect to a straight line passing through the rotation center axis of the second drive shafts 11 and 12 and extending in the substrate transport direction, the substrate 10 is urged and held (gripped) in a balanced manner. can do.
- the moving distance of the gripping portion 730 of the left clamp locking member 73L and the gripping portion 730 of the right clamp locking member 73R is smaller than the moving distance of the driven mechanism portion 6 in the substrate transport direction.
- the gripping surface 732 of the left clamp locking member 73L and the gripping surface 732 of the right clamp locking member 73R with respect to the timing of biasing the substrate 10 by the biasing portion 6a of the driven mechanism portion 6 are set. Timing and time can be set within a predetermined range, whereby the substrate 10 can be gripped with high accuracy.
- FIGS. 7A to 7C are explanatory views showing the operation of the transport apparatus in this example.
- the transfer chamber 8A and the processing chamber 8B are connected to a vacuum exhaust system (not shown).
- a gate valve (not shown) is connected between the transfer chamber 8A and the processing chamber 8B, and after the gate valve is opened, the loading and unloading operations are performed.
- the tip of the mounting portion 5 is directed toward the processing chamber 8B.
- a force in the substrate transport direction acts from the biasing portion 6a of the driven mechanism portion 6, and the base 71, the left drive member 71L, and the right drive member 71R are driven by the power from the driven mechanism portion 6. Since the force acts in the direction from the left clamp locking member 73L of the left downstream biasing portion 70L and the right clamp locking member 73R of the right downstream biasing portion 70R toward the link mechanism 20, the mounting portion The substrate 10 is held on the substrate 5.
- the first left arm 1L is rotated in the clockwise direction and the first right arm 1R is rotated in the counterclockwise direction, whereby the extension operation of the link mechanism 20 is started, and FIG. As shown, the substrate 10 goes straight toward the processing chamber 8B. Further, by continuing the extension operation of the link mechanism 20, as shown in FIG. 7C, the substrate 10 is carried into the processing chamber 8B.
- the urging portion 6a of the driven mechanism portion 6 and the side portion of the substrate 10 the left clamp engaging member 73L of the left downstream urging portion 70L, and the right side of the right downstream urging portion 70R. Since the clamp locking member 73R and the side portion of the substrate 10 are not in contact with each other, the substrate 10 is supported and raised by a lifting mechanism (not shown) installed in the processing chamber 8B, whereby the substrate 10 is transported. It can be made to detach
- the timing of releasing the contact with the side portion 10 may be the same as the state in which the link mechanism 20 is fully extended, or may be before (immediately before) the link mechanism 20 is fully extended, and the conveyance to which the present invention is applied. It can change suitably according to the magnitude
- the first left arm 1L is rotated in the counterclockwise direction, and the first right arm 1R is rotated in the clockwise direction to perform the contraction operation of the link mechanism 20, whereby the placement unit 5 is moved into the transfer chamber. It can be returned within 8A.
- the downstream biasing mechanism having the left downstream biasing portion 70L and the right downstream biasing portion 70R at the tip portions of the left and right support members 5L, 5R of the mounting portion 5.
- an upstream biasing mechanism 9 that is operated by a cam mechanism is provided at the operating tip of the link mechanism 20, and the left clamp locking member 73 ⁇ / b> L and the right clamp locking member 73 ⁇ / b> R and the biasing portion of the driven mechanism unit 6 are provided.
- the substrate 10 is mechanically held by being sandwiched from both sides in the substrate transport direction, so that the sliding of the substrate 10 on the upper surface of the mounting portion 5 is suppressed (in the case where the substrate 10 is simultaneously gripped)
- the substrate 10 can be transferred at high speed without slipping.
- the left downstream urging portion 70L, the right downstream urging portion 70R, and the driven mechanism portion 6 are convex members, and the portion that holds the substrate 10 has no sliding portion, and the substrate 10 Therefore, the generation of dust that contaminates the substrate 10 can be reduced. Furthermore, according to the present embodiment, since the sliding portion of the cam mechanism is disposed on the lower side of the substrate 10, contamination of the surface of the substrate 10 due to dust generated at the sliding portion can be prevented. .
- FIG. 8 and 9 (a) and 9 (b) show another example of the present invention.
- FIG. 8 is a plan view showing the upstream side biasing mechanism and the downstream side biasing mechanism
- FIG. b) is a plan view showing a main part of the downstream side urging mechanism.
- a downstream side biasing unit which will be described later, includes a link type biasing mechanism at the distal end portion of the support members 5L and 5R of the mounting unit 5.
- 81L and 81R are provided. Moreover, it has the drive member 80 for driving these downstream urging
- the drive member 80 is formed of a substantially “U” -shaped member, and includes a straight rod-like base portion 80a, a straight rod-like left drive portion 80L extending in a direction orthogonal to the base portion 80a at both ends of the base portion 80a, and a right drive portion. 80R.
- the drive member 80 is arranged so that the base portion 80a is orthogonal to the substrate transport direction, and the main body portion 60 of the driven mechanism portion 6 penetrates the base portion 80a.
- the main body 60 and the drive member 80 of the driven mechanism 6 are arranged and configured to be relatively movable in the substrate transport direction and in the opposite direction.
- the length of the base portion 80a of the driving member 80 is set to be longer than the pitch of the support members 5L and 5R of the mounting portion 5, so that when the driving member 80 is mounted on the transport device 50, the left driving is performed.
- the part 80L and the right drive part 80R are arranged outside the support members 5L and 5R, respectively.
- the left drive unit 80L and the right drive unit 80R of the drive member 80 are line-symmetric with respect to a straight line that passes through the rotation center axis of the first and second drive shafts 11 and 12 and extends in the substrate transport direction. Has been placed.
- the drive member 80 is configured to receive a force from the third right arm 3R of the link mechanism 20 via a power transmission mechanism 82 described below.
- the power transmission mechanism 82 has a straight bar-shaped main body portion 82a, and one end portion of the main body portion 82a is attached and fixed in a direction orthogonal to the base portion 80a of the drive member 80 described above. At the other end of the main body 82a of the power transmission mechanism 82, a true circular driven roller 82b is rotatably supported in a horizontal plane.
- the cam drive surface 31R is formed longer from the front end portion to the rear end portion of the third right arm 3R than in the example shown in FIG. Yes.
- a power transmission mechanism 82 is disposed adjacent to the right side of the driven mechanism section 6 and guided by a guide member 82c provided on the surface of the mounting section 5, for example, with the driven roller 82b in contact with the cam drive surface 31R.
- the main body 82a of the power transmission mechanism 82 is configured to linearly move in the substrate transport direction or in the opposite direction.
- a mounting member 82d is fixed in the vicinity of the end portion of the main body 82a of the power transmission mechanism 82 on the substrate transport direction side, a rod-shaped fixing pin 82e is attached to the mounting member 82d, and the fixing pin 82e.
- a configuration is adopted in which the rotation does not rotate.
- one end of a left link member 84L which will be described later, is supported at the front end of the left drive portion 80L of the drive member 80 so as to be rotatable in a horizontal plane around the support shaft 83L.
- One end of a right link member 84R which will be described later, is supported at the tip of 80R so as to be rotatable in a horizontal plane around the support shaft 83R.
- a coil spring 82f is attached to the main body portion 82a, and one end portion of the coil spring 82f is fixed to the main body portion 82a, and the other end portion is in contact with the guide member 82c. Yes. Since the force is applied to the main body portion 82a in the substrate transport direction by the force of the coil spring 82f, when the link mechanism 20 is in the extended state, the substrate 10 is gripped by the grip portions 86L and 86R described later. Canceled.
- the left link member 84L and the right link member 84R are both substantially “L” -shaped members having the same shape, and, for example, at the distal end portion of the drive member 80 on the side not supported by the left drive portion 80L or the right drive portion 80R.
- R-shaped gripping portions 86L and 86R are provided so as to extend in a direction orthogonal to the main body portion.
- the left link member 84L and the right link member 84R can be rotated in a horizontal plane around the support shafts 85L and 85R provided at the front end portions of the support members 5L and 5R of the mounting portion 5, respectively. It is supported by.
- the gripping portions 86L and 86R are arranged in the direction opposite to the substrate transport direction.
- the gripping portions 86L and 86R of the left downstream biasing portion 81L and the right downstream biasing portion 81R pass through the rotation center axes of the first and second drive shafts 11 and 12 described above. They are arranged so as to be line symmetric with respect to a straight line extending in the substrate transport direction. It should be noted that a coating made of a heat resistant resin material such as PTFE for preventing the generation of dust can be applied to the portions of the gripping portions 86L and 86R that are in contact with the edges of the substrate 10.
- the left downstream biasing portion 81L and the right downstream biasing portion 81R are configured to operate by the same mechanism.
- the right downstream biasing portion 81R will be described as an example as appropriate. Therefore, the configuration and operation of the downstream urging unit of the link system in the present invention will be described.
- the urging unit 6 a on the downstream side in the substrate transport direction of the driven mechanism unit 6 is The length of the driven mechanism 6 is set so as not to contact.
- the link mechanism 20 is contracted, the driven mechanism unit 6 moves downstream in the substrate transport direction so that the urging unit 6a of the driven mechanism unit 6 comes into contact with the side portion of the substrate 10 to be transported. It is configured.
- the power transmission mechanism 82 of this example is configured to move in the same direction together with the driven mechanism section 6 described above. That is, in the state where the link mechanism 20 is extended, for example, as shown in FIG. 9A for the right link member 84R, the third right arm of the third right arm is prevented so that the gripping portion 86R does not contact the edge of the base portion 10.
- the shape of the third cam drive surface 31R, the driven roller 82b of the power transmission mechanism 82, the length of the main body portion 82a, the length of the base portion 80a of the drive member 80 and the right drive portion 80R, the right link member 84R (gripping portion 86R) And the positions of the support shafts 83R and 85R are set.
- the left link member 84L the length of the base portion 80a of the drive member 80 and the left drive portion 80L, the length of the left link member 84L (the grip portion 86L), so that the grip portion 86L does not contact the edge of the base portion 10.
- the positions of the support shafts 83L and 85L are set.
- the contact portion of the grip portion 86R with the substrate 10 and the support shaft of the support member 5R the contact portion of the grip portion 86R with the substrate 10 and the support shaft of the support member 5R.
- the pitch P1 of 85R is preferably configured to be smaller than the pitch P2 of the support shaft 85R of the support member 5R and the support shaft 83R of the right drive unit 80R.
- the left link member 84L is not shown, but similarly, the pitch between the contact portion of the gripping portion 86L with the substrate 10 and the support shaft 85L of the support member 5L is equal to the support shaft 85L of the support member 5L and the right drive portion. It is preferable that the pitch is smaller than the pitch of the 80L support shaft 83L. With such a configuration, the moving distance of the gripping portion 86L of the left link member 84L and the gripping portion 86R of the right link member 84R can be set smaller than the movement distance of the driven mechanism portion 6 in the substrate transport direction. it can.
- the force F in the substrate transport direction acts from the biasing portion 6a of the driven mechanism portion 6 as shown in FIG.
- the power from the main body 82a of the transmission mechanism 82 is directed to the link mechanism 20 from the left link member 84L of the left downstream biasing portion 81L and the right link member 84R of the right downstream biasing portion 81R via the drive member 80.
- Force f3, f4 inward in the direction acts on the substrate 10, thereby exerting a pressing force on the substrate 10 from the upstream and downstream sides in the substrate transport direction, so that the substrate 10 is reliably placed on the mounting portion 5. It is held (gripped).
- the timing at which the biasing portion 6a of the driven mechanism portion 6, the gripping portion 86L of the left link member 84L, and the gripping portion 86R of the right link member 84R contact the substrate 10 is the same as the state in which the link mechanism 20 is fully retracted. However, it may be before the link mechanism 20 is completely retracted (immediately before), and can be changed as appropriate according to the size and arrangement of the transport device and the vacuum device to which the present invention is applied. However, from the viewpoint of gripping the substrate 10 with high precision, the gripping portion 86L of the left link member 84L and the gripping portion 86R of the right link member 84R after the urging portion 6a of the driven mechanism portion 6 contacts the edge of the substrate 10. Is preferably configured to contact the edge of the substrate 10.
- the gripping portion 86L of the left downstream biasing portion 81L and the gripping portion 86R of the right downstream biasing portion 81R pass through the rotation center axes of the first and second drive shafts 11 and 12, and the substrate. Since it is arranged so as to be symmetrical with respect to a straight line extending in the transport direction, the substrate 10 is urged and held in a well-balanced manner by the gripping portion 86L of the left link member 84L and the gripping portion 86R of the right link member 84R ( Gripping).
- the movement distance of the gripping portion 86L of the left link member 84L and the gripping portion 86R of the right link member 84R is set to be smaller than the movement distance of the driven mechanism portion 6 in the substrate transport direction.
- the timing and time of the gripping portion 86L of the left link member 84L and the gripping portion 86R of the right link member 84R with respect to the timing of biasing the substrate 10 by the biasing portion 6a of the driven mechanism portion 6 have a predetermined range.
- the substrate 10 can be gripped with high accuracy.
- the sliding portion of the link mechanism is disposed at a position separated from the substrate 10, contamination of the surface of the substrate 10 by dust generated at the sliding portion can be prevented. it can. Since other configurations and operational effects are the same as those in the above-described example, detailed description thereof is omitted.
- FIGS. 10 to 13 show other examples of the upstream side urging mechanism in the present invention.
- portions corresponding to the above-described examples are denoted by common reference numerals, and detailed description thereof is omitted.
- 10 to 13 for example, the base portion 70 of the downstream urging mechanism 7 shown in FIG. 4 is attached and fixed to the main body portion 60 of the driven mechanism portion 6. The description of the biasing mechanism 7 is omitted.
- FIG. 10 shows an example in which the driven mechanism portion of the upstream biasing mechanism includes a biasing member for reducing the biasing force of the biasing portion.
- the support portion 66 of the urging portion 6 a of the driven mechanism portion 6 is configured to move along the direction in which the main body portion 60 extends.
- a compression coil spring (a depressing member) 67 is mounted around the support portion 66 between the urging portion 6a.
- biasing part 6a may move to the main-body part 60 direction against the elastic force of the compression coil spring 67.
- the urging force with respect to the substrate 10 can be adjusted when the substrate 10 is held (gripped). There is an advantage that it becomes large and versatility becomes high.
- FIG. 11 is a partial cross-sectional side view showing the main part of another example of the upstream side biasing mechanism, and is configured such that the third left arm 3L and the third right arm 3R are positioned below the power transmission mechanism 4. It is a thing.
- the driven mechanism portion 6 having the above-described configuration is disposed at the distal end portions of the third left arm 3L and the third right arm 3R, and the main body portion 60 is transported by the substrate. It is configured to move straight along the direction.
- a biasing member 6 b is attached to the distal end portion of the main body portion 60 of the driven mechanism portion 6.
- the biasing member 6 b is made of a plate-like elastic material made of a metal such as stainless steel, and is disposed upward from the tip of the main body 60.
- the tip of the biasing member 6b is provided with, for example, a concave-shaped biasing portion 6c, and the biasing portion 6c protrudes onto the mounting portion 5 through a hole 5a provided in the mounting portion 5.
- the concave surface portion of the urging portion 6 c comes into contact with or separates from the side portion of the substrate 10. According to this example having such a configuration, the urging force against the substrate 10 can be adjusted when holding (gripping) the substrate 10 as in the above example.
- FIG. 12 is a composition showing a main part of still another example of the upstream side biasing mechanism, and shows an example having a biasing member for reducing the biasing force of the biasing portion of the driven mechanism.
- this example is a modification of the example shown in FIG. 10, and a straight bar shape extending in a direction orthogonal to the extending direction of the main body 60, for example, at the distal end of the main body 60 of the driven mechanism 6.
- Two depressing biasing portions 6d and 6e in the form of band-shaped rings made of metal such as stainless steel are provided downstream of the mounting member 67 in the substrate transport direction. It is attached to protrude.
- the two depressurizing and urging portions 6d and 6e are formed to have the same size and shape, and with respect to a straight line that passes through the rotation center axis of the first and second drive shafts 11 and 12 and extends in the substrate transport direction. Are arranged in line symmetry. According to this example having such a configuration, in addition to being able to adjust the urging force against the substrate 10 when holding (gripping) the substrate 10 as in the example shown in FIG. Since the substrate 10 is urged by the two depressurization urging portions 6d and 6e arranged symmetrically, there is an advantage that the substrate 10 can be held (gripped) with a good balance.
- the third left arm 3L, the third right arm 3R, and the driven mechanism unit 6 can be configured to be positioned below the power transmission mechanism 4 as in the example shown in FIG. It is.
- a hole (not shown) is provided in the mounting portion 5, and the mounting member 68 and the depressing urging portions 6 d and 6 e are inserted through the hole.
- the depressurizing and urging portions 6d and 6e are preferably in contact with or separated from the side portion of the substrate 10.
- the lower side of the arm mechanism in which the vertical distance between the upper end effector and the lower end effector shown in FIGS. 22 and 23 of US Pat. No. 6,364,599B1 is reduced.
- the above-described configuration of FIG. 12 can be used as the wafer urging mechanism for the upper arm of this arm mechanism.
- FIG. 13 is a configuration diagram illustrating a main part of still another example of the upstream side biasing mechanism.
- each cam drive surface 31L, 31R of the third left arm 3L and the third right arm 3R has a displacement amount r1 on each distal end side and each base end portion. It is configured to be smaller than the displacement amount r0 on the side (r1 ⁇ r0).
- the delivery position of the substrate 10 is not necessarily the same due to the internal configuration of the processing chamber 8B. , 12 from the central axis to the transfer position of each processing chamber 8B is different.
- the distance to the delivery position that is, the delivery distance is short
- the distance between the edge of the substrate 10 and the urging portion 6a when delivering the substrate 10 is reduced, and the urging portion is applied to the edge of the substrate 10.
- the possibility of dust generation and substrate misalignment may also occur.
- the shape of the distal end side of each of the cam drive surfaces 31L and 31R of the third left arm 3L and the third right arm 3R is indicated by the hatched portion in the figure.
- FIG. 14A and 14B are configuration diagrams showing still another example of the upstream side biasing mechanism.
- portions corresponding to the above-described examples are denoted by common reference numerals, and detailed description thereof is omitted.
- the above-described cam drive surface 31R is formed on the third right arm 3R, and for example, the downstream urging mechanism 8 as shown in FIG.
- the description of the downstream side biasing mechanism 8 is omitted here.
- the upstream side biasing mechanism 9A As shown in FIGS. 14A and 14B, in this example, as the upstream side biasing mechanism 9A, the mounting surface 30L on the mounting portion 5 side of the third left arm 3L and the third right arm 3R An upstream biasing member 6A made of a series of elastic bodies is attached to the mounting surface 30R on the mounting portion 5 side.
- the upstream biasing member 6A is preferably made of a metal material such as stainless steel, and each end thereof is fixed to the third left arm 3L and the third right arm 3R by screws or the like, for example.
- the mounting surface 30L of the third left arm 3L on the mounting portion 5 side and the mounting surface 30R of the third right arm 3R on the mounting portion 5 side have a convex shape on the downstream side in the substrate transport direction.
- the length is set so that
- the upstream biasing member is arranged so that the upstream biasing member 6A does not contact the surface of the power transmission mechanism 4 and the surface of the mounting portion 5. It is preferable to select the material of 6A and determine the shape and arrangement of the upstream biasing member 6A. From such a viewpoint, it is more preferable that the upstream biasing member 6A is formed in a belt shape (belt shape) having a predetermined width. Further, the mounting position of the upstream biasing member 6A is a position spaced upward from the surface of the mounting portion 5, and the downstream biasing member 6A in the substrate transport direction is surely placed on the side of the substrate 10. It is preferable to set to contact.
- FIGS. 14A and 14B In this example, when the link mechanism 20 is extended and contracted, the attachment surface 30L of the third left arm 3L and the attachment of the third right arm 3R are attached. Each of the surfaces 30R is configured to be inclined with respect to the substrate transport direction.
- the angle formed by the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R is 180, for example. Set to be larger than degree.
- the fixing portions 310L and 310R of the upstream biasing member 6A on the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R are, for example, a distance D that is larger than the distance between the support shafts 23L, 23R on the distal end side of the third left arm 3L and the third right arm 3R.
- the angle formed by the mounting surface 30L of the third left arm 3L and the mounting surface 30R of the third right arm 3R is, for example, 180 degrees. Set to be smaller.
- the upstream side biasing member 6A spanned between the third left arm 3L and the third right arm 3R.
- a force (moment) T that winds inwardly acts on the vicinity of both end portions of each.
- the upstream side biasing member 6A is in a stationary state with a shape collapsed in the substrate transport direction as compared to a perfect circle.
- the upstream biasing member 6A is shaped and sized so that the downstream biasing portion 6a of the upstream biasing member 6A does not contact the side of the substrate 10 to be transported.
- the angles of the mounting surfaces 30L and 30R of the third left arm 3L and the third right arm 3R and the fixing position of the upstream biasing member 6A are set. .
- the upstream biasing member 6A is a belt-like member, there is no sliding portion in the vicinity of gripping the substrate 10, so that generation of dust that contaminates the substrate 10 is minimized. Can be reduced. Since other configurations and operational effects are the same as those in the above-described example, detailed description thereof is omitted.
- FIG. 15A is a block diagram showing the whole of still another example of the upstream side urging mechanism in the present invention
- FIG. 15B is a cross-sectional view taken along the line AA of FIG. 15A.
- portions corresponding to the above-described examples are denoted by common reference numerals, and detailed description thereof is omitted.
- the base portion 70 of the downstream side biasing mechanism 7 shown in FIG. 4 is attached and fixed to the main body portion 160 of the driven mechanism portion 6.
- the downstream side biasing mechanism 7 will be described for convenience. Is omitted.
- the third left arm 3L and the third right arm 3R each have a semicircular tip
- the third left arm 3L and the third right arm 3R Convex drive support portions 131L and 131R (hereinafter simply referred to as “drive convex portions”) are provided on the front side surfaces 130L and 130R of the right arm 3R, respectively, and these drive convex portions 131L and 131R and the driven mechanism portion 6B
- An upstream side biasing mechanism 9B by a slide mechanism is configured.
- the drive protrusions 131L and 131R are preferably made of a metal material such as stainless steel, and are separated from the support shaft 23L of the third left arm 3L by a predetermined distance from the support shaft 23R of the third right arm 3R. It is provided at the position.
- the drive convex portions 131L and 131R are disposed downstream of the support shafts 23L and 23R of the third left arm 3L and the third right arm 3R in the substrate transport direction.
- the drive convex portions 131L and 131R of the third left arm 3L and the third right arm 3R pass through the rotation center axes of the first and second drive shafts 11 and 12 in the substrate transport direction. It is provided so as to be line symmetric with respect to the extending straight line.
- the drive convex portions 131L and 131R in this example are engaged with a long hole 62 of the driven portion 61, which will be described later, and have the same configuration.
- the drive protrusions 131L and 131R are centered on support shafts 132L and 132R provided upright on the front side surfaces 130L and 130R of the third left arm 3L and the third right arm 3R.
- cylindrical rotating shafts 133L and 133R supported so as to be rotatable in the horizontal direction.
- disk-shaped support portions 134L and 134R having slightly larger diameters than the respective rotation shafts 133L and 133R are provided above the respective rotation shafts 133L and 133R.
- the driven mechanism portion 6B of this example is preferably made of a metal member such as stainless steel and has a main body portion 160 having a straight bar shape. At one end of the main body 160 of the driven mechanism 6B, for example, a rectangular flat plate driven portion 161 extending in a direction orthogonal to the main body 160 is attached. In the driven portion 161, for example, a long hole 162 extending linearly along the longitudinal direction of the driven portion 161 is formed in the central region in the width direction.
- the width of the elongated hole 162 of the driven portion 161 is slightly larger than the diameter of the rotation shafts 133L and 133R of the drive convex portions 131L and 131R, and the support portions 134L and 134R. It is set to be smaller than the diameter. Further, the length of the long hole 162 of the driven portion 161 is set to be longer than the maximum distance between the drive convex portions 131L and 131R that move with the rotation of the third left arm 3L and the third right arm 3R. Has been.
- a convex (for example, pin-shaped) biasing portion 6a is attached to the other end portion of the main body portion 160 of the driven mechanism portion 6B.
- the tip of the urging portion 6a can be coated with a heat-resistant resin material such as PTFE for preventing the generation of dust.
- the drive convex portions 131L and 131R of the third left arm 3L and the third right arm 3R are inserted into the long holes 162 of the driven portion 161 of the driven mechanism portion 6B.
- the main body portion 160 of the driven mechanism portion 6B moves linearly in the substrate transport direction or the opposite direction. It is configured.
- the angle formed by the tip portions of the third left arm 3L and the third right arm 3R is, for example, larger than 180 degrees.
- the driving convex portions 131L and 131R of the third left arm 3L and the third right arm 3R engaged with the elongated hole 162 of the driven portion 161 of the driven mechanism portion 6B are within the elongated hole 162.
- the size of the long hole 162 of the driven portion 161 and the positions of the drive convex portions 131L and 131R are determined so as to be positioned at both ends.
- the reference length of the driven mechanism portion 6B (here, the biasing portion 6a is set so that the biasing portion 6a on the downstream side in the substrate transport direction of the driven mechanism portion 6B does not contact the side portion of the substrate 10 to be transported.
- the drive protrusions 131L and 131R are positioned outward in the direction orthogonal to the substrate transport direction from the support shafts 23L and 23R of the third left arm 3L and the third right arm 3R. (An angle ⁇ 1 with respect to the substrate transport direction).
- the angle formed by the distal ends of the third left arm 3L and the third right arm 3R is smaller than 180 degrees, for example.
- the drive convex portions 131L and 131R are rotationally moved in directions approaching each other around the support shafts 23L and 23R of the third left arm 3L or the third right arm 3R, respectively.
- the drive protrusions 131L and 131R are provided with the third left arm so that the angle ⁇ 0 with respect to the substrate transport direction is smaller in absolute value than the angle ⁇ 1 with respect to the substrate transport direction when the link mechanism 20 is extended.
- the size, shape, and position of each member described above are set so as to be positioned on the inner side in the vertical direction of the substrate transport direction from the support shafts 23L and 23R of 3L and the third right arm 3R.
- the downstream portion of the driven mechanism portion 6B in the substrate transport direction comes into contact with the side portion of the substrate 10 to be transported, and the side portion of the substrate 10 in the substrate transport direction.
- the force F can be applied.
- FIG. 17 (a) and 17 (b) are views showing the configuration and operation of still another example of the upstream side biasing mechanism in the present invention
- FIG. 17 (a) shows a state in which the link mechanism 20 is extended.
- FIG. 17B shows the link mechanism 20 in a contracted state.
- the base portion 70 of the downstream side biasing mechanism 7 shown in FIG. 4 is attached and fixed to the main body portion 60 of the driven mechanism portion 6C constituting the upstream side biasing mechanism 9C.
- the description of the downstream side urging mechanism 7 is omitted.
- the upstream side biasing mechanism 9C of this example is a modification of FIGS. 15 (a) and 15 (b), and the driven portion 161A includes a third portion of the driven portion 161A.
- a long hole 162A is provided only in a region corresponding to the right arm 3R side.
- the driven portion 161A is supported so as to be rotatable in the horizontal direction around a support shaft 35 provided on the front side surface 130L of the third left arm 3L.
- the support shaft 35 is provided at the same position as the drive convex portion 131L described above, whereby the driven portion 161A is configured to rotate around one end portion (left end portion). .
- the elongated hole 162A of the driven portion 161A is formed so as to extend linearly along the longitudinal direction of the driven portion 161A, and engages with the driving convex portion 131R (rotating shaft 133R) provided on the third right arm 3R. It is configured.
- the driven portion 161A of this example is separated from the main body portion 160 of the driven mechanism portion 6C.
- a drive contact portion 161a extending in a direction orthogonal to the substrate transport direction and having a predetermined size is provided at a site downstream of the follower portion 161A in the substrate transport direction.
- a driven contact portion 160a that contacts the drive contact portion 161a of the driven portion 161A described above is provided at the end portion of the driven mechanism portion 6C opposite to the biasing portion 6a of the main body portion 160.
- a support portion 160b is provided at an end portion of the driven mechanism portion 6C opposite to the biasing portion 6a of the main body portion 160, and the main body portion 160 is provided between the support portion 160b and the guide member 163 described above.
- a compression coil spring 166 is mounted around the.
- the driven portion 161A rotates clockwise about the support shaft 35.
- the driving convex portion 131R rotates counterclockwise, whereby the driven portion 161A moves downstream in the substrate transport direction.
- the drive contact portion 161a of the driven portion 161A abuts on the driven contact portion 160a of the main body portion 160 of the driven mechanism portion 6C and urges it to the downstream side in the substrate transport direction, so that the driven mechanism portion 6C becomes a compression coil.
- the spring 166 moves against the elastic force of the spring 166 and moves downstream in the substrate transport direction.
- the biasing portion 6a on the downstream side in the substrate transport direction of the driven mechanism portion 6C comes into contact with the side portion of the substrate 10 to be transported, and a force F in the substrate transport direction is applied to the side portion of the substrate 10. be able to.
- the driven contact portion 160a provided in the urging portion 6a of the driven mechanism portion 6C is pressed and brought into close contact with the drive contact portion 161a of the driven portion 161A with an appropriate force. Therefore, the driven mechanism 6C can be reliably moved to the downstream side in the substrate transport direction with high accuracy along the guide member 163, for example.
- the main body portion 160 can be slid only in the vicinity of the portion where the urging portion 6a contacts the side portion of the substrate 10. There is a merit that generation of dust due to sliding between the guide member 163 and the main body 160 can be reduced.
- FIG. 18 (a) and 18 (b) are diagrams showing the configuration and operation of still another example of the upstream side urging mechanism in the present invention.
- parts corresponding to those in the above example are denoted by common reference numerals. Detailed description thereof is omitted.
- the base 70 of the downstream urging mechanism 7 shown in FIG. 4 is attached and fixed to the main body 60 of the driven mechanism 6 constituting the upstream urging mechanism 9D.
- the description of the downstream side urging mechanism 7 is omitted.
- the third left arm 3L and the third right arm 3R are formed in a semicircular shape with a radius r at each of the tip portions,
- First driving magnets 36L and 36R made of, for example, permanent magnets are provided at the most distal end portions of the arm 3L and the third right arm 3R so that the surface on the end side becomes, for example, an N pole. It has been.
- the third left arm 3L and the third right arm 3R are made of, for example, permanent magnets, which are disposed at the tip portion at the downstream side in the substrate transport direction so that the surface thereof becomes, for example, the S pole.
- Second drive magnets 37L and 37R are provided, respectively.
- the first drive magnets 36L and 36R and the second drive magnets 37L and 37R pass through the rotation center axes of the first and second drive shafts 11 and 12 described above in the substrate transport direction. They are arranged so as to be line symmetric with respect to the extending straight line.
- the main body 160 of the driven mechanism 6D is provided with a support member 167 having a locking portion 167a wider than the main body 160, for example, at the end opposite to the side where the urging portion 6a is provided.
- a driven magnet 169 made of, for example, a permanent magnet is provided at the tip of the support member so that the end-side surfaces (side surfaces and bottom surface) are, for example, S poles.
- a compression coil spring 166 is mounted around the main body 160 between the middle part of the main body 160 of the driven mechanism 6D and the support member 167 described above. The distal end portion of the compression coil spring 166 is fixed to the locking portion 167 a of the support member 167.
- the operation principle and configuration of the upstream biasing mechanism of this example will be described in detail.
- the angle formed by the third left arm 3L and the third right arm 3R is set to be larger than 180 degrees, for example. .
- the angle formed by the third left arm 3L and the third right arm 3R is set to be smaller than 180 degrees, for example. Further, depending on the relative positional relationship between the third left arm 3L, the third right arm 3R, and the driven mechanism portion 6D, the first and second drive magnets 36L, 36R, 37L, 37R, and the driven magnet It is set so that the positional relationship (proximity or separation) with 169 changes.
- the biasing portion 6a on the downstream side in the substrate transport direction of the driven mechanism portion 6D does not contact the side portion of the substrate 10 to be transported.
- the length of the main body 160 and the support member 167 of the driven mechanism 6D and the third left arm 3L so that the driven magnet 169 is close to the first drive magnets 36L and 36R described above.
- the shape of the third right arm 3R and the arrangement positions of the first drive magnets 36L and 36R are set.
- the second drive magnets 37L and 37R provided on the third left arm 3L and the third right arm 3R are driven mechanisms.
- the arrangement positions of the second drive magnets 37L and 37R are set so as to face the driven magnets of the section 6D.
- the south pole driven magnet 169 of the driven mechanism portion 6D is connected to the third left arm 3L and the third Of the right arm 3R of the right arm 3R is close to the first driving magnets 36L and 36R of the N pole, the driven magnet 169 attracts the first driving magnets 36L and 36R by the respective magnetic forces.
- the mechanism portion 6D is pulled upstream in the substrate transport direction, and the biasing portion 6a of the driven mechanism portion 6D does not come into contact with the side portion of the substrate 10 to be transported and is stationary.
- the link mechanism 20 when the link mechanism 20 is contracted, as shown in FIG. 18B, the second left driving magnets 37L and 37R of the third left arm 3L and the third right arm 3R are driven. Since the driven magnet 169 and the second driving magnets 37L and 37R are repelled by the respective magnetic forces because the S-pole driven magnet 169 of the mechanism section 6D is opposed to the driven magnet section 169, the driven mechanism section 6D As a result, the biasing portion 6a on the downstream side in the substrate transport direction of the driven mechanism portion 6D comes into contact with the side portion of the substrate 10 to be transported, and the substrate 10 is moved against the side portion of the substrate 10 as a result. A force F in the transport direction is applied.
- the cam mechanism of the upstream biasing mechanism 9 by combining two adjacent cam drive surfaces 31L and 31R and two corresponding driven rollers 62L and 62R.
- the present invention is not limited to this, and the cam mechanism of the upstream side urging mechanism 9 can be configured by combining one cam driving surface and one driven roller corresponding thereto.
- the cam mechanism of the upstream side urging mechanism 9 can also be configured by combining three or more cam drive surfaces and three or more driven rollers corresponding thereto.
- the two adjacent cam drive surfaces 31L and 31R and the two driven rollers 62L and 62R corresponding to them are combined and upstream as in the above embodiment. It is preferable to constitute a cam mechanism of the side urging mechanism 9.
- the shape of the cam drive surface, the size of the driven roller, and the like can be changed as appropriate according to the transport device to which the present invention is applied.
- a cam drive surface is formed on a plurality of adjacent link portions that move relatively in parallel, such as a parallel link arm mechanism, and the upstream biasing mechanism 9 is moved along the cam drive surface and conveyed by the above-described operation. It can also be configured to hold objects.
- the left driving member 71L and the right driving member 71R (particularly each gripping surface 732) for the left downstream side biasing portion 70L and the right downstream side biasing portion 70R.
- the present invention is not limited to this, and the substrate 10 As long as it can be urged in the direction toward the link mechanism 20, it can be arranged to be asymmetric with respect to the straight line.
- two cam-type downstream urging portions are provided (the left downstream urging portion 70 ⁇ / b> L, the right downstream urging portion), but the shape and size of the substrate 10. Further, one or three or more cam type urging portions can be provided according to the device configuration or the like.
- the gripping portion 86 ⁇ / b> L of the left downstream biasing portion 81 ⁇ / b> L and the gripping portion 86 ⁇ / b> R of the right downstream biasing portion 81 ⁇ / b> R are connected to the rotation center axes of the first and second drive shafts 11 and 12.
- the present invention is not limited to this, and as long as the substrate 10 can be urged in the direction toward the link mechanism 20, the line is symmetrical. It is also possible to arrange them so as to be asymmetric.
- two link-type downstream biasing portions are provided (the left downstream biasing portion 81 ⁇ / b> L and the right downstream biasing portion 81 ⁇ / b> R).
- one or three or more link type urging portions can be provided according to the device configuration or the like.
- the case where the upstream side biasing mechanism having the movable biasing portion is provided has been described.
- the present invention is not limited to the upstream side biasing mechanism. It is also possible to provide one or more locking portions and mechanically hold the conveyed product from both sides in the substrate transport direction by the locking portions and the downstream side urging mechanism.
- the upstream biasing mechanism and the downstream side as described above are used. It is preferable that the urging mechanism is configured to hold the conveyed product.
- the present invention can be used for conveying not only a disc-shaped substrate such as a Si wafer but also a rectangular substrate such as a glass substrate, and various substrates such as an elliptical shape and a polygonal shape. Is.
Abstract
Description
この基板搬送装置201は、駆動部202と、この駆動部202に連結され複数のアームからなるアーム部203と、このアーム部203の先端に連結されたエンドエフェクタ204とを有しており、エンドエフェクタ204の上面で基板Wの裏面を支持し、複数のプロセスチャンバ(図示せず)間で基板Wの受け渡しを行なうように構成されている。
加えて、従来技術では、基板Wがエンドエフェクタ204上を滑る際に発生するダストが、基板Wの表面を汚染してしまう問題がある。
この保持部205は一般にゴムやエラストマー等の樹脂系弾性材料で形成されているので、基板Wの裏面の滑りを抑制し、滑り止めパッドとして機能している。これにより、エンドエフェクタ204の上面において基板Wは滑ることなく安定した搬送姿勢で保持される(例えば特許文献1参照)。
また、本発明の他の目的は、搬送物の搬送時におけるダストをできるだけ少なくする技術を提供することにある。
本発明では、前記載置部の基板搬送方向上流側の部位に、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向へ付勢する上流側付勢機構が設けられている場合にも効果的である。
本発明では、前記下流側付勢機構には、カム方式の駆動部が設けられ、前記下流側付勢機構には、前記カム方式の駆動部によって駆動されるカム方式の下流側付勢部が設けられている場合にも効果的である。
本発明では、前記下流側付勢機構には、カム方式の駆動部が設けられ、前記下流側付勢機構には、前記リンク方式の駆動部と係合して駆動されるリンク方式の下流側付勢部が設けられている場合にも効果的である。
本発明では、前記下流側付勢部は、二つ設けられ、各下流側付勢部に設けられた把持部が、第1及び第2の駆動軸の回転中心軸線を通り基板搬送方向に延びる直線に対して線対称となるように配置されている場合にも効果的である。
本発明では、前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられたカム駆動面と、当該カム駆動面に当接して従動可能な従動ローラを有し当該従動ローラの移動に応じて基板搬送方向に沿って案内移動される付勢部を有する従動機構部とを備えた場合にも効果的である。
本発明では、前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられ回転方向が反対方向である一対の隣接するリンク部材を有し、帯状の一体的な弾性部材からなる帯状付勢手段が、当該一対の隣接リンク部材に架け渡されて設けられている場合にも効果的である。
本発明では、前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられた駆動支持部と、当該駆動支持部によって駆動される従動機構部とを備え、前記従動機構部は、前記駆動支持部と係合摺動可能な長溝状摺動部を有する従動部と、当該従動部に連結され当該従動部の長溝状摺動部内における前記駆動支持部の移動に応じて基板搬送方向に沿って案内移動される付勢部とを有する場合にも効果的である。
本発明では、前記上流側付勢機構は、前記駆動リンク部に極性の異なる複数の駆動用磁石が設けられるとともに、前記従動機構部には単一の極性の従動用磁石が設けられ、前記駆動リンク部と前記従動機構部との相対的な位置関係によって前記複数の駆動用磁石のそれぞれと前記従動用磁石とが近接又は離間するように構成されている場合にも効果的である。
また、本発明は、駆動源からの動力が伝達される複数のアームを有する伸縮自在なリンク機構と、前記リンク機構の動作先端部において駆動リンク部を介して連結され、搬送物を載置するための載置部と、前記載置部の基板搬送方向上流側の部位に設けられ、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向下流側へ付勢する上流側付勢機構と、前記載置部の基板搬送方向下流側の部位に設けられ、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向上流側に位置する前記リンク機構に向かう方向へ付勢する下流側付勢機構とを備え、前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられた一対の隣接するリンク部材にそれぞれ設けたカム駆動面と、当該一対のカム駆動面にそれぞれ当接して従動可能な一対の従動ローラと、当該一対の従動ローラの移動に応じて前記基板搬送方向に直線的に移動する付勢部とを有する従動機構部を備え、前記リンク機構が伸びた状態において、前記従動機構部の付勢部が当該搬送物の側部に当接せず、かつ、前記リンク機構が縮んだ状態では、当該従動機構部の付勢部が当該搬送物の側部に当接するように、前記従動機構部の付勢部の移動距離が設定され、前記上流側付勢機構及び前記下流側付勢機構による付勢によって当該搬送物を基板搬送方向の両側から挟んで保持するように構成されている搬送装置である。
本発明では、前記下流側付勢機構は、前記上流側付勢機構の従動機構部の移動に応じて前記基板搬送方向に移動するように設けられた一対の駆動部材と、当該一対の駆動部材の前記基板搬送方向下流側の端部にそれぞれ設けられたカム駆動面と、前記一対の駆動部材のカム駆動面にそれぞれ当接して従動可能な把持部を有する従動係止部材とを備え、前記従動係止部材は、前記一対の駆動部材の当該基板搬送方向下流側への移動に伴い、前記把持部がそれぞれ当該基板搬送方向上流側へ回転移動して起立するように構成されるとともに、前記リンク機構が伸びた状態において、前記従動係止部材の把持部が当該搬送物の側部に当接せず、かつ、前記リンク機構が縮んだ状態では、前記従動係止部材の把持部が当該搬送物の側部に当接するように、前記従動係止部材の付勢部の移動距離が設定されている場合にも効果的である。
また、本発明は、真空槽と、上述したいずれかの搬送装置とを有し、上述した搬送装置の載置部が前記真空槽内に対して搬入及び搬出するように構成されている真空装置である。
さらに、搬送物を把持する部分には摺動する部分がないので、搬送物を汚染するダストの発生を低減することができる。
図1は、本発明に係る搬送装置の概要の構成を模式的に示す平面図である。
図1に示すように、本発明の搬送装置50は、例えば真空処理槽内において搬送物である基板10の搬送を行う所謂フロッグレック方式のもので、以下に説明するリンク機構20を駆動するための鉛直方向に同心状に配設した第1及び第2の駆動軸11、12を有している。
第1の駆動軸11には第1の左アーム1Lの一方の端部(基端部)が固定され、第2の駆動軸12には、第1の右アーム1Rの一方の端部(基端部)が固定されている。
第1の右アーム1Rの他方の端部(先端部)には、第2の右アーム2Rの一方の端部(基端部)が、支軸21Rを中心として水平方向に回転自在に取り付けられている。
第2の左アーム2Lは、直線状に形成され、その他方の端部(先端部)には、第3の左アーム3Lの一方の端部(基端部)が、固定ねじ22Lで固定されている。
第2の右アーム2Rは、直線状に形成され、その他方の端部(先端部)には、第3の右アーム3Rの一方の端部(基端部)が、固定ねじ22Rで固定されている。
また、第3の左アーム3Lの他方の端部(先端部)は、後述する動力伝達機構4の表面に設けられた支軸23Lを中心として水平方向に回転自在に取り付けられている。
本実施の形態においては、第2の左アーム2Lの支軸21Lから第3の左アーム3Lの支軸23Lの支点間距離と第2の右アーム2Rの支軸21Rから第3の右アーム3Rの支軸23Rの支点間距離は、同一の距離を有するように構成されている。
これらの歯車は同一の歯数を有し、それぞれの回転軸が、上述した支軸23L、23Rに固定され、これにより、姿勢制御機構として作用すべく逆方向に同一速度で回転するように構成されている。
本発明の場合、特に限定されることはないが、バランスよく搬送物を保持する観点からは、第1及び第2の駆動軸11、12の回転中心軸線を通り基板搬送方向(矢印P方向)に対して直交する位置に支軸23L、23Rを配置するように構成することが好ましい。
この載置部5は、所定の間隔をおいて設けた支持部材5L、5Rを有している。
一方、本発明では、支持部材5L、5Rの基板搬送方向下流側の端部において基板10を把持するための下流側付勢機構7が設けられている。
この上流側付勢機構9は、以下に説明するように、リンク機構20の第3の左アーム3L及び第3の右アーム3Rの動作に伴い、基板10の側部と当接して基板10を基板搬送方向へ付勢するように構成されている(符号Fで示す)。
なお、図2(a)(b)及び図3(a)(b)においては、後述する図4に示すように、従動機構部6の本体部60に下流側付勢機構7の基部71が取付固定されているが、ここでは便宜上、下流側付勢機構7についての説明を省略する。
そして、本例では、第3の左アーム3Lと第3の右アーム3Rの各カム駆動面31L、31Rは、各先端部側の変位量(支軸23Lと内側当接面31L1間の距離、支軸23Rと内側当接面31R1間の距離)r1が、各基端部側の変位量(支軸23Lと外側当接面31L0間の距離、支軸23Rと外側当接面31R0間の距離)r0より小さくなるように構成されている(r1<r0)。
一方、本例の従動機構部6は、好ましくはステンレス等の金属部材から構成されるもので、直線棒状の本体部60を有している。
ここで、従動ローラ62L、62Rは、例えば、本体部60の延びる方向の直線に対して線対称となるように配置され、当該本体部60を含む平面に対して直交する方向の支軸63L、63Rを中心として回転するように構成されている。
また、従動機構部6の本体部60の中腹部と上述した支持部材61との間には、当該本体部60の周囲に圧縮コイルばね64が装着されている。この圧縮コイルばね64は、その先端部分が支持部材61に固定されている。
本例では、リンク機構20が伸びた状態において、図3(a)に示すように、第3の左アーム3Lの取付面30Lと第3の右アーム3Rの取付面30Rのなす角度が例えば180度より大きくなるように設定する。
一方、リンク機構20が縮んだ状態においては、図3(b)に示すように、第3の左アーム3Lの取付面30Lと第3の右アーム3Rの取付面30Rのなす角度が例えば180度より小さくなるように設定する。
本例では、上記動作の際に圧縮コイルばね64の搬送方向下流側の部分がガイド部材65に当接して圧縮されるため、圧縮コイルばね64の弾性力によって従動機構部6の従動ローラ62L、62Rが、第3の左アーム3Lと第3の右アーム3Rの各カム駆動面31L、31Rに押し付けられて密着し、これにより従動機構部6がガイド部材65に沿って確実に高精度で基板搬送方向下流側に移動する。
ここで、下流側付勢機構7は、上述した従動機構部6の本体部60に取付固定された、基板搬送方向(矢印P方向)と直交する方向に延びる直線棒状の基部71を有している。
本例の場合、これら左駆動部材71L及び右駆動部材71Rは、それぞれ支持部材5L、5Rに沿ってそれぞれの下側に配置されている。
そして、載置部5の左右の支持部材5L、5Rの先端部分に、左下流側付勢部70L、右下流側付勢部70Rが設けられている。本例では、上述した基部71、左駆動部材71L及び右駆動部材71Rによって駆動機構が構成され、リンク機構20の動作に伴い、左下流側付勢部70L及び右下流側付勢部70Rをそれぞれ駆動するように構成されている。
ここで、左下流側付勢部70Lと右下流側付勢部70Rとは、同一の機構によって動作するように構成され、第1及び第2の駆動軸11、12の回転中心軸線を通り基板搬送方向に延びる直線に対して線対称となるように配置されている。
図5(a)(b)に示すように、本例の右下流側付勢部70Rは、支持部材5Rの下部に取り付けた例えば箱状の保持部51を有している。
この保持部51の底部51a上には、上述した右駆動部材71Rが、水平方向に向けて支持されるようになっている。
この支軸72Rには、右下流側付勢部70Rを構成する右クランプ係止部材73Rが取付固定されている。
ここで、右クランプ係止部材73Rの把持部730は、支持部材5Rに設けられた開口部74Rから先端部分が上方に突出するように構成されている。
そして、カム従動部731より長さ即ち支点間距離が長くなるように形成され、支持部材5Rに設けられた開口部74Rから先端部分が上方に突出するように構成されている。
そして、図5(b)に示すように、引張コイルばね75が、右クランプ係止部材73Rの把持部730を基板搬送方向下流側に引っ張るように構成されている。
なお、右クランプ係止部材73Rの把持面732には、ダストの発生を防止するための例えばPTFE等の耐熱性の樹脂材料からなるコーティングを施すこともできる。
そして、カム従動部731は、その先端部の形状がアール形状に形成されている。
なお、右クランプ係止部材73Rのカム従動部731と駆動部材71Rの上面710とが接触する部分には、ダストの発生を防止するための例えばPTFE等の耐熱性の樹脂材料からなるコーティングを施すこともできる。
また、駆動部材71Lは、上述した駆動部材71Rと同一の構成を有し、図示はしないが、その上面には、左クランプ係止部材73Lのカム従動部731の下面734に対してはまり合う凹曲面形状のカム駆動面711が形成されている。
本例の場合、リンク機構20が伸びた状態においては、上述したように、従動機構部6の基板搬送方向下流側の付勢部6aが、搬送すべき基板10の側部と接触しないように、従動機構部6の長さが設定されている。
そこで、このような位置関係において、例えば、図5(a)(b)に示すように、右駆動部材71Rに設けられたカム駆動面711の底部分と右クランプ係止部材73Rのカム従動部731とが、基板搬送方向に関して重なる位置となるように、右駆動部材71Rの長さ、右クランプ係止部材73Rのカム従動部731の長さ、右駆動部材71Rのカム駆動面711の長さ、位置及び形状を設定する。
一方、この状態からリンク機構20を縮ませる方向に第3の左アーム3L及び第3の右アーム3Rを回転させると、従動機構部6の本体部60と共に基部71と左駆動部材71L及び右駆動部材71Rが基板搬送方向(矢印P方向)へ移動する。
なお、従動機構部6の付勢部6aと、左クランプ係止部材73Lの把持面732及び右クランプ係止部材73Rの把持面732とが基板10の縁部に接触するタイミングは、リンク機構20が縮み切った状態と同時でもよいし、リンク機構20が縮み切る前(直前)であってもよく、本発明が適用される搬送装置及び真空装置の大きさや配置構成に応じて適宜変更することができる。
ここでは、搬送室8Aから処理室8B内に基板10を搬入する場合を例にとって説明する。なお、搬送室8A及び処理室8Bは、図示しない真空排気系に接続されている。また、搬送室8Aと処理室8B間には図示しないゲートバルブが接続されており、そのゲートバルブが開いた後、搬入、搬出動作を行う。
この状態では、上述したように、従動機構部6の付勢部6aから基板搬送方向の力が作用するとともに、従動機構部6からの動力により、基部71、左駆動部材71L及び右駆動部材71Rを介して、左下流側付勢部70Lの左クランプ係止部材73L及び右下流側付勢部70Rの右クランプ係止部材73Rからリンク機構20へ向かう方向に力が作用するため、載置部5上において基板10が把持されている。
さらに、リンク機構20の伸び動作を継続することにより、図7(c)に示すように、基板10を処理室8B内に搬入する。
その後、第1の左アーム1Lを反時計回り方向へ回転させるとともに、第1の右アーム1Rを時計回り方向へ回転させてリンク機構20の縮み動作を行うことにより、載置部5を搬送室8A内に戻すことができる。
さらに、左クランプ係止部材73L、右クランプ係止部材73R及び従動機構部6の付勢部6aは凸状の部材であり、基板10を把持する部分には摺動部がなく、しかも基板10の滑りが殆どないので、基板10を汚染するダストの発生を低減することができる。
さらにまた、本実施の形態によれば、カム機構の摺動部が基板10の下側に配置されているため、この摺動部で発生したダストによる基板10表面の汚染を防止することができる。
図8に示すように、本例の下流側付勢機構8においては、載置部5の支持部材5L、5Rの先端部分に、リンク方式の付勢機構からなる、後述の下流側付勢部81L、81Rがそれぞれ設けられている。また、これら下流側付勢部81L、81Rを駆動するための駆動部材80を有している。
本例の場合、駆動部材80は、基部80aが基板搬送方向と直交するように配置され、この基部80aを従動機構部6の本体部60が貫通するように構成されている。そして、これにより従動機構部6の本体部60と駆動部材80とが、相対的に基板搬送方向及びその反対方向に移動できるように配置構成されている。
駆動部材80は、以下に説明する動力伝達機構82を介して、リンク機構20の第3の右アーム3Rから力を受けるように構成されている。
この動力伝達機構82の本体部82aの他端部には、真円形の従動ローラ82bが水平面内において回転自在に支持されている。
そして、従動機構部6の右側に動力伝達機構82を隣接配置し、その従動ローラ82bをカム駆動面31Rに当接させた状態で、例えば載置部5の表面に設けたガイド部材82cによって案内されることにより、動力伝達機構82の本体部82aが基板搬送方向又はその反対方向に直線移動するように構成されている。
なお、把持部86L、86Rの基板10の縁部とが接触する部分には、ダストの発生を防止するための例えばPTFE等の耐熱性の樹脂材料からなるコーティングを施すこともできる。
なお、本例の場合、左下流側付勢部81Lと右下流側付勢部81Rとは、同一の機構によって動作するように構成されており、以下、適宜右下流側付勢部81Rを例にとって本発明におけるリンク方式の下流側付勢部の構成及び動作を説明する。
そして、リンク機構20が縮んだ状態では、従動機構部6が基板搬送方向下流側に移動して、従動機構部6の付勢部6aが、搬送すべき基板10の側部と接触するように構成されている。
すなわち、リンク機構20が伸びた状態においては、例えば、右リンク部材84Rについて図9(a)に示すように、把持部86Rが基部10の縁部に接触しないように、第3の右アームの第3のカム駆動面31Rの形状、動力伝達機構82の従動ローラ82b、本体部82aの長さ、駆動部材80の基部80a並びに右駆動部80Rの長さ、右リンク部材84R(把持部86R)の長さ、支軸83R、85Rの位置をそれぞれ設定する。
なお、本発明においては、特に限定されることはないが、例えば、右リンク部材84Rについて図9(a)に示すように、把持部86Rの基板10との接触部分と支持部材5Rの支軸85RのピッチP1が、支持部材5Rの支軸85Rと右駆動部80Rの支軸83RのピッチP2より小さくなるように構成することが好ましい。
このような構成により、従動機構部6の基板搬送方向への移動距離に対し、左リンク部材84Lの把持部86L及び右リンク部材84Rの把持部86Rの移動距離が小さくなるように設定することができる。
その結果、左リンク部材84L、右リンク部材84Rが、支軸85L、85Rを中心として把持部86L、86Rが基板搬送方向と反対方向へ移動するように回転する(図9(b)参照)。
ただし、精度良く基板10を把持する観点からは、従動機構部6の付勢部6aが基板10の縁部に接触した後に、左リンク部材84Lの把持部86L及び右リンク部材84Rの把持部86Rが基板10の縁部に接触するように構成することが好ましい。
加えて、本例によれば、リンク機構の摺動部が基板10に対して離間した位置に配置されているため、この摺動部で発生したダストによる基板10表面の汚染を防止することができる。
その他の構成及び作用効果については上述の例と同一であるのでその詳細な説明を省略する。
なお、図10~図13に示す例においては、従動機構部6の本体部60に例えば図4に示す下流側付勢機構7の基部70が取付固定されているが、ここでは便宜上下流側付勢機構7の説明を省略する。
図10に示すように、本例では、従動機構部6の付勢部6aの支持部66が本体部60の延びる方向に沿って移動するように構成され、これら本体部60の先端部と付勢部6aとの間の支持部66の周囲には、圧縮コイルばね(減勢部材)67が装着されている。そして、付勢部6aの先端部に本体部60方向への力が作用した場合に圧縮コイルばね67の弾性力に抗して付勢部6aが本体部60方向へ移動するように構成されている。
このような構成を有する本例によれば、基板10を保持(把持)する際に基板10に対する付勢力を調整することができるので、種々の搬送物や装置構成に応じて設計の自由度が大きくなり汎用性が高くなるというメリットがある。
図11に示すように、本例においては、第3の左アーム3Lと第3の右アーム3Rの先端部に、上述した構成の従動機構部6が配設され、その本体部60が基板搬送方向に沿って直進移動するように構成されている。
従動機構部6の本体部60の先端部には、減勢部材6bが取り付けられている。この減勢部材6bは、例えばステンレス等の金属からなる板状の弾性材料から構成され、本体部60の先端部から上方に向けて配設されている。
このような構成を有する本例によれば、上記例同様基板10を保持(把持)する際に基板10に対する付勢力を調整することができる。
図12に示すように、本例は、図10に示す例の変形例であり、従動機構部6の本体部60の先端部に、例えば本体部60の延びる方向と直交する方向に延びる直線棒状の取付部材67が固定され、この取付部材67の両端部に、例えばステンレス等の金属からなる帯状リング状の二つの減勢付勢部6d、6eが、取付部材67から基板搬送方向下流側に突出するように取り付けられている。
このような構成を有する本例によれば、図10に示す例と同様基板10を保持(把持)する際に基板10に対する付勢力を調整することができることに加え、基板搬送方向に対して線対称に配置された二つの減勢付勢部6d、6eによって基板10を付勢するため、バランス良く基板10を保持(把持)することができるというメリットがある。
この場合は、図11に示す例と同様に載置部5に孔部(図示せず)を設け、この孔部を介して取付部材68及び減勢付勢部6d、6eを載置部5の上方に位置させ、基板10の側部に対して減勢付勢部6d、6eが当接又は離間するように構成するとよい。
上述した図2(b)に示す例においては、第3の左アーム3Lと第3の右アーム3Rの各カム駆動面31L、31Rは、各先端部側の変位量r1が、各基端部側の変位量r0より小さくなるように構成されている(r1<r0)。
ここで、受け渡し位置までの距離、即ち受け渡し距離が短い場合には、基板10を受け渡しするときの基板10のエッジと付勢部6aの間隔が小さくなってしまい、基板10のエッジに付勢部6aが当たり、ダスト発生や基板ずれの問題が発生する可能性も考えられる。
なお、本例においては、第3の右アーム3Rに上述したカム駆動面31Rが形成されており、例えば図8に示すような下流側付勢機構8が載置部5に取り付けられているが、ここでは便宜上下流側付勢機構8についての説明を省略する。
この上流側付勢部材6Aは、好ましくは例えばステンレス等の金属材料から構成され、それぞれの端部が、例えばねじ等によって第3の左アーム3L及び第3の右アーム3Rに固定されている。そして、これにより、第3の左アーム3Lの載置部5側の取付面30Lと、第3の右アーム3Rの載置部5側の取付面30Rから基板搬送方向下流側に凸部形状となるようにその長さが設定されている。
このような観点からは、上流側付勢部材6Aの形状として、所定幅の帯状(ベルト状)に形成することがより好ましい。
また、上流側付勢部材6Aの取付位置は、載置部5の表面から上方に離間した位置で、上流側付勢部材6Aの基板搬送方向下流側の部分が基板10の側部に確実に接触するように設定することが好ましい。
図14(a)(b)に示すように、本例では、リンク機構20が伸びた状態及び縮んだ状態においては、第3の左アーム3Lの取付面30Lと第3の右アーム3Rの取付面30Rは、それぞれ基板搬送方向に対して傾斜した状態となるように構成する。
また、本発明の場合、特に限定されるものではないが、第3の左アーム3Lの取付面30Lと第3の右アーム3Rの取付面30Rにおける上流側付勢部材6Aの固定部310L、310R間の距離を、例えば、第3の左アーム3L及び第3の右アーム3Rの先端部側の支軸23L、23R間の距離より大きい距離Dとする。
このような構成において、リンク機構20が伸びた状態では、図14(a)に示すように、第3の左アーム3L及び第3の右アーム3R間に架け渡された上流側付勢部材6Aの両端部近傍に対し、それぞれ内側方向へ巻き込む力(モーメント)Tが作用する。その結果、上流側付勢部材6Aは、真円と比較して基板搬送方向につぶれた形状で静止した状態となる。
その結果、上流側付勢部材6Aの基板搬送方向下流側の部分(付勢部6a)が、搬送すべき基板10の側部と接触し、基板10の側部に対し、基板搬送方向への力Fを作用させることができる。
その他の構成及び作用効果については上述の例と同一であるのでその詳細な説明を省略する。
なお、本例においては、従動機構部6の本体部160に例えば図4に示す下流側付勢機構7の基部70が取付固定されているが、ここでは便宜上下流側付勢機構7についての説明を省略する。
本例の駆動凸部131L、131Rは、後述する従動部61の長孔62と係合するもので、同一の構成を有している。
各回転軸133L、133Rの上部には、各回転軸133L、133Rより若干径の大きな例えば円板状の支持部134L、134Rが設けられている。
従動機構部6Bの本体部160の一端部には、例えば本体部160に対して直交する方向に延びる長方形平板状の従動部161が取り付けられている。この従動部161には、例えばその幅方向の中央領域に、従動部161の長手方向に沿って直線状に延びる長孔162が形成されている。
また、従動部161の長孔162の長さは、第3の左アーム3Lと第3の右アーム3Rの回転に伴って移動する駆動凸部131L、131R間の最大距離より長くなるように設定されている。
従動機構部6Bの本体部160の他端部には、凸状(例えばピン形状)の付勢部6aが取り付けられている。この付勢部6aの先端部は、ダストの発生を防止するための例えばPTFE等の耐熱性の樹脂材料からなるコーティングを施すこともできる。
以下、第3の左アーム3Lの支軸23Lと駆動凸部131Lの支軸132Lとの間の距離、及び第3の右アーム3Rの支軸23Rと駆動凸部131Rの支軸132Rとの間の距離をそれぞれrとした場合を考える。
この状態において、従動機構部6Bの従動部161の長孔162に係合させた第3の左アーム3Lと第3の右アーム3Rの各駆動凸部131L、131Rが、当該長孔162内において両端部に位置するように、従動部161の長孔162の大きさ、各駆動凸部131L、131Rの位置を定める。
本例では、例えば各駆動凸部131L、131Rが、第3の左アーム3L及び第3の右アーム3Rの支軸23L、23Rより基板搬送方向に対して直交する方向で外方側に位置するように構成する(基板搬送方向に対する角度θ1)。
この状態では、駆動凸部131L、131Rが、それぞれ第3の左アーム3L又は第3の右アーム3Rの支軸23L、23Rを中心として互いに接近する方向に回転移動している。
なお、本例においては、上流側付勢機構9Cを構成する従動機構部6Cの本体部60に例えば図4に示す下流側付勢機構7の基部70が取付固定されているが、ここでは便宜上下流側付勢機構7の説明を省略する。
この従動部161Aは、第3の左アーム3Lの表側面130Lに設けた支軸35を中心として水平方向に回動自在に支持されている。本例では、支軸35は、上述した駆動凸部131Lと同じ位置に設けられ、これにより従動部161Aが一方の端部(左側の端部)を中心として回動するように構成されている。
また、本例の従動部161Aは、従動機構部6Cの本体部160と分離されている。そして、従動部161Aの基板搬送方向下流側の部位には、基板搬送方向に対して直交する方向に延び所定の大きさを有する駆動当接部161aが設けられている。
また、従動機構部6Cの本体部160の付勢部6aと反対側の端部には支持部160bが設けられ、この支持部160bと上述したガイド部材163との間には、当該本体部160の周囲に圧縮コイルばね166が装着されている。
そして、従動部161Aの駆動当接部161aが従動機構部6Cの本体部160の従動当接部160aに当接しこれを基板搬送方向下流側に付勢することにより、従動機構部6Cが圧縮コイルばね166の弾性力に抗して基板搬送方向下流側に移動する。
このような構成を有する本例によれば、従動機構部6Cの付勢部6aに設けられた従動当接部160aを適切な力で従動部161Aの駆動当接部161aに押し付けて密着させることができるので、従動機構部6Cを例えばガイド部材163に沿って確実に高精度で基板搬送方向下流側に移動させることができる。
なお、本例においては、上流側付勢機構9Dを構成する従動機構部6の本体部60に例えば図4に示す下流側付勢機構7の基部70が取付固定されているが、ここでは便宜上下流側付勢機構7の説明を省略する。
本例においては、第1の駆動用磁石36L、36Rと、第2の駆動用磁石37L、37Rは、上述した第1及び第2の駆動軸11、12の回転中心軸線を通り基板搬送方向に延びる直線に対してそれぞれ線対称となるように配置されている。
また、従動機構部6Dの本体部160の中腹部と上述した支持部材167との間には、当該本体部160の周囲に圧縮コイルばね166が装着されている。この圧縮コイルばね166は、その先端部分が支持部材167の係止部167aに固定されている。
本例では、リンク機構20が伸びた状態において、図18(a)に示すように、第3の左アーム3Lと第3の右アーム3Rのなす角度が例えば180度より大きくなるように設定する。
さらに、第3の左アーム3Lと第3の右アーム3Rと従動機構部6Dとの相対的な位置関係によって、第1及び第2の駆動用磁石36L、36R、37L、37Rと、従動用磁石169との位置関係(近接又は離間)が変化するように設定する。
なお、本発明は上述の実施の形態に限られることなく、種々の変更を行うことができる。
さらに、平行リンクアーム機構のようなそれぞれ相対的に平行移動する複数の隣接リンク部にカム駆動面を形成し、当該カム駆動面に沿って上流側付勢機構9を移動させ上述した動作によって搬送物を保持するように構成することも可能である。
他方、図8に示す例においては、左下流側付勢部81Lの把持部86L、右下流側付勢部81Rの把持部86Rを、第1及び第2の駆動軸11、12の回転中心軸線を通り基板搬送方向に延びる直線に対して線対称となるように配置したが、本発明はこれに限られず、基板10に対してリンク機構20に向かう方向へ付勢できる限り、同直線に対して非対称となるように配置することも可能である。
さらにまた、上述した実施の形態においては、移動可能な付勢部を有する上流側付勢機構を設けた場合について説明したが、本発明は、上流側付勢機構の代わりに載置部上に1又は2以上の係止部を設け、当該係止部と下流側付勢機構によって搬送物を基板搬送方向の両側から挟んで機械的に保持することも可能である。
加えて、本発明は、例えばSiウェハ等の円板形状の基板のみならず、例えばガラス基板等の矩形形状の基板や、楕円形状、多角形形状等の種々の基板の搬送に用いることができるものである。
Claims (12)
- 駆動源からの動力が伝達される複数のアームを有する伸縮自在なリンク機構と、
前記リンク機構の動作先端部において駆動リンク部を介して連結され、搬送物を載置するための載置部とを備え、
前記載置部の基板搬送方向下流側の部位に、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を前記リンク機構に向かう方向へ付勢する下流側付勢機構が設けられ、
前記下流側付勢機構による付勢によって当該搬送物を基板搬送方向の両側から挟んで保持するように構成されている搬送装置。 - 前記載置部の基板搬送方向上流側の部位に、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向下流側へ付勢する上流側付勢機構が設けられている請求項1記載の搬送装置。
- 前記下流側付勢機構には、カム方式の駆動部と、当該カム方式の駆動部によって駆動されるカム方式の下流側付勢部とが設けられている請求項1記載の搬送装置。
- 前記下流側付勢機構には、リンク方式の駆動部と、当該リンク方式の駆動部と係合して駆動されるリンク方式の下流側付勢部が設けられている請求項1記載の搬送装置。
- 前記下流側付勢部は、二つ設けられ、各下流側付勢部に設けられた把持部が、第1及び第2の駆動軸の回転中心軸線を通り基板搬送方向に延びる直線に対して線対称となるように配置されている請求項3又は4のいずれか1項記載の搬送装置。
- 前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられたカム駆動面と、当該カム駆動面に当接して従動可能な従動ローラを有し当該従動ローラの移動に応じて基板搬送方向に沿って案内移動される付勢部を有する従動機構部とを備えた請求項2記載の搬送装置。
- 前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられ回転方向が反対方向である一対の隣接するリンク部材を有し、帯状の一体的な弾性部材からなる帯状付勢手段が、当該一対の隣接リンク部材に架け渡されて設けられている請求項2記載の搬送装置。
- 前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられた駆動支持部と、当該駆動支持部によって駆動される従動機構部とを備え、
前記従動機構部は、前記駆動支持部と係合摺動可能な長溝状摺動部を有する従動部と、当該従動部に連結され当該従動部の長溝状摺動部内における前記駆動支持部の移動に応じて基板搬送方向に沿って案内移動される付勢部とを有する請求項2記載の搬送装置。 - 前記上流側付勢機構は、前記駆動リンク部に極性の異なる複数の駆動用磁石が設けられるとともに、
前記従動機構部には単一の極性の従動用磁石が設けられ、
前記駆動リンク部と前記従動機構部との相対的な位置関係によって前記複数の駆動用磁石のそれぞれと前記従動用磁石とが近接又は離間するように構成されている請求項2記載の搬送装置。 - 駆動源からの動力が伝達される複数のアームを有する伸縮自在なリンク機構と、
前記リンク機構の動作先端部において駆動リンク部を介して連結され、搬送物を載置するための載置部と、
前記載置部の基板搬送方向上流側の部位に設けられ、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向下流側へ付勢する上流側付勢機構と、
前記載置部の基板搬送方向下流側の部位に設けられ、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を当該基板搬送方向上流側に位置する前記リンク機構に向かう方向へ付勢する下流側付勢機構とを備え、
前記上流側付勢機構は、前記リンク機構の駆動リンク部に設けられた一対の隣接するリンク部材にそれぞれ設けたカム駆動面と、当該一対のカム駆動面にそれぞれ当接して従動可能な一対の従動ローラと、当該一対の従動ローラの移動に応じて前記基板搬送方向に直線的に移動する付勢部とを有する従動機構部を備え、
前記リンク機構が伸びた状態において、前記従動機構部の付勢部が当該搬送物の側部に当接せず、かつ、前記リンク機構が縮んだ状態では、当該従動機構部の付勢部が当該搬送物の側部に当接するように、前記従動機構部の付勢部の移動距離が設定され、
前記上流側付勢機構及び前記下流側付勢機構による付勢によって当該搬送物を基板搬送方向の両側から挟んで保持するように構成されている搬送装置。 - 前記下流側付勢機構は、前記上流側付勢機構の従動機構部の移動に応じて前記基板搬送方向に移動するように設けられた一対の駆動部材と、当該一対の駆動部材の前記基板搬送方向下流側の端部にそれぞれ設けられたカム駆動面と、前記一対の駆動部材のカム駆動面にそれぞれ当接して従動可能な把持部を有する従動係止部材とを備え、
前記従動係止部材は、前記一対の駆動部材の当該基板搬送方向下流側への移動に伴い、前記把持部がそれぞれ傾斜した状態から当該基板搬送方向上流側へ回転移動して起立するように構成されるとともに、
前記リンク機構が伸びた状態において、前記従動係止部材の把持部が当該搬送物の側部に当接せず、かつ、前記リンク機構が縮んだ状態では、前記従動係止部材の把持部が当該搬送物の側部に当接するように、前記従動係止部材の把持部の移動距離が設定されている請求項10記載の搬送装置。 - 真空槽と、
駆動源からの動力が伝達される複数のアームを有する伸縮自在なリンク機構と、前記リンク機構の動作先端部において駆動リンク部を介して連結され、搬送物を載置するための載置部とを備え、前記載置部の基板搬送方向下流側の部位に、前記リンク機構の駆動リンク部の動作に伴い、当該搬送物の側部と当接して当該搬送物を前記リンク機構に向かう方向へ付勢する下流側付勢機構が設けられ、前記下流側付勢機構による付勢によって当該搬送物を基板搬送方向の両側から挟んで保持するように構成されている搬送装置と、
前記搬送装置の載置部が前記真空槽内に対して搬入及び搬出するように構成されている真空装置。
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CN107962550B (zh) * | 2017-11-07 | 2020-12-11 | 大连理工大学 | 一种具有部分解耦和动平衡特性的scara高速并联机械手 |
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TWI537109B (zh) | 2016-06-11 |
KR20120068044A (ko) | 2012-06-26 |
KR101408489B1 (ko) | 2014-06-17 |
JP5150608B2 (ja) | 2013-02-20 |
TW201139080A (en) | 2011-11-16 |
JP2011104757A (ja) | 2011-06-02 |
CN102725110A (zh) | 2012-10-10 |
US20120288347A1 (en) | 2012-11-15 |
CN102725110B (zh) | 2015-04-01 |
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