WO2019096427A1

WO2019096427A1 - Magnetic levitation system, vacuum system, and method of transporting a carrier

Info

Publication number: WO2019096427A1
Application number: PCT/EP2017/079801
Authority: WO
Inventors: Christian Wolfgang Ehmann; Ralph Lindenberg
Original assignee: Applied Materials, Inc.
Priority date: 2017-11-20
Filing date: 2017-11-20
Publication date: 2019-05-23
Also published as: TW201932395A; CN212517117U; TWI687361B

Abstract

A magnetic levitation system for transporting a carrier (10) along a transport path in a transport direction (T) is provided. The magnetic levitation system includes one or more active magnetic bearings (121) configured to hold the carrier (10) in a carrier transportation space (15) in a contactless manner; a side stabilization device (130) with at least one passive magnet (131) configured to apply a restoring force (F) on the carrier (10) in a lateral direction (L) transverse to the transport direction (T); and an adjustment device (150) configured to adjust one or more of the group consisting of: a magnetic field strength of the at least one passive magnet (131), a position of the at least one passive magnet (131) with respect to the carrier transportation space, an orientation or angular position of the at least one passive magnet (131), and a position of a magnetic shielding component (650) with respect to the at least one passive magnet (131). Further, a method of transporting a carrier is provided.

Description

MAGNETIC LEVITATION SYSTEM, VACUUM SYSTEM, AND METHOD OF

TRANSPORTING A CARRIER

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to a magnetic levitation system for transporting a carrier. More specifically, a magnetic levitation system configured for a contactless carrier transport along a transport path is described. Further embodiments relate to a vacuum system including a magnetic levitation system and methods of transporting a carrier in the vacuum system. More specifically, a magnetic levitation system is described that is configured to contactlessly transport a carrier through a vacuum system, wherein the carrier may carry an object such as a substrate or a mask, particularly in an essentially vertical orientation.

BACKGROUND

[0002] A magnetic levitation system can be utilized for the contactless transport of carriers along a transport track of the magnetic levitation system, e.g. in a vacuum system under sub-atmospheric pressure. An object such as a substrate or a mask that is carried by the carrier can be transported from a first position in the vacuum system, i.e. a loading module, to a second position in the vacuum system, e.g. a deposition module. Magnetic levitation systems may allow for a contactless and therefore frictionless transport of carriers and may reduce the generation of small particles in the vacuum system. Small particles in a vacuum system may negatively affect the quality of layers that are deposited on a substrate in the vacuum system.

[0003] Magnetic levitation systems typically include one or more actively controlled magnetic bearings configured to contactlessly hold the carrier at a base structure of the magnetic levitation system. The carrier may be contactlessly held and/or transported in a carrier transportation space which may be defined by the base structure. [0004] Magnetic levitation systems may allow for a contactless transport of the carrier along a transport path in a transport direction. However, it may be difficult to move the carrier away from the transport path in a lateral direction transverse to the transport direction, e.g. because magnetic fields of the magnetic levitation system hold the carrier on the transport path. However, for some applications, a movement of the carrier away from the transport path may be beneficial, e.g. in order to move the carrier to a second transport path laterally offset from the transport path. A switch of a carrier from a first transport path to a second transport path is also referred to herein as a“track switch”.

[0005] Accordingly, it would be beneficial to increase the transport flexibility provided by a magnetic levitation system. In particular, it would be beneficial to enable a carrier movement in a lateral direction transverse to the transport direction of a magnetic levitation system. Further, providing a method of contactlessly transporting a carrier in a vacuum system in a flexible and reliable way would be beneficial.

SUMMARY

[0006] In light of the above, a magnetic levitation system, a vacuum system, as well as a method of transporting a carrier are provided.

[0007] According to an aspect of the present disclosure, a magnetic levitation system for transporting a carrier along a transport path in a transport direction is provided. The magnetic levitation system includes one or more active magnetic bearings configured to contactlessly hold the carrier in a carrier transportation space provided by the magnetic levitation system, and a side stabilization device with at least one passive magnet configured to apply a restoring force on the carrier in a lateral direction transverse to the transport direction. The magnetic levitation system further includes an adjustment device configured to adjust one or more of the group consisting of: (i) a magnetic field strength of the at least one passive magnet, (ii) a position of the at least one passive magnet with respect to the carrier transportation space, (iii) an orientation or angular position of the at least one passive magnet, and (iv) a position of a magnetic shielding component with respect to the at least one passive magnet. [0008] The side stabilization device may stabilize the carrier at a predetermined lateral position by applying a restoring force on the carrier which urges the carrier toward the predetermined lateral position in the lateral direction. The adjustment device may be configured to adjust the restoring force that is applied on the carrier by the side stabilization device in the case of a displacement of the carrier away from the carrier transportation space in the lateral direction.

[0009] In particular, the adjustment device may be configured to reduce the restoring force such that the carrier can be more easily moved in the lateral direction away from the side stabilization device, e.g. for performing a track switch.

[0010] According to a further aspect of the present disclosure, a vacuum system is provided. The vacuum system includes a magnetic levitation system for transporting a carrier along a transport path in a transport direction according to any of the embodiments described herein. The vacuum system further includes a second magnetic levitation system configured to transport a carrier along a second transport path horizontally offset from the transport path, and a track switch assembly configured to move the carrier from the transport path to the second transport path in the lateral direction.

[0011] According to a further aspect described herein, a method of transporting a carrier is provided. The method includes transporting a carrier along a transport path in a transport direction with a magnetic levitation system including one or more active magnetic bearings which contactlessly hold the carrier in a carrier transportation space, and stabilizing the carrier in a lateral direction transverse to the transport direction with a side stabilization device including at least one passive magnet adapted to apply a restoring force on the carrier in the lateral direction. The method further includes reducing or switching off the restoring force which is exerted on the carrier in the case of a displacement of the carrier in the lateral direction away from the carrier transportation space.

[0012] After reducing or switching off the restoring force, the carrier can be moved away from the transport path in the lateral direction, e.g. toward a second transport path of a second magnetic levitation system which is positioned laterally offset from the magnetic levitation system. [0013] Further aspects, advantages and features of the present disclosure are apparent from the description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0014] So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the present disclosure, briefly summarized above, may be had by reference to embodiments. The accompanying drawings relate to embodiments of the disclosure and are described in the following. Typical embodiments are depicted in the drawings and are detailed in the description which follows.

[0015] FIG. 1 is a schematic sectional view of a magnetic levitation system 100 configured to transport a carrier along a transport track according to embodiments described herein;

[0016] FIG. 2A and FIG. 2B are schematic sectional views of a magnetic levitation system 200 according to embodiments described herein in a transport state (FIG. 2A) and in a track switch state (FIG. 2B);

[0017] FIG. 3A and FIG. 3B are schematic views of a magnetic levitation system 300 according to embodiments described herein in a sectional view (FIG. 3A) and in a perspective view (FIG. 3B);

[0018] FIG. 4A and FIG. 4B are schematic sectional views of a magnetic levitation system 400 according to embodiments described herein in a transport state (FIG. 4A) and in a track switch state (FIG. 4B);

[0019] FIG. 5 A and FIG. 5B are schematic top views of a magnetic levitation system 500 according to embodiments described herein in a transport state (FIG. 5A) and in a track switch state (FIG. 5B);

[0020] FIG. 6A and FIG. 6B are schematic sectional views of a magnetic levitation system 600 according to embodiments described herein in a transport state (FIG. 6A) and in a track switch state (FIG. 6B); [0021] FIG. 7 is a schematic sectional view of a vacuum system 700 including a magnetic levitation system according to embodiments described herein; and

[0022] FIG. 8 is a flow diagram illustrating a method of transporting a carrier according to embodiments described herein.

DETAILED DESCRIPTION OF EMBODIMENTS

[0023] Reference will now be made in detail to the various embodiments, one or more examples of which are illustrated in the figures. Each example is provided by way of explanation and is not meant as a limitation. For example, features illustrated or described as part of one embodiment can be used on or in conjunction with any other embodiment to yield yet a further embodiment. It is intended that the present disclosure includes such modifications and variations.

[0024] Within the following description of the drawings, the same reference numbers refer to the same or to similar components. Generally, only the differences with respect to the individual embodiments are described. Unless specified otherwise, the description of a part or aspect in one embodiment applies to a corresponding part or aspect in another embodiment as well.

[0025] FIG. 1 is a schematic sectional view of a magnetic levitation system 100 for transporting a carrier 10 along a transport path in a transport direction T. The transport direction T is perpendicular to the paper plane of FIG. 1.

[0026] The magnetic levitation system 100 may include a base structure 110 which may include a stationary transport track or transport rail. The carrier 10 can be contactlessly held at the base structure 110 in a carrier transportation space 15. The carrier transportation space 15 may be understood as a zone adjacent to the base structure 110 where the carrier is arranged during the transport of the carrier along the transport path. For example, the carrier transportation space 15 may be a space between an upper track section 112 and a lower track section 114 of the base structure 110 which is configured to receive the carrier during the carrier transport along the transport path in the transport direction. [0027] The carrier 10 can be contactlessly moved relative to the base structure 110 in the transport direction T along the transport path.

[0028] The magnetic levitation system 100 includes one or more active magnetic bearings 121 configured to hold the carrier 10 in the carrier transportation space 15 in a contactless manner with respect to the base structure 110. As is schematically depicted in FIG. 1, the carrier 10 is contactlessly held in the carrier transportation space 15 between an upper track section 112 and a lower track section 114 of the base structure 110. In some embodiments, the one or more active magnetic bearings 121 are provided at the upper track section 112 of the base structure 110. A drive unit for moving the carrier in the transport direction T, e.g. a linear motor, may be provided at the lower track section 114.

[0029] In the embodiment depicted in FIG. 1, the base structure 110 includes an upper track section 112 that is arranged above the carrier 10, wherein the carrier 10 can be held below the upper track section 112. Alternatively or additionally, the base structure may include a lower track section 114 arranged below the carrier, wherein the carrier can be held above the lower track section 114. The carrier transportation space 15 in which the carrier 10 is contactlessly held and transported may be arranged between the upper track section 112 and the lower track section 114.

[0030] The magnetic levitation system 100 includes the one or more active magnetic bearings 121 which are configured to contactlessly hold the carrier 10 at the base structure in the carrier transportation space 15. A plurality of active magnetic bearings may be provided. The one or more active magnetic bearings 121 may be configured to generate a magnetic force acting between the base structure 110 and the carrier 10, such that the carrier is contactlessly held at a predetermined distance from the base structure 110. In some embodiments, the one or more active magnetic bearings 121 are configured to generate a magnetic force acting in an essentially vertical direction such that the vertical width of a gap between the upper track section 112 and the carrier 10 can be maintained essentially constant.

[0031] In some embodiments, the one or more active magnetic bearings 121 include an actuator that is arranged at the base structure 110, particularly at the upper track section 112. The actuator may include a controllable magnet such as an electromagnet. The actuator may be actively controllable for maintaining a predetermined distance between the base structure 110 and the carrier 10. A magnetic counterpart may be arranged at the carrier 10, particularly at a head part of the carrier. The magnetic counterpart of the carrier may magnetically interact with the actuators of the active magnetic bearings.

[0032] For example, an output parameter such as an electric current which is applied to the actuator may be controlled depending on an input parameter such as a distance between the carrier and the base structure 110. In particular, a distance between the upper track section 112 and the carrier 10 may be measured by a distance sensor, and the magnetic field strength of the actuator may be set depending on the measured distance. In particular, the magnetic field strength may be increased in the case of a distance above a predetermined threshold value, and the magnetic field strength may be decreased in the case of a distance below the threshold value. The actuator may be controlled in a closed loop or feedback control.

[0033] The magnetic levitation system 100 further includes a side stabilization device 130 with at least one passive magnet 131 configured to apply a restoring force F on the carrier 10 in a lateral direction L transverse to the transport direction T. The side stabilization device 130 may stabilize the carrier at a predetermined lateral position by applying a restoring force on the carrier 10 in the case of a lateral displacement of the carrier. The restoring force F pushes or pulls the carrier 10 back to the predetermined lateral position.

[0034] The transport direction T may be an essentially horizontal direction, and the lateral direction L may be an essentially horizontal direction transverse to the transport direction T. In particular, the lateral direction L may be a direction essentially perpendicular to the extension direction of the transport track of the magnetic levitation system 100.

[0035] The side stabilization device 130 may include a side guiding rail which extends along the transport path of the magnetic levitation system, e.g. next to the upper track section 112 and/or next to the lower track section 114. The at least one passive magnet 131 may be attached to the side guiding rail in such a way that the carrier 10 which is transported along the transport path can be stabilized at a predetermined lateral position with respect to the base structure 110. In particular, the side stabilization device 130 may generate a stabilization force configured to counteract a displacement of the carrier from the carrier transportation space 15 in the lateral direction L.

[0036] In particular, the side stabilization device 130 may be configured to generate a restoring force F which pushes and/or pulls the carrier back into the carrier transportation space 15, when the carrier is displaced in the lateral direction L from a predetermined lateral position or equilibrium position that is depicted in FIG. 1. When the carrier is arranged at the equilibrium position, the one or more active magnetic bearings 121 can interact with the carrier 10 in order to contactlessly hold the carrier with respect to the base structure 110.

[0037] A lateral displacement of the carrier both toward the left side and toward the right side in FIG. 1 may cause a restoring force exerted on the carrier by the side stabilization device such as to urge the carrier back toward the equilibrium position that is depicted in FIG. 1. In other words, the side stabilization device may be a bidirectionally acting side stabilization device.

[0038] As is depicted in the enlarged section of FIG. 1, the side stabilization device 130 may include at least one passive magnet 131 having a north pole N and a south pole S. In some embodiments, a plurality of passive magnets 131 may be provided which may be arranged one after the other in the transport direction. A line 20 extending from the south pole S to the north pole N of the at least one passive magnet 131 may extend essentially in the lateral direction L. In other words, the direction of the magnetic field lines inside the at least one passive magnet (which run from the south pole to the north pole inside the magnet) may essentially correspond to the lateral direction.

[0039] At least one carrier magnet 13 may be attached to the carrier 10 in such a way that a displacement of the carrier 10 from the carrier transportation space 15 in the lateral direction L leads to repulsive magnetic force between the at least one passive magnet 131 and the at least one carrier magnet 13 counteracting the displacement. Accordingly, the carrier remains in the equilibrium position that is depicted in FIG. 1 during the holding and during the transport of the carrier along the transport path. [0040] In some embodiments, which may be combined with other embodiments described herein, a line 20 extending from the south pole S to the north pole N of the at least one passive magnet 131 (i.e., the direction of the magnetic field lines inside the magnet) extends essentially in the lateral direction L. Further, the at least one carrier magnet 13 attached to the carrier 10 has a north pole N and a south pole S, wherein a line extending from the south pole S to the north pole N extends essentially in the lateral direction L. The at least one carrier magnet 13 is arranged in an inverse orientation as compared to the at least one passive magnet 131, such that the north pole N of the at least one carrier magnet 13 is arranged close to and attracted by the south pole S of the at least one passive magnet 131, and the south pole S of the at least one carrier magnet 13 is arranged close to and attracted by the north pole N of the at least one passive magnet 131, when the carrier is arranged in the equilibrium position. When the carrier is displaced from the equilibrium position in a first lateral direction (e.g. toward the left side of FIG. 1), the north pole N of the at least one carrier magnet 13 approaches the north pole N of the at least one passive magnet 131 which leads to a restoring force urging the carrier back toward the equilibrium position. When the carrier is displaced from the equilibrium position in a second (opposite) lateral direction (e.g. toward the right side of FIG. 1), the south pole S of the at least one carrier magnet 13 approaches the south pole S of the at least one passive magnet 131 which leads to a restoring force urging the carrier back toward the equilibrium position. Accordingly, the side stabilization device 130 stabilizes the carrier at a predetermined lateral position such that lateral movements of the carrier with respect to the base structure can be reduced or prevented.

[0041] In some embodiments, the at least one passive magnet 131 is arranged above and/or below the carrier transportation space 15. In other words, the at least one passive magnet 131 is configured to be spaced from the at least one carrier magnet 13 in a vertical direction when the carrier 10 is arranged in the carrier transportation space 15, e.g. at the equilibrium position. As is schematically depicted in FIG. 1, the at least one passive magnet 131 of the side stabilization device 130 is arranged above the at least one carrier magnet 13 of the carrier, when the carrier 10 is arranged in the carrier transportation space 15. [0042] The side stabilization device 130 may be attached to the upper track section 112 and/or to the lower track section 114 of the base structure 110 of the magnetic levitation system 100.

[0043] A passive magnet as used herein may be understood as a magnet which is not actively controlled via a feedback control. For example, no output parameter such as a magnetic field strength of the passive magnet is controlled depending on an input parameter such as a distance. The passive magnet may rather provide a side stabilization of the carrier without any feedback control. For example, the at least one passive magnet may include one or more permanent magnets. Alternatively or additionally, the at least one passive magnet may include one or more electromagnets which may not be actively controlled.

[0044] The side stabilization device 130 may stabilize the carrier 10 at a predetermined lateral position with respect to the base structure 110 and may prevent a substantial displacement of the carrier in the lateral direction L. However, for some applications, it may be beneficial to move the carrier away from the transport path in the lateral direction L. For example, a track switch of the carrier 10 away from the transport path toward a second transport path laterally offset from the transport path may be beneficial. Alternatively or additionally, a carrier displacement in the lateral direction for aligning the carrier may be beneficial. Alternatively or additionally, inserting or extracting a carrier from a transport path in the lateral direction may be beneficial, e.g. for maintenance reasons.

[0045] Embodiments described herein enable an adjustment of the restoring force F exerted by the side stabilization device 130 on the carrier 10 which allows for a movement of the carrier away from the transport path in the lateral direction L, particularly in a direction essentially perpendicular to the transport direction T.

[0046] The magnetic levitation system 100 according to embodiments described herein includes an adjustment device 150 configured to adjust the restoring force F exerted on the carrier 10 by the side stabilization device 130 in the case of a displacement of the carrier in the lateral direction L away from the carrier transportation space 15. [0047] The adjustment device 150 may be configured to adjust one or more of the group consisting of (i) a magnetic field strength of the at least one passive magnet 131, (ii) a position of the at least one passive magnet 131 with respect to the carrier transportation space 15, (iii) an orientation or angular position of the at least one passive magnet 131, and (iv) a position of a magnetic shielding component with respect to the at least one passive magnet 131.

[0048] In other words, embodiments of the magnetic levitation system described herein include an adjustment device 150 which can alter the state of the side stabilization device 130 in such a way that the restoring force F exerted by the side stabilization device 130 on the carrier 10 is changed, particularly reduced or switched off completely. After a reduction or deactivation of the restoring force F exerted on the carrier by the side stabilization device 130, the carrier can be moved away from the side stabilization device 130 in the lateral direction, e.g. toward a second transport path or toward a processing device.

[0049] Similarly, when a carrier has moved into the carrier transportation space 15 of the magnetic levitation system 100 in the lateral direction, e.g. from a second transport track, the restoring force F exerted by the side stabilization device 130 can be activated or increased via the adjustment device 150. The carrier 10 is then reliably stabilized with respect to the base structure 110 in the lateral direction L. Thereafter, the carrier 10 can be contactlessly transported along the transport track by the magnetic levitation system while being laterally stabilized by the side stabilization device 130.

[0050] Accordingly, by enabling an adjustment of the restoring force F via the adjustment device 150, the carrier can be reliably held and guided along the transport path in a transport state of the side stabilization device, and the carrier can be moved away from the transport path in the lateral direction L in a track switch state of the side stabilization device. Further, the restoring force F exerted on a carrier in the case of a displacement of the carrier in the lateral direction L can be adjusted, e.g. for adapting the magnetic levitation system to properties of a specific carrier.

[0051] According to embodiments, which may be combined with other embodiments described herein, the magnetic levitation system 100 may further include a track switch assembly configured to move the carrier away from the transport path in the lateral direction L. The track switch assembly may be arranged at a track switch position along the transport path where an adjustable part of the side stabilization device is also arranged. Accordingly, the restoring force F exerted on the carrier by the side stabilization device 130 can be reduced by the adjustment device 150, whereupon the carrier can leave the transport path in the lateral direction L by being moved in the lateral direction by the track switch assembly. A vacuum system including a track switch assembly 750 is schematically depicted in FIG. 7.

[0052] In some implementations, the side stabilization device 130 is switchable between at least two states, including a transport state configured for a contactless carrier transport along the transport path by the magnetic levitation system and a track switch state configured for a movement of the carrier away from the side stabilization device in the lateral direction L. In the transport state, the restoring force F exerted on the carrier by the side stabilization device in the case of a carrier displacement may be set to a first value by the adjustment device. In the track switch state, the restoring force F exerted on the carrier in the case of a carrier displacement may be set to a second value by the adjustment device. The second value is lower than the first value. In particular, in the track switch state, the side stabilization device 130 may be entirely deactivated such that no restoring force is exerted on the carrier. Accordingly, the carrier can be easily transferred away from the transport path in the lateral direction L.

[0053] In some embodiments, the carrier transportation space 15 is arranged between the upper track section 112 and the lower track section 114 of the base structure 110. The side stabilization device 130 may be attached to the upper track section 112. Alternatively, the side stabilization device may be attached to the lower track section 114. In some embodiments, the side stabilization device 130 is attached to the upper track section 112, and a second side stabilization device 132 is attached to the lower track section 114, as is schematically depicted in FIG. 1.

[0054] The side stabilization device 130 and the second side stabilization device 132 may be configured in a similar or identical way. In particular, by providing the side stabilization device 130 and the second side stabilization device 132, an upper part and a lower part of the carrier can be stabilized in the lateral direction L such that a stable carrier transport can be provided. The adjustment device 150 may be configured to adjust the restoring force provided by the side stabilization device 130, and a second adjustment device may be configured to adjust the restoring force provided by the second side stabilization device 132. In many of the embodiments described herein, the side stabilization device 130 is attached to the upper track section 112. However, it is to be understood that the side stabilization device can instead or additionally be attached to the lower track section 114, as is schematically depicted in FIG. 1.

[0055] In some implementations, the carrier 10 may be a substrate carrier configured to hold and carry a substrate in an essentially vertical orientation. Alternatively, the carrier 10 may be configured for carrying a different object, e.g. a mask.

[0056] In some implementations, the carrier may be configured to hold and carry an object such as a substrate in an essentially horizontal orientation. In particular, the magnetic levitation system may be configured to transport a carrier while the carrier is essentially horizontally oriented.

[0057] A“substrate carrier” as used herein relates to a carrier configured to carry a substrate along a transportation path in a vacuum chamber. The substrate carrier may hold the substrate during the deposition of a coating material on the substrate. In some embodiments, the substrate may be held at the substrate carrier in a non-horizontal orientation, particularly in an essentially vertical orientation, e.g. during transport and/or deposition.

[0058] The substrate may be held at a holding surface of the carrier during the transport through a vacuum system, during positioning of the substrate in the vacuum system, e.g. with respect to a mask, and/or during the deposition of a coating material on the substrate. In particular, the substrate may be held at the carrier via a mounting device, e.g. including an electrostatic chuck or a magnetic chuck.

[0059] A“mask carrier” as used herein relates to a carrier configured to carry a mask. The mask carrier may carry the mask during transport, during alignment with respect to a substrate and/or during deposition on the substrate. In some embodiments, the mask may be held at the mask carrier in a non-horizontal orientation, particularly in an essentially vertical orientation during transport and/or deposition. The mask may be held at the carrier by a mounting device, e.g. a mechanical mount such as a clamp, an electrostatic chuck or a magnetic chuck. Other types of mounting devices may be used which may be connected to or integrated in the carrier.

[0060] The carrier may include a plate body with an opening, wherein the mask can be held at a circumferential edge of the opening, such that the mask covers the opening. Accordingly, a coating material can be directed through the mask toward a substrate. The mask may be an edge exclusion mask or a shadow mask. An edge exclusion mask is a mask which is configured for masking one or more edge regions of the substrate, such that no material is deposited on the one or more edge regions during the coating of the substrate. A shadow mask is a mask configured for masking a plurality of features which are to be deposited on the substrate. For instance, the shadow mask can include a plurality of small openings, e.g. a grid of small openings.

[0061] An“essentially vertical orientation” as used herein may be understood as an orientation of the carrier in which an angle between the gravity vector and a holding surface of the carrier configured to hold the object is 20° or less, particularly 10° or less, more particularly 5° or less. Accordingly, a substrate or another object can be held at the holding surface in an essentially vertical orientation.

[0062] The carrier 10 may be configured to carry an object having a size of 1 m² or more, particularly 2 m² or more. In particular, the carrier 10 may be configured to carry a large- area substrate having a size of 1 m² or more or 5 m² or more.

[0063] FIG. 2A and FIG. 2B are schematic sectional views of a magnetic levitation system 200 according to embodiments described herein. FIG. 2A shows the magnetic levitation system in a transport state configured for the contactless transport of the carrier 10 in the transport direction T, and FIG. 2B shows the magnetic levitation system in a track switch state configured for a movement of the carrier away from the carrier transportation space in the lateral direction L.

[0064] An upper portion of the magnetic levitation system 200 holding a carrier 10 is illustrated in FIG. 2A and FIG. 2B, respectively. In particular, an upper track section 112 of a base structure 110 of the magnetic levitation system 200 is depicted. As will be apparent, the magnetic levitation system 200 may further include a lower track section 114 in some embodiments, similar to the magnetic levitation system 100 of FIG. 1.

[0065] The magnetic levitation system 200 may include some features or all the features of the magnetic levitation system 100 depicted in FIG. 1, such that reference can be made to the above explanations, which are not repeated here.

[0066] The magnetic levitation system 200 includes a side stabilization device 130 including at least one passive magnet 131 configured to apply a restoring force F on the carrier 10 in the lateral direction L perpendicular to the transport direction T. Accordingly, the carrier 10 can be stabilized at a predetermined lateral position or equilibrium position with respect to the base structure 110.

[0067] The magnetic levitation system 200 further includes an adjustment device 150 configured to adjust a position of the at least one passive magnet 131 of the side stabilization device 130 with respect to the carrier transportation space 15. In particular, the adjustment device 150 may include an actuator 250 configured to adjust a position of the at least one passive magnet 131 with respect to the carrier transportation space 15.

[0068] In some embodiments, the actuator 250 may be configured to move the side stabilization device 130 toward the carrier transportation space 15 and/or away from the carrier transportation space 15, particularly in an essentially vertical direction. By moving the at least one passive magnet 131 away from the carrier transportation space 15, the magnetic force exerted by the at least one passive magnet 131 on the carrier 10 arranged in the carrier transportation space 15 can be reduced. Accordingly, the restoring force F applied on the carrier 10 in the case of a lateral displacement can be reduced. By moving the at least one passive magnet 131 toward the carrier transportation space, the magnetic force exerted by the at least one passive magnet 131 on the carrier 10 arranged in the carrier transportation space 15 can be increased. Accordingly, the restoring force F applied on the carrier 10 in the case of a lateral displacement can be increased. [0069] In some implementations, the actuator may be configured to move the at least one passive magnet 131 in an essentially vertical direction toward the carrier transportation space 15 and/or away from the carrier transportation space 15.

[0070] In some embodiments, which may be combined with other embodiments described herein, the side stabilization device 130 includes a side guiding rail, wherein a plurality of passive magnets are attached to the side guiding rail. The side guiding rail may be movable in an essentially vertical direction by the actuator 250. Accordingly, the restoring force F exerted on the carrier can be adjusted. The side guiding rail may be attached to the upper track section 112 such as to be arranged above the carrier transportation space 15. Accordingly, the plurality of passive magnets which are attached to the side guiding rail can magnetically interact with at least one carrier magnet 13 attached to the carrier 10 when the carrier is arranged in the carrier transportation space 15, as is schematically depicted in FIG. 2A.

[0071] In the embodiment depicted in FIG. 2A and FIG. 2B, the side stabilization device 130 is provided at the upper track section 112 of the base structure 110. An actuator 250 is provided for moving the side stabilization device 130 in an essentially vertical direction with respect to the upper track section 112. For example, the actuator 250 may include a drive, particularly a motor such as an electric motor, configured to move the side stabilization device 130, e.g. in an upward and downward direction with respect to the upper track section 112.

[0072] In FIG. 2A, the side stabilization device 130 is provided in the transport state configured for the transport of the carrier 10 along the transport path in the transport direction T. In the transport state, the side stabilization device 130 is arranged close to the carrier transportation space 15, such that a restoring force F can be exerted on the carrier by the at least one passive magnet 131 which is strong enough for reliably stabilizing the carrier in the lateral direction. For example, a distance between the at least one carrier magnet 13 and the at least one passive magnet 131 may be 10 mm or less, particularly 5 mm or less, when the carrier is arranged in the carrier transportation space and is being stabilized by the side stabilization device. [0073] In FIG. 2B, the side stabilization device 130 is provided in the track switch state configured for a movement of the carrier in the lateral direction away from the transport path. In the track switch state, the side stabilization device 130 is arranged at a larger distance from the carrier transportation space 15, such that a small or negligible restoring force F is applied by the at least one passive magnet 131 on the carrier. For example, as compared to the transport state, the side stabilization device 130 may have moved by a distance of 2 cm or more, particularly 3 cm or more, or even 4 cm or more. Accordingly, the carrier can be moved away from the side stabilization device 130 in the lateral direction L, e.g. for conducting a track switch.

[0074] In some embodiments, which may be combined with other embodiments described herein, the at least one passive magnet includes one or more permanent magnets. Permanent magnets are suitable for reliably generating a high restoring force without any external power supply. As compared to actively controlled magnetic bearings, permanent magnets are beneficial in terms of small size, low price, higher temperature stability, large airgap, easy implementation, and fail-safe operation.

[0075] In implementations, a plurality of permanent magnets may be attached to a side guiding rail of the side stabilization device 130, wherein the side guiding rail is configured to be movable with respect to the carrier transportation space 15 by the actuator 250.

[0076] It is noted that, in some embodiments, a second side stabilization device may be attached to a lower track section of the base structure 110, wherein the second side stabilization device may include at least one passive magnet configured as a permanent magnet. A second adjustment device including an actuator for moving the second side stabilization device with respect to the carrier transportation space 15 may be provided. In particular, the second side stabilization device may be movable in an essentially vertical direction toward the carrier transportation space (transport state) and/or away from the carrier transportation space (track switch state).

[0077] FIG. 3A and FIG. 3B are schematic views of a magnetic levitation system 300 according to embodiments described herein. FIG. 3A illustrates the magnetic levitation system 300 in a sectional view, and FIG. 3B illustrates the magnetic levitation system 300 in a perspective view. [0078] An upper portion of the magnetic levitation system 300 which holds a carrier 10 is illustrated in FIG. 3A and FIG. 3B, respectively. In particular, an upper track section 112 of a base structure 110 of the magnetic levitation system 300 is depicted. As will be apparent, the magnetic levitation system 300 may further include a lower track section 114 and a second side stabilization device provided at the lower track section, similar to the magnetic levitation system 100 of FIG. 1.

[0079] The magnetic levitation system 300 may include some features or all the features of the magnetic levitation system 100 depicted in FIG. 1, such that reference can be made to the above explanations, which are not repeated here.

[0080] The magnetic levitation system 300 includes a side stabilization device 130 including at least one passive magnet configured to apply a restoring force F on the carrier 10 in the lateral direction L transverse to the transport direction T. Accordingly, the carrier 10 can be stabilized at a predetermined lateral position or equilibrium position with respect to the base structure 110.

[0081] In some embodiments, which may be combined with other embodiments described herein, the at least one passive magnet may include one or more electromagnets 331. The one or more electromagnets 331 may include one or more windings or coils, wherein a power supply 350 may be provided for supplying the one or more electromagnets 331 with an electric current.

[0082] In the embodiment depicted in FIG. 3A and 3B, the magnetic levitation system 300 includes an adjustment device 150 configured to adjust a magnetic field strength of the at least one passive magnet. In particular, the at least one passive magnet includes one or more electromagnets 331, and the adjustment device 150 includes a controller configured to adjust an electric current supplied to the one or more electromagnets 331.

[0083] The adjustment device 150 may include a power supply 350 connected to the one or more electromagnets 331. The controller may be configured to adjust the electric current supplied to the one or more electromagnets 331 by the power supply 350. The restoring force F exerted on the carrier by the side stabilization device may be reduced by reducing the electric current supplied to the one or more electromagnets 331, and the restoring force exerted on the carrier by the side stabilization device may be increased by increasing the electric current supplied to the one or more electromagnets 331. After a reduction of the restoring force F, the carrier can be moved away from the side stabilization device 130 in the lateral direction, e.g. for conducting a track switch. For achieving a reliable carrier stabilization in the lateral direction L, the electric current supplied to the one or more electromagnets can be increased.

[0084] In some embodiments, one or more coils of the one or more electromagnets 331 extend around a winding axis extending in the lateral direction L, as is schematically depicted in the enlarged section of FIG. 3A. In particular, the one or more electromagnets 331 may be arranged such that the magnetic field generated by the side stabilization device has an orientation corresponding to the magnetic field generated by the side stabilization device 130 of FIG. 1. Accordingly, a carrier having at least one carrier magnet 13 attached thereto can be stabilized in the lateral direction.

[0085] In some embodiments, the side stabilization device 130 may include at least one permanent magnet and at least one electromagnet.

[0086] For example, the at least one permanent magnet may generate a restoring force configured to stabilize the carrier in the lateral direction L. The electric field strength provided by the at least one electromagnet may be adjustable by the adjustment device 150. In particular, the at least one electromagnet may be switchable between a transport state and a track switch state. In the transport state, the orientation of the magnetic field generated by the at least one electromagnet may essentially correspond to the orientation of the magnetic field generated by the at least one permanent magnet. Accordingly, both the at least one electromagnet and the at least one permanent magnet may be adapted to exert a restoring force on the carrier which stabilizes the carrier in the equilibrium position. In the track switch state, the orientation of the magnetic field generated by the at least one electromagnet may be essentially inverse to the orientation of the magnetic field generated by the at least one permanent magnet. Accordingly, the net restoring force acting on the carrier in the case of a lateral carrier displacement can be reduced or switched off, or the net force acting on the carrier may become a displacement force which actively pushes or pulls the carrier away from the carrier transportation space in the lateral direction. [0087] In some embodiments, which may be combined with other embodiments described herein, the side stabilization device 130 may be switchable between the transport state and the track switch state. In the transport state, the electric current supplied to the one or more electromagnets may be adjusted such as to generate a restoring force which stabilizes the carrier in the lateral direction L. In the track switch state, the electric current supplied to the one or more electromagnets may be adjusted such as to generate a displacement force pushing or pulling the carrier away from the carrier transportation space in the lateral direction. In particular, a track switch movement of the carrier in the lateral direction L can be initiated by the adjustment device.

[0088] In some embodiments, which may be combined with other embodiments described herein, the at least one passive magnet 131 may include at least one electropermanent magnet (EPM). The adjustment device 150 may be configured to adjust the strength of the magnetic field generated by the at least one electropermanent magnet in the carrier transportation space, particularly by supplying a pulse of electric current to the electropermanent magnet.

[0089] The electropermanent magnet may include at least one permanent magnet and at least one electromagnet, wherein the external magnetic field of the permanent magnet can be switched between two states by a pulse of electric current supplied to the at least one electromagnet. In particular, the direction of magnetization of at least a part of the permanent magnet can be changed by a pulse of current supplied to the electromagnet. For example, the permanent magnet may include a part made of a soft magnetic material having a low coercivity such that the magnetization of said part can be changed. The electropermanent magnet may be switchable between the transport state and the track switch state.

[0090] FIG. 4A and FIG. 4B are schematic sectional views of a magnetic levitation system 400 according to embodiments described herein. FIG. 4A shows the magnetic levitation system in a transport state configured for the transport of the carrier 10 in the transport direction T, and FIG. 4B shows the magnetic levitation system in a track switch state configured for a movement of the carrier away from the carrier transportation space in the lateral direction F. [0091] An upper portion of the magnetic levitation system 400 which holds the carrier 10 is illustrated in FIG. 4A and FIG. 4B, respectively. In particular, an upper track section 112 of a base structure 110 of the magnetic levitation system 400 is depicted. As will be apparent, the magnetic levitation system 400 may further include a lower track section 114, similar to the magnetic levitation system 100 of FIG. 1.

[0092] The magnetic levitation system 400 may include some features or all the features of the magnetic levitation system 100 depicted in FIG. 1, such that reference can be made to the above explanations, which are not repeated here.

[0093] The magnetic levitation system 400 includes a side stabilization device 130 including at least one passive magnet 131 configured to apply a restoring force F on the carrier 10 in the lateral direction L transverse to the transport direction T. Accordingly, the carrier 10 can be stabilized at a predetermined lateral position or equilibrium position with respect to the base structure 110.

[0094] In some embodiments, the at least one passive magnet 131 includes one or more permanent magnets. In the transport state that is depicted in FIG. 4A, the at least one passive magnet 131 may be oriented such that a line extending from the south pole S to the north pole P of the at least one passive magnet 131 extends in the lateral direction L. Accordingly, the carrier can be stabilized in the carrier transportation space 15 in the lateral direction L.

[0095] The magnetic levitation system 400 further includes an adjustment device configured to adjust an orientation of the at least one passive magnet 131. In particular, the adjustment device may include an actuator 450 configured to rotate or tilt the at least one passive magnet 131.

[0096] The actuator 450 may be configured to rotate or tilt the at least one passive magnet 131 relative to an axis A, particularly relative to an axis A extending essentially in the transport direction. The at least one passive magnet can be rotated or tilted from a first orientation that is depicted in FIG. 4A to a second orientation that is depicted in FIG. 4B, e.g. by an angle of 45° or more and 135° or less, particularly by an angle of essentially 90°. The first orientation may correspond to the transport state, and the second orientation may correspond to the track switch state of the side stabilization device.

[0097] In particular, the at least one passive magnet 131 may be rotatable or tiltable from a first orientation in which the north pole N and the south pole S of the at least one passive magnet 131 are arranged horizontally adjacent to each other (see FIG. 4 A) to a second orientation in which the north pole N and the south pole S are arranged vertically adjacent to each other (see FIG. 4B). In the transport state, the at least one passive magnet 131 may be oriented such that a line 20 extending from the south pole S to the north pole N of the at least one passive magnet 131 extends in the lateral direction L. In the track switch state, the at least one passive magnet 131 may be oriented such that the line from the south pole S to the north pole N of the at least one passive magnet extends in an essentially vertical direction.

[0098] As is schematically depicted in FIG. 4B, the north pole N (or alternatively the south pole) of the at least one passive magnet may be directed toward the carrier transportation space in the track switch state. No net force or only a negligible net force will be exerted on the carrier in the lateral direction L by the side stabilization device 130, when the side stabilization device 130 has been tilted to the orientation depicted in FIG. 4B.

[0099] In some embodiments, the at least one passive magnet 131 is configured as a magnet bar having a longitudinal axis extending in the transport direction. The actuator 450 may be configured for rotating the magnet bar around the longitudinal axis of the magnet bar.

[00100] In the embodiment depicted in FIG. 4A and FIG. 4B, the side stabilization device 130 is provided at the upper track section 112 of the base structure 110. An actuator 450 is provided for rotating or tilting the at least one passive magnet with respect to an axis A which extends essentially in the transport direction T. For example, the actuator 450 may include a drive, particularly a motor such as an electric motor, configured to rotate the at least one passive magnet 131 from a first orientation to a second orientation, e.g. by an angle of about 90°. [00101] In FIG. 4A, the side stabilization device 130 is provided in the transport state configured for the transport of the carrier 10 along the transport path in the transport direction T. In the transport state, the side stabilization device 130 is arranged in the first orientation, such that a restoring force F in the lateral direction L can be exerted by the at least one passive magnet 131 on a carrier arranged in the carrier transportation space 15. The restoring force may be strong enough for reliably stabilizing the carrier in the lateral direction L.

[00102] In FIG. 4B, the side stabilization device 130 is provided in the track switch state configured for a movement of the carrier in the lateral direction L away from the transport path. In the track switch state, the side stabilization device 130 is arranged at the second orientation, such that a small or negligible restoring force F is exerted by the at least one passive magnet 131 on the carrier in the lateral direction L. Accordingly, the carrier can be moved away from the side stabilization device 130 in the lateral direction L, e.g. for conducting a track switch.

[00103] It is noted that the term“rotation” of a magnet as used herein encompasses movements of the magnet which lead to a change of orientation of the magnetic field generated by the magnet from a first orientation to a second orientation, i.e. including rotation, tilting, pivoting, swinging and/or turning movements.

[00104] It is further noted that, in some embodiments, a second side stabilization device may be attached to a lower track section of the base structure 110, wherein the second side stabilization device may include at least one passive magnet configured as a permanent magnet. A second adjustment device including an actuator for changing the orientation of the at least one passive magnet of the second side stabilization device may be provided. The second adjustment device may include an actuator configured to rotate the at least one passive magnet, particularly around a rotation axis extending in the transport direction T. In particular, the second side stabilization device may be rotatable by essentially 90° from a first orientation to a second orientation, and/or vice versa.

[00105] FIG. 5 A and FIG. 5B are schematic top views of a magnetic levitation system 500 according to embodiments described herein. FIG. 5A shows the magnetic levitation system in a transport state configured for the transport of the carrier 10 in the transport direction T, and FIG. 5B shows the magnetic levitation system in a track switch state configured for a movement of the carrier away from the carrier transportation space in the lateral direction L.

[00106] The magnetic levitation system 500 is similar to the magnetic levitation system 400 of FIGS. 4A and 4B, such that reference can be made to the above explanations, which are not repeated here.

[00107] The adjustment device 150 includes an actuator 550 configured to adjust an orientation or an angular position of the at least one passive magnet 131. The actuator 550 may be configured to rotate or tilt the at least one passive magnet 131 with respect to an axis, wherein the axis may extend essentially in a vertical direction.

[00108] In some embodiments, which may be combined with other embodiments described herein, the actuator 550 may be configured to rotate or tilt the at least one passive magnet 131 with respect to an essentially vertical rotation axis, such that a first portion of the at least one passive magnet and a second portion of the at least one passive magnet move into opposite lateral directions L. For example, in the embodiment depicted in FIG. 5B, first end portions of a plurality of passive magnets move in a first lateral direction and opposite end portions of the plurality of passive magnets move in a second lateral direction opposite to the first lateral direction.

[00109] In implementations, at least one passive magnet of the side stabilization device may be provided in the shape of a magnet bar which extends in the transport direction T when the side stabilization device is provided in the transport state, as is depicted in FIG. 5A. In other words, the longitudinal direction of the magnet bar may correspond to the transport direction T. The north pole N and the south pole S of the magnet bar may be adjacent to each other in the lateral direction L. By rotating the magnet bar around the essentially vertical axis from the transport state depicted in FIG. 5A toward the track switch state as is depicted in FIG. 5B, the net stabilization force exerted on a carrier provided in the carrier transportation space can be reduced. For example, by rotating the magnet bar by a rotation angle of 30° or more and 150° or less, particularly by about 90°, the net stabilization force exerted on the carrier can be reduced or switched off. [00110] The side stabilization device 130 may include two, three or more passive magnets which are arranged next to each other in the transport direction T.

[00111] In some embodiments, the side stabilization device 130 includes two, three or more magnet bars which can be rotated between a transport state and a track switch state, respectively. In particular, the two, three or more magnets bars can be synchronously rotated around a rotation axis by a rotation angle of 30° or more and 150° or less, particularly by a rotation angle of about 90°.

[00112] In some embodiments, which may be combined with other embodiments described herein, the side stabilization device 130 may include at least one support, e.g. a support bar, wherein a plurality of passive magnets are attached to the support bar. The actuator may be configured to rotate or tilt the support bar, e.g. around a rotation axis extending in the transport direction (see FIG. 4B) or around a rotation axis extending in an essentially vertical direction (see FIG. 5B).

[00113] In the transport state, the longitudinal axis of the support bar may correspond to the transport direction T, and the plurality of passive magnets may be attached to the support bar one after the other in the transport direction T. In the track switch state, the longitudinal axis of the support bar may be transverse to the transport direction (see FIG. 5B). In some embodiments, the support bar may have a length of 10 cm or more and 100 cm or less, particularly from 30 cm to 50 cm.

[00114] Three, four, five or more permanent magnets may be attached to a support bar of the side stabilization device. In some embodiments, two, three or more support bars of the side stabilization device may be arranged next to each other in the transport direction.

[00115] For example, at least one first passive magnet and at least one second passive magnet of the side stabilization device 130 may be attached to a support bar. By rotating the support bar around a vertical axis located between the at least one first passive magnet and the at least one second passive magnet, the at least one first passive magnet and the at least one second passive magnet move into opposite lateral direction L. The net stabilization force acting on the carrier can be reduced. [00116] FIG. 6A and FIG. 6B are schematic sectional views of a magnetic levitation system 600 according to embodiments described herein. FIG. 6A shows the magnetic levitation system in a transport state configured for the contactless transport of the carrier in the transport direction T, and FIG. 6B shows the magnetic levitation system in a track switch state configured for a movement of the carrier away from the carrier transportation space in the lateral direction L.

[00117] In some embodiments, the magnetic levitation system 600 may include a magnetic shielding component 650 which may be movable. In particular, the adjustment device 150 may include an actuator 651 configured to move the magnetic shielding component 650 to a shielding position in which the restoring force F exerted by the side stabilization device 130 on the carrier 10 in the lateral direction L is reduced.

[00118] For example, the actuator 651 may be configured to move the magnetic shielding component 650 between a transport state and a track switch state. In the track switch state depicted in FIG. 6B, the magnetic shielding component 650 may be at least partially arranged between the side stabilization device 130 and the carrier transportation space 15. As is schematically depicted in FIG. 6B, the magnetic shielding component 650 may be arranged between the at least one passive magnet 131 of the side stabilization device 130 and the at least one carrier magnet 13 of the carrier 10, in order to reduce the magnetic field exerted on the carrier by the side stabilization device.

[00119] In the transport state depicted in FIG. 6A, the magnetic shielding component 650 may be moved out of a gap between the at least one passive magnet 131 and the carrier transportation space 15 such that the magnetic field exerted on the carrier by the side stabilization device 130 is not substantially shielded by the magnetic shielding component 650.

[00120] The magnetic shielding component 650 may include a material having a high magnetic permeability. In some embodiments, the magnetic shielding component may include a ferromagnetic material configured to shield the at least one passive magnet 131 and the at least one carrier magnet 13 from each other. The magnetic shielding component 650 can be configured as a flat component, e.g. as a sheet component, configured to fit in a gap between the at least one carrier magnet 13 and the at least one passive magnet 131 in the track switch state.

[00121] The actuator 651 may be configured to move the magnetic shielding component 650 into and out of a vertical gap between the side stabilization device and the carrier transportation space.

[00122] FIG. 7 is a schematic sectional view of a vacuum system 700 including a magnetic levitation system 100 for transporting a carrier 10 along a transport path in a transport direction. The carrier 10 may carry an object, e.g. a substrate 11 which may be a large-area substrate. The carrier 10 may be configured to carry a substrate having a size of 1 m² or more.

[00123] The magnetic levitation system 100 may be configured in accordance with any of the magnetic levitation systems described herein. In particular, the magnetic levitation system includes a base structure 110 with one or more active magnetic bearings 121 configured to hold the carrier in a carrier transportation space in a contactless manner with respect to the base structure 110. The magnetic levitation system further includes a side stabilization device 130 with at least one passive magnet 131 configured to exert a restoring force F on the carrier in the lateral direction L perpendicular to the transport direction. An adjustment device 150 configured to adjust the restoring force is provided.

[00124] In some embodiments, the base structure 110 includes an upper track section 112 arranged above the carrier transportation space and a lower track section 114 arranged below the carrier transportation space. The one or more active magnetic bearings 121 may be provided at the upper track section, and one or more drive units for moving the carrier in the transport direction may be provided at the lower track section.

[00125] The side stabilization device 130 may be provided at the upper track section 112, and/or a second side stabilization device 132 may be provided at the lower track section 114. An adjustment device may be provided for adjusting the restoring force applied on the carrier by the side stabilization device 130 and/or by the second side stabilization device 132. [00126] The vacuum system 700 further includes a second magnetic levitation system 710 configured to transport a carrier along a second transport path horizontally offset from the first transport path. The second magnetic levitation system 710 may be configured in a way similar or identical to the magnetic levitation system 100, such that reference can be made to the above explanations, which are not repeated here.

[00127] The vacuum system 700 further includes a track switch assembly 750 configured to move the carrier from the transport path to the second transport path in the lateral direction L. For example, the track switch assembly 750 includes a carrier holding portion 751 configured to transfer a carrier that is arranged in the carrier transportation space of the magnetic levitation system 100 in the lateral direction L toward a second carrier transportation space of the second magnetic levitation system 710.

[00128] The restoring force F exerted on the carrier in the lateral direction L in the case of a carrier displacement may be reduced or switched off via the adjustment device 150, and the carrier can then easily be moved away from the transport path in the lateral direction toward the second transport path.

[00129] In some embodiments, the vacuum system 700 includes a vacuum chamber 701, wherein the transport path and the second transport path extend next to each other in the vacuum chamber 701. Further, one or more processing tools 705 may be arranged in the vacuum chamber 701, wherein the one or more processing tools may be selected from the group consisting of a deposition source, an evaporation source, and a sputter source. In some embodiments, the track switch assembly 750 may be configured to transfer the carrier between a track switch position of the transport path, a track switch position of the second transport path, and/or a processing position in which a substrate carried by the carrier can be processed by the processing tool 705.

[00130] The carrier 10 carrying the substrate 11 can be contactlessly transported along the transport path by the magnetic levitation system, while being stabilized in the lateral direction. The carrier can - after an adjustment of the side stabilization device as described herein - be moved away from the transport path in the lateral direction L onto the second transport path or toward a processing position where the substrate can be processed. [00131] FIG. 8 is a flow diagram illustrating a method of transporting a carrier according to embodiments described herein.

[00132] In box 810, a carrier is transported along a transport path in a transport direction T with a magnetic levitation system including one or more active magnetic bearings 121 which contactlessly hold the carrier in a carrier transportation space 15. During the transport, the carrier can be stabilized in a lateral direction L transverse to the transport direction T with a side stabilization device 130. The side stabilization device includes at least one passive magnet 131 adapted to apply a restoring force F on the carrier in the lateral direction L. The at least one passive magnet may include one or more permanent magnets and/or one or more electromagnets.

[00133] In some embodiments, the carrier carries an object such as a substrate in a vacuum system. The object may be held at the carrier by a chucking device, e.g. by an electrostatic or magnetic chucking device. The object may be held at the carrier in an essentially vertical orientation.

[00134] The carrier may be stopped at a position of the transport path where the at least one passive magnet 131 of the side stabilization device magnetically interacts with at least one carrier magnet 13 attached to the carrier. Said magnetic interaction may stabilize the carrier at a predetermined lateral position. A minimum distance between the at least one passive magnet 131 and the at least one carrier magnet 13 may be 10 mm or less, particularly 5 mm or less. The at least one passive magnet 131 may be arranged above or below the at least one carrier magnet 13 in a vertical direction.

[00135] In box 810, the side stabilization device 130 may be provided in a transport state configured for a contactless transport of the carrier in the transport direction.

[00136] In box 820, the restoring force F which is exerted on the carrier by the side stabilization device in the case of a displacement of the carrier in the lateral direction L is adjusted, particularly reduced or switched off. In particular, the side stabilization device may be switched to a track switch state in which the restoring force F is reduced or deactivated. [00137] More specifically, the restoring force F may be reduced or switched off by adjusting one or more of the group consisting of: (i) A magnetic field strength of the at least one passive magnet, (ii) a position of the at least one passive magnet with respect to the carrier transportation space, (iii) an orientation or rotational state of the at least one passive magnet, and (iv) a position of a magnetic shielding component with respect to the at least one passive magnet. Reference is made to the above described embodiments.

[00138] In (optional) box 830, the carrier may then be moved away from the transport path in the lateral direction L. In particular, due to the reduced restoring force, a quick and easy transfer of the carrier away from the side stabilization device can be enabled. Alternatively, the carrier may be aligned in the lateral direction L, e.g. by moving the carrier in the lateral direction L with respect to a second carrier or with respect to a deposition source.

[00139] In implementations, the carrier is transferred from the transport path toward a second transport path provided by a second magnetic levitation system in the lateral direction. After the transfer to the second transport path, a second side stabilization device of the second magnetic levitation system may be switched from a track switch state to a transfer state in which the carrier can be contactlessly transported along the second transport path while being stabilized in the lateral direction.

[00140] While the foregoing is directed to embodiments of the disclosure, other and further embodiments of the disclosure may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

1. A magnetic levitation system (110) for transporting a carrier (10) along a transport path in a transport direction (T), comprising: one or more active magnetic bearings (121) configured to contactlessly hold the carrier (10) in a carrier transportation space (15); a side stabilization device (130) with at least one passive magnet (131) configured to apply a restoring force (F) on the carrier (10) in a lateral direction (L) transverse to the transport direction (T); and an adjustment device (150) configured to adjust one or more of the group consisting of: a magnetic field strength of the at least one passive magnet (131), a position of the at least one passive magnet (131) with respect to the carrier transportation space, an orientation or angular position of the at least one passive magnet (131), and a position of a magnetic shielding component (650) with respect to the at least one passive magnet (131).

2. The magnetic levitation system of claim 1, further comprising a track switch assembly (750) configured to move the carrier (10) away from the transport path in the lateral direction (L).

3. The magnetic levitation system of claim 1 or 2, wherein the adjustment device (150) is configured to adjust the restoring force (F) exerted on the carrier (10) by the side stabilization device in a case of a displacement of the carrier from the carrier transportation space (15) in the lateral direction (L).

4. The magnetic levitation system of any of claims 1 to 3, wherein the at least one passive magnet (131) comprises one or more electromagnets (331), and the adjustment device (150) comprises a controller configured to adjust an electric current supplied to the one or more electromagnets (331).

5. The magnetic levitation system of any of claims 1 to 4, wherein the at least one passive magnet (131) comprises one or more permanent magnets, and/or the adjustment device (150) comprises an actuator (250, 450, 550) configured to adjust at least one of a position, an orientation, and an angular position of the at least one passive magnet (131).

6. The magnetic levitation system of claim 5, wherein the actuator (250) is configured to move the side stabilization device (130) in an essentially vertical direction toward or away from the carrier transportation space (15).

7. The magnetic levitation system of claim 5, wherein the actuator (450, 550) is configured for rotating or tilting the at least one passive magnet (131) relative to an axis, particularly relative to an axis extending essentially in the transport direction (T) or relative to an axis extending in an essentially vertical direction.

8. The magnetic levitation system of claim 7, wherein the at least one passive magnet (131) has a south pole and a north pole and is rotatable or tiltable from a first orientation, in which a line (20) extending from the south pole to the north pole extends in the lateral direction (L), to a second orientation, in which the line extending from the south pole to the north pole extends in an essentially vertical direction.

9. The magnetic levitation system of claim 7, wherein the actuator (550) is configured to rotate the at least one passive magnet (131) around an essentially vertical axis such that a first portion of the at least one passive magnet and a second portion of the at least one passive magnet move into opposite lateral directions (L), or such that at least one first passive magnet and at least one second passive magnet move into opposite lateral directions.

10. The magnetic levitation system of any of claims 1 to 9, further comprising a magnetic shielding component (650), wherein the adjustment device comprises an actuator (651) configured to move the magnetic shielding component (650) to a shielding position in which the magnetic shielding component (650) is at least partially arranged between the side stabilization device (130) and the carrier transportation space (15).

11. The magnetic levitation system of any of claims 1 to 10, wherein the carrier transportation space (15) is arranged between an upper track section (112) and a lower track section (114), the side stabilization device (130) being attached to the upper track section.

12. The magnetic levitation system of any of claims 1 to 11, wherein the side stabilization device (130) is arranged above or below the carrier transportation space (15), and wherein a line (20) extending from a south pole to a north pole of the at least one passive magnet (131) extends in the lateral direction (L).

13. A vacuum system (700), comprising: a magnetic levitation system of any of claims 1 to 12; and a second magnetic levitation system (710) configured to transport a carrier along a second transport path horizontally offset from the transport path of the magnetic levitation system; and a track switch assembly (750) configured to move the carrier (10) from the transport path to the second transport path in the lateral direction (L).

14. A method of transporting a carrier (10), comprising: transporting a carrier along a transport path in a transport direction (T) with a magnetic levitation system (100) comprising one or more active magnetic bearings (121) which contactlessly hold the carrier in a carrier transportation space (15); stabilizing the carrier in a lateral direction (L) transverse to the transport direction (T) with a side stabilization device (130) comprising at least one passive magnet (131) adapted to apply a restoring force (F) on the carrier in the lateral direction (L); reducing or switching off the restoring force (F) acting on the carrier in a case of a displacement of the carrier in the lateral direction (L) from the carrier transportation space (15); and moving the carrier away from the transport path in the lateral direction (L).

15. The method of claim 14, wherein the restoring force is reduced or switched off by adjusting one or more of the group consisting of: a magnetic field strength of the at least one passive magnet, a position of the at least one passive magnet with respect to the carrier transportation space, an orientation or rotational state of the at least one passive magnet, and a position of a magnetic shielding component with respect to the at least one passive magnet.