WO2022239266A1 - 搬送装置及び膨張量算出方法 - Google Patents
搬送装置及び膨張量算出方法 Download PDFInfo
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- WO2022239266A1 WO2022239266A1 PCT/JP2021/029661 JP2021029661W WO2022239266A1 WO 2022239266 A1 WO2022239266 A1 WO 2022239266A1 JP 2021029661 W JP2021029661 W JP 2021029661W WO 2022239266 A1 WO2022239266 A1 WO 2022239266A1
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- arm
- arms
- joint
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- expansion
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- 238000004364 calculation method Methods 0.000 title claims abstract description 36
- 230000036544 posture Effects 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 239000000758 substrate Substances 0.000 claims description 60
- 238000012545 processing Methods 0.000 claims description 55
- 238000012546 transfer Methods 0.000 claims description 42
- 230000014509 gene expression Effects 0.000 claims description 13
- 230000008602 contraction Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 47
- 230000008569 process Effects 0.000 description 38
- 238000010586 diagram Methods 0.000 description 32
- 230000032258 transport Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 8
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- 238000013461 design Methods 0.000 description 4
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- 238000005259 measurement Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 1
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- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- 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
Definitions
- the present disclosure relates to a conveying device and an expansion amount calculation method.
- Patent Document 1 discloses a technique for determining thermal expansion of an arm of a transport device when automatically centering a substrate.
- the present disclosure provides a technique for determining the amount of expansion of each arm.
- a transport device includes an articulated arm, a detector, and a calculator.
- a multi-joint arm is configured such that a plurality of arms are connected by rotatable joints and can be expanded and contracted by rotating the joints.
- the detection unit detects the rotation angles of the joints of the multi-joint arm in different postures equal to or more than the number of arms of the multi-joint arm.
- the calculation unit calculates the expansion amount of each of the plurality of arms based on the rotation angle of the joint in each posture detected by the detection unit.
- the expansion amount of each arm can be obtained.
- FIG. 1 is a system configuration diagram showing an example of a processing system according to an embodiment.
- FIG. 2 is a diagram illustrating an example of a configuration of a robot arm according to the embodiment;
- FIG. 3 is a diagram showing an example of cross sections of a load lock chamber and a vacuum transfer chamber according to the embodiment.
- FIG. 4 is a diagram for explaining an example of a method for specifying the center position of the substrate according to the embodiment.
- FIG. 5 is a diagram illustrating an example of detecting a rotation angle of a joint with the arm of the robot arm according to the embodiment having different postures.
- FIG. 1 is a system configuration diagram showing an example of a processing system according to an embodiment.
- FIG. 2 is a diagram illustrating an example of a configuration of a robot arm according to the embodiment;
- FIG. 3 is a diagram showing an example of cross sections of a load lock chamber and a vacuum transfer chamber according to the embodiment.
- FIG. 4 is a diagram for explaining an example of a method for specify
- FIG. 6 is a diagram illustrating an example of rotation angles of joints of the robot arm according to the embodiment
- 7A and 7B are diagrams for explaining a change in rotation angle due to arm expansion of the robot arm according to the embodiment.
- FIG. FIG. 8 is a system configuration diagram showing another example of the processing system according to the embodiment.
- FIG. 11 is a diagram illustrating an example of the control flow of the expansion amount calculation method according to the embodiment.
- FIG. 12 is a diagram showing another example of the shape of the fork according to the embodiment.
- FIG. 13 is a diagram showing another example of the shape of the fork according to the embodiment.
- FIG. 14 is a diagram illustrating an example of the configuration of an arm at the tip of the robot arm according to the embodiment;
- FIG. 15 is a diagram illustrating another example of the processing system main body according to the embodiment;
- a transfer device such as an articulated arm for transferring substrates such as semiconductor wafers (hereinafter referred to as "wafers") is known.
- the articulated arm has a plurality of arms connected by rotatable joints, and the arms support and transport the substrate.
- an error may occur in the transfer position of the articulated arm.
- an articulated arm transports a substrate to a process chamber in which high-temperature substrate processing is performed
- each arm thermally expands due to the influence of heat, and an error may occur in the transport position of the articulated arm.
- Patent Document 1 determines the thermal expansion of the entire articulated arm, and does not obtain the amount of expansion of each arm.
- FIG. 1 is a system configuration diagram showing an example of a processing system 1 according to an embodiment.
- the processing system 1 performs substrate processing of substrates such as wafers.
- the processing system 1 includes a processing system body 10 and a control device 100 that controls the processing system body 10 .
- the processing system main body 10 includes, for example, a vacuum transfer chamber 11, a plurality of process chambers 13, a plurality of load lock chambers 14, and a loader module 15, as shown in FIG.
- the processing system 1 is an example of the conveying device of the present disclosure.
- a plurality of process chambers 13 and a plurality of load lock chambers 14 are connected to the vacuum transfer chamber 11 .
- four process chambers 13 are connected to the vacuum transfer chamber 11 .
- Two load lock chambers 14 are connected to the vacuum transfer chamber 11 .
- Three or less process chambers 13 may be connected to the vacuum transfer chamber 11, or five or more process chambers 13 may be connected.
- the vacuum transfer chamber 11 may be further connected with another vacuum transfer chamber 11 to which the plurality of process chambers 13 are connected.
- One load lock chamber 14 may be connected to the vacuum transfer chamber 11, or three or more load lock chambers 14 may be connected.
- the process chamber 13 performs processing such as etching and film formation on the substrate, for example, in a low-pressure environment.
- the process chamber 13 and the vacuum transfer chamber 11 are partitioned by a gate valve 131 so as to be openable and closable.
- Process chamber 13 is an example of a chamber of the present disclosure.
- Each process chamber 13 may be a module that performs the same process in the manufacturing process, or a module that performs a different process.
- Each load lock chamber 14 has a gate valve 140 and a gate valve 141 to switch the internal pressure from a predetermined degree of vacuum to atmospheric pressure, or from atmospheric pressure to a predetermined degree of vacuum.
- the load lock chamber 14 and the vacuum transfer chamber 11 are partitioned by a gate valve 140 so as to be openable and closable.
- the load lock chamber 14 and the loader module 15 are partitioned by a gate valve 141 so as to be openable and closable.
- a plurality of sensors 20 are provided in the vacuum transfer chamber 11 .
- a robot arm 12 is arranged in the vacuum transfer chamber 11 .
- the robot arm 12 has three independently drivable joints.
- the robot arm 12 may have four or more joints that can be driven independently.
- the inside of the vacuum transfer chamber 11 is kept at a predetermined degree of vacuum.
- the robot arm 12 takes out an unprocessed substrate from the load lock chamber 14 decompressed to a predetermined degree of vacuum, and transfers it to the mounting table 130 in one of the process chambers 13 .
- the robot arm 12 also takes out the processed substrate from the process chamber 13 and transfers it into another process chamber 13 or the load lock chamber 14 .
- Each sensor 20 is arranged near the connection between the vacuum transfer chamber 11 and the load lock chamber 14 .
- two sensors 20 a and 20 b are arranged in each load lock chamber 14 at positions near the connecting portion between the vacuum transfer chamber 11 and the load lock chamber 14 , through which the substrates W pass. This allows the sensors 20a and 20b to quickly acquire sensing information about the substrate W when the substrate is taken out of the load lock chamber 14 by the robot arm 12 .
- two sensors 20 are provided for one load lock chamber 14 .
- Three or more sensors 20 may be provided for one load lock chamber 14 .
- FIG. 2 is a diagram showing an example of the configuration of the robot arm 12 according to the embodiment.
- the robot arm 12 is configured as a multi-joint arm in which a plurality of arms 30 are connected by rotatable joints 31 and can be expanded and contracted by rotating the joints 31 .
- the robot arm 12 shown in FIG. 2 has arms 30a to 30c provided with joints 31a to 31c, the arms 30a and 30b are rotatably connected by a joint 31b, and the arms 30b and 30c are rotatably connected by a joint 31c.
- Each joint 31 is provided with a drive mechanism for rotating the joint 31, and the drive mechanism rotates the arm 30 in the horizontal direction.
- each joint 31 is provided with a servomotor, a speed reducer, or the like as a drive mechanism.
- Each joint 31 rotates each arm 30 in the horizontal direction by being rotationally driven by transmission of the driving force of the servomotor via the speed reducer.
- the robot arm 12 can detect the rotation angle of each joint 31 .
- an encoder is provided on the rotary shaft of the servomotor of the joints 31a-31c, and the rotation angles of the joints 31a-31c can be detected based on feedback signals from the encoders of the joints 31a-31c.
- the arm 30c at the tip is provided with a Y-shaped fork 32 that branches into two support portions 32a on the tip side.
- the fork 32 is made of a material with low thermal expansion, such as ceramic.
- the robot arm 12 can extend and contract in the horizontal direction by rotating the arm 30 at the joint 31 , and supports the substrate W with the fork 32 to transport the substrate W.
- the robot arm 12 has a shape that allows the sensor 20 to detect the expanded and contracted position.
- one supporting portion 32a of the fork 32 is provided with three rectangular protrusions 33 that protrude in the horizontal direction.
- FIG. 3 is a diagram showing an example of cross sections of the load lock chamber 14 and the vacuum transfer chamber 11 according to the embodiment.
- the sensor 20 has a light source 21a and a light receiving sensor 21b.
- the light source 21a and the light receiving sensor 21b are provided outside the vacuum transfer chamber 11, above and below the vacuum transfer chamber 11, respectively.
- the light source 21a is provided in the upper portion of the vacuum transfer chamber 11, and the light receiving sensor 21b is provided in the lower portion of the vacuum transfer chamber 11.
- the light source 21a is provided in the lower portion of the vacuum transfer chamber 11,
- the light-receiving sensor 21 b may be provided above the vacuum transfer chamber 11 .
- the light source 21 a emits light into the vacuum transfer chamber 11 through a window 11 a provided in the upper wall of the vacuum transfer chamber 11 .
- the light source 21a irradiates the interior of the vacuum transfer chamber 11 with, for example, a laser beam.
- the light receiving sensor 21 b receives light emitted from the light source 21 a through a window 11 b provided in the lower wall of the vacuum transfer chamber 11 .
- the windows 11a and 11b are made of a light-transmissive material such as quartz.
- the light receiving sensor 21b outputs information indicating whether or not the light emitted from the light source 21a is blocked to the control device 100 as sensing information.
- a region irradiated with light from the light source 21a is an example of a sensing region.
- a loader module 15 is connected to the load lock chamber 14 .
- a robot arm 150 is provided in the loader module 15 .
- the loader module 15 is provided with a plurality of load ports 16 to which containers capable of accommodating a plurality of substrates W before or after processing (for example, FOUP: Front Opening Unified Pod) are connected.
- the robot arm 150 takes out a substrate W before processing from a container connected to the load port 16 and transports it into the load lock chamber 14 . Further, the robot arm 150 takes out the processed substrate W from the load lock chamber 14 whose internal pressure has been returned to the atmospheric pressure, and transports it into a container connected to the load port 16 .
- the loader module 15 may be provided with an alignment unit that adjusts the orientation of the substrate W taken out from the container connected to the load port 16 .
- the operation of the processing system 1 configured as described above is centrally controlled by a control device 100 (control unit).
- the control device 100 is, for example, a computer, and controls each section of the processing system 1 .
- the operation of the processing system 1 is centrally controlled by the control device 100 .
- the control device 100 has a controller 101 that controls each section of the processing system 1, a user interface 102, and a storage section 103.
- the user interface 102 is composed of a keyboard for inputting commands for the process manager to manage the processing system 1, a display for visualizing and displaying the operating status of the processing system 1, and the like.
- the storage unit 103 stores control programs (software) for realizing various processes executed by the processing system 1 under the control of the controller 101, and recipes in which processing condition data and the like are stored.
- the storage unit 103 stores parameters and the like related to apparatuses and processes for substrate processing.
- the control program, recipe, and parameters may be stored in a computer-readable computer recording medium (for example, a hard disk, an optical disk such as a DVD, a flexible disk, a semiconductor memory, etc.).
- the control programs, recipes, and parameters may be stored in another device, and read and used online via, for example, a dedicated line.
- the controller 101 has a CPU and an internal memory for storing programs and data, reads control programs stored in the storage unit 103, and executes processing of the read control programs.
- the controller 101 functions as various processing units by executing control programs.
- the controller 101 has functions of a detection unit 110 and a calculation unit 111, which will be described later.
- the case where the controller 101 functions as various processing units will be described as an example, but the present invention is not limited to this.
- the functions of the detection unit 110 and the calculation unit 111 may be distributed and realized by a plurality of controllers.
- FIG. 4 is a diagram for explaining an example of a method for identifying the center position of the substrate W according to the embodiment.
- the sensors 20 a and 20 b output sensing information to the control device 100 .
- the line segment AB and the line segment CD on the substrate W are irradiated from the light source 21a as indicated by the solid lines in FIG. Light is blocked.
- the control device 100 Based on the sensing information output from the sensors 20a and 20b and the position information of the fork 32, the control device 100 sets the center of a circle passing through at least three of the points A to D as the center position O of the substrate W. Identify.
- the position information of the fork 32 is specified based on, for example, the length of each arm 30 of the robot arm 12, the angle of each joint 31, and the like.
- the angle of each joint 31 is detected based on feedback signals from encoders of the joints 31a to 31c. In the example of FIG. 4, the center position O of the substrate W and the reference position O' of the fork 32 are displaced.
- the notch N of the substrate W may pass through the sensing area or the light may be blocked by the fork 32 when the substrate W moves.
- the position of the center of the circle passing through all of the points A to D may differ from the center position O of the substrate W, or the circle passing through all of the points A to D may not exist. Therefore, if the center positions of the circles calculated for two or more of the four sets of three-point combinations excluding points A to D one by one are less than a predetermined distance, the center positions of the circles are moved to the center of the substrate W. It is preferably identified as position O.
- the notch N formed in the substrate W is an example of a marker indicating the reference direction of the substrate W. As shown in FIG.
- the marker indicating the reference direction of the substrate W may be an orientation flat formed on the substrate W.
- the processing system 1 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of arms of the robot arm 12 .
- FIG. 5 is a diagram illustrating an example of detecting the rotation angle of the joint 31 with the arm 30 of the robot arm 12 according to the embodiment having different postures.
- the control device 100 moves the robot arm 12 so that the projection 33 provided on the fork 32 passes the arrangement position of the sensor 20a.
- the rotation angles of the joints 31 change so that the robot arm 12 extends as a whole, so the posture of each arm 30 changes.
- the sensor 20 a outputs sensing information to the control device 100 .
- the robot arm 12 outputs encoder feedback signals of the joints 31 to the control device 100 .
- the light source 21a illuminates the line segment EF, the line segment GH, and the line segment IJ of each protrusion 33, as indicated by the solid lines in FIG. blocked light.
- the detection unit 110 detects the rotation angle of each joint 31 based on the feedback signal from the encoder of each joint 31 of the robot arm 12 .
- a feedback signal from the encoder of each joint 31 may be input to a control unit that controls the robot arm 12 , and the control unit may specify the angle of each joint 31 .
- the detection unit 110 may detect the rotation angle of each joint 31 by acquiring the rotation angle of each joint 31 from the control unit of the robot arm 12 .
- the detection unit 110 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of arms 30 of the robot arm 12 .
- the detection unit 110 detects the rotation angles of the joints 31 in different postures based on the sensing information output from the sensor 20a and the information on the rotation angles of the joints of the robot arm 12. .
- the detection unit 110 detects the rotation angles of the joints 31a to 31c at points E, G, and I at which the projections 33 block the light emitted from the light source 21a.
- FIG. 6 is a diagram showing an example of rotation angles of the joints 31 of the robot arm 12 according to the embodiment.
- the detection unit 110 determines an axis 60 passing through the reference point in a horizontal plane with the position where the robot arm 12 is fixed as a reference point, and detects the rotation angle of each joint 31 from the axis 60 .
- the direction of the axis 60 may be determined in advance when the processing system 1 is designed.
- the detection unit 110 corrects the rotation angle of each joint 31 based on the axis 60.
- the rotation angle of the joint 31a is a rotation angle ⁇ 1 with respect to another axis 61
- the rotation angle ⁇ 1 of the joint 31a is corrected as shown in the following formula (1).
- ⁇ 1 ⁇ 1 + ⁇ (1)
- ⁇ 1 is the rotation angle of the arm 30a with respect to the axis 60
- ⁇ 1 is the rotation angle of the arm 30a with respect to the axis 61
- ⁇ is the angle difference between the axis 60 and the axis 61 with the axis 60 as a reference.
- the rotation angle ⁇ 2 of the joint 31b is corrected as shown in Equation (2) below.
- the rotation angle ⁇ 3 of the joint 31c is corrected as shown in the following formula (3).
- the detection unit 110 detects the rotation angles ⁇ 1 to ⁇ 3 of the joints 31 for points E, G, and I at which the projections 33 block the light emitted from the light source 21a.
- the control device 100 moves the robot arm 12 so that the protrusion 33 provided on the fork 32 passes through the arrangement position of the sensor 20a.
- the rotation angles of the joints 31 change so that the robot arm 12 extends as a whole, so the posture of each arm 30 changes.
- the sensor 20 a outputs sensing information to the control device 100 .
- the robot arm 12 outputs encoder feedback signals of the joints 31 to the control device 100 .
- the light source 21a illuminates the line segment EF, the line segment GH, and the line segment IJ of each protrusion 33, as indicated by the solid lines in FIG. blocked light.
- FIG. 14 is a diagram showing an example of the configuration of the arm 30c at the tip of the robot arm 12 according to the embodiment.
- FIG. 14 shows the arm 30c at the tip of the robot arm 12.
- a fork 32 is provided on the distal end side of the distal arm 30c.
- FIG. 14 shows the distance LFE from the connecting portion between the arm 30c and the fork 32 to the point E, the distance LFG from the connecting portion to the point G, and the distance LFI from the connecting portion to the point I.
- the length L3 of the arm 30c is shown.
- the fork 32 is made of a material with low thermal expansion. Therefore, in the arm 30c, even if the temperature changes, the distances LFE, LFG, and LFI of the fork 32 portion hardly change, and the length L3 of the arm 30c mainly changes.
- FIG. 7 is a diagram for explaining changes in rotation angle due to expansion of the arm 30 of the robot arm 12 according to the embodiment.
- FIG. 7 shows the change in the rotation angle at the point E where each protrusion 33 blocks the light emitted from the light source 21a, with the axis 60 as the X axis and the direction perpendicular to the axis 60 in the horizontal plane as the Y axis. ing.
- the solid line schematically shows the robot arm 12 when the arm 30 is not inflated
- the dashed line schematically shows the robot arm 12 when the arm 30 is inflated. showing.
- the distance Y to the Y-axis direction of the robot arm 12 can be calculated from the length of each arm 30, the rotation angle of each joint 31, and the like.
- the lengths of the arms 30a to 30c of the robot arm 12 when the arm 30 is not inflated are L1 to L3.
- the rotation angles ⁇ 1E to ⁇ 3E of the joints 31 at the point E where the projections 33 block the light emitted from the light source 21a. do.
- the distance YE of the point E with respect to the Y-axis direction can be expressed by the following equation (4).
- YE L1 ⁇ sin ⁇ 1E+L2 ⁇ sin ⁇ 2E +(L3+LFE) ⁇ sin ⁇ 3E (4) here, YE is the distance of point E with respect to the Y-axis direction.
- L1-L3 are the lengths of the arms 30a-30c in the uninflated state.
- LFE is the distance from the connecting portion of the fork 32 to the arm 30c to the position of the point E.
- ⁇ 1E to ⁇ 3E are the rotation angles of the joints 31a to 31c at the point E in the uninflated state.
- the lengths L1 to L3 of the arms 30a to 30c of the robot arm 12 in the unexpanded state are, for example, the lengths of the arms 30a to 30c described in the specifications of the robot arm 12, or the lengths of the arms 30a to 30c at room temperature. use .
- the amount of expansion in the length direction of each arm 30a to 30c of the robot arm 12 when the arm 30 is expanded is ⁇ L1 to ⁇ L3. 7
- the distance YE of the point E with respect to the Y-axis direction can be expressed by the following equation (5).
- the fork 32 is made of a material with little thermal expansion, and is assumed not to change in length due to thermal expansion.
- the amount of expansion of the fork 32 may be included in the amount of expansion ⁇ L3 of the arm 30c in the longitudinal direction.
- the distance LFE of the fork 32 portion may be omitted from the equations (4) and (5) assuming that it is included in the arm 30c.
- ⁇ L1 to ⁇ L3 are expansion amounts of the lengths of the arms 30a to 30c.
- ⁇ 1′E to ⁇ 3′E are the rotation angles of the joints 31a to 31c at the point E in the inflated state.
- the distance YE of the point E with respect to the Y-axis direction, the lengths L1 to L3 of the arm 30 in the unexpanded state, and the distance LFE of the fork 32 portion are determined from the actual measurement of the processing system 1 and the design data of the processing system 1. Note that the distance YE may be obtained from the lengths L1 to L3 of the arm 30 in the unexpanded state and the rotation angles ⁇ 1 to ⁇ 3 of the joints 31 using the equation (4).
- the detection unit 110 detects the rotation angles ⁇ 1 to ⁇ 3 of the joints 31 at points E, G, and I where the projections 33 block the light emitted from the light source 21a.
- the rotation angles ⁇ 1 to ⁇ 3 detected by the detection unit 110 are the rotation angles ⁇ 1′ to ⁇ 3′.
- the detection unit 110 detects rotation angles ⁇ 1′E to ⁇ 3′E.
- the detection unit 110 detects rotation angles ⁇ 1G to ⁇ 3G.
- the detection unit 110 detects rotation angles ⁇ 1′G to ⁇ 3′G.
- the detection unit 110 detects rotation angles ⁇ 1′I to ⁇ 3′I.
- Equation (5) the distance YE and the lengths L1 to L3 of the arm 30 are determined from actual measurements of the processing system 1 and design data of the processing system 1. Also, the rotation angles ⁇ 1′E to ⁇ 3′E are determined by detection by the detection unit 110. FIG. Therefore, in equation (5), the unknowns are the expansion amounts ⁇ L1 to ⁇ L3 of the arm 30 .
- the distance YG of the point G with respect to the Y-axis direction can be obtained by replacing the distance LFE in the formula (5) with the distance LFG from the connection portion of the fork 32 with the arm 30c to the position of the point G, and the rotation angle ⁇ 1′E .about..theta.3'E are obtained by replacing the rotation angles .theta.1'G to .theta.3'G.
- the distance YI of the point I with respect to the Y-axis direction is obtained by replacing the distance LFE in the formula (5) with the distance LFI from the connection portion of the fork 32 with the arm 30c to the position of the point I, and the rotation angle ⁇ 1′I .about..theta.3'I are obtained by replacing the rotation angles .theta.1'G to .theta.3'G.
- Distances YG, YI, and distances LFG, LFI are determined from actual measurements of the processing system 1 and design data of the processing system 1 . Note that the distances LFE, LFG, and LFI may be omitted from the equation (5) assuming that they are included in the arm 30c.
- the expansion amounts ⁇ L1 to ⁇ L3 can be calculated from the three expressions (5) by solving the equation with the expansion amounts ⁇ L1 to ⁇ L3 as unconstants. can be calculated.
- the calculation unit 111 applies the distance Y by which the robot arm 12 expands and contracts and the rotation angles ⁇ 1′ to ⁇ 3′ of the joints 31 detected by the detection unit 110 for each posture to Equation (5). Then, the calculation unit 111 calculates the expansion amounts ⁇ L1 to ⁇ L3 by solving the expansion amounts ⁇ L1 to ⁇ L3 in Expression (5) for each posture as unconstants.
- the expansion amounts ⁇ L1 to ⁇ L3 of each arm 30 can be obtained.
- the controller 100 corrects the transport position of the robot arm 12 based on the amount of expansion of the arm 30 calculated by the calculator 111 .
- the control device 100 corrects the rotation angles of the joints 31a to 31c assuming that the lengths of the arms 30a to 30c are increased by the expansion amounts ⁇ L1 to ⁇ L3. As a result, even if the arm 30 expands due to the influence of heat, errors in the transfer position of the robot arm 12 can be suppressed.
- the calculation unit 111 may calculate the expansion amount of the arm 30 as follows.
- three equations (5) for three postures can be converted into three equations with expansion amounts ⁇ L1 to ⁇ L3 as solutions.
- the converted three equations are the distance Y (YE, YG, YI) that the robot arm 12 expands and contracts in each posture, the lengths L1 to L3 of each arm 30 in the unexpanded state, and the joints 31 in each posture.
- Relational expressions for calculating the expansion amounts ⁇ L1 to ⁇ L3 of the arm 30 are preset in the calculator 111 .
- the calculator 111 is programmed with a relational expression.
- the calculation unit 111 applies the rotation angles ⁇ 1′ to ⁇ 3′ of the joints 31 in the respective postures detected by the detection unit 110 to the set relational expression, and calculates the expansion amounts ⁇ L1 to ⁇ L3 of the plurality of arms 30, respectively. calculate. Also in this case, the expansion amounts ⁇ L1 to ⁇ L3 of each arm 30 can be obtained.
- the rotation angles ⁇ 1′ to ⁇ 3′ of the joint 31 may be detected in four or more postures.
- four or more projections 33 are provided on one support portion 32a of the fork 32, and the rotation angles ⁇ 1′ ⁇ ⁇ 3′ may be detected.
- the rotation angles ⁇ 1' of the joints 31 in four or more postures through which the protrusions 33 pass. ⁇ 3′ may be detected.
- the calculation unit 111 calculates rotations of the joints 31 in the three postures for each combination of the three postures.
- the amount of expansion of the arm 30 is calculated from the angles ⁇ 1′ to ⁇ 3′.
- the calculation unit 111 calculates an average value obtained by averaging the expansion amounts of the arms 30 as the expansion amounts ⁇ L1 to ⁇ L3 of the arms 30 .
- the case where one sensor 20 detects a plurality of postures of the robot arm 12 has been described as an example.
- multiple postures of the robot arm 12 may be detected using multiple sensors 20 .
- sensors 20 are arranged at different positions equal to or greater than the number of arms 30 of the robot arm 12, and the detection unit 110 detects the tip of one support portion 32a of the fork 32 with each sensor 20. Rotation of the joint 31 in each posture Angles ⁇ 1′ to ⁇ 3′ may be detected.
- the arrangement position of the sensor 20 is not limited to the vicinity of the connecting portion between the vacuum transfer chamber 11 and the load lock chamber 14.
- the sensor 20 may be located anywhere within the reach of the robot arm 12 as long as the change in the placement position due to the influence of heat or the like is small.
- the sensor 20 may be arranged at any position within the vacuum transfer chamber 11 .
- FIG. 8 is a system configuration diagram showing another example of the processing system according to the embodiment.
- the same parts as those in FIG. 1 are denoted by the same reference numerals, and redundant explanations are omitted.
- the processing system 1 shown in FIG. 8 is provided with a sensor 22 similar to the sensor 20 in the process chamber 13 .
- the detection unit 110 detects the rotation angle of the joint 31 when the sensor 22 provided in the process chamber 13 detects the robot arm 12 . For example, when detecting the amount of expansion of the process chamber 13 , the control device 100 moves the robot arm 12 so that the projection 33 provided on the fork 32 passes through the sensor 22 provided in the process chamber 13 .
- the detection unit 110 detects the rotation angle of the joint 31 when the protrusion 33 of the robot arm 12 is detected. For example, the detection unit 110 detects the rotation angles of the joints 31a to 31c when the first projection 33 (for example, point E) is detected.
- FIG. 9 is a diagram showing an example of the rotation angle of the joint 31 of the robot arm 12 according to the embodiment.
- FIG. 9 is a diagram showing the rotation angle of each joint 31 when the process chamber 13 is in an unexpanded state.
- FIG. 9 schematically shows the robot arm 12 when the arm 30 is in the non-expanded state by solid lines, and schematically shows the robot arm 12 when the arm 30 is in the expanded state by broken lines.
- the rotation angles of the joints 31 of the robot arm 12 when the arm 30 is not expanded are ⁇ 01 to ⁇ 03, and the lengths of the arms 30 when the arm 30 is not expanded are L1 to L3.
- the amount of expansion in the length direction of each arm 30 of the robot arm 12 is ⁇ L1 to ⁇ L3, and the rotation angles of the joints 31 of the robot arm 12 are ⁇ 01′ to ⁇ 03′.
- the distance P0 of the detection position of the sensor 22 with respect to the Y-axis direction can be expressed by the following equation (6).
- FIG. 10 is a diagram showing an example of rotation angles of the joints 31 of the robot arm 12 according to the embodiment.
- FIG. 10 is a diagram showing the rotation angle of each joint 31 when the process chamber 13 is expanded.
- FIG. 10 schematically shows the robot arm 12 when the arm 30 is in the non-expanded state by solid lines, and schematically shows the robot arm 12 when the arm 30 is in the expanded state by broken lines.
- ⁇ 11 to ⁇ 13 be the rotation angles of the joints 31 of the robot arm 12 when the arm 30 is not inflated.
- the amount of expansion in the length direction of each arm 30 of the robot arm 12 is ⁇ L1 to ⁇ L3
- the rotation angles of the joints 31 of the robot arm 12 are ⁇ 11′ to ⁇ 13′.
- the distance P1 of the detection position of the sensor 22 with respect to the Y-axis direction can be expressed by the following equation (7).
- the expansion amount (P1-P0) of the process chamber 13 can be expressed as the following formula (8) from formulas (6) and (7).
- the distance P0 of the detection position of the sensor 22 with respect to the Y-axis direction is determined from the actual measurement of the processing system 1 and the design data of the processing system 1. Note that the distance P0 may be obtained from the lengths L1 to L3 of the arm 30 in the unexpanded state and the rotation angles ⁇ 01 to ⁇ 03 of the joints 31 using the equation (6).
- the expansion amounts ⁇ L1 to ⁇ L3 of each arm 30 can be calculated.
- the expansion amount (P1-P0) of the process chamber 13 can be calculated by obtaining the distance P1 of the detection position of the sensor 22 with respect to the Y-axis direction from the equation (7).
- Calculation unit 111 calculates lengths L1 to L3 of each arm 30 in the unexpanded state, calculated expansion amounts ⁇ L1 to ⁇ L3 of each of the plurality of arms 30, and rotation angles ⁇ 11′ to ⁇ 11′ of joints 31 detected by detection unit 110.
- the amount of expansion of the process chamber 13 is calculated based on ⁇ 13′.
- the calculation unit 111 uses equation (7) to determine the lengths L1 to L3 of each arm 30 in the uninflated state, the calculated expansion amounts ⁇ L1 to ⁇ L3 of each of the plurality of arms 30, and the detection unit 110.
- the distance P1 is calculated from the rotation angles ⁇ 11′ to ⁇ 13′ of the joint 31 thus obtained.
- the calculation unit 111 subtracts the distance P1 from the distance P0.
- the process chamber 13 calculates the amount of expansion (P1-P0).
- the process chamber 13 can calculate the amount of expansion.
- FIG. 11 is a diagram illustrating an example of the control flow of the expansion amount calculation method according to the embodiment.
- the detection unit 110 detects the rotation angles of the joints 31 in different postures equal to or greater than the number of arms 30 of the robot arm 12 (S10). For example, the control device 100 moves the robot arm 12 so that the projection 33 provided on the fork 32 passes the arrangement position of the sensor 20a. The detection unit 110 detects the rotation angles of the joints 31 at points E, G, and I at which the protrusions 33 are detected by the sensor 20a.
- the calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture (S11), and ends the process. For example, the calculation unit 111 applies the distance Y by which the robot arm 12 expands and contracts and the rotation angles ⁇ 1′ to ⁇ 3′ of the joints 31 detected by the detection unit 110 to Equation (5) for each posture. Then, the calculation unit 111 calculates the expansion amounts ⁇ L1 to ⁇ L3 by solving the expansion amounts ⁇ L1 to ⁇ L3 in Expression (5) for each posture as unconstants.
- the processing system 1 has the robot arm 12 (multi-joint arm), the detection unit 110, and the calculation unit 111.
- the robot arm 12 has a plurality of arms 30 connected by rotatable joints 31 and can be expanded and contracted by rotating the joints 31 .
- the detection unit 110 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of arms 30 of the robot arm 12 .
- the calculation unit 111 calculates the expansion amount of each of the arms 30 based on the rotation angle of the joint 31 in each posture detected by the detection unit 110 . Thereby, the processing system 1 according to the present embodiment can obtain the amount of expansion of each arm 30 .
- the calculation unit 111 calculates the length (L1 to L3) of each arm 30 in the unexpanded state when the plurality of arms 30 is not inflated, and the distance Y by which the robot arm 12 expands and contracts in each posture in the unexpanded state.
- the amount of expansion of each of the plurality of arms 30 is calculated from the rotation angles ( ⁇ 1′ to ⁇ 3′) of the joints 31 in each posture detected by the detection unit 110 .
- the processing system 1 according to the present embodiment can calculate the expansion amount of each arm 30 .
- the calculation unit 111 calculates the distance Y by which the robot arm 12 expands and contracts, the length (L1 to L3) of each arm 30 in the unexpanded state, the rotation angles ( ⁇ 1′ to ⁇ 3′) of the joints 31, and a plurality of
- the relational expression (equation (5)) showing the relationship between the expansion amounts ( ⁇ L1 to ⁇ L3) of the arm 30 includes the extension/contraction distance of the robot arm 12 and the rotation of the joint 31 detected by the detection unit 110 for each posture.
- the calculation unit 111 calculates the expansion amounts of the plurality of arms 30 from the distance that the robot arm 12 expands and contracts in each posture, the length of each arm 30 in an unexpanded state, and the rotation angle of the joints 31 in each posture.
- the expansion amount of each of the plurality of arms 30 is calculated by applying the rotation angle of the joint 31 in each posture detected by the detection unit 110 to the relational expression to be calculated. Also in this case, the processing system 1 according to the present embodiment can calculate the expansion amount of each arm 30 .
- different postures are postures in which the robot arm 12 is extended and retracted to different distances.
- the rotation angle of the joint 31 changes for each posture, so the processing system 1 according to the present embodiment can accurately calculate the expansion amount of each arm 30 from the rotation angle of the joint 31 for each posture.
- the sensor 20 and the sensor 22 have the light source 21a and the light receiving sensor 21b, and the arrival of the robot arm 12 is detected when light is blocked from the light source 21a. It is not limited to this. Any method may be used for the sensors 20 and 22 as long as the arrival of the robot arm 12 can be detected.
- the support portion 32a on one side of the fork 32 is provided with three rectangular protrusions 33 that protrude in the horizontal direction so that the position can be detected by the sensor 20.
- the fork 32 may have any shape as long as the sensor 20 can detect the extended and retracted position.
- the fork 32 may be provided with protrusions 33 on each of the two support portions 32a.
- the protrusions 33 may be provided symmetrically on the fork 32 .
- FIG. 12 is a diagram showing another example of the shape of the fork 32 according to the embodiment.
- the fork 32 is provided with two Y-shaped support portions 32a that are branched on the tip side.
- the two support portions 32a of the fork 32 are provided with protrusions 33 projecting outward in the horizontal direction near the ends connected to the arms 30c.
- the two protrusions 33 provided on the two support portions 32a have a partially symmetrical shape.
- the two protrusions 33 provided on the two support portions 32a are formed in a symmetrical shape on the tip side of the fork 32. As shown in FIG.
- the two protrusions 33 are formed so that the tip side of the fork 32 is perpendicular to the tip side of the fork 32 and the end side of the fork 32 is formed obliquely so that the width gradually narrows with respect to the end side. there is Moreover, the protrusion 33 on one side of the two protrusions 33 is formed to extend to the end side of the protrusion 33 on the other side.
- the substrate W placed on the fork 32 is shown in dotted lines. Further, in FIG. 12, when the substrate W is taken out from the load lock chamber 14 by the robot arm 12, the positions where the sensing regions of the sensors 20a and 20b are passed are indicated by dotted lines.
- the control device 100 identifies the center of a circle passing through at least three of the points A to D as the center position O of the substrate W.
- FIG. Further, four points E to H of the fork 32 are detected by the sensors 20a and 20b when the protrusion 33 passes through the sensing area.
- the calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture. For example, from the rotation angle of each joint 31 at the average distance Y when points E and F are detected, the distance Y when point G is detected, and the distance Y when point H is detected, each arm 30 is calculated.
- the processing system 1 can obtain the amount of expansion of each arm 30 . Further, when the substrate W is taken out from the load lock chamber 14 by the robot arm 12, the center position O of the substrate W and the amount of expansion of each arm 30 can be calculated at the same time, and the transfer position to the mounting table can be corrected.
- FIG. 13 is a diagram showing another example of the shape of the fork 32 according to the embodiment.
- the fork 32 is provided on two Y-shaped support portions 32a that branch toward the tip side.
- the two support portions 32a of the fork 32 are formed symmetrically.
- the fork 32 has a symmetrical slit 34 near the branched portion where the two support portions 32a branch.
- the fork 32 is provided with protrusions 33 that horizontally protrude toward the tip side at the tips of two support portions 32a.
- the fork 32 is provided with projections 33 extending from the support portions 32a toward the end portions at the branch portions of the two support portions 32a.
- the substrate W placed on the fork 32 is shown in dotted lines.
- the fork 32 is formed larger than the substrate W, and the protrusions 33 on the tip side of the two support portions 32a pass through the substrate W on which it is placed and are exposed.
- the sensors 20a and 20b are arranged at intervals corresponding to the intervals between the two support portions 32a. Further, sensors 23a and 23b having the same configuration as the sensors 20a and 20b are arranged outside the sensors 20a and 20b.
- the substrate W placed on the fork 32 is shown in dotted lines. Also, in FIG. 13, when the substrate W is taken out from the load lock chamber 14 by the robot arm 12, the positions where the sensing regions of the sensors 20a, 20b, 23a, and 23b are passed are indicated by dotted lines.
- the substrate W passes through the sensing areas of the sensors 23a, 23b.
- the control device 100 identifies the center of a circle passing through at least three of the points A to D as the center position O of the substrate W.
- FIG. The tip of the fork 32, the slit 34, and the end pass through the sensing regions of the sensors 20a and 20b.
- Six points E to J are detected by the sensors 20a and 20b when the tip of the fork 32, the slit 34, and the end pass through the sensing area.
- the calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture.
- the processing system 1 can obtain the amount of expansion of each arm 30 .
- the central position O of the substrate W and the amount of expansion of each arm 30 can be calculated at the same time, and the transfer position to the mounting table can be corrected.
- the substrate W may be any substrate such as a glass substrate.
- FIG. 15 is a diagram showing another example of the processing system body 10 according to the embodiment.
- the same parts as those in FIG. 1 are denoted by the same reference numerals, and redundant explanations are omitted.
- each protrusion 33 provided on the fork 32 passes through the arrangement positions of the sensors 24a and 24b.
- the control device 100 detects the rotation angle of each joint of the robot arm 12 when each protrusion 33 provided on the fork 32 passes through the arrangement position of the sensor 20, and detects a plurality of rotation angles based on the detected rotation angle of each joint.
- the expansion amount of each arm 30 may be calculated.
- processing system 11 vacuum transfer chamber 12 robot arm 13 process chamber 14 load lock chamber 15 loader module 20 sensors 30, 30a to 30c arms 31, 31a to 31c joint 32 fork 32a support 33 projection 100 controller 101 process controller 102 user Interface 103 Storage unit 110 Detection unit 111 Calculation unit W Board
Abstract
Description
[処理システム1の構成]
実施形態について説明する。以下では、本開示の搬送装置の機能を含んだ処理システム1について説明する。図1は、実施形態に係る処理システム1の一例を示すシステム構成図である。図1では、便宜的に内部の構成要素が透過するように図示されている。処理システム1は、ウェハ等の基板の基板処理を実施する。処理システム1は、処理システム本体10と、処理システム本体10を制御する制御装置100とを備える。処理システム本体10は、例えば図1に示されるように、真空搬送室11と、複数のプロセスチャンバ13と、複数のロードロック室14と、ローダモジュール15とを備える。処理システム1は、本開示の搬送装置の一例である。
次に、基板Wの中心位置の特定方法について説明する。図4は、実施形態に係る基板Wの中心位置の特定方法の一例を説明するための図である。ロボットアーム12によって基板Wがロードロック室14から取り出される際に、センサ20a、20bは、センシング情報を制御装置100へ出力する。ロボットアーム12の先端のフォーク32上の基板Wがセンシング領域を通過した場合、例えば図4の実線で示されるように、基板W上の線分AB及び線分CDにおいて、光源21aから照射された光が遮られる。制御装置100は、センサ20a、20bから出力されたセンシング情報と、フォーク32の位置情報とに基づいて、点A~Dの中の少なくとも3点を通る円の中心を基板Wの中心位置Oとして特定する。フォーク32の位置情報は、例えば、ロボットアーム12の各アーム30の長さや各関節31の角度等に基づいて特定される。各関節31の角度は、関節31a~31cのエンコーダからのフィードバック信号に基づいて検出する。図4の例では、基板Wの中心位置Oと、フォーク32の基準位置O’とはずれている。
次に、ロボットアーム12の各アーム30の膨張量の算出方法について説明する。処理システム1は、ロボットアーム12のアーム数以上の異なる姿勢でロボットアーム12の関節31の回転角度を検出する。
ここで、
θ1は、軸60を基準としたアーム30aの回転角度である。
φ1は、軸61を基準としたアーム30aの回転角度である。
αは、軸60を基準とした軸60と軸61の角度差である。
ここで、
θ2は、軸60を基準としたアーム30bの回転角度である。
φ2は、アーム30aの方向を基準としたアーム30bの回転角度である。
ここで、
θ3は、軸60を基準としたアーム30cの回転角度である。
φ3は、アーム30bの方向を基準としたアーム30cの回転角度である。
+(L3+LFE)・sinθ3E ・・・(4)
ここで、
YEは、Y軸方向に対する点Eの距離である。
L1~L3は、未膨張状態のアーム30a~30cの長さである。
LFEは、フォーク32のアーム30cとの接続部分から点Eの位置までの距離である。
θ1E~θ3Eは、未膨張状態の場合の点Eでの関節31a~31cの回転角度である。
+(L3+ΔL3+LFE)・sinθ3´E ・・・(5)
ここで、
ΔL1~ΔL3は、アーム30a~30cの長さの膨張量である。
θ1´E~θ3´Eは、膨張状態の場合の点Eでの関節31a~31cの回転角度である。
= (L1+ΔL1)・sinθ01´+(L2+ΔL2)・sinθ02´
+(L3+ΔL3+LFE)・sinθ03´ ・・・(6)
= (L1+ΔL1)・sinθ11´+(L2+ΔL2)・sinθ12´
+(L3+ΔL3+LFE)・sinθ13´ ・・・(7)
P1-P0=L1・sinθ11+L2・sinθ12
+(L3+LFE)・sinθ13-{L1・sinθ01
+L2・sinθ02+(L3+LFE)・sinθ03}
=(L1+ΔL1)・sinθ11´+(L2+ΔL2)・sinθ12´
+(L3+ΔL3+LFE)・sinθ13´
-{(L1+ΔL1)・sinθ01´+(L2+ΔL2)・sinθ02´
+(L3+ΔL3+LFE)・sinθ03´} ・・・(8)
次に、処理システム1がロボットアーム12のアーム30の膨張量を算出する膨張量算出方法の制御の流れの一例について説明する。図11は、実施形態に係る膨張量算出方法の制御の流れの一例を説明する図である。
11 真空搬送室
12 ロボットアーム
13 プロセスチャンバ
14 ロードロック室
15 ローダモジュール
20 センサ
30、30a~30c アーム
31、31a~31c 関節
32 フォーク
32a 支持部
33 突部
100 制御装置
101 プロセスコントローラ
102 ユーザインタフェース
103 記憶部
110 検出部
111 算出部
W 基板
Claims (8)
- 複数のアームが回転可能な関節により接続され、前記関節を回転させることで伸縮可能とされた多関節アームと、
前記多関節アームのアーム数以上の異なる姿勢で前記多関節アームの前記関節の回転角度を検出する検出部と、
前記検出部により検出された各姿勢での前記関節の回転角度に基づいて前記複数のアームそれぞれの膨張量を算出する算出部と、
を有する搬送装置。 - 前記算出部は、前記複数のアームが膨張していない未膨張状態における各アームの長さと、前記未膨張状態における前記各姿勢での前記多関節アームが伸縮した距離と、前記検出部により検出された前記各姿勢での前記関節の回転角度から、前記複数のアームそれぞれの膨張量を算出する
請求項1に記載の搬送装置。 - 前記算出部は、前記多関節アームが伸縮した距離と、前記未膨張状態における各アームの長さと、前記関節の回転角度と、前記複数のアームの膨張量との関係を示した関係式に、姿勢ごとに、前記多関節アームが伸縮した距離と、前記検出部により検出された前記関節の回転角度を適用し、姿勢ごとの前記関係式の前記複数のアームの膨張量を未定数として解くことで、前記複数のアームそれぞれの膨張量を算出する
請求項2に記載の搬送装置。 - 前記算出部は、前記各姿勢での前記多関節アームが伸縮した距離と、前記未膨張状態における各アームの長さと、前記各姿勢での前記関節の回転角度から、前記複数のアームの膨張量をそれぞれ算出する関係式に、前記検出部により検出された各姿勢での前記関節の回転角度を適用して、前記複数のアームそれぞれの膨張量を算出する
請求項2に記載の搬送装置。 - 前記異なる姿勢は、前記多関節アームを異なる距離に伸縮する姿勢とした
請求項1~4の何れか1つに記載の搬送装置。 - 前記検出部は、基板処理を実施するチャンバに設けたセンサで前記多関節アームを検出した際の前記関節の回転角度を検出し、
前記算出部は、未膨張状態における各アームの長さと、算出した前記複数のアームそれぞれの膨張量と、前記検出部により検出された前記関節の回転角度に基づいて、前記チャンバの膨張量を算出する
請求項1~5の何れか1つに記載の搬送装置。 - 前記算出部により算出したアームの膨張量に基づいて前記多関節アームの搬送位置を補正する搬送制御部をさらに有する
請求項1~6の何れか1つに記載の搬送装置。 - 複数のアームが回転可能な関節により接続され、前記関節を回転させることで伸縮可能とされた多関節アームのアーム数以上の異なる姿勢で前記多関節アームの前記関節の回転角度を検出する工程と、
検出された各姿勢での前記関節の回転角度に基づいて前記複数のアームそれぞれの膨張量を算出する工程と、
を有する膨張量算出方法。
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JPH01264786A (ja) * | 1988-04-11 | 1989-10-23 | Toshiba Corp | 産業用ロボット |
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JPH01264786A (ja) * | 1988-04-11 | 1989-10-23 | Toshiba Corp | 産業用ロボット |
JP2017183483A (ja) * | 2016-03-30 | 2017-10-05 | 東京エレクトロン株式会社 | 基板搬送方法及び基板処理システム |
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