Patent Grant
7591625
The present invention generally relates to a carrying device for carrying a substrate to be processed (such as, e.g., a semiconductor wafer). More particularly, the invention relates to a carrying device suitable for transferring the substrate to be processed into and from a substrate processing apparatus equipped with one or more processing chambers for subjecting the substrate to various processings.
Carrying devices have been proposed for transferring substrates into and from processing chambers to perform various processings in a substrate processing apparatus (such as, a semiconductor producing apparatus).
Conventionally, an example of a known carrying device is as shown in Japanese Patent No. 2,531,261.
As shown in
The first parallel link mechanism 50A is formed by links 51, 52, 53 and 54, while the second parallel link mechanism is formed by links 51, 55, 56 and 57.
Here, the effective lengths of the links 51, 52 and 55 are the same, and those of the links 53, 54, 56 and 57 are the same.
Both ends of each of the links 53, 54, 56 and 57 are rotatably connected. Meanwhile, a gear 63 is fixed to one end of the link 53 on a side of the link 51; a gear 64 is fixed to one end of the link 57 on the side of the link 51; and the gears 63 and 64 have the same diameter and mesh with each other.
In the conventional carrying device 50 having such a configuration, when a drive shaft 62 of a motor 61 fixed to the link 53 is rotated, the link 53 is rotated and the gear 63 is rotated together with the link 53.
In this case, since the links 51 and 52 are kept parallel by the first parallel link mechanism 50A, the gear 63 is rotated at an angular velocity as high as that of the drive shaft 62 with respect to the link 51. And, when the gear 63 is rotated, the gear 64 meshing with it is rotated at the same angular velocity in a reverse direction, so that the link 57 belonging to the second parallel link mechanism 50B is rotated together. As a result, a carrying table 58, which is fixed to the link 55 belonging to the second parallel link mechanism 50B, reciprocally moves linearly.
However, in such a conventional technique, since the gear 63 fixed to one end of the link 53 on the side of the link 51 meshes with the gear 64 fixed to one end of the link 57 on the side of the link 51; the gear 63 and the gear 64 rub against each other at the meshing portions; and dust (such as, metal dust) is formed therefrom. Then, this dust contaminates an object to be carried (not shown), such as a semiconductor wafer or the like, placed on the carrying table 58.
Further, in the conventional technique, the meshing portions of the gears 63 and 64 rub against each other to abrade the gear teeth, and a backlash gets larger in the meshing portions, so that the power of the first parallel link mechanism 50A is not correctly transmitted to the second parallel link mechanism 50B, and the object to be carried cannot be carried to a correct position. This problem is disclosed in Japanese Patent No. 2,531,261.
The present invention has been made to solve the problems of such a conventional technique, and its object is to provide a carrying device that does not produce any dust (such as, metal dust) and can prevent the contamination of an object to be carried (such as, a semiconductor wafer or the like) supported on a carrying table.
Further, another object of the present invention is to provide a carrying device that can rightly transmit the power of a first parallel link mechanism to a second parallel link mechanism and carry an object to be carried, to a correct position, without abrasion at sliding portions.
The present invention, which has been made to solve the above problems, is directed to a carrying mechanism including a first link mechanism formed by a parallelogram link mechanism, a second link mechanism formed by a common link and a link having the same length as that of the common link, the common link being common with a given link of the first link mechanism, and the second link mechanism being extendable and retractable linearly in a predetermined direction. A first restrained link constituting the first link mechanism and a second restrained link constituting the second link mechanism are configured to rotate in the state that the first and second restrained links are restrained at a given angle at a pivot of at least one end of the common link; and the carrying mechanism includes a carrying arm member configured such that the carrying arm member rotates in a state that the carrying arm member is restrained at a given angle relative to an opposed link opposed to the common link in the first link mechanism at a pivot of a given end of the opposed link.
A first invention of this application is directed to a carrying mechanism including a first parallelogram link mechanism, and a second parallelogram link mechanism formed by using a given link of the first parallelogram link mechanism, the second parallelogram link mechanism having four sides with an equal length and being extendable and retractable linearly in a predetermined direction. A first restrained link constituting the first parallelogram link mechanism and a second restrained link constituting the second parallelogram link mechanism are configured to rotate in a state that the first and second restrained links are restrained at given angles, respectively, at pivots of both ends of a common link shared between the first and second parallelogram link mechanisms, and the carrying mechanism includes a carrying arm member configured such that the carrying arm member rotates in a state that the carrying arm member is restrained at a given angle relative to an opposed link opposed to the common link in the first parallelogram link mechanism, at a pivot of a given end of the opposed link.
A second invention of this application is directed to a carrying mechanism comprising a first link mechanism formed by a parallelogram link mechanism, and a second link mechanism comprising a common link and a second restrained link, the common link being common with a given link of the first link mechanism, and the second restrained link being equal to the common link in length and being configured to rotate in a state that the second restrained link is restrained together with a first restrained link of the first link mechanism at a given angle at one end of the common link; and the carrying mechanism comprises a carrying arm member configured such that the carrying arm member is rotated in a state that the carrying arm member is restrained at a given angle relative to an opposed link opposed to the common link in the first link mechanism, at a pivot of a given end of the opposed link.
According to the present invention, as described, in the above inventions, the length of the first restrained link can be equal to that of the carrying arm member.
According to the present invention, as described, in the above inventions, an angle formed by the first restrained link and the second restrained link can be an angle other than 90°.
In the present invention, as described, in the above inventions, a third parallelogram link mechanism may be provided, the third parallelogram link mechanism being formed by using the first restrained link and including a first arm member and a second arm member, the first arm member and the second arm member being configured to rotate around pivots of both ends of the first restrained link in such a state that the first arm member is restrained at a given angle relative to the common link and that the second arm member is restrained at a given angle relative to the opposed link.
On the other hand, the present invention is directed to a carrying device comprising a carrying mechanism, a parallel link type arm mechanism, and a carrying portion, the carrying mechanism comprising a first link mechanism formed by a parallelogram link mechanism, and a second link mechanism being formed by a common link and a link having the same length as that of the common link, the common link being common with a given link of the first link mechanism, and the second link mechanism being extendable and retractable linearly in a predetermined direction. A first restrained link constituting the first link mechanism and a second restrained link constituting the second link mechanism are configured to rotate in the state that the first and second restrained links are restrained at a given angle at a pivot of at least one end of the common link, and the carrying mechanism includes a carrying arm member configured to rotate in a state that the carrying arm member is restrained at a given angle relative to an opposed link opposed to the common link in the first link mechanism, at a pivot of a given end of the opposed link. The parallel link type arm mechanism is formed by using the carrying arm member; and the carrying portion is driven by the parallel link type arm mechanism and supports an object to be carried.
Further, the present invention is directed to a vacuum processing apparatus with a plurality of processing chambers connected to a vacuum exhaust system, the vacuum processing apparatus comprising a carrying chamber and a vacuum processing chamber, the carrying chamber being equipped with a carrying device, the carrying device comprising a carrying mechanism, a parallel link type arm mechanism, and a carrying portion, the carrying mechanism comprising a first link mechanism formed by a parallelogram link mechanism, and a second link mechanism formed by a common link and a link having the same length as that of the common link, the common link being common with a given link of the first link mechanism, and the second link mechanism being extendable and retractable linearly in a predetermined direction. A first restrained link constituting the first link mechanism and a second restrained link constituting the second link mechanism are configured to rotate in the state that the first and second restrained links are restrained at a given angle at a pivot of at least one end of the common link; and the carrying mechanism comprises a carrying arm member configured to rotate in a state that the carrying arm member is restrained at a given angle relative to an opposed link opposed to the common link in the first link mechanism, at a pivot of a given end of the opposed link, the parallel link type arm mechanism being formed by using the carrying arm member, and the carrying portion being adapted to be driven by the parallel link type arm mechanism and to support an object to be carried, and the vacuum processing chamber being communicated with the carrying chamber and configured to receive and deliver the object by using the carrying device.
In the following description, the operating principle of the present invention will be explained with reference to the drawings. It is noted that the first and second inventions, which will be explained below, are included in the present invention described above.
In the carrying mechanism shown in
Link Lco - - - common link;
Link Lad - - - opposed link;
Link Lao, Lcd - - - first restrained link;
Link Lbo, Lce - - - second restrained link; and
Link Laf - - - carrying arm member.
Further, a linear guide (shown by one-dot chain lines in the figure) is provided on a straight line passing points O and E of the second parallelogram link mechanism.
In
<Conditions A>
Here, the relationships are such that: OF=2Lb·cos β, γ=θe−π−(θ12−θ3)/2, β=π−(θ12+θ3)/2−α, and α=θe−θ12−θa.
Since θe, θ12 and θ3 are constant angles independent of θa as understood from the above relational expressions, γ is a constant value independent of θa.
As shown in the expression (2), this shows that the point F is positioned on the straight line LF passing through the point O and crossing the X axis at the constant angle .gamma.
Further, since the length of the straight line OF is expressed by a linear function of θa alone, the point F moves on the straight line described by the expression (2) as the rotating angle θa of the link Lao varies.
On the other hand, if the length of the link Laf is different from that of the link Lao, the point F moves on curves shown in
In
As understood from
However, if the Laf=100 mm or Laf=140 mm (that is, if the length of the link Laf is different from that of the link Lao), the locus of the point F varies on a curved line, and does not move on the straight line represented by the expression (2).
In the mechanism shown in
Here, in relation to the present invention,
Link Lce - - - common link;
Link Lad - - - opposed link;
Link Lae, Lcd - - - first restrained link;
Link Lco, Lbe - - - second restrained link; and
Link Laf - - - carrying arm member.
Further, a linear guide (shown by a one-dot chain line in the figure) is provided on a straight line passing through points O and E of the second parallelogram link mechanism.
In
<Conditions B>
Here, there are relations that when θ1=θ3, OF=2A·cos α, γ=θe−cos−1{(Ls2+A2−Lb2)/(2Ls·A)}, A2=Lb2+Ls2−2Lb·Ls·cos θ2, and α=θe−θb. On the other hand, there are relations that when θ1=−θ3, OF=2Ls·cos α−2Lb·cos(α+θ12), γ=θe, and α=θe−θb.
As understood from the above relational expressions, when θ1=θ3, Lb, Ls and θ2 are constant values independent of the rotating angle θb of the Lbo, and thus A is a constant value. Further, since θe is a constant value independent of the rotating angle θb, γ is a constant value independent of θb. Further, when θ1=−θ3, γ=θe (=a constant value).
As described in the formula (4), this shows that when θ1=±θ3, the point F is positioned on the straight line passing through the point O and crossing the X axis at the constant angle γ.
Further, since the length of the straight line 0F is expressed by a linear function of θb alone, the point F moves on the straight line described by the expression (4) as the rotating angle θb of the link Lbo varies.
On the other hand, if the length of the link Laf is different from that of the link Lao, the point F moves on curves as shown in
In
As understood from
However, if the Laf=100 mm or Laf=140 mm (that is, if the length of the link Laf is different from that of the link Lae), the point F varies in the curved line, and does not move on the straight line represented by the expression (4).
Next, the principle of the second invention will be explained with reference to the drawings.
The framing conditions of this carrying mechanism are as follows.
<Framing Conditions [1]> - - - See
If the framing conditions [1] are satisfied, when any one of the link 101, the link 102a, the link 103a, the link 103b and the link 104 rotates around the pivot with which that link is connected directly, the positions of the respective pivots are determined, corresponding to the rotating angle thereof due to the existence of the restrained condition for the pivot O and the pivot D (the above condition (4)) (If no restrained condition is present between the pivots O and D, the positions of the pivots O, A, B, C and D are indefinite.)
However, since there is a range in which these links prop one another and do not move in connection with the respective lengths of the links, there is a limitation of “within respectively movable ranges of the links”.
<Framing Conditions [2]> - - - See
The link 101 and the link 103a are equal in length (OA=CB), and the link 102a, the link 103b and 104 are equal in length (AB=OC=CD).
Here, in relation to the present invention, the link 103b and the link 104 correspond to the second link mechanism, whereas the link 104 corresponds to the common link.
When the framing conditions [2] are added to the framing conditions [1] and when any one of the link 101, the link 102a, the link 103a, the link 103b and the link 104 rotates by an angle θ around the shaft with which that link is connected directly, each of internal angles of the quadrangle OABC changes by 2θ.
This motion will be explained with reference to
Due to the above framing conditions [2], the quadrangle OABC is a parallelogram, and the triangle OCD is an isosceles triangle.
Similarly, γ=2θ+(π−η), β=−2θ+η and ν=−θ−(π/2−η) hold in the case of the link mechanism shown in
Further, since the link 103b is fixed to the link 103a (η=a constant angle) as mentioned above, when the link 101 is rotated by Δθ around the pivot O, the amount of change (Δγ) of the angle formed by the link 102a and the link 101 and the amount of change (Δβ) of the angle formed by the link 102a and the link 103a are each twice as large as the angular change (Δθ) of the link 101 (2Δθ).
Furthermore, since Δν=Δθ, when the link 104 is rotated by Δθ around the pivot O, the amount of change (Δγ) of the angle formed by the link 102a and the link 101 becomes twice as large as the rotating angle (Δθ) of the link 104 (2Δθ).
While the above description corresponds to the case in which the link is rotated by Δθ around the pivot O, all the links are relatively rotated by Δθ around the pivots to which they are connected directly, since the quadrangle OABC is a parallelogram and the triangle OCD is an isosceles triangle.
Therefore, when any one of the link 101, the link 102a, the link 103a, the link 103b and the link 104 is rotated by Δθ around the pivot with which that link is connected directly, each of the internal angles of the quadrangle OABC changes by 2Δθ.
Framing Conditions [3] - - - See
In the following descriptions, the framing conditions [3] will be explained by referring to
When the framing conditions [2] and [3] are added to the above-described framing conditions [1], the arm 102b rotates around the pivot A integrally with the link 102a, so that, as understood from the explanation on the above framing conditions [2], an angle (∠OAE) formed by the arm 102b and the link 101 rotates around the pivot A by an angle (2Δθ) twice as large as the rotating angle (Δθ) of the link 101 when the link 101 is rotated by Δθ around the pivot O, or when the link 104 is rotated by Δθ around the pivot O, or when the link 103b is rotated by Δθ around a pivot D.
Meanwhile, the triangle OAE is an isosceles triangle wherein ∠AOE=∠AEO. That is, when the angle (∠OAE) formed by the arm 102b and the link 101 increases by 2Δθ, each of ∠AOE and ∠AEO decreases by Δθ.
Therefore, when the link 101 or the link 104 is rotated around the pivot O, or when the link 103b is rotated around the pivot D, the tip (E) of the arm 102b moves on a straight line (L) connecting the tip (E) of this arm 102b with the pivot O.
On the other hand,
In this case, when the link 101 or the link 104 is rotated around the pivot O, or when the link 103b is rotated around the pivot D, the tip (E) of the arm 102b moves on the straight line (L) connecting the tip (E) of this arm 102b and the pivot D.
Framing Conditions [4] - - - See
In the following descriptions, the framing conditions [4] will be explained with reference to
When the framing conditions [2] and [4] are added to the framing conditions [1], even if the first link mechanism formed by the links 101, 102a, 103a and 104 comes into a dead point state (in a straight line), the parallelogram link mechanism constructed by the links 101, 105, 106 and 107 makes the angle (γ=∠OAB) formed by the link 102a and the link 101 change by an angle (2θ) twice as large as the rotating angle (θ) of the link 101, the link 104 and the link 103b. Further, when the third link mechanism constructed by the links 101, 105, 106 and 107 comes into a dead point state, a similar operating state is realized by the action of the first link mechanism constructed by the links 101, 102a, 103a and 104.
According to the present invention as explained above, the power transmission and carriage can be performed only by the combination of the link mechanisms, without any sliding portion as in the prior art where the gears mesh together.
Therefore, any dust (such as, metal dust) is not formed, so that contamination of semiconductor wafers or the like as objects to be carried can be prevented.
Further, since the backlash problem due to abrasion of the sliding portion, etc. does not occur, the objects can be carried to a correct position.
More particularly, since the second parallelogram link mechanism is constructed by the four links according to the first invention, the point E shown in
On the other hand, according to the second invention, the carrying mechanism with a smaller number of links and a simpler configuration can be obtained.
Further, when the length of the first restrained link is equal to that of the carrying arm member in this invention, the tip of the carrying arm member can be moved linearly.
When this invention is constructed such that the angle formed by the opposed link and the carrying arm member is 90° and the angle formed by the first restrained link and the second restrained link is 90°, the tip of the carrying arm member can be moved in the extending and retracting directions of the second link mechanism.
Further, when the angle formed by the first restrained link and the second restrained link is an angle other than 90° in the first invention, the second parallelogram link mechanism forms a parallelogram, not coming in a straight line, in a position where the carrying arm member overlaps with the first restrained link. Consequently, the carrying arm member can be rotated in a stable manner.
When the present invention comprises the third parallelogram link mechanism which is formed by using the first restrained link and comprises the first arm member and the second arm member, the first arm member and the second arm member being configured to rotate around pivots of both ends of the first restrained link in such a state that the first arm member is restrained at a given angle relative to the common link and that the second arm member is restrained at a given angle relative to the opposed link, the first parallelogram link mechanism and the third parallelogram link mechanism cannot be in the dead-point positions at the same time. Consequently, the rotating directions do not become unstable at their respective dead-point positions and the carrying arm member can be stably rotated.
Thus, according to the present invention, it is possible to provide a vacuum processing apparatus that can prevent contamination of semiconductor wafers or the like as the objects to be carried, and can contribute to an improved throughput by carrying the objects to correct positions.
According to the present invention, the objects to be carried (such as, semiconductor wafers) are not contaminated, and the objects can be carried to the correct position with good precision.
a) to (d) are schematic views showing the operation of the same carrying mechanism.
a) to (d) are schematic views showing extending and retraining motions of the carrying device of the same embodiment.
a) is a schematic view showing a state in which the carrying device of the same embodiment is in an overlapped position, and
a) to (c) are schematic configuration diagrams showing the configurations and extending and retracting motions of another embodiment of the carrying mechanism according to the first invention.
a) to (c) are views for explaining the problems to be solved in the present invention.
In the following, preferred embodiments of the present invention will be explained in detail with reference to the drawings.
As shown in
The first parallelogram linkage 13 is formed by an arm (link) 7a, a link 8b, a link 9a and a link 10.
In the case of this embodiment, members longer than the link 8b and the link 10 are used as the arm 7a and the link 9a.
On the other hand, the second parallelogram linkage 14 is formed by the link (common link) 10 of the first parallelogram linkage 13; and each of the lengths of a link 7b, a link 11 and a link 9b is equal to the length of the link 10.
The link 10 is fitted rotatably around a pivot 1 and a pivot 4 at both ends thereof, and the link (opposed link) 8b opposed to the link 10 is fitted rotatably around a pivot 2 and a pivot 3 at both ends thereof.
This embodiment is constructed such that the arm 7a (first restrained link) constituting the first parallelogram linkage 13 and the link 7b (second restrained link) constituting the second parallelogram linkage 14 are rotatable while being restrained at an angle (θ2) of 90° at a pivot 7c of one end of the link 10 shared between the first and second parallelogram linkages 13 and 14.
An L-form arm 7 is formed by fixedly connecting the arm 7a and the link 7b, the fixedly connecting portion 7c between the arm 7a and the link 7b is fitted rotatably around the pivot 1; an end of the arm 7a on a side opposite to the fixedly connecting portion 7c is fitted rotatably to the pivot 2; and further an end of the link 7b on a side opposite to the fixedly connecting portion 7c is fitted rotatably to the pivot 5.
Consequently, the embodiment is constructed such that a driving force of a motor not shown is given to this L-form arm 7.
At a pivot 9c of the other end of the link 10 shared between the first and second parallelogram linkages 13 and 14, the link 9a (first restrained link) constituting the first parallelogram linkage 13 and the link 9b (second restrained link) constituting the second parallelogram linkage 14 are configured to rotate, while being restrained at an angle (θ1) of 90°.
That is, an L-form link 9 is formed by fixedly connecting the link 9a with the link 9b; a fixedly connecting portion 9c between the link 9a and the link 9b is fitted rotatably around the pivot 4; an end of the link 9a on a side opposite to the fixedly connecting portion 9c is fitted rotatably to a pivot 3; and an end of the link 9b on a side opposite to the fixedly connecting portion 9c is fitted rotatably to a pivot 6.
Here, the second parallelogram linkage 14 is constructed such that the heights of the pivot 4 and the pivot 5 are different, and such that when the L-form arm 7 is rotated, the pivot 5 passes under the pivot 4, for example.
Further, this embodiment is provided with an arm 8a (carrying arm member), which is configured such that, at the pivot 2 at one end of the link 8b opposed to the link 10 of the first parallelogram linkage 13, the arm 8a rotates while being restrained at an angle (θ3) of, for example, 90° relative to the link 8b.
That is, the arm 8a and the link 8b are fixedly connected to form an L-form arm 8; a fixedly connecting portion 8c between the arm 8a and the link 8b is fitted rotatably around the pivot 2; and an end of the link 8b on a side opposite to the fixedly connecting portion 8c is fitted rotatably to the pivot 3.
This embodiment is constructed such that the arm 8a is equal to the arm 7a and the link 9a in length and that owing to this, a tip 80 of the arm 8a passes on a straight line (carrying line) connecting the pivot 1 and the pivot 6, as later described.
On the other hand, in this embodiment, the above-mentioned pivot 1 is provided at one end portion of an elongate base plate 29. On this base plate 29 is provided a linear guide (guiding portion) 12a, which is configured to extend in a longitudinal direction of the base plate 29 and not to change the positional relationship relative to the pivot 1.
In addition, the pivot 6 of the second parallelogram linkage 14 is fitted to a pivot moving mechanism 12 which is configured to move along the linear guide 12a, so that the second parallelogram linkage 14 is extended and retracted linearly along the linear guide 12a and the pivot 6 moves along a one-dot chain line passing through the pivot 1 in the figure.
a) to (d) are schematic views showing the operating principle of this embodiment.
a) is taken as an initial state. This state is the same as that shown in
As such, when the L-form arm 7 is rotated by an angle θ in a CW (clockwise) direction around the pivot 1, the link 7b rotates by the angle θ in the CW direction around the pivot 1 together with the arm 7a.
At such time, the pivot 6 is moved linearly in a direction apart from the pivot 1 along the linear guide 12a in synchronization with the motions of the link 7b and the link 11 by means of the pivot moving mechanism 12.
Accordingly, the second parallelogram linkage 14 changes its shape while keeping a shape of a parallelogram; and the link 10 rotates by the angle θ in a CCW (counterclockwise) direction around the pivot 1.
In this embodiment, since the first parallelogram linkage 13 is formed by the arm 7a, the link 8b, the link 9a and the link 10, when the link 10 rotates by the angle θ in the CCW direction around the pivot 1, the link 8b rotates by the angle θ in the CCW direction around the pivot 2, and thereby the arm 8a rotates by the angle θ in the CCW direction around the pivot 2 together with the link 8b.
When a series of these motions are considered relative to the pivot 2, the arm 7a rotates by the angle θ in the CW direction around the pivot 2, and simultaneously the arm 8a rotates by the angle θ in the CCW direction around the pivot 2. Therefore, the arm 8a rotates by an angle 2θ in the CCW direction around the pivot 2 relative to the arm 7a (such state being shown in
In this embodiment, since the length of the arm 8a is equal to that of the arm 7a, the above rotation of the arm 8a makes the tip 80 thereof move on the linear guide 12a (carrying line) toward the pivot 1.
Further, in this embodiment, since the pivot 4 and the pivot 5 are made different in height, when the L-form arm 7 is rotated in the CW direction, the pivot 5 passes under the pivot 4 so that the positional relationship between the pivot 4 and the pivot 5 is reversed as shown in
In this embodiment, since the length of the arm 8a is equal to that of the arm 7a, the tip 80 of the arm 8a moves along the carrying line, and passes above the pivot 1. When the L-form arm 7 is continuously rotated in the CW direction, the tip 80 of the arm 8a moves in a direction apart from the pivot 1 as shown in
In order to return the state of
As shown in
This parallel link type arm mechanism 26 comprises an upper arm linkage 27 which is formed by upper arms 17a, 17b and links 23, 24 opposed in parallel, respectively, and a lower arm linkage 28 which is formed by lower arms 18a, 18b, the link 24 and a carrying table (carrying portion) 16 opposed in parallel, respectively.
The upper arm 17a of the upper arm linkage 27 corresponds to the arm 7a; the links 23, 24 are fitted rotatably to the pivots 1 and 2 at both ends thereof, respectively; and the link 17b are fitted rotatably to pivots 22, 19 on a side opposite to the pivots 1 and 2 of the links 23, 24.
Here, the pivot 22 is provided on an extension line of the linear guide 12a on the base plate 29. Further, the lower arm 18a of the lower arm linkage 28 corresponds to the arm 8a, and is connected in a fixed manner to the link 8b to form an L-form arm 18; and a fixedly connecting portion thereof is fitted rotatably to the pivot 2.
Further, the lower arm 18b opposed to the lower arm 18a is fitted rotatably to a pivot 19 of the upper arm linkage 27, and these lower arms 18a, 18b are fitted rotatably to pivots 20 and 21 provided on the carrying table 16.
This embodiment is constructed such that the lengths (distances between the pivots) of the links 23, 24 and a distance between the pivots (length between the pivots 20 and 21) of the carrying table 16 are all identical. Further, the lengths (distances between the pivots) of the upper arms 17a and 17b and the lower arms 18a and 18b are all made identical.
An end effector 25 is fitted to one tip portion of the carrying table 16 so as to place an object to be carried (not shown), such as a wafer.
With respect to the carrying device 60a of this embodiment, since the linear guide 12a, the pivot 1, the link 23 and the pivot 22 are fitted onto the common base plate 29, the relative positional relationships among the linear guide 12a, the pivot 1, the link 23 and the pivot 22 do not change during the extending and retracting motions and the rotating motions.
Although the pivot 1 and the pivot 22 are connected by the link 23 in the carrying device 60a of this embodiment, the pivot 1 and the pivot 22 may be formed directly on the common base plate 29. Although the link 23 is unnecessary in this case, the extending and retracting motions and the rotating motions as a carrying device can be performed in the same manner as in the carrying device 60a of this embodiment.
a) to (d) are schematic views showing the extending and retracting motions of the carrying device of this embodiment.
In the case of this embodiment, since an upper arm linkage 27 in the shape of a parallelogram is formed by upper arms 17a, 17b and links 23, 24, when the upper arm 17a is rotated by an angle θ in the CCW direction around the pivot 1, the upper arm 17b also rotates by the angle θ in the CCW direction around the pivot 22, thereby moving the link 24, while being kept in parallel to the link 23.
Simultaneously, as explained in connection with the operating principle of
When the upper arm 17a rotates by the angle θ in the CCW direction around the pivot 1 in this way, the positions of the lower arm 18a and the link 24 are determined, and the parallelogram shape of the lower arm linkage 28 is unambiguously determined. Consequently, as shown in
In order to return from the extended state of
As described above, in the carrying device 60a of this embodiment, the second parallelogram linkage 14 is formed by sharing the link 10 constituting the first parallelogram linkage 13, and the pivot 6 of the second parallelogram linkage 14 is moved in parallel by the pivot moving mechanism 12. Therefore, since the rotating motion of the upper arm 17a is transmitted to the lower arm 18a and the lower arm 18a is rotated by an angle twice as large as the rotating angle of the upper arm 17a, the motion of the upper arm linkage 27 is accurately transmitted to the lower arm linkage 28.
As described above, according to this embodiment, any sliding portion where gears mesh together does not exist unlike in the prior art; and the carriage can be performed through the transmission of the power only by the combination of the link mechanisms.
Therefore, any dust (such as, metal dust) is not generated, and contamination of semiconductor wafers or the like as objects to be carried can be prevented.
Further, according to this embodiment, the objects can be carried to a correct position by accurately transmitting the power between the upper arm linkage 27 and the lower arm linkage 28, without causing the backlash problem due to abrasion of a sliding portion, etc.
Although the extending and retracting motions of the carrying device 60a are explained in the above-described embodiment based on an example in which the upper arm 17a is rotated around the pivot 1, it is noted that the extending and retracting motions can also be performed when the upper arm 17b is rotated around the pivot 22. The motions are the same as in the case of the rotation of the upper arm 17a; and thus, a detailed explanation thereof is omitted.
Although the extending and retracting motions of the carrying device 60a are explained in the above-described embodiment based on the example in which the upper arm 17a is rotated around the pivot 1, it is also possible that a driving shaft 32 is installed at the pivot 1, the upper arm 17a is fitted to this driving shaft 32, and the upper arm 17a is rotated around the pivot 1 by rotating the driving shaft 32.
On the other hand, in the case where the carrying device 60a of this embodiment is rotated, the base plate 29 is rotated around the pivot 1 in such a state that the parallel link type arm mechanism 26 retracts as shown in
On the other hand, although the end effector 25 is fitted to only one side of the carrying table 16 in the above-mentioned carrying device 60a, the present invention is not limited thereto. For example, as shown in
According to such a configuration, efficiency of carrying the objects to be carried can be improved. Extending and retracting motions of this carrying device are basically the same as those of the carrying device 60a shown in
In a substrate processing apparatus equipped with a carrying device like that of the present invention, there is a demand that two objects to be carried (such as, wafers or the like) be held at a time or a demand that the rotating radius of the carrying device be decreased.
In order to respond to such demands, the lower arm linkage 28 of the carrying device 60a shown in
a) is a schematic view showing a state in which the carrying device of this embodiment is in the overlapped portion, and
As understood from
As shown in
As a result, since the rotating direction of the link 8b constituting the first parallelogram linkage 13 is not determined, the rotating direction of the lower arm 18a is not determined either; thus, there is a possibility that the lower arm linkage 28 cannot move beyond the overlapped position. In this way, the movement of each of the linkages becomes unstable at the overlapped position.
a) to (c) are schematic configuration diagrams showing the configuration and the extending and retracting motions of another embodiment of the carrying mechanism according to the first invention. This embodiment is to solve the above problem.
As shown in
Consequently, a fitting angle θ4 of a linear guide 12a relative to a carrying line (X-axis direction) is an angle other than 0°, and is particularly equal to the fitting angle θ2 of the link 7b to the arm 7a in this embodiment (=the fitting angle θ1 of the link 9b to the link 9a).
Thus, this configuration makes a tip 80 of a link 8a and a pivot moving mechanism 12 (pivot 6) relatively move at an angle other than 0°.
In this invention, the fitting angle θ2 of the link 7b to the arm 7a, the fitting angle θ1 of the link 9b to the link 9a and the fitting angle θ4 of the linear guide 12a to a carrying line are not particularly limited, except that θ1=θ2 must be satisfied. These angles may be set to optimal angles to meet requirements for configurations of respective devices, moving ranges, etc.
a) shows a retracted state in an initial state of this embodiment, and when the arm 7a is rotated in this state by an angle θ in the CW direction around a pivot 1, an arm 8a rotates by an angle 2θ in the CCW direction around a pivot 2 relative to the arm 7a according to the principle illustrated in
Thus, with the above-described structural arrangement, the arm 8a reaches immediately above the arm 7a, as shown in
At this time, although the arm 8a and the arm 7a are in an overlapped position, the fitting angle θ2 of the link 7b to the arm 7a and the fitting angle θ1 of the link 9b to the link 9a are other than 90°. Therefore, the link 7b, the link 11, the link 9b and the link 10 forming a second parallelogram linkage 14 are not in a straight line but form a parallelogram; different from the case of the carrying mechanism 15 shown in
Thus, when the arm 7a is rotated around the pivot 1 in the CW direction, the link 7b rotates around the pivot 1 in the CW direction, whereas the link 10 rotates around the pivot 1 in the CCW direction. Therefore, the arm 8a passes immediately above the arm 7a, and the arm 8a reaches a position apart from the pivot 1 as shown in
On the other hand, in returning from the state shown in
As shown in
Here, the parallel link type arm mechanism 26 is constructed by using an upper arm linkage 27, a lower arm linkage 28, a carrying table 16 and an end effector 25 as in the carrying device 60a shown in
Further, the carrying mechanism 15b is configured such that the arm 7a illustrated in
The motions of the carrying device 60b of this embodiment are the same as those of the carrying device 60a shown in
As explained above, in the carrying device 60b of this embodiment, a second parallelogram linkage 14 is formed, with a link 10 shared, the link 10 constituting a first parallelogram linkage 13, and a pivot 6 of the second parallelogram linkage 14 is moved in parallel by a pivot moving mechanism 12. Therefore, the rotating movement of the upper arm 17a is transmitted to the lower arm 18a, and the lower arm 18a rotates by an angle twice as great as the rotating angle of the upper arm 17a. So, the movement of the upper arm linkage 27 can be accurately transmitted to the lower arm linkage 28.
In this manner, according to this embodiment, formation of dust (such as, metal dust) at a sliding portion does not occur like the above embodiments, so that contamination of semiconductor wafers or the like as objects to be carried can be prevented, and the objects can be carried to a correct position by accurately transmitting the power between the upper arm linkage 27 and the lower arm linkage 28.
Further, in this embodiment, since the fitting angle of the link 7b to the upper arm 17a and the fitting angle of the link 9b to the link 9a are equal and are other than 90° and the pivot moving mechanism 12 is fitted such that it moves at an angle other than 0° relative to the extending and retracting movement direction (carrying line) of the carrying table 16, the lower arm 18a is passed immediately above the upper arm 17a in a stable manner, while the rotating direction does not become unstable at the overlapped position. Thus, the lower arm linkage 28 can be moved beyond the overlapped position in a stable manner.
On the other hand, as to a substrate processing apparatus equipped with such a carrying device as in the present invention, there is a demand that one wishes to further carry the objects to be carried (such as, wafers or the like).
In order to respond to such a demand, the reachable distance of the end effector 25 can be increased as shown in
In this movement, during when the parallel link type arm of the carrying device comes into the state of
In
As a result, since the rotating direction of the link 8b constituting the first parallelogram linkage 13 is not determined, the rotating direction of the lower arm 18a is not determined either, so that there is a possibility that the lower arm linkage 28 cannot move beyond the dead-point position. In this way, the movement of each of the linkages becomes unstable at the dead-point position.
In the carrying device 15c of this embodiment, a link 8d, which is rotatable around a pivot 2 integrally with a link 8b, is fitted to a fixedly connected portion 8c of an L type arm 8; and further, a link 30, which is rotatable around a pivot 1 integrally with a link 10, is fitted.
Here, the fitting angle of the link 30 to the link 10 and the fitting angle of the link 8d to the link 8b are set at the same magnitude (θ5).
Further, a link 9d is fitted rotatably to an end 33 of the link 8d on a side opposite to the pivot 2 and an end 34 of the line 30 on a side opposite to the pivot 1. The length of this link 9d is the same as that of the arm 7a. (The distances between the pivots are the same.)
A third parallelogram linkage 31 is formed by the link 8d, the link 9d, the link 30 and the arm 7a. The other configuration is the same as that of the carrying mechanism 15 shown in
In the carrying mechanism 15c of this embodiment, each of the fitting angle θ5 of the link 30 to the link 10 and the fitting angle θ5 of the link 8d to the link 8b is about 60°, but it is desired to set them at an optimal fitting angle, depending upon the configuration of the apparatus, movable ranges, etc.
Particularly when the fitting angle θ5 of the link 30 to the link 10 and the fitting angle θ5 of the link 8d to the link 8b are small, the dead-point position of the first parallelogram linkage 13 and that of the third parallelogram linkage 31 approach each other, so that the links cannot pass in a stable manner through the dead-point positions. From this point of view, the fitting angle θ5 is preferably about 30° to about 60°.
The operating principle of the carrying device 15c of this embodiment will be explained by using
In
In the case of this embodiment, however, since the link 30 rotates around the pivot 1 in the CCW direction integrally with the movement of the link 10, the link 8d constituting the third parallelogram linkage 31 rotates around the pivot 2 in the CCW direction.
As a result, since the link 8b rotates around the pivot 2 in the CCW direction integrally with the link 8d, the link 8b can get out of the dead-point position.
Similarly, when the link 8d, the link 9d, the link 30 and the arm 7a constituting the third parallelogram linkage 31 come in a straight line (the dead-point position), the link 8d can get out of the dead-point position through the movements of the link 8b, the link 9a, the link 10 and the arm 7a constituting the first parallelogram linkage 13.
As such, according to this embodiment, the arm 8a can rotate around the pivot 2 in a stable manner, while the rotating direction does not become unstable at the dead-point position.
As shown in
Here, the configurations of an upper arm linkage 27 and a lower arm linkage 28 of the parallel link type arm mechanism 26, a carrying table 16 and an end effector 25 are the same as those in the carrying device 60a shown in
Further, the carrying mechanism 15c is configured such that the arm 7a illustrated in
The motions of the carrying device 60c of this embodiment are the same as those of the above-mentioned carrying device shown in
As explained above, according to the carrying device 60c of this embodiment, similarly with the above embodiments, the rotating motion of the upper arm 17a is transmitted to the lower arm 18a, and the lower arm 18a rotates by an angle twice as large as the rotating angle of the upper arm 17a. Therefore, the motion of the upper arm linkage 27 is accurately transmitted to the lower arm linkage 28.
In this way, according to this embodiment, similarly with the above embodiments, any dust (such as, metal dust) is not produced in a sliding portion like in the above embodiments, so that the contamination of semiconductor wafers or the like as objects to be carried can be prevented; and the objects can be carried to the correct position by accurately transmitting the power between the upper arm linkage 27 and the lower arm linkage 28.
Further, in this embodiment, a third parallelogram linkage 31 is configured such that it shares the upper arm 17a constituting a first parallelogram linkage 13, the lower arm 18a stably rotating around the pivot 2 without its rotation becoming unstable at the dead-point position. As a result, the lower arm linkage 28 can be stably moved beyond the dead-point position.
Meanwhile, in the carrying mechanism 15c of this embodiment, its pivot moving mechanism 12 is arranged in the same manner as that illustrated in
Next, an embodiment of the second invention will be explained with reference to the figures. It is noted that an explanation is omitted for the portions overlapping the above explanation, unless particularly necessary.
The carrying mechanism 200A of this embodiment incorporates all the above-described basic configurations [1] to [4], wherein, for example, a third link mechanism is added to the configuration shown in
Here, a link 101, a link 102a, a link 103a and a link 104 are connected rotatably around pivots O, A, B and C, thereby constructing a first link mechanism 201 as a parallelogram link mechanism.
Further, a link 103b as a second restrained link is fixedly restrained at a pivot C by an arbitrary angle (η=∠BCD) relative to the link 103a as a first restrained link. These links 103a and 103b are integrated around the pivot C, and rotate as an L type arm 103.
This link 103b is equal to a common link 104 in length, and connected rotatably around a pivot D, so that a second link mechanism 202 is formed by these links 103b and 104.
Further, an arm 102b as a carrying arm member, which is equal to the link 101 in length, is fixedly restrained at a pivot A at an arbitrary angle (ξ) relative to the link 102a. The link 102a and the arm 102b are integrated around the pivot A and rotate as an L type arm 102.
Further, a link 105 and a link 107 are connected rotatably around a pivot A and a pivot O at both ends of the link 101 of the first link mechanism 201, and a link 106 is connected rotatably around a pivot F of an end of the link 105 and a pivot G of an end of the link 107, thereby forming a third link mechanism 203, as a parallelogram link mechanism, which is formed of links equal to those of the first link mechanism 201 in length.
Here, the link 105 is fixedly restrained at a certain angle (∠BAF) relative to the link 102a, and the link 107 is fixedly restrained at a certain angle (∠COG) relative to the link 104. In addition, the angle (∠BAF) formed by the link 105 and the link 102a and the angle (∠COG) formed by the link 107 and the link 104 are equal and are other than 0° and 180° (μ=∠BAF=∠COG, μ≠0, 180°).
Moreover, the angle μ is desirably the most optimal fitting angle, depending upon the configuration of the apparatus, movable ranges, etc. If the angle μ is too small, the dead-point positions of first link mechanism 201 and the third link mechanism 203 approach each other, and the links may not stably pass the dead-point positions. From this point of view, the angle μ is preferably 30° to 60°.
In the carrying mechanism 200A of this embodiment, when the link 101 or the link 104 is rotated around the pivot O or when the link 103b is rotated around the pivot D, the tip (E) of the arm 102b moves on a straight line (L) connecting the tip (E) of this arm 102b and the pivot O.
Moreover, according to this embodiment, since the third link mechanism 203 is provided and the links can get out of the dead-point positions as in the case of the embodiments shown in
Here, the carrying devices 300A and 300B shown in
In the following descriptions, the carrying device 300A shown in
The parallel link type arm mechanism 126 is constructed by an upper arm linkage 127 which is formed by upper arms and links respectively opposed in parallel and a lower arm linkage 128 which is formed by lower arms, a link and a carrying table respectively opposed in parallel.
An upper side arm of the upper arm linkage 127 corresponds to the above link 101, the links 123 and 124 are fitted rotatably to pivots O and A of both ends thereof, respectively, and the link 117 is fitted rotatably to pivots 122 and 119 on a side opposite to the pivots O and A of the links 123 and 124.
Here, the pivot 122 is provided on an extension of a straight line (X axis) connecting the pivot D and the pivot O.
Further, the lower arm of the lower arm linkage 128, which corresponds to the above arm 102b, is fixedly connected to the above link 102a, and the fixedly connecting portion is fitted rotatably to the pivot A.
And, the lower arm 118 opposed to the arm 102b is fitted rotatably to the pivot 119 of the upper arm linkage 127, and these arms 102b, 118 are fitted rotatably to pivots 120, 121 connected to the carrying table 116.
In this embodiment, the length (distance between the pivots) of each of the links 123, 124 is configured to be equal to the distance between the pivots (the length between the pivots 120, 121) of the carrying table 116. The lengths of the link 101, the arm 102b and the arm 118 (distances between the pivots) are configured to be all equal.
The motions of the carrying devices 300A, 300B of this embodiment are the same as those of the carrying device 60c shown in
The configurations of the carrying devices 300A and 300B shown in
On the other hand,
In the carrying device 300C shown in
That is, in the carrying device 300C, different from the configuration shown in
Further, in this embodiment, the link 107 and the link 151 are fixedly restrained around the pivot 122 at an angle μ, ends of the link 152 are fitted rotatably to the pivot C and the pivot 153, respectively, and further one end of the link 151 is fitted rotatably to the pivot 153.
In this embodiment, the extending and retracting motions of the parallel link type arm mechanism 126 are also the same, when the link 101 is rotated around the pivot O.
Here, the carrying devices 300D and 300E shown in FIGS. 29 and 30 are configured such that η=210°, μ=60° and ξ=10° in the carrying mechanism 200B, as shown in, for example,
The configurations of the carrying devices 300D and 300E shown in
In the carrying device 300F shown in
That is, in the carrying device 300F, different from the configuration shown in
Further, in this embodiment, the link 107 and the link 151 are fixedly restrained around the pivot 122 at an angle μ; the ends of the link 152 are fitted rotatably to the pivot C and the pivot 153, respectively; and a further end of the link 151 is fitted rotatably to the pivot 153.
In this embodiment, the extending and retracting motions of the parallel link type arm mechanism 126 are also the same when the link 101 is rotated around the pivot O.
In the above embodiments, the link 102a, the arm 102b, the link 104, the link 105 and the link 107 are separate members. According to the present invention, however, in the carrying device 300D shown in, for example,
Here, when η=180°, μ=30° and ξ=0°, it is possible that the pivot B is disposed on the arm 102b and the arm 102b and the link 105 can be formed as a single member.
As has been described above, in the embodiments of the second invention, any dust (such as, metal dust) is not produced in a sliding portion, so that the contamination of the semiconductor wafers or the like as objects to be carried can be prevented; and the objects can be carried to the correct position by accurately transmitting the power between the upper arm linkage 127 and the lower arm linkage 128.
As shown in
These processing chambers P1 to P3, the carry-in chamber C1 and the carry-out chamber C2 are connected to a vacuum exhaust system (not shown) therebetween; and the carrying chamber T1 are provided gate valves G1 to G5, respectively, which are opened and closed when wafers 43 are exchanged.
Further, the carry-in chamber C1 is provided with a gate valve G6 which is opened and closed when the wafer 43 is carried in from outside the apparatus; and the carry-out chamber C2 is provided with a gate valve G7 which is opened and closed when the wafer is carried to the outside of the apparatus.
In the vacuum processing apparatus 40 having such a configuration, the above carrying device 42 takes out a non-processed wafer 43a stored in the carry-in chamber C1, and holds and carries it to the processing chamber P1, for example.
At this time, the carrying device 42 performs the above-described motions, thereby receiving a processed wafer 43b from the processing chamber P1 and carrying it to other processing chambers P2, P3.
Then, non-processed wafers 43a and processed wafers 43b are similarly transferred among the processing chambers P1 to P3, the carry-in chamber C1 and the carry-out chamber C2 by using the carrying device 42.
According to this embodiment having such a configuration, it is possible to provide a vacuum processing apparatus that can prevent contamination of the objects to be carried and contribute to improved throughput by carrying the objects to the correct positions.
Meanwhile, the present invention is not limited to the above-mentioned embodiments, and various modifications can be made.
For instance, in the above embodiments of the first invention, the length of the arm 8a as the carrying arm member is made equal to the length of the link 7a as the first restrained link, but the present invention is not limited thereto. The arm 8a and the link 7a can be made different in length.
However, the configuration as in the above embodiments is preferable in order to linearly move the tip 80 of the arm 8a.
In addition, the angle formed between the arm 8a and the link 8b can be other than 90°.
Furthermore, in the above-mentioned embodiments, the carrying mechanism of the type in which the first parallelogram linkage is fitted to the rotating shaft (point O) shown in
In this case, the conditions explained for the carrying mechanism shown in
Furthermore, in the embodiments of the first invention, as shown in
| Number | Date | Country | Kind |
|---|---|---|---|
| 2005-269741 | Sep 2005 | JP | national |
The present invention is a Continuation of International Application No. PCT/JP2006/318520 filed Sep. 19, 2006, which claims priority to Japan Patent Document No. 2005-269741, filed on Sep. 16, 2005. The entire disclosures of the prior applications are hereby incorporated by reference herein in their entireties.
| Number | Name | Date | Kind |
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| 7245989 | Hosek et al. | Jul 2007 | B2 |
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| Number | Date | Country |
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| Number | Date | Country | |
|---|---|---|---|
| 20080226430 A1 | Sep 2008 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2006/318520 | Sep 2006 | US |
| Child | 12076160 | US |
