Clean transfer robot
A robot with improved cleanliness for use in a clean environment is disclosed, having a uniform flow through the open interface between the clean environment and the interior of the robot housing, passing the particle generation area to an exhaust port, keeping the particles from the clean environment. The uniform flow reduces or eliminates the back flow, and further allows the scalability of the open interface to prevent particles generated from moving mechanisms within the robot housing to contaminate the clean environment. The uniform flow can be established by designing the flow dynamic, centering the exhaust port, or by restricting the flow along the elongated slot, for example, by uniformly restricting the flow along the elongated slot, or by implementing a restrictor along the elongated slot.
1. A robot for moving a workpiece in a clean environment, comprising:
a robotic housing comprising first elongated slot connecting the clean environment and the environment within the robotic housing;
a moving mechanism within the robotic housing for moving a robot part along the slot, the robot part protruded to the clean environment;
an exhausting mechanism coupled to the robotic housing for removing particles generated by the moving mechanism in the housing and preventing the particles from getting to the clean environment;
a first restrictor along the slot, disposed within the robotic housing and between the housing and the exhaust mechanism to establish a substantial uniform flow along the first slot;
at least a second restrictor disposed within the robotic housing and in the vicinity of particle generation area; and
at least a second elongated slot with a second moving mechanism.
2. A robot as in claim 1 wherein the first restrictor is disposed in the vicinity of the first elongated slot.
3. A robot as in claim 1 wherein the first restrictor comprises a plurality of holes along the slot direction for distributing the flow along the first slot.
4. A robot as in claim 1 wherein the first restrictor comprises a slit along the slot direction for distributing the flow along the first slot.
5. A robot as in claim 1 wherein the moving mechanism comprises a linear guide along the first slot and wherein the first restrictor is disposed in the vicinity of the linear guide.
6. A robot as in claim 1 wherein the exhaust mechanism removes particles in the housing to the outside of the clean environment.
7. A robot as in claim 1 further comprising a filter for filtering the particles.
8. A robot as in claim 1 further comprising at least a robot moving mechanism attached to the robotic housing for moving the robotic housing.
9. An apparatus for moving a workpiece, comprising:
a clean housing providing a clean environment;
a robotic housing disposed within the clean housing, the robotic housing comprising first elongated slot connecting the clean environment and the environment within the robotic housing;
a linear moving mechanism comprising a linear guide within the robotic housing for moving a robot part along the first slot, the robot part protruded to the clean environment;
an exhausting mechanism coupled to the robotic housing for removing particles generated by the moving mechanism in the housing to the outside of the clean environment;
a first restrictor along the slot, disposed within the robotic housing and between the housing and the exhaust mechanism to establish a substantial uniform flow along the first slot; and
at least a second elongated slot with a second moving mechanism for moving a second robotic part.
10. An apparatus as in claim 9 further comprising a fan filter unit and a perforated plate to provide the clean environment.
11. An apparatus as in claim 9 wherein the first restrictor is disposed in the vicinity of the linear guide.
12. An apparatus as in claim 9 wherein the first restrictor comprises a plurality of holes along the first slot direction for distributing the flow along the first slot.
13. An apparatus as in claim 9 further comprising at least a robot moving mechanism attached to the robotic housing for moving the robotic housing.
14. A method for improving a clean environment containing a plurality of moving mechanisms, wherein the plurality of moving mechanisms is disposed in a robotic housing and moves a plurality of robot parts through a plurality of elongated slots connecting the clean environment and the inside of the housing, the method comprising:
positioning the moving mechanisms in the vicinity of the elongated slots;
exhausting the inside of the housing to the outside of the clean environment; and
restricting the flow from the elongated slots to the exhaust as to provide a substantial uniform flow along the elongated slots.
15. A method as in claim 14 wherein restricting the flow comprises a plurality of holes along the slot direction for distributing the flow along the slots.
16. A method as in claim 14 further comprising positioning the exhaust flow to pass through a particle generation area due to the moving mechanism.
17. A method as in claim 14 further comprising moving the robotic housing through a second moving mechanism.