Substrate transport apparatus with interchangeable motor modules
A transport apparatus including a drive section connected to a frame and including a multi-drive shaft spindle, with at least one coaxial shaft spindle, more than one different interchangeable motor module arranged in a stack, each having a motor operably coupled thereto and defining a corresponding independent drive axis, and a can seal disposed between the stator and rotor of each motor module and hermetically sealing the stator and rotor from each other, at least one of the motor modules is selectable for placement in the stack from other different interchangeable motor modules, each having a different predetermined characteristic, independent of placement in the stack, that defines a different predetermined drive characteristic of the corresponding drive axis, independent of shaft spindle location, so that selection of the at least one motor module determines the different predetermined drive characteristic of the corresponding axis different from another of the independent drive axis.
1. A substrate transport apparatus comprising:
a frame; and
a drive section connected to the frame, the drive section including;
a multi-drive shaft spindle, with at least one coaxial shaft spindle;
more than one different interchangeable motor module arranged in a stack, each having a motor operably coupled to a corresponding shaft of the coaxial shaft spindle and defining a corresponding independent drive axis of the drive section, the motor of each module respectively having a motor stator, fixed to the frame, and a motor rotor joined to the corresponding shaft; and
a can seal disposed between the motor stator and motor rotor of each motor module and hermetically sealing the respective motor stator and motor rotor from each other;
wherein at least one of the different interchangeable motor modules in the stack is selectable for placement in the stack from other different interchangeable motor modules capable of placement in the stack, each having a different predetermined characteristic, independent of placement in the stack, the different predetermined characteristic of the module defining a different predetermined drive characteristic of the corresponding drive axis, independent of shaft spindle location, so that selection of the at least one motor module determines the different predetermined drive characteristic of the corresponding axis different from another of the independent drive axis.
2. The substrate transport apparatus of claim 1 , wherein the can seal spans across an interface between different interchangeable modules of the drive section.
3. The substrate transport apparatus of claim 1 , wherein the stack height is variable where selection of the at least one module changes a height of the stack.
4. The substrate transport apparatus of claim 1 , wherein the coaxial shaft spindle comprises a tri-axial spindle.
5. The substrate processing apparatus of claim 1 , wherein at least one of the motor modules has shaft spindle mechanical bearings that are nested within the respective stator.
6. The substrate processing apparatus of claim 5 , wherein at least one motor module is a compact height module where a module height of the compact height module is independent of the shaft spindle mechanical bearings.
7. The substrate processing apparatus of claim 1 , wherein the drive section further includes a z carriage having connection to a top motor module and a bottom motor module of the stack.
8. The substrate processing apparatus of claim 7 , wherein the motor modules are coupled to each other to form the stack and the coupled motor modules of the stack define the z carriage.
9. A substrate transport apparatus comprising:
a frame; and
a drive section connected to the frame, the drive section including;
a drive shaft spindle with at least one drive shaft;
more than one interchangeable motor module arranged in a stack, each having a motor operably coupled to a corresponding drive shaft of the drive shaft spindle and defining a corresponding independent drive axis of the drive section, the motor of each module respectively having a motor stator, fixed to the frame, and a motor rotor joined to the corresponding shaft;
wherein at least one of the interchangeable motor modules in the stack is selectable for placement in the stack from other interchangeable motor modules capable of placement in the stack; and
a linearly sliding carriage having a predetermined common coupling to the motor modules in the stack, the linearly sliding carriage having an adjustable length to effect coupling of the linearly sliding carriage to different stacks having respective stack heights with the predetermined common coupling.
10. The substrate transport apparatus of claim 9 , wherein the predetermined common coupling of the linearly sliding carriage has a coupling portion that engages a bottom motor module in the stack and defines a Z axis reference datum fixing the stack Z height position.
11. The substrate transport apparatus of claim 10 , wherein the predetermined common coupling of the linearly sliding carriage has another coupling portion that engages a top motor module in the stack and is configured so that a length between the coupling portion and the other coupling portion is a variable length.
12. The substrate transport apparatus of claim 11 , wherein the length between the coupling portion and the other coupling portion is set by a height of the stack.
13. The substrate transport apparatus of claim 11 , wherein the coupling portion and the other coupling portion have separate corresponding linear rail platens.
14. The substrate transport apparatus of claim 9 , wherein the more than one interchangeable motor module arranged in the stack comprises two motor modules and the at least one drive shaft comprises two drive shafts, each drive shaft corresponding to a respective one of the two motor modules.
15. The substrate transport apparatus of claim 9 , wherein the more than one interchangeable motor module arranged in the stack comprises three motor modules and the at least one drive shaft comprises three drive shafts, each drive shaft corresponding to a respective one of the three motor modules.
16. The substrate transport apparatus of claim 9 , further comprising a can seal disposed between the motor stator and motor rotor of each motor module and hermetically sealing the respective motor stator and motor rotor from each other.
17. The substrate transport apparatus of claim 9 , wherein each motor module in the stack has a different predetermined characteristic, independent of placement in the stack, the different predetermined characteristic of the module defining a different predetermined drive characteristic of the corresponding drive axis, independent of shaft spindle location, so that selection of the at least one motor module determines the different predetermined drive characteristic of the corresponding axis different from another of the independent drive axis.
18. The substrate transport apparatus of claim 9 , wherein selection of the motor modules defines a height of the linearly sliding carriage.
19. A substrate transport apparatus comprising:
a frame; and
a drive section connected to the frame, the drive section including;
a drive shaft spindle with at least one drive shaft;
more than one different interchangeable motor module arranged in a stack, each having a motor operably coupled to a corresponding drive shaft of the drive shaft spindle and defining a corresponding independent drive axis of the drive section, the motor of each module respectively having a motor stator, fixed to the frame, a motor rotor joined to the corresponding shaft, and shaft spindle mechanical bearings fixed to the frame where at least a portion of the shaft spindle mechanical bearings are nested within the stator; and
wherein at least one of the different interchangeable motor modules in the stack is selectable for placement in the stack from other different interchangeable motor modules capable of placement in the stack.
20. The substrate transport apparatus of claim 19 , wherein the drive section further comprises a can seal disposed between the motor stator and motor rotor of each motor module and hermetically sealing the respective motor stator and motor rotor from each other.
21. The substrate transport apparatus of claim 20 , wherein the can seal spans across an interface between different interchangeable modules of the drive section.
22. The substrate transport apparatus of claim 19 , wherein each of the different interchangeable motor modules has a different predetermined characteristic, independent of placement in the stack, the different predetermined characteristic of the module defining a different predetermined drive characteristic of the corresponding drive axis, independent of shaft spindle location, so that selection of the at least one motor module determines the different predetermined drive characteristic of the corresponding axis different from another of the independent drive axis.
23. The substrate transport apparatus of claim 19 , wherein the stack height is variable where selection of the at least one module changes a height of the stack.
24. The substrate transport apparatus of claim 19 , wherein the drive shaft spindle comprises a tri-axial spindle.
25. The substrate processing apparatus of claim 19 , wherein at least one motor module is a compact height module where a module height of the compact height module is independent of the shaft spindle mechanical bearings.
26. The substrate processing apparatus of claim 19 , wherein the drive section further includes a z carriage having connection to a top motor module and a bottom motor module of the stack.
27. The substrate processing apparatus of claim 26 , wherein the motor modules are coupled to each other to form the stack and the coupled motor modules of the stack define the z carriage.
28. A method comprising:
providing a frame of a substrate transport apparatus;
providing a drive section connected to the frame, the drive section including: a multi-drive shaft spindle, with at least one coaxial shaft spindle, more than one different interchangeable motor module arranged in a stack, each having a motor operably coupled to a corresponding shaft of the coaxial shaft spindle and defining a corresponding independent drive axis of the drive section, the motor of each module respectively having a motor stator, fixed to the frame, and a motor rotor joined to the corresponding shaft, and a can seal disposed between the motor stator and motor rotor of each motor module and hermetically sealing the respective motor stator and motor rotor from each other; and
selecting at least one of the different interchangeable motor modules for placement in the stack, from other different interchangeable motor modules capable of placement in the stack, each having a different predetermined characteristic, independent of placement in the stack, the different predetermined characteristic of the module defining a different predetermined drive characteristic of the corresponding drive axis, independent of shaft spindle location, so that selection of the at least one motor module determines the different predetermined drive characteristic of the corresponding axis different from another of the independent drive axis.
29. The method of claim 28 , wherein the can seal spans across an interface between different interchangeable modules of the drive section.
30. The method of claim 28 , wherein the stack height is variable where selecting at least one of the different interchangeable motor modules changes a height of the stack.
31. The method of claim 28 , wherein the coaxial shaft spindle comprises a tri-axial spindle.
32. The method of claim 28 , wherein at least one of the motor modules has shaft spindle mechanical bearings that are nested within the respective stator.
33. The method of claim 32 , wherein at least one motor module is a compact height module where a module height of the compact height module is independent of the shaft spindle mechanical bearings.
34. The method of claim 28 , wherein the drive section further includes a z carriage having connection to a top motor module and a bottom motor module of the stack.
35. The method of claim 34 , wherein the motor modules are coupled to each other to form the stack and the coupled motor modules of the stack define the z carriage.