Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism
A substrate transport apparatus including a frame, a drive section connected to the frame and including at least one independently controllable motor, at least two substrate transport arms connected to the frame and comprising arm links arranged for supporting and transporting substrates, and a mechanical motion switch coupled to the at least one independently controllable motor and the at least two substrate transport arms for effecting the extension and retraction of one of the at least two substrate transport arms while the other one of the at least two substrate transport arms remains in a substantially retracted configuration.
1. A substrate transport apparatus comprising:
a drive section having at least two independently controllable motors;
an articulated arm including a first SCARA arm being configured to extend in a first direction and a second SCARA arm being configured to extend in a second direction substantially opposite the first direction, each of the first and second SCARA arms having:
a shoulder axis,
a wrist axis,
but one respective chain of links, each link in the but one respective chain of links being serially coupled between the shoulder axis and the wrist axis so that each link is coupled to each other link in the but one respective chain of links, and
an end effector, for holding a substrate thereon, coupled to the wrist axis and supported by the but one respective chain of serially coupled arm links; and
a coupling operably coupling each of the first and second SCARA arms to each other and to a respective one of the at least two independently controllable motors substantially continuously;
the coupling being configured so that relative movement between the at least two independently controllable motors causes a change in relative angular orientation between the end effector of the first SCARA arm and the end effector of the second SCARA arm and effects extension and retraction of a respective one of the first and second SCARA arms substantially independent of each other.
2. The substrate transport apparatus of claim 1 , wherein the coupling includes a parallelogram linkage between an arm segment of the first SCARA arm and a corresponding arm segment of the second SCARA arm, the parallelogram linkage being configured so that the arm segment of the first SCARA arm and the corresponding arm segment of the second SCARA arm remain substantially parallel during extension and retraction of the first and second SCARA arms.
3. The substrate transport apparatus of claim 2 , wherein each SCARA arm further includes an upper arm rotatably coupled to a forearm where the forearm is rotatably coupled to the end effector and the arm segment comprises the upper arm.
4. The substrate transport apparatus of claim 1 , further comprising a frame for housing the articulated arm when the articulated arm is in a retracted configuration.
5. The substrate transport apparatus of claim 1 , wherein the at least two independently controllable motors comprise a first motor for effecting extension and retraction of the first SCARA arm and a second motor for effecting extension and retraction of the second SCARA arm.
6. The substrate transport apparatus of claim 5 , wherein the first and second SCARA arms are rotated as a unit when the first and second motors are rotated in the same direction.
7. The substrate transport of claim 1 , wherein the coupling is further configured such that a shoulder joint of a respective one of the first and second SCARA arms travels in an arcuate path around a center of rotation of the at least two independently controllable motors when the respective one of the first and second SCARA arms is extended and retracted.
8. The substrate transport apparatus of claim 1 , wherein a shoulder joint of each of the first and second SCARA arms is positioned off of a center of rotation of the at least two independently controllable motors to effect a greater reach for arms of a predetermined size.
9. The substrate transport apparatus of claim 1 , wherein the end effector of each of the first and second SCARA arms is constrained to be longitudinally aligned along a path of extension and retraction.
10. A substrate transport apparatus comprising:
a drive section having at least two independently controllable motors;
a first articulated arm being configured to extend in a first direction and a second articulated arm being configured to extend in a second direction substantially opposite the first direction, each of the first and second articulated arms having an end effector for holding a substrate thereon; and
a coupling operably coupling each of the first and second articulated arms to each other and to a respective one of the at least two independently controllable motors substantially continuously;
the coupling being configured so that but one independently controllable motor of the at least two independently controllable motors effects full range of extension and retraction of the end effector of a respective one of the first and second articulated arms substantially independent of each other while another of the first and second articulated arms, and the end effector thereof, remains in a retracted configuration and is rotated relative to the respective one of the first and second articulated arms by the but one independently controllable motor that is common with the but one independently controllable motor that effects the full range of extension and retraction.
11. The substrate transport apparatus of claim 10 , wherein the coupling includes a parallelogram linkage between an arm segment of the first articulated arm and a corresponding arm segment of the second articulated arm, the parallelogram linkage being configured so that the arm segment of the first articulated arm and the corresponding arm segment of the second articulated arm remain substantially parallel during extension and retraction of the first and second articulated arms.
12. The substrate transport apparatus of claim 11 , wherein each articulated arm further includes an upper arm rotatably coupled to a forearm where the forearm is rotatably coupled to the end effector and the arm segment comprises the upper arm.
13. The substrate transport apparatus of claim 10 , further comprising a frame for housing the first and second articulated arms when the first and second articulated arms are in a retracted configuration.
14. The substrate transport apparatus of claim 10 , wherein the at least two independently controllable motors comprise a first motor for effecting extension and retraction of the first articulated arm and a second motor for effecting extension and retraction of the second articulated arm.
15. The substrate transport apparatus of claim 14 , wherein the first and second articulated arms are rotated as a unit when the first and second motors are rotated in the same direction.
16. The substrate transport of claim 10 , wherein the coupling is further configured such that a shoulder joint of a respective one of the first and second articulated arms travels in an arcuate path around a center of rotation of the at least two independently controllable motors when the respective one of the first and second articulated arms is extended and retracted.
17. The substrate transport apparatus of claim 10 , wherein a shoulder joint of each of the first and second articulated arms is positioned off of a center of rotation of the at least two independently controllable motors to effect a greater reach for arms of a predetermined size.
18. The substrate transport apparatus of claim 10 , wherein the end effector of each of the first and second articulated arms is constrained to be longitudinally aligned along a path of extension and retraction.