Apparatus for transporting substrate, system for processing substrate, and method of transporting substrate
There is provided an apparatus for transporting a substrate. The apparatus comprises: an end effector including a fork which holds the substrate and a wrist part which holds a proximal end portion of the fork; an arm provided with the end effector installed thereon and a mechanism which moves the fork; and an inclination adjusting mechanism provided between the fork and the wrist part or between the wrist part and the arm to adjust an inclination of the fork.
1. An apparatus for transporting a substrate, comprising:
an end effector including a fork which holds the substrate and a wrist part which holds a proximal end portion of the fork;
an arm provided with the end effector installed thereon and a mechanism which moves the fork; and
an inclination adjusting mechanism provided between the fork and the wrist part or between the wrist part and the arm to adjust an inclination of the fork,
wherein the inclination adjusting mechanism includes:
three support pins provided to support the fork or the wrist part from a lower surface side and disposed at positions at which vertices of a triangle are formed when seen in a plan view,
a height adjusting part which changes height positions of upper ends of the three support pins relative to each other, and
a pulling pin disposed inside the triangle to maintain a state in which the upper end of each of the support pins and the lower surface of the fork or the wrist part are in contact with each other, and installed to pull the fork toward a support pin side.
2. The apparatus of claim 1 , wherein the three support pins are configured of two elevating pins, which are movable by the height adjusting part upward or downward independently of each other, and one fixing pin, of which a height position of an upper end is fixed, and
an elevating part which changes a height position of an upper end of the pulling pin in accordance with an elevating operation of the two elevating pins is installed at the pulling pin.
3. The apparatus of claim 1 , wherein
the three support pins are configured to be movable by the height adjusting part upward or downward independently of each other; and
the pulling pin is composed as a fixing pin of which a height position of an upper end is fixed.
4. The apparatus of claim 1 , wherein a recess which positions each of the support pins is formed in the lower surface of the fork or the wrist part supported by the support pin, and the upper end of the support pin is configured to be fitted into the recess.
5. The apparatus of claim 1 , wherein the inclination adjusting mechanism includes a stretchable bellows installed to connect the fork to the wrist part, or to connect the wrist part to the arm, and the support pin and the pulling pin are installed in a region surrounded by the bellows.
6. The apparatus of claim 2 , wherein the pulling pin includes a head part which spreads like a flange at an upper end portion thereof and is configured to pass through the fork facing the wrist part or the wrist part facing the arm and to bring a lower surface of the head part into contact with the upper surface of the fork or the wrist part to perform a pulling operation.
7. The apparatus of claim 6 , wherein the apparatus is installed to transport 7 . the substrate in a vacuum atmosphere,
the inclination adjusting mechanism includes a stretchable bellows installed to connect the fork to the wrist part or to connect the wrist part to the arm, and
the support pin and the pulling pin are installed in a region surrounded by the bellows.
8. The apparatus of claim 7 , wherein the height adjusting part, and the elevating part, when the pulling pin is configured to change the height position of the upper end, are installed in a housing disposed below the support pin and the pulling pin,
the support pin connected to the height adjusting part and the pulling pin connected to the elevating part are inserted into the region surrounded by the bellows through a top plate constituting the housing, and
a sealing member which separates an internal space of the housing from an external vacuum atmosphere is installed at through positions.
9. The apparatus of claim 7 , wherein the height adjusting part, and the elevating part, when the pulling pin is configured to change the height position of the upper end, are installed in a housing provided below the support pin and the pulling pin, and
the region surrounded by the bellows and an internal space of the housing are separated from an external vacuum atmosphere by providing a lid member which closes a through hole through which the pulling pin passes the fork or the wrist part at a position above the head part.
10. The apparatus of claim 1 , wherein the arm has a configuration in which a plurality of arm parts are rotatably connected to each other via joint parts, and includes an inclination adjusting mechanism on an arm part side which is connected to one arm part and adjusts an inclination of the fork by adjusting an inclination of another arm part disposed at a position closer to the fork than the one arm part, and
the inclination adjusting mechanism on the arm part side includes three arm part support pins installed to support the other arm part from a lower surface side and disposed at positions at which vertices of a triangle are formed when seen in a plan view, an arm part height adjusting part which changes height positions of upper ends of the three arm part support pins relative to each other, and an arm part pulling pin which is disposed inside the triangle to maintain a state in which an upper end of each of the arm part support pins and a lower surface of the other arm part are in contact with each other and is installed to pull the other arm part to the arm support pin side.
11. The apparatus of claim 1 , comprising a control part configured to control a movement operation of the fork by the arm and an operation of adjusting the inclination of the fork by the inclination adjusting mechanism, to allow a sensor substrate to be transported in a state of being held by the fork, and to allow inclination data which indicates a direction and magnitude of the inclination to be acquired from the sensor substrate including an acceleration sensor which detects the direction and magnitude of the inclination from a basic posture,
wherein the control part is configured to control the inclination adjusting mechanism to offset the inclination of the fork when the substrate is transported based on a result of transporting the sensor substrate from a transport source to a transport destination of the substrate and acquiring the inclination data.
12. The apparatus of claim 11 , wherein the control part is configured to correct an amount of offset of the inclination of the fork according to a load of the substrate or a load of another object to be transported which is different in load from the sensor substrate based on a result of transporting the sensor substrate from the transport source to the transport destination of the substrate and acquiring the inclination data and a result of transporting the sensor substrate on which a weight is mounted from the transport source to the transport destination and acquiring the inclination data.
13. The apparatus of claim 1 , comprising a control part which controls a movement operation of the fork by the arm and an operation of adjusting the inclination of the fork by the inclination adjusting mechanism,
wherein the control part is configured to control the fork to be inclined by the inclination adjusting mechanism so that a height position of the substrate on a tip end side is lower than a height position on a rear end side when seen in a transport direction of the substrate in order to move the fork by the arm and to suppress movement of the substrate from a preset holding position due to an inertial force acting on the substrate when the substrate held by the fork is moved in a transverse direction.
14. A system for processing a substrate, comprising:
a processing chamber which accommodates the substrate therein and processes the substrate;
a mounting position at which the substrate before and after being processed in the processing chamber is mounted, and
the apparatus for transporting a substrate according to claim 1 which is installed to transport the substrate between the processing chamber and the mounting position.
15. A method of transporting a substrate, comprising:
a step of transporting the substrate using an apparatus for transporting a substrate including an end effector including a fork which holds the substrate and a wrist part which holds a proximal end portion of the fork, an arm provided with the end effector installed thereon and a mechanism which moves the fork, and an inclination adjusting mechanism installed between the fork and the wrist part or between the wrist part and the arm to adjust the inclination of the fork and including three support pins provided to support the fork or the wrist part from a lower surface side and disposed at positions at which vertices of a triangle are formed when seen in a plan view, a height adjusting part that changes height position of upper ends of the three support pins relative to each other, and a pulling pin disposed inside the triangle to maintain a state in which the upper end of each of the support pins and the lower surface of the fork or the wrist part are in contact with each other, and installed to pull the fork toward a support pin side.
16. The method of claim 15 , comprising:
a step of holding a sensor substrate including an acceleration sensor which detects a direction and magnitude of inclination from a basic posture on the fork, transporting the sensor substrate from a transport source to a transport destination of the substrate, and acquiring inclination data; and
a step of controlling the inclination adjusting mechanism to offset the inclination of the fork when the substrate is transported based on a result of acquiring the inclination data.
17. The method of claim 16 , wherein, in the step of acquiring the inclination data, acquisition of the inclination data by transporting the sensor substrate from the transport source to the transport destination of the substrate and acquisition of the inclination data by transporting the sensor substrate on which a weight is mounted from the transport source to the transport destination are performed, and
in the step of controlling the inclination adjusting mechanism, correction of an amount of offset of the inclination of the fork according to a load of the substrate or a load of another object to be transported which is different from a load of the sensor substrate is performed based on a result of acquiring the inclination data.
18. The method of claim 15 , comprising:
a step of moving the fork with the arm and moving the substrate held by the fork in a transverse direction, and
a step of inclining the fork with the inclination adjusting mechanism so that a height position of the substrate on a tip end side is lower than a height position there on a rear end side when seen in a transport direction of the substrate, in order to suppress movement of the substrate from a preset holding position due to an inertial force acting on the substrate in the step of moving the substrate in the transverse direction.