Substrate transfer apparatus, substrate transfer method, and substrate processing system
A substrate transfer apparatus for transferring a substrate is disclosed. The apparatus comprises: a transfer unit including a substrate holder configured to hold a substrate, and a base having therein a magnet and configured to move the substrate holder; a planar motor including a main body, a plurality of electromagnetic coils disposed in the main body, and a linear driver configured to supply a current to the electromagnetic coils, and magnetically levitate and linearly drive the base; a substrate detection sensor configured to detect the substrate when the substrate held by the substrate holder passes by; and a transfer controller configured to calculate an actual position of the substrate held by the substrate holder based on detection data of the substrate detection sensor, calculate correction values for a logical position that has been set, and correct a transfer position of the substrate based on the correction values.
1. A substrate transfer apparatus for transferring a substrate, comprising:
a transfer unit including a substrate holder configured to hold a substrate, and a base having therein a magnet and configured to move the substrate holder;
a planar motor including a main body, a plurality of electromagnetic coils disposed in the main body, and a linear driver configured to supply a current to the electromagnetic coils, and magnetically levitate and linearly drive the base;
a substrate detection sensor configured to detect the substrate when the substrate held by the substrate holder passes by; and
a transfer controller configured to calculate an actual position of the substrate held by the substrate holder based on detection data of the substrate detection sensor, calculate correction values for a logical position that has been set, and correct a transfer position of the substrate based on the correction values,
wherein the transfer unit has two bases and further includes a link mechanism configured to connect each of the bases and the substrate holder, and
an extension distance of the substrate holder is changed by controlling the current supplied to the electromagnetic coils such that a gap between the bases becomes a desired gap.
2. The substrate transfer apparatus of claim 1 , wherein the transfer controller calculates a physical center of the substrate held by the substrate holder as the actual position of the substrate, and calculates correction values for a logical center of the substrate that has been set as the logical position.
3. The substrate transfer apparatus of claim 1 , wherein the substrate transfer apparatus is disposed in a transfer chamber connected to a processing chamber for processing a substrate and is configured to transfer the substrate to the processing chamber, and
the main body of the planar motor constitutes a bottom wall of the transfer chamber.
4. The substrate transfer apparatus of claim 3 , wherein the substrate detection sensor is disposed at a position in the transfer chamber corresponding to a substrate loading/unloading port of the processing chamber, and detects the substrate at the time of transferring the substrate holder holding the substrate to the processing chamber.
5. A substrate transfer method for transferring a substrate using a substrate transfer apparatus,
the substrate transfer apparatus including:
a transfer unit including a substrate holder configured to hold a substrate and a base having therein a magnet and configured to move the substrate holder; and
a planar motor including a main body, a plurality of electromagnetic coils disposed in the main body, and a linear driver configured to supply a current to the electromagnetic coils, and magnetically levitate and linearly drive the base,
wherein the transfer unit has two bases and further includes a link mechanism configured to connect each of the bases and the substrate holder, and
an extension distance of the substrate holder is changed by controlling the current supplied to the electromagnetic coils such that a gap between the bases becomes a desired gap, and
the substrate transfer method comprising:
detecting the substrate at the time of transferring the substrate held by the substrate holder using a substrate detection sensor;
calculating an actual position of the substrate held by the substrate holder based on detection data of the substrate detection sensor and calculating the actual position of the substrate for a logical position that has been set; and
correcting the transfer position of the substrate based on the correction values.
6. The substrate transfer method of claim 5 , wherein a physical center of the substrate held by the substrate holder is calculated as the actual position of the substrate, and the correction values for a logical center of the substrate that has been set as the logical position are calculated.
7. The substrate transfer method of claim 5 , wherein the substrate transfer apparatus is disposed in a transfer chamber connected to a processing chamber for processing a substrate, and transfers the substrate to the processing chamber, wherein the main body of the planar motor constitutes a bottom wall of the transfer chamber.
8. The substrate transfer method of claim 7 , wherein the substrate detection sensor is disposed at a position in the transfer chamber corresponding to the substrate loading/unloading port of the processing chamber, and detects the substrate at the time of transferring the substrate holder holding the substrate to the processing chamber.
9. A substrate processing system comprising:
a processing chamber for processing a substrate;
a transfer chamber connected to the processing chamber; and
a substrate transfer apparatus disposed in the transfer chamber and configured to transfer the substrate to a transfer position in the processing chamber,
wherein the substrate transfer apparatus includes:
a transfer unit including a substrate holder configured to hold the substrate and a base having therein a magnet and configured to move the substrate holder;
a planar motor including a main body, a plurality of electromagnetic coils disposed in the main body, and a linear driver configured to supply a current to the electromagnetic coils, and magnetically levitate and linearly drive the base;
a substrate detection sensor configured to detect the substrate when the substrate held by the substrate holder passes by; and
a transfer controller configured to calculate an actual position of the substrate held by the substrate holder based on detection data of the substrate detection sensor, calculate correction values for a logical position that has been set, and correct a transfer position of the substrate based on the correction values,
wherein the transfer unit has two bases and further includes a link mechanism configured to connect each of the bases and the substrate holder, and
an extension distance of the substrate holder is changed by controlling the current supplied to the electromagnetic coils such that a gap between the bases becomes a desired gap.
10. The substrate processing system of claim 9 , wherein the transfer controller calculates a physical center of the substrate held by the substrate holder as the actual position of the substrate, and calculates correction values for a logical center of the substrate that has been set as the logical position.
11. The substrate processing system of claim 9 , wherein the main body of the planar motor constitutes a bottom wall of the transfer chamber.
12. The substrate processing system of claim 9 , wherein the substrate detection sensor is disposed at a position corresponding to a substrate loading/unloading port of the processing chamber.