Apparatus for transferring substrates
The present invention relates to an apparatus for transferring a substrate. The apparatus includes a supporting member; an elevating and rotating member; a transferring unit; a first arm whose one end is supported by the elevating and rotating member to be rotatable; a second arm whose one end is supported by the transferring unit to be rotatable and whose the other end is supported by the other end of the first arm to be rotatable; and an arm driving part, installed on the first arm, which drives the other end of the second arm to pivot on the other end of the first arm to allow the first arm and the second arm to be folded or unfolded and thus removes the state of singularity by rotating the other end of the second arm based on the other end of the first arm.
1. An apparatus for transferring substrates, comprising:
a supporting member;
an elevating and rotating member installed to be elevated or descended and rotated on the upper side of the supporting member;
a transferring unit, which is installed on the elevating and rotating member, for making linear motions to transfer substrates when the elevating and rotating member moves;
a first arm with a first end supported by the elevating and rotating member to be rotatable;
a second arm which includes a pair of sub-arms and the respective sub-arms are bent, wherein first ends of the sub-arms are supported by the transferring unit to be rotatable, and wherein second ends of the sub-arms are connected at an elbow joint with a second end of the first arm to be rotatable, wherein said elbow joint is formed by a driving shaft connecting the second arm with the first arm, said elbow joint pivoting about said driving shaft; and
an arm driving part including a motor connected to the driving shaft for first introducing driving movement to the first and second arm at the driving shaft to cause pivoting of the elbow joint, to allow the first arm and the second arm to be folded or unfolded and thus removes the state of singularity by rotating the second ends of the sub-arms of the second arm based on the second end of the first arm to allow the second arm to be unfolded with the first arm when a virtual linear line connecting both ends of the first arm and another virtual line connecting both ends of the second arm are arranged at an overlapped state while the first arm and the second arm move.
2. The apparatus of claim 1 , wherein the pair of sub-arms are formed in bent shapes, respectively, including a first body part and a second body part.
3. The apparatus of claim 2 , wherein the first body part and the second body part are formed in one unit.
4. The apparatus of claim 2 , wherein the pair of the sub-arms are arranged to be symmetrical.
5. The apparatus of claim 2 , wherein the length of the first body part is formed longer than that of the second body part.
6. The apparatus of claim 2 , wherein the length of the first body part is formed shorter than, or equally to, that of the second body part.
7. The apparatus of claim 2 , wherein ends of first body parts of the pair of the sub-arms are supported by the transferring unit to be rotatable, and ends of second body parts of the pair of the sub-arms are supported by the other end of the first arm to be rotatable and they are rotated by the arm driving part respectively;
wherein the end of the first body part of either of the sub-arms and that of the first body part of the other sub-arm, respectively, supported by the transferring unit to be rotatable are in a concentric circle based on the rotational center supported by the transferring unit; and
wherein the end of the second body part of either of the sub-arms and that of the second body part of the other sub-arm, respectively, supported by the first arms to be rotatable are in a concentric circle based on the rotational center supported by the first arm.
8. The apparatus of claim 1 , wherein the second arm is formed with a material having a lower thermal expansion coefficient than the first arm.
9. The apparatus of claim 8 , wherein the first arm is formed with aluminum and the second arm is formed with steel.
10. The apparatus of claim 1 , wherein a cooling system is installed in the first arm.
11. The apparatus of claim 1 , wherein the first arm includes: a body in which the arm driving part is installed and whose either the upper side or the undersurface is opened; and a cover combined on the opened upper side or the opened undersurface of the body.
12. The apparatus of claim 11 , wherein a spacing member is between the elevating and rotating member and the transferring unit;
wherein a driving axis for elevating and rotating the elevating and rotating member is installed inside the supporting member;
wherein paths are formed through the driving axis, the elevating and rotating member, the spacing member, and the body; and
wherein cables for supplying external power to the arm driving part pass through the paths.