Substrate transfer device, substrate transfer system and substrate transfer method
A substrate transfer device includes a housing accommodating a carrier for storing a substrate, a carrier lifter moving the carrier in a vertical direction relative to an upper surface of the housing, a vertical stabilization unit connected to a lower part of the carrier lifter and reducing a vertical vibration of the carrier, a rotation stabilization unit connected to a lower part of the vertical stabilization unit and reducing rotation of the carrier, and a carrier holder connected to a lower part of the rotation stabilization unit. The carrier holder holds the carrier. The vertical stabilization unit includes an upper plate connected to the carrier lifter, a lower plate connected to the rotation stabilization unit, and a buffer disposed between the upper plate and the lower plate. The buffer contracts or relaxes to reduce the vertical vibration of the carrier.
1 . A substrate transfer device, comprising:
a housing configured to accommodate a carrier for storing a substrate;
a carrier lifter disposed in the housing and configured to move the carrier in a vertical direction relative to an upper surface of the housing;
a vertical stabilization unit disposed under the carrier lifter and connected to a lower part of the carrier lifter,
wherein the vertical stabilization unit is configured to reduce a vertical vibration of the carrier;
a rotation stabilization unit disposed under the vertical stabilization unit and connected to a lower part of the vertical stabilization unit,
wherein the rotation stabilization unit is configured to reduce rotation of the carrier; and
a carrier holder disposed under the rotation stabilization unit and connected to a lower part of the rotation stabilization unit,
wherein the carrier holder is configured to hold the carrier,
wherein the vertical stabilization unit comprises:
an upper plate connected to the carrier lifter;
a lower plate disposed under the upper plate and connected to the rotation stabilization unit; and
a buffer disposed between the upper plate and the lower plate, and
wherein the buffer contracts or relaxes to reduce the vertical vibration of the carrier.
2 . The substrate transfer device of claim 1 ,
wherein the buffer includes an elastic material disposed between the upper plate and the lower plate, and
wherein the elastic material is fixed to the upper plate and the lower plate.
3 . The substrate transfer device of claim 1 ,
wherein the buffer comprises:
a pillar fixed to a center of the upper plate;
a pair of upper contacts fixed to the upper plate and disposed on opposite regions of the pillar, respectively;
a pair of lower contacts fixed to the lower plate and spaced apart from the pillar; and
a pair of connectors connecting the pair of upper contacts to the pair of lower contacts, respectively.
4 . The substrate transfer device of claim 3 ,
wherein a width, in a first horizontal direction, between the pair of upper contacts is smaller than a width, in the first horizontal direction between the pair of lower contacts,
wherein the first horizontal direction is perpendicular to the vertical direction, and
wherein each connector of the pair of connectors includes a spring.
5 . The substrate transfer device of claim 1 , further comprising:
a traveling unit disposed on the upper surface of the housing and configured to move the housing in a first horizontal direction,
wherein the rotation stabilization unit is configured to counteract rotation of the carrier in a first rotation direction of rotating around an axis extending in a second horizontal direction perpendicular to the vertical direction and the first horizontal direction.
6 . The substrate transfer device of claim 5 ,
wherein the rotation stabilization unit comprises:
an acceleration sensor configured to measure acceleration of the carrier; and
a drive unit configured to rotate the carrier in a direction opposite to the first rotation direction.
7 . The substrate transfer device of claim 1 ,
wherein the housing comprises:
an upper frame disposed on the carrier lifter; and
a pair of side frames spaced apart from each other in a first horizontal direction and connected to opposite sides of the upper frame, respectively, and
wherein each side frame of the pair of side frames extends downwardly from the upper frame.
8 . The substrate transfer device of claim 7 ,
wherein the rotation stabilization unit is configured to counteract rotation of the carrier in a first rotation direction of rotating around a second horizontal direction perpendicular to the vertical direction and the first horizontal direction.
9 . The substrate transfer device of claim 7 , further comprising:
a horizontal slider disposed on the carrier lifter in the housing,
wherein the horizontal slider is configured to:
move in a second horizontal direction perpendicular to the vertical direction and the first horizontal direction; and
transfer the carrier to the outside of the housing via an opening between the pair of side frames.
10 . The substrate transfer device of claim 1 , further comprising:
a belt connecting the carrier lifter to the upper plate,
wherein the carrier lifter moves the vertical stabilization unit, the rotation stabilization unit, and the carrier holder in the vertical direction using the belt.
11 . A substrate transfer system, comprising:
a rail installed on a ceiling;
a traveling unit traveling along the rail in a first horizontal direction;
a housing disposed under a lower part of the traveling unit and connected to the lower part of the traveling unit,
wherein the housing is configured to accommodate a carrier for storing a substrate;
a carrier lifter disposed in the housing and configured to move the carrier in a vertical direction perpendicular to the first horizontal direction;
a vertical stabilization unit disposed under a lower part of the carrier lifter and connected to the lower part of the carrier lifter,
wherein the vertical stabilization unit is configured to reduce a vertical vibration of the carrier;
a rotation stabilization unit disposed under a lower part of the vertical stabilization unit and connected to the lower part of the vertical stabilization unit,
wherein the rotation stabilization unit is configured to reduce rotation of the carrier with respect to a first rotation direction of rotating around an axis extending in a second horizontal direction perpendicular to the first horizontal direction and the vertical direction; and
a carrier holder disposed under a lower part of the rotation stabilization unit and connected to the lower part of the rotation stabilization unit,
wherein the carrier holder is configured to hold the carrier,
wherein the vertical stabilization unit comprises:
an upper plate connected to the carrier lifter;
a lower plate disposed under the upper plate and connected to the rotation stabilization unit; and
a buffer disposed between the upper plate and the lower plate,
wherein the buffer contracts or relaxes to reduce the vertical vibration of the carrier, and
wherein the carrier lifter moves the vertical stabilization unit, the rotation stabilization unit, and the carrier holder in the vertical direction using a belt connected to the upper plate.
12 . The substrate transfer system of claim 11 ,
wherein the rail includes a traveling rail extending in the first horizontal direction and a steering rail disposed on an upper part of the traveling rail, and
wherein the traveling unit comprises:
a body;
a traveling wheel disposed on a side surface of the body and traveling along the traveling rail; and
a steering wheel disposed on an upper surface of the body and rotating along the steering rail.
13 . The substrate transfer system of claim 11 ,
wherein the housing comprises:
an upper frame disposed on the carrier lifter; and
a pair of side frames spaced apart from each other in the first horizontal direction and connected to opposite sides of the upper frame, respectively, and
wherein each side frame of the pair of side frames extends downwardly from the upper frame.
14 . The substrate transfer system of claim 11 ,
wherein the buffer includes an elastic material disposed between the upper plate and the lower plate, and
wherein the elastic material is fixed to the upper plate and the lower plate.
15 . The substrate transfer system of claim 11 ,
wherein the buffer comprises:
a pillar fixed to a center of the upper plate;
a pair of upper contacts fixed to the upper plate and disposed on opposite regions of the pillar, respectively;
a pair of lower contacts disposed on the lower plate and spaced apart from the pillar; and
a pair of connectors connecting the pair of upper contacts and the pair of lower contacts, respectively.
16 . The substrate transfer system of claim 15 ,
wherein the lower plate includes:
a groove; and
a bumper disposed in the groove, and
wherein each lower contact of the pair of lower contacts includes a rolling portion inserted into the groove and configured to roll in the groove.
17 . The substrate transfer system of claim 15 ,
wherein the pillar is spaced apart from the lower plate.
18 . The substrate transfer system of claim 15 ,
wherein a width, in the first horizontal direction, between the pair of upper contacts is smaller than a width, in the first horizontal direction, between the pair of lower contacts.
19 . A substrate transfer method, comprising:
providing a substrate transfer device;
accommodating a carrier in a housing of the substrate transfer device;
moving the substrate transfer device along a rail in a first horizontal direction to move the carrier in the first horizontal direction;
counteracting, using an acceleration sensor, rotation of the carrier during a time when the substrate transfer device moves along the rail; and
counteracting, using an elastic buffer, vertical vibration of the carrier during a time when the carrier moves downwards.
20 . The substrate transfer method of claim 19 ,
wherein the counteracting of the rotation includes measuring acceleration of the carrier, and
wherein the counteracting of the vertical vibration includes moving upper and lower plates in an opposite direction of a vibration direction of the vertical vibration, the elastic buffer connected to each of a lower surface of the upper plate and an upper surface of the lower plate.