Transport arm, transport apparatus and transport method
A transport arm including a holding unit that holds a substrate by vacuum adsorption. The holding unit has an air discharge port and an adsorption member formed so as to surround the air discharge port. The adsorption member is a squeeze packing.
1. A transport arm that holds and transports a substrate, comprising:
three holding units that hold the substrate by way of vacuum adsorption, wherein each holding unit has an air discharge port and an adsorption member formed so as to surround the air discharge port, and wherein the adsorption member is a squeeze packing,
the transport arm comprising a root from which two divided portions extend,
two of the three holding units being provided on the two divided portions of the transport arm, respectively, and another one of the three holding units being provided at the root of the two divided portions,
the three holding units being arranged on the transport arm such that angles formed by any two mutually adjacent holding units among the three holding units with respect to a center of a circle passing through the three holding units are equiangular, and
the three holding units each having an adsorption force which is set so as to be 80 kPa or greater and 95 kPa or lower within six seconds after an air discharge apparatus starts adsorption.
2. The transport arm according to claim 1 ,
wherein the adsorption member is an O-ring or a square ring.
3. The transport arm according to claim 2 , wherein the O-ring has at least a surface formed of a fluorine resin.
4. The transport arm according to claim 2 , wherein the square ring has at least a surface formed of a porous material.
5. The transport arm according to claim 2 , wherein a heat resistant temperature of the adsorption member is 200° C. or higher.
6. The transport arm according to claim 2 , wherein:
in the adsorption member, the hardness is 80 or less, and
the adsorption member is disposed in a state where a portion of the adsorption member is embedded in the transport arm main body.
7. The transport arm according to claim 2 , wherein an adhesive force of the adsorption member is 40 N or less.
8. A transport apparatus comprising:
a transport arm according to claim 1 , and
a drive unit that drives the transport arm.
9. A transport method of holding and transporting a substrate that is heated, warped or a combination thereof, comprising:
providing a transport arm comprising a root from which two divided portions extend and three holding units, wherein each holding unit has an air discharge port and a squeeze packing surrounding the air discharge port, wherein two of the three holding units are provided on the two divided portions of the transport arm, respectively, and another one of the three holding units is provided at the root of the two divided portions, the three holding units being arranged on the transport arm such that angles formed by any two mutually adjacent holding units among the three holding units with respect to a center of a circle passing through the three holding units are equiangular;
initiating adsorption from an air discharge apparatus in communication with said air discharge ports;
achieving an adsorption force of 80 kPa to 95 kPa within each holding unit within six seconds after initiating the air discharge apparatus;
holding the substrate by adsorption force from each of the three holding units; and
transporting the substrate without damaging the substrate.