Patent ID: 9209064
Filing Date: 2015-12-08
Classification: H01L

Abstract:
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.