Patent ID: 6234738
Filing Date: 2001-05-22
Classification: H01L,Y10S

Abstract:
An articulated robot for transferring a thin substrate comprising:(a) a primary swivel unit moved in parallel along a cassette or a processing unit and driven so as to transfer the thin substrate to the vicinity of said cassette or said processing unit;(b) a secondary swivel unit for transferring the thin substrate moved to the vicinity of said cassette or said processing unit by said primary swivel unit, into said cassette or said processing unit;(c) said primary swivel unit being supported and swivelled in a vertical direction by a machine bed;(d) said secondary swivel unit being supported by a movable machine bed that is supported by said primary swivel unit and being provided with a hand supporting the thin substrate and being swivelled in a horizontal direction;(e) said primary swivel unit comprising two vertical swivel arms joined by a common shaft, and comprising a first vertical swivel arm being supported and swivelled by a first drive motor supported by the machine bed and wherein one end of a second vertical swivel arm supports the movable machine bed and is swivelled by a second drive motor connected to the common shaft;(f) said movable machine bed comprising a driver driving said secondary swivel unit and being rotated in the vertical direction of the primary swivel unit by a third drive motor connected to the second vertical swivel arm.