SUBSTRATE HOLDING HAND AND SUBSTRATE CONVEYOR ROBOT

A substrate-holding hand includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other; and a support mechanism for supporting the plurality of blades. Each of the plurality of blades is connected to the support mechanism by an eccentric element.

TECHNICAL FIELD

The present disclosure relates to a substrate-holding hand and a substrate-conveying robot.

BACKGROUND ART

Substrate-conveying robots including a substrate-holding hand are known in the art. Japanese Patent Laid-Open Publication No. JP2006-313865 discloses a substrate-holding apparatus including a plurality of blades for holding substrates, and a pitch-changing mechanism for changing a pitch between the blades. The pitch-changing mechanism in Japanese Patent Laid-Open Publication No. JP2006-313865 includes blade attachment plates attached to base ends of the plurality of blades. The blade attachment plates are attached to a pitch conversion cylinder. The pitch conversion cylinder moves the blade attachment plates frontward and backward to change the pitch between the blades.

PRIOR ART

Patent Document

SUMMARY OF THE INVENTION

In the substrate-holding apparatus in Japanese Patent Laid-Open Publication No. JP2006-313865, the pitch between the plurality of blades is changed by moving the blade attachment plates upward and downward by using the pitch conversion cylinder. However, the pitch between the blades is not set at a desired pitch due to deviation of attachment of the blade attachment plates in some cases. In such a case, a work activity for fine adjustment of the pitch between the blades for supporting the substrates takes time and effort. To address this, it is desired to easily perform fine adjustment of the pitch between the blades for supporting the substrates.

The present invention is intended to solve the above problem, and to provide a substrate-holding hand and a substrate-conveying robot capable of easily performing fine adjustment of a pitch between blades.

A substrate-holding hand according to a first aspect of the present disclosure includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other; and a support mechanism for supporting the plurality of blades, wherein each of the plurality of blades is connected to the support mechanism by an eccentric element.

In the substrate-holding hand according to the first aspect of the present disclosure, as discussed above, each of the plurality of blades is connected to the support mechanism by the eccentric element. According to this configuration, because a height position of an upper end part of the eccentric element is changed by changing a rotation angle of the eccentric element, it is possible to correspondingly change a height position of the blade relative to the support mechanism. Consequently, fine adjustment of the pitch between the blades can be easily performed simply by changing the rotation angle of the eccentric element, which connects each of the plurality of blades to the support mechanism.

A substrate-conveying robot according to a second aspect of the present disclosure includes a robot arm; and a substrate-holding hand arranged in a distal end part of the robot arm, wherein the substrate-holding hand includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other, and a support mechanism for supporting the plurality of blades, and each of the plurality of blades is connected to the support mechanism by an eccentric element.

In the substrate-conveying robot according to the second aspect of the present disclosure, as discussed above, each of the plurality of blades is connected to the support mechanism by the eccentric element. According to this configuration, because a height position of an upper end part of the eccentric element is changed by changing a rotation angle of the eccentric element, it is possible to correspondingly change a height position of the blade relative to the support mechanism. Consequently, it is possible to provide a substrate-conveying robot capable of easily performing fine adjustment of the pitch between the blades simply by changing the rotation angle of the eccentric element, which connects each of the plurality of blades to the support mechanism.

It is possible to easily perform fine adjustment of the pitch between the blades.

MODES FOR CARRYING OUT THE INVENTION

Embodiments embodying the present disclosure will be described with reference to the drawings.

First Embodiment

The following description describes a configuration of a substrate-conveying robot100according to a first embodiment with reference toFIGS.1to9. As shown inFIG.1, the substrate-conveying robot100includes a robot arm10, and a substrate-holding hand20.

In this specification, the upward/downward direction is defined as a Z direction. An upper side is defined a Z1 side, and a lower side is defined as a Z2 side. A direction orthogonal to the Z direction is defined as an X direction. One side in the X direction is defined as an X1 side, and another side is defined as an X2 side. A direction orthogonal to the Z direction and the X direction is defined as a Y direction. One side in the Y direction is defined as an Y1 side, and another side is defined as an Y2 side.

The robot arm10is a horizontal multi-joint robot arm. The robot arm10includes a first arm11and a second arm12. One end of the first arm11is connected to a base14through a first joint13a. One end of the second arm12is connected to another end of the first arm11through a second joint13b. The substrate-holding hand20is connected to another end of the second arm12through a third joint13c. Drive mechanisms including servo motors, which are rotational driving sources, rotational position sensors for detecting rotational positions of output shafts of the servo motors, and power transmission mechanisms that transmit outputs of the servo motors to the joints are arranged in the joints of the first joint13a, the second joint13band the third joint13c. The first joint13a, the second joint13band the third joint13crotate about a first rotation axis A1, a second rotation axis A2, and a third rotation axis A3, respectively, extending in a vertical direction.

As shown inFIG.2, the substrate-holding hand20includes blades30, a linkage40eccentric bolts50shown inFIG.6, a driver60and a biaser70. InFIGS.2,3and4, a cover20ashown inFIG.1, which covers the linkage40, the eccentric bolts50, the driver60and the biaser70, is omitted. The linkage40is an example of a support mechanism. The eccentric bolt50is an example of an eccentric element.

The substrate-holding hand20is arranged in a distal end part of the robot arm10, as shown inFIG.1. As described above, the substrate-holding hand20is connected to another end of the second arm12.

As shown inFIG.1, the substrate-holding hand20includes a first substrate-holding hand21and a second substrate-holding hand22. The second substrate-holding hand22is arranged above the first substrate-holding hand21, and operates independently of the first substrate-holding hand21. Specifically, the first substrate-holding hand21is connected to another end of the second arm12. The second substrate-holding hand22is connected to the first substrate-holding hand21. The second substrate-holding hand22is rotated about the third rotation axis A3.

In the first embodiment, a plurality of blades are provided as the blades30as shown inFIG.1. The plurality of blades30for supporting substrates W are stacked with the plurality of blades being spaced away from each other. Each of a plurality of blades30include a blade body31, a support32and a connection part33as shown inFIG.2. The blade body31supports the substrate W. The blade body31has a Y shape having two forked ends. The blade body31has a thin plate shape. The shape of the blade body31is not limited to the Y-shape and the thin-plate shape. The support32supports the blade body31. The support32is arranged in a proximal end part of the blade body31. The connection part33connects the support32to a second link42, which will be described later. The connection part33includes a first connection part33aconnected to the second link42, and a second connection part33bconnecting the first connection part33ato the support32. That is, the blade body31, the support32, the second connection part33b, the first connection part33a, and the second link42are connected in this order to each other.

In the first embodiment, the blades30includes a first blade30aand second blades30bas shown inFIG.1. The first blade30ais provided to the first substrate-holding hand21. The first blade30ais fixed to the first substrate-holding hand21. One blade is provided as the first blade30a. The second blades30bare provided to the second substrate-holding hand22. In the second blades30b, as shown inFIGS.3and4, a pitch p between the second blades30bis changed by the linkage40. Four blades are provided as the second blades30b, for example. The configurations of the plurality of second blades30bare similar to each other. The pitch p between the second blades30brefers to a gap between the second blades30badjacent to each other in the Z direction.

As shown inFIG.3, the first substrate-holding hand21includes a base part21aand a connection part21b. The first blade30ais attached to the base part21a. The connection part21bis connected to the second arm12.

As shown inFIG.2, the second substrate-holding hand22includes a base part22a, a guide23and the linkage40. The base part22ais connected to the base part21aof the first substrate-holding hand21. The guide23is attached to the base part22a. The guide23guides movements of the second blades30bin the Z direction when the pitch p between the second blades30bis changed by the linkage40. Specifically, the guide23includes a support stand23aand guide rails23b. The support stand23ahas a plate shape extending in the Z direction. A plurality of guide rails are provided as the guide rails23bhaving a rod shape extending in the Z direction. Specifically, four guide rails23bare arranged on each of both sides, which are the X1 and X2 sides, of the support stand23a.

The second connection part33bof the second blade30bthat is positioned at a first level from a top side is guided by the guide rails23b. The second connection part33bof the second blade30bthat is positioned at a second level from the top side is similarly guided by the guide rails23b. The second blade30bthat is positioned at a third level from the top side includes guided parts34to be guided by the guide rails23b. The second blade30bthat is positioned at a fourth level from the top side also includes guided parts34to be guided by the guide rails23b.

In the first embodiment, the linkage40supports the plurality of blades30, and changes the pitch p between blades30. Specifically, the linkage40supports the second blades30b, and changes the pitch p between the second blades30b. A pitch p between the second blades30bthat is positioned at the bottom level and the first blade30ais correspondingly changed by changing the pitch p between the second blades30bby the linkage40. The linkage40converts rotation of the driver60into movement of the blades30in the Z direction.

In the first embodiment, the linkage40includes a first link41, second links42, and a third link43. The first link41is connected to the driver60. Each of a plurality of second links as the second links42is connected to corresponding one of the blades30, and the third links43connect the plurality of second links42to each other. The first link41, the second links42, and the third link43are formed of a metal, and have plate shapes. The first link41, the second link42and the third link43may be formed of materials other than metals, and may have shapes other than plate shapes. The first link41, the second link42, and the third link43are examples of links.

Specifically, the first link41includes a first part41aand a second part41b. One end of the first part41ais connected to a driving shaft of the driver60. The first part41ais rotated by a driving force of the driver60. One end of the first part41ais rotated about an axis B1extending in the Y direction. Another end of the first part41ais connected to one end of the second part41b. Another end of the second part41bis connected to one end of the third link43. Also, the first link41and the driver60are supported by a support45connected to the support stand23aof the guide23.

One end of each second link42is connected to the third link43. Another end of each second link42is connected to corresponding one of the second blades30b. Four second links as the second links42are correspondingly provided to the four second blades30b. A second link42aand a second link42c, which are connected the first second blade30band the third second blade30b, respectively, from the top side in the four second blades30b, are connected to the Y1 side of the third link43. A second link42band a second link42d, which are connected the second second blade30band the fourth second blade30b, respectively, from the top side, are connected to the Y2 side of the third link43. A relationship between lengths of the second link42a, the second link42b, the second link42cand the second link42dis represented by the length of the second link42a>the length of the second link42b>the length of the second link42c>the length of the second link42d. The second link42a, the second link42b, the second link42cand the second link42dare examples of links.

One end of the third link43is connected to another end of the second part41bof the first link41. Another end of the third link43is connected to the support44arranged on the base part22a. Another end of the third link43is rotated about an axis B2extending in the Y direction.

The driver60drives the linkage40. As described above, the driver60is connected to the first part41aof the first link41, and rotates the one end of the first part41aabout the axis B1. The driver60is an actuator that rotates the first link41. For example, the driver60is a servo motor.

In the first embodiment, the biaser70is provided separately from the driver60, which drives the linkage40. The biaser70applies a force to the linkage40in a direction that increases the pitch p between the blades30. The biaser70biases the linkage40in the direction that increases the pitch p between the blades30.

In the first embodiment, the biaser70is connected to the first link41and the third link43. The biaser70includes a pulling coil spring that applies a pulling force to the first link41to rotate the first link in the direction that increases the pitch p between the blades30. Specifically, the biaser70includes circular hooks71on its both ends. The first link41includes a biaser attachment part41c. The third link43includes a biaser attachment part43a. The biaser attachment part41cand the biaser attachment part43ahave L shapes, and protrude toward the Y1 side. The biaser attachment part41cand the biaser attachment part43ahave a notch41dand a hole43b, respectively. The hooks71on the both ends of the biaser70are attached to the notch41dof the biaser attachment part41cand the hole43bof the biaser attachment part43a. Only one biaser is provided as the biaser70.

In the first embodiment, the pitch p between the second blades30bis changed by the driver60with a biasing force being applied against own weights of the second blades30bby the biaser70. Also, balance is achieved between the force that is applied by the biaser70and the own weights of the plurality of second blades30bwithout a driving force of the driver60. If the plurality of second blades30bare not attached to the substrate-holding hand20, an angle formed between the first part41aand the third link43of the linkage40is maximized by the biasing force of the biaser70. When the plurality of second blades30bare attached to the substrate-holding hand20, the angle formed between the first part41aand the third link43of the linkage40is reduced by a certain amount of degrees. Accordingly, balance is achieved between the force that is applied by the biaser70and the own weights of the plurality of second blades30b. As a result, operators can move the second blades30bin the Z direction with a relatively small force under a condition in which the driving force of the driver60is not applied.

Also, the pitch p between the second blades30bis changed by the driver60with balance being achieved between the biasing force of the biaser70and the own weights of the plurality of second blades30b. As shown inFIG.3, the pitch p between the second blades30bis large under a condition in which balance is achieved between the biasing force of the biaser70and the own weights of the plurality of second blades30b. As shown inFIG.4, the pitch p between the second blades30bis reduced by rotating the first part41aof the first link41counterclockwise by using the driver60. Because a rotation amount of the driver60can be continuously varied, the pitch p between the second blades30bcan be continuously varied.

In the first embodiment, eccentric bolts50connect the plurality of blades30to the linkage40, as shown inFIG.5. As shown inFIG.6, the eccentric bolt50includes a shaft51, and a disk-shaped flange52eccentrically arranged from a rotation center axis C1of the shaft51. The eccentric bolt50is an element that has the rotation center axis C1of the shaft51and a rotation center axis C2of the disk-shaped flange52offset from the rotation center axis C1. The eccentric bolt50serves as an element for fine adjustment of the height position of the blade30in the Z direction.

In the first embodiment, each of the plurality of second blades30bis connected to corresponding one of the plurality of second links42by corresponding one of the eccentric bolts50. The second blade30bhas a hole33c. The hole33cis arranged in the first connection part33aof the connection part33. The eccentric bolt50includes a shaft51, and a flange52eccentrically arranged from a rotation center axis C1of the shaft51. The eccentric bolt50is inserted into the hole33c. The second blade30bis moved upward and downward by rotating the eccentric bolt50inserted in the hole33cwith the flange52being in contact with an interior side surface of the hole33c. This arrangement allows fine adjustment of the height position of the second blade30b. In addition, a bottom part33dis arranged in the hole33c. A hole33eis arranged in the bottom part33d. The flange52is in contact with the bottom part33dwith the eccentric bolt50being inserted into the hole33e.

As shown inFIG.5, the hole33cof the second blade30bhas an ellipse shape. The height position of the second blade30bis set h1by rotating the eccentric bolt50so as to protrude the flange52in the Y1 direction. As shown inFIG.7, the height position of the second blade30bis set h2higher than h1by rotating the eccentric bolt50so as to protrude the flange52in the Z1 direction. As shown inFIG.8, the height position of the second blade30bis set h3lower than h1by rotating the eccentric bolt50so as to protrude the flange52in the Z2 direction. The height position of the second blade30bis steplessly adjusted between h2and h3by rotating the eccentric bolt50.

In the first embodiment, a nut53is threadedly engaged with one end part of the eccentric bolt50as shown inFIG.9. The eccentric bolt50serves both as an element for fine adjustment of the height position of the second blade30bin an upward/downward direction, and an element for fastening the second blade30bto the second link42. Specifically, a hole421is arranged in the second link42. A ring-shaped bearing54is arranged in the hole421. The second link42includes a cover422covering the bearing54. The eccentric bolt50passes through the bearing54, the hole421of the second link42, and the hole33cof the second blade30b. The shaft51of the eccentric bolt50is supported by the bearing54. The flange52of the eccentric bolt50is arranged in the hole33cof the first connection part33aof the second blade30b. The second blade30bis fastened to the second link42by threadedly engaging the nut53with the one end part of the eccentric bolt50, which passes through the hole33cof the first connection part33a. A washer55is arranged on the one end part of the eccentric bolt50. A snap ring56is fitted onto another end of the eccentric bolt50.

Advantages of First Embodiment

The plurality of second blades30bare connected to the linkage40are connected by the eccentric bolts50. Accordingly, because a height position of an upper end part of each eccentric bolt50is changed by changing a rotation angle of the eccentric bolt50, it is possible to correspondingly change a height position of the second blade30brelative to the linkage40. Consequently, fine adjustment of the pitch p between the second blades30bcan be easily performed simply by changing the rotation angle of the eccentric bolt50, which connects each of the plurality of second blade30bto the linkage40.

Each of the plurality of second blades30bis connected to corresponding one of the plurality of second links42by corresponding one of the eccentric bolts50. Accordingly, in the substrate-holding hand20including the linkage40, which changes the pitch p between the second blades30b, fine adjustment of the pitch p between the second blades30bcan be easily performed.

Fine adjustment of a height position of each of the plurality of second blades30bis performed by moving the second blade30bin an upward/downward direction by rotating the eccentric bolt50inserted in the hole33cwith the flange52being in contact with an interior side surface of the hole33c. Accordingly, fine adjustment of the height position of the second blade30bcan be easily performed simply by rotating the eccentric bolt50about the rotation center axis C1.

The nut53is threadedly engaged with one end part of the eccentric bolt50, and the eccentric bolt50serves both as an element for fine adjustment of the height position of the second blade30bin an upward/downward direction, and an element for fastening the second blade30bto the second link42. Accordingly, it is possible to simplify the configuration the substrate-holding hand20as compared with a case in which an element for fine adjustment of the height position of the second blade30bin an upward/downward direction, and an element for fastening the second blade30bto the second link42are separately provided.

The third link43connecting the plurality of second links42to each other is provided. Accordingly, it is possible to transfer a driving force of the driver60from the first link41through the third link43to the plurality of second links42.

The first blade30ais fixed to the first substrate-holding hand21, and the plurality of second blades30bare provided forming the pitch p between the second blades30bto be changed by the linkage40. Accordingly, it is possible to easily perform fine adjustment of the pitch p between the second blades30b, and to easily perform fine adjustment of the pitch p between the second blade30band the first blade30a.

The connection part33of the second blade30bis connected to the second link42by the eccentric bolt50. Accordingly, because a height position of the connection part33is changed with respect to the second link42by changing a rotation angle of the eccentric bolt50, it is possible to easily perform fine adjustment of the pitch p between the blade body31supported by the support32connected to the connection part33.

Second Embodiment

The following description describes a configuration of a biaser170according to a second embodiment. As shown inFIG.10, the biaser170includes a pair of biasers170aand170b. The biaser170ais connected to the first link41and a support171. The biaser170bis connected to the third link43and the support171. The support171is an element fixed to the second substrate-holding hand22. The biaser170aand the biaser170bare pulling coil springs that apply pulling forces to the first link41and the third link43to rotate the first link and the third link, respectively, in the direction that increases the pitch p between the blades30. Because two biasers, which are the biaser170aand the biaser170b, are provided, it is possible to reduce extension amounts and spring forces required of the biaser170aand the biaser170b. The biasers170,170aand170bare examples of a force applier.

Modified Embodiments

Note that the embodiment disclosed this time must be considered as illustrative in all points and not restrictive. The scope of the present disclosure is not shown by the above description of the embodiments but by the scope of claims for patent, and all modifications (modified embodiments) within the meaning and scope equivalent to the scope of claims for patent are further included.

While the example in which four blades are provided as the second blades30bhas been shown in the aforementioned first and second embodiments, the present disclosure is not limited to this. The number of the second blade30bcan be anything number other than four.

While the example in which the linkage40includes the first link41, the second link42and the third link43has been shown in the aforementioned first embodiment, the present invention is not limited to this. The number of types of links, and a shape of the linkage are not limited to the configuration of the linkage40according to the aforementioned first embodiment.

While the example in which the plurality of second blades30bare supported by the linkage40for changing the pitch p between the second blades30bhas been shown in the aforementioned first and second embodiments, the present invention is not limited to this. For example, the second blades30bmay be supported by a support mechanism that supports the second blades with a fixed pitch p between the second blades30b.

While the example in which fine adjustment of the height position of the second blade30bis performed in an upward/downward direction by the eccentric bolt50has been shown in the aforementioned first and second embodiments, the present invention is not limited to this. Fine adjustment of the height position of the second blade30bmay be performed in the upward/downward direction by an eccentric element other than the eccentric bolt50. For example, fine adjustment of the height position of the second blade30bmay be performed in the upward/downward direction by an eccentric rivet, an eccentric pin, an eccentric key, or the like.

While the example in which the eccentric bolt50serves both as an element for fine adjustment of the height position of the second blade30bin an upward/downward direction, and an element for fastening the second blade30bto the second link42has been shown in the aforementioned first and second embodiments, the present invention is not limited to this. An element for fine adjustment of the height position of the second blade30bin an upward/downward direction, and an element for fastening the second blade30bto the second link42may be separately provided. The second blade30bmay be fastened to the second link42by a bolt that is not eccentric with the height position of the second blade30bbeing adjusted in the upward/downward direction by an eccentric element.

While the example in which all of the second links42are connected to their corresponding second blades30bby their corresponding eccentric bolts50has been shown in the aforementioned first and second embodiments, the present invention is not limited to this. Some of the second links42may be connected to the second blades30bby the eccentric bolts50.

While the example in which the biasers70and170, which are pulling coil springs, are used as a force applier that biases the linkage40in a direction that increases the pitch p between the blades30has been shown in the aforementioned first and second embodiments, the present invention is not limited to this. For example, as in a first modified embodiment shown inFIG.11, a weight241may be provided to the first link41to rotate the first link41in a direction that increases the pitch p between the blades30. Also, as in a second modified embodiment shown inFIG.12, a weight343may be connected to the third link43through a wire341and pulleys342to rotate the third link43in a direction that increases the pitch p between the blades30.

While the example in which the substrate-holding hand20includes the first substrate-holding hand21and the second substrate-holding hand22has been shown in the aforementioned first and second embodiments, the present invention is not limited to this. For example, the present disclosure can be applied to a substrate-holding hand that does not include the first substrate-holding hand21.

The aforementioned exemplary embodiment will be understood as concrete examples of the following modes by those skilled in the art.

A substrate-holding hand includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other; and a support mechanism for supporting the plurality of blades, wherein each of the plurality of blades is connected to the support mechanism by an eccentric element.

In the substrate-holding hand according to mode item 1, the support mechanism includes a linkage for changing a pitch between the blades; the linkage includes a plurality of links; and each of the plurality of blades is connected to corresponding one of the plurality of links by the eccentric element.

In the substrate-holding hand according to mode item 2, the blade includes a hole; the eccentric element includes an eccentric bolt including a shaft and a flange eccentrically arranged from a rotation center axis of the shaft, the eccentric bolt being inserted in the hole; and fine adjustment of a height position of each of the plurality of blades is performed by moving the blade in an upward/downward direction by rotating the eccentric bolt inserted in the hole with the flange being in contact with an interior side surface of the hole.

In the substrate-holding hand according to mode item 3, the eccentric bolt includes an end part with which a nut is threadedly engaged; and the eccentric bolt serves both as an element for fine adjustment of the height position of each of the plurality of blades in an upward/downward direction, and an element for fastening the blade to corresponding one of the plurality of links.

In the substrate-holding hand according to any of mode items 2 to 4, a driver for driving the linkage is further provided, wherein the plurality of links include a first link connected to the driver, and a plurality of second links connected to the plurality of blades; and each of the plurality of blades is connected to corresponding one of the plurality of second links by the eccentric element.

In the substrate-holding hand according to mode item 5, the plurality of links further includes a third link connecting the plurality of second links to each other.

In the substrate-holding hand according to any of mode items 2 to 6, a first substrate-holding hand, and a second substrate-holding hand arranged on or above the first substrate-holding hand for operating independently of the first substrate-holding hand, wherein the blades include a first blade provided to the first substrate-holding hand and fixed to the first substrate-holding hand, and a plurality of second blades provided to the second substrate-holding hand forming the pitch between the blades to be changed by the linkage.

In the substrate-holding hand according to any of mode items 2 to 7, each of the plurality of blades includes a blade body for holding the substrate, a support supporting the blade body, and a connection part connecting the support to corresponding one of the plurality of links; and the connection part of each of the plurality of blades is connected to corresponding one of the plurality of links by the eccentric element.

A substrate-conveying robot includes a robot arm, and a substrate-holding hand arranged in a distal end part of the robot arm, wherein the substrate-holding hand includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other, and a support mechanism for supporting the plurality of blades, and each of the plurality of blades is connected to the support mechanism by an eccentric element.