Substrate transfer hand, substrate transfer robot, and substrate transfer and loading device

A substrate transfer hand coupled to a robot arm includes a base part coupled to the robot arm; and a substrate holding part coupled to the base part to hold a substrate. When viewed in a substrate perpendicular line direction perpendicular to the substrate held by the substrate holding part, the substrate transfer hand is bent at a coupling portion at which the base part and the substrate holding part are coupled to each other or a region which is in the vicinity of the coupling portion, and the base part and the substrate transfer hand have a V-shape, as a whole.

TECHNICAL FIELD

The present invention relates to a substrate transfer hand which holds and transfers substrates such as semiconductor wafers or glass substrates, a substrate transfer robot including this substrate transfer hand, and a substrate transfer and loading device (device for transferring and loading the substrates) including this substrate transfer robot.

BACKGROUND ART

Conventionally, substrate treatment equipment which performs process treatments such as element formation to semiconductor substrates (hereinafter will also be referred to as “substrates”) which are semiconductor device manufacturing materials, is known. Typically, in the substrate treatment equipment, a process treatment device and a substrate transfer and loading device (device for transferring and loading the substrates) located adjacently to the process treatment device are placed.

For example, a substrate transfer and loading device disclosed in Patent Literature 1 includes a casing (housing) formed with a transfer room in an inside thereof, a plurality of load ports provided at the front wall of the casing, and a substrate transfer robot placed inside the transfer room. The substrate transfer robot includes a robot arm, and a substrate transfer hand coupled to the hand tip portion of the robot arm. This substrate transfer robot performs work operations such as loading and unloading the substrate to and from the process treatment device, taking the substrate out of a substrate carrier docked to the load port, and accommodating the substrate into the substrate carrier. As an example of the above-described substrate transfer and loading device, an equipment front end module (EFEM) and a sorter are known. As an example of the above-described substrate carrier, a front opening unified pod (FOUP) is known.

For example, as disclosed in Patent Literature 1, the substrate transfer hand including a base part coupled to the hand tip portion of the robot arm, and a substrate holding (retaining) part coupled to this base part is widely used. The substrate transfer robot transfers the substrate while holding the substrate by the substrate holding part. The substrate transfer robot inserts the substrate holding part into the inside of the substrate carrier docked to the load port through an opening formed in the substrate carrier, to pass the substrate to the substrate carrier and receive the substrate from the substrate carrier.

CITATION LIST

Patent Literature

Patent Literature 1: Japanese-Laid Open Patent Application Publication No. 2008-28134

SUMMARY OF INVENTION

Technical Problem

In a case where a “hand axis” is defined as a straight line connecting the base end portion of the substrate transfer hand to the tip end portion of the substrate transfer hand, the base part and the substrate holding part are disposed in series along the hand axis in the conventional substrate transfer hand, and the conventional substrate transfer hand is substantially symmetric in a right-and-left direction with respect to the hand axis. In a case where the substrate transfer robot inserts the substrate holding part of the substrate transfer hand into the substrate carrier, the robot corrects the posture of the substrate transfer hand at a location that is in front of the opening of the load port which is communicated with the opening of the substrate carrier so that the hand axis and an insertion direction of the substrate into the substrate carrier become parallel to each other. After that, the robot moves the substrate holding part toward the opening of the load port.

As in the example of Patent Literature 1, the interior of the transfer room of the substrate transfer and loading device has a rectangular shape in a top plan view. A sufficiently wide space is formed at the location (location closer to the interior of the transfer room) that is in front of the opening of the load port, to correct the posture of the substrate transfer hand so that the hand axis and the insertion direction of the substrate into the substrate carrier become parallel to each other.

Solution to Problem

The applicant of the present application studied placing at least one constituent of the substrate transfer and loading device, at a corner region inside the casing which is a portion of a space of the transfer room in the conventional example, by further reducing the size of the substrate transfer and loading device. However, in the conventional substrate transfer hand, in a case where this constituent is located on an extended line of the opening of the load port, it is difficult to ensure a sufficiently wide space to correct the posture of the substrate transfer hand so that the hand axis and the insertion direction of the substrate into the substrate carrier become parallel to each other, without increasing the size of the casing.

In view of the above, according to an aspect of the present invention, a substrate transfer hand coupled to a robot arm, comprises a base part coupled to the robot arm; and a substrate holding part coupled to the base part to hold a substrate, wherein when viewed in a substrate perpendicular line direction perpendicular to the substrate held by the substrate holding part, the substrate transfer hand is bent at a coupling portion at which the base part and the substrate holding part are coupled to each other or a region which is in the vicinity of the coupling portion, and the base part and the substrate holding part have a V-shape, as a whole. The V-shape may include a circular-arc shape or a U-shape formed by rounding the pointed portion of the V-shape.

According to another aspect of the present invention, a substrate transfer hand coupled to a robot arm, comprises: a base part coupled to the robot arm so that the base part is rotatable around a joint axis line defined in a hand tip portion of the robot arm; and a substrate holding part coupled to the base part to hold a substrate, wherein in a case where when viewed in a substrate perpendicular line direction perpendicular to the substrate held by the substrate holding part, an intermediate point is defined as a middle point between points at which a peripheral edge of the substrate and a peripheral edge of the substrate holding part overlap with each other in a region which is closer to the base part than a center point of the substrate, a first reference line is defined as a straight line passing through a point on the joint axis line and the intermediate point, and a second reference line is defined as a straight line passing through the center point of the substrate and the intermediate point, an angle formed between the first reference line and the second reference line is larger than 0 degree and smaller than 180 degrees.

According to another aspect of the present invention, a substrate transfer hand coupled to a robot arm comprises: a base part coupled to the robot arm so that the base part is rotatable around a joint axis line defined in a hand tip portion of the robot arm; and a substrate holding part coupled to the base part to hold a substrate, wherein in a case where when viewed in a substrate perpendicular line direction perpendicular to the substrate held by the substrate holding part, an intermediate point is defined as a middle point between points at which a peripheral edge of the substrate and a peripheral edge of the substrate holding part overlap with each other in a region which is closer to the base part than a center point of the substrate, and a reference line is defined as a straight line passing through the center point of the substrate and the intermediate point, the joint axis line is offset from the reference line.

According to another aspect of the present invention, a substrate transfer hand coupled to a robot arm comprises: a base part coupled to the robot arm so that the base part is rotatable around a joint axis line defined in a hand tip portion of the robot arm; and a substrate holding part coupled to the base part to hold a substrate, wherein in a case where when viewed in a substrate perpendicular line direction perpendicular to the substrate held by the substrate holding part, an intermediate point is defined as a middle point between points at which a peripheral edge of the substrate and a peripheral edge of the substrate holding part overlap with each other in a region which is closer to the base part than a center point of the substrate, and a reference line is defined as a straight line passing through a point on the joint axis line and the intermediate point, the center point of the substrate is offset from the reference line.

According to an aspect of the present invention, a substrate transfer robot comprises a base; a robot arm having a base end portion coupled to the base so that the robot arm is rotatable; and the substrate transfer hand, which is coupled to a tip end portion of the robot arm.

According to an aspect of the present invention, a substrate transfer and loading device which transfers and loads a substrate (device for transferring and loading a substrate) between a substrate carrier accommodating the substrate therein and a semiconductor process treatment device, or between substrate carriers, comprises a casing formed with a transfer room in an inside thereof; a plurality of load ports provided at a wall of the casing; and the substrate transfer robot which is disposed in the transfer room and transfers and loads the substrate.

In the above-described substrate transfer hand, substrate transfer robot, and substrate transfer and loading device, the movement region (range) of the substrate transfer hand and the robot arm in a case where the substrate is passed to and taken out of the substrate carrier provided at a most distant location from the base end portion of the robot arm, can be reduced, compared to a case where the conventional substrate transfer hand is used. Therefore, an object can be disposed in a region other than the movement region of the substrate transfer hand and the robot arm inside the transfer room (e.g., at a corner region inside the transfer room).

Advantageous Effects of Invention

In accordance with the present invention, the movement region of the substrate transfer hand and the robot arm in the transfer room can be reduced, compared to a case where the conventional substrate transfer hand is used, and an object can be disposed in a region other than the movement region of the substrate transfer hand and the robot arm.

DESCRIPTION OF EMBODIMENTS

Hereinafter, the embodiment of the present invention will be described with reference to the drawings.

[Schematic Configuration of Substrate Treatment Equipment100]

Initially, the schematic configuration of substrate treatment equipment100will be described with reference toFIGS. 1 and 2. The substrate treatment equipment100is provided with a substrate transfer and loading device (device for transferring and loading a substrate)1comprising a substrate transfer robot7including a substrate transfer hand72according to the embodiment of the present invention.

The substrate treatment equipment100includes the substrate transfer and loading device1and a process treatment device2. In the substrate treatment equipment100of the present embodiment, the substrate transfer and loading device1is a front end module configured to transfer and load a substrate3between a substrate carrier25and the process treatment device2. Alternatively, the substrate transfer and loading device1may be a sorter which transfers and loads the substrate3between the substrate carrier25and another substrate carrier25. The substrate transfer and loading device1is designed to comply with the rules of semiconductor equipment and materials international (SEMI) standard or the like.

The process treatment device2is a device or a device group which performs at least one process treatment to the substrate3, such as a thermal treatment, an impurity implantation treatment, a thin film formation treatment, a lithography treatment, a washing (cleaning) treatment, and a flattening treatment. Note that the process treatment device2may perform treatments different from the above-described treatments, to the substrate3.

The process treatment device2includes a device body20which performs a treatment to the substrate3, a casing21accommodating therein the device body20, and an adjustment device (not shown) which adjusts an ambient gas in a treatment room22formed inside the casing21. The adjustment device may be realized by, for example, a fan filter unit.

The substrate transfer and loading device1is adjacent to the process treatment device2. The substrate transfer and loading device1serves as an interface section which passes (gives) and receives the substrate3between each of the substrate carriers25and the process treatment device2. Each of the substrate carriers25is a transportable container which can accommodate a number of substrates3therein.

Each of the substrate carriers25includes a container body60accommodating the substrate3therein, and a container door61which is detachably mounted on the container body60or is openable and closable. The container body60has a substantially box-shape having an entrance/exit which opens to one side. This entrance/exit can be opened and closed by the container door61. Inside the container body60, a number of racks are arranged in a vertical direction Z so that a number of substrates3can be accommodated in a state in which they are arranged at equal intervals in the vertical direction Z.

[Configuration of Substrate Transfer and Loading Device1]

Next, the substrate transfer and loading device1will be described in detail. The substrate transfer and loading device1includes a substrate transfer robot7, an aligner92which corrects the orientation of the substrate3, an adjustment device93, a casing (housing)8accommodating the substrate transfer robot7, the aligner92, and the adjustment device93, and load ports91.

The casing8has a rectangular shape in which a dimension in a second direction Y is larger than a dimension in a first direction X. The “first direction X” is a horizontal direction. The “second direction Y” is a horizontal direction perpendicular to the first direction X. The casing8includes a front wall81and a rear wall82which face each other and are spaced apart from each other in the first direction X, a pair of side walls83which face each other and are spaced apart from each other in the second direction Y, a top plate84, and a bottom plate85. By these walls and plates, a transfer room80is formed inside the casing8. In the description, a side in the first direction X where the front wall81is present from the perspective of the transfer room80will be referred to as “front”, and a side in the first direction X which is opposite to the front will be referred to as “rear”.

The transfer room80is a closed space with a high level of cleanliness. The transfer room80is filled with a specified ambient gas. The adjustment device93is a device which performs a contamination control for the transfer room80. The adjustment device93controls floating fine particles in the ambient gas of the transfer room80at a predetermined cleanliness level or lower. As necessary, the adjustment device93controls environmental conditions of the transfer room80, such as a temperature, a humidity (moisture), and a pressure.

The rear wall82is provided with a rear opening87. The rear wall82partitions the interior of the casing8into a treatment room22of the process treatment device2and the transfer room80of the substrate transfer and loading device1, in the first direction X. Through the rear opening87, the treatment room22and the transfer room80are in communication with each other.

The load ports91are provided at the front wall81of the casing8. In the present embodiment, four load ports91are provided at the front wall81and arranged in the second direction Y. Each of the load ports91has functions of docking the substrate carrier25to the substrate transfer and loading device1, undocking the substrate carrier25from the substrate transfer and loading device1, supporting the substrate carrier25, and opening/closing the substrate carrier25.

The plurality of load ports91are arranged in the second direction Y along the front wall81of the casing8and form a load port row. A joint axis line A1defined in the base end portion of a robot arm71which will be described later is located on one side in the second direction Y, with respect to a center C1of the load port row in the second direction. More specifically, in a case where the substrate transfer hand72has a configuration ofFIG. 1, the joint axis line A1is located on a first side (upper side inFIG. 1) in the second direction Y, with respect to the center C1of the load port row in the second direction. In a case where the substrate transfer hand72has a configuration ofFIG. 7, the joint axis line A1may be located on a second side (lower side inFIG. 1) in the second direction Y, with respect to the center C1of the load port row in the second direction. By this setting, an offset amount in the second direction Y, of a substrate holding part5, which occurs due to a variation in the hand configuration, can be cancelled by changing the location of the joint axis line A1.

Each of the load ports91includes an opening frame95, a support base97, and an opener98. The opening frame95forms a portion of the front wall81of the casing8. An opening86of the load port91which is defined by the opening frame95is also an opening at the front side of the casing8. Through the opening86of the load port91, the substrate carrier25docked to the substrate transfer and loading device1and the transfer room80are in communication with each other.

The support base97is disposed just in front of the opening86of the load port91. The support base97has a function of supporting the substrate carrier25placed thereon, and a function of holding (retaining) the substrate carrier25. The substrate carrier25placed on and held (retained) by the support base97is positioned so that the entire periphery of the entrance/exit of the container body60contacts the opening frame95and the container door61overlaps with the opening86of the load port91in the first direction X.

The opener98includes an opener door96which opens and closes the opening86of the load port91, and a driving mechanism therefor. The opener98moves the container door61of the substrate carrier25and the opener door96together into the transfer room80, to open the opening86of the load port91.

FIG. 3is a block diagram showing the configuration of a control system of the substrate transfer robot7. As shown inFIGS. 1 to 3, the substrate transfer robot7includes the robot arm (hereinafter will be simply referred to as “arm71”), the substrate transfer hand (hereinafter will be simply referred to as “hand72”) coupled to the hand tip portion of the arm71, a base73supporting the arm71, and a controller74which controls the operation of the substrate transfer robot7. In the present embodiment, the substrate transfer robot7is a horizontal articulated (multi-joint) robot. Note that the base73is disposed at a center region in the second direction Y in the transfer room80.

The arm71includes a plurality of links75,76coupled to each other in turn from its base end portion toward its tip end portion. Regarding the arm71and the hand72, an end portion which is close to the base73will be referred to as “base (proximal) end portion”, and an end portion which is distant from the base73will be referred to as “tip (distal) end portion”. Joint axis lines A1to A3perpendicular to coupling portions of links75,76are defined in the arm71. Inside the links75,76, horizontal driving units77,78,79are provided to independently displace the links75,76around the joint axis lines A1to A3.

The arm71includes at its base end portion an up-down shaft70which is movable in the vertical direction Z with respect to the base73. An up-down driving unit69extends and contracts the up-down shaft70in the vertical direction Z, with respect to the base73. Each of the horizontal driving units77,78,79and the up-down driving unit69includes, for example, a servo motor which is angularly displaced in response to a signal provided by the controller74, a driving force transmission mechanism which transmits a driving force of the servo motor to a link body, and a position detector which detects an angular displacement of the servo motor (the servo motor, the driving force transmission mechanism, and the position detector are not shown in the drawings).

The hand72is coupled to the hand tip portion which is the tip end portion of the arm71with the above-described configuration. The horizontal driving unit79rotates the hand72relative to the arm71around the joint axis line A3. The hand72includes a base part4coupled to the hand tip portion of the arm71, and the substrate holding part5joined to the base part4. The configuration of the hand72will be described in detail later.

The controller74is a computation (calculation) control device including a computer. For example, the controller74includes a processor such as a microcontroller, CPU, MPU, PLC, DSP, ASIC or FPGA, and a storage section such as ROM or RAM (these are not shown). The storage section contains therein programs executed by the processor, fixed data, and the like. In addition, the storage section contains therein teaching point data used to control the operation of the substrate transfer robot7, shape and dimension data of the arm71and the hand72, shape and dimension data of the substrate3held by the hand72, and the like. The processor of the controller74reads out software such as the programs stored in the storage section and executes the software, to perform processing used to control the operation of the substrate transfer robot7. The controller74may be a single computer which performs a centralized control to execute processing or may be a plurality of computers which perform a distributed control to perform the processing.

The controller74calculates (computes) a target pause of the hand72after a passage of a predetermined control time, based on a pause (position and posture) of the hand72corresponding to a rotation position detected by each position detector and the teaching point data stored in the storage section. Then, the controller74outputs control commands to servo amplifiers so that the hand72takes the target pause after a passage of the predetermined control time. In response to the commands, the servo amplifiers supply driving electric power to the servo motors, respectively. In this way, the hand72can be moved to take a desired pause.

[Configuration of Substrate Transfer Hand72]

The configuration of the hand72will be described in detail.FIG. 4is a view showing the substrate transfer hand72when viewed in a substrate perpendicular line direction. The “substrate perpendicular line direction” is defined as a direction perpendicular to the primary (main) surface of the substrate3held (retained) by the substrate holding part5of the hand72.

A first center line4A passing through the base end portion and tip end portion of the base part4of the hand72when viewed in the substrate perpendicular line direction is defined in the base part4. The first center line4A is a straight line perpendicular (orthogonal) to the substrate perpendicular line direction. The first center line4A intersects (crosses) the joint axis line A3. When viewed in the substrate perpendicular line direction, the base part4is substantially symmetric with respect to the first center line4A, except a portion of the tip end portion of the base part4.

The base part4is formed by a hollow casing41. The base end portion of the base part4is coupled to the hand tip portion of the arm71so that the base part4is rotatable around the joint axis line A3. A coupling portion42is provided at the tip end portion of the base part4. The substrate holding part5is coupled to the coupling portion42. The base end portion of the substrate holding part5is inserted into the casing41from the tip end portion of the casing41and coupled to the coupling portion42. The substrate holding part5may be fastened to the coupling portion42, by, for example, a fastening member (not shown).

The substrate holding part5of the hand72is a thin plate member with a Y-shape having forked portions at its tip end side. The substrate holding part5of the hand72is also referred to as a blade or a fork. The configuration of the substrate holding part5is not limited to that of the present embodiment. For example, the substrate holding part5may have any configuration so long as the substrate holding part5is capable of holding (retaining) the substrate3by the hand72by, for example, fitting, adsorption, sandwiching, or other means.

A second center line5A passing through the base end portion of the substrate holding part5and a center point3aof the substrate3held by the substrate holding part5when viewed in the substrate perpendicular line direction is defined in the substrate holding part5. The second center line5A is a straight line perpendicular (orthogonal) to the substrate perpendicular line direction. The substrate holding part5of the present embodiment is substantially symmetric with respect to the second center line5A, when viewed in the substrate perpendicular line direction. It is sufficient that the second center line5A passes through the center point3aof the substrate5held by the substrate holding part5. The configuration of the substrate holding part5is not limited to the configuration in which the substrate holding part5is symmetric with respect to the second center line5A.

The forked tip end portions of the substrate holding part5are provided with a pair of front guides51, respectively. The base end portion of the substrate holding part5is provided with a pair of rear guides52corresponding to the pair of front guides51, respectively. The pair of front guides51and the pair of rear guides52serve to support the substrate3from the underside. The positions and shapes of the pair of front guides51and the pair of rear guides52are set to support the substrate3from the underside.

The hand72further includes a holding mechanism for allowing the substrate3placed on the substrate holding part5to be held by the substrate holding part5. Holding the substrate3includes holding the substrate3placed on the substrate holding part5while preventing the substrate3from being disengaged from the substrate holding part5by, for example, fitting, adsorption, sandwiching, or other means. In the present embodiment, the hand72includes a holding mechanism for holding the substrate5by sandwiching. This holding mechanism includes the pair of front guides51, pushers53, and a driving mechanism54for driving the pushers53.

The pushers53are provided at the base end side of the substrate holding part5and are supported on the tip end portion of the base part4. The driving mechanism54of the pushers53is provided inside the casing41forming the base part4. The driving mechanism54advances and retracts the pushers53in parallel with the second center line5A. The driving mechanism54is constituted by, for example, an actuator such as an air cylinder. The operation of the driving mechanism54is controlled by the controller74.

When the substrate3is placed on the upper surface of the substrate holding part5, the peripheral edge of the substrate3is supported from the underside by the pair of front guides51and the pair of rear guides52. In this state, the pushers53are advanced toward the tip end of the substrate holding part5, and push the side surface of the substrate3to the pair of front guides51. In this way, the substrate3is gripped by the pushers53and the pair of front guides51, and held by the hand72.

When viewed in the substrate perpendicular line direction, the hand72with the above-described configuration is bent at the coupling portion42at which the base part4and the substrate holding part5are coupled to each other or a region which is in the vicinity of the coupling portion42, and the base part4and the substrate holding part5have a V-shape, as a whole. This V-shape may include a circular-arc shape or a U-shape formed by rounding the pointed portion of the V-shape. The region which is in the vicinity of the coupling portion42of the base part4is defined as a region which is close to the coupling portion42and is in a range from the tip end of the base part4to 30% of the whole length of the base part4, in the hand72.

In the hand72, when viewed in the substrate perpendicular line direction, the first center line4A which is the center line of the base part4and the second center line5A which is the center line of the substrate holding part5intersect (cross) each other. When viewed in the substrate perpendicular line direction, an angle formed between the first center line4A and the second center line5A may be larger than 90 degrees and smaller than 180 degrees. If the angle formed between the first center line4A and the second center line5A is smaller than 90 degrees, it is difficult to handle the hand72. The angle formed between the first center line4A and the second center line5A may be set according to a shape of an object88(seeFIG. 1) provided on an extended line of the opening86of the load port91inside the casing8.

In the hand72ofFIG. 5, when viewed in the substrate perpendicular line direction, an intermediate point C2is defined as a middle point between points3bat which the peripheral edge of the substrate3and the peripheral edge of the substrate holding part5overlap with each other in a region which is closer to the base part4than the center point3aof the substrate3held by the substrate holding part5, a first reference line4B is defined as a straight line passing through a point on the joint axis line A3and the intermediate point C2, and a second reference line5B is defined as a straight line passing through the center point3aof the substrate3and the intermediate point C2.

As shown inFIG. 5, in the hand72, when viewed in the substrate perpendicular line direction, an angle formed between the first reference line4B and the second reference line5B is larger than 0 degree and smaller than 180 degrees. In the hand72, when viewed in the substrate perpendicular line direction, the center point3aof the substrate3is offset by an offset amount D1from the first reference line4B. In the hand72, when viewed in the substrate perpendicular line direction, the joint axis line A3is offset by an offset amount D2from the second reference line5B.

[Operation of Substrate Transfer and Loading Device1]

Now, an example of the operation of the substrate transfer and loading device1will be described with reference toFIGS. 6A to 6D.FIGS. 6A to 6Dare views for explaining a change of the substrate transfer robot7in the substrate transfer and loading device1.

In the substrate transfer and loading device1, the object88is disposed at the corner region of the transfer room80. This object88may be at least one of the constituents (components) of the substrate transfer and loading device1. Between the object88and the opening86of the load port91E located at the end of the substrate transfer and loading device1in the second direction Y, a gap G in the first direction X is formed. A dimension of the gap G in the first direction X is smaller than the diameter of the substrate3. In a state in which a portion of the substrate3is inserted into the substrate carrier25, entry (advancement) of the substrate3into this gap G is allowed. Inside the transfer room80, the object88protrudes in the second direction Y to a location conforming to that of the opening86of the load port91E. A surface88aof the object88, exposed in the transfer room80and facing in the second direction Y, is inclined toward the center of the transfer room80in the second direction Y, from the front to the rear.

The substrate transfer robot7ofFIG. 6Ais in a stand-by state. The links75,76and the hand72overlap with each other in the vertical direction Z. Hereinafter, the operation of the substrate transfer robot7from the stand-by state, which moves to the substrate carrier25docked to the load port91(91E) provided at the end of the substrate transfer and loading device1in the second direction Y, and takes the substrate3out of the substrate carrier25, will be described. The operation of the substrate transfer robot7is controlled by the controller74, although this is not specifically described.

Initially, the substrate transfer robot7changes from the state ofFIG. 6Ato the state ofFIG. 6B. In the substrate transfer robot7shown inFIG. 5, the tip end portion of the hand72faces the load port91E, the second center line5A defined in the hand72and the opening direction (the first direction X) of the opening86of the load port91E are parallel to each other, and the tip end portion of the hand72is located apart in the first direction X from the opening86of the load port91E.

While the substrate transfer robot7is changing from the stand-by state ofFIG. 6Ato the state ofFIG. 6B, the hand72and the arm71move within a movement region inside the transfer room80. In the transfer room80, the movement region in which the arm71is movable and a non-movement region which the arm71cannot enter, are defined. The non-movement region is a region with a predetermined dimension in the first direction X, from the front wall81of the casing8. This non-movement region is utilized by the load port91(the opener98) to open and close the container door61and open and close the opener door96. The movement region is a region other than the non-movement region, in the transfer room80.

Then, the substrate transfer robot7changes from the state ofFIG. 6Bto the state ofFIG. 6C. In the substrate transfer robot7shown inFIG. 6C, the tip end portion of the substrate holding part5of the hand72has entered (has been advanced into) the substrate carrier25. At this time, at least a portion of the hand72is located in the non-movement region. While the substrate transfer robot7is changing from the state ofFIG. 6Bto the state ofFIG. 6C, the hand72moves toward the opening86of the load port91along the inclined surface88aof the object88, while maintaining a state in which the second center line5A defined in the hand72and the opening direction (the first direction X) of the opening86of the load port91are parallel to each other.

In the hand72in the state ofFIG. 6C, the second center line5A which is the center line of the substrate holding part5is parallel to the opening direction of the opening86, and the first center line4A which is the center line of the base part4is inclined with respect to the opening direction of the opening86. As a result, the base end portion of the base part4is closer to the center of the transfer room80in the second direction Y than the substrate holding part5. Therefore, the object88can protrude toward the center of the transfer room80in the second direction Y, while preventing interference with the hand72in the state ofFIG. 6C. In the present embodiment, the surface88aof the object88, facing the center of the transfer room80in the second direction Y, is inclined toward the center in the second direction Y, from the front to the rear. This allows the object88to protrude to a greater degree toward the center of the transfer room80in the second direction Y. In other words, the surface88aof the object88, facing the center of the transfer room80in the second direction Y, is inclined toward the center in the second direction Y, from the front to the rear so that access of the hand72to the opening86is allowed.

Then, the substrate transfer robot7changes from the state ofFIG. 6Cto the state ofFIG. 6D. In the substrate transfer robot7shown inFIG. 6D, the substrate holding part5has entered (has been advanced into) the inner region (region inward of the opening86) of the substrate carrier25. Thus, in a state in which the substrate holding part5has entered (has been advanced into) the inner region of the substrate carrier25, the substrate holding part5receives the substrate3from the substrate carrier25and passes the substrate3to the substrate carrier25.

While the substrate transfer robot7is changing from the state ofFIG. 6Cto the state ofFIG. 6D, the hand72moves forward while maintaining a state in which the second center line5A and the opening direction of the opening86are parallel to each other. Note that the opening direction of the opening86is parallel to a direction in which the substrate3is inserted into and taken out of the substrate carrier25. Thus, while the substrate holding part5is located inside the substrate carrier25, the substrate holding part5moves in the direction parallel to the direction in which the substrate3is inserted into and taken out of the substrate carrier25. Therefore, the substrate3can be stably inserted and taken out without scraping or oscillation of the substrate3, inside the substrate carrier25.

As described above, the substrate transfer hand72of the present embodiment includes the base part4coupled to the robot arm71, and the substrate holding part5coupled to the base part4to hold the substrate3. When viewed in the substrate perpendicular line direction defined as the direction perpendicular to the substrate3held by the substrate holding part5, the substrate transfer hand72is bent at the coupling portion42at which the base part4and the substrate holding part5are coupled to each other or a region which is in the vicinity of the coupling portion42, and the base part4and the substrate holding part5have a V-shape, as a whole.

In the substrate transfer hand72of the present embodiment, in a case where when viewed in the substrate perpendicular line direction, the intermediate point C2is defined as the middle point between the points3bat which the peripheral edge of the substrate3and the peripheral edge of the substrate holding part5overlap with each other in a region which is closer to the base part4than the center point3aof the substrate3, the first reference line4B is defined as the straight line passing through the point on the joint axis line A3and the intermediate point C2, and the second reference line5B is defined as the straight line passing through the center point3aof the substrate3and the intermediate point C2, the angle formed between the first reference line4B and the second reference line5B is larger than 0 degree and smaller than 180 degrees.

In the substrate transfer hand72of the present embodiment, when viewed in the substrate perpendicular line direction, the joint axis line A3is offset from the second reference line5B, and the center point3aof the substrate3is offset from the first reference line4B.

The substrate transfer robot7of the present embodiment includes the base73, the robot arm71having the base end portion coupled to the base73so that the robot arm71is rotatable, and the substrate transfer hand72coupled to the tip end portion of the robot arm71.

The substrate transfer and loading device1of the present embodiment is configured to transfer and load the substrate3between the substrate carrier25accommodating the substrate3therein and the semiconductor process treatment device2, or between the substrate carriers25. The substrate transfer and loading device1includes the casing8formed with the transfer room80in an inside thereof, the plurality of load ports91provided at the wall of the casing8, and the substrate transfer robot7disposed in the transfer room80and configured to transfer and load the substrate3.

In the substrate transfer hand72, the substrate transfer robot7, and the substrate transfer and loading device1, when viewed in the substrate perpendicular line direction, the substrate transfer hand72has the V-shape. Therefore, in a state in which a portion or a whole of the substrate holding part5is inserted into the substrate carrier25through the opening86of the load port91, the base part4is closer to the base end portion of the robot arm71than the substrate holding part5. In this configuration, the object88can be disposed in a region (region on an extended line of the opening86of the load port91which is close to the transfer room80) where the base part is located, in a state in which a portion or a whole of the substrate holding part is inserted into the substrate carrier through the opening of the load port, in the conventional substrate transfer hand. Since the substrate transfer hand72is bent in the V-shape, the movement region (range) of the substrate transfer hand72and the arm71inside the transfer room80, in particular, the movement region of the substrate transfer hand72and the arm71in a case where the substrate3is passed to and taken out of the substrate carrier25provided at a most distant location from the base end portion of the arm71, can be reduced, compared to a case where the conventional substrate transfer hand is used. In a region other than the movement region, the object88can be disposed.

In the substrate transfer hand72of the present embodiment, the first center line4A passing through the base end portion and tip end portion of the base part4is defined in the base part4, and the second center line5A passing through the base end portion of the substrate holding part5and the center point3aof the substrate5held by the substrate holding part5is defined in the substrate holding part5. When viewed in the substrate perpendicular line direction, the first center line4A and the second center line5A intersect (cross) each other. When viewed in the substrate perpendicular line direction, the angle formed between the first center line4A and the second center line5A may be larger than 90 degrees and smaller than 180 degrees.

The preferred embodiment of the present invention has been described above. The present invention may include modifications of the details of the specific structure and/or function of the embodiment, within the scope of the invention. The configurations of the substrate transfer hand72, the substrate transfer robot7, and the substrate transfer and loading device1may be modified as follows, for example.

FIG. 7is a view showing a substrate transfer hand according to a modified example, when viewed in the substrate perpendicular line direction. In the hand72according to the above-described embodiment, the second center line5A is rotated between 90 degrees and 180 degrees in a counterclockwise direction, when viewed from the first center line4A. Alternatively, as shown inFIG. 7, in the hand72, the second center line5A may be rotated between 90 degrees and 180 degrees in a clockwise direction, when viewed from the first center line4A.

REFERENCE SIGNS LIST

1substrate transfer and loading device

2process treatment device

4A first center line

4B first reference line

5substrate holding part

5A second center line

5B second reference line

7substrate transfer robot

69up-down driving unit

72substrate transfer hand

77horizontal driving unit

78horizontal driving unit

79horizontal driving unit

91,91E load port

100substrate treatment equipment