Position correcting apparatus, vacuum processing equipment and position correcting method

A technology to resolve positional deviations without using a transport robot. An object to be transported placed on a holding stand is rotated, so as to make an error angle α to be zero; and thereafter, a temporarily placing portion is made to move obliquely to move for an error distance in a horizontal component, thereby locating the center of the object to be transported on the central axis line of the holding stand; and the object to be transported is placed on holding stand. In a case where an orientation of a notch is definite, the holding stand is further rotated by a desired amount. Without using the transport robot, it is possible to resolve an error angle and an error distance.

BACKGROUND

The present invention generally relates to conveyance technology, and more particularly to conveyance technology free from positional deviations.

As illustrated inFIG. 17, on a substrate101(such as, semiconductor wafer, etc.), a notch102indicating an orientation is formed at peripheral edge. In the case that the substrate101having the notch102is transferred by a transport robot, positional deviations will result.

In the case where a plurality of transport robots is used, errors are accumulated; thus, positional deviations of the substrate increase due to the following causes:(1) in the case of significant number of delivery times of substrates;(2) in the case of significant number of arms of transport robots, and variations occurring due to individual differences; and(3) in the case where substrates happen to be directed toward different directions depending on positional relationship between delivery location and a plurality of transport robots.

In recent years, the number of processes that need to perform a high-accuracy centering of the substrate101and positioning of the notch102has been increased, and thus a problem of positional deviation of the substrate101cannot be neglected.

Also, an increase in effective area on the substrate is desired. For example, as an effective region where chips can be taken on the substrate101, in a substrate having 200 mm in diameter, inner radius region of 5 mm or inside from the edge is regarded as an effective region. Although it was satisfactory if only the quality of film is ensured within the effective region, for a substrate having 300 mm in diameter, however, it is required that an inner radius region of 3 mm or less from the edge should be ensured as an effective region; accordingly, a permissible value of conveyance deviations becomes smaller.

In addition to a condition in which the inner radius region of 3 mm or less from the edge should be an effective region, in order that a substrate stage may not be exposed to the bottom surface of the notch102, since the notch102has been notched by 1.5 mm, another condition in which conveyance precision of the substrate being within 1.5 mm must also be met. In complicated processes where superimposing of conveyance precisions frequently occurs, or in processes where positional deviations of the substrate101cannot be permitted, the need to perform a precise positioning of orientations of the notch102has also arisen.

A reference numeral105inFIG. 18denotes a vacuum processing equipment of which a plurality of processing chambers112to116, and122to126is connected to each other. In two sets of transport chambers110and120, transport robots118and128are arranged, respectively, and the conveyance chambers110and120are connected via a delivery chamber130.

A stand131is arranged within the delivery chamber130. The objects to be transported are taken out from the processing chambers112to116by a transport robot118provided in the transport chamber110at one side and the objects are arranged on the stand131, then the objects to be transported are carried in the processing chambers122to126connected to a transport chamber120at the other side by the transport robot128provided in the transport chamber120at the other side.

In this figure, reference numerals141to143denote objects to be transported held on the stand131, the objects to be transported being substrates with notches formed thereon.

The transport robots118and128have hands135a,135b,145aand145bat the ends of telescopic arms137and147, respectively. When the objects to be transported141to143are placed on the hands135a,135b,145aand145b, respectively, and arranged at different positions on the stand131, the transport robots118and128extend the arms137and147by rotating the arms137and147around rotating shafts119and129as a center.

Thus, orientations of the hands135a,135b,145aand145bwill not become parallel to each other when the objects to be transported141to143are arranged at different positions on the stand131. For this reason, even if the notches146to148of the respective objects to be transported141to143arranged on the hands135a,135b,145aand145bof the transport robots118and128are faced toward a given direction, the notches146to148of the objects to be transported141to143arranged on the stand131will face different directions.

The orientation deviations of the notches146to148become more widened when the objects to be transported141to143are transferred from one to another of two sets of the transport robots118and128.

In order to solve the above-mentioned drawbacks, there is an example in which a correcting and moving device for rotating the objects to be transported141to143is provided to correct the orientations of the notches146to148; and the transport robot and the correcting and moving device are alternately operated to carry out positional corrections. There is a problem, however, in that the transport robot cannot transfer the substrates during the correction of substrate positions so that throughput is reduced.

Also, deviations of the central positions of the objects to be transported141to143in the delivery chamber130may present a problem. In the conventional art, a correction is made by means of a device as shown inFIGS. 19(a) and (b).

FIG. 19(a) illustrates a state in which a substrate151transferred from the transport robot and held on a pin155at a location having distance regulating members154aand154bpositioned right and left. When the pin155is caused to fall, the substrate151comes into contact with the seating faces of the regulating members154aand154b, and the regulating members154aand154brotate around center shafts156aand156b, thereby the side walls of the regulating members154aand154bbecome erect.

At this time, even if the substrate151is deviated to either right-hand or left-hand side, the substrate151is pressed against the side walls on their way to an erection, and then the substrate is moved to a position sandwiched between the side walls so that the deviation will be corrected.

In the case in which a mechanical centering is performed in this manner, the regulating members154aand154bcome into contact with the substrate151; and accordingly, there is a problem in that dust is produced. In addition, a positioning mechanism is difficult to adjust. This conventional art are disclosed in JPA 10-270533 and JPA 8-46013.

SUMMARY OF THE INVENTION

The present invention is not devised to solve the above-described prior art, but aims to provide a position correcting apparatus capable of correcting positions without operating transport robots, and to provide a position-correcting method.

Also, another object of the present invention is to provide a position correcting apparatus and a position-correcting method that do not produce dust.

Further, another object of the present invention is to provide a vacuum apparatus that can perform positioning using these position correcting apparatuses.

In order to solve the above problems, according to a first aspect of the present invention, a position correcting apparatus includes a holding stand for rotating object to be transported around a rotation-axis line as a center within a plane perpendicular to the rotation-axis line, a stand-elevating mechanism for moving the holding stand upward and downward, a temporary placing portion for temporarily placing the objects to be transported, and an oblique correcting and moving device for moving obliquely upward and downward the temporary placing portion inclined at a predetermined intersecting angle to the rotation-axis line.

According to another aspect of the present invention, there is provided a position correcting apparatus in which the rotation-axis line is vertically arranged, and the plane is made to be a horizontal plane.

According to still another aspect of the present invention, a position correcting apparatus is configured in that the upper part of the temporary placing portion located below the object to be transported on the holding stand can be in contact with the back surface of the objects to be transported arranged on the holding stand, and the surface of the holding stand located below the object to be transported arranged on the temporary placing portion can be in contact with the back surface of the objects to be transported arranged on the temporary placing portion.

According to still yet another aspect of the present invention, a position correcting apparatus has a detection device for detecting an error distance within the one plane between the center of the objects to be transported on the holding stand and the rotation-axis line, and an error angle formed by a straight line within the plane connecting between the center of the objects to be transported and the rotation-axis line, and a moving direction of the object to be transported within the plane moved by the oblique correcting and moving device, and a control device for controlling the holding stand and the oblique correcting and moving device to move the object to be transported and thus positioning the center of the object to be transported on the rotation-axis line.

According to a further aspect of the present invention, a position correcting apparatus has a holding stand for rotating the objects to be transported around a rotation-axis line as a center within a plane perpendicular to the rotation-axis line, a substrate-elevating mechanism for moving upward and downward the object to be transported at a position above the holding stand, a temporary placing portion for temporary placing the object to be transported, and an oblique correcting and moving device for moving the temporary placing portion obliquely upward and downward inclined at a predetermined intersecting angle to the rotation-axis line.

According to a still further aspect of the present invention, there is provided a position correcting apparatus in which the rotation-axis line is arranged vertically, and the plane is made to be a horizontal plane.

According to yet another aspect of the present invention, a position correcting apparatus is configured in that the upper part of the substrate-elevating mechanism located below the objects to be transported on the holding stand can be in contact with back surface of the objects to be transported arranged on the holding stand; and the upper part of the holding stand located below the object to be transported on the substrate-elevating mechanism can be in contact with the back surface of the object to be transported arranged on the substrate-elevating mechanism.

According to another aspect of the present invention, a position correcting apparatus has a detection device for detecting an error distance within the plane between the center of the object to be transported on the holding stand and the rotation-axis line, and an error angle formed by a straight line within the plane connecting between the center of the objects to be transported and the rotation-axis line, and a moving direction of the objects to be transported within the one plane moved by the oblique correcting and moving device, and a control device for controlling the holding stand and the oblique correcting and moving device to move the objects to be transported, and thereby positioning the centers of the objects to be transported on the rotation-axis line.

According to still another aspect of the present invention, a position correcting apparatus has a holding stand for rotating the objects to be transported around a rotation-axis line as a center within a plane perpendicular to the rotation-axis line, and an in-plane correcting and moving device for moving within the plane the object to be transported arranged on the holding stand.

According to still yet another aspect of the present invention, there is provided a position correcting apparatus in which the rotation-axis line is vertically arranged and the plane is made to be a horizontal plane.

According to a further aspect of the present invention, a position correcting apparatus has a detection device for detecting an error distance within the plane between the center of the object to be transported on the holding stand and the rotation-axis line, and an error angle formed by a straight line within the one plane connecting between the center of the objects to be transported and the rotation-axis line, and a moving direction of the object to be transported within the plane moved by the in-plane correcting and moving device, and a control device for controlling the holding stand and the in-plane correcting and moving device to move the object to be transported, and positioning the center of the objects to be transported on the rotation-axis line.

According to yet another aspect of the present invention, a vacuum processing equipment has a transport chamber, at least one processing chamber connected to the transport chamber, configured to enable to process the objects to be transported within a vacuum atmosphere, and a delivery chamber connected to the transport chambers, so that anyone of the above-mentioned position correcting apparatus is arranged.

According to an additional aspect of the present invention, a position-correcting method comprises the steps of detecting an error distance within the plane between the center of the objects to be transported arranged above the holding stand and the rotation-axis line, and an error angle formed by a straight line connecting between the center of the object to be transported and the rotation-axis line within a plane, and a moving direction of the object to be transported within the plane moved by the oblique correcting and moving device by using a holding stand for rotating the objects to be transported around a rotation-axis line as a center within the plane perpendicular to the rotation-axis line, and an oblique correcting and moving device for moving obliquely the objects to be transported with respect to the one plane, making a straight line connecting between the center of the object to be transported and the rotation-axis line within the one plane to be parallel to a moving direction of the object to be transported within the plane by the oblique correcting and moving device by rotating the holding stand by the error angle while the object to be transported rest on the holding stand, by moving the object to be transported to be moved by the oblique correcting and moving device so as to be equal a movement distance within the plane becomes to the error distance, thereby positioning the central position of the object to be transported on the rotation-axis line.

According to an additional aspect of the present invention, there is provided a position-correcting method in which the rotation-axis line is arranged vertically and the plane is made to be a horizontal plane.

According to still an additional aspect of the present invention, there is provided a position-correcting method in which the oblique correcting and moving device moves the object to be transported without contact with the surface of the holding stand.

According to an additional aspect of the present invention, a position-correcting method comprises the steps of detecting an error distance within a plane between the center of the object to be transported arranged above the holding stand and the rotation-axis line, and an error angle formed by a straight line connecting between the center of the objects to be transported and the rotation-axis line within the plane, and a moving direction of the object to be transported within the plane moved by the in-plane correcting and moving device using a holding stand for rotating the objects to be transported around a rotation-axis line as a center within one plane perpendicular to the rotation-axis line, and an in-plane correcting and moving device for moving the object to be transported within the plane, making a straight line connecting between the center of the object to be transported and the rotation axis line within horizontal plane to be parallel to a moving direction of the objects to be transported within the plane by rotating the holding stand while the object to be transported is arranged on the holding stand by the error angle and positioning the center of the objects to be transported on the rotation-axis line by the in-plane correcting and moving device by moving the objects to be transported so as to be zero of the error distance.

According to still an additional aspect of the present invention, a position-correcting method is provided in which the rotation-axis line is arranged vertically and the plane is made to be a horizontal plane.

With the above-described structural arrangements or features of the present invention, an oblique correcting and moving device or an in-plane correcting and moving device makes an object to be transported to rotate in a plane perpendicular to a rotation-axis line so as to make an error angle α formed between a component of a moving direction of a secondary shaft within a plane perpendicular to the rotation-axis line of a main shaft, and a line segment OO′ connecting between the center of rotation O of a holding stand and the center O′ of the objects to be transported within a plane perpendicular to the rotation-axis line to be 0° or 180°.

Next, in order to have a component of direction perpendicular to the line segment OO′, the object to be transported is moved a distance in the plane perpendicular to the rotation-axis line to be equal to an error distance L of the line segment OO′. The rotation center O and the center O′ of the object to be transported in the plane perpendicular to the rotation-axis line of the object are made to coincide.

It is noted that the center of ideal position of which object to be transported should be arranged may not coincide with the center of rotation of a holding stand. In this case, a distance between the center of ideal position and the center of the object to be transported before movement is an error distance, and all that needs to be done is to make the center of the object to be transported within a plane perpendicular to a rotation-axis line to coincide with an ideal center, rather than with the center of rotation.

Since the positional corrections can be performed without using transport robots, reduction of throughput can be avoided.

For the present invention, the transport robots having a high-accuracy positioning function is unnecessary, and an alignment using an inexpensive device becomes possible.

DETAILED DESCRIPTION OF THE EMBODIMENTS

A reference numeral5inFIG. 1denotes a vacuum processing equipment of one example of the present invention.

The vacuum processing equipment5has a delivery chamber30and two or more of transport chambers10and20. Here, there are two transport chambers, and let one chamber denoted by a reference numeral10to be a first transport chamber, and the other chamber denoted by a reference numeral20to be a second transport chamber, the first and the second transport chambers10and20being respectively connected to the delivery chamber30. A carrying-in chamber12and one or more sets of processing chambers13to16are connected to the first transport chamber10. A carrying-out chamber22and one or more processing chambers23to26are connected to the second transport chamber20.

A first transport robot18and a second transport robot28are arranged in the first and second transport chambers10and20, respectively. The objects to be transported arranged in the carrying-in chamber12are taken out by a first transport robot18; carried into the processing chambers13to16; subsequent to processing, carried into the delivery chamber30; taken out by a second transport robot28; carried into the processing chamber23to26; subsequent to processing, carried into a carrying-out chamber22; and taken out to the outside of the vacuum processing equipment5. The object to be transported is a substrate (such as, silicon wafers) and a notch is formed on a part of the substrate.

The processing operations performed at respective processing chambers13to16and23to26include, for example, cleaning, activation treatment of the objects to be transported by ultraviolet irradiation or plasma irradiation within a vacuum atmosphere; and for the other examples include thin film formation to the surfaces of the objects to be transported by sputtering process or vapor-deposition process, and etching by a plasma.

One or more position correcting apparatuses31to33of a first example of the present invention are arranged in the delivery chamber30, and the objects to be transported that have been carried in the delivery chamber30are set at a predetermined locations on the position correcting apparatuses31to33. Reference numerals41to43inFIG. 1denote the objects to be transported that have been rested on the position correcting apparatuses31to33.

FIGS. 2(a) and2(b) toFIGS. 7(a) and7(b) are drawings for explaining the position correcting apparatuses31to33of a first example, and a position-correcting method using the same.FIG. 8(a) toFIG. 13(a), andFIG. 14(a) toFIG. 16(a), as described later, are plan views of a second and a third position correcting apparatuses, andFIG. 8(b) toFIG. 13(b) andFIG. 14(b) toFIG. 16(b) are side views.

These position correcting apparatuses31to33have a main shaft53and a secondary shaft63.

The main shaft53is arranged vertically, with the lower end thereof being attached to a rotating mechanism51. The upper end of the main shaft53is attached to a holding stand55, with the surface of the holding stand55being perpendicular to the main shaft53, that is, horizontal. Reference numeral58denotes a central axis line of the main shaft53, and is also a rotation-axis line of the holding stand55. The rotation-axis line58is vertical.

When the holding stand55is rotated around the rotation-axis line58as a center by the rotating mechanism51, the surface of the holding stand55is designed to rotate around the rotation-axis line58within a plane perpendicular to the main shaft53, that is, within a horizontal plane.

A stand-elevating mechanism52is also attached to the main shaft53. When the stand-elevating mechanism52is operated, the holding stand55can move upward and downward in a direction along a rotation-axis line58, that is, in a vertical direction. Accordingly, the holding stand55is configured to be movable vertically upward and downward with its surface maintaining horizontal.

FIGS. 2(a) and2(b) illustrate a state in which the object to be transported41,42or43is arranged on the holding stand55by a first transport robot18. Here, the center O′ of the object to be transported41,42or43is assumed to be spaced as an error distance L from the rotation-axis line58, as illustrated inFIG. 2(a), for the purpose of explaining the present invention.

In this figure, reference numeral O is positioned within a plane perpendicular to the rotation-axis line58(horizontal plane), and is a point at which a straight line passing through the center O′ of the object to be transported41,42or43intersects the rotation-axis line58; and also, it is the center of rotation of the holding stand55. A line segment OO′ connecting between the center O of rotation and the center O′ of the object to be transported41,42or43is positioned within a plane perpendicular to the rotation-axis line58(horizontal plane).

Next, the secondary shaft63is not parallel to the rotation-axis line58of the main shaft53, and it is arranged obliquely. The lower end of the secondary shaft63is attached to an oblique moving mechanism62. A temporary placing portion66is attached to the upper end of the secondary shaft63, and in the position correcting apparatuses31to33of the first example, an oblique correcting and moving device60is comprised of an oblique moving mechanism62, the secondary shaft63, and the temporary placing portion66.

The oblique moving mechanism62is configured to move the secondary shaft63along a parallel to the central axis line68so that its central axis line68may not be shifted. This is an oblique movement with respect to a plane perpendicular to the main shaft53(horizontal plane). As a result, the movement of the temporary placing portion66can be decomposed into a component of moving direction in the plane in which the oblique moving is projected to the plane (horizontal plane) perpendicular to the main shaft53, and a component having a direction perpendicular to the former component, that is, vertical moving direction.

Let an angle between the central axis line68of the secondary shaft63and the rotation-axis line58of the main shaft53be defined as an intersecting angle β (β<90°). When the temporary placing portion66moves by a distance T obliquely along the central axis line68, a movement distance X of a component within a plane perpendicular to the rotation-axis line58of the temporary placing portion66is given by X=T·sin β, a moved distance Y of a component of vertical direction is given by Y=T cos β. Regarding to this relationship, when the temporary placing portion66is required to move by a predetermined amount, in a direction perpendicular to the rotation-axis line58, that is, in a horizontal direction, the amount of movement in an oblique direction which is the direction along the central axis line68of the secondary shaft63can be calculated.

Reference numeral64inFIG. 2(a) denotes a moving direction within a plane perpendicular to the rotation-axis line58(horizontal plane), when the temporary placing portion66moves obliquely at an intersecting angle β.

The temporary placing portion66has one or more pins protruding obliquely upward or vertically upward, and the ends of the pins are located within the same plane perpendicular to the rotation-axis line58(horizontal plane), the pins are configured so as to be capable of putting a plate-shaped, or a disk-shaped object to be transported thereon.

In the state in which the first transport robot18holds the object to be transported41,42or43on the holding stand55, a line segment OO′ connecting between the center O of rotation of the holding stand55and the center O′ of the object to be transported41,42or43is not parallel to a moving direction64of the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal plane).

Reference numeral α inFIG. 2(a) denotes an error angle between a line segment OO′ and a moving direction64of the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal plane). Reference numeral F in each ofFIG. 2(a) toFIG. 7(a) denotes an outline of an ideal position for the object to be transported41,42or43arranged on the holding stands55. If the center O of the rotation of the holding stand55fails to coincide with the center O′ of the object to be transported4142or43, the object to be transported4142or43partially extends off the outline F of an ideal position. Reference numerals69denote extending areas.

A detection device56is arranged over the holding stand55. The detection device56is connected to a control device57; and when photograph of the object to be transported41,42or43on the holding stand55is taken, the control device is configured to analyze the results of the photographs, and calculate an error distance L and an error angle α.

The detection device56is an optical measuring instrument or a non-contact measuring instrument (such as, a CCD sensor, a displacement sensor, a LED sensor, a LED fiber sensor, etc.) and widely includes one that is capable of making a positional measurement.

In order to resolve positional deviation of the object to be transported4142or43on the holding stand55and arrange them at an ideal position, the control device57controls the holding stand55to rotate, and so as to be parallel the line segment OO′ to a moving direction64of the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal plane), or to coincide each other as illustrated inFIGS. 3(a),3(b). As a result, an extending area69where the object to be transported41,42or43extend off an ideal outline F faces a secondary shaft63side, or at the side opposite to the secondary shaft63. In this state, an error angle α is zero degree or 180 degrees.

The temporary placing portion66is positioned beforehand under the holding stand55. When the control device57activates the oblique moving mechanism62so as to obliquely extend the secondary shaft63, the temporary placing portion66moves in an obliquely upward direction intersects a vertical direction, that is, in a direction of the rotation-axis line58at an intersecting angle β (β<90°).

The holding stand55is configured to enable the tip of the temporary placing portion66to touch the object to be transported41,42or43on the holding stand55from their back surface, and when the temporary placing portion66comes into contact with the back surface of the object to be transported4142or43, the movement of the temporary placing portion66is stopped.FIGS. 4(a) and4(b) illustrate this state.

For example, here, the size of the object to be transported41,42or43is bigger than that of the holding stand55, and the temporary placing portion66is designed to touch the back surface of the objects to be transported41to43that are in the outside portions from the peripheral edge of the holding stand55.

Next, when a stand-elevating mechanism52is activated to cause the holding stand55to fall as illustrated inFIGS. 5(a) and (b), the back surface of the object to be transported41,42or43is released from the surface of the holding stand55, and comes to a rest on the temporary placing portion66in place of the holding stand55.

In this state, the object to be transported41,42or43has been moved from the holding stand55to the temporary placing portion66, and the secondary shaft63is obliquely moved in such a direction that the center o′ of the object to be transported41,42or43comes closer to the center of rotation O of the holding stand55.

In a case in which an extending area69off the ideal outline F of the object to be transported41,42or43is closer to the secondary shaft63than the center of rotation O, and the center O′ of the object to be transported41,42or43is located between a lower end of the secondary shaft63and the center of rotation O of the holding stand55, the secondary shaft63is extended.

To the contrary, in a case in which the extending area69off an ideal outline F is farther than the center of rotation with respect to the secondary shaft63, and the center of rotation O of the holding stand55is positioned between the lower end of the secondary shaft63and the center O′ of the object to be transported4142, or43, the secondary shaft63is contracted.

Let an amount of oblique elongation or oblique contraction of the secondary shaft63at this time; that is, an obliquely moving distance T0of the object to be transported41,42or43is to be defined by T0=L/sin β. The objects to be transported41to43are moved by an error distance L within a plane perpendicular to the rotation-axis line58(horizontal plane) in a direction parallel to a line segment OO′; and as a result, the center O′ of the object to be transported41,42or43is placed on the rotation-axis line58, as illustrated in FIGS.6(a) and6(b).

In this state, as illustrated inFIGS. 7(a), (b), when the holding stand55rises, and the surface of the holding stand55is brought into contact with the back surface of the object to be transported41,42or43, then the holding stand55rises further, and the object to be transported41,42or43is released from the temporary placing portion66, and are moved from on the temporary placing portion66onto the holding stand55. At this time, the center O′ of the objects to be transported41to43coincides with the center of rotation O of the holding stand55.

In this state, the objects to be transported41to43can be transferred without any error by a second transport robot28from the inside of a delivery chamber30into a second transport chamber20.

Notches46to48are formed on the objects to be transported41to43. If a relative positional relationship between the objects to be transported41to43and a hand of a second transport robot28is fixed; orientation of the notch46,47or48is detected by the detection device56; the center O′ of the object to be transported41,42or43is made to coincide with the center of rotation O of the holding stand55; and thereafter, the object to be transported41,42or43is rotated by a desired angle; and thus, the notches46to48can be directed toward a desired orientation. For example, the notches46to48can be located on a line connecting between the center of the objects to be transported41to43, and a rotation-axis line29of an arm of the second transport robot28.

The above description is directed to a case in which the holding stand55moves upwardly and downwardly to transfer and hold the object to be transported41,42or43, but the present invention is not limited thereto.

Reference numerals34inFIGS. 8(a) and8(b) toFIGS. 13(a) and13(b) denote position correcting apparatuses of a second example of the present invention, which can be arranged in the delivery chamber30in place of the above-mentioned position correcting apparatuses31to33of the first example.

Description will be made using the same reference numerals designated to the same members as those of the position correcting apparatuses31to33of the first example. In this position correcting apparatus34, the main shaft53is arranged vertically, and the lower end of which is attached to a rotating mechanism51in a similar manner to in the position correcting apparatuses31to33of the first example.

The holding stand55is attached horizontally to the upper end of the main shaft53; and when the rotating mechanism51is activated, the holding stand55is configured to rotate within a plane perpendicular to the rotation-axis line58(horizontal plane) around the rotation-axis line58as a center of the main shaft53. Also, in a similar manner to the first example, the position correcting apparatus34has an oblique correcting and moving device60, and when the secondary shaft63is obliquely moved, the temporary placing portion66is configured to move in an oblique direction that forms an intersecting angle β to the rotation-axis line58.

On the other hand, unlike the position correcting apparatuses31to33of the first example, a stand-elevating mechanism is not provided to a main shaft53in a position correcting apparatus34of a second example; and thus the main shaft53does not move upwardly and downwardly. However, a plurality of pins73is arranged vertically as a substitute for this, and the pins73are configured to be moved upwardly and downwardly by a substrate-elevating mechanism72provided at the lower ends of respective pins73.

In the case for correcting the position of the object to be transported41,42or43on the holding stand55using the position correcting apparatus34, first, the holding stand55is rotated by an error angle α; and, as illustrated inFIGS. 9(a) and9(b), a line segment OO′ connecting between the center of rotation O and the center O′ of the object to be transported41,42or43is made to be parallel to a moving direction64of the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal plane). As a result, an error angle α becomes 0° or 180°.

While the pins73are arranged lower than the holding stand55, and the object to be transported41,42or43is placed on the holding stand55, when the pins73are made to rise, the top of the pins73are configured to touch the back surface of the object to be transported41,42or43.

For example, through-holes may be provided in the holding stand55so as to enable the pins73to pass through the holes, or the size of the holding stand55may be made to be smaller than that of the objects to be transported41to43, and upper ends of the pins73may touch the back surface of the object to be transported41,42or43located in an outer side of peripheral edge of the holding stand55.

The upper ends of respective pins73are designed to come into contact with the back surface of the object to be transported41,42or43at least three points.

When the pins73are made to rise further in this state, the object to be transported41,4243is transported from the holding stand55and placed on the pins73, as illustrated inFIGS. 10(a) and10(b).

When the temporary placing portion66is located under the object to be transported41,42or43arranged on the pins73, and the secondary shaft63is extended, and the temporary placing portion66is made to rise obliquely, the upper ends of the temporary placing portion66are configured to come into contact with the back surface of the objects to be transported41to43. Upon coming into contact, when the movement of the temporary placing portion66is stopped, and the pins73are made to fall, as illustrated inFIGS. 11(a) and11(b), the object to be transported41,42or43is transported and placed on the temporary placing portion66.

At this time, in a case in which an extending area69off an ideal outline F is farther than the center of rotation from the secondary shaft63and the center of rotation O of the holding stand55is located between the lower ends of the secondary shaft63and the center O′ of the object to be transported41,42or43, the secondary shaft63is contracted by an oblique moving mechanism62, in order to make the center O′ of the objects to be transported41to43to be closer to the center of rotation O of the holding stand55; thus, the object to be transported41,42or43is made to fall obliquely, while keeping an intersecting angle β.

If a magnitude of a component of an oblique movement by the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal component) is an error distance L, the center O′ of the object to be transported41,42or43rests on the central axis line58; thus, a moving distance Y resulting from the rise of the pins73is provided by Y=T0*cos β (where T0=L/sin β).

FIGS. 12(a) and12(b) illustrate a state in which the temporary placing portion66has fallen obliquely by a distance T0and the objects to be transported41to43has come into contact with the holding stand55, with its center O′ coinciding with the center of rotation O.

FIGS. 13(a) and13(b) illustrate a state in which the temporary placing portion66has fallen further, and the objects to be transported41to43have been transported to place on the holding stand55.

Further, in order to adjust further orientations of the notches46to48, the holding stand55is rotated by a desired amount after the center O′ of the object to be transported41,42or43coincides with the center of rotation ∘ of the holding stand55.

On the other hand, in a case in which an extending area69is present at the secondary shaft63side, and the center O′ of the object to be transported41,42or43is positioned between the lower end of the secondary shaft63and the center of rotation O of the holding stand55, in order to make the center O′ of the objects to be transported41to43come closer to the center of rotation O of the holding stand55, a line segment OO′ connecting between the center of rotation O and center O′ of the objects to be transported41,42or43is made parallel to a moving direction64of the temporary placing portion66within a plane perpendicular to the rotation-axis line58(horizontal plane); and thereafter, the temporary placing portion66is made to rise obliquely, the upper ends of the temporary placing portion66come into contact with the back surface of the object to be transported41,42or43on the pins73, the objects to be transported41to43are transferred from the holding stand55and placed on the temporary placing portion66. Further, the temporary placing portion66are caused to rise in an obliquely upward direction to move by a distance T0(=L/sin β) in oblique direction parallel to the central axis line68of the secondary shaft63.

By this movement, the center O′ of the object to be transported41,42or43becomes positioned on the central axis line58. Next, when the object to be transported41,42or43is transported from the temporary placing portion66to be placed on the pins73by moving the pins73upward, the object to be transported41,42or43is made to rest on the holding portion55by falling the temporary placing portion66to withdraw it; and thereafter, the pins73fall and then the center O′ of the object to be transported41,42or43coincides with the center of rotation O of the holding stand55.

As described above, the object to be transported41,42or43is moved by an error distance L without contact with the holding stand55. In a case in which a movement is allowed while contacting therewith, a correcting and moving device may however move the object to be transported41,42or43in a direction perpendicular to the rotation-axis line58(horizontal direction).

Reference numerals35inFIGS. 14(a) and14(b) to FIGS.16(a) and16(b) denote a position correcting apparatus of a third example of the present invention.

This position correcting apparatus35is also configured such that the main shaft53is disposed, vertically, to the lower end of which is attached a rotating mechanism51; and the holding stand55at the upper end thereof rotates within a plane perpendicular to the rotation-axis line58(horizontal plane), but has neither a stand-elevating mechanism nor a substrate-elevating mechanism.

In the position correcting apparatus35of a third example, a secondary shaft83is arranged by the side of holding stand55. The center-axis line84of the secondary shaft83is arranged perpendicular to the rotation-axis line58. A pressing member86is attached at the end of the secondary shaft83facing the holding stand55side.

An opposite end of the secondary shaft83is connected to a horizontal moving mechanism82. An in-plane correcting and moving device80for moving the objects to be transported41to43in a direction perpendicular to the rotation-axis line58(horizontal direction) is composed of the horizontal moving mechanism82, the secondary shaft83, and the pressing member86.

FIGS. 14(a) and (b) illustrate a state in which the objects to be transported41to43are made to rest on the holding stand55by the first transport robot18. In a similar manner to the above cases, the center O′ of the objects to be transported41to43has positional deviation by an error angle α and an error distance L with respect to the center O of the holding stand.

A procedure for correcting positional deviation using this position correcting apparatus35is described below. A holding stand55is used that is one with a size equal to that of the objects to be transported41to43, or smaller than that of the objects to be transported41to43. Further, in a state that positional deviation have developed, an area of the outline of the object to be transported41,42or43extends off an ideal outline F also extends off the holding stand55. Reference numerals89inFIG. 14(a) andFIG. 15(a) denote extending-off areas.

The object to be transported41,42or43is observed by the detection device56, and the holding stand55is rotated by a control device57in a direction that an extending-off area89is located between the holding stand55and the pressing member86. At this time, as illustrated inFIG. 15(a),15(b), a line segment OO′ connecting between the center of rotation O of the holding stand55and the center O′ of the object to be transported41,42or43is made to be parallel to the center axis line84of the secondary shaft83. In this state, an error angle α becomes 0°. Even if the line segment OO′ does not coincide with the central axis line84in height direction, they are only required to be parallel to each other.

At this state, the center O′ of the object to be transported41,42or43is located between the center of rotation O of the holding stand55and the pressing member86, a horizontal moving mechanism82is activated to extend the secondary shaft83, and the pressing member86is made to come into contact with the object to be transported41,42or43.

Further, when the object to be transported41,42or43is moved by an error distance L in a direction parallel to the central axis line84of the secondary shaft83(that is, in a direction parallel to a line segment OO′ by extending the secondary shaft83), and pressing the musing the pressing member86, then the center O′ of the object to be transported41,42or43coincides with the center of rotation O of the holding stand55, thereby resolving any errors (FIGS. 16(a) and16(b)).

It should be noted that, if orientations of the notches on the objects to be transported41to43are desired to be corrected, the holding stand55may be further rotated by a desired angle.

It should be noted that the main shaft53is arranged vertically in the above respective examples, but the present invention is not limited thereto.