Patent Publication Number: US-2023150120-A1

Title: Substrate Conveying Robot and Substrate Conveying Robot System

Description:
BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present disclosure relates to a substrate conveying robot and a substrate conveying robot system. 
     Description of the Background Art 
     Conventionally, a substrate conveying robot and a substrate conveying robot system each including a control board connected to a sensor are known. Such a substrate conveying robot and a substrate conveying robot system are disclosed in Japanese Patent No. 6365736, for example. 
     Japanese Patent No. 6365736 discloses a robot including a master device and a slave device that communicates with the master device. The slave device includes a control board including a plurality of interfaces to which different sensors are connected. The slave device transmits predetermined information acquired by the sensors to the master device. 
     In the robot disclosed in Japanese Patent No. 6365736, the different sensors are connected to the plurality of interfaces of the slave device, as described above. Although not clearly disclosed in Japanese Patent No. 6365736, it is believed that each of the plurality of interfaces can be connected to only one specific preset sensor. In this case, heterogeneous sensors different from the specific sensors cannot be connected to the interfaces, and thus it is difficult for the slave device to acquire the detection values of the heterogeneous sensors. That is, it is disadvantageously difficult to change the type of sensor from which the slave device acquires the detection value according to the application and purpose. 
     SUMMARY OF THE INVENTION 
     The present disclosure is intended to solve the above problem. The present invention aims to provide a substrate conveying robot and a substrate conveying robot system in which the type of sensor from which a detection value is acquired by a control board can be easily changed according to the application and purpose. 
     In order to attain the aforementioned object, a substrate conveying robot according to a first aspect of the present disclosure includes an arm, a substrate holding hand moved by the arm, movably connected to the arm, and including a blade to support a substrate, a sensor board to which a sensor is electrically connected, and a control board on which a controller is mounted, the control board including a universal connector connectable to different types of the sensor boards. 
     In the substrate conveying robot according to the first aspect of the present disclosure, as described above, the control board includes the universal connector connectable to the different types of the sensor boards. Accordingly, the control board can acquire the detection value of the sensor from each of a plurality of types of sensor boards via one universal connector. Consequently, the type of sensor from which the control board acquires the detection value can be changed simply by changing the type of sensor board connected to the universal connector. Thus, the type of sensor from which the detection value is acquired by the control board can be easily changed according to the application and purpose. 
     A substrate conveying robot system according to a second aspect of the present disclosure includes a substrate conveying robot, and a robot controller configured or programmed to control the substrate conveying robot. The substrate conveying robot includes an arm, a substrate holding hand moved by the arm, movably connected to the arm, and including a blade to support a substrate, a sensor board to which a sensor is electrically connected, and a control board on which a controller is mounted, the control board including a universal connector connectable to different types of the sensor boards. 
     In the substrate conveying robot system according to the second aspect of the present disclosure, as described above, the control board includes the universal connector connectable to the different types of the sensor boards. Accordingly, the control board can acquire the detection value of the sensor from each of a plurality of types of sensor boards via one universal connector. Consequently, the type of sensor from which the control board acquires the detection value can be changed simply by changing the type of sensor board connected to the universal connector. Thus, it is possible to provide the substrate conveying robot system capable of easily changing the type of sensor from which the detection value is acquired by the control board according to the application and purpose. 
     According to the present disclosure, as described above, the type of sensor from which the detection value is acquired by the control board can be easily changed according to the application and purpose. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram showing the configuration of a substrate conveying robot and a substrate conveying robot system according to an embodiment of the present disclosure. 
         FIG.  2    is a schematic view of a hand control board and a hand sensor board according to the embodiment of the present disclosure. 
         FIG.  3    is a schematic view of the hand control board according to the embodiment of the present disclosure in which a different type of hand sensor board from that shown in  FIG.  2    is connected. 
         FIG.  4    is a schematic view of a base control board and a base sensor board according to the embodiment of the present disclosure. 
         FIG.  5    is a schematic view of the base control board according to the embodiment of the present disclosure in which a different type of base sensor board from that shown in  FIG.  4    is connected. 
         FIG.  6    is a schematic view of an arm control board and an arm sensor board according to the embodiment of the present disclosure. 
         FIG.  7    is a schematic view of the arm control board according to the embodiment of the present disclosure in which a different type of arm sensor board from that shown in  FIG.  6    is connected. 
         FIG.  8    is a diagram showing the configuration of a substrate conveying robot and a substrate conveying robot system according to a first modified example of the embodiment of the present disclosure. 
         FIG.  9    is a diagram showing the configuration of a substrate conveying robot according to a second modified example of the embodiment of the present disclosure. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     An embodiment of the present disclosure is hereinafter described with reference to the drawings. 
     The configuration of a substrate conveying robot  1  and a substrate conveying robot system  100  according to this embodiment is now described with reference to  FIG.  1   . 
     As shown in  FIG.  1   , the substrate conveying robot system  100  includes the substrate conveying robot  1  and a robot controller  2 . The robot controller  2  controls the substrate conveying robot  1 . 
     The substrate conveying robot  1  includes an arm  10 , a substrate holding hand  20 , a base  30 , a sensor board  40 , and a control board  50 . The substrate conveying robot  1  includes a substrate conveying robot main body  11  including the arm  10 , the substrate holding hand  20 , the sensor board  40 , and the control board  50 . In  FIG.  1   , for simplification, one sensor board  40  is shown for each of the arm  10 , the substrate holding hand  20 , and the base  30 , but in reality, a plurality of sensor boards  40  are provided on each of the arm  10 , the substrate holding hand  20 , and the base  30 . 
     The substrate conveying robot  1  is a horizontal articulated robot. Specifically, the substrate holding hand  20  is moved by the arm  10  and rotatably connected to the arm  10 . The substrate holding hand  20  includes a blade  21  that supports a semiconductor wafer W. The arm  10  is arranged on the base  30 . The arm  10  is rotatably connected to the base  30 . Furthermore, a plurality of blades  21  are provided. The semiconductor wafer W is an example of a substrate. The substrate conveying robot  1  may be a robot other than a horizontal articulated robot. For example, the substrate conveying robot  1  may be a vertical articulated robot. 
     The arm  10  includes a first arm  10   a  and a second arm  10   b . The first arm  10   a  is rotatable about a first end thereof as a rotation center. A first end of the second arm  10   b  is rotatably connected to a second end of the first arm  10   a  and is rotatable with respect to the first arm  10   a , and the substrate holding hand  20  is connected to the second arm  10   b . The substrate holding hand  20  may also include an upper hand and a lower hand that rotate individually, similarly to the arm  10 . 
     One of sensors  60  shown in  FIGS.  2  to  7    is electrically connected to each of the plurality of sensor boards  40 . In  FIG.  1   , the sensors  60  are not shown for simplicity. 
     In this embodiment, the sensor board  40  is electrically connected to the sensor  60  different from an encoder that detects rotation of a motor that drives each of the arm  10  and the substrate holding hand  20 . That is, in the substrate conveying robot  1 , the sensor  60  is provided separately from the encoder (not shown). The encoder is mounted on the substrate conveying robot as standard, and is not supposed to be changed (replaced). Therefore, the sensor  60  targets a sensor different from the encoder such that a user can easily change (replace) the sensor  60  (sensor board  40 ). 
     The control board  50  includes a hand control board  51 , a base control board  52 , and an arm control board  53 . The sensor board  40  includes a hand sensor board  41 , a base sensor board  42 , and an arm sensor board  43 . 
     The hand control board  51  is provided in the vicinity of the substrate holding hand  20 . Specifically, the hand control board  51  is provided inside the substrate holding hand  20 . The hand control board  51  may be provided outside the substrate holding hand  20 . For example, the hand control board  51  may be provided at a connection between the substrate holding hand  20  and the second arm  10   b.    
     The base control board  52  is provided on the base  30 . The arm control board  53  is provided on the arm  10 . Specifically, the arm control board  53  is provided on the second arm  10   b . The arm control board  53  may be provided on the first arm  10   a , for example. 
     The base control board  52  communicates with the robot controller  2 . Detection signals by the sensors  60  shown in  FIGS.  2  to  7    are collected on the base control board  52 , and the detection signals are transmitted from the base control board  52  to the robot controller  2 . Furthermore, a command signal regarding driving of the substrate conveying robot  1  is transmitted from the robot controller  2  to the base control board  52 . 
     In this embodiment, the control board  50  establishes a serial communication connection with the robot controller  2  configured or programmed to control the substrate conveying robot main body  11  via a communicator  54   c  and a communication connector  56  described below. Specifically, serial communication is performed between the robot controller  2 , the base control board  52 , the arm control board  53 , and the hand control board  51 . 
     Specifically, a serial communication connection is established by daisy chain connection via the communicator  54   c  and the communication connector  56 , which are described below, of each of the hand control board  51 , the arm control board  53 , and the base control board  52  between the robot controller  2 , the hand control board  51 , the arm control board  53 , and the base control board  52 . 
     That is, a serial communication connection is established between the robot controller  2  and the base control board  52 . Furthermore, a serial communication connection is established between the base control board  52  and the arm control board  53 . Moreover, a serial communication connection is established between the arm control board  53  and the hand control board  51 . The base control board  52  receives the detection value of the hand sensor board  41  transmitted from the hand control board  51  via the arm control board  53 . The base control board  52  receives the detection value of the arm sensor board  43  transmitted from the arm control board  53 . The base control board  52  transmits each of the received detection value of the hand sensor board  41  and the arm sensor board  43  to the robot controller  2 . 
     The base control board  52  transmits, to the arm control board  53 , a command signal for the arm  10  transmitted from the robot controller  2 . Furthermore, the base control board  52  transmits, to the hand control board  51  via the arm control board  53 , a command signal for the substrate holding hand  20  transmitted from the robot controller  2 . 
     The substrate conveying robot  1  moves up and down with respect to a substantially columnar housing  90  by an arm raising and lowering mechanism (not shown) that raises and lowers the arm  10 . Specifically, the substrate holding hand  20 , the arm  10 , and the base  30  move up and down integrally with the housing  90 . 
     The hand control board  51 , the base control board  52 , and the arm control board  53  have the same configuration as each other. Therefore, in the following description, the same reference numerals are given to the common components mounted on the hand control board  51 , the base control board  52 , and the arm control board  53 . When the control board  50  is described in the following description, it is assumed that the control board  50  has features common to each of the hand control board  51 , the base control board  52 , and the arm control board  53 . When the sensor board  40  is described in the following description, it is assumed that the sensor board  40  has features common to each of the hand sensor board  41 , the base sensor board  42 , and the arm sensor board  43 . 
     As shown in  FIG.  2   , the hand control board  51  includes a controller  54 , universal connectors  55 , and the communication connector  56 . Each of the controller  54 , the universal connectors  55 , and the communication connector  56  is mounted on the hand control board  51 . 
     The controller  54  includes a CPU  54   a , a memory  54   b , and the communicator  54   c . A program executed by the CPU  54   a , for example, is stored in the memory  54   b . The communicator  54   c  performs the above serial communication via the communication connector  56 . 
     The hand sensor board  41  is provided in the vicinity of the substrate holding hand  20 . Specifically, the hand sensor board  41  is provided inside the substrate holding hand  20 . The hand sensor board  41  may be provided outside the substrate holding hand  20 . For example, the hand sensor board  41  may be provided at the connection between the substrate holding hand  20  and the second arm  10   b.    
     The sensor board  40  includes a substrate detection sensor board  410  and a substrate gripping sensor board  411 . A substrate detection sensor  61  that detects the semiconductor wafer W shown in  FIG.  1    is mounted on the substrate detection sensor board  410 . A substrate gripping sensor  62  that detects that the semiconductor wafer W is gripped by the blades  21  shown in  FIG.  1    of the substrate holding hand  20  is mounted on the substrate gripping sensor board  411 . The substrate detection sensor  61  may not be mounted on the substrate detection sensor board  410 , but may be electrically connected to the substrate detection sensor board  410  by a wire. Furthermore, the substrate gripping sensor  62  may not be mounted on the substrate gripping sensor board  411 , but may be electrically connected to the substrate gripping sensor board  411  by a wire. Each of the substrate detection sensor  61  and the substrate gripping sensor  62  is an example of a sensor. Each of the substrate detection sensor board  410  and the substrate gripping sensor board  411  is an example of a hand sensor board. 
     The substrate conveying robot  1  includes a power output board  70  on which a power output electronic component  71  is mounted. The power output board  70  outputs power to a vacuum valve  22  via the power output electronic component  71 , for example. The vacuum valve  22  is used to suction the semiconductor wafer W by the substrate holding hand  20 . In an example shown in  FIG.  2   , the power output board  70  is provided inside the substrate holding hand  20 . The power output board  70  may be provided outside the substrate holding hand  20 . For example, the power output board  70  may be provided at the connection between the substrate holding hand  20  and the second arm  10   b.    
     In this embodiment, the universal connectors  55  can be connected to different types of sensor boards  40 . In other words, the universal connectors  55  can be connected to at least two types of sensor boards  40 . For example, the universal connectors  55  of the hand control board  51  can be connected to any of the substrate detection sensor board  410 , the substrate gripping sensor board  411 , and a sensor board  412  shown in  FIG.  3   , which is described below. 
     The control board  50  and the sensor board  40  are connected to each other such that the control board  50  and the sensor board  40  can be provided separately from each other. Thus, each of the control board  50  and the sensor board  40  can be easily arranged in a relatively narrow space. 
     In the substrate conveying robot, a plurality of sensors are generally attached in the vicinity of the substrate holding hand. In addition, the demand for sensors is increasing with the sophistication of semiconductor manufacturing equipment. On the other hand, space saving is required in the substrate conveying robot. Therefore, there is often not enough space in the vicinity of the substrate holding hand to install the sensors. Furthermore, a plurality of wires are required to send information acquired by the sensors to a base of the substrate holding hand, and thus a sufficient wiring space may not be often provided. Therefore, the control board  50  and the sensor board  40  are provided separately, as described above, such that the control board  50  and the sensor board  40  can be arranged separately from each other in the vicinity of the substrate holding hand  20 . Consequently, both the control board  50  and the sensor board  40  can be easily arranged in the vicinity of the substrate holding hand  20 . Furthermore, the user can freely change the configuration of the sensors in the vicinity of the substrate holding hand  20  while achieving space saving and wiring saving. Thus, the versatility of the substrate constituting robot  1  can be increased. 
     The control board  50  receives identification signals of the sensor boards  40  from the sensor boards  40  connected to the universal connectors  55 . Thus, the CPU  54   a  of the control board  50  can identify the type of sensor board  40  connected to each of the universal connectors  55 . 
     The control board  50  supplies a voltage to the sensor boards  40  connected to the universal connectors  55  via the universal connectors  55 . Specifically, the control board  50  supplies at least one of a low voltage of 5 V or a high voltage of 24 V to a predetermined sensor board  40 . 
     In this embodiment, the control board  50  includes a plurality of universal connectors  55 . That is, each of the plurality of universal connectors  55  provided on the control board  50  can be connected to different types of sensor boards  40 . For example, each of the plurality of universal connectors  55  provided on the hand control board  51  can be connected to any of the substrate detection sensor board  410 , the substrate gripping sensor board  411 , and the sensor board  412  shown in  FIG.  3   , which is described below. The plurality of universal connectors  55  have the same shape as each other. 
     The universal connector  55  of the control board  50  is provided along each of three sides of the four sides of the control board  50  having a rectangular shape. The communication connector  56  of the control board  50  is provided along the remaining one side of the control board  50  on which the universal connector  55  is not provided. 
     The sensor board  40  includes a sensor board connector  40   a  connected to the universal connector  55 . For example, the substrate detection sensor board  410  includes a substrate detection sensor board connector  410   a . The substrate gripping sensor board  411  includes a substrate gripping sensor board connector  411   a . Each of the substrate detection sensor board connector  410   a  and the substrate gripping sensor board connector  411   a  is an example of a sensor board connector. 
     In this embodiment, the sensor board connectors  40   a  of different types of sensor boards  40  have the same shape as each other. Specifically, the sensor board connectors  40   a  of different types of sensor boards  40  have the same size as each other and include a plurality of pins (not shown) in common with each other. The different types of sensor boards  40  use different pins from each other based on information transmitted to and received from the connected control board  50  among the plurality of pins described above. 
     The power output board  70  includes a power output board connector  72  that can be connected to the universal connector  55  of the hand control board  51 . The power output board connector  72  has the same shape as the substrate detection sensor board connector  410   a  and the substrate gripping sensor board connector  411   a . The power output board connector  72  can be connected to any of the three universal connectors  55  of the hand control board  51 . 
     As shown in  FIG.  3   , the plurality of universal connectors  55  of the hand control board  51  can be connected to a sensor board  412  different from each of the substrate detection sensor board  410 , the substrate gripping sensor board  411 , and the power output board  70 . That is, the sensor board  412  can be connected to any of the three universal connectors  55  of the hand control board  51 . In an example shown in  FIG.  3   , the sensor board  412  is connected to the universal connector  55  instead of the substrate detection sensor board  410  shown in  FIG.  2   . The sensor board  412  may be connected to the universal connector  55  instead of the substrate gripping sensor board  411  or the power output board  70 . That is, any three of the substrate detection sensor board  410 , the substrate gripping sensor board  411 , the power output board  70 , and the sensor board  412  can be connected to the three universal connectors  55  of the hand control board  51 . Furthermore, a predetermined sensor  63  and a connector  412   a  that can be connected to the universal connector  55  are mounted on the sensor board  412 . The connector  412   a  has the same shape as each of the substrate detection sensor board connector  410   a , the substrate gripping sensor board connector  411   a , and the power output board connector  72  shown in  FIG.  2   . The sensor board  412  and the connector  412   a  are examples of a hand sensor board and a sensor board connector, respectively. The predetermined sensor  63  is an example of a sensor. For example, the predetermined sensor  63  includes a friction sensor that detects a frictional force between the semiconductor wafer W and the substrate holding hand  20 . 
     The sensor board  412  may be provided on the substrate holding hand  20  in advance, or may be introduced into the substrate holding hand  20  when the substrate detection sensor board  410 , for example, is replaced with the sensor board  412 . 
     As shown in  FIG.  4   , the sensor board  40  includes a fan sensor board  420  on which a fan sensor  64  is mounted to detect the rotation speed of a fan  31 . The fan sensor board  420  is provided on the base  30 . In an example shown in  FIG.  4   , the fan  31  is provided on the base  30 , but the arrangement position of the fan  31  is not limited to this. Furthermore, the fan sensor  64  may not be mounted on the fan sensor board  420  but may be electrically connected to the fan sensor board  420  by a wire. The fan sensor board  420  includes a fan sensor board connector  420   a . The fan sensor  64  and the fan sensor board connector  420   a  are examples of a sensor and a sensor board connector, respectively. The fan sensor board  420  is an example of a base sensor board. 
     The substrate conveying robot  1  includes a communication board  80  on which a communication electronic component  81  is mounted. A serial communication connection is established by daisy chain connection via the communication electronic component  81  between the communication board  80  and the communication connector  56  of the arm control board  53  of the arm  10 . In the example shown in  FIG.  4   , the communication board  80  is provided inside the base  30 , but the arrangement position of the communication board  80  is not limited to this. The communication board  80  includes a communication board connector  82 . 
     The substrate conveying robot  1  includes a signal input board  421  on which a signal input electronic component  421   a  is mounted. The signal input board  421  receives a detection signal from a predetermined sensor  65  via the signal input electronic component  421   a . That is, the signal input board  421  is an example of a base sensor board  42 . The predetermined sensor  65  is a current sensor that detects a current from the base control board  52 , for example. Furthermore, the signal input board  421  includes a signal input board connector  421   b . The predetermined sensor  65  and the signal input board connector  421   b  are examples of a sensor and a sensor board connector, respectively. 
     In this embodiment, the universal connectors  55  of the base control board  52  can be connected to any of different types of base sensor boards  42 . That is, the universal connectors  55  of the base control board  52  can be connected to any of the fan sensor board  420 , the signal input board  421 , and a sensor board  422  shown in  FIG.  5   , which is described below. 
     The communication board  80  can be connected to the universal connector  55  of the base control board  52 . That is, the universal connectors  55  of the base control board  52  can be connected to any of the fan sensor board connector  420   a  of the fan sensor board  420 , the signal input board connector  421   b  of the signal input board  421 , and the communication board connector  82  of the communication board  80 . The fan sensor board connector  420   a , the signal input board connector  421   b , and the communication board connector  82  have the same shape as each other. The fan sensor board connector  420   a , the signal input board connector  421   b , and the communication board connector  82  have the same shapes as those of the substrate detection sensor board connector  410   a , the substrate gripping sensor board connector  411   a , and the power output board connector  72  shown in  FIG.  2   . 
     As shown in  FIG.  5   , the plurality of universal connectors  55  of the base control board  52  can be connected to a sensor board  422  different from each of the fan sensor board  420 , the communication board  80 , and the signal input board  421 . That is, the sensor board  422  can be connected to any of the three universal connectors  55  of the base control board  52 . In an example shown in  FIG.  5   , the sensor board  422  is connected to the universal connector  55  instead of the fan sensor board  420  shown in  FIG.  4   . The sensor board  422  may be connected to the universal connector  55  instead of the communication board  80  or the signal input board  421 . That is, any three of the fan sensor board  420 , the communication board  80 , the signal input board  421 , and the sensor board  422  can be connected to the three universal connectors  55  of the base control board  52 . Furthermore, a predetermined sensor  66  is mounted on the sensor board  422 . The predetermined sensor  66  is a voltage sensor that detects a voltage from the base control board  52 , for example. The sensor board  422  includes a connector  422   a  that can be connected to the universal connector  55 . The connector  422   a  has the same shape as each of the fan sensor board connector  420   a , the signal input board connector  421   b , and the communication board connector  82  shown in  FIG.  4   . The predetermined sensor  66  and the connector  422   a  are examples of a sensor and a sensor board connector, respectively. The sensor board  422  is an example of a base sensor board. 
     The sensor board  422  may be provided on the base  30  in advance, or may be introduced into the base  30  when the fan sensor board  420 , for example, is replaced with the sensor board  422 . 
     As shown in  FIG.  6   , the arm sensor board  43  is provided on the arm  10 . Specifically, the arm sensor board  43  is provided on the second arm  10   b . The arm sensor board  43  may be provided on the first arm  10   a.    
     The arm sensor board  43  includes a pressure sensor board  430 , an acceleration sensor board  431 , and a temperature sensor board  432 . A pressure sensor  67  that detects a pressure is mounted on the pressure sensor board  430 . An acceleration sensor  68  that detects an acceleration is mounted on the acceleration sensor board  431 . Furthermore, a temperature sensor  69  that detects a temperature is mounted on the temperature sensor board  432 . The pressure sensor  67  may not be mounted on the pressure sensor board  430 , but may be electrically connected to the pressure sensor board  430  by a wire. The acceleration sensor  68  may not be mounted on the acceleration sensor board  431 , but may be electrically connected to the acceleration sensor board  431  by a wire. The temperature sensor  69  may not be mounted on the temperature sensor board  432 , but may be electrically connected to the temperature sensor board  432  by a wire. The pressure sensor  67 , the acceleration sensor  68 , and the temperature sensor  69  are examples of a sensor. The pressure sensor board  430 , the acceleration sensor board  431 , and the temperature sensor board  432  are examples of an arm sensor board. 
     In this embodiment, the universal connectors  55  of the arm control board  53  can be connected to any of different types of arm sensor boards  43 . Specifically, each of the plurality of universal connectors  55  of the arm control board  53  can be connected to any of the pressure sensor board  430 , the acceleration sensor board  431 , the temperature sensor board  432 , and a sensor board  433  shown in  FIG.  7   , which is described below. 
     Specifically, the pressure sensor board  430  includes a pressure sensor board connector  430   a  that can be connected to the universal connector  55 . The acceleration sensor board  431  includes an acceleration sensor board connector  431   a  that can be connected to the universal connector  55 . The temperature sensor board  432  includes a temperature sensor board connector  432   a  that can be connected to the universal connector  55 . The pressure sensor board connector  430   a , the acceleration sensor board connector  431   a , and the temperature sensor board connector  432   a  have the same shape as each other. The shapes of the pressure sensor board connector  430   a , the acceleration sensor board connector  431   a , and the temperature sensor board connector  432   a  are the same as those of the substrate detection sensor board connector  410   a , the substrate gripping sensor board connector  411   a , and the power output board connector  72  shown in  FIG.  2   . Furthermore, the shapes of the pressure sensor board connector  430   a , the acceleration sensor board connector  431   a , and the temperature sensor board connector  432   a  are the same as those of the fan sensor board connector  420   a , the communication board connector  82 , and the signal input board connector  421   b  shown in  FIG.  4   . The pressure sensor board connector  430   a , the acceleration sensor board connector  431   a , and the temperature sensor board connector  432   a  are examples of a sensor board connector. 
     As shown in  FIG.  7   , the plurality of universal connectors  55  of the arm control board  53  can be connected to the sensor board  433  different from each of the pressure sensor board  430 , the acceleration sensor board  431 , and the temperature sensor board  432 . That is, the sensor board  433  can be connected to any of the three universal connectors  55  of the arm control board  53 . In an example shown in  FIG.  7   , the sensor board  433  is connected to the universal connector  55  instead of the pressure sensor board  430  shown in  FIG.  6   . The sensor board  433  may be connected to the universal connector  55  instead of the acceleration sensor board  431  or the temperature sensor board  432 . That is, any three of the pressure sensor board  430 , the acceleration sensor board  431 , the temperature sensor board  432 , and the sensor board  433  can be connected to the three universal connectors  55  of the arm control board  53 . Furthermore, a predetermined sensor  60   a  is mounted on the sensor board  433 . The predetermined sensor  60   a  is an angular acceleration sensor, for example. The sensor board  433  includes a connector  433   a  that can be connected to the universal connector  55 . The connector  433   a  has the same shape as that of each of the pressure sensor board connector  430   a , the acceleration sensor board connector  431   a , and the temperature sensor board connector  432   a  shown in  FIG.  6   . The sensor board  433  and the connector  433   a  are examples of an arm sensor board and a sensor board connector, respectively. The predetermined sensor  60   a  is an example of a sensor. 
     The sensor board  433  may be provided on the arm  10  in advance, or may be introduced into the arm  10  when the pressure sensor board  430  is replaced with the sensor board  433 . 
     Advantages of This Embodiment 
     The substrate conveying robot  1  includes the control board  50  including the universal connectors  55  that can be connected to the different types of sensor boards  40 . Accordingly, the control board  50  can acquire the detection value of the sensor  60  from each of a plurality of types of sensor boards  40  via one universal connector  55 . Consequently, the type of sensor  60  from which the control board  50  acquires the detection value can be changed simply by changing the type of sensor board  40  connected to the universal connector  55 . Thus, the type of sensor  60  from which the detection value is acquired by the control board  50  can be easily changed according to the application and purpose. 
     The control board  50  includes the plurality of universal connectors  55 . Accordingly, the type of sensor board  40  connected to each of the plurality of universal connectors  55  can be changed, and thus the combination of the types of sensors  60  from which the control board  50  acquires the detection values can be easily increased. 
     The sensor boards  40  include the sensor board connectors  40   a  connected to the universal connectors  55 . The sensor board connectors  40   a  of the different types of sensor boards  40  have the same shape as each other. Accordingly, the sensor board connectors  40   a  of the different types of sensor boards  40  have the same shape as each other such that the sensor board connectors  40   a  of the different types of sensor boards  40  can be easily connected to the common universal connectors  55 . 
     The sensor board  40  is electrically connected to the sensor  60  different from the encoder that detects rotation of the motor that drives each of the arm  10  and the substrate holding hand  20 . Accordingly, the type of sensor  60  different from the encoder from which the control board  50  acquires the detection value can be easily changed. 
     The control board  50  includes the hand control board  51  provided in the vicinity of the substrate holding hand  20 . The sensor board  40  includes the hand sensor board  41  provided in the vicinity of the substrate holding hand  20 . The hand control board  51  includes the universal connector  55  that can be connected to any of the different types of hand sensor boards  41 . Accordingly, the type of sensor  60  for the substrate holding hand  20  from which the hand control board  51  acquires the detection value can be easily changed by changing the type of hand sensor board  41  connected to the universal connector  55 . 
     The substrate conveying robot  1  includes the base  30  on which the arm  10  is arranged. The control board  50  includes the base control board  52  provided on the base  30 . The plurality of sensor boards  40  include the base sensor board  42  provided on the base  30 . The base control board  52  includes the universal connector  55  that can be connected to any of the different types of base sensor boards  42 . Accordingly, the type of sensor  60  for the base  30  from which the base control board  52  acquires the detection value can be easily changed by changing the type of base sensor board  42  connected to the universal connector  55 . 
     The control board  50  includes the arm control board  53  provided on the arm  10 . The sensor board  40  includes the arm sensor board  43  provided on the arm  10 . The arm control board  53  includes the universal connector  55  that can be connected to any of the different types of arm sensor boards  43 . Accordingly, the type of sensor  60  for the arm  10  from which the arm control board  53  acquires the detection value can be easily changed by changing the type of arm sensor board  43  connected to the universal connector  55 . 
     The sensor board  40  includes at least one of the substrate detection sensor board  410  to which the substrate detection sensor  61  that detects the semiconductor wafer W is electrically connected, the pressure sensor board  430  to which the pressure sensor  67  that detects a pressure is electrically connected, the acceleration sensor board  431  to which the acceleration sensor  68  that detects an acceleration is electrically connected, the fan sensor board  420  to which the fan sensor  64  that detects the rotation speed of the fan  31  is electrically connected, the temperature sensor board  432  to which the temperature sensor  69  that detects a temperature is electrically connected, or the substrate gripping sensor board  411  to which the substrate gripping sensor  62  that detects that the semiconductor wafer W is gripped by the blades  21  of the substrate holding hand  20  is electrically connected. Accordingly, at least one of the substrate detection sensor board  410 , the pressure sensor board  430 , the acceleration sensor board  431 , the fan sensor board  420 , the temperature sensor board  432 , or the substrate gripping sensor board  411  can be easily connected to the control board  50  by the universal connector  55 . 
     The substrate conveying robot  1  includes the communication board  80  on which the communication electronic component  81  is mounted and that can be connected to the universal connector  55  of the control board  50 . Accordingly, the sensor board  40  connected to the universal connector  55  can be easily changed to the communication board  80 . 
     The substrate conveying robot  1  includes the signal input board  421  on which the signal input electronic component  421   a  is mounted and that can be connected to the universal connector  55  of the control board  50 , and the power output board  70  on which the power output electronic component  71  is mounted and that can be connected to the universal connector  55  of the control board  50 . Accordingly, the sensor board  40  connected to the universal connector  55  can be easily changed to the signal input board  421  or the power output board  70 . 
     The substrate conveying robot  1  includes the substrate conveying robot main body  11  including the arm  10 , the substrate holding hand  20 , the sensor  60 , and the control board  50 . The control board  50  includes the communicator  54   c  and the communication connector  56 , and establishes a serial communication connection with the robot controller  2  configured or programmed to control the substrate conveying robot main body  11  via the communicator  54   c  and the communication connector  56 . Accordingly, a serial communication connection is established between the control board  50  and the robot controller  2  such that an increase in the number of wires between the control board  50  and the robot controller  2  can be significantly reduced or prevented. Consequently, the complexity of wire routing and an increase in the size of the substrate conveying robot  1  can be significantly reduced or prevented. 
     A serial communication connection is established by daisy chain connection via the communicator  54   c  and the communication connector  56  of each of the hand control board  51  and the arm control board  53  between the robot controller  2 , the hand control board  51 , and the arm control board  53 . Accordingly, a series connection is established by daisy chain connection between the robot controller  2 , the hand control board  51 , and the arm control board  53 , and thus an increase in the number of wires between the robot controller  2  and the substrate conveying robot  1  can be significantly reduced or prevented. 
     The substrate conveying robot system  100  includes the substrate conveying robot  1  including the control board  50  including the universal connectors  55  that can be connected to the different types of sensor boards  40 . Furthermore, the substrate conveying robot  1  includes the control board  50  including the universal connector  55  that can be connected to any of the different types of sensor boards  40 . Accordingly, the control board  50  can acquire the detection value of the sensor  60  from each of the plurality of types of sensor boards  40  via one universal connector  55 . Consequently, the type of sensor  60  from which the control board  50  acquires the detection value can be easily changed simply by changing the type of sensor board  40  connected to the universal connector  55 . Thus, it is possible to provide the substrate conveying robot system  100  in which the type of sensor  60  from which the detection value is acquired by the control board  50  can be easily changed according to the application and purpose. 
     Modified Examples 
     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 embodiment but by the scope of claims for patent, and all modifications (modified examples) within the meaning and scope equivalent to the scope of claims for patent are further included. 
     For example, while the example in which the control board  50  includes the plurality of universal connectors  55  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The control board  50  may include one universal connector  55 . 
     While the example in which the sensor board connectors  40   a  of the different types of sensor boards  40  have the same shape as each other has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The sensor board connectors  40   a  of the different types of sensor boards  40  may have different shapes from each other. 
     While the example in which the plurality of universal connectors  55  of the control board  50  have the same shape as each other has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The plurality of universal connectors  55  of the control board  50  may have different shapes from each other. 
     While the example in which the control board  50  includes the hand control board  51 , the base control board  52 , and the arm control board  53  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The control board  50  is simply required to include at least one of the hand control board  51 , the base control board  52 , or the arm control board  53 . 
     While the example in which the substrate conveying robot  1  includes the communication board  80  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The substrate conveying robot  1  may not include the communication board  80 . 
     While the example in which the substrate conveying robot  1  includes the signal input board  421  and the power output board  70  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The substrate conveying robot  1  may not include one or both of the signal input board  421  and the power output board  70 . 
     While the example in which the control board  50  establishes a serial communication connection with the robot controller  2  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The control board  50  may establish a parallel communication connection with the robot controller  2 . 
     While the example in which a serial communication connection is established by daisy chain connection between the robot controller  2 , the hand control board  51 , the arm control board  53 , and the base control board  52  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. For example, each of the hand control board  51 , the arm control board  53 , and the base control board  52  may individually establish a communication connection with the robot controller  2 . 
     While the example in which the hand sensor board  41 , the base sensor board  42 , and the arm sensor board  43  are connected to the hand control board  51 , the base control board  52 , and the arm control board  53 , respectively has been shown in the aforementioned embodiment, the present disclosure is not limited to this. For example, the hand sensor board  41  may be connected to the base control board  52  or the arm control board  53 . Alternatively, the base sensor board  42  may be connected to the hand control board  51  or the arm control board  53 . Alternatively, the arm sensor board  43  may be connected to the hand control board  51  or the base control board  52 . 
     While the example in which the substrate holding hand  20 , the arm  10 , and the base  30  move up and down integrally with respect to the housing  90  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. For example, the base may not move up and down. Specifically, as shown in  FIG.  8   , a substrate conveying robot system  200  includes a substrate conveying robot  101  including a substrate holding hand  120 , an arm  110 , and a base  130 . The arm  110  is attached to the upper end of a raising and lowering mechanism  190  extending upward from the base  130 . The raising and lowering mechanism  190  expands and contracts along an upward-downward direction. Thus, the base  130  does not move up and down, but the arm  110  and the substrate holding hand  120  move up and down integrally as the raising and lowering mechanism  190  expands and contracts. 
     While the example in which the substrate holding hand  20  is rotatably provided with respect to the arm  10  has been shown in the aforementioned embodiment, the present disclosure is not limited to this. The substrate holding hand may be linearly movably provided with respect to the arm. For example, as shown in  FIG.  9   , a substrate conveying robot  201  includes a substrate holding hand  220 , an arm  210 , and a base  230 . The base  230  extends from the inside of a housing  290  to the outside of the housing  290  through an opening  291  provided in the housing  290 . The opening  291  extends along an upward-downward direction. Furthermore, the arm  210  is fixed to the base  220  outside the housing  290 . The substrate holding hand  220  is placed on a portion of the arm  210  outside the housing  290 . The substrate holding hand  220  is linearly movably provided on the arm  210  along an A direction. Furthermore, the substrate holding hand  220 , the arm  210 , and the base  230  move up and down integrally along the opening  291 . 
     While the example in which the substrate conveying robot  1  is a horizontal articulated robot has been shown in the aforementioned embodiment, the present disclosure is not limited to this. For example, the substrate conveying robot may be a vertical articulated robot.