Source: https://patents.google.com/patent/CN102046338B/en
Timestamp: 2020-01-23 14:59:35
Document Index: 16370994

Matched Legal Cases: ['art)\n11', 'arts\n75', 'art 32', 'art 32', 'art 32', 'art 32', 'art 32', 'art 32', 'art 26', 'art 70', 'art 70', 'art 70', 'art 70', 'art 32', 'art 32', 'art 32', 'art 32', 'art 32', 'art 32']

CN102046338B - Carrier device, position-teaching method, and sensor jig - Google Patents
Carrier device, position-teaching method, and sensor jig Download PDF
CN102046338B
CN102046338B CN200980119092.2A CN200980119092A CN102046338B CN 102046338 B CN102046338 B CN 102046338B CN 200980119092 A CN200980119092 A CN 200980119092A CN 102046338 B CN102046338 B CN 102046338B
CN200980119092.2A
CN102046338A (en
广田健二
日商乐华股份有限公司
2008-05-27 Priority to JP2008-138785 priority Critical
2008-05-27 Priority to JP2008138785 priority
2009-05-19 Application filed by 日商乐华股份有限公司 filed Critical 日商乐华股份有限公司
2009-05-19 Priority to PCT/JP2009/059181 priority patent/WO2009145082A1/en
2011-05-04 Publication of CN102046338A publication Critical patent/CN102046338A/en
2014-05-07 Publication of CN102046338B publication Critical patent/CN102046338B/en
G05B2219/39527—Workpiece detector, sensor mounted in, near hand, gripper
Provided are a carrier device which carries an object on a previously-set carrying track with the object held by a carrier section capable of obtaining teaching information relating to a carrying position by normal carrying operation and installed at the leading end of an arm, a position-teaching method, and a sensor jig. A light-transmitting sensor (32) is provided to the sensor jig (30) such that projected line segments of an optical axis (41) and an optical axis (42) to a projection surface intersect with each other and neither the projected line segment of the optical axis (41) nor that of the optical axis (42) is in an X-direction nor Y-direction. When teaching a position, the sensor jig (30) is installed while being gripped by the wafer carrying section (24), thereby detecting target members (51, 52).
Conveying device, position-teaching method and clamp of sensor
The delivery section that the present invention relates to the front end by being located at arm keep transported material and the conveying device of carrying on predefined conveying track, to this conveying device teaching, carry the regulation on track target location position-teaching method and in order to obtain the clamp of sensor for the information of teaching.Relate in particular to conveying device, position-teaching method and clamp of sensor for carrying as transported material using thin thing shape things such as semiconductor wafer, liquid crystal panel, organic EL panel, panels used for solar batteries.
In the past, the fixture of by operator, transported material (conveying object) or teaching being used to the operation of the conveying device teaching transfer position of the thin thing shape things such as semiconductor wafer, liquid crystal panel, organic EL panel, panel used for solar batteries is arranged at delivery end (delivery port), conveying device is guided to transfer position, and by Visual Confirmation teaching position.Therefore, operation expends time in, and according to the difference of operator's qualification, precision can produce bigger difference.In addition, the difficulty that operator carries out visual confirmation by conveying device is also more, and then also has the operation in the movable range of the conveying device of entering, also dangerous situation.Therefore, proposed to use the fixture that various sensors and teaching are used to detect conveying object, then automatically to the method for the automatic teaching of conveying device teaching transfer position.
For example, in patent documentation 1, disclose following method, that is, in the position that is provided with semiconductor wafer, teaching fixture has been set, the transmitted light formula sensor that the hand front end of manipulator (conveying device) is located in utilization detects teaching fixture, thus the position of teaching semiconductor wafer.In addition, in patent documentation 2, disclose following system, that is, utilized the optical sensor head of the arm that is installed on conveying device, in non-contacting mode, detect the detected material of being located at transfer position, according to the positional information of the detected material detecting, obtain the teaching information of transfer position.
Patent documentation 1:WO2003/022534 communique;
Patent documentation 2: No. 3306398 communique of Japan Patent.
But, in method in the past, due to utilized take the flexible direction (Y-direction) of the arm of conveying device and with this flexible direction roughly orthogonal direction (directions X) as the transmitted light formula sensor of optical axis, therefore carried out moving different avoidances from common conveying and moved to obtain teaching information.For example, in order to obtain the positional information of directions X and Y-direction by different separately actions, calculate the teaching information of transfer position, must carry out to the avoidance action of directions X and Y-direction rectilinear movement.Therefore, when carrying out actual conveying action, the problem that existence must make corrections to the play (hereinafter referred to as gap) of the each axle of conveying device producing due to the difference of avoidance action.
In addition, though be automatic teaching, not all action all automatically performs, and need to confirm that action could based on the visual of operator.
The present invention makes for the problem points solving as above, therefore, provide a kind of teaching information that can obtain transfer position by carrying out common conveying action, by being located at that the delivery section of front end of arm keeps transported material and conveying device, position-teaching method and the clamp of sensor carried on predefined conveying track.
In order to solve the problem points of prior art, provide following invention.
The delivery section of the front end of the conveying device of first aspect present invention by being located at arm keeps transported material and carrying on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that, take vertical as Z direction, to be positioned at rectilinear movement direction in the design in described plane as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X, and possess: transmitted light formula sensor, it at least has an optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part, more than one target component, it can carry out shading to described optical axis, teaching information calculates mechanism, positional information during when it obtains described target component and make described optical axis from the shading of light projector state from described transmitted light formula sensor or from shading status light projector, calculates the teaching information for the target location of the regulation on described conveying track according to described positional information, controlling organization, it is according to utilizing described teaching information to calculate the described teaching information for described target location that mechanism calculates, control the transfer position of described transported material, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, do not arrange the leading section of described delivery section of described transmitted light formula sensor or described target location near portion described target component is set.
Thus, can by the common conveying action of conveying device, that is, in the situation of not carrying out moving for the avoidance of teaching operation, obtain the teaching information of transfer position.For example, can, by the flexible positional information of obtaining directions X and Y-direction of arm, calculate the teaching information of transfer position.Thereby, can in the case of each shaft clearance of not considering conveying device, calculate teaching information.That is, can calculate teaching information to be easy to method, and, the time of calculating can be shortened.
At this, arm refers to its fore-end in multiple parts and cardinal extremity part is linked and strip is integrated, and can be under the effect of drive source the parts of stretching motion.The leading section of arm is transported substance delivery section, possesses the known clamp mechanism that transported substance is positioned to the certain position on the leading section of arm.
In addition, target component can be the parts that have been arranged on the leading section of delivery section or near the portion of target location, also can be mounted in the parts on the shading fixture of being located at the leading section of delivery section or near the portion of target location, be preferably cylinder (pin) shape.
In addition, transmitted light formula sensor is mounted in the sensor on the clamp of sensor of being located at the leading section of delivery section or near the portion of target location.
In addition, take vertical as Z direction, take the rectilinear movement direction in the design with respect in the rectangular plane of vertical as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X.Therefore, the direction in directions X, Y-direction and the design of Z direction indication.In addition, R direction is the craspedodrome direction of delivery section (leading section of arm).In addition, the rotary middle spindle of delivery section is θ axle.
The conveying device of second aspect present invention is characterised in that, the described target component of the conveying device of first aspect present invention is more than two, and the direction of the S axle at the center by least two described target components and Y-direction or directions X angulation are known, and the relative position of described target component is known.
Thus, can obtain the teaching information that precision is higher.That is, make by the direction of at least two target components and the known direction of regulation consistent, thereby can obtain for the teaching information of transfer position accurately.
The conveying device of third aspect present invention, take the conveying device of second aspect present invention as basis, is characterized in that, the direction of the S axle at the center by least two described target components is Y-direction or directions X.
Thus, can be by more simply calculating the teaching information that precision is higher of obtaining.
The conveying device of fourth aspect present invention take the present invention first to the third aspect in either side conveying device be basis, it is characterized in that, take the craspedodrome direction of described delivery section as R direction, described teaching information calculates mechanism and comprises: Z axis correction information calculates mechanism, it is the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to a described target component and by this target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location; θ axle correction information calculating section, its according to make a described optical axis relatively parallel until by a described target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections; X-axis correction information calculates mechanism, in the situation that thering is two described optical axises, it,, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculates the described teaching information of carrying out the position correction of directions X for described target location; Y-axis correction information calculating section, in the situation that thering is two described optical axises, its according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises respectively each described positional information during shading or in two Uncrossed situations of described optical axis described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
Conveying device calculates mechanism by Z axis correction information and calculates the position compensating value of Z-direction with respect to transfer position, by θ axle correction information calculating section, calculate and make (hereinafter referred to as θ axle, making corrections) that the craspedodrome direction (R direction) of delivery section is consistent with Y-direction even the compensating value that the craspedodrome direction of delivery section is Y-direction, by X-axis correction information, calculate mechanism and calculate the position compensating value of X-direction with respect to transfer position, by the Y-axis information calculating section that makes corrections, calculate the position compensating value of Y direction with respect to transfer position.
Thus, can move to calculate for carrying out the teaching information of conveying device with respect to the correction of Z-direction position, the correction of θ axle, the correction of X-direction position and the correction of Y-direction position of transfer position by repeating common conveying.
The conveying device of fifth aspect present invention is take the conveying device of fourth aspect present invention as basis, it is characterized in that, there is plural described target component, and take a described target component in the described target component by S axle as first object parts, take the described target component outside described first object parts as the second target component, described teaching information calculates mechanism to be had S axle correction information and calculates mechanism, in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections.
Conveying device calculates mechanism by S axle correction information and calculates the central shaft that passes through target location (S axle) compensating value consistent with the craspedodrome direction (R direction) of delivery section that for example makes to become the Y-direction arranging.That is,, owing to making corrections and making R direction consistent with Y-direction by θ axle correction information calculating section, therefore, utilize S axle correction information to calculate mechanism and calculate the correction that makes S axle consistent with Y-direction.Or, for example, calculate the central shaft that passes through target location (S axle) that makes to become the directions X the arranging compensating value consistent with directions X in design.That is, by S axle correction information, calculate mechanism and calculate the correction that makes S axle consistent with directions X.
Thus, can by repeat common conveying action calculate the Y-direction for carrying out transfer position central shaft correction teaching information or for carrying out the teaching information of central shaft correction of directions X of transfer position.
The conveying device of sixth aspect present invention, the delivery section of its front end by being located at arm keeps transported material and carrying on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that, take vertical as Z direction, to be positioned at rectilinear movement direction in the design in described plane as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X, and possess: transmitted light formula sensor, it at least has an optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part, more than one target component, it can carry out shading to described optical axis, more than one interim correction target component, its relative position with respect to the described target component that can cover described optical axis is known, teaching information calculates mechanism, positional information during when it obtains described target component and described interim correction target component and make described optical axis from the shading of light projector state from described transmitted light formula sensor or from shading status light projector, calculates the teaching information for the target location of the regulation on described conveying track according to described positional information, controlling organization, it is according to utilizing described teaching information to calculate the described teaching information for described target location that mechanism calculates, control the transfer position of described transported material, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, described target component and described interim correction target component are arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location, and described interim correction target component is arranged between described transmitted light formula sensor and described target component.
In addition, when target location, area of space is around narrow, while making conveying device action for the teaching information of target location in order to obtain, in the case of causing the parts such as equipment around target location and delivery section collision, for example pass through at target location Offered target parts, and be arranged between the target location and delivery section of contact of parts such as not causing target location equipment around and delivery section, thereby, can prevent contacting of the parts such as target location equipment around and delivery section, obtain the teaching information for target location simultaneously.
The conveying device of seventh aspect present invention is characterised in that, the described target component of the conveying device of sixth aspect present invention is more than two, and the direction of the S axle at the center by least two described target components and Y-direction or directions X angulation are known, and the relative position of described target component is known.
The conveying device of eighth aspect present invention, take the conveying device of seventh aspect present invention as basis, is characterized in that, the direction of the S axle at the center by least two described target components is Y-direction or directions X.
The conveying device of ninth aspect present invention take the present invention the 6th to eight aspect in either side conveying device be basis, it is characterized in that, take the craspedodrome direction of described delivery section as R direction, described teaching information calculates mechanism and comprises: Z axis correction information calculates mechanism, it is the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to described interim correction target component and by this interim correction target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location; θ axle correction information calculating section, its according to make a described optical axis relatively parallel until by described interim correction target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this interim make corrections target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections; One time X-axis correction information calculates mechanism, in the situation that thering is two described optical axises, it,, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of described interim correction target component, calculates the described teaching information of carrying out the position correction of directions X for described target location; Y-axis correction information calculating section, in the situation that thering is two described optical axises, its according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises respectively each described positional information during shading or in two Uncrossed situations of described optical axis described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
Conveying device calculates mechanism by Z axis correction information and calculates the position compensating value of Z-direction with respect to transfer position, by θ axle correction information calculating section, calculate and make (hereinafter referred to as θ axle, making corrections) that the craspedodrome direction (R direction) of delivery section is consistent with Y-direction even the compensating value that the craspedodrome direction of delivery section is Y-direction, by an X-axis correction information, calculate mechanism and calculate the position compensating value of X-direction with respect to transfer position, by the Y-axis information calculating section that makes corrections, calculate the position compensating value of Y direction with respect to transfer position.
Thus, can calculate for carrying out the teaching information of conveying device with respect to the correction of Z-direction position, the correction of θ axle, the correction of X-direction position and the correction of Y direction position of transfer position by repeating common conveying action.
The conveying device of tenth aspect present invention is take the conveying device of ninth aspect present invention as basis, it is characterized in that, there is plural described target component, and take a described target component in the described target component by S axle as first object parts, take the described target component outside described first object parts as the second target component, described teaching information calculates mechanism and comprises: S axle correction information calculates mechanism, in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, secondary X-axis correction information calculates mechanism, in the situation that thering is two described optical axises, this secondary X-axis correction information calculates mechanism according to making described optical axis direction R direction with respect to relatively parallel of a described target component, and two described optical axises each described positional information during shading respectively, calculate the described teaching information of carrying out the position correction of directions X for described target location, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, this secondary X-axis correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections.
Conveying device calculates mechanism by S axle correction information and calculates the central shaft that passes through target location (S axle) compensating value consistent with the craspedodrome direction (R direction) of delivery section that for example makes to become the Y-direction arranging.That is,, owing to making corrections and making R direction consistent with Y-direction by θ axle correction information calculating section, therefore, by S axle correction information, calculate mechanism and calculate the correction that makes S axle consistent with Y-direction.Or, calculate the central shaft that passes through target location (S axle) that for example makes to become the directions X the arranging compensating value consistent with directions X in design.That is, by S axle correction information, calculate mechanism and calculate the correction that makes S axle consistent with directions X.
In addition, by secondary X-axis correction information, calculate mechanism and calculate the accurately position compensating value of X-direction with respect to transfer position.
Thus, can calculate the central shaft correction of the Y-direction for carrying out transfer position or the central shaft correction of the directions X of transfer position and the teaching information of X-direction position correction by repeating common conveying action.
The position-teaching method of first aspect present invention is carried the target location of the regulation on track to conveying device teaching, the delivery section of the front end of described conveying device by being located at arm keeps transported material and carrying on predefined described conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described position-teaching method is characterised in that, take vertical as Z direction, take design on rectilinear movement direction as Y-direction, take with respect to being positioned at Y-direction in described plane and the rectangular direction of Z direction as directions X, described position-teaching method comprises following operation: (a) by making transmitted light formula sensor, with respect to being arranged on, the leading section of described delivery section of described transmitted light formula sensor is not set or near the more than one target component of the portion of described target location relatively moves, and when obtaining described target component and making described optical axis from the shading of light projector state, or the positional information during from shading status light projector, according to the described positional information getting, calculate the teaching information for described target location, wherein, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, there is at least one optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part.
Thus, obtain the effect being equal to the conveying device of the invention described above first aspect.
The position-teaching method of second aspect present invention is characterised in that, the described target component of the position-teaching method of first aspect present invention is more than two, and the direction of the S axle at the center by least two described target components and Y-direction or directions X angulation are known, and the relative position of described target component is known.
Thus, can obtain the effect being equal to the conveying device of the invention described above second aspect.
The position-teaching method of third aspect present invention is take the position-teaching method of second aspect present invention as basis, and the direction of the S axle at the center by least two described target components is Y-direction or directions X.
Thus, can obtain the effect being equal to the conveying device of the invention described above third aspect.
The position-teaching method of fourth aspect present invention take the present invention first to the third aspect in either side position-teaching method be basis, it is characterized in that, take the craspedodrome direction of described delivery section as R direction, described operation (a) comprises at least one operation in following four operations: (b) the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to a described target component and by this target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location; (c) according to make a described optical axis relatively parallel until by a described target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections; (d) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location; (e) in the situation that thering is two described optical axises, according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises each described positional information during shading respectively, or in the situation that two described optical axises do not intersect described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
Thus, can obtain the effect being equal to the conveying device of the invention described above fourth aspect.
The position-teaching method of fifth aspect present invention is take the position-teaching method of either side in the present invention first to fourth aspect as basis, it is characterized in that, there is plural described target component, and take a described target component in the described target component by S axle as first object parts, take the described target component outside described first object parts as the second target component, described operation (a) comprises following operation: (f) in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections, (g) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location.
Thus, can obtain the effect being equal to the conveying device of the invention described above the 5th aspect.
The position-teaching method of sixth aspect present invention is carried the target location of the regulation on track to conveying device teaching, the delivery section of the front end of described conveying device by being located at arm keeps transported material and carrying on predefined described conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described position-teaching method is characterised in that, take vertical as Z direction, to be positioned at rectilinear movement direction in the design in described plane as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X, and comprise following operation: (a1) by transmitted light formula sensor is relatively moved with respect to more than one target component and more than one interim correction target component, and when obtaining described target component and described interim correction target component and making described optical axis from the shading of light projector state, or the positional information during from shading status light projector, according to the described positional information getting, calculate the teaching information for described target location, wherein, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, there is at least one optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part, more than one described target component is arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location, more than one described transient target parts are arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location and are arranged between described transmitted light formula sensor and described target component, and be known with respect to the relative position of described target component.
Thus, can obtain the effect being equal to the conveying device of the invention described above the 6th aspect.
The position-teaching method of seventh aspect present invention is characterised in that, the described target component of the position-teaching method of sixth aspect present invention is more than two, and the direction of the S axle at the center by least two described target components and Y-direction or directions X angulation are known, and the relative position of described target component is known.
Thus, can obtain the effect being equal to the conveying device of seventh aspect present invention.
The position-teaching method of eighth aspect present invention is take the position-teaching method of seventh aspect present invention as basis, and the direction of the S axle at the center by least two described target components is Y-direction or directions X.
Thus, can obtain the effect being equal to the conveying device of the invention described above eight aspect.
The position-teaching method of ninth aspect present invention take the present invention the 6th to eight aspect in either side position-teaching method be basis, take the craspedodrome direction of described delivery section as R direction, described operation (a1) comprises at least one operation in following four operations: (b1) the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to described interim correction target component and by this interim correction target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location; (c1) according to make a described optical axis relatively parallel until by described interim correction target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this interim make corrections target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections; (d1) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of described interim correction target component, calculate the described teaching information of carrying out the position correction of directions X for described target location; (e1) in the situation that thering is two described optical axises, according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises respectively each described positional information during shading or in the situation that two described optical axises do not intersect described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
Thus, obtain the effect being equal to the conveying device of the invention described above the 9th aspect.
The position-teaching method of tenth aspect present invention is take the position-teaching method of either side in the present invention the 6th to the 9th aspect as basis, there is plural described target component, and take a described target component in the described target component by S axle as first object parts, take the described target component outside described first object parts as the second target component, described operation (a1) comprises at least one operation in following two operations: (f1) in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections, (g1) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location.
Thus, obtain the effect being equal to the conveying device of the invention described above the tenth aspect.
The clamp of sensor of first aspect present invention by with target component relatively parallel detect described target component, it is characterized in that, at least there is the optical axis of a light-projecting portion from transmitted light formula sensor to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is not parallel each other on same perspective plane, and described at least one in multiple described optical axises, optical axis configures described light-projecting portion and described light accepting part to the relative moving direction of described target component and with the uneven mode of the rectangular direction of described moving direction with respect to projecting on described perspective plane.
By be located at the regulation on leading section or the described conveying track of delivery section of the conveying device that transported material is carried on predefined conveying track target location near portion, and obtain with the invention described above first aspect to the ten aspects in the effect that is equal to of the conveying device of either side.
The delivery section of the front end of the present invention the tenth conveying device on the one hand by being located at arm keeps transported material and carries on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that, possesses the clamp of sensor of first aspect present invention, according to the described transmitted light formula sensor that utilizes described clamp of sensor, obtain, positional information when described target component makes described optical axis become shading from light projector or while becoming light projector from shading, calculate the teaching information for the target location of the regulation on described conveying track.
Thus, the effect that in acquisition and the invention described above first aspect to the ten aspects, the conveying device described in either side is equal to.
According to the present invention, can by the common conveying action of conveying device, that is, in the situation of not carrying out moving for the avoidance of teaching operation, obtain the teaching information of transfer position.For example, can be by the flexible positional information of obtaining directions X and Y-direction of arm, and calculate the teaching information of transfer position.Thereby, can in the case of each shaft clearance of not considering conveying device, calculate teaching information.That is, can easily carry out calculating of teaching information, and, the time of calculating can be shortened.
In addition, area of space around transfer position is narrow, while making conveying device action for the teaching information of transfer position in order to obtain, in the case of causing the parts such as equipment around transfer position and delivery section collision, for example pass through at target location Offered target parts, and be arranged between the target location and delivery section of contact of parts such as not causing target location equipment around and delivery section, thereby, can prevent contacting of the parts such as target location equipment around and delivery section, obtain the teaching information for target location simultaneously.
Fig. 1 is the figure of the conveying device for an embodiment of the present invention is described.
Fig. 2 is the figure for conveying mechanical arm 12 is described.
Fig. 3 is the figure that represents an example of clamp of sensor.
Fig. 4 is the figure of the installment state for clamp of sensor is described.
Fig. 5 is the figure that represents an example of shading fixture.
Fig. 6 is the piece figure that represents an example of the controlling organization of the automatic teaching in wafer transfer device 10.
Fig. 7 is the flow chart that represents an example of the signal treatment step of automatic teaching.
Fig. 8 is the figure that represents an example of other shading fixtures.
Fig. 9 is the flow chart that represents an example of the treatment step of Z axis correction place (S101).
Figure 10 is the figure of an example of the initial position for conveying mechanical arm 12 is described.
Figure 11 is the flow chart that represents an example of the treatment step of θ axle correction processing (S102).
Figure 12 is the figure of an example of the action for conveying mechanical arm 12 is described.
Figure 13 is the figure of the calculation method of the teaching information for the correction of θ axle is described.
Figure 14 is the flow chart that represents an example of the treatment step of X-axis correction place (S103).
Figure 15 is the figure of an example of the action for conveying mechanical arm 12 is described.
Figure 16 is the figure of the calculation method of the teaching information for X-axis correction is described.
Figure 17 is the flow chart that represents an example of the treatment step of S axle correction processing (S104).
Figure 18 is the figure of an example of the action for conveying mechanical arm 12 is described.
Figure 19 is the figure of the calculation method of the teaching information for the correction of S axle is described.
Figure 20 is the flow chart that represents an example of the treatment step of secondary X-axis correction processing (S105).
Figure 21 is the flow chart that represents an example of the treatment step of Y-axis correction place (S106).
Figure 22 is the figure of an example of the action for conveying mechanical arm 12 is described.
Figure 23 is the figure that represents an example of other clamp of sensor.
Figure 24 is the figure that represents an example of another clamp of sensor.
10 wafer transfer devices
150 wafer storage containers
12 conveying mechanical arms (main part)
11 load port
13X axle workbench
21 column sections
22 first arms
23 second arms
24 wafer transport portions
25 convolution portions
30 clamp of sensors
32 transmitted light formula sensors
41,42 optical axises
50 shading fixtures
51,52 shading pins
60 teaching information calculating sections
61Z axle correction information calculating section
62 θ axle correction information calculating sections
63X axle correction information calculating section
64Y axle correction information calculating section
65S axle correction information calculating section
70 control parts
75 drive divisions
76 wireless signal transmitters
77 batteries
With reference to accompanying drawing, an embodiment of the present invention is described.In addition, below the embodiment of explanation, only for explanation, not delimit the scope of the invention.Thereby those skilled in the art can adopt with described each key element or the key element that all key element the is equal to embodiment of replacing, but these embodiments are all included in scope of the present invention.
For the conveying device of implementing to the transfer position (target location) of carrying the regulation on this conveying track of automatically teaching of conveying device (teaching automatically) of transported material along predefined conveying track, describe.
Fig. 1 is the figure of the conveying device for an embodiment of the present invention is described, Fig. 1 (a) is diagrammatic top view, and Fig. 1 (b) is diagrammatic side view.Below, the wafer transfer device (EFEM:Equipment Front End Module) that also for example understands the conveying of carrying out the semiconductor wafer between wafer storage container (FOUP) and the chip processing device that is accommodated with semiconductor wafer is as conveying device.
As shown in Figure 1, wafer transfer device 10 is carried out the conveying of the semiconductor wafer between wafer storage container 150 and chip processing device 100.Wafer transfer device 10 is controlled semiconductor wafer and is possessed main part (conveying mechanical arm) 12, load port 11, X-axis workbench 13.Load port 11 is devices as described below: carry wafer storage container 150, open the door (not shown) of wafer storage container 150, conveying mechanical arm 12 moves to the position of the semiconductor wafer in can transfer wafers accommodating container 150 thus.In addition, X-axis workbench 13 is for making conveying mechanical arm 12 along the device with respect to X-direction (directions X) parallel in the rectangular figure of vertical (Z direction) by conveying mechanical arm 12 is set.
In addition, take with respect to Z direction and the rectangular direction of directions X as Y-direction.In addition, direction directions X, Y-direction and Z direction being designed as wafer transfer device 10 at this, using direction corresponding as the directions X arranging with wafer transfer device 10, Y-direction and Z direction to X-direction, Y direction and Z-direction.
Secondly, with reference to Fig. 2, conveying mechanical arm 12 is described.Fig. 2 is the figure for conveying mechanical arm 12 is described, Fig. 2 (a) is the diagrammatic side view of conveying mechanical arm 12, and Fig. 2 (b) is the diagrammatic top view of conveying mechanical arm 12.
As shown in Figure 2, conveying mechanical arm 12 possess the column sections cylindraceous 21 that can move up and down along Z-direction, centered by the central shaft 26 of column sections 21 in the convolution portion 25 with respect to the upper convolution of the rectangular plane of Z-direction (convolution face).Convolution portion 25 possesses the first arm 22, the second arm 23, wafer transport portion 24.The first arm 22 is installed on column sections 21 and is installed as and can centered by the central shaft of column sections 21 26, on convolution face, circle round.In addition, the second arm 23 circles round freely in the plane parallel with convolution face, and by being installed on the front end of the first arm 22 with the fixing velocity ratio of the first arm 22.In addition, wafer transport portion 24 circles round freely in the plane parallel with convolution face, and by being arranged on the front end of the second arm 23 with the fixing velocity ratio of the second arm 23.
Convolution portion 25 transmits by fixing speed the circumnutation centered by the central shaft by the first arm 22 26 than to the second arm 23 and wafer transport portion 24, and circumnutation is changed to passing through the central shaft 26 of wafer transport portion 24 and the stretching motion with the rectangular direction of central shaft 26 (R direction).It should be noted that, wafer transfer device 10 is installed on X-axis workbench 13 take the R direction of conveying mechanical arm 12 as the mode of Y-direction.Thereby R direction is Y direction.
Thereby, as shown in Figures 1 and 2, conveying mechanical arm 12 has following three degree of freedom, that is, make the movement that convolution portion 25 circles round around central shaft 26 (convolution is mobile), make convolution portion 25 move (moving up and down of vertical) to the flexible y-axis shift moving (rectilinear movement) of Y direction and the Z axis that convolution portion 25 is moved up and down to Z-direction.In addition, X-axis workbench 13 has the X-axis that conveying mechanical arm 12 is moved to X-direction and moves the one degree of freedom of (parallel), and therefore, wafer transfer device 10 has four frees degree.
Secondly, with reference to Fig. 3, Fig. 4 and Fig. 5 to be installed on wafer transfer device 10, for obtaining for clamp of sensor and the shading fixture of the teaching information of transfer position (target location), describe.
Fig. 3 is the figure that represents an example of clamp of sensor, and Fig. 3 (a) is the schematic isometric of clamp of sensor, and Fig. 3 (b) is the diagrammatic top view of clamp of sensor.In addition, Fig. 4 is used for the figure of the installment state that clamp of sensor is described, Fig. 4 (a) is the schematic isometric that represents the installment state of clamp of sensor, and Fig. 4 (b) is the diagrammatic top view that represents the installment state of clamp of sensor.In addition, Fig. 5 is the figure that represents an example of shading fixture, Fig. 5 (a) is the schematic isometric of shading fixture, Fig. 5 (b) is the diagrammatic top view of the shading fixture of shading pin while arranging along Y-direction, Fig. 5 (c) is the diagrammatic top view of the shading fixture of shading pin while arranging along directions X, Fig. 5 (d) be shading pin along with the line of the angled δ of Y-direction on the diagrammatic top view of shading fixture while arranging.
As shown in Figure 3, at clamp of sensor 30, be provided with transmitted light formula sensor 32.In addition, transmitted light formula sensor 32 possesses light-projecting portion 32a and 32b and light accepting part 32c and 32d, converts the signal of telecommunication that never control part of illustrated transmitted light formula sensor 32 transmits via connector 34 to optical signal and to light-projecting portion 32a and 32b guiding by amplifier 33.In addition, from the optical signal of light accepting part 32c and 32d, by amplifier 33, convert the signal of telecommunication to, the control part transmission via connector 34 to transmitted light formula sensor 32.The control part of transmitted light formula sensor 32 is connected with the teaching information calculating section 60 shown in Fig. 6 described later, and above-mentioned each signal of telecommunication transmits between the control part of transmitted light formula sensor 32 and teaching information calculating section 60.
In addition, as shown in Figure 4, the mode that clamp of sensor 30 becomes the leading section of wafer transport portion 24 with transmitted light formula sensor 32 is controlled the wafer transport portion 24 that is arranged at.Wafer transport portion 24 is configured to, two foremost portion be fixed with transported substance stop part (ウ エ ア stops め) 26a, 26b, and at base end side, be provided with clamping element 27a, the 27b that can move forward and backward along Y-direction, clamping element 27a, 27b are by press the semiconductor wafer having loaded and can position it always.That is, replace semiconductor wafer, mounting clamp of sensor 30 or shading fixture 50 and in wafer transport portion 24 location.
In addition, clamp of sensor 30 has the width of the directions X roughly the same with the width of the directions X of wafer transport portion 24, is formed with the peristome 35 roughly the same with the peristome of the front end of wafer transport portion 24.In addition, clamp of sensor 30 is formed as making wafer transport portion 24 and semiconductor wafer similarly to control the shape of clamp of sensor 30.
In addition, the light-projecting portion 32a of transmitted light formula sensor 32 and 32b and light accepting part 32c and 32d are disposed at clamp of sensor 30 as follows,, optical axis 41 from from light-projecting portion 32a to light accepting part 32c intersects to the Projection Line Segment of the face parallel with X-Y plane (hereinafter referred to as perspective plane) projection mutually with the optical axis 42 from light-projecting portion 32b to light accepting part 32d, and the Projection Line Segment of the Projection Line Segment of optical axis 41 and optical axis 42 is not all X-direction and Y direction.In addition, light-projecting portion 32a and 32b and light accepting part 32c and 32d are disposed at clamp of sensor 30 as follows,, optical axis 41 and optical axis 42 intersect in Y-axis to the Projection Line Segment of the perspective plane projection on the straight line (Y-axis) of the Y direction of the central shaft 26 by wafer transfer device 10, and the Projection Line Segment of the Projection Line Segment of optical axis 41 and optical axis 42 is with respect to the mutual line symmetry of this Y-axis.At this, the optical axis 41 of transmitted light formula sensor 32 and optical axis 42 are intersected and the Projection Line Segment of optical axis 41 and the Projection Line Segment of optical axis 42 describe with respect to the situation of the mutual line symmetry of this Y-axis in Y-axis.
It should be noted that, at this, perspective plane is X-Y plane, but can be also X-Z plane, can be also X-Z plane.
In addition, above-mentioned wafer transport portion 24 is for to utilize transported substance stop part 26a, 26b and clamping element 27a, 27b mechanically to fix the mechanism of semiconductor wafer, but can be the absorption fixing mechanism of semiconductor wafer, also can be for by the various mechanisms such as mechanism that pin or step be fixed be set in this wafer transport portion 24.That is, utilize the fixed mechanism of the corresponding semiconductor wafer of wafer transport portion 24, replace semiconductor wafer, mounting clamp of sensor 30 or shading fixture 50 and in wafer transport portion 24 location.
Secondly, shading fixture is described.As shown in Fig. 5 (a), shading fixture 50 possesses two columned shading pins (target component) 51 and 52.For example, as transfer position, in the case of being set with the load port 11 shown in Fig. 1, shading fixture 50 is arranged at load port 11.
Therefore, the back side of shading fixture 50 is implemented to the processing of the location use same with the back side of wafer storage container 150, thereby shading fixture 50 can be arranged to load port 11.In addition, the relative position of shading pin 51 and 52 reference positions with respect to shading fixture 50 and geomery are known.Therefore, the direction of the central shaft (S axle) by shading pin 51 Ji52 centers is known.; as shown in Fig. 5 (d); when shading fixture 50 is disposed to transfer position (load port 11); central shaft (S axle) by shading pin 51 Ji52 centers is known with Y-direction angulation δ, and the position of shading pin 51 and 52 reference positions with respect to shading fixture 50 and the geomery of shading pin 51 and 52 are known.
In addition, when shading fixture 50 is configured to the situation such as following, can carries out correction and process more simply to calculate, shown in for example Fig. 5 of described situation (b), when shading fixture 50 is disposed to transfer position (load port 11), in the central shaft by shading pin 51 Ji52 centers (S axle) mode parallel with the Y-direction of wafer transfer device 10, configure shading pin 51 and 52, or as shown in Fig. 5 (c), in the S axle mode parallel with the directions X of wafer transfer device 10, configure shading pin 51 and 52.
Therefore, below illustrate following situation: when shading fixture 50 being disposed to transfer position (load port 11), shading fixture 50 configures with the central shaft by shading pin 51Ji 52 centers (S axle) and the mode of the Y-direction almost parallel of wafer transfer device 10.
Secondly, the controlling organization of the wafer transfer device 10 of implementing automatic teaching is described with reference to Fig. 6.Fig. 6 represents the piece figure of an example of the controlling organization of the automatic teaching of wafer transfer device 10.The transmitted light formula sensor 32 of being located at clamp of sensor 30 is connected with teaching information calculating section 60 via not shown control part.The control part of transmitted light formula sensor 32 is to amplifier 33 supply powers shown in Fig. 3, and, from amplifier 33, receive the on/off signal that the transmission/shading of the transmitted light formula sensor 32 of having changed by amplifier 33 causes, this reception signal sent to teaching information calculating section 60.; the control part of transmitted light formula sensor 32 carries out the relaying that signal between teaching information calculating section 60 and transmitted light formula sensor 32 transmits, and has the effect of the I/O terminal in the transfer system of CC-Link (registration mark) and UNI-WIRE (registration mark) representative.
Mechanism outside transmitting as the signal between teaching information calculating section 60 and transmitted light formula sensor 32, for example as shown in figure 24, also can be configured on clamp of sensor 30 and to carry the battery 77 that the signal of telecommunication of having changed by amplifier 33 is converted to the wireless signal transmitter 76 of the wireless signal transmission such as bluetooth, carries out power supply supply to amplifier 33 and wireless signal transmitter 76.In this situation, in teaching information calculating section 60, connect the receiver of regulation, by teaching information calculating section 60, receive the signal of launching from wireless signal transmitter 76.By this structure, without adopting the connector 34 shown in Fig. 3 and the control part of transmitted light formula sensor 32.Consequently, before the teaching operation of starting position, needn't waste time and energy connector 34 is connected to the control part of the transmitted light formula sensor 32 being connected with teaching information calculating section 60, thus only just can starting position teaching operation in wafer transport portion 24 by clamp of sensor 30 is loaded.
As shown in Figure 6, teaching information calculating section 60 will send to control part 70 for obtaining for the conveying action message of the teaching information of transfer position.Control part 70 is controlled the drive division 75 of wafer transfer device 10 according to the conveying action message receiving, wafer transfer device 10 is moved, and the clamp of sensor 30 of being located at wafer transport portion 24 is moved.
Teaching information calculating section 60 is according to passing through the shift action of this clamp of sensor 30, optical axis 41 and the shading of optical axis 42 and the time information of light projector that the shading fixture 50 of being located at transfer position being obtained by transmitted light formula sensor 32 carries out; The activation bit of the X-direction of the wafer transfer device 10 when the shading of being obtained by control part 70 and the time information of light projector, Y direction, Z-direction, calculates the teaching information for transfer position.In addition, control part 70 is according to the transfer position of the teaching information control semiconductor wafer calculating by teaching information calculating section 60.In addition, teaching information calculating section 60 calculates the teaching information for following correction.
(1) correction (Z axis correction) of the Z axis of wafer transfer device 10 being moved
Calculating by the Z axis correction information calculating section 61 of teaching information calculating section 60 of teaching information for this correction carried out.When conveying mechanical arm 12 is moved to-Z-direction, in optical axis 41 or optical axis 42, either party's optical axis calculates the center of the Z direction upper end of shading pin 51 with respect to the activation bit of the Z-direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculates so that the teaching information that the positional information mode consistent with the positional information of the Z-direction of wafer transfer device 10 of the Z direction of transfer position makes corrections.It should be noted that narration (with reference to the explanation of Fig. 9 and Figure 10) after the details of the calculation method of the action of conveying mechanical arm 12 and teaching information.
(2) correction (correction of θ axle) of the θ axle of wafer transfer device 10 being moved
Calculating by the θ axle correction information calculating section 62 of teaching information calculating section 60 of teaching information for this correction carried out.When conveying mechanical arm 12 is moved to+Y direction, the optical axis of either party in optical axis 41 or optical axis 42 is with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, and when conveying mechanical arm 12 is moved to X-direction, shading optical axis 41 or optical axis 42 in either party's optical axis with respect to the activation bit of the X-direction of the wafer transfer device 10 of light projector zero hour of shading pin 51, calculate the deviation angle of Y direction and the Y-direction of wafer transfer device 10.That is, calculate so that the teaching information that the Y direction of wafer transfer device 10 mode consistent with Y-direction makes corrections.At this, the rotary middle spindle of wafer transport portion 24 is called to θ axle.It should be noted that, after the details of the action of conveying mechanical arm 12 and the calculation method of teaching information, narrate (with reference to the explanation of Figure 11, Figure 12 and Figure 13).
(3) correction (X-axis correction) of the X-axis of wafer transfer device 10 being moved
Calculating by the X-axis correction information calculating section 63 of teaching information calculating section 60 of teaching information for this correction carried out.When conveying mechanical arm 12 is moved to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculate the side-play amount of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.That is, calculate so that the teaching information that the positional information of the directions X of the transfer position mode consistent with the positional information of the X-direction of wafer transfer device 10 makes corrections.It should be noted that narration (with reference to the explanation of Figure 14, Figure 15, Figure 16 and Figure 20) after the details of the calculation method of the action of conveying mechanical arm 12 and teaching information.
(4) correction moving to the y-axis shift of wafer transfer device 10 (Y-axis correction)
Calculating by the Y-axis correction information calculating section 64 of teaching information calculating section 60 of teaching information for this correction carried out.When conveying mechanical arm 12 is moved to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculate so that the teaching information that the positional information of the Y-direction of the transfer position mode consistent with the positional information of the Y direction of wafer transfer device 10 makes corrections.It should be noted that narration (with reference to the explanation of Figure 21 and Figure 22) after the details of the calculation method of the action of conveying mechanical arm 12 and teaching information.
(5) correction of the Y-direction of shading fixture 50 or directions X correction (correction of S axle)
Calculating by the S axle correction information calculating section 65 of teaching information calculating section 60 of teaching information for this correction carried out.When S axle is Y-direction, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculate the deviation angle of the Y-direction in the S axle of shading fixture 50 and the design of transfer position.That is, calculate so that the teaching information that the consistent mode of Y-direction in the S axle of shading fixture 50 and the design of transfer position makes corrections.
In addition, when S axle is directions X, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+X-direction, optical axis 41 and optical axis 42, with respect to the activation bit of the X-direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculate the deviation angle of the directions X in the S axle of shading fixture 50 and the design of transfer position.That is, calculate so that the teaching information that the consistent mode of directions X in the S axle of shading fixture 50 and the design of transfer position makes corrections.
In addition, when S axle is different from Y-direction and directions X, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+Y direction, optical axis 41 and optical axis 42 be with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculates the deviation angle of the Y-direction in the design of the Y-direction that calculates according to the S axle of the shading fixture 50 on arranging and transfer position.That is, calculate so that the teaching information that the consistent mode of Y-direction in the S axle of shading fixture 50 and the design of transfer position makes corrections.
At this, as shown in Figure 5, owing to shading fixture being set so that S axle becomes the mode of Y-direction, therefore, calculate so that the teaching information that the consistent mode of Y-direction in the S axle of shading fixture 50 and the design of transfer position makes corrections.It should be noted that narration (with reference to the explanation of Figure 17, Figure 18 and Figure 19) after the details of the calculation method of the action of conveying mechanical arm 12 and teaching information.
Secondly, the signal treatment step of automatic teaching is described with reference to Fig. 7, the detailed treatment step of automatic teaching is described with reference to Fig. 9 to Figure 21.
Fig. 7 represents the flow chart of an example of the signal treatment step of automatic teaching.
As shown in Figure 7, first, in load port 11, shading fixture 50 is set, in the wafer transport portion 24 of conveying mechanical arm 12, clamp of sensor 30 (S100) is set.
Secondly, when conveying mechanical arm 12 is moved to-Z-direction, in optical axis 41 or optical axis 42, either party's optical axis, with respect to the activation bit of the Z-direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculates the center (S101) of the Z direction upper end of shading pin 51.
Secondly, when conveying mechanical arm 12 is moved to+Y direction, in optical axis 41 or optical axis 42, either party's optical axis is with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, and when conveying mechanical arm 12 is moved to X-direction, shading optical axis 41 or optical axis 42 in either party's optical axis with respect to the activation bit of the X-direction of the wafer transfer device 10 of light projector zero hour of shading pin 51, calculate the deviation angle (S102) of Y direction and the Y-direction of wafer transfer device 10.By the deviation angle calculating is maked corrections, make the Y direction of wafer transfer device 10 consistent with Y-direction.
Secondly, when conveying mechanical arm 12 is moved to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculate the side-play amount (S103) of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.By the side-play amount of the X-direction calculating is maked corrections, make the positional information of directions X of transfer position consistent with the positional information of the X-direction of wafer transfer device 10.
Secondly, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculate the deviation angle (S104) of the Y-direction in the S axle of shading fixture 50 and the design of transfer position.By the deviation angle calculating is maked corrections, make the S axle of shading fixture 50 consistent with transfer position Y-direction in design.
In addition, as shown in Figure 5, because the mode take S axle as Y-direction arranges shading fixture, therefore, calculate so that the teaching information that the consistent mode of Y-direction that the S axle of shading fixture 50 designs with transfer position makes corrections, but arrange shading fixture in the mode take S axle as directions X, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+X-direction, optical axis 41 and optical axis 42 are with respect to the activation bit of the X-direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculate the deviation angle of the directions X in the S axle of shading fixture 50 and the design of transfer position.In addition, in the S axle mode different from Y-direction and directions X, arrange in the situation of shading fixture, when conveying mechanical arm 12 is moved from the center of shading pin 51 to+Y direction, optical axis 41 and optical axis 42 be with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 52, calculates the deviation angle of the Y-direction in the design of the Y-direction that calculates according to the S axle of the shading fixture 50 on arranging and transfer position.
Secondly, when conveying mechanical arm 12 is moved to+Y direction, optical axis 41 and optical axis 42 be with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculates in the same manner the positional information of directions X of transfer position that generated by the correction of step S104 and the side-play amount (S105) of the positional information of the X-direction of wafer transfer device 10 with step S103.By the side-play amount of the X-direction calculating is maked corrections, make the positional information of directions X of transfer position consistent with the positional information of the X-direction of wafer transfer device 10.
Finally, when conveying mechanical arm 12 is moved to+Y direction, optical axis 41 and optical axis 42, with respect to the activation bit of the Y direction of the wafer transfer device 10 of shading zero hour of shading pin 51, calculate so that the teaching information (S106) that the positional information of the Y-direction of the transfer position mode consistent with the positional information of the Y direction of wafer transfer device 10 makes corrections.
Secondly, with reference to the Z axis correction of Fig. 9 and Figure 10 key diagram 7, process the details of (S101).Fig. 9 represents the flow chart of an example of the treatment step of Z axis correction processing (S101).Figure 10 is the figure of an example of the initial position for conveying mechanical arm 12 is described, Figure 10 (a) is diagrammatic top view, and Figure 10 (b) is diagrammatic side view.
As shown in Figure 9, first, make conveying mechanical arm 12 move to predefined initial position (S201).As shown in figure 10, the initial position of X-direction and Z-direction is when conveying mechanical arm 12 is moved to+Y direction, the position that utilizes shading pin 51 to carry out the anticipation of shading to optical axis 41 and optical axis 42.And then, be shading fixture 50 or circumferential component and conveying mechanical arm 12 and the discontiguous position of clamp of sensor 30 beyond shading pin 51.
Secondly, conveying mechanical arm 12 is moved from initial position to+Y direction until optical axis 41 by shading pin 51 (S202).
Secondly, in the movement of step S202, the activation bit of Y direction and the geomery of shading pin 51 according to optical axis 41 with respect to the wafer transfer device 10 of shading zero hour of shading pin 51, calculate the center (position A) of the Y direction of shading pin 51 (S203).
Secondly, with optical axis 41, by the mode of position A, make conveying mechanical arm 12 move (S204) to-Y direction, and then, make conveying mechanical arm 12 to+Z-direction moves until optical axis 41 becomes light projector state (S205).
Secondly, in step S205, to-distance (S206) that move to+Z-direction of Z-direction moves, the activation bit of Z-direction and the geomery of shading pin 51 according to optical axis 41 with respect to the wafer transfer device 10 of shading zero hour of shading pin 51, calculate the upper end position (position B) of the Z-direction of shading pin 51, calculate so that the teaching information (S207) that the positional information mode consistent with the positional information of the Z-direction of wafer transfer device 10 of the Z direction of transfer position makes corrections.
Secondly, with reference to Figure 11 to Figure 13, describe the θ axle correction processing (S102) of Fig. 7 in detail.Figure 11 is the flow chart that represents an example of the treatment step of θ axle correction processing (S102).Figure 12 is the figure of an example of the action for conveying mechanical arm 12 is described.In addition, Figure 13 is the figure of the calculation method of the teaching information for the correction of θ axle is described.
As shown in figure 11, first, conveying mechanical arm 12 is moved from position B to-Z-direction, until according to the position B of the step S207 of Fig. 9, calculate, shading pin 51 can carry out to optical axis 41 position (S301) of the Z-direction of shading.Now, confirm that shading pin 51 carries out shading to optical axis 41.
Secondly, make conveying mechanical arm 12 to-Y direction moves until the position (S302) of optical axis 41 light projectors, secondly, make conveying mechanical arm 12 to+Y direction move until the position (position C) that optical axis 41 starts with respect to the shading of shading pin 51 (S303).That is, conveying mechanical arm 12 is moved until the position C of (state 1) in Figure 12 to+Y direction.
Secondly, conveying mechanical arm 12 is moved from position C to+X-direction until the position (position D) that the light projector of optical axis 41 starts (S304).That is, conveying mechanical arm 12 is moved until the position D of (state 2) in Figure 12 to+Y direction.
Secondly, according to position C and position D, calculate the offset angle (S305) of the Y-direction in the Y direction of wafer transfer device 10 and the design of wafer transfer device 10.
The calculation method of offset angle is described below.As shown in Figure 13 (a), will meet at right angles with the Y direction of wafer transfer device 10 and line segment by optical axis 41 and the intersection point O of optical axis 42, the line segment of X-direction is made as line segment 60, and the line segment of the Y direction by intersection point O is made as to line segment 61.Optical axis 41 is called to optical axis angle with the angle of 60 one-tenth, line segment respectively with optical axis 42, at this, is made as α.
As shown in Figure 13 (b), take the optical axis 41 at C place, position as optical axis 41c, take the optical axis 41 at D place, position as optical axis 41d.In addition, take the optical axis 42 at C place, position as optical axis 42c, take the optical axis 42 at D place, position as optical axis 42d.In addition, take the line segment 60 at C place, position as line segment 60c, take the line segment 60 at D place, position as line segment 60d.In addition, take the line segment 61 at C place, position as line segment 61c, take the line segment 61 at D place, position as line segment 61d.In addition, the Y direction of wafer transfer device 10 and the deviation angle of Y-direction are β.
As shown in Figure 13 (b) and Figure 13 (c), the triangle 63 becoming when position D moves wafer transfer device 10 from position C meets following relational expression (1).
sin(α+β)＝d/a·····(1)
At this, a is the amount of movement to X-direction from position C to position D, and d is the diameter of shading pin 51.
According to relational expression (1), by following relational expression (2), represent offset angle.
β＝sin -1(d/a)-α·····(2)
Use relational expression (2), at above-mentioned steps S305, calculate the Y direction of wafer transfer device 10 and the offset angle of Y-direction.
Secondly, with reference to Figure 14 to Figure 16, describe an X-axis correction processing (S103) of Fig. 7 in detail.Figure 14 is the flow chart that represents an example of the treatment step of an X-axis correction processing (S103).Figure 15 is the figure of an example of the action for conveying mechanical arm 12 is described.In addition, Figure 16 is the figure of the calculation method of the teaching information for X-axis correction is described.
As shown in figure 14, first, the conveying mechanical arm 12 after the result correction that makes to process according to θ axle correction from position B to-Z-direction, move until according to the position B of the step S207 of Fig. 9, calculate, shading pin 51 can carry out to optical axis 41 position (S401) of the Z-direction of shading.Now, confirm that shading pin 51 carries out shading to optical axis 41.
Secondly, make conveying mechanical arm 12 to-Y direction moves until the position (S402) of optical axis 41 light projectors, secondly, make conveying mechanical arm 12 to+Y direction move until the position (position C) that optical axis 41 starts with respect to the shading of shading pin 51 (S403).That is, make conveying mechanical arm 12 move to the position C of (state 1) in Figure 15 to+Y direction.
Secondly, make conveying mechanical arm 12 from position C to+Y direction, move to position (position E) that optical axis 42 starts with respect to the shading of shading pin 51 (S404).That is, conveying mechanical arm 12 is moved until the position E of (state 2) in Figure 15 to+Y direction.
Secondly, according to position C and position E, calculate the side-play amount x (S405) of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.
The calculation method of the side-play amount x of directions X is described below.As shown in Figure 16 (a), to meet at right angles with respect to the Y direction of wafer transfer device 10 and by optical axis 41 and the line segment of the intersection point O of optical axis 42, the line segment of X-direction is as line segment 60, take the line segment of the Y direction by intersection point O as line segment 61.Optical axis 41 and optical axis 42 are called to optical axis angle with line segment 60 angulations respectively, at this, are made as α.
As shown in Figure 16 (b), take the optical axis 41 at C place, position as optical axis 41c, take the optical axis 41 at E place, position as optical axis 41e.In addition, take the optical axis 42 at C place, position as optical axis 42c, take the optical axis 42 at E place, position as optical axis 42e.In addition, take the line segment 60 at C place, position as line segment 60c, take the line segment 60 at E place, position as line segment 60e.In addition, take the line segment 61 at C place, position as line segment 61c, take the line segment 61 at E place, position as line segment 61e.At this, line segment 61c is consistent with line segment 61e.In addition, the Y-direction of the Y direction of wafer transfer device 10 and transfer position angle is in design made as to θ.In addition, in the present embodiment, θ=0.In addition, the side-play amount of the positional information of the X-direction of the positional information of the directions X of transfer position and wafer transfer device 10 is x.
As shown in Figure 16 (b) and Figure 16 (c), the triangle 64 becoming when position E moves wafer transfer device 10 from position C meets following relational expression (3) and relational expression (4).
tanα＝(y/2)/x′·····(3)
cosθ＝x′/x·····(4)
At this, y is the amount of movement to Y direction from position C to position E.
According to relational expression (3) and relational expression (4), side-play amount x is represented by following relational expression (5).
x＝y/(2tanα·cosθ)·····(5)
Use relational expression (5), in above-mentioned steps S405, calculate the side-play amount x of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.In addition, in the present embodiment, due to θ=0, therefore, use following relational expression (5 '), at above-mentioned steps S405, calculate the side-play amount x of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.
x＝y/(2tanα)·····(5′)
Secondly, with reference to Figure 17 to Figure 19, (S104) processed in the S axle correction that describes Fig. 7 in detail.Figure 17 is the flow chart that represents an example of the treatment step of S axle correction processing (S104).Figure 18 is the figure of an example of the action for conveying mechanical arm 12 is described.In addition, Figure 19 is used for the figure of the calculation method of the teaching information that the correction of S axle is described.
As shown in figure 17, first, the mode that becomes the center of shading pin 51 with the intersection point O of optical axis 41 and optical axis 42 by the conveying mechanical arm 12 after the result correction that correction is processed and an X-axis correction is processed according to θ axle moves (S501).
Secondly, make conveying mechanical arm 12 to+Y direction move until the position (position F) that optical axis 41 starts with respect to the shading of shading pin 52 (S502).That is, conveying mechanical arm 12 is moved until the position F of (state 1) in Figure 18 to+Y direction.
Secondly, conveying mechanical arm 12 is moved from position F to+Y direction until the position (position G) that optical axis 42 starts with respect to the shading of shading pin 52 (S503).That is, conveying mechanical arm 12 is moved until the position G of (state 2) in Figure 18 to+Y direction.
Secondly, according to position F and position G, calculate the deviation angle γ (S504) of the Y-direction in the design of Y-direction (S axle) that shading fixture 50 arranges and transfer position.
The calculation method of deviation angle γ is described below.As shown in Figure 19 (a), to meet at right angles with the Y direction of wafer transfer device 10 and by optical axis 41 and the line segment of the intersection point O of optical axis 42, the line segment of X-direction is as line segment 60, take the line segment of the Y direction by intersection point O as line segment 61.Optical axis 41 and optical axis 42 are called to optical axis angle with line segment 60 angulations respectively, at this, are made as α.
As shown in Figure 19 (b), take the optical axis 41 at F place, position as optical axis 41f, take the optical axis 41 at G place, position as optical axis 41g.In addition, take the optical axis 42 at F place, position as optical axis 42f, take the optical axis 42 at G place, position as optical axis 42g.In addition, take the line segment 60 at F place, position as line segment 60f, take the line segment 60 at G place, position as line segment 60g.In addition, take the line segment 61 at F place, position as line segment 61f, take the line segment 61 at G place, position as line segment 61g.At this, line segment 61f is consistent with line segment 61g.In addition, the Y-direction of the Y direction of wafer transfer device 10 and transfer position angle is in design made as to θ.In addition, in the present embodiment, θ=0.The deviation angle of the Y-direction in the Y-direction (S axle) in addition, shading fixture 50 being arranged and the design of transfer position is made as γ.
As shown in Figure 19 (b) and Figure 19 (c), the triangle 65 becoming when position G moves wafer transfer device 10 from position F meets following relational expression (6).
sinγ＝x″/b·····(6)
At this, b is the distance between shading Xiao51 center and shading Xiao52 center.
In addition, according to relational expression (5), with following relational expression (7) expression x ".
x″＝y′/(2tanα·cosθ)·····(7)
At this, y ' is the amount of movement to Y direction from position F to position G.
Thereby according to relational expression (6) and relational expression (7), deviation angle γ is represented by following relational expression (8).
γ＝sin -1{y′/(2b·tanα·cosθ)}·····(8)
Use relational expression (8), in above-mentioned steps S504, calculate the deviation angle γ of the Y-direction in the design of Y-direction (S axle) that shading fixture 50 arranges and transfer position.In addition, in the present embodiment, due to θ=0, therefore, use following relational expression (8 '), at above-mentioned steps S504, calculate the deviation angle γ of the Y-direction in the design of Y-direction (S axle) that shading fixture 50 arranges and transfer position.
γ＝sin -1{y′/(2b·tanα)}·····(8′)
Secondly, with reference to Figure 20, describe the secondary X-axis correction processing (S105) of Fig. 7 in detail.Figure 20 is the flow chart that represents an example of the treatment step of secondary X-axis correction processing (S105).In addition, secondary X-axis correction processing (S105) is identical with an X-axis correction processing (S103).An X-axis correction is calculated side-play amount according to optical axis 41 and optical axis 42 by the position of shading pin 51 shadings in processing, and in the correction of secondary X-axis is processed, according to optical axis 41 and optical axis 42, by the position of shading pin 52 shadings, is calculated side-play amount.
As shown in figure 20, first, make from the position F of the step S502 of Figure 17 to-Y direction, to move (S601) according to the conveying mechanical arm 12 after the result correction that θ axle correction is processed, an X-axis correction is processed and the correction of S axle is processed, secondly, make conveying mechanical arm 12 to+Y direction move until the position (position H) that optical axis 41 starts with respect to the shading of shading pin 52 (S602).
Secondly, conveying mechanical arm 12 is moved from position H to+Y direction until the position (position I) that optical axis 42 starts with respect to the shading of shading pin 52 (S603).
Secondly, according to position H and position I, calculate the side-play amount (S604) of the positional information of directions X of transfer position and the positional information of the X-direction of wafer transfer device 10.
Secondly, (S106) processed in the Y-axis correction that describes Fig. 7 in detail with reference to Figure 21 and Figure 22.Figure 21 is the flow chart that represents an example of the treatment step of Y-axis correction processing (S106).Figure 22 is the figure that represents an example of the action for conveying mechanical arm 12 is described.
As shown in figure 21, first, make from the position F of the step S502 of Figure 17 to-Y direction, to move (S701) according to the conveying mechanical arm 12 after the result correction that θ axle correction is processed, an X-axis correction is processed, the correction of S axle is processed and the correction of secondary X-axis is processed.That is, conveying mechanical arm 12 is moved until the position of (state 1) Figure 22 from position F to-Y direction.
Secondly, make conveying mechanical arm 12 to+Y direction move until the position (position J) that optical axis 41 starts with respect to the shading of shading pin 51 (S702).That is, conveying mechanical arm 12 is moved until the position J of (state 2) in Figure 22 to+Y direction.
Secondly, conveying mechanical arm 12 is moved from position J to+Y direction until the position (position K) that optical axis 42 starts with respect to the shading of shading pin 51 (S703).At this, be located at the clamp of sensor 30 of conveying mechanical arm 12 as shown in Figure 3, on perspective plane, the Projection Line Segment of the Projection Line Segment of optical axis 41 and optical axis 42 is with respect to Y-axis line symmetry, and, conveying mechanical arm 12 has been implemented to the correction that the correction based on θ axle is processed, an X-axis correction is processed, the correction of S axle is processed and the correction of secondary X-axis is processed, therefore, position J and position K are roughly the same, and the difference of position J and position K becomes error.
Secondly, in order to consider the error of position J and the caused transmitted light formula of position K sensor 32, the centre position of position J and position K is calculated as Y direction position, calculate so that the teaching information (S704) that the positional information of the Y-direction of the transfer position mode consistent with the positional information of the Y-axis of wafer transfer device 10 makes corrections.
At wafer transfer device 10 described above, clamp of sensor 30 is set, at transfer position, shading fixture 50 is set, by carrying out common conveying action, in the case of not carrying out, the avoidance action for teaching operation, can obtain the teaching information of transfer position.Thereby, can in the case of each shaft clearance of not considering wafer transfer device 10, calculate teaching information.That is, can easily carry out calculating of teaching information, and, the time of calculating can be shortened.
In above-mentioned wafer transfer device 10 and position-teaching method, the S axle of the shading fixture 50 of being located at transfer position and the deviation angle γ of Y-direction have been considered, but arranging in the situation that caused deviation angle γ is little of shading fixture 50, can be configured to S axle correction information calculating section structures 65, that do not carry out S axle correction treatment S 104 is not set.In addition, now, the shading pin of being located at shading fixture 50 also can be one.
In addition, in above-mentioned wafer transfer device 10 and position-teaching method, at wafer transfer device 10, clamp of sensor 30 is set, at transfer position, shading fixture 50 is set, but can shading fixture 50 be set at wafer transfer device 10, at transfer position, clamp of sensor 30 be set.
In addition, the upper intersection of straight line (Y-axis) of the Projection Line Segment of optical axis 41 of the transmitted light formula sensor 32 of clamp of sensor 30 and the Projection Line Segment of optical axis 42 Y-direction on the perspective plane of the central shaft 26 by wafer transfer device 10, the Projection Line Segment of the Projection Line Segment of optical axis 41 and optical axis 42 is with respect to the mutual line symmetry of this Y-axis, at clamp of sensor 30, configure light-projecting portion 32a and 32b and light accepting part 32c and 32d, but as shown in Figure 23 (a), the Projection Line Segment that can be also optical axis 41 intersects on perspective plane mutually with the Projection Line Segment of optical axis 42, the Projection Line Segment of optical axis 41 and Y-axis meet at right angles and optical axis 42 and the uneven situation of Y-axis.
In addition, as shown in Figure 23 (b), can be also that the Projection Line Segment of optical axis 41 intersects on perspective plane mutually with the Projection Line Segment of optical axis 42, the Projection Line Segment of optical axis 42 meets at right angles with respect to Y-axis, and the Projection Line Segment of optical axis 41 and the uneven situation of Y-axis.In addition, as shown in Figure 23 (c) and Figure 23 (d), the extended line that can be also the Projection Line Segment of optical axis 41 intersects on perspective plane mutually with the extended line of the Projection Line Segment of optical axis 42, and the Projection Line Segment of optical axis 41 and Y-axis meet at right angles and Projection Line Segment and the uneven situation of Y-axis of optical axis 42.In addition, as shown in Figure 23 (e), also can be in the light-projecting portion 32a and 32b and light accepting part 32c of transmitted light formula sensor 32, the situation that the optical axis 41 from light-projecting portion 32a to light accepting part 32c and the optical axis 42 from light-projecting portion 32b to light accepting part 32c are positioned at perspective plane.In addition, the transmitted light formula sensor 32 of clamp of sensor 30 is for having the situation of two optical axises, but as shown in Figure 23 (f), also can, for by light-projecting portion 32a and the light accepting part 32c of transmitted light formula sensor 32, only there is the situation of the optical axis 41 from light-projecting portion 32a to light accepting part 32c.
In addition, in above-mentioned position-teaching method, shading fixture 50 is configured in to transfer position, but also can replaces shading fixture 50, near of transfer position, existed, with the relative position of the reference position of transfer position and the known parts of geomery.
In addition, while carrying out teaching operation, transfer position moving section region is around narrow, under the environment that may contact with equipment around transfer position or parts at wafer transfer device 10 and clamp of sensor 30, can be as shown in Figure 8, use shading fixture 55 to replace shading fixture 50.
Shading fixture 55 have with shading fixture 50 integrated to the protuberance 56 of the outstanding shape of the opposed direction of clamp of sensor 30 (Y-direction), possess columned interim shading pin (transient target parts) 57 and 58.In addition, relative position and the geomery of interim shading pin 57 and 58 reference positions with respect to shading fixture 50 are known.In addition, protuberance 56 length is in the Y direction formed as making interim shading pin 57 and 58 to be configured on wafer transfer device 10 and clamp of sensor 30 and transfer position equipment and the discontiguous position of parts around.
At above-mentioned wafer transfer device 10 and position-teaching method, use shading fixture 55, in Z axis correction processing, θ axle correction processing and an X-axis correction are processed, use interim shading pin 57 and 58 replacement shading pins 51 and 52 to calculate teaching information.In addition, in S axle correction processing, secondary X-axis correction processing and Y-axis correction are processed, during with use shading fixture 50, use in the same manner shading pin 51 and 52 to calculate teaching information.
By as above, at wafer transfer device 10, clamp of sensor 30 is set, at transfer position, shading fixture 55 is set, carry out common conveying action, make the area of space around transfer position narrow, in order to obtain for the teaching information of transfer position and wafer transfer device 10 to be moved, in the case of may causing that equipment around transfer position or parts contact with wafer transfer device 10 or clamp of sensor 30, can prevent that transfer position equipment or parts around from contacting with wafer transfer device 10 or clamp of sensor 30, obtain the teaching information for transfer position simultaneously.
1. a conveying device, the delivery section of its front end by being located at arm keeps transported material and carrying on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that
Take vertical as Z direction, to be positioned at rectilinear movement direction in the design in described plane as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X,
Described conveying device possesses:
Transmitted light formula sensor, it at least has an optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis so that on the described optical axis perspective plane that required both direction forms in these three directions of directions X, Y-direction and Z direction each other described at least one in not parallel and multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part;
More than one target component, it can carry out shading to described optical axis;
Teaching information calculates mechanism, positional information during when it obtains described target component and make described optical axis from the shading of light projector state from described transmitted light formula sensor or from shading status light projector, calculates the teaching information for the target location of the regulation on described conveying track according to described positional information;
Controlling organization, it,, according to utilizing described teaching information to calculate the described teaching information for described target location that mechanism calculates, controls the transfer position of described transported material,
Described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, do not arrange the leading section of described delivery section of described transmitted light formula sensor or described target location near portion described target component is set,
Take the craspedodrome direction of described delivery section as R direction,
Described teaching information calculates mechanism and comprises:
Z axis correction information calculates mechanism, it is the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to a described target component and by this target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location;
θ axle correction information calculating section, its according to make a described optical axis relatively parallel until by a described target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this target component relatively parallel until this optical axis described positional information during light projector again calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections;
X-axis correction information calculates mechanism, when thering is two described optical axises, it,, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculates the described teaching information of carrying out the position correction of directions X for described target location;
Y-axis correction information calculating section, it is when having two described optical axises of intersection, according to make these two optical axis direction R directions with respect to a described target component relatively parallel and described optical axis respectively each described positional information during shading or when not thering is two described optical axises of intersection according to described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
2. conveying device according to claim 1, is characterized in that,
Described target component is more than two, and the direction of the S axle at the center by least two described target components and Y-direction or directions X angulation be known, and the relative position of described target component is known.
3. conveying device according to claim 2, is characterized in that,
The direction of the S axle at the center by least two described target components is Y-direction or directions X.
4. according to the conveying device described in any one in claim 1～3, it is characterized in that,
There is plural described target component, respectively take two described target components by S axle as first object parts and the second target component, there are two uneven described optical axises each other on described perspective plane,
Described teaching information calculates mechanism to be had S axle correction information and calculates mechanism,
When described S axle is consistent with Y-direction, each described positional information when this S axle correction information calculates mechanism mind-set R direction is with respect to relatively parallel and two the described optical axis shadings of described the second target component from described first object parts according to the described optical axis that makes a side, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections
When described S axle is consistent with directions X, each described positional information when this S axle correction information calculates mechanism mind-set directions X is with respect to relatively parallel and two the described optical axis shadings of described the second target component from described first object parts according to the described optical axis that makes a side, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections
When described S axle and Y-direction and directions X are all inconsistent, each described positional information when this S axle correction information calculates mechanism mind-set R direction is with respect to relatively parallel and two the described optical axis shadings of described the second target component from described first object parts according to the described optical axis that makes a side, calculates the described teaching information that the deviation angle of the Y-direction in Y-direction to calculating according to the S axle on arranging and design makes corrections.
5. a conveying device, the delivery section of its front end by being located at arm keeps transported material and carrying on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that
More than one interim correction target component, its relative position with respect to the described target component that can cover described optical axis is known;
Teaching information calculates mechanism, positional information during when it obtains described target component and described interim correction target component and make described optical axis from the shading of light projector state from described transmitted light formula sensor or from shading status light projector, calculates the teaching information for the target location of the regulation on described conveying track according to described positional information;
Described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, described target component and described interim correction target component are arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location, and described interim correction target component is arranged between described transmitted light formula sensor and described target component
Z axis correction information calculates mechanism, it is the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to described interim correction target component and by this interim correction target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location;
θ axle correction information calculating section, its according to make a described optical axis relatively parallel until by described interim correction target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this interim make corrections target component relatively parallel until this optical axis described positional information during light projector again calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections;
One time X-axis correction information calculates mechanism, when thering is two described optical axises, it,, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of described interim correction target component, calculates the described teaching information of carrying out the position correction of directions X for described target location;
6. conveying device according to claim 5, is characterized in that,
7. conveying device according to claim 6, is characterized in that,
8. according to the conveying device described in any one in claim 5～7, it is characterized in that,
There is plural described target component, respectively take two described target components by S axle as first object parts and the second target component,
S axle correction information calculates mechanism, there are two uneven described optical axis and described S axles when consistent with Y-direction each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, there are two uneven described optical axis and described S axles when consistent with directions X each other on described perspective plane, this S axle correction information calculate mechanism according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections,
One time X-axis correction information calculates mechanism, when thering is two described optical axises, it,, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculates the described teaching information of carrying out the position correction of directions X for described target location;
Secondary X-axis correction information calculates mechanism, when having that two uneven described optical axis and described S axle and Y-direction and directions X are all inconsistent each other on described perspective plane, each described positional information when this secondary X-axis correction information calculates mechanism mind-set R direction is with respect to relatively parallel and two the described optical axis shadings of described the second target component from described first object parts according to the described optical axis that makes a side, calculates the described teaching information that the deviation angle of the Y-direction in Y-direction to calculating according to the S axle on arranging and design makes corrections.
9. a position-teaching method, this position-teaching method is carried the target location of the regulation on track to conveying device teaching, the delivery section of the front end of described conveying device by being located at arm keeps transported material and carrying on predefined described conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described position-teaching method is characterised in that
Described position-teaching method comprises following operation:
(a) by making transmitted light formula sensor, with respect to being arranged on, the leading section of described delivery section of described transmitted light formula sensor is not set or near the more than one target component of the portion of described target location relatively moves, and when obtaining described target component and making optical axis from the shading of light projector state, or the positional information during from shading status light projector, according to the described positional information getting, calculate the teaching information for described target location, wherein, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, there is at least one optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part,
Described operation (a) comprises at least one operation in following four operations:
(b) the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to a described target component and by this target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location;
(c) according to make a described optical axis relatively parallel until by a described target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections;
(d) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location;
(e) in the situation that thering is two described optical axises, according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises each described positional information during shading respectively, or in the situation that two described optical axises do not intersect described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
10. position-teaching method according to claim 9, is characterized in that,
11. position-teaching methods according to claim 10, is characterized in that,
12. according to the position-teaching method described in any one in claim 9～11, it is characterized in that,
There is plural described target component, and take a described target component in the described target component by S axle as first object parts, take the described target component outside described first object parts as the second target component,
Described operation (a) comprises at least one operation in following two operations:
(f) in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections,
(g) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location.
13. 1 kinds of position-teaching methods, this position-teaching method is carried the target location of the regulation on track to conveying device teaching, the delivery section of the front end of described conveying device by being located at arm keeps transported material and carrying on predefined described conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described position-teaching method is characterised in that
(a1) by transmitted light formula sensor is relatively moved with respect to more than one target component and more than one interim correction target component, and when obtaining described target component and described interim correction target component and making optical axis from the shading of light projector state, or the positional information during from shading status light projector, according to the described positional information getting, calculate the teaching information for described target location, wherein, described transmitted light formula sensor is located at the either party of the leading section of described delivery section or near the portion of described target location, there is at least one optical axis from light-projecting portion to light accepting part, in the situation that thering is multiple described optical axis, so that described optical axis is at directions X, not parallel each other on the perspective plane that in these three directions of Y-direction and Z direction, required both direction forms, and described at least one in multiple described optical axises optical axis also not parallel with described required both direction mode configure described light-projecting portion and described light accepting part, more than one described target component is arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location, more than one described transient target parts are arranged on the leading section of the described delivery section that described transmitted light formula sensor is not set or near the portion of described target location and are arranged between described transmitted light formula sensor and described target component, and be known with respect to the relative position of described target component,
Described operation (a1) comprises at least one operation in following four operations:
(b1) the described positional information during to this optical axis shading according to described optical axis direction Z direction is relatively moved with respect to described interim correction target component and by this interim correction target component, calculates the described teaching information of carrying out the position correction of Z direction for described target location;
(c1) according to make a described optical axis relatively parallel until by described interim correction target component the described positional information during to a described optical axis shading, make this optical axis direction directions X with respect to this interim make corrections target component relatively parallel until described positional information during this optical axis light projector calculates the described teaching information that the deviation angle of R direction and Y-direction is maked corrections;
(d1) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of described interim correction target component, calculate the described teaching information of carrying out the position correction of directions X for described target location;
(e1) in the situation that thering is two described optical axises, according to make described optical axis direction R direction with respect to a described target component relatively parallel and in the situation that two described optical axises intersect two described optical axises respectively each described positional information during shading or in the situation that two described optical axises do not intersect described positional information during optical axis shading described at least one, calculate the described teaching information for the R direction of described target location.
14. position-teaching methods according to claim 13, is characterized in that,
15. position-teaching methods according to claim 14, is characterized in that,
16. according to the position-teaching method described in any one in claim 13～15, it is characterized in that,
Described operation (a1) comprises at least one operation in following two operations:
(f1) in the situation that having that two uneven described optical axis and described S axle are Y-direction each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and Y-direction is maked corrections, in the situation that having that two uneven described optical axis and described S axle are directions X each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set directions X with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, calculate the described teaching information that the deviation angle of S axle and directions X is maked corrections, there are two uneven described optical axis and described S axles different from Y-direction and directions X in the situation that each other on described perspective plane, according to the described optical axis that makes a side from described first object parts mind-set R direction with respect to relatively parallel of described the second target component, and each described positional information during two described optical axis shadings, the described teaching information that the deviation angle of the Y-direction that calculates the Y-direction to calculating according to the S axle on arranging and design makes corrections,
(g1) in the situation that thering is two described optical axises, according to making described optical axis direction R direction with respect to relatively parallel and two described optical axises each described positional information during shading respectively of a described target component, calculate the described teaching information of carrying out the position correction of directions X for described target location.
17. 1 kinds of clamp of sensors, its by with target component relatively parallel detect described target component, described clamp of sensor is characterised in that,
Take vertical as Z direction, take the rectilinear movement direction in the design with respect in the rectangular plane of vertical as Y-direction, take with respect to Y-direction and the rectangular direction of Z direction as directions X,
At least there is the optical axis of a light-projecting portion from transmitted light formula sensor to light accepting part, in the situation that thering is multiple described optical axis, so that on the described optical axis same perspective plane that required both direction forms in these three directions of directions X, Y-direction and Z direction each other described at least one in not parallel and multiple described optical axises optical axis with respect to projecting to, on described perspective plane, to the relative moving direction of described target component and with the uneven mode of the rectangular direction of described moving direction, configure described light-projecting portion and described light accepting part
In the detection action of described target component, optical axis is to move with the uneven mode of described required both direction described at least one in multiple described optical axises.
18. 1 kinds of conveying devices, the delivery section of its front end by being located at arm keeps transported material and carrying on predefined conveying track, and can in vertical, move up and down, and can on respect to the rectangular plane of vertical, move linearly and circle round movement, described conveying device is characterised in that
Possesses the clamp of sensor described in claim 17, according to the described transmitted light formula sensor that utilizes described clamp of sensor, obtain, the positional information of described target component while making described optical axis become shading from light projector or while becoming light projector from shading, calculate the teaching information for the target location of the regulation on described conveying track.
CN200980119092.2A 2008-05-27 2009-05-19 Carrier device, position-teaching method, and sensor jig CN102046338B (en)
JP2008-138785 2008-05-27
JP2008138785 2008-05-27
PCT/JP2009/059181 WO2009145082A1 (en) 2008-05-27 2009-05-19 Carrier device, position-teaching method, and sensor jig
CN102046338A CN102046338A (en) 2011-05-04
CN102046338B true CN102046338B (en) 2014-05-07
ID=41376963
CN200980119092.2A CN102046338B (en) 2008-05-27 2009-05-19 Carrier device, position-teaching method, and sensor jig
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