Source: https://patents.google.com/patent/CN103663262B/en
Timestamp: 2019-12-15 00:11:26
Document Index: 594081181

Matched Legal Cases: ['arts 12', 'arts 12', 'arts 12', 'arts 12', 'arts 12', 'arts 12', 'arts 12']

CN103663262B - Lifting mechanism and the substrate loading device with it - Google Patents
Lifting mechanism and the substrate loading device with it Download PDF
CN103663262B
CN103663262B CN201210321348.1A CN201210321348A CN103663262B CN 103663262 B CN103663262 B CN 103663262B CN 201210321348 A CN201210321348 A CN 201210321348A CN 103663262 B CN103663262 B CN 103663262B
CN201210321348.1A
CN103663262A (en
2012-09-03 Application filed by 北京北方微电子基地设备工艺研究中心有限责任公司 filed Critical 北京北方微电子基地设备工艺研究中心有限责任公司
2012-09-03 Priority to CN201210321348.1A priority Critical patent/CN103663262B/en
2014-03-26 Publication of CN103663262A publication Critical patent/CN103663262A/en
2016-02-10 Publication of CN103663262B publication Critical patent/CN103663262B/en
The invention discloses a kind of lifting mechanism, comprising: actuator; Inside limit the housing of hoist trunk, the two ends up and down of housing are respectively arranged with the first end cap and the second end cap for closed hoist trunk; Ball-screw, ball-screw to be arranged in hoist trunk and to comprise the leading screw and feed screw nut that cooperatively interact, and the lower end of leading screw to be connected on the second end cap and to be rotated by driver drives; Lifting bar, the upper surface that lifting bar is located at feed screw nut is set in outside leading screw coaxially, and the upper end of lifting bar is through the first end cap; Bellows, bellows is located at first end and covers and be set in outside lifting bar, and the top of bellows is provided with bay-lift; And for braking screw motion brake unit.According to the lifting mechanism of the embodiment of the present invention, improve the guiding accuracy of leading screw in motion process, and lifting mechanism installation and maintenance is convenient.The invention also discloses a kind of substrate loading device with above-mentioned lifting mechanism.
Lifting mechanism and the substrate loading device with it
The present invention relates to field of semiconductor devices, especially relate to a kind of lifting mechanism and there is its substrate loading device.
In field of semiconductor devices, film magazine automatic loading system is the important component part of supermatic LED etching machine transmission system.By film magazine loaded with wafers, and coordinate film magazine lifting mechanism and vacuum mechanical-arm to get/put wafer, just can realize the full-automatic loading/unloading operation of wafer, substantially increase production efficiency.Film magazine lifting mechanism drives film magazine to do the lifting action specified, cooperative mechanical hand completes the automation loading/unloading of wafer in film magazine.
Existing film magazine lifting mechanism great majority adopt leading screw, guide rail intergration model, namely servomotor drives ball-screw by synchronous pulley, whole film magazine lifting mechanism is driven to complete athletic performance by feed screw nut, line slideway directed movement direction, for preventing film magazine shift in position, drg stop-keeping position is set.Thus, guide screw movement performance determines the performance of integrated model.Because needs are positioned by line slideway, lead, the relative positional accuracy therefore between guide rail and leading screw, just directly determines the drive ability of whole leading screw.For ensureing that the installation between leading screw, guide rail meets the demands, need more part to mutually adjust cooperation, and the technical merit of Installation and Debugging personnel also will affect the overall performance of film magazine lifting mechanism.
The present invention is intended at least to solve one of technical matters existed in prior art.
For this reason, to be to propose a kind of lifting stable and install, debug lifting mechanism easily for one object of the present invention.
Another object of the present invention is to propose a kind of substrate loading device with above-mentioned lifting mechanism.
The lifting mechanism of embodiment according to a first aspect of the present invention, comprising: actuator; Housing, limits hoist trunk in described housing, and the two ends up and down of described housing are respectively arranged with the first end cap and the second end cap for closing described hoist trunk; Ball-screw, described ball-screw to be arranged in described hoist trunk and to comprise the leading screw and feed screw nut that cooperatively interact, and the lower end of described leading screw to be connected on described second end cap and to be rotated by described driver drives; Lifting bar, the upper surface that described lifting bar is located at described feed screw nut is set in that described leading screw is outer to be moved up and down to promote described lifting bar by described feed screw nut coaxially, and the upper end of described lifting bar is through described first end cap; Bellows, described bellows is located at described first end and covers and be set in outside described lifting bar, and the top of described bellows is provided with bay-lift; And brake unit, for braking the rotational motion of described leading screw.
According to the lifting mechanism of the embodiment of the present invention, the end of housing is provided with the second end cap for closed hoist trunk, leading screw is located in hoist trunk and the lower end of leading screw is connected on the second end cap, thus housing can bear the transmission load of leading screw, improve the guiding accuracy of leading screw in motion process, simultaneously by the cooperation between each parts, improve the stability of lifting mechanism in lifting process, and lifting mechanism installation and maintenance is convenient.
In addition, according to lifting mechanism of the present invention, also there is following additional technical feature:
According to some embodiments of the present invention, described lifting mechanism also comprises orienting sleeve, and described orienting sleeve to be engaged in movably in described lifting bar and to be connected with leading screw.Thus, the slight beat of leading screw in motion process can be prevented by actv..
Further, described lifting mechanism also comprises: a pair backup bearing, and described a pair backup bearing is connected with the lower end of described leading screw; Roller bearing end cap, described roller bearing end cap is connected with the upper surface of described second end cap with described a pair backup bearing the lower end of described leading screw is connected with described second end cap respectively.Thus, ensure that leading screw is connected on the second end cap, make housing can bear the transmission load of leading screw.
Preferably, described a pair backup bearing is angular contact ball bearing.
Further, described a pair backup bearing is located at the lower end of described leading screw by jam nut.Thus, further ensure leading screw to be connected on the second end cap.
In some embodiments of the invention, described lifting mechanism also comprises: support sleeve, and described support sleeve is located at described first end and covers, and described lifting bar and described support sleeve bearing fit.Thus, by the bearing fit of support sleeve and lifting bar, ensure that the linear movement direction of lifting bar remains unchanged.
Particularly, be formed with axle sleeve hole in described first end cap, described support sleeve is arranged in described axle sleeve hole.Thus, be convenient to the installation of support sleeve.
Further, described lifting mechanism also comprises anti-bias feather key, and described anti-bias feather key is located on the outer peripheral face at least partially of described lifting bar by described support sleeve.Thus, by being provided with anti-bias feather key, the beat during actv. prevents lifting bar to move, the linear movement direction further ensuring lifting bar remains unchanged.
According to one embodiment of present invention, described lifting mechanism also comprises: attaching parts, and wherein said lifting bar is connected with the upper surface of described feed screw nut by described attaching parts.Thus, ensure that the setting accuracy between lifting bar and ball-screw, ensure that the stability of lifter rod lifting process.
Alternatively, described actuator is motor.
In an example of the present invention, described lifting mechanism comprises further: synchronous pulley, wherein said leading screw by synchronous pulley by described driver drives; Wherein said brake unit is drg and is connected with the lower end of described leading screw.Thus, easy for installation and make the installing space needed for lifting mechanism little.
In another example of the present invention, described brake unit is elastic coupling and is connected with the axle drive shaft of described actuator.Thus, this brake unit can direct brake actuators, can the motion of fast speed braking screw, and makes the cost of lifting mechanism low.
The substrate loading device of embodiment according to a second aspect of the present invention, comprising: the lifting mechanism of embodiment according to a first aspect of the present invention, for placing the film magazine being loaded with substrate on wherein said bay-lift; And handing device, described handing device is for carrying described substrate from loading/unloading on described bay-lift.
According to the substrate loading device of the embodiment of the present invention, by being provided with lifting mechanism, structure is simple, and be convenient to installation and maintenance, and cost is low, overall volume is little.
Fig. 1 is the main cutaway view of the lifting mechanism according to the embodiment of the present invention; With
Fig. 2 is the right elevation of the lifting mechanism shown in Fig. 1.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
A kind of lifting mechanism 100 of embodiment is according to a first aspect of the present invention described below with reference to Fig. 1 and Fig. 2.Below for lifting mechanism 100 in chip-loading apparatus and drive film magazine be elevated be described.Certainly, be understandable that, lifting mechanism 100 provided by the invention can be used for, in any mechanism having lifting to require, illustrating no longer one by one at this.
According to the lifting mechanism 100 of the embodiment of the present invention, as shown in Figure 1, comprise: actuator 1, housing 2, ball-screw 3, lifting bar 4, bellows 5 and brake unit 6, wherein, hoist trunk 20 is limited in housing 2, the two ends up and down of housing 2 are respectively arranged with the first end cap 21 and the second end cap 22, first end cap 21 and the second end cap 22 for closed hoist trunk 20.Ball-screw 3 is arranged in hoist trunk 20, and described ball-screw 3 comprises the leading screw 30 and feed screw nut 31 that cooperatively interact, and the lower end of leading screw 30 to be connected on the second end cap 22 and to drive rotation by actuator 1.The upper surface that lifting bar 4 is arranged on feed screw nut 31 is set in that leading screw 30 is outer to be moved up and down to promote lifting bar 4 by feed screw nut 31 coaxially, and the upper end of lifting bar 4 is through the first end cap 21.Bellows 5 to be located on the first end cap 21 and to be set in outside lifting bar 4, and the top of bellows 5 is provided with bay-lift 50.Brake unit 6 is for braking the rotational motion of screw mandrel 30.
In the example of fig. 1, the top of the first end cap 21 is also provided with flange fabricated section 14, so that lifting mechanism 100 is connected with other equipment.Sealing member 15 is provided with between flange fabricated section 14 and the first end cap 21.
When assembling according to the lifting mechanism 100 of the embodiment of the present invention, first ball-screw 3 is placed in hoist trunk 20, the lower end of leading screw 30 to be connected on the second end cap 22 and to be connected with actuator 1 through the second end cap 22, then the second end cap 22 is arranged on the lower end of housing 2, lifting bar 4 is set in coaxially leading screw 30 is outer and lower end is located on feed screw nut 31, first end cap 21 is arranged on the upper end of housing 2 through lifting bar 4, to be finally located at by bellows 5 on first end cap 21 and to be set in outside lifting bar 4.
During work, actuator 1 drives the screw mandrel 30 of ball-screw 3 to rotate, convert rotational motion is in line motion by ball-screw 3, thus feed screw nut 31 promotes lifting bar about 4 moves linearly, lifting bar 4 drives bellows 5 and bay-lift 50 to move up and down, so that the article that bay-lift 50 is placed are sent to desired location, when bay-lift 50 arrives desired location, brake unit 6 can the motion of braking screw 30, makes bay-lift 50 rest on desired location.
According to the lifting mechanism 100 of the embodiment of the present invention, the end of housing 2 is provided with the second end cap 22 for closed hoist trunk 20, leading screw 30 is located in hoist trunk 20 and the lower end of leading screw 30 is connected on the second end cap 22, thus housing 2 can bear the transmission load of leading screw 30, improve the guiding accuracy of leading screw 30 in motion process, simultaneously by the cooperation between each parts, improve the stability of lifting mechanism 100 in lifting process, and lifting mechanism 100 installation and maintenance is convenient.
According to some embodiments of the present invention, as shown in Figure 1, lifting mechanism 100 also comprises orienting sleeve 7, and orienting sleeve 7 to be engaged in movably in lifting bar 4 and to be connected with leading screw 30.Thus, the slight beat of leading screw 30 in motion process can be prevented by actv..Preferably, in the example of fig. 1, orienting sleeve 7 is enclosed within the upper end of leading screw 30.
Further, as shown in Figure 1, lifting mechanism 100 also comprises: a pair backup bearing 8 and roller bearing end cap 9, and wherein, a pair backup bearing 8 is connected with the lower end of leading screw 30.Roller bearing end cap 9 is connected the lower end of leading screw 30 is connected with the second end cap 22 with the upper surface of the second end cap 22 with a pair backup bearing 8 respectively.Thus, ensure that leading screw 30 is connected on the second end cap 22, make housing 2 can bear the transmission load of leading screw 30.Preferably, a pair backup bearing 8 is angular contact ball bearing.Further, a pair backup bearing 8 is located at the lower end of leading screw 30 by jam nut 16.
When leading screw 30 being installed on the second end cap 22, first a pair backup bearing 8 mounted in pairing mode is coordinated with the lower end of leading screw 30 on the second end cap 22, jam nut 16 makes a pair backup bearing 8 closely cooperate with leading screw 30, being connected then by roller bearing end cap 9 and the second end cap 22, completes support and the location of leading screw 30.
As depicted in figs. 1 and 2, in some embodiments of the invention, lifting mechanism 100 also comprises support sleeve 10, and support sleeve 10 is located on the first end cap 21, and lifting bar 4 and support sleeve 10 bearing fit.Thus, by the bearing fit of support sleeve 10 with lifting bar 4, ensure that the linear movement direction of lifting bar 4 remains unchanged.Particularly, be formed with axle sleeve hole 210 in the first end cap 21, support sleeve 10 is arranged in axle sleeve hole 210.Thus, be convenient to the installation of support sleeve 10.Further, lifting mechanism 100 also comprises anti-bias feather key 11, and anti-bias feather key 11 is located on the outer peripheral face at least partially of lifting bar 4 by support sleeve 10.Thus, by being provided with anti-bias feather key 11, the beat during actv. prevents lifting bar 4 to move, the linear movement direction further ensuring lifting bar 4 remains unchanged.
According to one embodiment of present invention, as shown in Figure 1, lifting mechanism 100 also comprises: attaching parts 12, and wherein lifting bar 4 is connected with the upper surface of feed screw nut 31 by attaching parts 12.Particularly, in the example of fig. 1, attaching parts 12 is for being formed with the cylinder of connecting bore, attaching parts 12 and lifting bar 4 are located by connecting by positioning spigot, attaching parts 12 and feed screw nut 31 are free-running fit, thus, ensure that the setting accuracy between lifting bar 4 and ball-screw 3, ensure that the stability of lifting bar 4 lifting process.
Alternatively, actuator 1 is motor.
In an example of the present invention, brake unit 6 is drg and is connected with the lower end of leading screw 30.Now, lifting mechanism 100 also comprises: synchronous pulley 13, and wherein leading screw 30 is driven by actuator 1 by synchronous pulley 13.Thus, easy for installation and make the installing space needed for lifting mechanism 100 little.
In another example of the present invention, brake unit 6 is elastic coupling and is connected with the axle drive shaft 17 of actuator 1.Thus, this brake unit 6 can direct brake actuators 1, fast speed braking screw 30 can move, and makes the cost of lifting mechanism 100 low.
According to the lifting mechanism 100 of the embodiment of the present invention, housing 2 adopts standard aluminum alloy material, and by cold-drawn machine-shaping, the upper and lower side of housing 2 be standard thread mounting hole so that the installation location of the first end cap 21 and the second end cap 22, the outside face of housing 2 is provided with standard mounting pockets (scheming not shown) so that the installation of external accessory simultaneously.Lifting bar 4 adopts tight cold-drawn earthen pipe, inside and outside wall degree of finish and right alignment high, be convenient to coaxially arrange with leading screw 30.
Below with reference to Fig. 1 and Fig. 2, the fitting process according to the lifting mechanism 100 of the embodiment of the present invention is described.
First, ball-screw 3 is placed in hoist trunk 20, leading screw 30 is coordinated with the second end cap 22 and is connected with actuator 1 through the second end cap 22.
When leading screw 30 coordinates with the second end cap 22, first a pair backup bearing 8 mounted in pairing mode is coordinated with the lower end of leading screw 30 on the second end cap 22, jam nut 16 makes a pair backup bearing 8 closely cooperate with leading screw 30, being connected then by roller bearing end cap 9 and the second end cap 22, complete support and the location of leading screw 30, then the second end cap 22 is fixed on housing 2.
Then the upper end of leading screw 30 is provided with orienting sleeve 7, and lifting bar 4 is set in outside leading screw 30, the lower end of lifting bar 4 is fixed by attaching parts 12 and feed screw nut 31, lifting bar 4 coordinates with the first end cap 21 being provided with support sleeve 10, and anti-bias feather key 11 is located on the outer peripheral face at least partially of lifting bar 4 by support sleeve 10 simultaneously.
Then the first end cap 21 is fixed on the upper end of housing 2, then bellows 5 is located on the first end cap 21 and is set in outside lifting bar 4.Wherein, the first end cap 21, second end cap 22 and housing 2, lifting bar 4 and attaching parts 12, feed screw nut 31 all by positioning spigot location and installation, and coordinate for free-running fit.
According to the lifting mechanism 100 of the embodiment of the present invention, whole parts are integrated in housing 2, the stressed axis along housing 2 (i.e. the axis of lifting bar 4 and leading screw 30) is transmitted, lifting mechanism 100 is made to have better mechanical stiffness, each parts coordinate location by positioning spigot simultaneously, ensure after installing that leading screw 30 sense of motion is consistent with Impact direction, leading screw 30 moves not by side force, lifting mechanism 100 is made to have better stability of motion and precision, and lifting mechanism 100 cost is low, be convenient to installation and maintenance, lifting mechanism 100 volume is little simultaneously.
The substrate loading device of embodiment according to a second aspect of the present invention, such as, can be used in LED etching machine.Substrate loading device comprises: lifting mechanism 100 and handing device (scheming not shown), wherein, lifting mechanism 100 is the lifting mechanism 100 of embodiment according to a first aspect of the present invention, for placing the film magazine being loaded with substrate on bay-lift 50.Handing device is used for carrying substrate from loading/unloading bay-lift 50.Persons of ordinary skill in the art may appreciate that handing device can comprise and get sheet manipulator and charging manipulator etc., be just not described in detail here.
According to the substrate loading device of the embodiment of the present invention, by being provided with lifting mechanism 100, structure is simple, and be convenient to installation and maintenance, and cost is low, overall volume is little.
1. a lifting mechanism comprises: actuator; Ball-screw, described ball-screw comprises the leading screw and feed screw nut that cooperatively interact, and the lower end of described leading screw is rotated by described driver drives; Brake unit, for braking the rotational motion of described leading screw, is characterized in that, described lifting mechanism also comprises:
Housing, limits hoist trunk in described housing, and the two ends up and down of described housing are respectively arranged with the first end cap and the second end cap for closing described hoist trunk;
Described ball-screw is arranged in described hoist trunk, and the lower end of described leading screw is connected on described second end cap;
Lifting bar, the upper surface that described lifting bar is located at described feed screw nut is set in that described leading screw is outer to be moved up and down to promote described lifting bar by described feed screw nut coaxially, and the upper end of described lifting bar is through described first end cap;
Bellows, described bellows is located at described first end and covers and be set in outside described lifting bar, and the top of described bellows is provided with bay-lift.
2. lifting mechanism according to claim 1, is characterized in that, described lifting mechanism also comprises orienting sleeve, and described orienting sleeve to be engaged in movably in described lifting bar and to be connected with leading screw.
3. lifting mechanism according to claim 1, is characterized in that, described lifting mechanism also comprises:
A pair backup bearing, described a pair backup bearing is connected with the lower end of described leading screw;
Roller bearing end cap, described roller bearing end cap is connected with the upper surface of described second end cap with described a pair backup bearing the lower end of described leading screw is connected with described second end cap respectively.
4. lifting mechanism according to claim 3, is characterized in that, described a pair backup bearing is angular contact ball bearing.
5. lifting mechanism according to claim 3, is characterized in that, described a pair backup bearing is located at the lower end of described leading screw by jam nut.
6. lifting mechanism according to claim 1, is characterized in that, described lifting mechanism also comprises:
Support sleeve, described support sleeve is located at described first end and covers, and described lifting bar and described support sleeve bearing fit.
7. lifting mechanism according to claim 6, is characterized in that, be formed with axle sleeve hole in described first end cap, described support sleeve is arranged in described axle sleeve hole.
8. lifting mechanism according to claim 6, is characterized in that, described lifting mechanism also comprises anti-bias feather key, and described anti-bias feather key is located on the outer peripheral face at least partially of described lifting bar by described support sleeve.
9. lifting mechanism according to claim 1, is characterized in that, described lifting mechanism also comprises: attaching parts, and wherein said lifting bar is connected with the upper surface of described feed screw nut by described attaching parts.
10. the lifting mechanism according to any one of claim 1-9, is characterized in that, described actuator is motor.
11. lifting mechanisms according to claim 10, is characterized in that, described lifting mechanism comprises further:
Synchronous pulley, wherein said leading screw by synchronous pulley by described driver drives;
Wherein said brake unit is drg and is connected with the lower end of described leading screw.
12. lifting mechanisms according to claim 10, is characterized in that, described brake unit is elastic coupling and is connected with the axle drive shaft of described actuator.
13. 1 kinds of substrate loading device, is characterized in that, comprising:
Lifting mechanism according to any one of claim 1-12, for placing the film magazine being loaded with substrate on wherein said bay-lift; With
Handing device, described handing device is for carrying described substrate from loading/unloading on described bay-lift.
CN201210321348.1A 2012-09-03 2012-09-03 Lifting mechanism and the substrate loading device with it CN103663262B (en)
CN201210321348.1A CN103663262B (en) 2012-09-03 2012-09-03 Lifting mechanism and the substrate loading device with it
CN103663262A CN103663262A (en) 2014-03-26
CN103663262B true CN103663262B (en) 2016-02-10
ID=50302192
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Address after: 100176 Beijing economic and Technological Development Zone, Wenchang Road, No. 8, No.
Patentee after: Beijing North China microelectronics equipment Co Ltd
Patentee before: Beifang Microelectronic Base Equipment Proces Research Center Co., Ltd., Beijing