Patent ID: 12255090

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following detailed description of the present disclosure refers to the accompanying drawings, which show by way of illustration a specific embodiment in which the present disclosure may be practiced, in order to clarify the objects, technical solutions and advantages of the present disclosure. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present disclosure.

In the following detailed description, reference is made to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It is to be understood that the various embodiments of the present disclosure, although different, are not necessarily mutually exclusive. For example, a particular feature, structure, or characteristic described herein in connection with one embodiment may be implemented within other embodiments without departing from the spirit and scope of the present disclosure. In addition, it is to be understood that the position or arrangement of individual elements within each disclosed embodiment may be modified without departing from the spirit and scope of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present disclosure is defined only by the appended claims, appropriately interpreted, along with the full range of equivalents to which the claims are entitled. In the drawings, like numerals refer to the same or similar functionality throughout the several views.

To allow those skilled in the art to carry out the present disclosure easily, the example embodiments of the present disclosure will be explained by referring to attached diagrams in detail as shown below.

FIG.1AtoFIG.1Care drawings illustrating a cluster-type substrate processing apparatus in which a substrate transfer apparatus is installed in accordance with one example embodiment of the present disclosure.

FIG.1AtoFIG.1Care related to a substrate processing apparatus in which each of process chamber PC1, PC2is installed on each side of a vacuum chamber VC, which is a transfer chamber having a tetragonal structure, and each of the process chambers can accommodate two substrates. Herein, the substrate transfer apparatus TA including an elevating robot1000, a travel robot2000coupled with an upper part of the elevating robot1000, a transfer robot3000coupled with an upper part of the travel robot2000is fixedly installed at a specific position P1within the vacuum chamber VC. Further, the travel robot2000moves the transfer robot3000to one of positions for the two substrates in each process chamber.

As an example, in case a first direction is defined by one direction on a plane viewed from above the vacuum chamber VC and a second direction is defined by another direction orthogonal to the first direction, a center axis of the elevating robot1000, i.e., a center axis of a hollow elevating shaft of the elevating robot1000, is located at a position P1spaced a predetermined distance apart from a first direction center line L1and is located on a second direction center line L2, wherein the first direction center line L1is a center line in the first direction, the second direction center line L2is a center line in the second direction. However, the present disclosure is not limited thereto, and the center axis of the hollow elevating shaft may be located on a second direction parallel line which is parallel to the second direction center line L2. For reference,FIG.1AtoFIG.1Care drawings schematically illustrating the vacuum chamber having a rectangular shape in which a length in the first direction is greater than a length in the second direction.

In addition, a driving trajectory DT of the travel robot2000is an arc between a first contact point P2and a second contact point P3. Herein each contact point is where a radius of rotation of a rotation driving shaft meets the first direction center line. Further, the rotation driving shaft is located at where the transfer robot3000is coupled with the travel robot2000, and the radius of rotation of the rotation driving shaft is defined by moves according to a rotation of a b-th opposite-end area of the travel arm around the hollow elevating shaft coupled with a b-th one-end area of the travel arm.

A process of transferring the substrate in the transfer vacuum chamber VC by using the substrate transfer apparatus TA which will be described below is as follows.

On condition that the transfer robot3000has been moved to the first contact point P2by the travel robot2000, the travel robot2000of the substrate transfer apparatus TA rotates the transfer robot3000in order to make a front of the transfer robot3000, i.e., a direction in which the substrate moves away in a straight direction along which the substrate is transferred by the transfer robot3000, be directed toward a first load lock chamber LC1so that the transfer robot3000can load the substrate from the first load lock chamber LC1into the transfer vacuum chamber VC. After loading the substrate, the travel robot2000of the substrate transfer apparatus TA rotates the transfer robot3000in order to make the front of the transfer robot3000be directed toward a left progress stage of the first process chamber PC1or a left progress stage of the second process chamber PC2which are located in the second direction, to thereby allow the transfer robot3000to transfer the substrate to the left progress stage of the first process chamber PC1or the left progress stage of the second process chamber PC2.

In addition, after the transfer robot3000is moved to the second contact point P3by the travel robot2000, processes of transferring the substrate to any one of a right progress stage of the first process chamber PC1, a right progress stage of the second process chamber PC2, and the second load lock chamber LC2after rotating the transfer robot3000can be easily understood through the above process, and thus a detailed description thereof will be omitted.

Meanwhile, in case the transfer robot3000is moved between the first contact point P2and the second contact point P3by the travel robot2000, the travel robot2000allows the front of the transfer robot3000to be directed toward one of two ends in the first direction to thereby avoid a collision between the substrate and the transfer vacuum chamber VC.

Herein, a movement and a rotation of the transfer robot3000performed by the travel robot2000can be combined in various ways to minimize time of transferring the substrate.

That is, the travel robot2000may allow the front of the transfer robot3000to be directed toward one of two ends in the first direction at the first contact point P2or the second contact point P3and the travel robot2000may not rotate the transfer robot3000while moving the transfer robot3000between the first contact point P2and the second contact point P3.

As another example, in case the travel robot2000moves the transfer robot3000between the first contact point P2and the second contact point P3, a rotation direction of the transfer robot3000may be the same as or opposite to a moving direction.

As an example, in case the transfer robot3000is moved from the first contact point P2to the second contact point P3by the travel robot2000on condition that the front of the transfer robot3000is facing the second load lock chamber LC2at the first contact point P2as described inFIG.1C, the transfer robot3000can travel from the first contact point P2to the second contact point P3without a rotation thereof.

As another example, in case the transfer robot3000is moved from the first contact point P2to the second contact point P3by the travel robot2000in order to transfer the substrate to the right progress stage of the second process chamber PC2on condition that the front of the transfer robot3000is facing the first load lock chamber LC1at the first contact point P2, the travel robot2000may rotate the transfer robot3000counterclockwise to thereby make the front of the transfer robot3000face the right progress stage of the second process chamber PC2at the time of the transfer robot3000reaching the second contact point P3so that the transfer robot3000can transfer the substrate directly from the second contact point P3to the right progress stage of the second process chamber PC2.

As still another example, in order to transfer the substrate to the second load lock chamber LC2on condition that the front of the transfer robot3000is facing the left progress stage of the first process chamber PC1, the travel robot2000may rotate the transfer robot3000clockwise while travelling from the first contact point P2to the second contact point P3, to thereby make the front of the transfer robot3000face the second load lock chamber LC2at the time of the transfer robot3000reaching the second contact point P3so that the transfer robot3000can withdraw the substrate directly from the vacuum chamber VC to the second load lock chamber LC2at the second contact point P3.

FIG.1AtoFIG.1Care drawings exemplarily illustrating the substrate processing apparatus having the tetragonal structure, but the present disclosure is not limited thereto. In a state where the substrate transfer apparatus TA is fixedly installed at a specific position in a vacuum chamber having one of various structures, the travel robot can move the transfer robot along various set paths.

FIG.2AandFIG.2Bare drawings schematically illustrating the substrate transfer apparatus TA in accordance with one example embodiment of the present disclosure.

By referring toFIG.2AandFIG.2B, the substrate transfer apparatus TA may include the elevating robot1000, the travel robot2000coupled with the elevating robot1000, and the transfer robot3000coupled with the travel robot2000.

First, the elevating robot1000may be located in an outer lower region of a housing that seals an inner space of the vacuum chamber VC, and an upper part of the elevating robot1000may be sealably coupled with a vacuum chamber through-hole (not shown) which is formed in a lower region of the housing of the vacuum chamber VC. Also, the elevating robot1000may move up-and-down a hollow elevating shaft1100through which an a-th hollow hole is formed, and rotate the hollow elevating shaft1100.

By regulating a vertical position of the transfer robot3000through moving up-and-down the hollow elevating shaft1100, the elevating robot1000can make the transfer robot3000be located at a height which is appropriate for loading or unloading the substrate into or from the process chamber, etc., or allow the travel robot2000to drive the transfer robot3000through a rotation of the hollow elevating shaft1100.

As an example, the elevating robot1000may be described in more detail by referring toFIG.3AtoFIG.3Cas follows.

The elevating robot1000may include an elevating plate1200formed in a lower part of the vacuum chamber and configured to move up-and-down by an elevation driving unit. An a-th vertical through-hole1210is formed at an a-th center area of the elevating plate1200.

Also, the elevating robot1000may include the hollow elevating shaft1100through which an a-th hollow hole is formed, wherein the hollow elevating shaft1100is rotatably coupled with the a-th vertical through-hole1210.

As an example, a hollow shaft housing1110is fixedly coupled with the a-th vertical through-hole1210in a vertical direction, and the hollow elevating shaft1100is rotatably installed inside the hollow shaft housing1110. Herein, each of an upper part and a lower part of the hollow elevating shaft1100can be extended to an outer region of the hollow shaft housing1110in the vertical direction, wherein the upper part of the hollow elevating shaft1100is coupled with an upper flange1121, and the lower part of the hollow elevating shaft1100is coupled with a lower flange1122. However, the present disclosure is not limited thereto, and various structures in which the hollow elevating shaft1100can be rotatably coupled with the a-th vertical through-hole1210may be adopted.

Meanwhile, the elevation driving unit of the elevating robot1000may include a first screw shaft1220_1coupled with a one-side surface of the elevating plate1200by at least one screw nut and formed in the vertical direction, and a second screw shaft1220_2coupled with an opposite-side surface of the elevating plate1200by at least one screw nut and formed in the vertical direction. Herein, the one-side surface and the opposite-side surface of the elevating plate1200may be symmetrical to each other with respect to the a-th vertical through-hole1210, but they are not limited thereto.

In addition, the elevation driving unit of the elevating robot1000may include an a1-st driving motor1310capable of providing driving force for rotating the first screw shaft1220_1and the second screw shaft1220_2.

Herein, each of timing belts may be used to transmit the driving force of the a1-st driving motor1310to the first screw shaft1220_1and the second screw shaft1220_2, and may be coupled with timing pulleys which are respectively coupled with a driving shaft of the a1-st driving motor1310, the first screw shaft1220_1and the second screw shaft1220_2. However, although it is described that transmission of the driving force between the a1-st driving motor1310with the first screw shaft1220_1and the second screw shaft1220_2are performed by the pulleys, the present disclosure is not limited thereto, and various methods for transmitting the driving force, such as a method using gears, may be adopted.

Accordingly, in the elevation driving unit of the elevating robot1000, the first screw shaft1220_1and the second screw shaft1220_2may be rotated according to the operation of the a1-st driving motor1310, and accordingly, the elevating plate1200is moved up-and-down in response to a rotation direction of the a1-st driving motor1310to thereby move the hollow elevating shaft1100in the vertical direction.

Also, the elevation driving unit of the elevating robot1000may include at least one first sliding guide1230_1, formed on the one-side surface of the elevating plate1200, which is configured to support a direction of the vertical movement of the elevating plate1200; and at least one second sliding guide1230_2, formed on the opposite-side surface of the elevating plate1200, which is configured to support the direction of the vertical movement of the elevating plate1200. As another example, a plurality of the sliding guides may be formed at each side surface in order to support the vertical movement of the elevating plate1200.

In addition, the elevating plate1200may be fixedly coupled with an a2-nd driving motor1320capable of providing driving force for rotating the hollow elevating shaft1100.

Herein, the timing belts1321may be used to transmit the driving force of the a2-nd driving motor1320to the hollow elevating shaft1100, and may be coupled with timing pulleys, wherein the timing pulleys may be respectively coupled with a driving shaft of the a2-nd driving motor1320and an input shaft of an a-th speed reducer1130. Herein, an output shaft of the a-th speed reducer1130may be fixedly coupled with the lower part of the hollow elevating shaft1100, and preferably, may be fixedly coupled with the lower flange1122which is fixedly coupled with the lower part of the hollow elevating shaft1100. Meanwhile, although it is described that transmission of the driving force between the a2-nd driving motor1320and the hollow elevating shaft1100is performed by the pulleys, the present disclosure is not limited thereto, and various methods for transmitting the driving force, such as a method using gears, may be adopted.

Accordingly, in the elevation driving unit of the elevating robot1000, the hollow elevating shaft1100may be rotated according to the operation of the a2-nd driving motor1320.

Also, the elevating robot1000may be sealably coupled with the vacuum chamber through-hole of the vacuum chamber VC by using an a-th cover1500. Herein, the a-th cover1500is configured to form a through-hole into which the hollow elevating shaft1100may be inserted.

In addition, the elevating robot1000can include a bellows1400, wherein the hollow elevating shaft1100, preferably, the shaft housing1110including the hollow elevating shaft1100is inserted into the bellows1400. Herein, a one-end of the bellows1400is coupled with a lower region of the elevating plate1100, preferably, is coupled with a lower region of the shaft housing1100in which the hollow elevating shaft1100is installed, and an opposite-end of the bellows1400is coupled with the a-th cover1500. Through this, the vacuum chamber VC may be maintained as vacuum state sealed from the outer circumstance by the bellows1400.

Next, the travel robot2000in the substrate transfer apparatus may be described in more detail by referring toFIG.4AtoFIG.4Das follows.

FIG.4AtoFIG.4Dare drawings schematically illustrating the travel robot2000in the substrate transfer apparatus in accordance with one example embodiment of the present disclosure. Herein, the travel robot2000may include a travel arm2100, a b-th driving motor2200, and a b-th speed reducer2300.

At the travel arm2100, which is configured with a single body, a b1-st vertical through-hole2110is formed penetrating an upper surface thereof and a lower surface thereof at a b-th one-end area thereof and a b2-nd vertical through-hole2120is formed penetrating the upper surface thereof and the lower surface thereof at a b-th opposite-end area thereof. Herein the lower surface faces a ground.

In addition, at the b-th opposite-end area of the travel arm2100, an internal slot2140is formed at inner area of the travel arm2100than where the b2-nd vertical through-hole2120is located, wherein the internal slot2140is separated from the b2-nd vertical through-hole2120with a partition. Also, at the b-th opposite-end area of the travel arm2100, a bottom-open-type space2150that connects the b2-nd vertical through-hole2120with the internal slot2140is also formed, wherein the bottom-open-type space2150has a predetermined depth from the lower surface toward the upper surface.

In addition, an internal wiring hole2130that connects the b1-st vertical through-hole2110of the b-th one-end area with the internal slot2140may be formed in the travel arm2100.

Herein, the internal wiring hole2130can be formed by generating a horizontal through-hole penetrating from a side surface of the b-th one-end area of the travel arm2100to the internal slot2140.

Also, the b-th driving motor2200may be installed in the internal slot2140formed at the b-th opposite-end area of the travel arm2100, wherein the b-th driving motor2200is capable of providing driving force for rotating the transfer robot.

In addition, the b-th speed reducer2300of the travel robot2000may be installed in the b2-nd vertical through-hole2120formed at the b-th opposite-end area of the travel arm2100, wherein the b-th speed reducer2300is rotated in conjunction with the b-th driving motor2200, and wherein a rotation driving shaft thereof through which a b-th hollow hole is formed is exposed on the upper surface of the travel arm2100.

Herein, the timing belts may be used to transmit the driving force between the b-th driving motor2200of the travel robot2000and the b-th speed reducer2300at the bottom-open-type space2150, and may be coupled with timing pulleys which are respectively coupled with a driving shaft of the b-th driving motor2200and the lower region of the b-th speed reducer. However, the present disclosure is not limited thereto, and various methods for transmitting the driving force between the b-th driving motor2200and the b-th speed reducer2300, such as a method using gears, may be adopted.

Meanwhile, the hollow elevating shaft may be sealably coupled such that the b1-st vertical through-hole2110is matched with the a-th hollow hole of the hollow elevating shaft of the elevating robot at a first specific lower surface area of the lower surface of the travel arm2100corresponding to the b1-st vertical through-hole2110of the b-th one-end area of the travel arm2100, wherein a b1-st cover2111may be sealably coupled at a first specific upper surface area of the upper surface corresponding to the b1-st vertical through-hole of the b-th one-end area.

Also, a b2-nd cover2121may be sealably coupled at a second specific lower surface area of the lower surface corresponding to the bottom-open-type space2150of the b-th opposite-end area of the travel arm2100.

In addition, a b3-rd cover2131may be sealably coupled with the horizontal through-hole at the side surface of the b-th one-end area of the travel arm2100.

The travel robot2000in the substrate transfer apparatus is configured by using the travel arm2100comprised of the single body according to one example embodiment of the present disclosure described above, and thus a height of the travel robot2000itself can be minimized.

Next, the transfer robot3000in the substrate transfer apparatus may be described in more detail by referring toFIG.5AtoFIG.8as follows.

By referring toFIG.5AandFIG.5B, the transfer robot3000may include a transfer arm platform3100coupled with the rotation driving shaft of the b-th speed reducer of the travel robot3000, a first transfer arm part3200and a second transfer arm part3300, wherein the first transfer arm part3200and the second transfer arm part3300are coupled with the transfer arm platform3100, and wherein each of the first transfer arm part3200and the second transfer arm part3300is coupled with each of a first end-effector3400and a second end-effector3500configured to support the substrate. For reference,FIG.5Aillustrates a state in which a mask is supported by the first end-effector3400and a glass substrate is supported by the second end-effector3500, andFIG.5Billustrates a state in which forks capable of supporting the substrates are deleted from the first end-effector3400and the second end-effector3500.

Through this, the transfer robot3000may be moved to a particular location within the vacuum chamber by an operation of the travel robot2000. Further, on condition that the first end-effector3400or the second end-effector3500is located at a loading position or an unloading position of the substrate by the vertical movement of the elevating robot1000, the first end-effector3400or the second end-effector3500may load or unload the substrate according to the operations of the first transfer arm part3200or the second transfer arm part3300.

Further, the transfer arm platform3100may include a c1-st coupling hole3110formed at a c-th center area which is a specific area on the center line CL, wherein the center line CL compartmentalize the transfer arm platform3100based on the linear movement direction of the first transfer arm part3200or the second transfer arm part3300, i.e., based on the linear movement direction of the substrate moved by the transfer robot3000; a c2-nd coupling hole3120formed at a c-th one-side area which is a one-side area with respect to the center line CL; and a c3-rd coupling hole3130formed at a c-th opposite-side area which is an opposite-side area with respect to the center line CL corresponding to the c-th one-side area.

Further, in the transfer arm platform3100, a (1_1)-st blade3171and a (1_2)-nd blade3172for a link connection are formed respectively at a forward part and a backward part of the c2-nd coupling hole3120, and a (2_1)-st blade3181and a (2_2)-nd blade3182for the link connection are formed respectively at a forward part and a backward part of the c3-rd coupling hole3130.

Herein, referring toFIG.6A, a c1-st stopping member3112, through which a c1-st vertical through-hole3111corresponding to the b-th hollow hole of the rotation driving shaft of the b-th speed reducer of the travel robot is formed at the c-th center area, compartmentalizes the c1-st coupling hole3110of the transfer arm platform3100into a c1-st upper space3113and a c1-st lower space3114, wherein the c1-st upper space3113is sealed by a c1-st cover3140.

In addition, a c2-nd stopping member3122, through which a c2-nd vertical through-hole3121is formed at the c-th one-side area, compartmentalize the c2-nd coupling hole3120of the transfer arm platform3100into a c2-nd upper space3123and a c2-nd lower space3124which is sealed by a c2-nd cover3150.

Further, a c3-rd stopping member3132, through which a c3-rd through-hole3131is formed at the c-th opposite-side area, compartmentalizes the c3-rd coupling hole3130of the transfer arm platform3100into a c3-rd upper space3133and a c3-rd lower space3134which is sealed by a c3-rd cover3160.

Also, the transfer arm platform3100may include a wiring hole for introducing wiring to the first transfer arm part3200and the second transfer arm part3300through the b-th hollow hole of the rotation driving shaft of the b-th speed reducer of the travel robot.

In other words, the transfer arm platform3100may include (i) a c1-st wiring hole H110connecting the c1-st upper space3113and the c2-nd lower space3124and (ii) a c2-nd wiring hole H120connecting the c1-st upper space3113and the c3-rd lower space3134.

As an example, referring toFIG.6BandFIG.6Cin addition to theFIG.6A, the transfer arm platform3100may be formed by combining an upper plate3100aand a lower plate3100bwith each other, wherein the upper plate3100aincludes the (1_1)-st blade3171, the (1_2)-nd blade3172, the (2_1)-st blade3181and the (2_2)-nd blade3182.

A c1-st upper coupling hole3110_1, which is a part of the c1-st coupling hole, is formed at the c-th central area of the upper plate3100a, a c2-nd upper coupling hole3120_1, which is a part of the c2-nd coupling hole, is formed at the c-th one-side area of the upper plate3100a, and a c3-rd upper coupling hole3130_1, which is a part of the c3-rd coupling hole, is formed at the c-th opposite-side area of the upper plate3100a.

Further, a c2-nd stopping member3122, through which the c2-nd vertical through-hole3121is formed inside the c2-nd upper coupling hole3120_1, compartmentalize the inner space of the c2-nd upper coupling hole3120_1, and a c3-rd stopping member3132, through which the c3-rd vertical through-hole3131is formed inside the c3-rd upper coupling hole3130_1, compartmentalize the inner space of the c3-rd upper coupling hole3130_1.

Also, a c1-st upper wiring slot H110_1and a c2-nd upper wiring slot H120_1are formed in a lower surface of the upper plate3100a, wherein the c1-st upper wiring slot H110_1connects an inner space of the c1-st upper coupling hole3110_1with a lower space of the c2-nd upper coupling hole3120_1, and the c2-nd upper wiring slot H120_1connects the inner space of the c1-st upper coupling hole3110_1with a lower space of the c3-rd upper coupling hole3130_1.

Meanwhile, a c1-st lower coupling hole3110_2, which is another part of the c1-st coupling hole, is formed at the c-th central area of the lower plate3100b, and a c2-nd lower coupling hole3120_2, which is another part of the c2-nd coupling hole, is formed at the c-th one-side area of the lower plate3100b, and a c3-rd lower coupling hole3130_2, which is another part of the c3 coupling hole, is formed at the c-th opposite-side area of the lower plate3100b.

Also, a c1-st stopping member3112, through which the c1-st vertical through-hole3111is formed inside the c1-st lower coupling hole3110_2, compartmentalize the inner space of the c1-st lower coupling hole3110_2.

In addition, a c1-st lower wiring slot H110_2and a c2-nd lower wiring slot H120_2are formed in an upper surface of the lower plate3100b, wherein the c1-st lower wiring slot H110_2connects an upper space of the c1-st lower coupling hole3110_2with an inner space of the c2-nd lower coupling hole3120_2, and the c2-nd lower wiring slot H120_2connects the upper space of the c1-st lower coupling hole3110_2with an inner space of the c3-rd lower coupling hole3130_2.

Thus, by coupling the upper plate3100aand the lower plate3100b, the c1-st upper coupling hole3110_1and the c1-st lower coupling hole3110_2are combined with each other thereby forming the c1-st coupling hole3110, the c2-nd upper coupling hole3120_1and the c2-nd lower coupling hole3120_2are combined with each other thereby forming the c2-nd coupling hole3120, and the c3-rd upper coupling hole3130_1and the c3-rd lower coupling hole3130_2are combined with each other thereby forming the c3-rd coupling hole3130. Also, by coupling the upper plate3100aand the lower plate3100b, the c1-st upper wiring slot H110_1and the c1-st lower wiring slot H110_2are combined with each other thereby forming the c1-st wiring hole H110, and the c2-nd upper wiring slot H120_1and the c2-nd lower wiring slot H120_2are combined with each other thereby forming the c2-nd wiring hole H120.

ReferringFIG.5AandFIG.5Bagain, the transfer arm platform3100may be coupled with the travel robot. In detail, the rotation driving shaft of the b-th speed reducer of the travel robot may be inserted into the c1-st lower space of the c1-st coupling hole3110, thereby allowing the rotation driving shaft of the b-th speed reducer of the travel robot to be fixedly coupled with the c1-st stopping member. Herein, when the rotation driving shaft of the b-th speed reducer of the travel robot is fixedly coupled with the c1-st stopping member, a sealing performance at a coupling area may be improved by adding the sealing members such as the O-rings, the gaskets, etc. Since the configuration of adding the sealing members, such as the O-rings, the gaskets, etc., may be similarly applied to other coupling parts to be described hereinafter, a description thereon is omitted in the following description of the present disclosure.

Accordingly, exposure to an external environment through the b-th hollow hole of the rotation driving shaft of the b-th speed reducer of the travel robot may be sealed away, at the c1-st coupling hole3110, from the vacuum environment of the inside of the vacuum chamber.

Also, the (1_1)-st transfer link arm3210of the first transfer arm part3200can be coupled with the c2-nd coupling hole3120of the transfer arm platform3100, and the (2_1)-st transfer link arm3310of the second transfer arm part3300can be coupled with the c3-rd coupling hole3130of the transfer arm platform3100.

Herein, referring toFIG.7, the (1_1)-st transfer link arm3210of the first transfer arm part3200has a sealed inner space where the c1-st driving motor3211and the c1-st speed reducer3212are installed, wherein the c1-st speed reducer3212is interlocked with the c1-st driving motor3211to reduce a rotational speed of the c1-st driving motor by half.

Also, a (c1_1)-st hollow driving shaft3213having a (c1_1)-st hollow hole interlocked with the c1-st speed reducer and a (c1_1)-st output shaft3214interlocked with the (c1_1)-st hollow driving shaft3213may be sealably installed on a (c1_1)-st one-end area of the (1_1)-st transfer link arm3210, and a (c1_2)-nd hollow driving shaft3216having a (c1_2)-nd hollow hole interlocked with the c1-st driving motor3211and a (c1_2)-nd output shaft3217interlocked with the (c1_2)-nd hollow driving shaft3216may be sealably installed on a (c1_1)-st opposite-end area of the (1_1)-st transfer link arm3210. Herein, the interlocking between the c1-st driving motor3211and the c1-st speed reducer3212, the interlocking between the c1-st speed reducer3212and the (c1_1)-st hollow driving shaft3213, and the interlocking between the c1-st driving motor3211and the (c1_2)-nd hollow driving shaft3216may be achieved by pulley method, respectively, however, the present disclosure is not limited thereto. For example, various methods, such as a method using gears, etc. may be adopted to transmit a rotational force. Also, not only the (c1_1)-st hollow driving shaft3213with the (c1_1)-st output shaft3214but also the (c1_2)-nd hollow driving shaft3216with the (c1_2)-nd output shaft3217can be formed by speed reducers each of which has a same reduction ratio. In addition, the (c1_1)-st output shaft3214and the (c1_2)-nd output shaft3217can be driven with opposite rotation directions.

ReferringFIG.5AandFIG.5Bagain, the (c1_1)-st output shaft may be inserted into the c2-nd upper space of the c2-nd coupling hole3120of the transfer arm platform3100to thereby be fixedly coupled with the c2-nd stopping member. Herein, the (c1_1)-st output shaft is installed on a (c1_1)-st one-end area of the (1_1)-st transfer link arm3210of the first transfer arm part3200.

Herein, a (2_1)-st linking member (corresponding to3125inFIG.7) is a tube-shaped shaft and may be used for coupling the (c1_1)-st output shaft with the c2-nd stopping member, and each of the two-ends of the (2_1)-st linking member can be fixedly coupled with each of the (c1_1)-st output shaft and the c2-nd stopping member. Herein, the length of the (2_1)-st linking member is same as or larger than a distance between the (c1_1)-st output shaft and the c2-nd stopping member, specifically at the position where the transfer arm platform3100is coupled with the (1_1)-st transfer link arm3210.

Also, a (c1_2)-nd output shaft of the (1_1)-st transfer link arm3210of the first transfer arm part3200may be fixedly coupled with a (c1_2)-nd one-end area of the (1_2)-nd transfer link arm3220.

Herein, a first fixed coupling shaft (corresponding to3128inFIG.7) is a tube-shaped shaft and may be used for coupling the (c1_2)-nd output shaft of the (1_1)-st transfer link arm3210with the (c1_2)-nd one-end area of the (1_2)-nd transfer link arm3220, and each of the two-ends of the first fixed coupling shaft can be fixedly coupled with each of the (c1_2)-nd output shaft and the (c1_2)-nd one-end area. Herein, the length of the first fixed coupling shaft is same as or larger than a distance between the (c1_2)-nd output shaft and the (c1_2)-nd one-end area, specifically at the position where the (1_1)-st transfer link arm3210is coupled with the (1_2)-nd transfer link arm3220.

Also, a first common link arm3230may be installed at a location where the (1_1)-st transfer link arm3210and the (1_2)-nd transfer link arm3220are coupled, in other words, at a location where the (c1_2)-nd output shaft and the (c1_2)-nd one-end area are coupled.

That is, by referring toFIG.8, a c1-st center area of the first common link arm3230may be rotatably coupled with the first fixed coupling shaft3218, wherein the first fixed coupling shaft3218combines the (c1_2)-nd output shaft3217with the (c1_2)-nd one-end area.

Also, by referring toFIG.5AandFIG.5Bagain, the first transfer arm part3200may include a (1_1)-st subordinate link arm3240that is parallel to the (1_1)-st transfer link arm3210, wherein a (c1_4)-th one-end area of the (1_1)-st subordinate link arm3240may be rotatably coupled with the (1_1)-st blade3171of the transfer arm platform3100, and a (c1_4)-th opposite-end area of the (1_1)-st subordinate link arm3240may be rotatably coupled with a (c1_3)-rd one-end area of the first common link arm3230.

Additionally, the first transfer arm part3200may include a (1_2)-nd subordinate link arm3250that is parallel to the (1_1)-st transfer link arm3210, wherein a (c1_5)-th one-end area of the (1_2)-nd subordinate link arm3250may be rotatably coupled with the (1_2)-nd blade3172of the transfer arm platform3100, and a (c1_5)-th opposite-end area of the (1_2)-nd subordinate link arm3250may be rotatably coupled with a (c1_3)-rd opposite-end area of the first common link arm3230.

Accordingly, two single parallel links may be formed as a double parallel link, wherein each of the two single parallel links shares the (1_1)-st transfer link arm3210with each other.

In other words, one single parallel link is formed by a frame, an input link, a connecting arm and a follower. Herein, the frame is formed by two joints, wherein one joint is where the (c1_1)-st one-end area of the (1_1)-st transfer link arm3210is coupled with the c2-nd coupling hole3120of the transfer arm platform3100and another joint is where the (c1_4)-th one-end area of the (1_1)-st subordinate link arm3240is coupled with the (1_1)-st blade3171of the transfer arm platform3100. Further, the input link is formed by the (1_1)-st transfer link arm3210. Further, the connecting arm is formed by the first common link arm between two joints, wherein one joint is where the (c1_1)-st opposite-end area of the (1_1)-st transfer link arm3210is coupled with the c1-st center area of the first common link arm3230and another joint is where the (c1_3)-rd one-end area of the first common link arm3230is coupled with the (c1_4)-th opposite-end area of the (1_1)-st subordinate link arm3240. Further, the follower is formed by the (1_1)-st subordinate link arm3240. Herein, the frame is a concept that may or may not physically exist, and is a reference line or a reference plane that fixes one-end of the input link and one-end of the follower that constitute the parallel link. Thus, the frame mentioned below should be interpreted similarly.

Also, another single parallel link is formed by a frame, an input link, a connecting arm and a follower. Herein, the frame is formed by two joints, wherein one joint is where the (c1_1)-th one-end area of the (1_1)-st transfer link arm3210is coupled with the c2-nd coupling hole3120of the transfer arm platform3100and another joint is where the (c1_5)-th one-end area of the (1_2)-nd subordinate link arm3250is coupled with the (1_2)-nd blade3172of the transfer arm platform3100. Further, the input link is formed by the (1_1)-st transfer link arm3210. Further, the connecting arm is formed by the first common link arm between two joints, wherein one joint is where the (c1_1)-st opposite-end area of the (1_1)-st transfer link arm3210is coupled with the c1-st center area of the first common link arm3230and another joint is where the (c1_3)-rd opposite-end area of the first common link arm3230is coupled with the (c1_5)-th opposite-end area of the (1_2)-nd subordinate link arm3250. Further, the follower is formed by the (1_2)-nd subordinate link arm3250.

By means of such double parallel links, vibration and/or disturbance of the first end-effector3400during the movement along a substrate transfer route can be reduced.

In addition, the first transfer link arm part3200may include a (1_3)-st subordinate link arm3260, which is parallel to the (1_2)-nd transfer link arm3220, wherein a (c1_6)-th one-end area of the (1_3)-rd subordinate link arm3260is rotatably coupled with the (c1_3)-rd opposite-end area of the first common link arm3230. Herein, the joint where the (c1_6)-th one-end area of the (1_3)-rd subordinate link3260is coupled with the (c1_3)-rd opposite-end area of the first common link arm3230may be formed at the same position with the joint where the (c1_5)-th opposite-end area of the (1_2)-rd subordinate link arm3250is coupled with the (c1_3)-rd opposite-end area of the first common link arm3230, or may be formed at a different position.

Also, the first transfer link arm part3200may include a (1_4)-st subordinate link arm3270, which is parallel to the first common link arm3230, wherein the (c1_7)-th one-end area of the (1_4)-th subordinate link arm3270is rotatably coupled with the (c1_6)-th opposite-end area of the (1_3)-rd subordinate link arm3260, and the (c1_7)-th opposite-end area of the (1_4)-th subordinate link arm3270is rotatably coupled with the (c1_2)-nd opposite-end area of the (1_2)-nd transfer link arm3220.

In addition, the first transfer link arm3200may include the first end-effector3400, wherein the first end-effector3400is fixed to the (c1_7)-th opposite-end area of the (1_4)-th subordinate link arm3270, thereby supporting the substrate. For reference,FIG.5Billustrates a plate formed integrally with the (1_4)-th subordinate link arm3270, wherein the plate is used for fixing the forks of the first end-effector3400capable of supporting the substrate.

The first transfer arm part3200configured like above allows the first end-effector3400to move forward or backward by using each of the transfer arms and the subordinate arms along a straight path according to an operation of the c1-st driving motor3211, thereby allowing the substrate to be loaded or unloaded at a predetermined position through the first end-effector3400.

Also, by referring toFIG.5AandFIG.5Bagain, the second transfer arm part3300may be configured similarly to the first transfer arm part3200, and may be installed on the transfer arm platform3100so as to be symmetrical to the first transfer arm part3200with respect to the center line CL of the transfer arm platform3100.

In other words, the (2_1)-st transfer link arm3310of the second transfer arm part3300has a sealed inner space where the c2-nd driving motor and the c2-nd speed reducer are installed, wherein the c2-nd speed reducer is interlocked with the c2-nd driving motor to reduce a rotational speed of the c2-nd driving motor by half.

Also, a (c2_1)-st hollow driving shaft having a (c2_1)-st hollow hole interlocked with the c2-nd speed reducer and a (c2_1)-st output shaft interlocked with the (c2_1)-st hollow driving shaft may be sealably installed on a (c2_1)-st one-end area of the (2_1)-st transfer link arm3310, and a (c2_2)-nd hollow driving shaft having a (c2_2)-nd hollow hole interlocked with the c2-nd driving motor and a (c2_2)-nd output shaft interlocked with the (c2_2)-nd hollow driving shaft may be sealably installed on a (c2_1)-st opposite-end area of the (2_1)-st transfer link arm3310. Herein, the interlocking between the c2-nd driving motor and the c2-nd speed reducer, the interlocking between the c2-nd speed reducer and the (c2_1)-st hollow driving shaft, and the interlocking between the c2-nd driving motor and the (c2_2)-nd hollow driving shaft may be achieved by pulley method, respectively, however, the present disclosure is not limited thereto. For example, various methods, such as a method of using gears, etc. may be adopted to transmit a rotational force. Also, not only the (c2_1)-st hollow driving shaft with the (c2_1)-st output shaft but also the (c2_2)-nd hollow driving shaft with the (c2_2)-nd output shaft can be formed by speed reducers each of which has a same reduction ratio. In addition, the (c2_1)-st output shaft and the (c2_2)-nd output shaft can be driven with opposite rotation directions.

Also, the (c2_1)-st output shaft may be inserted into the c3-rd upper space of the c3-rd coupling hole3130of the transfer arm platform3100to be fixedly coupled with the c3-rd stopping member. Herein, the (c2_1)-st output shaft is installed on a (c2_1)-st one-end area of the (2_1)-st transfer link arm3310of the second transfer arm part3300.

Herein, a (2_2)-nd linking member is a tube-shaped shaft and may be used for coupling the (c2_1)-st output shaft with the c3-rd stopping member, and each of the two-ends of the (2_2)-nd linking member can be fixedly coupled with each of the (c2_1)-st output shaft and the c3-rd stopping member. Herein, the length of the (2_2)-nd linking member is same as or larger than a distance between the (c2_1)-st output shaft and the c3-rd stopping member, specifically at the position where the transfer arm platform3100is coupled with the (2_1)-st transfer link arm3310.

Also, a (c2_2)-nd output shaft of the (2_1)-st transfer link arm3310of the second transfer arm part3300may be fixedly coupled with a (c2_2)-nd one-end area of the (2_2)-nd transfer link arm3320.

Herein, a second fixed coupling shaft3318is a tube-shaped shaft and may be used for coupling the (c2_2)-nd output shaft of the (2_1)-st transfer link arm3310and the (c2_2)-nd one-end area of the (2_2)-nd transfer link arm3320, and each of the two-ends of the second fixed coupling shaft3318can be fixedly coupled with each of the (c2_2)-nd output shaft and the (c2_2)-nd one-end area. Herein, the length of the second fixed coupling shaft3318is same as or larger than a distance between the (c2_2)-nd output shaft and the (c2_2)-nd one-end area, specifically at the position where the (2_1)-st transfer link arm3310is coupled with the (2_2)-nd transfer link arm3320. Also, a height of the second fixed coupling shaft3318, which connects the (2_1)-st transfer link arm3310with the (2_2)-nd transfer link arm3320of the second transfer arm part3300, may be set as higher than a height of the first fixed coupling shaft which connects the (1_1)-st transfer link arm3210with the (1_2)-nd transfer link arm3220of the first transfer arm part3200. Accordingly, the first end-effector3400of the first transfer arm part3200and the second end-effector3500of the second transfer arm part3300are positioned at different heights on a same transferring route. However, the present disclosure is not limited thereto. As another example, the height of the first fixed coupling shaft may be set as higher than a height of the second fixed coupling shaft.

Next, a second common link arm3330may be installed at a location where the (2_1)-st transfer link arm3310is coupled with the (2_2)-nd transfer link arm3320, in other words, at a location where the (c2_2)-nd output shaft is coupled with the (c2_2)-nd one-end area.

That is, a c2-nd center area may be rotatably coupled with the second fixed coupling shaft, wherein the second fixed coupling shaft combines the (c2_2)-nd output shaft and the (c2_2)-nd one-end area.

In addition, the second transfer arm part3300may include the (2_1)-st subordinate link arm3340that is parallel to the (2_1)-st transfer link arm3310, wherein a (c2_4)-th one-end area of the (2_1)-st subordinate link arm3340may be rotatably coupled with the (2_1)-st blade3181of the transfer arm platform3100, and a (c2_4)-th opposite-end area of the (2_1)-st subordinate link arm3340may be rotatably coupled with a (c2_3)-rd one-end area of the second common link arm3330.

Also, the second transfer arm part3300may include a (2_2)-nd subordinate link arm3350that is parallel to the (2_1)-nd transfer link arm3310, wherein a (c2_5)-th one-end area of the (2_2)-nd subordinate link arm3350may be rotatably coupled with the (2_2)-nd blade3182of the transfer arm platform3100, and a (c2_5)-th opposite-end area of the (2_2)-nd subordinate link arm3350may be rotatably coupled with a (c2_3)-rd opposite-end area of the second common link arm3330.

Accordingly, two single parallel links may be formed as a double parallel link, wherein each of the two single parallel links shares the (2_1)-st transfer link arm3310with each other.

In other words, one single parallel link is formed by a frame, an input link, a connecting arm and a follower. Herein, the frame is formed by two joints, wherein one joint is where the (c2_1)-st one-end area of the (2_1)-st transfer link arm3310is coupled with the c3-rd coupling hole3320of the transfer arm platform3100and another joint is where the (c2_4)-th one-end area of the (2_1)-st subordinate link arm3340is coupled with the (2_1)-st blade3181of the transfer arm platform3100. Further, the input link is formed by the (2_1)-st transfer link arm3310. Further, the connecting arm is formed by the second common link arm3330between two joints, wherein one joint is where the (c2_1)-st opposite-end area of the (2_1)-st transfer link arm3310is coupled with the c2-nd center area of the second common link arm3330and another joint is where the (c2_3)-rd one-end area of the second common link arm3330is coupled with the (c2_4)-th opposite-end area of the (2_1)-st subordinate link arm3340. Further, the follower is formed by the (2_1)-st subordinate link arm3340.

Also, another single parallel link is formed by a frame, an input link, a connecting arm and a follower. Herein, the frame is formed by two joints, wherein one joint is where the (c2_1)-th one-end area of the (2_1)-st transfer link arm3310is coupled with the c3-rd coupling hole3130of the transfer arm platform3100and another joint is where the (c2_5)-th one-end area of the (2_2)-nd subordinate link arm3350is coupled with the (2_2)-nd blade3182of the transfer arm platform3100. Further, the input link is formed by the (2_1)-st transfer link arm3310. Further, the connecting arm is formed by the second common link arm3330between two joints, wherein one joint is where the (c2_1)-st opposite-end area of the (2_1)-st transfer link arm3310is coupled with the c2-nd center area of the second common link arm3330and another joint is where the (c2_3)-rd opposite-end area of the second common link arm3330is coupled with the (c2_5)-th opposite-end area of the (2_2)-nd subordinate link arm3350. Further, the follower is formed by the (2_2)-nd subordinate link arm3350.

By means of such a double parallel link, vibration and/or disturbance of the second end-effector3500during the movement along the transfer route can be reduced.

Also, the second transfer link arm part3300may include a (2_3)-rd subordinate link arm3360, which is parallel to the (2_2)-nd transfer link arm3320, wherein a (c2_6)-th one-end area of the (2_3)-rd subordinate link arm3360is rotatably coupled with the (c2_3)-rd opposite-end area of the second common link arm3330. Herein, the joint where the (c2_6)-th one-end area of the (2_3)-rd subordinate link arm3360is coupled with the (c2_3)-rd opposite-end area of the second common link arm3330may be formed at the same position with the joint where the (c2_5)-th opposite-end area of the (2_2)-nd subordinate link arm3350is coupled with the (c2_3)-rd opposite-end area of the second common link arm3330, or may be formed at a different position.

In addition, the second transfer link arm part3300may include a (2_4)-th subordinate link arm3370, which is parallel to the second common link arm3330, wherein the (c2_7)-th one-end area of the (2_4)-th subordinate link arm3370is rotatably coupled with the (c2_6)-th opposite-end area of the (2_3)-rd subordinate link arm3360and the (c2_7)-th opposite-end area of the (2_4)-th subordinate link arm3370is rotatably coupled with the (c2_2)-nd opposite-end area of the (2_2)-nd transfer link arm3320.

Also, the second transfer link arm part3300may include the second end-effector3500, wherein the second end-effector3500is fixed to the (c2_7)-th opposite-end area of the (2_4)-th subordinate link arm3370, thereby supporting the substrate. For reference,FIG.5Billustrates the plate formed separately with the (2_4)-th subordinate link arm3370, wherein the plate is used for fixing the forks of the second end-effector3500capable of supporting the substrates. Herein, the plate for fixing the forks of the second end-effector3500capable of supporting the substrates is fixedly coupled with the (c2_7)-th opposite-end area of the (2_4)-th subordinate link arm3370.

The second transfer arm part3300configured like above allows the second end-effector3500to move forward or backward by using each of the transfer arms and subordinate arms along a straight path according to an operation of the c2-nd driving motor, thereby allowing the substrate to be loaded or unloaded at a predetermined position through the second end-effector3500.

Herein, the (c1_1)-st opposite-end area of the (1_1)-st transfer link arm3210of the first transfer arm part3200and the (c2_1)-st opposite-end area of the (2_1)-st transfer link arm3310of the second transfer arm part3300can be located in the same forward part or the backward part of the transfer arm platform3100.

As another example, the (c1_1)-st opposite-end area of the (1_1)-st transfer link arm3210of the first transfer arm part3200can be located in the forward part of the transfer arm platform3100and the (c2_1)-st opposite-end area of the (2_1)-st transfer link arm3310of the second transfer arm part3300can be located in the backward part of the transfer arm platform3100.

In addition, the c1-st wiring for the operation of the c1-st driving motor3211and the c2-nd wiring for the operation of the c2-nd driving motor can each be located in a sealed space inside the transfer robot3000.

Herein, the c1-st wiring may be introduced into the c1-st driving motor3211through each of hollow holes of at least one of the hollow elevating shafts of the elevating robot, the rotation driving shaft of the b-th speed reducer of the travel robot, and the (c1_1)-st hollow driving shaft3213of the transfer robot3000, so as to prevent the c1-st wiring from being exposed to an inner space of the vacuum chamber, and the c2-nd wiring may be introduced into the c2-nd driving motor through each of hollow holes of at least one of the hollow elevating shafts of the elevating robot, the rotation driving shaft of the b-th speed reducer of the travel robot, and the (c2_1)-st hollow driving shaft of the transfer robot3000so as to prevent the c2-nd wiring from being exposed to an inner space of the vacuum chamber. Meanwhile, the c1-st wiring and the c2-nd wiring may be respectively branched from the rotation driving shaft of the b-th speed reducer of the travel robot into the c1-st arm part3200and the c2-nd arm part3300, through the c1-st wiring hole and the c2-nd wiring hole formed in the transfer arm platform3100.

The present disclosure has an effect of the present disclosure to form the travel robot as a single body, and to provide a more compact substrate transfer apparatus with an improved efficiency related to an installation area and an installation height.

The present disclosure has another effect of the present disclosure to provide the substrate transfer apparatus with a simple structure capable of minimizing vibration and/or disturbance and minimizing a change in posture due to a thermal expansion.

The present disclosure has still another effect of the present disclosure to provide the substrate transfer apparatus with a vacuum-sealed structure that completely blocks a generation of particles in a vacuum chamber.

The present disclosure has still yet another effect of the present disclosure to provide the substrate transfer apparatus that can reduce a manufacturing cost and an operating cost of the whole facility related to the substrate transfer apparatus.

As seen above, the present invention has been explained by specific matters such as detailed components, limited embodiments, and drawings. They have been provided only to help more general understanding of the present invention. It, however, will be understood by those skilled in the art that various changes and modification may be made from the description without departing from the spirit and scope of the invention as defined in the following claims.

Accordingly, the thought of the present invention must not be confined to the explained embodiments, and the following patent claims as well as everything including variations equal or equivalent to the patent claims pertain to the category of the thought of the present invention.