Patent ID: 8156840

Claim:
A drive apparatus of a robot for carrying a substrate in which a group of arms is accommodated under a vacuum environment, comprising: a drive apparatus for driving to rotate the group of arms arranged between an atmospheric side and a vacuum side and driven on the atmospheric side such that the drive apparatus is driven on the atmospheric side; wherein the drive apparatus includes: a vacuum seal provided between a stationary member and an output member; and an oil seal provided on the atmospheric side of the vacuum seal between the stationary member and the output member, so that an annular space is formed by the vacuum seal and the oil seal between the stationary member and the output member; wherein another seal for dividing the annular space formed by the vacuum seal and the oil seal into two divided parts is provided between the stationary member and the output member, and a cooling circulation path is formed such that the stationary member is provided with a supply port of the cooling circulation path from the atmospheric side to the annular space on one of the divided parts and a discharge port of the cooling circulation path to the atmospheric side from the annular space on the other of the divided parts, and the output member is provided with a rotating supply path communicated with the annular space on the one of the divided parts and a rotating discharge path communicated with the annular space on the other of the divided parts, the rotating supply path and the rotating discharge path are opened to an arm member so as to cool the arm member.