Patent ID: 8434992

Claim:
A vacuum robot for transferring a substrate in a pressure-reduced environment, the vacuum robot comprising: an arm that includes: an arm base having a hermetic space formed therein; an arm driving motor placed in the hermetic space of the arm base; a first decelerator including a hollow decelerator shaft rotatable by reception of a torque from the arm driving motor, and a first decelerator output shaft provided to receive a torque from the hollow decelerator shaft to reduce a rotation speed by a predetermined ratio and rotatable around the hollow decelerator shaft, the first decelerator being placed in the hermetic space of the arm base such that a lower end of the hollow decelerator shaft is bared in the hermetic space; a first arm having a hermetic space which becomes equal in pressure to the hermetic space of the arm base when an upper end of the hollow decelerator shaft is inserted thereinto, and having a proximal end secured to the first decelerator output shaft; a second decelerator placed on a distal end of the first arm, and having an input shaft connected to the upper end of the hollow decelerator shaft through a transmission mechanism; a second arm having a proximal end secured to an output shaft of the second decelerator, and having no hermetic space formed therein; a first link having a proximal end supported turnably on the arm base; a second link having a proximal end supported turnably on a distal end of the first link; a first coupling link having a first end supported turnably on the proximal end of the second link so as to be coaxial with the proximal end of the second link, and a second end supported turnably on the proximal end of the second arm so as to be coaxial with the proximal end of the second arm; a second coupling link having a first end supported turnably on a distal end of the second link, and a second end supported turnably on a distal end of the second arm; and a hand fastened to the second coupling link.