Transfer system and transfer method

Patent metadata

Field	Value
Publication number	US-12583119-B2
Application number	US-202318371821-A
Country	US
Kind code	B2
Filing date	Sep 22, 2023
Priority date	Sep 30, 2022
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A transfer system includes a robot and a controller that controls an operation of the robot. The robot includes a hand that transfers a substrate, and a lift mechanism that moves up and down the hand. The hand includes a sensor that detects a distance to a lower surface of the substrate. The controller includes a storage unit, a detection unit, and a calculation unit. The storage unit stores placement information including a placement height at a placement position of the substrate. The detection unit detects a separation height at which the substrate is separated from the hand when the hand is moved down from the placement height. The calculation unit calculates a deflection amount of the substrate based on a difference between the placement height and the separation height.

First claim

What is claimed is:

1 . A transfer system comprising:
a robot; a support on which a substrate is disposed; and a controller configured to control an operation of the robot, wherein the robot includes:
a hand configured to transfer the substrate; and
a lift configured to move up and down the hand,
wherein the hand includes:
a sensor configured to detect a distance to a lower surface of the substrate, and
wherein the controller includes:
a storage configured to store placement information including a placement height of the substrate disposed on the support, the placement height indicating a height of an upper surface of the support at a placement position,
a detection circuitry configured to detect a separation height at which the substrate is separated from the hand when the hand is moved down from the placement height, based on a height corresponding to an upper surface of the hand and a detection range of the sensor in a vertical direction, and
a calculation circuitry configured to calculate a deflection amount of the substrate based on a difference between the placement height and the separation height.

2 . The transfer system according to claim 1 , wherein the robot loads and unloads the substrate to and from a cassette that accommodates a plurality of substrates in multi-stages respectively on a plurality of supports.

3 . The transfer system according to claim 2 , wherein the substrate is a rectangular panel,
wherein the support includes:
first and second supports each configured to support both ends of the substrate, respectively, when viewed from a front side of the cassette; and
a third support configured to support the substrate at an intermediate position between the first support and the second support when viewed from the front side of the cassette,
wherein the hand includes at least a first extension that is insertable between the first support and the third support, and a second extension that is insertable between the second support and the third support, and wherein the sensor is provided on each of proximal end sides of the first extension and the second extension.

4 . The transfer system according to claim 3 , wherein the third support is a bar extending from a rear side of the cassette toward the front side of the cassette, and when viewed from above, a front end of the third support is closer to the rear side of the cassette than front ends of the first support and the second support.

5 . The transfer system according to claim 4 , wherein when the hand is positioned at a substrate delivery position inside the cassette, the sensor is positioned between the front end of the third support and a front end of the substrate when viewed from above.

6 . The transfer system according to claim 3 , wherein the detection circuitry detects an orientation of the substrate to be transferred with respect to the hand by causing the sensor provided on each of the proximal end sides of the first extension and the second extension to detect a side of the substrate that is closer to the hand.

7 . The transfer system according to claim 2 , wherein the robot loads the plurality of substrates into the cassette in an order from the upper stage to the lower stage, and
the controller further includes a determination circuitry configured to determine whether a new substrate is capable of being loaded into an immediately-below stage based on a deflection amount of a substrate last loaded into the cassette.

8 . The transfer system according to claim 1 , whether the sensor is provided on a proximal end side of the hand.

9 . The transfer system according to claim 1 , wherein the detection circuitry utilizes the sensor to detect whether the substrate is held by the hand.

10 . The transfer system according to claim 1 , wherein the robot loads and unloads the substrate to and from an aligner that adjusts the orientation of the substrate, and
the placement information includes a placement height on the aligner.

11 . The transfer system according to claim 1 , wherein the calculation circuitry stores, in the storage, deflection amount information associated with the deflection amount of the substrate for each manufacturing process for each of the plurality of substrates, and
the robot adjusts a transfer height in a subsequent process based on the deflection amount.

12 . A transfer method comprising:
providing a transfer system including a robot, a support on which a substrate is disposed, and a controller that controls an operation of the robot, the robot including a hand that transfers the substrate and a lift that moves up and down the hand, and the hand including a sensor that detects a distance to a lower surface of the substrate; storing placement information including a placement height of the substrate disposed on the support, the placement height indicating a height of an upper surface of the support at a placement position; detecting a separation height at which the substrate is separated from the hand when the hand is moved down from the placement height, based on a height corresponding to an upper surface of the hand and a detection range of the sensor in a vertical direction; and calculating a deflection amount of the substrate based on a difference between the placement height and the separation height.

13 . The transfer system according to claim 1 , wherein the sensor is a limited reflection type fiber sensor that has a detection range limited to an upward direction.

14 . The transfer system according to claim 3 , wherein, in a case where a deflection amount at a portion of the substrate supported by the first extension is a first deflection amount, and a deflection amount at a portion of the substrate supported by the second extension is a second deflection amount and is greater than the first deflection amount, the calculation circuitry is configured to select the second deflection amount as the deflection amount.

Assignees

• Yaskawa Electric Corp
• Kk Yasakawa Denki

Inventors

• Taruno Makoto

Classifications

• B25J13/081

  Touching devices, e.g. pressure-sensitive · CPC title

• B25J9/1638

  compensation for arm bending/inertia, pay load weight/inertia · CPC title

• B25J11/0095

  Manipulators transporting wafers · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• H10P72/50

  for positioning, orientation or alignment · CPC title