Device for holding, positioning and / or moving an object in a vacuum

Abstract

The invention consists of a device for holding, positioning and / or moving an object in a vacuum and comprises a base, an end effector having a substrate holder, a linear drive coupled to the end effector via a carriage, optionally a vertical or lifting drive acting on the base, and a magnetic bearing for the carriage. According to the invention, the linear drive is designed as a fluid-actuated, otherwise closed cylinder with a double-acting piston, wherein the piston is provided with a magnet arrangement. The carriage has a magnetic ring that encloses the cylinder at least at a distance from the outside, which surrounds the cylinder without contact.

Description

[0001] Device for holding, positioning and / or moving an object in a vacuum

[0002] Description

[0003] The invention relates to a device for holding, positioning and / or moving an object in a vacuum, comprising a base, an end effector with a substrate holder, a linear drive coupled to the end effector via a carriage, a vertical or lifting drive acting on the base, and a magnetic bearing for the carriage according to the preamble of claim 1.

[0004] For example, when processing substrates for the production of semiconductor components, large-area substrates are used that must be subjected to various surface treatment procedures.

[0005] For example, a coating must be applied, exposure and etching steps or diffusion processes are required.

[0006] Most surface treatment processes must be carried out under clean room conditions or under vacuum.

[0007] Structures down to the nanometer range must be formed from substrates for modern semiconductor components, which requires extremely precise feeding and positioning of these substrates.

[0008] Furthermore, the necessary particle-free nature of the substrate environment places high demands on the manipulators required.

[0009] For this reason, contactless support of the substrate and the development of a corresponding holding, movement, or traversing drive are necessary. Air bearings are well-known for ultra-clean production environments, but these pose a problem for the treatment steps due to air currents near the substrate.

[0010] Magnetic holding or positioning devices with a base and a carrier carrying the object are also known.

[0011] In many cases, several magnetic bearings are provided for contactless mounting of the carrier on the base, each with a distance sensor and a control circuit that keeps the carrier in a levitating state at a predetermined distance from the base.

[0012] Also known solutions for contactless support of a carrier to be moved along a stationary base for receiving a substrate can comprise several individual or discrete magnetic bearings spaced apart from one another in a transport direction.

[0013] For the movement of the carrier along a series of magnetic bearings, it is necessary that, as a result of the transport movement of the carrier, the magnetic bearings arranged stationary at the base interact mechanically with the carrier depending on the current position of the carrier.

[0014] For contactless storage and transport of a carrier along a travel path specified by the base, lateral or transverse guide means must also be provided. These can be implemented using appropriately configured magnetic bearings.

[0015] Linear motors or linear actuators are known as drives for contactless transport and for the corresponding movement of the carrier along the base.

[0016] Such a linear drive is the subject of DE 10 2010 045 437 A1. The linear drive consists of a housing with an end plate and a front plate, and a piston movably arranged inside the housing and guided by a piston rod. The end plate, which is firmly connected to the housing, has a central guide for a first medium, which extends into the interior of the housing. The end plate or the housing has a means for discharging the first fluid medium and means for supplying and discharging a second fluid medium.

[0017] EP 2 346 148 A1 discloses a linear drive for a rotary-lift motor. Such a drive comprises a winding system with several wound coils arranged coaxially to one another and one after the other in the axial direction. A movable magnet system with several axially successive permanent magnets is formed in the axial direction relative to the winding system. The winding system is powered by a regulated converter.

[0018] DE 10 2016 121 674 A1 addresses the problem that outgassing can occur in lines running within process chambers under vacuum. This leads to foreign material contamination and / or particle contamination of the vacuum and thus to a deterioration in the vacuum quality, which can affect the processing results of a corresponding component. To avoid problems of the type described, it is proposed to combine a first transaction permanent magnet device, which is attached to a frame, with a rotation permanent magnet device, which is provided on a rotating frame. Longitudinal guide means are also provided.

[0019] A generic device for holding, positioning, and moving an object using a magnetic bearing and a linear motor is described in DE 10 2015 004 582 A1. The drive therein consists of a linear motor with at least one stator and one rotor, which are arranged on a base and on a carrier. The linear motor for moving the carrier along the base generates not only a displacement force in the direction of movement or transport, but also a counterforce that counteracts a magnetic layer present there. The magnetic bearing is designed as a vertical magnetic bearing for weight compensation and for the floating, contactless holding of the carrier, thus achieving improved lateral stabilization for the carrier. Common to the known solutions is that they still contain contact points of movable connecting bearings and machine elements or corresponding joints.This means that all surfaces that come into contact with the vacuum lead to unavoidable particle contamination and outgassing effects.

[0020] From the above, it is therefore an object of the invention to provide a further developed device for holding, positioning and / or moving an object in a process vacuum, which avoids or minimizes particle generation on the vacuum side.

[0021] The object of the invention is achieved according to the device in the combination of features according to patent claim 1, wherein the subclaims represent at least expedient embodiments and further developments.

[0022] It is therefore assumed that there is a device for holding, positioning and / or moving an object, e.g. a semiconductor substrate in a process vacuum.

[0023] The device comprises a base, an end effector with substrate holder and a linear drive coupled to the end effector via a carriage.

[0024] Furthermore, a vertical or lifting drive is located at the base. Furthermore, a magnetic bearing is used for the aforementioned carriage.

[0025] According to the invention, the linear drive is designed as an otherwise closed cylinder which can be acted upon by a fluid, in particular a gas, and which has a double-acting piston which is movably arranged in the cylinder.

[0026] The piston is equipped with a magnet arrangement.

[0027] Furthermore, the slide has a magnetic ring that surrounds the cylinder, at least intermittently, on the outside. This ring surrounds the cylinder without contact. The slide is movable in translation relative to the base without contact and is also magnetically guided, preventing rotational tilting.

[0028] The base, which includes a linear drive and end effector, is connected to a lifting drive. A shaft with a bearing is provided for this purpose, connected to the base.

[0029] The shaft can be rotated around its axis by means of a magnetic rotary coupling and can be locked in relation to the angle of rotation or swivel.

[0030] The aforementioned shaft is preferably designed as a hollow shaft. Corresponding channels in the shaft allow the fluid to be supplied and discharged to move the piston in the cylinder of the linear drive.

[0031] At least the base with end effector and substrate holder, linear drive and magnetic guide are in the process vacuum, whereby a particle generation below a surface cleanliness class of 10,000, an accumulated molecular contamination of heavy hydrocarbons of less than 10 pg / cm2 and an outgassing rate of less than 2E-9 mbar ■ I / (s ■ cm2) is maintained.

[0032] The carriage and the magnetic ring can be monolithic or designed as a single piece. Additionally, a linear magnetic guide is provided to prevent rotational tilting.

[0033] In one embodiment of the invention, a counterweight body is arranged at the end opposite the substrate holder.

[0034] The lifting drive is located on the atmospheric side, away from the process vacuum.

[0035] The magnetic ring can be designed as a ring cylinder with several magnetic sections.

[0036] The piston is sealed from the cylinder interior or inner cylinder wall by elastic elements located in annular grooves. In particular, the rodless cylinder design, along with the piston, which is pressurized with fluid, and the aforementioned magnetic slide, minimizes unwanted particle generation. The magnetic slide enables the desired translational displacement of the substrate holder, while rotational tilting is prevented by an additional linear magnetic guide.

[0037] In comparison to the prior art, one of the basic ideas of the present invention is to move a fluid-driven double-acting piston in a cylinder that is closed on all sides and acted upon by the fluid, wherein its movement is transmitted via a magnetic force coupling to a ring that externally surrounds the cylinder without contact for the purpose of generating the linear movement.

[0038] The invention will be explained in more detail below using an embodiment and with the aid of figures.

[0039] Here we show:

[0040] Figure 1 is a side sectional view through the device according to the invention with substrate holder or end effector, the pneumatic cylinder together with piston and magnet as well as recognizable magnetic guide and the lifting device for generating a vertical movement;

[0041] Figure 2 is a perspective view (partially cut away) of the device according to the invention analogous to Figure 1 with details regarding the magnetic guidance of the linear drive and the magnetic rotation coupling (right part of the image according to Figure 2) and

[0042] Figure 3 is a sectional view of the cylinder and piston of the linear drive with the elements of the magnetic guide.

[0043] The device for holding, positioning, and / or moving an object, e.g., a substrate, in a process vacuum starts from a base 4, which has a magnetic guide 40 within its interior. An end effector 10 with a substrate holder 1 at one of its ends is movable in translation and rotation and is guided in the base 4.

[0044] A counterweight body 5 is provided at the end opposite the slide or substrate holder 1.

[0045] The actual linear drive comprises a pneumatic cylinder 2 within the base 4 with a magnetic guide 40.

[0046] The pneumatic cylinder 2 has in its interior a double-acting, movable piston 3, which includes magnets 30 in the piston 3.

[0047] As can be seen in particular in Figure 3, a carriage, designed as a magnetic carriage 11, is provided on the outside of the cylinder 2.

[0048] The carriage is coupled to the end effector and thus to the substrate holder 1.

[0049] The movement of the piston 3 is transmitted to the slide 11 without contact via the interaction of the magnets 30 in the piston with the magnets of the slide 11.

[0050] Further guidance and protection against rotational tilting is achieved via the magnet arrangement 40 at the base and 41 in the area of ​​the slide.

[0051] To generate a vertical movement of the base together with the linear drive, a lifting device 6 is provided, which is located outside the process vacuum on the atmospheric side.

[0052] A part of a vacuum chamber is indicated by the reference numeral 9.

[0053] The connection between the linear drive and the lifting device 6 is made via a shaft 12. The shaft 12 is designed as a hollow shaft, as can be seen from Figures 1 and 2 and the detailed illustration according to Figure 2, and has channels for the supply and discharge of the fluid for moving the piston via a gas inlet and gas outlet.

[0054] A rotary coupling (see Figure 2 / detail view) enables rotation or pivoting according to the corresponding arrow in Figure 2.

[0055] A bellows 7, which is variable in length, encloses the shaft 12 on the outside.

[0056] The shaft is guided at the end and a seal 13 is formed.

Claims

Claims Device for holding, positioning and / or moving an object in a vacuum, comprising a base (4) with an end effector (10) with substrate holder (1), a carrier (2) connected to the end effector via a carriage (11) (10) coupled linear drive and a magnetic bearing for the slide (11), characterized in that the linear drive is designed as a fluid-loaded, otherwise closed cylinder (2) with a double-acting piston (3), wherein the piston (3) is provided with a magnet arrangement (30), furthermore the slide (11) has a magnetic ring (14) which surrounds the cylinder (2), at least in sections, on the outside and surrounds the cylinder (2) without contact, and the slide (11) is movable in a translational manner relative to the base (4) without contact, is secured against rotational tilting, and is guided magnetically (40; 41). Device according to claim 1, characterized in that the base (4) with linear drive and end effector (10) is connected to a vertical or lifting drive, in particular a lifting drive (6), and for this purpose a shaft (12) connected to the base (4) with a seal (13) is formed. Device according to claim 2, characterized in that the base (4) is rotatable and lockable about the axis of the shaft (12) via the shaft (12) by means of a magnetic rotation coupling (8). Device according to claim 2 or 3, characterized in that the shaft (12) is designed as a hollow shaft and has channels for supplying and discharging the fluid for moving the piston (3) in the cylinder (2) of the linear drive. Device according to one of the preceding claims, characterized in that at least the base (4) with end effector (10) and substrate holder (1), linear drive and magnetic guide are located in the process vacuum, wherein a particle generation below a surface cleanliness class of 10,000, an accumulated molecular contamination of heavy hydrocarbons of less than 10 pg / cm2 and an outgassing rate of less than 2E-9 mbar ■ I / (s ■ cm2) are maintained. Device according to one of the preceding claims, characterized in that the carriage (11) and the magnetic ring (14) are formed in one piece and are additionally secured against rotational tilting by means of linear magnetic guidance. Device according to one of the preceding claims, characterized in that a counterweight body (5) can be arranged at the end opposite the substrate holder (1).Device according to claim 2, characterized in that the lifting drive (6) is optionally located on the atmospheric side facing away from the vacuum. Device according to one of the preceding claims, characterized in that the magnetic ring (14) is designed as an annular cylinder with several magnetic sections. Device according to one of the preceding claims, characterized in that the piston (3) is sealed against the inner cylinder wall by elastic elements located in annular grooves.

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