Actuator device for use in a positioning system and positioning system

Abstract

The present invention relates to an actuator device for use in a positioning system. The actuator device is linearly movable within a plate relative to a support structure of the positioning system. One example of an actuator device according to the present invention comprises a carrier having a longitudinal length and a lateral length, and multiple groups of coil assemblies within the carrier, each of which is configured to orient the carrier in at least one degree of freedom. The actuator device 1, with its single design, has a limited structural size and allows for highly precise movement and positioning in multiple degrees of freedom within a plane.

Description

[Technical field]

[0001] The present invention relates to an actuator device for use in a positioning system, the actuator device being linearly movable in a plate relative to a support structure of the positioning system, and also to a positioning system comprising such an actuator device. [Background technology]

[0002] In manufacturing process applications (such as, but not limited to, wafer handling applications in the semiconductor industry) in high or low vacuum (or clean rooms), there is an increasing demand for process reliability and stability, as well as more accurate positioning mechanisms, as product performance improves.

[0003] The demands of manufacturing processes in a vacuum environment set high standards for the positioning and orientation of products (e.g., wafers) in many subsequent processes. In particular, vibrations generated in the process line by moving mechanical and / or electrical circuit components can adversely affect the accuracy of the movement and positioning of products processed in the process line.

[0004] Vibration reduction can be achieved by using magnetic bearing assemblies, magnetic coil assemblies or short magnetic bearings. Given that magnetic bearings are contactless, there is no mechanical friction, which reduces vibration. Additionally, no lubrication is required, which eliminates the need for pumping to prevent molecular contamination during vacuum operation. Apart from this, very low particle generation is desirable in vacuum process applications, as it allows the elimination of contamination seals.

[0005] The main challenges when applying magnetic bearings or magnetic coil assemblies to high technology high vacuum are minimizing heat dissipation in the coils, minimizing eddy current effects, achieving a stable control system, and linearizing the normally nonlinear characteristics.

[0006] In modern vibration-free positioning system designs, magnetic coil assemblies are implemented as actuators to move and position a product (e.g., a wafer) in a plane with several degrees of freedom. Two types of actuators are known: the first, where each axis (degree of freedom) has a single actuator, is supported by an individual sensor and control; the second, where one or more axes (degrees of freedom) have stacked or two-stage motion control; the first stage is responsible for the "coarse" or "less precise" movement, and the final stage is responsible for the "precise" positioning. In most known process applications, all axes (degrees of freedom) are controlled with direct or dual motion.

[0007] Direct motion axis actuators are implemented in processes where (sub) μm accuracy is required and where the product being processed is subjected to gentle accelerations, while dual motion axis actuators are implemented in processes where (sub) nm accuracy is required and where the product being processed is subjected to rapid accelerations. Summary of the Invention [Problem to be solved by the invention]

[0008] It is an object of the present invention to provide an improved actuator device that integrates direct and dual axis of motion control to enable product process applications in high and low vacuum environments requiring high precision movement and positioning with a single limited structural size. [Means for solving the problem]

[0009] In an example actuator device according to the present invention, the actuator device comprises a carrier having a longitudinal length and a lateral length, and a plurality of groups of coil assemblies within the carrier, each of the groups of coil assemblies configured to orient the carrier in at least one degree of freedom.

[0010] The single design actuator device of the present invention has limited structural size and provides high precision in multiple degrees of freedom of movement and positioning.

[0011] In one example, the carrier is provided with a plurality of groups of one or more recesses, each of said groups of one or more recesses configured to accommodate one or more coil assemblies belonging to said groups of coil assemblies.

[0012] In particular, the first group of one or more recesses comprises four corner recesses, each of the corner recesses being provided at or near a corner of the carrier. Each of the corner recesses is provided with two corner through-holes. Each of the corner recesses is configured to receive a U-core coil assembly of a first group of coil assemblies, each of the yokes of the U-core coil assemblies being mounted through one of the corner through-holes extending outwardly from the carrier surface, and a coil assembly of the first group of coil assemblies being mounted around each of the yokes of the U-core coil assemblies. This first group of coil assemblies is configured to control the movement and positioning of an actuator device carrier in a z degree of freedom.

[0013] In yet another advantageous embodiment of the actuator device, second and third groups of recesses for accommodating second and third groups of coil assemblies, respectively, are provided adjacent to each other and between the first group of corner recesses in a longitudinal view of the carrier, the second and third groups of coil assemblies being configured to control the movement and positioning of the actuator device carrier in x and y degrees of freedom, respectively.

[0014] In a particular embodiment of the actuator device according to the invention, the second and / or third group of one or more recesses consists of a single recess, both of which have a longitudinal extent oriented parallel to the transverse direction of the carrier, which allows for easier machining of the carrier and improves its thermal properties with regard to heat spreading and cooling.

[0015] Preferably, each of the coil assemblies is insulatively housed in a respective recess, which makes it possible to prevent undesired eddy current effects.

[0016] In particular, each coil assembly includes a group of multiple turns of the coil stacked on top of one another. This design allows for low thermal resistance, resulting in improved fill factor and precise movement and positioning.

[0017] In another example, the second and / or third groups of the plurality of coil assemblies are provided with at least one temperature sensor, in particular a PTC thermistor, to allow for proper temperature control, thereby stabilizing operation and preventing failures and / or disturbances that may adversely affect the operation and positioning of the actuator device 1 (and the product installed therein).

[0018] To further improve the thermal characteristics of the carrier and improve its operation within the positioning system, in one example the carrier is provided with channels for a coolant, each of said channels being provided with an inlet and an outlet at each end.

[0019] In particular, the channel is in heat exchange contact with the first, second and third groups of coil assemblies, in the order from the inlet to the outlet. This configuration allows for an efficient conduction of the coolant, i.e. first over the first group of coil assemblies, which have the lowest thermal spread; then along the longitudinal sides of the carrier-shaped actuator device; and finally over the further group of coil assemblies, which are located in the middle or intermediate part of the actuator device, between the first group of coil assemblies, which have the highest thermal spread during operation.

[0020] In a further refinement, a cover plate is provided covering all recesses of the first, second and third groups of recesses, on the surfaces of said cover plate facing said recesses, which facilitates assembly and maintenance of the actuator device.

[0021] Preferably, the carrier is rectangular, however, other shapes, such as square, may be more efficient and practical depending on the product process application.

[0022] In one example, a positioning system for positioning an object in a plane comprises a support structure, an object table, a positioning module, and an actuator device as described above, wherein the actuator device is configured to support the object table, and the positioning module is configured to move the actuator device and the object table linearly relative to the support structure in a plane.

[0023] In particular, the support structure comprises a first extension guide and a second extension guide oriented parallel to each other, both of which comprise first and second groups of magnets arranged adjacent to each other with opposing magnetic poles.

[0024] In particular, the magnets are permanent magnets or electromagnets, and the first and second groups of magnets of the first and second extension guides interact with the second and third groups of coil assemblies of the actuator device, respectively, to provide suitable position control in x and y degrees of freedom. [Brief description of the drawings]

[0025] The invention will now be described in more detail with reference to the accompanying drawings. [Figure 1A] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1B] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1C] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1D] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1E] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1F] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 1G] 1A and 1B are diagrams showing an embodiment of an actuator device according to the present invention; [Figure 2A] 3A-3C show examples of electric coils that can be used in actuator devices according to the present invention; [Figure 2B] 3A-3C show examples of electric coils that can be used in actuator devices according to the present invention; [Figure 2C] 3A-3C show examples of electric coils that can be used in actuator devices according to the present invention; [Figure 2D] 3A-3C show examples of electric coils that can be used in actuator devices according to the present invention; [Figure 3A] FIG. 1 illustrates an embodiment of a positioning system according to the present invention. [Figure 3B]FIG. 1 illustrates an embodiment of a positioning system according to the present invention. [Figure 3C] FIG. 1 illustrates an embodiment of a positioning system according to the present invention. [Figure 3D] FIG. 1 illustrates an embodiment of a positioning system according to the present invention. [Figure 4A] FIG. 1 shows a further embodiment of a positioning system according to the invention. [Figure 4B] FIG. 1 shows a further embodiment of a positioning system according to the invention. [Figure 4C] FIG. 1 shows a further embodiment of a positioning system according to the invention. [Figure 4D] FIG. 1 shows a further embodiment of a positioning system according to the invention. [Figure 4E] FIG. 1 shows a further embodiment of a positioning system according to the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] To facilitate understanding of the present invention, like parts are numbered like in the drawings.

[0027] Figures 1A-1G show an embodiment of an actuator device according to the invention. The actuator device is designated by the reference number 1 and is used in particular in a positioning system. An example of such a positioning system 20 is shown in more detail in Figures 3A-3C and 4A-4E.

[0028] In manufacturing process applications in high or low vacuum (or clean rooms), such actuators serve as supports for carriers carrying wafers (for example, but not limited to, wafer handling applications in the semiconductor field). The actuator device 1 together with the wafer carrier and the wafer substrate arranged thereon can be moved linearly in a plane relative to the support structure of the positioning system, which allows the wafer substrate to be subjected to thermal treatment, wafer deposition process steps and photolithography steps in a process chamber.

[0029] The actuators shown in Figures 1A-1E have a single, limited structural size and are adapted to realize product process applications under high or low vacuum that require high precision movement and positioning.

[0030] As shown, the actuator device 1 is planar and has a first surface 1A and a second surface 1B opposite the first surface 1A. The actuator device 1 is preferably configured as a carrier element 10, preferably manufactured as a one-piece element and made of a non-ferrous material (e.g. plastic or aluminium). The carrier element or carrier 10 has a flat, plate-like structure. The thickness direction length z of the carrier element or carrier 10 is significantly smaller than the longitudinal direction length y and the transverse direction length x. The carrier 10 may be rectangular, with the longitudinal direction length y being greater than the transverse direction length x (y>x), or may be square, with x=y.

[0031] The single design actuator device 1 according to the present invention has a limited structural size and allows highly accurate movement and positioning in multiple degrees of freedom in a plane.

[0032] The actuator device 1 is provided with multiple groups of coil assemblies mounted on a carrier 10. In the embodiment of Figures 1A-1F, three groups of coil assemblies are implemented on the actuator device 1. These first, second and third groups of coil assemblies are indicated by the reference numerals 110, 120 and 130, respectively. Each of the first, second and third groups of coil assemblies functions as an actuator configured to orient the carrier 10 in at least one degree of freedom (out of the six degrees of freedom: x, y, z, Φ, ψ and θ).

[0033] 1A-1B and 1E-1F for a three-dimensional Cartesian coordinate system, which shows three orthogonal degrees of freedom (x, y and z translational directions) of the actuator device 1 and three rotational degrees of freedom (Φ, ψ and θ rotations) about the x, y and z axes of the actuator device 1. This three-dimensional Cartesian coordinate system applies to all the embodiments shown.

[0034] In the embodiment shown in Fig. 1G, the actuator device 1' is provided with two groups of coil assemblies 120 and 130. Each of these groups functions as an actuator configured to orient the carrier 10 in at least three degrees of freedom, among which are the degrees of freedom in the x-direction and the y-direction.

[0035] Returning to Figures 1A-1F, the carrier 10 is provided with a number (here three) of groups of one or more recesses. The number of these groups of recesses corresponds to the number of groups of coil assemblies of the actuator device 1. The groups of recesses are provided in the first surface 1A of the actuator device 1, preferably by means of machining or other material removal techniques. In the embodiment shown in Figures 1A-1F, the three groups of recesses are indicated with the reference numbers 11, 12, 13. Each of the one or more groups of recesses 11, 12, 13 is configured to accommodate one or more coil assemblies belonging to the group of multiple coil assemblies 11, 12, 13.

[0036] That is, the first group of recesses 11 is configured to accommodate one or more coil assemblies belonging to the group of coil assemblies 110. The second group of recesses 12 is configured to accommodate one or more coil assemblies belonging to the group of coil assemblies 120. The third group of recesses 13 is configured to accommodate one or more coil assemblies belonging to the group of coil assemblies 130.

[0037] Looking more closely at the first group 11 of recesses housing the coil assemblies of the group 110 of coil assemblies, it can be seen that the first group 11 comprises four corner recesses 11A, 11B, 11C, 11D. Each of these corner recesses 11A, 11B, 11C, 11D can be seen to be located near a corner 10A, 10B, 10C, 10D of the carrier 10. In particular, corner recesses 11A-11B and 11C-11D are located adjacent each lateral side y of the carrier 10.

[0038] Furthermore, each corner recess 11A, 11B, 11C, 11D is provided with a corner through-hole 17A-17D. In particular, each of the corner recesses 11A-11B and 11C-11D is provided with two corner through-holes 17A1-17A2, 17B1-17B2, 17C1-17C2, 17D1-17D2 (or more simply, 17#1-17#2, where # denotes the respective corner AD).

[0039] Each corner recess 11A-11B-11C-11D is configured to receive a U-core coil assembly belonging to the first group of coil assemblies 110. These U-core coil assemblies are designated 110A-110D and are shown in more detail in FIG. 2D. Each of the U-core coil assemblies 110A-110D consists of two coil sections 110#1-110#2 (# denotes AD), which are wound around a winding core 113#1-113#2 (again, # denotes AD). The two coil sections 110#1-110#2 are electrically interconnected by a wire connection 114. Each of the winding cores 113#1-113#2 is provided with a winding core opening 115#1-115#2, respectively.

[0040] Each U-core coil assembly 110A-110D further includes a reluctance yoke 111A-111D. Each of the reluctance yokes 111A-111D has two yoke legs 111#1-111#2 (# indicates AD). Preferably, each reluctance yoke is made of a ferromagnetic material such as steel or iron. As shown in Figures 1A, 1B, 1D, 1E, and 1F, each yoke 111A-111D is mounted through the corner through-holes 17#1-17#2 of each corner recess 11A-11B-11C-11D using the two yoke legs 111#1-111#2. In particular, the two yoke legs 111#1-111#2 are respectively composed of the corner through-holes 17#1-17#2 and the winding cores #1-110#2 (# indicates AD) from the second surface 1B. They extend outwardly through winding core openings 115#1-115#2 in the winding core. Each coil section 110#1-110#2 of the coil assemblies 110A-110D in the first group of coil assemblies 110 is mounted around a respective yoke leg 111#1-111#2 of the yokes 111A-111D.

[0041] As shown in FIG. 1B, and also shown in FIGS. 1E, 1F, 3A, 3B, 3C, 4A and 4B, the central portions of the U-shaped yokes 111A-111D extend below the second surface of the actuator device 1 (of the carrier 10).

[0042] The U core coil assemblies 110A-110D function as reluctance coil actuators and are configured to orient or position the carrier 10 in the z degree of freedom. By actuating the U core coil assemblies 110A-110D independently of one another, the actuator 10 can be positioned in the Φ degree of freedom (about the x-axis) and the ψ degree of freedom (about the y-axis).

[0043] In this example, the first group of coil assemblies includes four U core coil assemblies 110A-110D. Each of the U core coil assemblies 110A-110D is disposed near a corner of the carrier 10 and actuated. The number of U core coil assemblies is not limited to four and may be any number. However, in other examples of the present invention not shown, the carrier 10 may be provided with fewer (e.g., two) or more (e.g., six or eight) U core coil assemblies 110# (where # indicates two coils AB, six coils AF, or eight coils AH). The number of U core coil assemblies belonging to the first group of coil assemblies may be selected arbitrarily according to the size of the carrier 10 and its application.

[0044] 1A-1F similarly shows a second group 12 and a third group 13 of one or more recesses for accommodating a second group 120 and a third group 13 of coil assemblies. These recesses 12 and 13 are provided in a first surface 1A of a carrier 10 of the actuator device 1. The recesses 12 and 13 are arranged adjacent to each other and between the corner recesses 11A-11D (in particular between the corner recesses 11A-11B and 11C-11D) when viewed in the x-direction of the carrier 10.

[0045] In this particular example, the second and / or third groups of one or more recesses are designated by the numerals 12 and 13, respectively.

[0046] In particular, the second and third groups of recesses 12-13 have a length parallel to the lateral extent x of carrier 10. In fact, the length of recesses 12-13 is perpendicular to the longitudinal extent y of carrier 10.

[0047] 1A-1F, the second group of coil assemblies 120 comprises six separate coil assemblies 120A-120F. Depending on the orientation of the coil assemblies within the second recess 12 relative to the carrier 10, the second group 120 is configured to orient or position the carrier 10 with at least a degree of freedom in the x-direction.

[0048] Similarly, the third group of coil assemblies 130 comprises two separate coil assemblies 130A-130B. Depending on the orientation of the coil assemblies in the third recess 13 relative to the carrier 10, the third group 130 is configured to orient or position the carrier 10 with at least a degree of freedom in the y direction. Alternatively, the two coil assemblies 130A-130B can be actuated independently of one another to position the actuator 10 with a degree of freedom in the θ direction (rotation about the z-axis).

[0049] Similar to the optional number of U-core coil assemblies in the first group of coil assemblies, the number of coil assemblies in the second and third groups of coil assemblies is also optional and may be anywhere from 1 to 8 (preferably 2 or more). An example of the third group of coil assemblies 130 may include four separate coil assemblies 130A-130A'-130B-130B'. In this case, the coil assemblies 130A-130A' and 130B-130B', respectively, are grouped in the y-direction of the carrier 10. The number of coils 120# and 13# may depend on the size of the carrier 10 and its application.

[0050] The second and third groups of coil assemblies 120A-120F and 130A-130B actually function as permanent magnet Lorentz actuators.

[0051] In Figures 2A-2D, several coil configurations of the first (Figure 2D), second and third (Figures 2A-2C) groups of coil assemblies are shown. In Figures 2A-2C, each coil assembly (120A-120F; 130A-130B) is part of the second group 120 and the third group 130 of coil assemblies and is constructed of multiple stacks of individually bent coils (18A), i.e. six coils 18A-18F stacked together. This design allows low thermal resistance, resulting in a high fill factor and precise movement and positioning.

[0052] Additionally, each coil assembly 120A-120F; 130A-130B is insulatingly housed in each recess 12-13 using an enclosure 19 formed, for example, of an electrically insulating material (e.g., a polyimide film material) that is folded and formed and arranged as a box 19 designed to house the assemblies 120A-120F; 130A-130B. An example of such a polyimide film material is Kapton®.

[0053] Via connecting guides 15A-15B-15C, the plurality of coil assemblies 110A-110D; 120A-120F; 130A-130B are electrically connected to appropriate control circuitry of the positioning mechanism 22 of the positioning system 20.

[0054] In yet another example shown in FIG. 1D, at least one of the second group 120 and / or the third group 130 of the plurality of coil assemblies 120A-120F; 130A-130B is provided with at least one temperature sensor 121 and 131, respectively. In particular, the temperature sensors 121 and 131 may be PTC thermistors. This allows for proper temperature control, resulting in a stabilized operation and preventing failures and / or disturbances that may adversely affect the operation and positioning of the actuator device 1 (and the product installed therein).

[0055] To further improve the thermal properties of the carrier 10 and improve its operation within the positioning system 20, the carrier 10 is provided as viewed from the underside (second surface 1B), as shown, for example, in Fig. 1C, which comprises at least one channel 16 for a coolant in the second surface 1B, with an inlet 16A and an outlet 18B at each end of the channel 16.

[0056] Specifically, from inlet 16A to outlet 18B, channel 16 is in heat exchange contact with first, second and third groups of coil assemblies in sequence. The thick dashed lines indicate the direction of coolant flow through channel 16 along the groups of coil assemblies 110-120-130.

[0057] In this example, two channels 16-16' are provided. Each of the channels 16-16' includes an inlet 16A and 16B for directing the coolant into heat exchange contact with the first group 110, the second group 120 and the third group 130 of coil assemblies in sequence. Following the dashed arrows indicating the direction of flow, for each channel 16 (16'), the coolant first passes through the first coil assembly 110C-B (110D-A), then through the second coil assembly 120D-EF (120B-A) and finally through the third coil assembly 130B (130A), respectively.

[0058] However, a single channel 16 may be used to direct coolant into sequential heat exchange contact with the first group 110, the second group 120 and the third group 130 of coil assemblies.

[0059] In this channel arrangement, the coolant (e.g. water) is directed: firstly over the first group of coil assemblies with the lowest thermal spread, where the first group 110 of coil assemblies are 110A-110D; then along the longitudinal sides of the carrier-shaped actuator device 1; finally over a further group 120-130 of coil assemblies 120A-120F; 130A-130B, which is located in the center or middle of the actuator device 1, between the first group of coil assemblies 110A-110D; this further group 120-130 of coil assemblies is the one with the highest thermal spread during operation.

[0060] As shown in Fig. 1E, the carrier 10 is provided with a cover plate 14 (shielding plate) arranged on a first surface of the carrier 10. The cover plate 14 covers all the recesses of the first group 11, the second group 12 and the third group of recesses as well as the group of coil assemblies 110-120-130 and several coil assemblies 110A-110D; 120A-120F; 130A-130B. The carrier 10 is provided with several mounting openings 10A'-10D' at or near the corners. This allows easy assembly and maintenance of the actuator device 1.

[0061] In a particular embodiment different from the embodiment shown in Fig. 1C, the channels 16 (or channels 16-16') for the coolant are provided in the surface of the cover plate 14 facing the recesses 11-12-13 and the first surface of the actuator device 1 / carrier 10. This embodiment is shown in Fig. 1 with the cover plate 14 mounted on the first surface 1A of the carrier 10. The channels 16 for the coolant shown in light grey indicate that the channels 16 are provided (for example by means of machining) in the surface of the cover plate 14. This is not shown in Fig. 1F, but facing the upper surface of the first surface 1A (shown in the embodiment of Fig. 1B).

[0062] Preferably, the carrier 10 is rectangular (FIGS. 1A-1F), however, other shapes, such as a square (FIG. 1G), may be more effective and practical depending on the product process application.

[0063] 1A-1F, the actuator device 1 comprises three groups 11-12-13 of coil assemblies 110A-110D; 120A-120F; 130A-130B, which allow the actuator 10 to be positioned in six degrees of freedom (degrees of freedom x, y, z, Φ, ψ, θ).

[0064] In Fig. 1G, another example of an actuator device 1' is shown, in which the first group 11 of coil assemblies 110A-110D at each corner 10A-10D is omitted. The actuator device 1' comprises a second group 120 and a third group 130 of coil assemblies, which are thus configured to position the actuator device 1' in four degrees of freedom x, y, ψ (rotation about the y-axis) and θ (rotation about the z-axis). This embodiment therefore provides a more limited structural size and less improvement in precision regarding movement and positioning, but also allows multiple degrees of freedom for other types of process applications.

[0065] It is noted that in the present invention, the actuator device 1 comprises at least two groups of coil assemblies, in particular groups 12 and 13 of coil assemblies 120# and 130#, respectively.

[0066] 3A-3C and 4A-4E disclose several embodiments and examples of a positioning system 20 for positioning an object in a plane. The system 20 comprises a support structure 25; an object table 24; a positioning module or metrology component 22 and an actuator device 1 as shown in FIGS. 1A-1G. The actuator device 1 is configured to support the object table 24. The positioning module or metrology component 22 is configured to linearly move the actuator device 1 together with the object table 24 in the xy plane relative to the support structure 25.

[0067] In particular the positioning module or metrology component 22, the actuator device 1 and the object table 24 are mounted on a positioning frame 21. Furthermore the positioning frame 21 may be provided with auxiliary means for cooling, stable support and accuracy improvement of the actuator 1 during operation.

[0068] The object table 24 serves to support a substrate wafer (not shown) or a similar product (e.g. a product that undergoes photolithographic processing steps in a process chamber 31 (see FIG. 4D)). Such processing steps require very high precision of movement and positioning in a vacuum environment. The object table 24 may be provided with a recess 24 for receiving the substrate wafer.

[0069] The support structure 25 includes a first extension guide 25A and a second extension guide 25B, which are oriented parallel to one another within the positioning system. Both the first extension guide 25A and the second extension guide 25B include a first group 26 and a second group 27 of magnets arranged adjacent to one another with opposite magnetic poles. Each of the second group 27 of magnet assemblies includes two separate magnets 28A-28B.

[0070] Preferably, the magnets 26; 28A-28B are permanent magnets or electromagnets. In operation, the first and second groups 26 and 27 of magnets of the first and second extension guides 25A and 25B interact with the second and third groups 120 and 130 of the coil assemblies of the actuator device, respectively, thereby functioning as permanent magnets of the Lorentz actuator. In particular, the first group 26 of magnets of the first extension guide 25A interacts with the second group 120 of the coil assemblies 120A-120F. This allows movement and positioning of the actuator device 1 and the subject table 24 in the x-direction (x degree of freedom), which is the longitudinal direction of the extension guides 24A-25B.

[0071] The second group 27; 28A-28B of magnets in the second extension guide 25B interact with the third group 130 of coil assemblies 130A-130B. This allows movement and positioning of the actuator device 1 and the subject table 24 in the y-direction (y degree of freedom).

[0072] By housing the positioning module / metrology component 22, the actuator device 1 and the object table 24 in the positioning frame 21 can be moved relative to the support structure 25 by means of the positioning module 22. This is due to the interaction of several coil assemblies of the second and third groups at least in the xy plane (x and y degrees of freedom). Furthermore, independent control of two coil assemblies 130A-130B of the third group of coil assemblies allows twisting movement of the actuator device 1 and the object table 24 about the z-axis (θ degree of freedom).

[0073] The cable slab 29 is provided near the center of gravity of the positioning frame 21. This minimizes signal degradation and vibration.

[0074] The support structure 25 is also provided with two additional extension guides 25C, which are arranged on opposite sides of the positioning system 20, sandwiching the first and second extension guides 25A-25B. The extension guides 25A-25B-25C are made of ferromagnetic material to appropriately interact with the first group 110, the second group 120 and the third group 130 of coil assemblies. In particular, the additional extension guides 25C interact with the U-yoke coil assemblies 110A-110D of the first group 110 of coil assemblies. This allows for orientation of the actuator device 1 and the object table 24 in the z-direction (z degree of freedom). Furthermore, independent control of the coil assemblies 110A-110D of the first group of coil assemblies allows for bending of the actuator device 1 and the object table 24 in the Φ degree of freedom (rotation about the x-axis) and the ψ degree of freedom (rotation about the y-axis).

[0075] The extension guides 25A-25B-25C are covered by a magnetic shielding plate 30. The magnetic shielding plate 30 shields the object table 24 and the substrate wafer (not shown) arranged in the recess 24A from magnetic interference due to the magnets 26; 27-28A-28B and the actuator device 1.

[0076] Reference numerals 32A-32D denote yoke connectors connected to the yokes 111A-111D of the U-yoke coil assemblies 110A-110D of the first group of coil assemblies 110. These yoke connectors 32A-32D form a mechanical connection between the actuator device 1 (and the subject table 24) and the positioning frame 21. This allows the actuator device 1 (and the subject table 24) and the positioning frame 21 to be displaced along the extension guides 25A-25B-25C.

[0077] Figures 4A-4C show a positioning system 20 provided with the actuator device 1 shown in Figures 1A-1D. Thus, three groups 110-120-130 of coil assemblies are shown, allowing positioning of the carrier 10 and the subject table 24 in six degrees of freedom (degrees of freedom s, y, z, Φ, ψ, θ).

[0078] Figure 4D shows a simplified design of the positioning system 20. This system is provided with the actuator device 1 shown in Figure 1G and thus with only two groups of coil assemblies 120-130. This allows positioning of the carrier 10 in four degrees of freedom x, y, ψ (rotation around the y axis) and θ (rotation around the z axis). The absence of the first group 110 of coil assemblies 110A-110D means that there is no actuation in the z direction. To compensate for this limitation in motion control, an air bearing 34 is provided between the positioning system 20 and the ground floor 33. This minimizes vibrations in the z direction.

[0079] FIG. 4E shows a positioning system 20 similar to that shown in FIGS. 4A-4D. It also includes three groups 110-120-130 of coil assemblies, which allow positioning of the carrier 10 and the object table 24 in six degrees of freedom (degrees of freedom x, y, z, Φ, ψ and θ). Furthermore, a passive damping element 35 is arranged between the positioning frame 21 and the object table 24 to prevent high frequency vibrations in the measurement path. The passive damping provides a higher servo bandwidth and improves the accuracy of the positioning system 20, especially the measurement path 22. Furthermore, reference numeral 36 denotes an additional balance mass body mounted in the positioning system 20 to prevent excitation of the column and the measurement path 22.

[0080] In the above example, an improved actuator device is realized in which multiple groups of coil assemblies are integrated into one (single) carrier. This single design with multiple groups of actuating coil assemblies allows six degrees of freedom (x, y, z, Φ, ψ and θ) positioning of the carrier and object table for both direct and dual motion axes. As explained above, six degrees of freedom of motion means motion in s, y and z directions / axes, and rotation about x, y and z axes. Direct motion means distributed control of motion in a single axis using a single position sensor and control in the same direction. Dual motion control means that one direction / axis of motion has low precision for translation and positioning, while the other direction / axis of motion serves as higher precision control.

[0081] Additionally, integrated cooling and temperature sensors preserve the temperature characteristics of the carrier with respect to heat dissipation and cooling, which preserves the mechanical stability and motion accuracy of the actuator during operation.

[0082] A six degree of freedom design using multiple groups of actuating coil assemblies allows movement of the carrier to achieve long stroke motion in a single direction (typically the x-direction) and short stroke motion in the other degrees of freedom.

[0083] The actuator device according to the invention can be realized in product process applications (e.g. wafer handling applications in the semiconductor industry) in high or low vacuum (or clean room). However, it is noted that it is not limited to wafer handling applications. The actuator device according to the invention can also be used in other applications where the movement and positioning of a carrier or product is important to the performance of the application.

[0084] In particular, this actuator device can be used in a positioning system as defined in the claims, where the positioning system is configured as a scanning system, and the actuator device is movable in a plane with six degrees of freedom and at a constant speed relative to the support structure of the scanning system. In this way, the control system of the positioning system (scanning system) can precisely control several coil assemblies of the actuator device. Through the system, the intended movement of the actuator device can then be monitored very precisely.

[0085] Such positioning and / or scanning systems may provide vibration reduction or cancellation using a spring-damper system (air bearings) between the metrology frame and the surrounding structure. For example, the scanning and positioning systems may include a balance mass structure to minimize vibrations induced in the metrology frame due to actuation. [Explanation of symbols]

[0086] 1. Actuator device, 1A first surface, 1B: a second surface; 10··Carrier body, 10A-10D··Carrier corner, 10A'-10D'··Mounting opening, 11... A first group of recesses; 11A-11D... A separate recess belonging to a first group of recesses; 110 - first group of coil assemblies; 110A-110D ·· a first coil assembly belonging to a first group of coil assemblies; 110#1-110#2: coil sections of coil assembly 110# (# is AD); 111A-111D First coil section yoke; 111#1-111#2: yoke leg of yoke 111# (# is AD), 113#3-113#2: Winding cores of coil sections 110#1-110#2 (# stands for AD), 114: Wire connection of coil section 110#1-110#2 (# is AD), 115#1-115#2: Winding core openings of coil sections 113#1-113#2 (# is AD); 12... A second group of recesses; 120 - second group of coil assemblies; 120A-120F a second coil assembly belonging to a second group of coil assemblies; 121 - coil assembly second group temperature sensor; 13... A third group of recesses; 130A-130B a third coil assembly belonging to a third group of coil assemblies; 131 - coil assembly third group temperature sensor; 14··Closure plate or shielding plate, 15A-15B-15C ··Connecting guide for coil assembly, 16··Coolant channel, 16A··Coolant channel inlet, 16B Coolant channel outlet, 17A-17D: through holes in the first recess; 17#1-17#2: Through holes of yoke legs 111#1-111#2 of yoke 111# (# is AD), 18A-18F ··Second and third groups of separate wound coils of the coil assembly; 19 - the electrically insulated pockets of the second and third groups of the coil assembly; 20 Positioning system, 21 Positioning frame, 22 Positioning means / measuring components, 23 Additional mass / measurement components, 24 ··Target table, 24A: A recess in the surface of the target table; 25...Support structure, 26 - first magnet assembly; 27... A second magnet assembly; 28A-28B... A separate magnet of a second magnet assembly; 29 Signal cable slab, 30 Magnetic shielding plate, 31 Process chamber, 32A-32D Yoke connector, 33. Ground Floor, 34 Air bearing, 35 Passive damping elements, 36··Balanced mass body.

Claims

1. 1. An actuator device for use in a positioning system, comprising: a support structure of said positioning system that is movable linearly in a plane; a carrier having a longitudinal length and a lateral length; - a plurality of groups of coil assemblies within said carrier; Equipped with each of the group of coil assemblies is configured to orient the carrier in at least one degree of freedom; the carrier is provided with a plurality of groups of one or more recesses; each of the one or more groups of recesses configured to accommodate one or more coil assemblies from the one or more groups of coil assemblies; the first group of one or more recesses comprises four corner recesses; each of the corner recesses is provided at or near a corner of the carrier; Each of said corner recesses is provided with two corner through holes; each of the corner recesses is configured to receive a U-core coil assembly of a first group of coil assemblies; each of the yokes of the U-core coil assemblies is mounted through one of the corner through-holes extending outwardly from a surface of the carrier; 11. An actuator device comprising: a first group of coil assemblies mounted about each of the yokes of the U-core coil assembly.

2. 2. An actuator device as claimed in claim 1, characterized in that the second and third groups of recesses for accommodating the second and third groups of coil assemblies, respectively, are provided adjacent to each other and between the first group of corner recesses when viewed in the longitudinal direction of the carrier.

3. 3. An actuator device according to claim 2, wherein the second group and / or the third group of one or more recesses consists of a single recess.

4. 4. An actuator device according to claim 2 or 3, characterized in that the recesses of the second and third groups both have a longitudinal extent oriented parallel to a lateral direction of the carrier.

5. 5. An actuator device according to claim 1, wherein each of said coil assemblies is insulatively housed in a respective recess.

6. 6. An actuator device according to claim 1, wherein each of the coil assemblies comprises a group of multiple wound coils stacked together.

7. 7. An actuator device according to any one of claims 1 to 6, characterized in that the second and / or third group of coil assemblies comprises at least one PTC thermistor.

8. the carrier comprises a channel for a coolant; An actuator device according to any one of claims 1 to 7, characterized in that each of said channels is provided at its end with a respective inlet and outlet.

9. 9. The actuator device of claim 8, wherein the channel is in heat exchanging contact with first, second and third groups of the coil assemblies in sequence from the inlet to the outlet.

10. 9. An actuator device according to claim 8, characterized in that the carrier is provided with a cover plate covering all recesses of the first, second and third groups of recesses.

11. An actuator device according to claim 10, characterized in that the channel is provided in a surface of the cover plate facing the recess.

12. An actuator device according to any preceding claim, characterized in that the carrier is rectangular.

13. 1. A positioning system for positioning an object in a plane, comprising: A support structure; The target table, A positioning module; An actuator device according to any one of claims 1 to 12, Equipped with the actuator device is configured to support the object table; 13. A positioning system according to claim 12, wherein the positioning module is configured to linearly move the actuator device and the object table in a plane and relative to the support structure.

14. the support structure comprises a first extension guide and a second extension guide oriented parallel to one another; 14. The positioning system of claim 13, wherein both the first extension guide and the second extension guide comprise first and second groups of magnets arranged adjacent to each other with opposite magnetic poles.

15. The positioning system of claim 14, wherein the magnet is a permanent magnet or an electromagnet.

16. 15. The positioning system of claim 14, wherein during operation, first and second groups of magnets of the first and second extension guides interact with second and third groups of coil assemblies of the actuator device, respectively.

17. the positioning module, the actuator device and the object table are housed in a positioning frame; 17. The positioning system according to any one of claims 13 to 16, wherein the positioning frame is moveable relative to the support structure by means of the positioning module.

18. 18. A positioning system according to any one of claims 13 to 17, wherein a damping element is arranged between the positioning frame and the object table.

19. 19. The positioning system according to any one of claims 13 to 18, wherein an air bearing is arranged between the support structure and a ground floor.

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