WO1999046848A1 - Procede de fabrication de moteur lineaire, moteur lineaire, etage pourvu de ce moteur lineaire et systeme d'exposition - Google Patents
Procede de fabrication de moteur lineaire, moteur lineaire, etage pourvu de ce moteur lineaire et systeme d'exposition Download PDFInfo
- Publication number
- WO1999046848A1 WO1999046848A1 PCT/JP1999/001115 JP9901115W WO9946848A1 WO 1999046848 A1 WO1999046848 A1 WO 1999046848A1 JP 9901115 W JP9901115 W JP 9901115W WO 9946848 A1 WO9946848 A1 WO 9946848A1
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- WIPO (PCT)
- Prior art keywords
- linear motor
- coil
- frame
- motor according
- holding
- Prior art date
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Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70691—Handling of masks or workpieces
- G03F7/70758—Drive means, e.g. actuators, motors for long- or short-stroke modules or fine or coarse driving
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49009—Dynamoelectric machine
Definitions
- the present invention relates to a linear motor manufacturing method and a linear motor suitable for use as a drive source of a stage for holding a substrate in a projection exposure apparatus used in, for example, a semiconductor manufacturing process, a linear motor, a stage apparatus having the linear motor, and an exposure apparatus. It concerns equipment. Background art
- the circuit pattern of a photomask or reticle (hereinafter simply referred to as a “reticle”) is transmitted through a projection optical system.
- a projection exposure apparatus that performs projection exposure and transfer onto a substrate such as a wafer or a glass plate coated with a photosensitive agent is used.
- a projection exposure apparatus has a step-and-repeat method in which a substrate is sequentially moved and a pattern is sequentially projected and transferred onto a plurality of exposure areas on the substrate.
- the so-called stepper has become the mainstream.
- Such a stepper is provided with a stage for holding, moving, and positioning the substrate because it is necessary to precisely position the substrate each time projection transfer is performed while sequentially moving the substrate.
- the stage is provided with a movable stage capable of moving the held substrate in at least two directions, and a linear drive mechanism is frequently used as a drive source of the movable stage.
- the linear drive mechanism includes a mechanism that converts a rotational motion into a linear motion using a rotary motor, and a mechanism that uses a linear motor of a linear motion.
- linear motors have a simple structure, have a small number of parts, and have low frictional resistance. Therefore, linear motors are becoming the mainstream drive sources for mechanisms that require particularly precise positioning.
- the linear motor includes a permanent magnet unit and an armature coil unit, and generates thrust by the relative movement between the permanent magnet unit and the armature coil unit.
- the armature coil unit 2 of the linear motor 1 has a configuration in which a plurality of coil bodies 3 are arranged.
- Each coil body 3 is formed by winding an electric wire in a substantially rectangular shape in cross section, and has an opening 3a at the center thereof.
- the plurality of coil bodies 3 are positioned by fitting the openings 3 a into the projections 4 a formed in the mounting plate 4 corresponding to the openings 3 a.
- the linear motor 5 proposed in the above publication includes permanent magnets 7, 7 held on a magnet frame 6 so as to face each other at a predetermined interval, and these permanent magnets 7. , 7 and an armature coil unit 8 arranged between them.
- the armature coil unit 8 has a configuration in which a flat coil 9 is adhered to both sides of a mounting plate 8a.
- each coil 9 is formed in a flat shape by helically bending a strip-shaped coil wound in a rectangular or parallelogram long in one side direction. .
- Each coil 9 is positioned by a pin 8b provided on the mounting plate 8a.
- the position accuracy of each coil body 3 in the direction in which the plurality of coil bodies 3 are arranged is important. That is, as shown in FIG. 15, for example, when there is an outer dimension error of each coil body 3, when these errors are accumulated, the arrangement interval of the plurality of arranged coil bodies 3 becomes equal to the arrangement of the permanent magnets 7. The gap is relatively shifted with respect to the interval. If there is an error between the arrangement interval of the permanent magnets 7 and the arrangement interval of the coil body 3, the thrust generated by the linear motor 1 becomes uneven, and the performance of the linear motor 1 is reduced. affect. The only countermeasure to this is to increase the dimensional accuracy of the outer diameter of each of the three coil bodies. However, the improvement in accuracy results in higher coil manufacturing costs.
- each coil body 3 has an opening 3 a
- the opening 3 a corresponds to the coil body 3 with respect to the magnetic gap of the permanent magnet unit.
- the space factor (density) of the linear motor 1 decreases, and as a result, the efficiency of the linear motor 1 decreases.
- the present invention has been made in consideration of the above points, and has a high-performance and stable linear motor manufacturing method, a linear motor, a stage device having the linear motor, and a linear motor. It is an object to provide an exposure apparatus. Disclosure of the invention
- the invention according to claim 1 is a linear motor (R 1) including an armature coil (23) and moving a movable body by an electromagnetic force, wherein the armature coil (23) has a plurality of pieces. And a frame (24) for holding these coil bodies (25) in one direction, wherein the frame (24) is defined along the one direction. A positioning portion (28) for holding an end portion of each of the coil bodies (25) is formed at each set interval.
- the plurality of coil bodies (25) are arranged at predetermined intervals. Positioned.
- the invention according to claim 2 is the linear motor (R 1) according to claim 1,
- the frame (24) is formed with a notch (31) through which the wiring (C) of the coil body (25) passes, and the coil body (25) is connected to the outside of the frame (24).
- in-phase coil bodies (25) can be connected together outside the frame (24).
- the invention according to claim 3 is the linear motor (R 1) according to claim 2, wherein the notch (31) is formed corresponding to the positioning portion (28) formed in the frame (24). And the coil body (2) held by the positioning portion (28).
- the invention according to claim 4 is the linear motor (R 2) according to any one of claims 1 to 3, wherein the positioning portion (28, 28 ′) includes a plurality of the coil bodies (25, 25 ′). It is characterized in that a step (38) for holding it in an overlapping manner is formed.
- the coil body (25, 25 ') having a plurality of layers can be held by one frame (34).
- the invention according to claim 5 is the linear motor (R 3) according to any one of claims 1 to 4, wherein the armature coil (43) is formed by bonding a plurality of the frames (24) to each other. It is characterized by being done.
- the armature coil (43) has a configuration in which a plurality of coil bodies (25) are stacked by the coil body (25) held in each frame (24).
- the invention according to claim 6 is the linear motor (R 1) according to any one of claims 1 to 5, wherein the coil body (25) has a flat polygonal shape.
- the invention according to claim 7 is the linear motor (R 4) according to any one of claims 1 to 6, wherein the coil body (55) has a substantially cylindrical shape.
- the invention according to claim 8 is the linear motor (R 1) according to any one of claims 1 to 7, wherein the frame (24) extends along the one direction at a predetermined interval. It has a pair of holding parts (26), and a connecting part (27) connecting these holding parts (26) to each other at both ends thereof.
- Each of the holding parts (26) includes the permanent magnet (22). ), A plurality of the grooves (28) are formed at intervals according to the arrangement interval.
- the coil body (25) is held between the pair of holding portions (26).
- the holding portion (26) at a position that does not interfere with the magnetic lines of force of the permanent magnets (22), only the coil body (25) exists between the permanent magnets (22).
- the invention according to claim 9 is the linear motor according to any one of claims 1 to 8, wherein the coil fixing frame (70) holding the armature coil (23) and the coil body (25)
- the can (71) that forms a refrigerant passage for cooling, and all the other components of the armature coil (23) except the coil body (25) are made of ceramics or engineering. It is characterized by being formed of plastic or austenitic stainless steel.
- the invention according to claim 10 is a linear motor (R 1) for moving a movable body by an electromagnetic force, comprising a plurality of coil bodies (25) and a frame-like shape for holding these coil bodies (25) side by side.
- An armature coil unit (23) having a holding member (24) is provided.
- the invention according to claim 11 is the linear motor (R 1) according to claim 10, wherein the holding member (24) holds the plurality of coil bodies (25) along a predetermined direction. I do.
- the plurality of coil bodies (25) are positioned on the holding member (24) with high accuracy along the predetermined direction.
- the invention according to claim 12 is the linear motor (R 1) according to claim 10, wherein the holding members (24) are formed at predetermined intervals to position the plurality of coil bodies (25). It has a positioning part (28).
- the plurality of coil bodies (25) are positioned with high accuracy at predetermined intervals on the holding member (24).
- the invention according to claim 13 is the linear motor (R 1) according to claim 12, wherein the positioning portion (28) of the holding member (24) is formed in accordance with the end shape of the coil body (25). It is characterized by having been done.
- the invention according to claim 14 is the linear motor (R 1) according to claim 12, wherein the positioning portion (28) of the holding member is formed by providing convex portions (29) at predetermined intervals. It is characterized by the following.
- the holding member (24) to hold the plurality of coil bodies (25) at predetermined intervals simply by holding the ends of the coil bodies (25) on the positioning portions (28) formed between the protrusions (29). Is positioned with high accuracy.
- the invention according to claim 15 is the linear motor according to claim 10, wherein the holding member (24) is formed with a cutout portion (31) for passing an electric wire from the plurality of coil bodies (25). It is characterized by having been done.
- the invention according to claim 6 is the linear motor according to claim 10, wherein the armature core A part of the components constituting the coil unit (23) is characterized by being formed of a non-magnetic material and a non-conductive material.
- the invention according to claim 17 is the linear motor according to claim 16, wherein a part of a part of a cooling mechanism for cooling the armature coil unit (23) is made of a nonmagnetic material and a nonconductive material. It is characterized by being formed.
- the invention according to claim 18 is a stage mechanism (10) including the linear motor (R1) according to claim 10.
- stage mechanism (10) it is possible to provide a linear motor (R 1) in which the plurality of coil bodies (25) are positioned with high accuracy on the holding member (24).
- An invention according to claim 19 is an exposure apparatus provided with the linear motor (R 1) according to claim 10.
- An invention according to claim 20 is a method for manufacturing a linear motor, comprising: forming an armature coil unit (26) by holding a plurality of coil bodies (25) with a frame-shaped holding member (24). It is characterized by.
- FIG. 1 shows a stage mechanism of a projection exposure apparatus having a linear motor according to the present invention.
- FIG. 2 is a view showing the linear motor
- FIG. 2 (a) is a vertical sectional view thereof
- FIG. 2 (b) is a plan sectional view thereof.
- FIG. 3 is a first embodiment of the linear motor, and is a perspective view illustrating an armature coil included in the linear motor.
- FIG. 4 is a plan view of the armature coil shown in FIG.
- FIG. 5 is a second embodiment of the linear motor, and is a perspective view showing an armature coil constituting the linear motor.
- FIG. 6 is a perspective view showing wiring in the armature coil shown in FIG.
- FIG. 7 is a third embodiment of the linear motor and is an elevational sectional view showing an armature coil constituting the linear motor.
- FIG. 8 is an elevational sectional view showing another example of the armature coil shown in the third embodiment.
- FIGS. 9A and 9B are perspective views showing a fourth embodiment of the linear motor, and showing an armature coil constituting the linear motor.
- FIG. 10 is a diagram showing another example of the coil body used in the linear motor according to the present invention.
- FIG. 10 (a) is a front view of the coil body, and
- FIG. It is a side view.
- FIG. 11 is a view showing still another example of the coil body used in the linear motor according to the present invention, and FIG. 11 (a) is a front view of the coil body, and FIG. 11 (b) Is a side view thereof.
- FIG. 12 is a diagram showing still another example of the coil body used in the linear motor according to the present invention
- FIG. 12 (a) is a front view of the coil body
- FIG. 12 (b) is It is a side view.
- FIG. 13 is a diagram showing an example of a conventional linear motor, and is a perspective view showing an armature coil of the linear motor.
- FIG. 14 is a diagram showing another example of the conventional linear motor.
- FIG. 14 (a) is a vertical sectional view of the linear motor
- FIG. 14 (b) is a diagram showing the linear motor.
- FIG. 3 is a front view of an armature coil.
- Fig. 15 is a diagram showing the misalignment of the arrangement interval between the permanent magnet and the coil body in the linear motor shown in Fig. 13, and Fig. 15 (a) is a front view thereof, and Fig. 15 (b) Is a plan view thereof.
- FIG. 1 shows a stage mechanism 10 of a projection exposure apparatus used, for example, in a photolithographic process of a semiconductor device.
- the projection exposure apparatus projects and transfers a circuit pattern of a photomask or a reticle onto a substrate such as a wafer or a glass plate coated with a photosensitive agent through a projection optical system.
- the stage mechanism 10 holds, moves, and positions a substrate such as a wafer (hereinafter, simply referred to as a “wafer”) W.
- the stage mechanism 10 is mounted on a pedestal (not shown) via a vibration isolation mechanism.
- An X stage 12 and a Y stage 13 are provided on a base 1 ⁇ that has been installed.
- the X stage 12 is provided on the upper surface of the substrate 11 and extends in one direction (the X direction in the figure) in a plane orthogonal to the optical axis of the projection optical system of the projection exposure apparatus.
- the frame 16 is moved by moving the movable members 15 and 15 along the fixed rods 14 and 14. It is movable in the axial direction of the fixed rods 14, 14, that is, in the direction of the arrow X in the figure.
- the Y stage 13 extends in a direction perpendicular to the optical axis of the projection optical system of the projection exposure apparatus in a direction perpendicular to the fixing rod 14, and is fixed to the frame 16 integrally.
- the holding table 19 of the Y stage 13 is movable in the axial direction of the fixed rod 17, that is, in the direction of the arrow y in the figure by moving the movable member 18 along the fixed rod 17. . At this time, both ends of the holding table 19 are guided by guide members 20 and 20 formed on the frame 16.
- the holding stage 19 is provided with a wafer holder (not shown) for holding the wafer W by suction so that the wafer W can be rotated slightly, and a leveling mechanism (not shown) for vertically moving the held wafer W.
- the holding stage 19 is moved by the X stage 12 and the Y stage 13 into two directions orthogonal to each other in a plane orthogonal to the optical axis of the projection optical system of the projection exposure apparatus. It is freely movable.
- a linear motor is used as a drive source of the X stage 12 and the Y stage 13 constituting the stage mechanism 10.
- the linear motor R 1 is composed of permanent magnets 22, 22 held on a magnet frame 21 so as to face each other at a predetermined interval, and a linear motor R 1 between the permanent magnets 22, 22.
- the armature coil unit (armature coil) 23 is arranged roughly.
- the armature coil unit 23 is fixed to a coil fixing frame 70.
- the coil fixing frame 70 includes a substantially box-shaped can 71 in which the armature coil unit 23 is housed. It is provided in.
- the can 71 forms a refrigerant passage for cooling the armature coil unit 23.
- the can 71 has an inlet and an outlet (not shown). Then, a cooler (not shown) By allowing the refrigerant supplied from the recirculation system to flow into the interior of the can 71, the armature coil unit 23 is cooled and returned to the cooling circulation system from an outlet (not shown) to be circulated. It is.
- the coil fixing frame 70 and the can 71 are made of ceramics, engineering plastic or austenitic stainless steel.
- the armature coil unit 23 holds a plurality of flat coils (coil bodies) 25, 25,... Arranged in a frame-shaped coil frame (frame) 24. Configuration.
- each flat coil 25 is formed by bending a coil wound in a belt shape, and for example, has a flat shape having a substantially hexagonal shape in plan view, that is, a flat polygonal shape.
- Each flat coil 25 is located in a plane along the relative movement direction (the direction of the arrow (a) in the figure) between the armature coil unit 23 and the permanent magnet 22 (see FIG. 2). It is bent at the ends 25a and 25a located on both sides of the relative movement direction.
- Each end 25a is formed such that its outer diameter is substantially U-shaped, and its dimensions fall within a predetermined accuracy.
- the coil frame 24 is made of a material such as non-magnetic and non-conductive (high electric resistance) material, ceramics, stainless steel, or engineering plastic.
- the armature coil unit 23 and the permanent magnet 22 see FIG. 2
- a pair of holding portions 26, 26 extending in the direction of relative movement of the two, and connecting portions 27, 27 for integrally connecting the holding portions 26, 26 at both ends. ing.
- the holding portions 26, 26 are arranged at positions where they do not interfere with the magnetic force lines of the permanent magnets 22, 22.
- each holding portion 26 On one side 26 a of each holding portion 26, a plurality of grooves 28 are provided as permanent magnet 22 2 as positioning portions for each flat coil 25 (see FIG. 2). ) Are formed at predetermined intervals corresponding to the array intervals.
- the grooves 28 are formed in the holding portion 26 by forming a plurality of protrusions 29 extending at predetermined intervals toward the inside of the coil frame 24, so that the protrusions 29, 29 adjacent to each other are formed. It is in the form formed between them.
- Each groove 28 is formed in a shape corresponding to the end 25 a of the flat coil 25.
- an extension portion 30 is formed on the other surface side 26 b of each holding portion 26 so as to extend further inward than the projection portion 29.
- one of the two holding portions 26 has a slit (notch) 3 communicating with the inner peripheral side and the outer peripheral side at a position corresponding to each groove 28 on one surface side 26 a thereof. 1 is formed.
- each flat coil 25 the ends 25a and 25a of the two places are fitted in the groove 28, and furthermore, the groove 28 and the extension 30 are bonded with an adhesive or resin. Fixed. In this state, each flat coil 25 is positioned with respect to the relative movement direction of the armature coil unit 23 by the groove 28, and positioned with respect to the thickness direction of the armature coil unit 23 by the extension portion 30. It has been done. Further, each flat coil 25 is fixed by a convex portion 29 so as not to contact another flat coil 25. In this way, the plurality of flat coils 25 are sequentially arranged while being shifted by a predetermined dimension along the direction of relative movement of the armature coil unit 23, and are provided at the ends 25a and 25a of the two places. On the other hand, the coil frame 24 has one side 25 c facing the one side 26 a of the holding portion 26 and the other side 25 d facing the other surface 26 b of the holding portion 26. Installed.
- each flat coil 25 is guided to the outside of the coil frame 24 from the slit 31, and is connected to another flat coil 25 of the same phase by this flat coil 25. They are connected through a slit 31 corresponding to 25.
- the coil frame 24 and all other components are made of ceramic, engineering plastic or austenitic stainless steel. It is formed with.
- a linear motor is manufactured by connecting the above components functionally (mechanically and electrically).
- the stage mechanism 10 is manufactured by functionally (mechanically and electrically) connecting and assembling the linear motor and the X stage 12 and the Y stage 13.
- the armature coil unit 23 includes a plurality of flat coils 25 and a coil frame 24 for holding these, and the coil frame 24 is a pair of two holding portions 2 6, 26 and a connecting portion 27 connecting these holding portions 26, 26 to each other.
- Each holding portion 26 has a configuration in which grooves 28 for holding the ends 25 a of the flat coils 25 are formed at intervals according to the arrangement interval of the permanent magnets 22.
- each of the plurality of flat coils 25 is arranged in the frame-shaped coil frame 24, the efficiency as a linear motor is improved.
- the holding portion 26 is arranged at a position where it does not interfere with the magnetic lines of force of the permanent magnets 22 and 22, there is no interposition other than the flat coil 25 between the permanent magnets 22 and 22. As a result, the performance of the linear motor R1 can be improved.
- the conventional coil 9 having a complicated shape as shown in FIG. 14 is not used, a large-scale winding device or the like is not required, and the above-mentioned effect can be obtained at low cost.
- the ends 25a and 25a of the flat coil 25 are fixed and held on the coil frame 24, high rigidity can be obtained even with the flat coil 25 having a low rigidity and durability. The effect that it is excellent can be exhibited.
- the flat coil 25 requires accuracy only at the end portion 25a held in the groove 28, the coil manufacturing of the flat coil 25 does not require much time and effort. In terms of Can also contribute to cost reduction.
- a slit 31 is formed in the coil frame 24 corresponding to the groove 28, and the wiring C from the end 25a of the flat coil 25 held in the groove 28 is formed by the slit 31.
- the flat coil 25 is connected to the outside of the coil frame 24.
- the flat coils 25 having the same phase can be connected to each other outside the coil frame 24, and the wiring can be neatly arranged. Further, since the groove 28 and the slit 31 are formed integrally, the wiring work can be performed simultaneously with the setting of the flat coil 25, and the assembly process of the armature coil unit 23 can be simplified. Can be Further, in the linear motor R1, the flat coil 25 has a flat polygonal shape. By using the flat coil 25 in this manner, the space factor of the flat coil 25 in the gap between the permanent magnets 22 and 22 can be improved, and the performance of the linear motor R1 can be improved. it can.
- the coil fixing frame 70, the can 71, and all the other components of the armature coil unit 23 except the flat coil 25 are made of ceramics, engineering plastic,
- the structure is made of stainless steel. These materials have high strength and a small coefficient of linear expansion, which prevents deformation due to temperature changes, and as a result, contributes to stabilizing the performance of the linear motor R1. it can.
- the armature coil unit of linear motor R2 (armature coil unit) 33) has a configuration in which a plurality of flat coils (coil bodies) 25 and 25 'are held by a coil frame (frame) 34.
- the coil frame 34 is made of a material such as non-magnetic and non-conductive (high electric resistance) material, ceramic stainless steel, or engineering plastic, and moves in a relative movement direction between the armature coil unit 33 and the permanent magnet 22 (see FIG. 2). It is formed of a pair of holding parts 36, 36 extending along and connecting parts 37, 37 for integrally connecting these holding parts 36, 36 at both ends.
- Each holding portion 36 has a groove 28 for holding the end portion 25a of the flat coil 25 on one surface side 36a thereof at predetermined intervals corresponding to the arrangement interval of the permanent magnets 22 (see FIG. 2). I have.
- a groove 28 ′ for holding the end 25 a ′ of the flat coil 25 ′ is provided at a predetermined interval corresponding to the arrangement interval of the permanent magnets 22 (see FIG. 2) at the middle portion in the thickness direction of each holding portion 36.
- Each is formed.
- the distance between the ends 25 a ′ and 25 a ′ is set smaller than the distance between the ends 25 a and 25 a of the flat coil 25. Therefore, the interval between the grooves 28 ', 28' facing each other is also set smaller than the interval between the grooves 28, 28.
- a step portion 38 is formed between the groove 28 and the groove 28 '.
- An extension 39 is formed on the other surface 36b of each holding portion 36 so as to extend further inward than the projection 29 'for forming the groove 28'.
- a slit (notch) 31 ′ that connects the inner peripheral side and the outer peripheral side thereof is formed in a position corresponding to each of the grooves 28 and 28 ′ in the one holding portion 36.
- a plurality of flat coils 25 ′ are fixed to the grooves 28 ′ and 28 ′ with an adhesive or a resin, respectively, on the coil frame 34, and further, the flat coils 25 ′ are superimposed on these flat coils 25 ′.
- the groove 28 is fixed to the groove 28 with an adhesive or resin.
- the wiring C extending from one end 25a, 25a 'of each flat coil 25, 25' is led to the outside of the coil frame 34 from the slit 31 ', as shown in Figs. It is connected to other flat coils 25, 25 'in phase. In this way, the flat coils 25 and 25 'are attached to the coil frame 34 in two layers, and the linear motor R2 has a so-called two layer structure.
- all other components including the coil frame 34 are made of ceramics, engineering plastics, or austenitics. Made of stainless steel.
- the above-described linear motor R2 can provide the same effects as the linear motor R1 in the first embodiment.
- the step portion 38 is formed in the coil frame 34, and the grooves 28, 28 ′ for holding the flat coils 25 and 25 ′ in an overlapping manner are formed. It has a configuration. As a result, the linear motor R2 can be formed in two layers and the performance can be improved.
- the armature coil unit (armature coil) 43 of the linear motor R3 is a combination of the two coil frames 24 (see FIG. 4) shown in the first embodiment. Things. That is, the two coil frames 24 are integrally joined by joining means such as an adhesive in a state where the one side 26 a of the holding portion 26 of each coil frame 24 faces each other. . Grooves 28 are formed at predetermined intervals in the holding portion 26 of each coil frame 24, and a flat coil 25 is fixed to each groove 28. In addition, the wiring C connected to the end 25 a of each flat coil 25 extends from the slit 31 formed corresponding to each groove 28 to the coil flange. It is led outside the frame 24 and connected to another flat coil 25 of the same phase. With the linear motor R3 as described above, the same effects as those of the linear motor R1 shown in the first embodiment can be obtained.
- the linear motor R3 has a configuration in which two coil frames 24 are attached to each other. Thereby, the linear motor R 3 can be formed as two layers in which the flat coils 25 are stacked in two layers, thereby improving the performance as in the second embodiment. Can be planned.
- the armature coil unit 43 of the linear motor R 3 is configured by combining the two coil frames 24 shown in the first embodiment.
- Other configurations may be used as long as the frames are attached to each other.
- the armature coil unit (armature coil) 43 'of the linear motor R3' is connected to the coil frame 34 (see FIG. 5) shown in the second embodiment. It can be constructed by laminating, and can be made into 4 layers in which the flat coils 25 and 25 'are superimposed on a total of 4 layers.
- three or more frames may be attached to each other.
- the armature coil unit (armature coil) 53 of the linear motor R 4 has a coil frame (frame) 54 in which a plurality of coil bodies 55, 55, are arranged. It is configured to be held.
- the coil body 55 is formed by winding an electric wire in a substantially rectangular shape in cross section, and has an opening 55 at the center thereof. a.
- the coil frame 54 is made of non-magnetic and non-conductive (high electrical resistance) material
- the armature coil unit 53 is made of a material such as stainless steel or engineering plastic, and extends along the direction of relative movement of the armature coil unit 53 with respect to the permanent magnet 22 (see FIG. 2).
- a plurality of grooves 58 are formed on one surface side 56a of each holding portion 56 at predetermined intervals corresponding to the arrangement interval of the permanent magnets 22 (see FIG. 2).
- the groove 58 is formed by forming a plurality of convex portions 59 extending toward the inside of the coil frame 54 on the holding portion 56.
- Each groove 58 is formed in a shape corresponding to the end 55 b of the coil body 55.
- an extension portion 60 is formed on the other surface side 56 b of each holding portion 56 so as to extend further inward than the protrusion 59.
- one of the two holding portions 56 has a slit (notch) 3 communicating with the inner peripheral side and the outer peripheral side at a position corresponding to each groove 58 on one surface side 56a.
- ⁇ ' is formed.
- the ends 55a and 55a of the respective coil bodies 55 are fitted into the grooves 58 and fixed by an adhesive or resin.
- a plurality of coil bodies 55 are arranged on the coil frame 54 at predetermined intervals along the direction of relative movement of the armature coil unit 23. Then, the wiring C extending from one end 55 a of each coil body 55 is led to the outside of the coil frame 54 through the slit 31 ′′, and connected to another coil body 55 in phase. I have.
- all other components including the coil frame 54 are made of ceramics, engineering plastic or austenitic stainless steel. Is formed.
- the grooves 58 for holding the coil body 55 are formed in the holding portions 56 and 56 of the coil frame 54 of the armature coil unit 53 according to the arrangement interval of the permanent magnets 22. It is configured to be formed at an interval.
- the number of flat coils 25, 25 'or coil bodies 55 constituting the armature coil units 23, 33, 43, 43', 53 is not limited at all.
- the shape of the flat coils 25, 25 'or the coil body 55 is not limited to the above-mentioned shape, but may be other shapes.
- a substantially rhombic flat coil (coil body) 65 having a curved end 65a as shown in FIG.
- a substantially rhombus-shaped flat coil (coil body) 66 having such a substantially trapezoidal end 66 a, or a substantially hexagonal shape in plan view as shown in FIG.
- end 67 a is The flat coil (coil body) 6 7 that is not formed into a substantially U-shaped outer shape like the end 25 a of the coil 25 (see Fig. 4) but is formed by being bent into a substantially trapezoidal shape But it is good. In such a case, it is needless to say that the shape of the groove corresponds to the shape of the end of the coil body used.
- Either the armature coil unit 23, 33, 43, 43 ', 53 or the permanent magnet 22 may be a movable element or a stator.
- the configuration of other parts of the exposure apparatus provided with the linear motors R1, R2, R3, R3 ', R4 is not limited at all.
- the step-and-repeat type exposure apparatus has been described as an example, the technology of the present invention is similarly applied to a scanning projection exposure apparatus that exposes a reticle pattern by synchronously moving a reticle and a wafer. Can be applied to The configuration of the scanning exposure apparatus is disclosed, for example, in Japanese Patent Application Laid-Open No. 8-130179 and US Patent No. 5,850,280 corresponding thereto. To the extent permitted by the national laws of the designated or designated elected States in this International Application, the disclosures in the above publications and U.S. patents are incorporated herein by reference.
- the type of exposure apparatus is not limited to that used for semiconductor manufacturing.
- it is used for manufacturing a liquid crystal exposure apparatus that exposes a liquid crystal display element pattern to a square glass plate or a thin film magnetic head. Also developed for exposure equipment etc.
- the techniques of Ming are widely applicable.
- linear motors R1, R2, R3, R3 ', and R4 are applicable to various uses other than the drive source of the stage mechanism of the exposure apparatus.
- any configuration may be adopted as long as it does not deviate from the gist of the present invention, and it is needless to say that the above-described configurations may be appropriately selectively combined.
- the armature coil includes the plurality of coil bodies and the frame that holds the plurality of coil bodies. It has a configuration in which a groove for holding an end is formed.
- the plurality of coil bodies are positioned on the frame with high precision at predetermined intervals. Therefore, it is possible to reduce the unevenness of the thrust generated by the linear motor and to stabilize the performance.
- a coil body having a complicated shape is not used, the above-described effect can be obtained at low cost.
- the end of the coil body is held by the frame, even if the coil body itself has low rigidity, such as a flat coil body, high rigidity can be obtained, and an effect of excellent durability can be obtained. Can be.
- the coil body is required to have accuracy only in the portion held in the groove, there is no need for a great deal of effort in coil production, and this also contributes to cost reduction.
- a notch is formed in the frame according to claim 2, and the coil body is connected outside the frame.
- the coils of the same phase can be connected to each other outside of the frame, and the wiring can be neatly arranged.
- the notch is formed corresponding to the groove formed in the frame, and has a configuration in which wiring from the end of the coil body held in the groove is passed.
- a notch is formed for each coil body, so that the coil body can be set and wired at the same time, and the assembly of the armature coil can be facilitated.
- the groove has a configuration in which a step portion for holding a plurality of coil bodies in an overlapping manner is formed. As a result, a plurality of coil bodies can be held in a single frame in an overlapping manner, and the performance of the linear motor can be improved.
- the armature coil has a configuration in which a plurality of frames are adhered to each other. Even with this, a plurality of coil bodies are stacked, and the performance of the linear motor can be improved.
- the coil body has a configuration of a flat polygonal shape. By making the coil body flat in this way, the space factor of the armature coil in the gap of the permanent magnet can be improved, and the performance of the linear motor can be improved.
- the coil body has a configuration in which the coil body is wound in a substantially cylindrical shape.
- the frame has two pairs of holding portions and a connecting portion that connects these holding portions to each other, and each holding portion has an array of permanent magnets.
- a plurality of grooves are formed at intervals corresponding to the intervals.
- the coil body is held between the two pairs of holding parts, and the arrangement interval of the permanent magnets and the arrangement interval of the coil bodies are set without deviation, so that the performance of the linear motor is improved. Stabilization can be achieved.
- the holding portion by arranging the holding portion at a position that does not interfere with the magnetic field lines of the permanent magnet, nothing other than the coil body is interposed between the permanent magnets, and as a result, the performance of the linear motor can be improved. .
- the coil fixing frame, the can, and all other components except the coil body among the components constituting the armature coil It is composed of ceramics, engineering plastics, or stainless steel stainless steel. These materials have high strength and a low linear expansion coefficient, which prevents deformation due to temperature changes, and as a result, contributes to the stabilization of linear motor performance. .
- a linear motor is configured to include an armature coil unit having a plurality of coil bodies and a frame-shaped holding member for holding the coil bodies side by side. Thereby, the plurality of coil bodies are positioned with high accuracy on the holding member.
- the linear motor according to claim 11 is characterized in that the holding member holds the plurality of coil bodies along a predetermined direction. In this way, the plurality of coil bodies are positioned on the holding member with high precision along the predetermined direction.
- a linear motor according to claim 12 is characterized in that the holding member has positioning portions formed at predetermined intervals to position the plurality of coil bodies. Therefore, the plurality of coil bodies are positioned on the holding member with high precision at predetermined intervals. According to the linear motor according to claim 3, by holding the end of the coil body at the positioning portion formed on the holding member, the plurality of coil bodies are positioned on the holding member with high precision at predetermined intervals. be able to.
- the positioning portion is formed by providing convex portions at predetermined intervals, and the end of the coil body is formed on a holding member formed between the convex portions.
- the plurality of coil bodies can be positioned on the holding member with high precision at predetermined intervals by holding the coil bodies at the positioning portion.
- a notch portion for passing an electric wire is formed, and the coil of the same phase is brought out of the holding member by extending the wiring of the coil from the notch to the holding member. By connecting outside, the wiring can be done in order.
- a part of the armature coil unit is formed of a non-magnetic material and a non-conductive material, and these materials have a high strength and a linear expansion coefficient. Is small, so deformation due to temperature changes can be prevented, and as a result, the performance of the linear motor can be stabilized.
- Some of the components of the cooling mechanism are made of non-magnetic and non-conductive materials.These materials have high strength and low coefficient of linear expansion to prevent deformation due to temperature changes. As a result, it is possible to contribute to stabilizing the performance of the linear motor.
- the invention according to claim 18 is a stage mechanism including the linear motor according to claim 0, and can provide a stage mechanism including a linear motor in which a plurality of coil bodies are positioned with high accuracy.
- the invention according to claim 19 is an exposure apparatus including the linear motor according to claim 10, and can provide an exposure apparatus including a linear motor in which a plurality of coil bodies are positioned with high accuracy.
- a linear motor in which a plurality of coil bodies are positioned with high accuracy can be manufactured.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Linear Motors (AREA)
- Exposure And Positioning Against Photoresist Photosensitive Materials (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU32756/99A AU3275699A (en) | 1998-03-13 | 1999-03-09 | Method of manufacturing linear motor, linear motor, stage provided with the linear motor, and exposure system |
EP99939233A EP1063756A4 (en) | 1998-03-13 | 1999-03-09 | METHOD FOR PRODUCING A LINEAR MOTOR, LINEAR MOTOR, CARRIER SYSTEM WITH SUCH A LINEAR MOTOR, AND EXPOSURE SYSTEM |
JP2000536128A JP4399984B2 (ja) | 1998-03-13 | 1999-03-09 | リニアモータ製造方法、リニアモータ、該リニアモータを備えたステージ装置、および露光装置 |
US09/658,015 US6495934B1 (en) | 1998-03-13 | 2000-09-08 | Method of manufacturing linear motor, linear motor, stage apparatus equipped with linear motor and exposure apparatus |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6364598 | 1998-03-13 | ||
JP10/63645 | 1998-03-13 | ||
JP10/353647 | 1998-12-11 | ||
JP35364798 | 1998-12-11 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/658,015 Continuation-In-Part US6495934B1 (en) | 1998-03-13 | 2000-09-08 | Method of manufacturing linear motor, linear motor, stage apparatus equipped with linear motor and exposure apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999046848A1 true WO1999046848A1 (fr) | 1999-09-16 |
Family
ID=26404790
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1999/001115 WO1999046848A1 (fr) | 1998-03-13 | 1999-03-09 | Procede de fabrication de moteur lineaire, moteur lineaire, etage pourvu de ce moteur lineaire et systeme d'exposition |
Country Status (5)
Country | Link |
---|---|
US (1) | US6495934B1 (ja) |
EP (1) | EP1063756A4 (ja) |
JP (1) | JP4399984B2 (ja) |
AU (1) | AU3275699A (ja) |
WO (1) | WO1999046848A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002165434A (ja) * | 2000-11-21 | 2002-06-07 | Yaskawa Electric Corp | コアレスリニアモータ |
WO2009069423A1 (ja) * | 2007-11-30 | 2009-06-04 | Kabushiki Kaisha Yaskawa Denki | スライドステージおよびxy方向可動スライドステージ |
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TW475314B (en) * | 2000-07-11 | 2002-02-01 | Hiwin Mikrosystem Corp | Coreless type linear motor |
JP4110504B2 (ja) * | 2001-03-13 | 2008-07-02 | 株式会社安川電機 | 真空用モータ |
JP3891545B2 (ja) * | 2001-07-10 | 2007-03-14 | キヤノン株式会社 | リニアモータ |
US7026731B2 (en) * | 2003-06-20 | 2006-04-11 | Parker Hannifin Corp. | Linear motor glide assembly |
JP4266740B2 (ja) * | 2003-07-28 | 2009-05-20 | 株式会社ソディック | コアレス交流リニアモータ |
JP4656134B2 (ja) * | 2007-11-29 | 2011-03-23 | トヨタ自動車株式会社 | 巻線装置 |
DE102011100153A1 (de) * | 2011-04-29 | 2012-10-31 | Physik Instrumente GmbH & Co. KG | Anordnung eines planaren 6D-Positionierers |
KR20140084238A (ko) | 2011-10-27 | 2014-07-04 | 더 유니버시티 오브 브리티쉬 콜롬비아 | 변위 장치 및 변위 장치의 제조, 사용 그리고 제어를 위한 방법 |
CN102684449A (zh) * | 2012-06-01 | 2012-09-19 | 哈尔滨工程大学 | 一种高功率密度的永磁直线电机 |
CN105452812B (zh) | 2013-08-06 | 2019-04-30 | 不列颠哥伦比亚大学 | 移位装置以及用于检测和估计与其相关联的运动的方法和设备 |
WO2015179962A1 (en) | 2014-05-30 | 2015-12-03 | The University Of British Columbia | Displacement devices and methods for fabrication, use and control of same |
WO2015184553A1 (en) | 2014-06-07 | 2015-12-10 | The University Of British Columbia | Methods and systems for controllably moving multiple moveable stages in a displacement device |
EP3155712A4 (en) | 2014-06-14 | 2018-02-21 | The University Of British Columbia | Displacement devices, moveable stages for displacement devices and methods for fabrication, use and control of same |
CN105811730B (zh) * | 2014-12-30 | 2018-06-29 | 上海微电子装备(集团)股份有限公司 | 一种六自由度直线电机 |
CA2988803C (en) | 2015-07-06 | 2024-01-30 | The University Of British Columbia | Methods and systems for controllably moving one or more moveable stages in a displacement device |
WO2018176137A1 (en) | 2017-03-27 | 2018-10-04 | Planar Motor Incorporated | Robotic devices and methods for fabrication, use and control of same |
CN112840542A (zh) | 2018-10-13 | 2021-05-25 | 普拉那汽车公司 | 用于识别磁性动子的***和方法 |
CN109474159A (zh) * | 2018-11-28 | 2019-03-15 | 华中科技大学 | 直线无铁芯绕组、制备工艺及具有该绕组的直线永磁电机 |
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- 1999-03-09 AU AU32756/99A patent/AU3275699A/en not_active Abandoned
- 1999-03-09 EP EP99939233A patent/EP1063756A4/en not_active Withdrawn
- 1999-03-09 JP JP2000536128A patent/JP4399984B2/ja not_active Expired - Fee Related
- 1999-03-09 WO PCT/JP1999/001115 patent/WO1999046848A1/ja not_active Application Discontinuation
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002165434A (ja) * | 2000-11-21 | 2002-06-07 | Yaskawa Electric Corp | コアレスリニアモータ |
WO2009069423A1 (ja) * | 2007-11-30 | 2009-06-04 | Kabushiki Kaisha Yaskawa Denki | スライドステージおよびxy方向可動スライドステージ |
JP5353710B2 (ja) * | 2007-11-30 | 2013-11-27 | 株式会社安川電機 | スライドステージおよびxy方向可動スライドステージ |
TWI460047B (zh) * | 2007-11-30 | 2014-11-11 | Yaskawa Denki Seisakusho Kk | Sliding table and XY direction movable sliding table |
KR101478393B1 (ko) * | 2007-11-30 | 2014-12-31 | 가부시키가이샤 야스카와덴키 | 슬라이드 스테이지 및 xy방향 가동 슬라이드 스테이지 |
Also Published As
Publication number | Publication date |
---|---|
US6495934B1 (en) | 2002-12-17 |
EP1063756A1 (en) | 2000-12-27 |
AU3275699A (en) | 1999-09-27 |
JP4399984B2 (ja) | 2010-01-20 |
EP1063756A4 (en) | 2001-06-13 |
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