WO2006059457A1 - アライメント装置 - Google Patents
アライメント装置 Download PDFInfo
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- WO2006059457A1 WO2006059457A1 PCT/JP2005/020343 JP2005020343W WO2006059457A1 WO 2006059457 A1 WO2006059457 A1 WO 2006059457A1 JP 2005020343 W JP2005020343 W JP 2005020343W WO 2006059457 A1 WO2006059457 A1 WO 2006059457A1
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- WIPO (PCT)
- Prior art keywords
- translation
- freedom
- degree
- drive
- rotation
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
-
- G—PHYSICS
- G12—INSTRUMENT DETAILS
- G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
- G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/682—Mask-wafer alignment
Definitions
- the present invention relates to an object to be positioned on a table (hereinafter referred to as an object) by driving the motor and moving the table with an exposure apparatus such as a semiconductor device, a printed circuit board, or a liquid crystal display element.
- an exposure apparatus such as a semiconductor device, a printed circuit board, or a liquid crystal display element.
- the present invention relates to an alignment apparatus for positioning at a predetermined position.
- a stage device incorporating a linear motor which is a first example of the prior art, enables a minute angle positioning using a linear motor, and is reduced in size and thickness (for example, see Patent Document 1).
- the second example of the prior art the two-axis parallel and one-axis turning motion guide mechanism and the two-axis parallel 'one-axis turning table device using this, are easy to assemble to the table and guide with high accuracy.
- Some table devices use a two-axis parallel / single-axis turning guide mechanism that can be supported (for example, see Patent Document 2).
- stage apparatus incorporating the linear motor of the first example of the prior art will be described.
- FIG. 59 is a front view showing an embodiment of a stage apparatus incorporating the linear motor according to the first example of the related art and also viewing the X direction force which is one direction.
- FIG. 60 is a plan view showing the stage apparatus of FIG. 59 according to the first example of the prior art.
- a stage device with a built-in linear motor incorporates a linear motor 113 for rotation as a driving device that moves in a minute rotational direction between the rotary stage 103 and the second stage 102.
- a movable magnet type linear motor is applied as the rotation linear motor 113, and the rotation linear motor 113 and the rotation stage 103, which is the rotation direction portion, rotate in a minute amount (that is, the ⁇ direction).
- This is a rotary stage device that is moved to a position to angle position parts such as workpieces.
- Rotation stage 103 (i.e., 0) is composed of a first stage 101 that reciprocates in the X direction, which is one linear direction, and a second stage 102 that reciprocates in the ⁇ direction perpendicular to the X direction.
- Stage device and the ⁇ - ⁇ stage device It is configured as a compound stage device, and it is structured so that parts such as workpieces are positioned on the plane with respect to the X direction, Y direction, and rotation direction ( ⁇ direction).
- the stage device incorporating the linear motor in the first example of the prior art is small and thin, and is positioned in the XY0 direction.
- FIG. 61 is a partially broken exploded perspective view of a conventional two-axis parallel / one-axis turning motion guide mechanism according to a second example.
- Fig. 61 shows a two-axis parallel and one-axis swivel motion guide mechanism using a two-axis parallel and one-axis swivel motion guide mechanism according to the second example of the prior art.
- FIG. 62 is a plan view of a table according to a second example of the prior art.
- the 2-axis parallel / single-axis turning motion guide mechanism 201 is composed of a 2-axis parallel motion guide unit 270 and a turning motion guide unit 280 assembled to the 2-axis parallel motion guide unit 270. Yes.
- the two-axis parallel / single-spinning motion guide mechanism 201A, 201 has two two-axis parallel / single-spinning motion guide mechanisms.
- the table 233 is supported via two rods 201C and 201D so as to be movable in two directions parallel to the base 234 and perpendicular to each other, and can be turned around the turning axis CO located in the center of the table 233. It becomes.
- Three of the four two-axis parallel and one-axis swivel motion guide mechanisms 201A, 201B, and 201D are driven to extend and contract in a linear direction, and the rotary motor 238 and the rotary motion of this rotary motor 238 are linearly moved.
- a linear drive mechanism 237 23, 23 7 ⁇ , 237D composed of a feed screw mechanism 239 for converting to 237 is operatively connected.
- the 2-axis parallel / single-axis turning motion guide mechanism 201C can freely move.
- linear drive mechanism 237A, 237B are driven by the same amount + ⁇ , ⁇ as shown in FIG. 63, while the linear drive mechanism 237D is driven by a predetermined amount ⁇ Y in the Y-axis direction.
- the two-axis parallel / one-axis turning motion guide mechanism and the two-axis parallel / one-axis turning table device using the same in the prior art are configured to move the table in parallel or turn to perform positioning. .
- Patent Document 1 JP 2002-328191 A (Figs. 1 and 2)
- Patent Document 2 Japanese Patent Laid-Open No. 11-245128 (FIGS. 2, 4, and 5)
- the stage device incorporating the linear motor of the first example of the prior art has a device configuration in which the three axes of ⁇ overlap, and if the object to be positioned becomes large, the stage device There was a problem that the device was physically high.
- the size of liquid crystal materials has increased year by year, and in order to reciprocate and rotate the table, that is, the stage, the linear motor and stage device have to be enlarged as they are.
- the second example of the prior art is a two-axis parallel 'one-axis turning motion guide mechanism and a two-axis parallel ⁇ one-axis turning table device using the same.
- the three-axis configuration is arranged at three of the four corners. For this reason, there is a direction to drive with only one axis, and since the capacity of the motor is non-uniform, the same performance as the direction to drive two axes cannot be exhibited, so in the direction to drive with only one axis, There was a problem that it took time to move and position, resulting in poor efficiency and productivity.
- the present invention has been made in view of such a problem. Even when the table is enlarged, the height of the apparatus is suppressed, and the load due to the table and the object is distributed in a well-balanced manner. In addition, by applying the driving force in a well-balanced manner, the translational and rotational movements in each direction can be operated efficiently with high accuracy and accuracy with the same performance. It is an object of the present invention to provide an alignment device that can correct a table again even when the table is moved due to external force applied to the table.
- the present invention is configured as follows.
- the invention according to claim 1 is an alignment apparatus for positioning a table on which an object is mounted at a predetermined position via a drive mechanism arranged in a machine base unit, wherein the drive mechanism has two translational freedom degree guides.
- a translational drive 'translation' rotational degree of freedom mechanism module including the linear motor in one of the rotational freedom degree guiding part, one of the translational degree of freedom guiding parts, and the mechanism part serving as a detection object.
- a motor control device comprising a detection unit for detecting an operation amount, a controller for controlling the motor in response to a command signal, and a command unit for commanding the controller, and comprising at least three of the translational driving 'translation'
- the rotation degree of freedom mechanism module is provided evenly with respect to the table part so that the direction of the other translation degree of freedom guide part and the rotation degree of freedom guide part can be determined in the positive and negative operating directions of the linear motor.
- the translation drive Movement 'translation' The linear motor of the rotation degree of freedom mechanism module is arranged so as to obtain translation components in two independent directions in the plane, and the linear motor operates in each translation direction, so that the table section is arranged in two directions. It is characterized in that it is translated or rotated.
- the invention according to claim 2 is the translation drive / translation / rotation degree-of-freedom mechanism module.
- the translation drive / translation / rotation degree-of-freedom mechanism module is arranged so that the direction of the other translation degree of freedom guide and the degree of freedom of freedom guide can be determined in the positive / negative operation direction of the linear motor.
- the translation drive 'translation' rotational degree of freedom mechanism module is additionally provided.
- the command unit includes an operation amount calculation unit that calculates an operation amount of the linear motor attached to the translation drive / translation and rotation degree of freedom mechanism module. It is characterized by having.
- the invention according to claim 4 is a two-dimensional position sensor that captures an arrangement of an object placed on the table unit and a position for correcting the position of the object placed on the table unit.
- a correction amount calculation unit that calculates a correction amount, and drives the linear motor to move the position of the object placed on the table unit captured by the two-dimensional position sensor in two directions of the table unit. It is characterized in that the position of the object is corrected by translation or rotation.
- the translation drive / translation / rotation degree of freedom mechanism module further includes a translation degree of freedom guide unit on a translation drive unit in which a linear motor is attached to the translation degree of freedom guide unit. And a rotation degree of freedom guide part is provided on the translation degree of freedom guide part.
- the invention according to claim 6 is characterized in that the translation drive / translation / rotation degree-of-freedom mechanism module includes a rotation degree of freedom plan inside a translation drive unit in which a linear motor is attached to the translation degree of freedom guide unit, A translational degree-of-freedom guide unit is further provided on the rotation drive unit.
- the invention described in claim 7 further includes a three-degree-of-freedom module not including the linear motor having two translational degree-of-freedom guiding portions and one rotational degree-of-freedom plan. It is a life.
- the invention according to claim 8 is directed to an alignment apparatus that positions a table on which an object is mounted at a predetermined position via a drive mechanism disposed in a machine base, and the drive mechanism is translated.
- a mechanism unit composed of two translational drive units having degrees of freedom, a single rotational drive unit having rotational degrees of freedom, and two translational drive units and one rotational drive unit.
- An electric motor control device including three electric motors for driving the driving unit, a detection unit for detecting an operation amount of the mechanism unit to be detected, and a controller for receiving the command signal and controlling the electric motor;
- the translation drive / translation / rotation degree of freedom mechanism module is composed of at least two sets, and the translation drive / translation / rotation degree of freedom mechanism module is provided with a command device for giving an operation command to the controller.
- the table can be translated or rotated in two directions by operating the two translation drive units and the one rotation drive unit with the electric motor. .
- the translation drive / translation / rotation degree-of-freedom mechanism module includes at least one translation drive unit and one rotation drive unit, and the rotation center of the rotation drive unit is They are arranged on the same radius from the center of rotation, and are arranged in axial symmetry with respect to the center of rotation.
- the invention according to claim 10 is characterized in that the translation drive / translation / rotation degree-of-freedom mechanism module is arranged such that one of the movement directions of the translation drive unit coincides with the rotation center. It is a life.
- the invention according to claim 11 is characterized in that the translation drive / translation / rotation degree-of-freedom mechanism module includes the rotation drive unit at an upper part or a lower part of the translation drive unit having two degrees of freedom. It is characterized by.
- the translation drive / translation / rotation degree-of-freedom mechanism module is configured such that the rotation drive unit is disposed on an upper part of the translation drive unit having at least one degree of freedom.
- the translation drive unit having at least one degree of freedom is arranged on an upper part of the drive unit.
- the invention according to claim 13 is a two-dimensional position sensor for grasping the position of the object on the table, and an image of the object captured by the two-dimensional position sensor, A correction amount calculation unit for calculating a correction amount for correcting the position of the motor, and operating the motor based on the correction amount obtained by the correction amount calculation unit to correct the position of the table. It is what.
- the correction amount calculation unit detects the position of the object by the two-dimensional position sensor, and the translation drive / translation / rotation degree of freedom mechanism module is detected.
- the correction value is generated so that the position of the object is corrected after the table has been translated or rotated by the lens.
- the command unit is corrected so that the position of the object is detected by the two-dimensional position sensor and the position of the object is corrected by the correction amount calculation unit. After the value is generated and the rotational drive unit is moved, a command is generated so that the translational drive unit is moved.
- the present invention has the following effects.
- the first aspect of the present invention it is possible to realize a table that operates in three directions of XY 0 while suppressing the height of the apparatus, and supports the load of the table and the object in a well distributed manner.
- each linear motor since the driving force for moving the table can be output with good dispersion, each linear motor operates in any direction during the translational or rotational movement of the table. With uniform performance, it can operate efficiently with high accuracy.
- the amount of motion of the table and the amount of motion of each linear motor are determined by the geometric relationship.
- the amount of motion of the translation drive unit of the drive / translation / rotational freedom mechanism module can be calculated and used as an operation command.
- the table moving operation can be quickly performed by calculating the position correction value for the arrangement state of the object on the table using the two-dimensional position sensor.
- the rotary drive unit can be placed across the linear motion guides of the two translation drive units, and can be supported continuously from the table to the machine base.
- the translation drive / translation 'rotational degree-of-freedom mechanism module can be supported while suppressing deformation.
- the load on the table or the object can be dispersed and supported with a good lance without suppressing the operation in the plane of the table.
- each translational drive / translation / rotation degree of freedom mechanism module operates in any direction in the translational or rotational movement of the table and operates without being biased from the center of gravity. Therefore, it is possible to operate efficiently with uniform performance and high accuracy.
- the central force of the rotational drive part of the translation drive / translation / rotation degree-of-freedom mechanism module is arranged on the same radius from the table center and is arranged on the table center axis object, It can be operated with high accuracy by being able to operate without causing a bias in the center of gravity.
- the mounting angle of the two translational drive units is fixed, the amount of operation required for moving the table can be calculated relatively easily.
- the rotation drive unit since the rotation drive unit is disposed between the two translation drive units, it can be continuously supported from the table to the machine base. Deformation of the degree mechanism module is suppressed, and the table is positioned accurately.
- the table since the position of the object on the table is obtained by the two-dimensional position sensor and the correction amount calculation unit for calculating the position correction value is provided, the table is provided. Even if misalignment occurs, the table must be positioned correctly. It is
- the table moving operation can be quickly performed by calculating the position correction value based on the detection signal of the two-dimensional position sensor for the arrangement state of the object on the table. it can.
- the correction amount can be easily calculated.
- the table is positioned efficiently.
- FIG. 1 is a schematic diagram of an alignment apparatus showing a first embodiment of the present invention.
- FIG. 2 is a block diagram of the alignment apparatus showing the first embodiment of the present invention.
- FIG. 3 is a schematic view of a translation drive / translation / rotation freedom mechanism module used in the alignment apparatus according to the first embodiment of the present invention, where (a) is a plan view and (b) is a front view (c). Is a side view
- FIG. 4 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 1 of the translation drive / translation 'rotation degree of freedom mechanism module.
- FIG. 5 is a diagram showing rotational movement of the table of the alignment apparatus showing the first embodiment of the present invention.
- FIG. 6 is a diagram showing translational movement of the table of the alignment apparatus showing the first embodiment of the present invention.
- FIG. 5 is a diagram illustrating an object layout and a position correction method using a two-dimensional position sensor of the alignment apparatus according to the first embodiment of the present invention.
- FIG. 8 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 2 of the translation drive / translation 'rotation degree of freedom mechanism module.
- FIG. 9 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 3 of the translational drive / translation 'rotation freedom degree mechanism module.
- FIG. 10 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 4 of a translational drive / translation 'rotation freedom degree mechanism module.
- FIG. 11 is a diagram showing the rotational movement of the table in Arrangement Example 4 of the translation drive / translation 'rotational freedom degree mechanism module of the alignment apparatus showing the first embodiment of the present invention.
- FIG. 12 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 5 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 13 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 6 of a translation drive / translation 'rotation degree of freedom mechanism module.
- FIG. 14 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 7 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 15 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 8 of the translational drive / translation 'rotational freedom degree mechanism module.
- FIG. 16 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 9 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 17 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 10 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 18 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 11 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 19 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 12 of a translation drive / translation 'rotation degree of freedom mechanism module.
- FIG. 20 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 13 of the translational drive / translation 'rotation freedom degree mechanism module.
- FIG. 21 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 14 of a translation drive / translation 'rotation degree of freedom mechanism module.
- FIG. 22 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 15 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 23 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 16 of the translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 24 is a top view of a alignment apparatus showing a first embodiment of the present invention and a diagram showing an arrangement example 17 of a translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 25 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 18 of the translation drive / translation 'rotation degree-of-freedom mechanism module.
- FIG. 26 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 19 of the translational drive / translation 'rotation degree-of-freedom mechanism module. 27] Configuration diagram of alignment apparatus showing second embodiment of the present invention
- FIG. 4 is a schematic view of a three-degree-of-freedom module used in the alignment apparatus showing the third embodiment of the present invention, wherein (a) is a plan view, (b) is a front view (c) is a side view.
- FIG. 32 A top view of a alignment apparatus showing a third embodiment of the present invention and a diagram showing an arrangement example 1 of a translation drive / translation / rotation degree of freedom mechanism module and a three degree of freedom module
- FIG. 39 is a diagram showing rotational movement of the table of the alignment apparatus showing an example.
- FIG. 39 is a diagram showing translational movement of the table of the alignment apparatus showing the fifth embodiment of the invention.
- FIG. 40 is a top view and a side view of a translational rotation drive mechanism showing a sixth embodiment of the present invention.
- FIG. 40 Schematic diagram showing an alignment apparatus showing a seventh embodiment of the present invention.
- ⁇ 42 Top and side views of the translational rotation drive mechanism showing the seventh embodiment of the present invention.
- ⁇ 43 The arrangement of the translational rotation drive mechanism of the alignment device showing the seventh embodiment of the present invention and the rotational movement of the table. Illustration
- FIG. 44 is a schematic diagram showing a position correction method according to a seventh embodiment of the present invention.
- ⁇ 45 Diagram showing the arrangement of the translational rotation drive mechanism and the rotational movement of the table according to the eighth embodiment of the present invention.
- FIG. 59 is a front view of a stage apparatus incorporating a linear motor of the first conventional example.
- FIG. 60 is a plan view of a stage apparatus incorporating a linear motor of the first conventional example.
- FIG.62 Plan view and side view of the 2-axis parallel / single-axis turning table device of the second conventional example
- (a) is a plan view with the table omitted and indicated by a two-dot chain line, and (b) is a front view.
- FIG. 63 is a plan view of the table of the second conventional example
- Ball rolling groove (2nd rail) 218 Ball rolling groove (second recess)
- FIG. 1 is a schematic view of an alignment apparatus showing a first embodiment of the present invention.
- FIG. 2 is a configuration diagram of the alignment apparatus showing the first embodiment of the present invention.
- FIG. 3 is a schematic view of a translation drive / translation 'rotation degree of freedom mechanism module used in the alignment apparatus according to the first embodiment of the present invention, where (a) is a plan view and (b) is a front view (c). Is a side view.
- FIG. 4 is a top view of the alignment apparatus showing the first embodiment of the present invention
- FIG. 10 is a diagram showing an arrangement example 1 of a forward / revolution freedom mechanism module.
- l (la, lb, lc) is a linear motor
- 2 (2a, 2b, 2c) is an operation amount detector
- 3 (3a, 3b, 3c) is a controller
- 4 is a table
- 5 is an object
- 6 (6a, 6b, 6c) is a translation drive 'translation' rotational degree of freedom mechanism module
- 7 is a machine base
- 8 is a command unit
- 9 is a two-dimensional position sensor
- 11 (11a, l lbl lc) is the translation drive unit
- 12 (12a, 12b, 12c) is the rotation degree of freedom guide unit
- 13 (13a, 13b, 13c) is the translation degree of freedom guide unit
- 15 is the motion amount calculation unit
- 2 1 is the direct
- 22 is a linear motion guide block
- 23 is a bearing for rotation.
- the present invention is different from Patent Document 2 in that it includes at least three translation drive / translation / rotation degree-of-freedom mechanism modules 6, and the arrangement thereof is evenly arranged to realize the table movement in each direction without deviation. Part.
- the arrangement of the object 5 grasped by the two-dimensional position sensor 9 is driven by the translation drive 'translation' rotational freedom degree mechanism module 6 (6a, 6b, 6c), and the table 4 Move to correct the position.
- the table 4 has a translational drive 'translation' rotational degree of freedom mechanism module 6 with three (6a, 6b, 6c), translational drive ⁇ translation'rotational freedom degree mechanism module 6 (6a, 6b, 6c) comprises a translation drive unit ll (l la, l ib, 11c), a rotation degree of freedom guide unit 12 (12a, 12b, 12c), and a translation degree of freedom guide unit 13 (13a, 13b, 13c),
- the translation drive unit 11 (11a, l ib, 11c) is equipped with a linear motor 1 (la, lb, lc), and the linear motor 1 (la, lb, lc) is controlled by the controller 3 (3a , 3b, 3c) control the operation.
- the translational drive 'translation' rotational degree of freedom mechanism module 6 is A translation drive unit 11 having a motor 1, a rotational freedom guide unit 12, and a translational freedom guide unit 13 between the machine base unit 7 and the table 4, the translational freedom, the translational freedom, and the rotation It is comprised so that it may have a degree in order.
- the rotational degree of freedom guide unit 12 has a rotational bearing 23 to achieve rotational degree of freedom, and the translational drive unit 11 and the translational degree of freedom guide unit 13 can move the linear motion guide 21. By providing 22, translational freedom is realized.
- the two translational degrees of freedom are configured to go straight.
- FIG. 4 there are three translational drive 'translation' rotational degree of freedom mechanism modules 6 (6a, 6b, 6c) shown in Fig. 3.
- the linear motor 1 (la, lb, lc) force of the translation drive unit 11 (11a, l ib, 11c) is arranged so as to match and drive in the tangential direction of the circle formed by the center force of the table 4 RU
- the translation drive / translation 'rotation degree of freedom mechanism module 6 and the operation of the alignment apparatus using the same will be described.
- FIG. 5 is a diagram showing the rotational movement of the table of the alignment apparatus according to the first embodiment of the present invention.
- Oo is the center and rotation center of the table
- R is the radius of rotation
- ⁇ Zi is the translation drive 'Translation' rotational freedom degree mechanism module 6 translational drive unit 11 linear motor 1 movement amount
- ⁇ ⁇ is the table
- a, b, c are translations 'initial position of the linear motor 1 of the translational drive unit 11 of the rotational freedom mechanism module 6
- a', b ', c' are translations during S Zi movement.
- the position after the movement of the linear motor 1 of the translational drive unit 11 of the degree mechanism module 6, a,, b,, c "are the positions after the movement of the rotational degree of freedom guide part 12 of the translational freedom degree mechanism module 6 It is a position.
- the upper and lower ends of the translation drive 'translation' rotational freedom mechanism module 6 (6a, 6b, 6c) are fixed to the table 4 and the machine base 7, but the translational freedom guide 13 (13a, 13b, 13c) and times Translational freedom degree and rotational freedom degree by the rolling freedom degree guide part 12 (12a, 12b, 12c), translational drive ⁇ translation 'translational degree of freedom guide part 13a Since the linear motors lb and lc on the other shaft operate, the linear motion guide 21 moves and the rotational freedom degree guide portion 12a also rotates.
- the rotational degree of freedom guide part 12 (12a, 12b, 12c) is configured on the upper part of the translation degree of freedom guide part 13 (13a, 13b, 13c), the rotational degree of freedom guide part 12 (12a, 12b, 12c) ) Moves on the radius (a '', b ", c '') of the rotational center force of the rotational motion.
- each translation drive 'translation' rotational freedom degree mechanism module When the linear motor 1 (la, lb, lc) of the translation drive unit 11 of the cylinder 6 (6a, 6b, 6c) is advanced by the same amount, the table 4 rotates and moves with respect to the table center.
- the translation drive unit 11 (11a, l The movement amount ⁇ zi of the linear motor 1 (la, lb, lc) of ib, 11c) is obtained.
- each translation drive ⁇ translation ⁇ freedom of rotation mechanism module 6 (6a, 6b, 6c) linear motor 1 (la, lb, lc) operation amount ⁇ zi is determined, so the rotation angle of table 4 and each translational drive ⁇ Translation 'rotational freedom degree mechanism module 6 (6a, 6b, 6c) Linear motor 1 (la, lb, lc) If the command unit 8 commands these operation amounts, each controller 3 can drive the linear motor 1 by the operation amount ⁇ zi.
- FIG. 6 is a diagram showing translation of the table of the alignment apparatus showing the first embodiment of the present invention.
- L is the amount of translation movement of table 4
- ⁇ is the angle formed by the translation movement direction of table 4
- ⁇ Zi is the translation drive ⁇ translation ⁇ rotational freedom degree mechanism module 6 6
- the movement amount a, b, c is translation 'The initial position of the linear motor 1 of the translation drive unit 11 of the rotational freedom degree mechanism module 6 a' '' 1, b '' '1, c' '' 1 is ⁇ Zi movement
- the translational position of the linear motor 1 of the translation drive unit 11 of the translational 'rotational freedom degree mechanism module 6 is a, ", b'" and c 'are the translational degree of freedom guidance unit 12 of the translational rotational degree of freedom mechanism module 6. This is the position after the movement.
- the translation amount and direction of the table 4 and each of the linear motor 1 (la, lb, lc) of the translation drive / translation 'rotational freedom mechanism module 6 (6a, 6b, 6c) The amount of motion ⁇ zi can be determined geometrically.
- linear motor la moves from initial position a to a
- linear motor lb moves from initial position b to b '
- linear motor lc moves from initial position c to c',
- the translational movement amount of Table 4 is the component of the linear motor la in the driving direction: a to a ', and the translational freedom guide 13a linear motion guide 21 movement component: a "' Force is also up to a '' '
- linear motor lb drive direction component b force b '"and translational freedom degree guide part 13b
- linear motion guide 21 movement component b' '' force b '' '
- the component in the driving direction of the linear motor lc that is equal to the combined amount of: and c: force c ′ ′ ′ and the translational component of the linear motion guide 21 of the translational freedom guide 13c: c ”
- the force is also equal to the combined amount of
- the translational degree-of-freedom guiding part 13a moves to a '"by the operation of the linear motors lb and lc.
- the translational degree-of-freedom guiding parts 13b and 13c are moved by the movements of the linear motors la, lb and lc to b' ''. Move to.
- the rotation degree of freedom guide portion 12 (12a, 12b, 12c) does not act.
- the table 4 can be rotated and translated by using a plurality of translation drive 'translation' degree of freedom mechanism modules 6.
- the object 5 is placed on the alignment device table 4 on the object 5 and it is necessary to arrange the object 5 according to the processing side in order to perform operations such as machining. It becomes necessary to correct the position of object 5.
- FIG. 7 is an explanatory diagram of the alignment apparatus according to the first embodiment of the present invention.
- FIG. 7 (a) is a layout diagram of an object by a two-dimensional position sensor
- FIG. 7 (b) is a diagram illustrating a position correction method.
- the arrangement of the object 5 placed on the table 4 can be recognized as an image by the two-dimensional position sensor 9 as shown in FIG.
- correction amount calculation unit 10 can recognize the feature of the mark 5 previously recorded on the object 5 as shown in FIG.
- the rotation angle and translational motion amount can be recognized.
- the movement amount calculation unit 15 geometrically calculates each translational drive from the movement amount of the table 4 as shown in FIGS. Translation's rotation Since the movement amount of the linear motor 1 of the translational drive unit 11 of the freedom degree mechanism module 6 is ineffective, the movement amount of each axis is output to the command unit 8.
- the command unit 8 commands the operation amount ⁇ zi to each controller 3. Since each controller 3 drives each linear motor 1 so as to execute the operation amount ⁇ zi, the translation drive 'translation' rotational degree of freedom mechanism module 6 acts to move the table 4 to move the object. The position of 5 can be corrected.
- the translation drive / translation / rotational freedom mechanism module 6 holds it in the control system.
- the table 4 may move according to external force.
- the correction amount calculation unit 10 again calculates the correction amount of the table 4 based on the image of the two-dimensional position sensor 9. It can be calculated and corrected as described above.
- each translation drive / translation / rotation degree of freedom mechanism module is used.
- the force with the position 6 may be different.
- FIG. 8 is a top view of the alignment apparatus showing the first embodiment of the present invention and a second example of arrangement of the translational drive / translational freedom degree mechanism module.
- FIG. 9 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 3 of the translational drive / translational freedom degree mechanism module.
- the arrangement shown in FIG. 3 may be rotated 90 degrees clockwise around the table center, or the arrangement shown in FIG. 3 may be rotated 180 degrees clockwise around the table center.
- the arrangement shown in FIG. 3 (not shown) may be an arrangement rotated by an arbitrary angle about the table center.
- FIG. 10 is a top view of the alignment apparatus showing the first embodiment of the present invention, and a diagram showing an arrangement example 4 of the translation drive 'translation' rotational degree of freedom mechanism module.
- FIG. 11 is a diagram showing the rotational movement of the table in the arrangement example 4 of the translation drive “translation” rotational degree of freedom mechanism module of the alignment apparatus showing the first embodiment of the present invention.
- the drive direction of the translation drive unit 11 / linear motor 1 may be arranged so as to enclose an equilateral triangle.
- the rotation angle ⁇ of the table 4 and the operation amount ⁇ Zi of each linear motor 1 can be determined geometrically.
- FIG. 12 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 5 of the translation drive “translation” rotational degree-of-freedom mechanism module.
- FIG. 13 is a top view of the alignment apparatus showing the first embodiment of the present invention, and a diagram showing an arrangement example 6 of the translation drive “translation” rotational freedom mechanism module.
- translation drive unit 11 ⁇ Linear motor 1 drive direction may be arranged in a manner that surrounds an equilateral triangle opposite to Fig.
- the translational drive 'translation' rotational freedom degree mechanism module 6 may be disposed at an angle. It should be arranged so that the direction of the reason guidance part 12 can be determined.
- the force using three translational drive 'translation' rotational degree-of-freedom mechanism modules 6 is not limited to this.
- FIG. 14 is a top view of the alignment apparatus showing the first embodiment of the present invention and a diagram showing an arrangement example 7 of the translation drive 'translation' rotational freedom degree mechanism module.
- FIG. 15 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 8 of the translation drive 'translation' rotational freedom mechanism module.
- FIG. 16 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 9 of the translation drive 'translation' rotational freedom degree mechanism module.
- FIG. 17 is a top view of the alignment apparatus showing the first embodiment of the present invention, and a diagram showing an arrangement example 10 of the translation drive 'translation' rotational degree of freedom mechanism module.
- the relationship between the rotational movement and translational movement of the table and the amount of movement of each linear motor can be determined geometrically. Also, it may be arranged so that the direction of the other translational freedom guide 11 and the rotational freedom guide 12 can be determined in the positive and negative operating directions of the linear motor 1.
- FIG. 18 is a view showing a top view of the alignment apparatus showing the first embodiment of the present invention and an arrangement example 11 of the translation drive “translation” rotation degree-of-freedom mechanism module.
- FIG. 19 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 12 of the translation drive 'translation' rotational degree of freedom mechanism module.
- FIG. 20 is a diagram showing a top view of the alignment apparatus showing the first embodiment of the present invention and an arrangement example 13 of the translation drive 'translation' rotational freedom degree mechanism module.
- the rotational movement and translational movement of the table 4 and the operation amount of each linear motor 1 are as follows. The relationship can be determined geometrically. Further, the linear motor 1 may be arranged so that the directions of the other translational freedom degree guiding part 11 and the rotational freedom degree guiding part 12 can be determined in the positive and negative operating directions.
- FIG. 21 is a top view of a alignment apparatus showing a first embodiment of the present invention and a translation drive
- FIG. 16 is a diagram showing an arrangement example 14 of the advance / rotational freedom mechanism module.
- Fig. 21 shows an example in which six translational drive, translation, and rotational freedom degree mechanism modules 6 are arranged. Similarly, the relationship between the rotational movement and translational movement of the table and the operation amount of each linear motor is geometrically determined. Can be determined. In addition, it should be arranged so that the direction of the other translational freedom degree plan 11 and the rotational freedom degree guiding part 12 can be determined in the positive and negative operating directions of the linear motor 1.
- seven translation drive / translation 'rotational freedom degree mechanism modules 6 may be arranged.
- FIG. 22 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 15 of translation drive “translation” rotational freedom mechanism modules.
- Fig. 22 shows an example in which six translational drive / translation 'rotational degree of freedom mechanism modules 6 are arranged, but they are configured to form two types of equilateral triangle halves from the center of the table 4.
- the relationship between the rotational movement and translational movement of the table and the amount of movement of each linear motor can be determined geometrically. Also, it may be arranged so that the direction of the other translational freedom guide 11 and the rotational freedom guide 12 can be determined in the positive and negative operating directions of the linear motor 1.
- FIG. 23 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 16 of translation drive “translation” rotational freedom mechanism modules.
- FIG. 24 is a diagram showing a top view of the alignment apparatus showing the first embodiment of the present invention and an arrangement example 17 of the translation drive 'translation' rotational freedom mechanism module.
- FIG. 25 is a view showing a top view of the alignment apparatus showing the first embodiment of the present invention and an arrangement example 18 of the translation drive 'translation' rotational freedom degree mechanism module.
- FIG. 26 is a top view of the alignment apparatus showing the first embodiment of the present invention and a layout example 19 of the translation drive 'translation' rotational degree of freedom mechanism module.
- Figures 23 to 26 are examples in which eight translational drive 'translation' rotational degree of freedom mechanism modules 6 are arranged. As described above, the rotational movement and translational movement of the table 4 and the operation amount of each linear motor are shown. The relationship can be determined geometrically. In addition, as shown in Fig. 22, the initial position of the translation drive 'translation' rotational freedom degree mechanism module 6 from the center of the table 4 may be arranged to form a plurality of radii. It should be arranged so that the direction of the other freedom degree of freedom guide part 11 and rotation degree of freedom guide part 12 can be determined in the operation direction.
- the relationship between the rotational movement and translational movement of the table and the amount of movement of each linear motor can be determined geometrically.
- the translation drive 'translation' rotational degree of freedom mechanism module 6 supports the load in a well-balanced manner, and the table 4 can be translated and moved in each direction in a well-balanced manner. A rotational movement can be performed.
- the configuration of the alignment apparatus according to the second embodiment of the present invention is as follows.
- FIG. 27 is a alignment apparatus configuration diagram showing a second embodiment of the present invention.
- FIG. 28 is a schematic view of a translational drive 'translation' rotation degree of freedom mechanism module used in the alignment apparatus showing the second embodiment of the present invention.
- l la, lb, lc
- 2 (2a, 2b, 2c) is an operation amount detector
- 3 (3a, 3b, 3c) is a controller
- 4 is a table
- 5 is an object
- 6 (6a, 6b, 6c) is a translation drive 'translation' rotational degree of freedom mechanism module
- 7 is a machine base
- 8 is a command unit
- 9 is a two-dimensional position sensor
- 11 11 (11a, l ib, 11c) is the translation drive
- 12 (12a, 12b, 12c) is the rotation degree of freedom guide
- 13 (13a, 13b, 13c) is the translation degree of freedom guide
- 21 is the linear motion guide
- 22 is the linear motion
- the guide block 23 is a rotating bearing.
- the outline of the second embodiment of the present invention is the same as that of FIG. 1 of the first embodiment, and the arrangement of the translation drive 'translation' rotation degree of freedom mechanism module 6 is the same as that of FIG. 3 of the first embodiment. It is.
- the second embodiment of the present invention differs from the first embodiment in the structure of the translation drive / translation / degree of freedom mechanism module 6.
- the translation drive 'translation' rotation degree of freedom mechanism module 6 is composed of a translation drive unit 11 having a linear motor 1, a rotation degree of freedom guide unit 12, and a translation degree of freedom guide unit 13. Between 7 and Table 4, it is configured to have translational freedom, rotational freedom, and translational freedom.
- the arrangement of the object 5 grasped by the two-dimensional position sensor 9 is moved by the translation drive 'translation' rotational freedom mechanism module 6 (6a, 6b, 6c) to move the table 4. Then, correct the position.
- the functions and basic operations are the same as those in the first embodiment except that the configuration of the translation drive / translation / rotational freedom mechanism module 6 is different.
- the configuration of the translation drive 'translation' rotational degree of freedom mechanism module 6 is different from that of the first embodiment, so the movement of the table 4 and the translation drive unit 11 of the translational drive 'translation' rotational freedom degree mechanism module 6 of the linear motor 1
- the geometric relationship of the movement amount is different.
- FIG. 29 is a view showing the rotational movement of the table of the alignment apparatus showing the second embodiment of the present invention.
- FIG. 30 is a diagram showing translation of the table of the alignment apparatus showing the second embodiment of the present invention.
- Oo is the center and rotation center of the table
- R is the rotation radius
- ⁇ Zi is the translation drive ⁇ translation ⁇ rotational freedom degree mechanism module 6 translation drive unit 11 linear motor 1 operation amount
- ⁇ ⁇ is Table rotation angle
- a, b, c are translation 'rotation degree of freedom mechanism module 6 translation drive unit 11 initial position of linear motor 1
- a', b ', c' are translation 'rotation during S Zi movement free
- the position after translation of the linear motor 1 of the translation drive unit 11 of the degree mechanism module 6, a,, b ", c" are the positions after translation of the translation degree of freedom guide part 13 of the translation degree rotation degree of freedom mechanism module 6 is there.
- the two translational degrees of freedom are configured via the rotational degrees of freedom, so the angle formed by the translational drive unit 11 and the translational degree of freedom guide unit 13 changes.
- ⁇ Z1 is required due to the movement from the initial position a to a ′ of the linear motor la of the translation drive unit 11a.
- the two translational degrees of freedom are configured so that the orthogonality is fixed, so if the table 4 can be rotated by ⁇ if it is moved by ⁇ Z1-1 in the figure, two translational degrees of freedom can be obtained. Degrees are connected via rotational degrees of freedom, and the angle formed by the two translational degrees of freedom changes. It is necessary to add the minute to the operation amount ⁇ ⁇ 1-1 in the first embodiment.
- L is the amount of translational motion of table 4
- ⁇ is the angle formed by the translational movement direction of table 4
- ⁇ Zi is the translational drive 'translation' rotational freedom degree mechanism module 6 translational drive unit 1 1 linear motor 1
- A, b, c are translation 'rotational freedom degree mechanism module 6 translational drive unit 11 linear motor 1 initial position
- a "' l, b" 'l, c' "1 is ⁇ Zi movement
- a' ", b '", c' '' are translational degrees of freedom of translational degree mechanism module 6 This is the position after the guide 13 has moved.
- a series of operations of the second embodiment of the present invention is the same as that of the first embodiment.
- the functions of the two-dimensional position sensor 9 and the correction amount calculation unit 10 do not change, only the configuration of the translation / rotation degree of freedom mechanism module 6 is different, so that the operation amount calculation unit 15 calculates the operation amount of each linear motor 1.
- the motion amount calculation unit 15 calculates a different value from that of the first embodiment because the geometrical relationship of the rotational movement used in the above is different.
- each linear motor 1 is operated, the table 4 is moved, and the position of the object 5 is corrected.
- the position of the object 5 is grasped again by the two-dimensional position sensor 9 and the position of the object 5 is corrected again, as in the first embodiment. It's okay.
- the force of the translation drive / translation / rotation degree-of-freedom mechanism module 6 shown in FIG. 27 is not limited to this, as shown in the first embodiment as shown in FIG. ⁇ Figure 10 and may be arranged as shown in FIGS.
- the movement amount of Table 4 and translational drive The movement amount of Linear Motor 1 of “Translation” rotational freedom mechanism module 6 has a geometric relationship.
- the configuration of the alignment apparatus of the third embodiment of the present invention is as follows.
- FIG. 31 is a schematic diagram of a three-degree-of-freedom module used in the alignment apparatus showing the third embodiment of the present invention.
- FIG. 32 is a top view of an alignment apparatus showing a third embodiment of the present invention, and a diagram showing an arrangement example 1 of a translational drive 'translation' rotational degree of freedom mechanism module and a three degree of freedom module.
- FIG. 33 is a top view of an alignment apparatus showing a third embodiment of the present invention and a diagram showing an arrangement example 2 of a translational drive 'translation' rotational degree of freedom mechanism module and a three degree of freedom module.
- 4 is a table
- 6 is a translation drive 'translation' rotational degree of freedom mechanism module
- 12 is a rotational degree of freedom guide part
- 13 is a translation degree of freedom guide part
- 14 is a 3 degree of freedom module
- 21 is a linear guide
- 22 Is a linear motion guide block
- 23 is a bearing for rotation.
- the three-degree-of-freedom module 14 does not have a drive source like the translation drive 'translation' rotation degree-of-freedom mechanism module 6, and has one rotation and two degrees of freedom of translation, as shown in Fig. 3 of the first embodiment.
- Translational driveTranslation'Rotation degree-of-freedom mechanism module 6 As shown in Fig. 28 of the second embodiment, it can be configured by placing the machine base 7 on the table 4 in the order of translation, translation, and rotation. As in the translation / rotation degree-of-freedom mechanism module 6, the machine base 7 may be hung on the table 4 in the order of translation, rotation, and translation.
- the configuration of the translation drive 'translation' rotational degree of freedom mechanism module 6 is also the configuration of the first embodiment or the second embodiment.
- Fig. 32 and Fig. 33 show the arrangement of translational drive ⁇ translation 'rotational freedom degree mechanism module 6.
- the three-degree-of-freedom module 14 may be added to FIG. 4 of the first embodiment, FIG. 8 to FIG. 10, and FIG.
- the third embodiment of the present invention is different from the first embodiment or the second embodiment in that the three-degree-of-freedom module 14 is added.
- FIGS. 32 and 33 an example using four translation drive / translation 'rotational degree of freedom mechanism modules 6 and eight translation drive' translation 'rotational degree of freedom mechanism modules 6 An example of the arrangement is shown.
- each degree of freedom acts as the table 4 is driven, and does not hinder the movement of the table 4.
- the weight increases and the table 4 itself may bend and the planar accuracy may decrease.
- the deformation of the table 4 is suppressed and the planar accuracy is maintained. Will be able to.
- FIG. 34 shows a top view of an alignment apparatus showing a fourth embodiment of the present invention and a diagram showing an arrangement example 1 of the translation drive 'translation' rotational degree of freedom mechanism module.
- FIG. 34 shows a configuration in which a translation drive 'translation' rotational degree of freedom mechanism module 6 is added to FIG. 14 of the first embodiment.
- the overall configuration is the same as that of the first, second, and third embodiments, with the lower motor 1, the operation amount detector 2, the controller 3, the table 4, the object 5, and the translation.
- the fourth embodiment of the present invention differs from the first embodiment, the second embodiment, and the third embodiment in that the translation is evenly arranged with respect to the table 4 and the machine base portion 7.
- a translation drive / translation'rotation degree-of-freedom mechanism module 6 is added to increase the linear motor 1 in one direction.
- the table 4 can be moved in the same manner as in the first embodiment, the second embodiment, and the third embodiment.
- the movement of the table 4 and the movement amount ⁇ Zi of each linear motor can be determined geometrically. If the movement amount is commanded by the command section 8, the position of the object 5 on the table 4 can be corrected.
- the force obtained by adding the translation drive / translation / rotation degree-of-freedom mechanism module 6 to FIG. 14 of the first embodiment is not limited to this.
- FIG. 4 and FIG. 8 of the first embodiment. ⁇ Fig. 10, Fig. 12 to Fig. 13 or Fig. 15 to Fig. 26 may be configured by adding a translational drive ⁇ translation ⁇ rotational freedom degree mechanism module 6.
- Translational drive 'translation' rotational freedom degree mechanism module 6 has the same function as 3 degree of freedom module 14 with 3 degrees of freedom if the function of linear motor 1 is turned off by controller 3 and put into a free-run state.
- Uniformly arranged translational drive ⁇ Translation ⁇ Rotation degree of freedom mechanism module 6 has the same operation and effect as the third embodiment if it is set to the free-run state.
- the translational drive 'translation' rotational degree of freedom mechanism module 6 is shown in FIG. 4 of the first embodiment and FIG. 28 of the second embodiment.
- the force that changes the geometric relationship between the table 4 and the linear motor 1 is shown in FIG.
- Two types of translation drive / translation / degree of freedom mechanism module 6 can be used together, as long as they generate commands suitable for each.
- FIG. 35 is a schematic diagram showing an alignment apparatus showing a fifth embodiment of the present invention.
- FIG. 36 is a top view and a side view of a translation drive 'translation' rotational degree of freedom mechanism module showing the fifth embodiment of the present invention.
- FIG. 37 is a top view of the alignment apparatus showing the fifth embodiment of the invention.
- the alignment apparatus is composed of two translation drive / translation 'rotational freedom degree mechanism modules 6 command units arranged on the lower surface of the table.
- the command unit 8 calculates the operation amounts of the linear motor 16L and the rotary motor 16R that are necessary as the operation amounts of the table 4, and commands the operation amounts to the respective controllers 3.
- the operations of the linear motor 16L and the rotary motor 16R are controlled by six controllers 3 in accordance with commands from the command unit 8.
- Translational drive ⁇ Translation'Rotation degree-of-freedom mechanism module 6 has two translational motors as shown in Fig. 36. It consists of a free part 11 and a single rotary drive part 17 having a rotary motor 1. Between the machine base part 7 and the table 4, the translation drive part 11, the rotary drive part 17, and the translation drive part 11 Are arranged sequentially.
- the translation drive unit 11 is mounted with a linear motor 16L, and is provided with a linear motion guide block 22 that can move the linear motion guide 21, so that it is supported in translation freely.
- a rotation type motor 16R is mounted on the rotation drive unit 17, and a rotation bearing 23 is provided so as to be freely supported for rotation. Since there is a rotational drive unit 17 between the two translational drive units 11, it is not always orthogonal.
- the two first and second translational drive 'translation' rotational freedom degree mechanism modules 6a and 6b have the rotational center force of the rotational drive unit 17 and the center (Oo) force of the table 4 on the same radius. Arranged so as to be axisymmetric with respect to the center of the table 4.
- the present invention is different from Patent Document 1 and Patent Document 2 in that it includes two translation drive / translation / rotation degree-of-freedom mechanism modules 6 and realizes table movement in the ⁇ direction.
- FIG. 38 is a view showing the rotational movement of the table of the alignment apparatus showing the fifth embodiment of the invention.
- Oo is the center of the table and the center of rotation
- R is the radius of rotation
- S Zij is the translation drive
- translation and rotation freedom mechanism module 6 the travel of the translation drive unit 11
- ⁇ is the rotation angle of the table
- a and b are There is an initial position.
- the amount of movement of the translation drive unit 11 arranged at the bottom of the first translation drive 'translation' rotational freedom mechanism module 6a is ⁇ ⁇ 1 ⁇
- the amount of movement of the translation drive unit 11 arranged at the top Is ⁇ Z1X, and the amount of movement of the rotation drive unit 17 is ⁇ 1 ⁇
- the second translation drive ⁇ translation The amount of movement of the translation degree of freedom unit 11 arranged at the bottom of the rotation degree of freedom mechanism module 6b is ⁇ ⁇ 2 ⁇
- the movement amount of the translation drive unit 11 arranged in the upper part is ⁇ 2 ⁇
- the movement amount of the rotation drive unit 17 is ⁇ 20.
- the component of ⁇ s 1 is added to the operation amount ⁇ Zyl.
- table 4 causes table 4 to rotate around the table center. In this way, the amount of movement of the table 4 and the translation drive
- the amount of movement of the 'translation' rotational degree of freedom mechanism module 6 is determined geometrically, and the table 4 is centered by the movement of the translation drive unit 11 and the rotation drive unit 17. Move to rotate.
- the force based on the center Oo of the table 4 may be set at an arbitrary position as the center of rotation, and geometrically translational drive / translation ' Rotate around the place of rotation.
- FIG. 39 is a diagram showing translation of the table of the alignment apparatus showing the fifth embodiment of the invention.
- L is the translational movement amount of the table 4
- ⁇ is the angle formed by the translational movement direction of the table 4
- S Zij is the translational movement amount of each translational freedom part of the translational drive-translation'rotational freedom degree mechanism module 6.
- the table 4 is positioned by commanding a predetermined amount of movement to the translation drive units 11 arranged at the upper and lower portions of the first translation drive 'translation' degree-of-freedom mechanism modules 6a, 6b.
- the movement amount of the table 4 and each movement amount of the translation drive 'translation' rotational freedom degree mechanism module 6 are determined geometrically, and the table 4 moves in translation by movement of the translation drive unit 11.
- the rotary drive unit 17 does not act, and the rotary motor 16R holds the table 4 so that the table 4 does not move in the rotational direction.
- FIG. 40 is a side view showing the arrangement of the rotational movement of the table and the translation drive 'translation' rotational degree of freedom mechanism module according to the sixth embodiment of the present invention.
- Translation 'rotational freedom degree mechanism module 6a is the same as that of Example 5 shown in FIG. Further, the difference between the sixth embodiment and the fifth embodiment is that the first translation drive / translation-rotation degree-of-freedom mechanism module 6a is arranged so that the lower translation drive unit 11 is driven in the X direction, and the upper translation The drive unit 11 is arranged on the rotation drive unit 17 so as to be driven in the Y direction.
- the second translation drive 'translation' rotational degree of freedom mechanism module 6b includes the lower translation drive unit 11 It is arranged so as to be driven in the Y direction, and is arranged so as to be driven in the X direction on the upper translation drive unit 11 and the rotation drive unit 17.
- the translation drive 'translation' rotational degree of freedom mechanism module 6a is the same as in Example 5, and the translation drive unit 11 of the two first and second translational drive 'translation' rotational freedom degree mechanism modules 6a and 6b 11 Forces with different orientations of translation
- the operations of the translational drive unit 11 and the rotary drive unit 17 that only need to be commanded to each drive unit from the geometrically determined correction amount are the same as in Example 5 and are therefore omitted. To do.
- FIG. 41 is a schematic diagram showing an alignment apparatus showing a seventh embodiment of the present invention.
- FIG. 42 is a top view and a side view of a translation drive 'translation' rotational degree of freedom mechanism module showing a seventh embodiment of the present invention.
- FIG. 43 is a diagram showing the arrangement of the translation drive 'translation' rotational degree of freedom mechanism module and the rotational movement of the table of the alignment apparatus showing the seventh embodiment of the present invention.
- 9 is a two-dimensional position sensor
- 10 is a correction amount calculation unit.
- Example 7 and Example 5 and Example 6 The difference between Example 7 and Example 5 and Example 6 is that, as shown in FIG. 41, a powerful two-dimensional position sensor 9 such as a CCD camera disposed above the table, and detection of the two-dimensional position sensor 9 Fig. 42 shows the configuration in which a correction amount calculation unit 10 that is controlled based on the output signal is added to the configuration, and two translational drive 'translation' rotational degree of freedom mechanism modules 6 arranged on the lower surface of the table. Is a point.
- a powerful two-dimensional position sensor 9 such as a CCD camera disposed above the table
- Fig. 42 shows the configuration in which a correction amount calculation unit 10 that is controlled based on the output signal is added to the configuration, and two translational drive 'translation' rotational degree of freedom mechanism modules 6 arranged on the lower surface of the table. Is a point.
- the image of the object 5 monitored by the two-dimensional position sensor 9 is subjected to image processing, and the arrangement position where the object 5 should be is calculated by the correction amount calculation unit 10, so that the object 5 should be located.
- the operation of the linear motor 16L and the rotary motor 16R is controlled by the six controllers 3 according to the command from the command unit 8.
- the translational drive / translation'rotational freedom degree mechanism module 6 is composed of a lower force sequential translation drive unit 11, a translation drive unit 11, and a rotation drive unit 17, as shown in FIG. ing.
- first and second translational drive 'translation' rotational freedom degree mechanism modules 6a and 6b are the same from the center (Oo) of the rotational center force table 4 of the rotational drive unit 12 as in the fifth embodiment. It is arranged so as to be axially symmetric with respect to the center of the table 4 on one radius.
- the present invention differs from Patent Document 1 and Patent Document 2 in that two translation drive, translation, and rotational freedom mechanism modules 6 are provided on the lower surface of the table 4 and the table is moved in the ⁇ direction. is there.
- the configuration of the translational drive 'translation' rotational degree of freedom mechanism module 6 is different from that of Example 5, so the geometrical relationship changes and the operation amount of each motor 1 differs.
- the amount of movement of the translational drive mechanism module 6 The points that are determined geometrically are the same, and the table 4 is rotated about the table center by the movement of the translation drive unit 11 and the rotation drive unit 12.
- the translation of the table is omitted because the rotation drive unit 17 does not operate and operates in the same manner as in the fifth embodiment.
- FIG. 44 is a schematic diagram showing a position correction method according to the seventh embodiment of the present invention.
- the position of the object 5 placed on the table 4 is recognized as an image by the two-dimensional position sensor 9.
- the correction amount calculation unit 10 detects a mark written in advance on the object 5 and a feature of the object 5 (indicated by + in the drawing), and the rotation angle from the rotation center having the inclination angular force and the translational operation amount are detected. Desired.
- the correction angle ⁇ and the operation amount L are calculated by the correction amount calculation unit 10, and the operation amount of each drive unit of the translational drive / translation 'rotational degree of freedom mechanism module 6 is obtained geometrically from the position of the table 4,
- the command unit 8 commands each controller 3 to enter the operation amount ⁇ Zij, the table 4 is positioned, and the position of the object 5 is corrected.
- the translation drive / translation 'rotation degree of freedom mechanism module 6 is connected to the operation amount detection unit 2. Since the position of the table 4 is detected and feedback control is performed, the positioning position of the table 4 is maintained.
- the 2D position sensor 9 can grasp the movement of the table 4, so if 2D positioning is performed again.
- the translation drive unit 11 may be a force plane motor described using two linear motors 16L as long as it can move freely in a plane.
- the drive unit of each drive mechanism has been described as an electromagnetic type, it is not particularly limited as long as it is a piezoelectric type or the like.
- FIG. 45 is a diagram showing the arrangement of the translation drive 'translation' rotational degree of freedom mechanism module and the rotational movement of the table of the alignment apparatus showing the eighth embodiment of the invention.
- the difference of the eighth embodiment from the fifth and sixth embodiments is the structure of the translation module / translation / rotation degree of freedom mechanism module 6.
- the configuration of the translational drive 'translation' rotational degree of freedom mechanism module 6 is the same as that of Example 6 shown in FIG. Further, the two-dimensional position sensor 9 and the correction amount calculation unit 10 shown in the seventh embodiment are omitted.
- Example 8 differs from Example 7 in that the first translation drive and translation.Rotational freedom degree mechanism module 6a is arranged so that the lower translation drive unit 11 is driven in the X direction, and the upper translation drive.
- the part 11 is configured to be driven in the Y direction
- the second translation drive-translation / rotation degree of freedom mechanism module 6b is arranged so that the lower translation drive part 11 is driven in the Y direction.
- the upper translation drive unit 11 is arranged to be driven in the X direction.
- the forces of the translational drive units 11 of the two first and second translational drive 'translation' rotational freedom degree mechanism modules 6a and 6b are different. Since the operations of the translation drive unit 11 and the rotation drive unit 12 that are only required to be instructed to the drive unit are the same as those in the sixth embodiment, the description thereof is omitted.
- FIG. 46 is a top view and a side view of the translational drive / translation 'rotational freedom degree mechanism module according to the ninth embodiment of the present invention.
- FIG. 47 is a diagram showing the arrangement of the translation drive 'translation' rotational degree of freedom mechanism module and the rotational movement of the table according to the ninth embodiment of the present invention.
- the difference of the ninth embodiment from the fifth to eighth embodiments is the configuration of the translation drive / translation / rotation degree-of-freedom mechanism module 6.
- two translational drive units 11 are rotation drive units.
- the rotation drive unit 17, the translation drive unit 11, and the translation drive unit 11 are sequentially arranged between the machine base unit 7 and the table 4. Further, the two-dimensional position sensor 9 and the correction amount calculation unit 10 shown in the seventh embodiment are omitted.
- FIG. (A) is the case where the orientation of the two translational drive ⁇ translation 'rotational freedom degree mechanism module 6 is different
- (B) is the orientation of the two translational drive ⁇ translation' rotation freedom degree mechanism module 6 is the same It is a case. That is, this corresponds to the difference between Example 5 (FIG. 37) and Example 6 (FIG. 40), Example 7 (FIG. 43), and Example 8 (FIG. 45).
- Oo is the center and rotation center of the table
- R is the radius of rotation
- S Zij is the translation drive
- ⁇ is the rotation angle of the table
- a and b are There is an initial position.
- Example 5 to Example 9 even if the configuration of translation drive / translation / rotation freedom mechanism module 6 changes, the amount of movement of table 4 and each translation drive 'translation' rotation is free. The movement amount of each drive unit of the degree mechanism module 6 is obtained geometrically.
- FIG. 48 is a top view of the alignment apparatus showing the tenth embodiment of the present invention.
- the difference between the tenth embodiment and the fifth to ninth embodiments is the number of translation drive 'translation' rotational degree of freedom mechanism modules 6.
- Three translation drive / translation 'rotational freedom degree mechanism modules 6 are used.
- the two-dimensional position sensor 9 and the correction amount calculation unit 10 shown in the seventh embodiment are omitted.
- the rotational movement, translational movement, and series of table movements of the alignment apparatus are omitted because they are the same because the number of rotational freedom mechanism modules 6 is the same.
- the translation drive 'translation' rotational degree of freedom mechanism module 6 can be used in any of the configurations shown in Example 5 to Example 9, and the translation drive / translation 'rotational degree of freedom mechanism module 6 of a different configuration can be used together.
- the orientation of the arrangement can be determined geometrically in any case. In this way, even if the table 4 becomes large and heavy, the load is distributed and supported by the three translational drive 'translation / rotation degree of freedom mechanism module 6 and even if an external force acts on the table 4, By maintaining the position, the table 4 is accurately positioned at an arbitrary position.
- FIG. 49 is a top view of the alignment apparatus showing the eleventh embodiment of the present invention.
- Example 11 differs from Examples 5 to 10 in the number of translation drive / translation / rotational freedom mechanism modules 6.
- Translational drive 'translational' rotational degree of freedom mechanism module 6 has any of the configurations shown in Examples 5 to 9, and even if differently configured translational drive, translational and rotational freedom degree mechanism modules 6 are mixed, Since the orientation of the arrangement can be determined geometrically in any case, the rotation movement, translation movement, and series of operations of the table of the alignment apparatus are the same and will be omitted.
- the table 4 can be accurately positioned at any position.
- FIG. 50 is a top view of an alignment apparatus showing a twelfth embodiment of the present invention.
- Example 12 differs from Examples 5 to 10 in the number of translation drive 'translation' rotational degree of freedom mechanism modules 6.
- the number of translation drive 'translation' rotational freedom degree mechanism modules 6 is four, which is the same as that of the eleventh embodiment.
- the translation drive 'translation' rotational degree of freedom mechanism module 6 can be used in any of the configurations shown in Example 5 to Example 9, and the translation drive / translation 'rotational degree of freedom mechanism module 6 of a different configuration can be used together. Since the orientation of the arrangement can be determined geometrically in any case, the rotational movement, translational movement, and series of operations of the table of the alignment apparatus are the same, and will be omitted.
- FIG. 51 is a top view of an alignment apparatus showing a thirteenth embodiment of the present invention (another modified arrangement example 1)
- FIG. 52 is a top view of an alignment apparatus showing a thirteenth embodiment of the present invention (another modified arrangement example 2).
- FIG. 53 is a top view of the alignment apparatus showing the thirteenth embodiment of the present invention (another modified arrangement example 3)
- FIG. 54 is a top view of the alignment apparatus showing the thirteenth embodiment of the present invention (another modification).
- Arrangement example 4 FIG. 55 is a top view of the alignment apparatus showing the thirteenth embodiment of the present invention (another modified arrangement example 5)
- FIG. 56 is a top view of the alignment apparatus showing the thirteenth embodiment of the present invention.
- FIG. 51 is a top view of an alignment apparatus showing a thirteenth embodiment of the present invention (another modified arrangement example 1)
- FIG. 52 is a top view of an alignment apparatus showing a thirteenth embodiment of the present invention (another modified arrangement example 2).
- FIG. 53 is a top view of the
- FIG. 57 is a top view of an alignment apparatus showing a thirteenth embodiment of the present invention (another modified arrangement example 7), and FIG. 58 is an alignment showing a thirteenth embodiment of the present invention.
- FIG. 11 is a top view of the device (another modified arrangement example 8).
- the difference between Example 13 and Example 5 to 12 is the number of translation drive / translation 'rotational freedom mechanism module 6, and as shown in FIGS. 51 to 58, translation drive / translation / rotation freedom mechanism module 6 is the point where 5 or more were used.
- the translation drive 'translation' rotational degree of freedom mechanism module 6 can be used in any of the configurations shown in Example 5 to Example 9, or even in different configurations of translation drive / translation / rotational freedom degree mechanism module 6
- the orientation of the arrangement can be determined geometrically in any case, the rotational movement, translational movement, and series of operations of the table of the alignment apparatus are the same, and will be omitted.
- the two-dimensional position sensor 9 and the correction amount calculation unit 10 shown in the seventh embodiment are omitted.
- the translation drive 'translation' rotational degree of freedom mechanism module 6 is arranged in a different configuration, the translation drive 'translation' rotational degree of freedom mechanism module is sufficient if the movement amount is commanded by the command unit 8 according to the configuration.
- the command unit 8 it is possible to mix the translation drive unit 11 and the rotation drive unit 17 with different arrangements.
- the number and arrangement of the translation drive 'translation' rotational degree of freedom mechanism modules 6 are not those shown in the fifth embodiment to the thirteenth embodiment, but a plurality of translation drive / translation 'rotational freedom degree mechanism modules 6 May be arranged on the lower surface of the table 4 so that the table 4 can be rotated and translated.
- the table 4 can be accurately positioned to an arbitrary position by maintaining the position.
- Translational drive ⁇ Translation's freedom of rotation mechanism module makes it possible to reduce the height of the table by configuring the linear motor at the bottom so that even if the table becomes larger, the height of the device can be reduced. It can also be applied to the use of miniaturization.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Details Of Measuring And Other Instruments (AREA)
- Machine Tool Units (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/720,271 US7848832B2 (en) | 2004-11-30 | 2005-11-07 | Alignment apparatus |
JP2006547703A JP4656334B2 (ja) | 2004-11-30 | 2005-11-07 | アライメント装置 |
DE112005002970T DE112005002970T5 (de) | 2004-11-30 | 2005-11-07 | Ausrichtungsvorrichtung |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-345925 | 2004-11-30 | ||
JP2004345925 | 2004-11-30 | ||
JP2005160929 | 2005-06-01 | ||
JP2005-160929 | 2005-06-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006059457A1 true WO2006059457A1 (ja) | 2006-06-08 |
Family
ID=36564894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/020343 WO2006059457A1 (ja) | 2004-11-30 | 2005-11-07 | アライメント装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7848832B2 (ja) |
JP (1) | JP4656334B2 (ja) |
KR (1) | KR101025632B1 (ja) |
DE (1) | DE112005002970T5 (ja) |
TW (1) | TW200621418A (ja) |
WO (1) | WO2006059457A1 (ja) |
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JP2008021098A (ja) * | 2006-07-12 | 2008-01-31 | Yaskawa Electric Corp | アライメント装置 |
JP2008098409A (ja) * | 2006-10-12 | 2008-04-24 | Yaskawa Electric Corp | アライメントステージ |
KR100859656B1 (ko) | 2006-03-06 | 2008-09-23 | 가부시키가이샤 야스카와덴키 | 회전·이방향 이동 장치, 얼라인먼트 유니트 및 얼라인먼트 스테이지 장치 |
WO2010137320A1 (ja) * | 2009-05-26 | 2010-12-02 | 株式会社Ihi | アライメントステージ |
JP2011167790A (ja) * | 2010-02-17 | 2011-09-01 | Kyoto Univ | 駆動ユニットを備えた機械構造 |
CN103714865A (zh) * | 2014-01-03 | 2014-04-09 | 天津大学 | 一种大行程两平动一转动精密定位平台 |
CN105448353A (zh) * | 2015-11-23 | 2016-03-30 | 清华大学 | 紧凑型多层纳米伺服平台 |
CN106363615A (zh) * | 2016-10-31 | 2017-02-01 | 天津大学 | 一种卧式六自由度微纳操作器 |
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- 2005-11-07 WO PCT/JP2005/020343 patent/WO2006059457A1/ja not_active Application Discontinuation
- 2005-11-07 DE DE112005002970T patent/DE112005002970T5/de not_active Ceased
- 2005-11-07 KR KR1020077012126A patent/KR101025632B1/ko not_active IP Right Cessation
- 2005-11-18 TW TW094140663A patent/TW200621418A/zh not_active IP Right Cessation
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JPH0899243A (ja) * | 1994-10-04 | 1996-04-16 | Hiihaisuto Seiko Kk | 縦横移動旋回テーブル機構 |
JPH1043978A (ja) * | 1996-08-02 | 1998-02-17 | Sakai Giken:Kk | 移動テーブル装置 |
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Cited By (13)
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KR100859656B1 (ko) | 2006-03-06 | 2008-09-23 | 가부시키가이샤 야스카와덴키 | 회전·이방향 이동 장치, 얼라인먼트 유니트 및 얼라인먼트 스테이지 장치 |
JP2008021098A (ja) * | 2006-07-12 | 2008-01-31 | Yaskawa Electric Corp | アライメント装置 |
JP2008098409A (ja) * | 2006-10-12 | 2008-04-24 | Yaskawa Electric Corp | アライメントステージ |
CN102264544A (zh) * | 2009-05-26 | 2011-11-30 | 株式会社Ihi | 对准台 |
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JP2011167790A (ja) * | 2010-02-17 | 2011-09-01 | Kyoto Univ | 駆動ユニットを備えた機械構造 |
CN103714865A (zh) * | 2014-01-03 | 2014-04-09 | 天津大学 | 一种大行程两平动一转动精密定位平台 |
CN105448353A (zh) * | 2015-11-23 | 2016-03-30 | 清华大学 | 紧凑型多层纳米伺服平台 |
CN105448353B (zh) * | 2015-11-23 | 2018-06-22 | 清华大学 | 紧凑型多层纳米伺服平台 |
CN106363615A (zh) * | 2016-10-31 | 2017-02-01 | 天津大学 | 一种卧式六自由度微纳操作器 |
CN106363615B (zh) * | 2016-10-31 | 2019-02-26 | 天津大学 | 一种卧式六自由度微纳操作器 |
CN111285880A (zh) * | 2019-08-28 | 2020-06-16 | 中南大学 | 一种含双冠醚的开关化合物的制备和应用 |
Also Published As
Publication number | Publication date |
---|---|
TW200621418A (en) | 2006-07-01 |
US7848832B2 (en) | 2010-12-07 |
US20080019817A1 (en) | 2008-01-24 |
DE112005002970T5 (de) | 2007-10-25 |
JP4656334B2 (ja) | 2011-03-23 |
TWI365116B (ja) | 2012-06-01 |
KR101025632B1 (ko) | 2011-03-30 |
KR20070085538A (ko) | 2007-08-27 |
JPWO2006059457A1 (ja) | 2008-06-05 |
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