# US 11,110,598 B2 · Compact direct drive spindle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,110,598 B2 - Document ID: US11110598B2 - Status: Granted - Kind: B2 - Application number: 16/702,403 - Filed: 2019-12-03 - Published: 2020-04-02 - Granted: 2021-09-07 - Earliest claimed: 2011-07-13 - Assignees: Brooks Automation, Inc. - Applicants: Brooks Automation, Inc. - Inventors: Robert T. Caveney - Web page: https://patentgrep.com/patent/US11110598B2 ## CPC - B25J 9/126: {Rotary actuators} - B25J 11/0095: {Manipulators transporting wafers} - B25J 18/04: rotatable - H10P 72/3302: {Mechanical parts of transfer devices} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - Y10S 901/23: Electric motor - Y10T 74/20317: including electric motor - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A substrate transport apparatus including a frame, at least one arm link rotatably connected to the frame and a shaftless drive section. The shaftless drive section including stacked drive motors for rotating the at least one arm link relative to the frame through a shaftless interface, each of the stacked drive motors including a stator having stator coils disposed on a fixed post fixed relative to the frame and a rotor substantially peripherally surrounding the stator such that the rotor is connected to a respective one of the at least one arm link for rotating the one of the at least one arm link relative to the frame causing an extension or retraction of the one of the at least one arm link, where the stacked drive motors are disposed in the at least one arm link so that part of each stator is within a common arm link. ## Claims ### Claim 1 A substrate transport apparatus comprising: a frame; at least one arm link movably connected to the frame; and a drive section connected to the frame for driving the at least one arm link and including drive motors arrayed in column, each of the drive motors in column having a covering, a motor stator mounted to the covering, a motor rotor disposed at least partially within the covering and a stator seal, the stator seal being disposed between the motor stator and motor rotor, surrounding the motor rotor and has a sealing surface interface, that interfaces with a sealing covering surface, facing the rotor to seal the motor stator from the motor rotor; wherein the drive motors in column are arrayed at different heights with respect to each other and the sealing covering surface interfaced, at the sealing surface interface facing the rotors, to the stator seals of each respective drive motor arrayed in column together form a substantially continuous seal interface of the drive motors sealed by the stator seals arrayed in column to form a continuous barrier seal between the motor rotors, the motor stators, and encoders of each motor. ### Claim 2 (depends on 1) The substrate transport apparatus of claim 1, wherein the drive section is connected to the at least one arm link. ### Claim 3 (depends on 2) The substrate transport apparatus of claim 2, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation, a forearm rotatably connected to the upper arm about an elbow axis of rotation and at least one substrate holder rotatably connected to the forearm about a wrist axis of rotation, and the drive motors in column include two drive motors in column where each in column motor drives rotation of a respective one of the upper arm and the forearm. ### Claim 4 (depends on 2) The substrate transport apparatus of claim 2, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation, a forearm rotatably connected to the upper arm about an elbow axis of rotation and at least one substrate holder rotatably connected to the forearm about a wrist axis of rotation, and the drive motors in column include at least two drive motors in column where each in column motor drives rotation of a respective one of the upper arm, the forearm and the at least one substrate holder. ### Claim 5 (depends on 1) The substrate transport apparatus of claim 1, wherein the motor stator is isolated from vacuum. ### Claim 6 (depends on 1) The substrate transport apparatus of claim 1, further comprising a second drive section disposed at least partially within the frame and configured to linearly move the at least one arm link in a direction substantially normal to a plane containing a direction of extension and retraction of the at least one arm link. ### Claim 7 (depends on 1) The substrate transport apparatus of claim 1, wherein the at least one arm link is connected to the frame by a seal configured to accommodate relative axial movement between the at least one arm link and the frame wherein the seal is located on one side of the arm and the drive section is located on the opposite side of the arm. ### Claim 8 (depends on 1) The substrate transport apparatus of claim 1, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation and at least one substrate holder movably mounted to the upper arm for linear travel along at least a portion of a length of the upper arm, and the drive motors in column include at least two drive motors in column where one of the at least two drive motors in column drives rotation of the upper arm and the other ones of the at least two drive motors in column drive the linear travel of a respective one of the at least one substrate holder. ### Claim 9 (depends on 1) The substrate transport apparatus of claim 1, further comprising an encoder interfacing with each of the drive motors in column, the encoder including a sensor system and at least one scale, the sensor system being mounted to the covering and the scale is integrated into the motor rotor of a respective one of the drive motors in column such that an interface plane between the sensor system and scale is arranged at an angle relative to an interface plane between the motor stator and the motor rotor of the respective one of the drive motors in column. ### Claim 10 (depends on 1) The substrate transport system of claim 1, wherein each drive motor in column forms a motor module arrayed in column. ### Claim 11 (depends on 10) The substrate transport system of claim 10, wherein the motor stator of each motor module in column is isolated from vacuum. ### Claim 12 A substrate transport apparatus comprising: a frame; at least one arm link movably connected to the frame; and a drive section connected to the frame for driving the at least one arm link and including drive motors arrayed in column, each of the drive motors in column having a covering, a motor stator mounted to the covering, a motor rotor disposed at least partially within the covering and a stator seal, the stator seal being disposed between the motor stator and motor rotor, surrounding the motor rotor and has a sealing surface interface, that interfaces with a sealing covering surface, facing the rotor to seal the motor stator from the motor rotor; wherein the drive motors in column are arrayed at different heights with respect to each other and the sealing covering surface interfaced in stack, at the sealing surface interface facing the rotors, to the stator seals of each respective drive motor arrayed in column together form a substantially continuous seal interface of the drive motors in column sealed by the stator seals to form a continuous barrier seal between the motor rotors, the motor stators, and encoders of each motor. ### Claim 13 (depends on 12) The substrate transport apparatus of claim 12, wherein the drive section is connected to the at least one arm link. ### Claim 14 (depends on 12) The substrate transport apparatus of claim 12, wherein the motor stator is isolated from vacuum. ### Claim 15 (depends on 12) The substrate transport apparatus of claim 12, further comprising a second drive section disposed at least partially within the frame and configured to linearly move the at least one arm link in a direction substantially normal to a plane containing a direction of extension and retraction of the at least one arm link. ### Claim 16 (depends on 12) The substrate transport apparatus of claim 12, wherein the at least one arm link is connected to the frame by a seal configured to accommodate relative axial movement between the at least one arm link and the frame wherein the seal is located on one side of the arm and the drive section is located on the opposite side of the arm. ### Claim 17 (depends on 12) The substrate transport apparatus of claim 12, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation, a forearm rotatably connected to the upper arm about an elbow axis of rotation and at least one substrate holder rotatably connected to the forearm about a wrist axis of rotation, and the drive motors in column include two drive motors in column where each in column motor drives rotation of a respective one of the upper arm and the forearm. ### Claim 18 (depends on 12) The substrate transport apparatus of claim 12, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation, a forearm rotatably connected to the upper arm about an elbow axis of rotation and at least one substrate holder rotatably connected to the forearm about a wrist axis of rotation, and the drive motors in column include at least two drive motors in column where each in column motor drives rotation of a respective one of the upper arm, the forearm and the at least one substrate holder. ### Claim 19 (depends on 12) The substrate transport apparatus of claim 12, wherein the at least one arm link includes an upper arm rotatably connected to the frame about a shoulder axis of rotation and at least one substrate holder movably mounted to the upper arm for linear travel along at least a portion of a length of the upper arm, and the drive motors in column include at least two drive motors in column where one of the at least two drive motors in column drives rotation of the upper arm and the other ones of the at least two drive motors in column drive the linear travel of a respective one of the at least one substrate holder. ### Claim 20 (depends on 12) The substrate transport apparatus of claim 12, further comprising an encoder interfacing with each of the drive motors in column, the encoder including a sensor system and at least one scale, the sensor system being mounted to the covering and the scale is integrated into the motor rotor of a respective one of the drive motors in column such that an interface plane between the sensor system and scale is arranged at an angle relative to an interface plane between the motor stator and the motor rotor of the respective one of the drive motors in column.