CN102753312B - 批量传输薄基片的伯努利式端拾器 - Google Patents
批量传输薄基片的伯努利式端拾器 Download PDFInfo
- Publication number
- CN102753312B CN102753312B CN201180004961.4A CN201180004961A CN102753312B CN 102753312 B CN102753312 B CN 102753312B CN 201180004961 A CN201180004961 A CN 201180004961A CN 102753312 B CN102753312 B CN 102753312B
- Authority
- CN
- China
- Prior art keywords
- substrate
- contact surface
- substrate holder
- fluting
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000758 substrate Substances 0.000 title claims abstract description 248
- 238000012546 transfer Methods 0.000 title claims description 9
- 239000012636 effector Substances 0.000 title abstract 3
- 238000004519 manufacturing process Methods 0.000 claims description 48
- 238000000034 method Methods 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims 1
- 235000012431 wafers Nutrition 0.000 description 43
- 210000005056 cell body Anatomy 0.000 description 18
- 239000004065 semiconductor Substances 0.000 description 15
- 230000006872 improvement Effects 0.000 description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 12
- 210000004027 cell Anatomy 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000035755 proliferation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- H01L21/677—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 conveying, e.g. between different workstations
- H01L21/67739—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 conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
-
- 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
- H01L21/677—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 conveying, e.g. between different workstations
- H01L21/67763—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 conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
-
- 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
- H01L21/683—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 supporting or gripping
- H01L21/6838—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 supporting or gripping with gripping and holding devices using a vacuum; Bernoulli devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (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)
- Manipulator (AREA)
Abstract
Description
Claims (5)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US39897910P | 2010-07-02 | 2010-07-02 | |
US61/398,979 | 2010-07-02 | ||
PCT/US2011/001177 WO2012003006A1 (en) | 2010-07-02 | 2011-07-05 | Thin substrate, mass-transfer bernoulli end-effector |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102753312A CN102753312A (zh) | 2012-10-24 |
CN102753312B true CN102753312B (zh) | 2015-05-13 |
Family
ID=45402419
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201180004961.4A Active CN102753312B (zh) | 2010-07-02 | 2011-07-05 | 批量传输薄基片的伯努利式端拾器 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20130108409A1 (zh) |
EP (1) | EP2588280A1 (zh) |
CN (1) | CN102753312B (zh) |
TW (1) | TW201222715A (zh) |
WO (1) | WO2012003006A1 (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SG10201402399RA (en) * | 2013-05-23 | 2014-12-30 | Asm Tech Singapore Pte Ltd | A transfer device for holding an object using a gas flow |
CN104226659B (zh) * | 2013-06-11 | 2017-09-22 | 富泰华工业(深圳)有限公司 | 分离机构 |
TWI611997B (zh) | 2013-09-26 | 2018-01-21 | 應用材料股份有限公司 | 用於傳送基板的氣動端效器設備與基板傳送系統 |
CN103594409A (zh) * | 2013-10-23 | 2014-02-19 | 中国电子科技集团公司第四十八研究所 | 一种批量硅片吸持装置 |
JP5949799B2 (ja) * | 2014-01-24 | 2016-07-13 | 株式会社安川電機 | パラレルリンクロボット、パラレルリンクロボット用ハンドおよびパラレルリンクロボットシステム |
IT201600114172A1 (it) * | 2016-11-11 | 2018-05-11 | Camozzi Automation S P A | Dispositivo di supporto per un organo prensile pneumatico |
US10020213B1 (en) * | 2016-12-30 | 2018-07-10 | Sunpower Corporation | Semiconductor wafer carriers |
US10836065B2 (en) | 2017-01-04 | 2020-11-17 | Provisur Technologies, Inc. | Exposed load cell in a food processing machine |
US10639798B2 (en) | 2017-01-04 | 2020-05-05 | Provisur Technologies, Inc. | Gripper actuating system in a food processing machine |
US9950869B1 (en) | 2017-01-04 | 2018-04-24 | Provisur Technologies, Inc. | Belt tensioner in a food processing machine |
US10160602B2 (en) | 2017-01-04 | 2018-12-25 | Provisur Technologies, Inc. | Configurable in-feed for a food processing machine |
US11084175B2 (en) * | 2018-12-13 | 2021-08-10 | Amazon Technologies, Inc. | End-of-arm tool having concentric suction cups, and related systems and methods |
CN111604929B (zh) * | 2020-04-29 | 2021-08-10 | 无锡小强半导体科技有限公司 | 一种搬运夹爪 |
CN112109101B (zh) * | 2020-09-25 | 2022-04-15 | 苏州富强科技有限公司 | 一种电池装夹机构及装夹方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4695217A (en) * | 1983-11-21 | 1987-09-22 | Lau John J | Semiconductor wafer transfer apparatus |
US6481956B1 (en) * | 1995-10-27 | 2002-11-19 | Brooks Automation Inc. | Method of transferring substrates with two different substrate holding end effectors |
CN101114604A (zh) * | 2006-07-24 | 2008-01-30 | 细美事有限公司 | 转移基材的设备和方法 |
CN101295661A (zh) * | 2007-04-24 | 2008-10-29 | 东京毅力科创株式会社 | 基板吸附装置和基板搬送装置 |
CN101383319A (zh) * | 2007-09-06 | 2009-03-11 | 细美事有限公司 | 末端执行器及带有该末端执行器的基片传送自动机械 |
CN101553347A (zh) * | 2006-12-01 | 2009-10-07 | Asm美国公司 | 伯努利棒 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4673949B2 (ja) * | 1999-11-12 | 2011-04-20 | 富士通株式会社 | 半導体ユニットおよびその製造方法 |
US6631935B1 (en) * | 2000-08-04 | 2003-10-14 | Tru-Si Technologies, Inc. | Detection and handling of semiconductor wafer and wafer-like objects |
CN101421822B (zh) * | 2004-03-17 | 2010-08-18 | 科福罗科学解决方案有限公司 | 非接触式加热平台 |
-
2011
- 2011-07-04 TW TW100123494A patent/TW201222715A/zh unknown
- 2011-07-05 EP EP11801272.3A patent/EP2588280A1/en not_active Withdrawn
- 2011-07-05 US US13/807,920 patent/US20130108409A1/en not_active Abandoned
- 2011-07-05 CN CN201180004961.4A patent/CN102753312B/zh active Active
- 2011-07-05 WO PCT/US2011/001177 patent/WO2012003006A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4695217A (en) * | 1983-11-21 | 1987-09-22 | Lau John J | Semiconductor wafer transfer apparatus |
US6481956B1 (en) * | 1995-10-27 | 2002-11-19 | Brooks Automation Inc. | Method of transferring substrates with two different substrate holding end effectors |
CN101114604A (zh) * | 2006-07-24 | 2008-01-30 | 细美事有限公司 | 转移基材的设备和方法 |
CN101553347A (zh) * | 2006-12-01 | 2009-10-07 | Asm美国公司 | 伯努利棒 |
CN101295661A (zh) * | 2007-04-24 | 2008-10-29 | 东京毅力科创株式会社 | 基板吸附装置和基板搬送装置 |
CN101383319A (zh) * | 2007-09-06 | 2009-03-11 | 细美事有限公司 | 末端执行器及带有该末端执行器的基片传送自动机械 |
Also Published As
Publication number | Publication date |
---|---|
US20130108409A1 (en) | 2013-05-02 |
CN102753312A (zh) | 2012-10-24 |
EP2588280A1 (en) | 2013-05-08 |
WO2012003006A1 (en) | 2012-01-05 |
TW201222715A (en) | 2012-06-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: FORTREND ENGINEERING (SHENYANG) CORPORATION Free format text: FORMER OWNER: FORTREND ENGINEERING CORP. Effective date: 20130717 |
|
C41 | Transfer of patent application or patent right or utility model | ||
COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; TO: 110169 SHENYANG, LIAONING PROVINCE |
|
TA01 | Transfer of patent application right |
Effective date of registration: 20130717 Address after: 110169 Liaoning province Shenyang Hunnan Hunnan Road No. 19-4 Applicant after: Fuchengde Technology (Shenyang) Co.,Ltd. Address before: The United States of California, Sunnyvale Pasto electric Street No. 687 Applicant before: Fortrend Engineering Corp. |
|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20171228 Address after: 201114 Shanghai city Minhang District million Fang Building Room 202 No. 555 1 Patentee after: SHANGHAI FORTREND TECHNOLOGY Co.,Ltd. Address before: 110169 Liaoning province Shenyang Hunnan Hunnan Road No. 19-4 Patentee before: Fuchengde Technology (Shenyang) Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: 201114 Room 202, building 1, 555 Wanfang Road, Minhang District, Shanghai Patentee after: Shanghai Han's Fuchuang Technology Co.,Ltd. Address before: 201114 Room 202, building 1, 555 Wanfang Road, Minhang District, Shanghai Patentee before: SHANGHAI FORTREND TECHNOLOGY Co.,Ltd. |