CN105374721A - 搬运装置 - Google Patents

搬运装置 Download PDF

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CN105374721A
CN105374721A CN201510477861.3A CN201510477861A CN105374721A CN 105374721 A CN105374721 A CN 105374721A CN 201510477861 A CN201510477861 A CN 201510477861A CN 105374721 A CN105374721 A CN 105374721A
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wafer
suction port
maintaining part
suction
handling device
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大西健太
万德公丈
冈田繁史
占部裕之
渡边勇辉
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Disco Corp
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Disco Corp
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    • 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
    • H01L21/67778—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 involving loading and unloading of wafers
    • H01L21/67781—Batch transfer of wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B37/00—Lapping machines or devices; Accessories
    • B24B37/34—Accessories
    • B24B37/345—Feeding, loading or unloading work specially adapted to lapping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • 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
    • H01L21/67763—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
    • H01L21/677—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
    • H01L21/67778—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 involving loading and unloading of wafers
    • 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
    • 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
    • H01L21/687—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 using mechanical means, e.g. chucks, clamps or pinches
    • H01L21/68707—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 using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance

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Abstract

本发明提供一种搬运装置，其能够适当地吸引保持弯曲的晶片，能够易于应对直径不同的晶片。搬运装置(6)将收纳于盒(8a、8b)中的晶片(11)从盒中搬出或将晶片搬入盒中，其具有：吸引保持晶片的保持部(42)；以及使保持部移动的驱动部(44)，保持部具有：保持部主体(46)；在保持部主体的正面(46c)开口且彼此远离的多个吸引口(48a、48b)；与吸引源(52)连接并对吸引口传递负压的负压传递路(50)；以及配设于吸引口的由弹性材料构成的吸附盘(54)，多个吸引口被设置为在晶片的径向上彼此远离，吸附盘构成为选择性地配设于期望的吸引口。

Description

搬运装置
技术领域
本发明涉及将半导体晶片等的板状物从盒中搬出，或搬入盒中的搬运装置。
背景技术
近些年来，为了实现小型轻量的器件芯片，要求通过磨削将由硅等材料构成的晶片加工得较薄。该磨削例如使用如下的磨削装置，其具有吸引保持晶片的卡盘台、以及配置于卡盘台的上方且下表面固定有磨削用的磨石的磨削轮。
使卡盘台与磨削轮相对旋转，并使磨削轮下降而将磨石压紧于晶片的被加工面，从而能够磨削晶片使其变薄。另外，在使用切削刀片等切削该伴随变薄而刚性降低的晶片将其分割为多个器件芯片时，容易产生卷刃(缺损)和裂纹(割裂)等问题。
于是，近些年来如下的加工方法已得以实用化，将难以被晶片吸收的波长的激光光线会聚于晶片内部，在形成作为分割起点的改质层后磨削晶片(例如，参照专利文献1)。在该加工方法中，使用磨削时施加的外力使晶片变薄，并将其分割为多个器件芯片，因此无需切削刚性降低的晶片。
专利文献1国际公开第03/077295号
另外，如果在晶片内部会聚激光光线形成了改质层，则晶片会局部膨胀而弯曲。搬运晶片的搬运装置通常使用具有多个吸引口的平坦的保持部吸引保持晶片，因此在如上所述晶片弯曲时，气体会在吸引口附近泄漏而无法适当地吸引保持晶片。
如果将弯曲的晶片校正为平坦，则能够通过上述搬运装置适当地吸引保持晶片。然而，由于改质层使得晶片的刚性降低，因此若为了校正晶片而在吸引口施加局部的力，则晶片破损的概率较高。进而，在上述搬运装置中，每当所搬运的晶片直径发生变更时，都存在需要更换保持部等的大型作业的问题。
发明内容
本发明就是鉴于上述问题点而完成的，其目的在于，提供一种能够适当地吸引保持弯曲的晶片，并且能够易于应对直径不同的晶片的搬运装置。
本发明提供一种搬运装置，其将收纳于盒中的晶片从该盒中搬出，或将该晶片搬入到该盒中，其特征在于，具有：保持部，其吸引保持该晶片；以及驱动部，其使该保持部进行移动，该保持部具有：保持部主体；多个吸引口，它们在该保持部主体的正面开口且彼此远离；负压传递路，其与吸引源连接而对该吸引口传递负压；以及吸附盘，其配设于该吸引口且由弹性材料构成，该多个吸引口被设置为在该晶片的径向上远离，该吸附盘选择性地配设于期望的该吸引口。
本发明的搬运装置使用包括配设于吸引口且由弹性材料构成的吸附盘的保持部吸引保持晶片，因此吸附盘会按照晶片的形状挠曲，能够适当地吸引保持弯曲的晶片。
此外，多个吸引口被设定为在晶片的径向上远离，吸附盘选择性配设于期望的吸引口，因此仅通过变更配设吸附盘的吸引口，就能够易于应对直径不同的晶片。如上，本发明可提供一种适当地吸引保持弯曲的晶片，能够易于应对直径不同的晶片的搬运装置。
附图说明
图1是示意性表示组入有搬运装置的磨削装置的立体图。
图2是示意性表示搬运装置的图。
图3的(A)是示意性表示搬运装置的剖面图，图3的(B)是示意性表示吸引保持晶片的状态的搬运装置的剖面图。
标号说明
2：磨削装置，4：基台，4a：开口，6：搬运装置，8a、8b：盒，10：校准机构，12：暂放台，14：搬入机构，16：转台，18：卡盘台，20：支撑结构，22：Z轴移动机构，24：Z轴移动板，26：Z轴导轨，28：Z轴滚珠丝杠，30：Z轴脉冲电动机，32：磨削机构，34：主轴外壳，36：磨削轮，38：搬出机构，40：清洗机构，42：保持部，44：驱动部，46：保持部主体，46a：基部，46b：枝部，46c：正面，46d：背面，48a、48b：吸引口，50：负压传递路，52：吸引源，54：吸附盘，54a：贯通孔，56：密封部件，11：晶片，13：保护部件。
具体实施方式
参照附图，说明本发明的实施方式。首先，说明组入有本实施方式的搬运装置的磨削装置。图1是示意性表示组入有本实施方式的搬运装置的磨削装置的立体图。另外，本实施方式示出了将搬运装置组入磨削装置中的示例，然而搬运装置既可以单独使用，也可以组入切削装置等其他加工装置中。
如图1所示，磨削装置2具有支撑各结构的基台4。基台4的上表面前端侧形成有开口4a，在该开口4a内设有搬运圆盘状的晶片11(参照图2、图3的(B)等)的搬运装置6。此外，在比开口4a位于前方的区域放置有能够收纳多个晶片11的盒8a、8b。
在放置有盒8a的放置区域和开口4a的后方设有校准机构10。该校准机构10包括暂放晶片11的暂放台12，例如检测从盒8a中被搬运装置6搬运(搬出)，而放置于暂放台12上的晶片11的中心位置。
在与校准机构10相邻的位置配置有吸引保持晶片11并使其回旋的搬入机构14。该搬入机构14具有吸引晶片11的上表面侧整体的吸附盘，用于将通过校准机构10检测了中心位置的晶片11搬运到后方。
在搬入机构14的后方配置有能够绕沿铅直方向延伸的旋转轴旋转的转台16。转台16的上表面设有吸引保持晶片11的3个卡盘台18。另外，配置于转台16上的卡盘台18的数量不必限定为3个。
通过吸附盘吸引保持晶片11的搬运机构14以将晶片11的中心对准各卡盘台18的中心的方式，将晶片11搬入到各卡盘台18。各卡盘台18与电动机等的旋转机构(未图示)连结，并且绕沿铅直方向延伸的旋转轴进行旋转。
各卡盘台18的上表面成为吸引保持晶片11的保持面。该保持面通过形成于卡盘台18的内部的流路(未图示)而与吸引源(未图示)连接。被搬入卡盘台18的晶片11的下表面侧通过作用于保持面的吸引源的负压而被吸引。
在转台16的后方设有在上方延伸的2个支撑结构20。各支撑结构20的前表面隔着Z轴移动机构22设有Z轴移动板24。各Z轴移动机构22具有平行于Z轴方向的一对Z轴导轨26，Z轴移动板24以能够滑动的方式设置于Z轴导轨26。
在各Z轴移动板24的后表面侧(背面侧)设有螺母部(未图示)，该螺母部螺合着与Z轴导轨26平行的Z轴滚珠丝杠28。各Z轴滚珠丝杠28的一端部连结有Z轴脉冲电动机30。如果通过Z轴脉冲电动机30使Z轴滚珠丝杠28旋转，则Z轴移动板24沿着Z轴导轨26在Z轴方向上移动。
在各Z轴移动板24的前表面(正面)设有磨削机构32。各磨削机构32具有固定于Z轴移动板24的主轴外壳34。构成旋转轴的主轴(未图示)以能够旋转的方式支撑于各主轴外壳34。
在各主轴的下端部安装有磨削轮36。各磨削轮36包括由铝、不锈钢等的金属材料形成的圆筒状的轮基台、以及呈环状配置于轮基台的下表面的多个磨石。
在晶片11吸引保持于卡盘台18时，转台16进行旋转而将晶片11定位于磨削机构32的下方。此后，在使卡盘台18和磨削轮36彼此旋转的状态下使磨削机构32下降，并使磨削轮36的磨石接触晶片11的上表面，从而能够磨削晶片11。
在与搬入机构14相邻的位置设有用于吸引保持磨削后的晶片11并使其回旋的搬出机构38。在搬出机构38的前方且为开口4a的后方，配置有清洗被搬出机构38搬出的磨削后的晶片11的清洗机构40。被清洗机构40清洗的晶片11通过搬运装置6进行搬运(搬入)，收纳于盒8b中。
接着，说明上述搬运装置6的详细情况。图2是示意性表示搬运装置6的图，图3的(A)是示意性表示搬运装置6的剖面图。另外，图2中一并示出收纳有晶片11的状态下的盒8a的剖面。
如图2所示，搬运装置6具有吸引保持晶片的保持部42。保持部42的基端侧与驱动部44连结，保持部42通过该驱动部44，而在盒8a、8b、暂放台12和清洗机构40之间移动。此外，保持部42通过驱动部44，绕沿水平方向延伸的转动轴转动。
保持部42具有规定大小(例如，能够插入盒8a、8b内的大小)的保持部主体46。保持部主体46具有5个枝部46b在基端侧从与驱动部44连结的基部46a的前端呈放射状延伸的形状，其具有大致平坦的正面46c和背面46d。
各枝部46b形成为对应于晶片11的半径的长度(例如，略短于半径的长度)，基部46a形成为长于各枝部46b。其中，保持部主体的大小、形状等不限于此。例如，保持部主体可以形成为圆盘状。
如图3的(A)所示，彼此远离的多个吸引口48a、48b(本实施方式中为各6个吸引口48a、48b)在保持部主体46的正面46c开口。各吸引口48a、48b与形成于保持部主体46的内部的负压传递路50连接。
如图2所示，负压传递路50在基部46a侧与吸引源52连接，通过吸引源52而产生的负压通过负压传递路50被传递至各吸引口48a、48b。
在基部46a和各枝部46b分别配置有吸引口48a和吸引口48b。具体而言，基部46a的驱动部44侧和各枝部46b的前端侧分别配置有1个吸引口48a。此外，基部46a的前端侧和各枝部46b的基端侧分别配置有1个吸引口48b。
如上，在基部46a和各枝部46b的长度方向(晶片11的径向)上彼此远离的2个部位分别配置吸引口48a和吸引口48b，从而搬运装置6至少能够吸引保持直径不同的2种(2种以上)的晶片11并搬运。其中，吸引口的配置和数量不限于此。例如，可以在比吸引口48b靠保持部主体46的中央处的位置还配置多个吸引口。
如图2所示，在保持部42的3个吸引口48a安装有由橡胶等弹性材料构成的吸附盘54。其中，弹性材料指的是具备利用晶片11的自重而仿效晶片的正面形状发生弹性变形的程度的弹性率和弹性极限的材料。
该吸附盘54从保持部主体46的正面46c向上方突出，在其中央处形成有沿上下贯通的贯通孔54a。由此，从吸引源52传递的负压作用于与晶片11对接的吸附盘54的上表面。
在剩余的3个吸引口48a和6个吸引口48b安装有用于防止气体泄漏的密封部件56。另外，在本实施方式中，在不相邻的3个吸引口48a安装吸附盘54，在剩余的吸引口48a和吸引口48b安装密封部件56，然而吸附盘54和密封部件56的配置不限于此。
关于如上构成的搬运装置6的保持部42，例如图2所示，以使吸附盘54的上表面对接于晶片11的下表面侧的方式，通过驱动部44而插入到盒8a中。在吸附盘54的上表面对接于晶片11的下表面侧的状态下，如果使吸引源52的负压发生作用，则晶片11被保持部42吸引保持。
图3的(B)是示意性表示吸引保持晶片11的状态下的搬运装置6的剖面图。如图3的(B)所示，该晶片11以向下凸出的状态弯曲，其上表面侧贴附有保护部件13。
如上所述，吸附盘54由弹性材料构成，因此如果通过保持部42支撑晶片11，则吸附盘54会按照晶片11的形状而略微变形。由此，在晶片11与保持部42的间隙处不会出现气体的泄漏，能够适当地吸引保持晶片11并将其从盒8a中搬出。
在从盒8a中搬出晶片11后，例如使保持部42绕转动轴转动并使上下反转，然后将晶片11放置于暂放台12。通过校准机构10对准位置后的晶片11被搬入机构14搬入卡盘台18。
另外，搬入机构14以吸引晶片11的整个表面并将其校正为平坦的方式保持晶片11，因此局部的力导致晶片11破损的可能性较低。另一方面，如从盒8a中搬出晶片11的用途那样，在保持部的大小方面存在限制而无法吸引保持晶片11的整个表面的情况等时，本实施方式的搬运装置6尤为有效。
如上所述，本实施方式的搬运装置6通过配设于吸引口48a、48b且由弹性材料构成的吸附盘54的保持部42吸引保持晶片11，因此吸附盘54会根据晶片11的形状而挠曲，能够适当地吸引保持弯曲的晶片11。
此外，吸引口48a、48b被设置为在晶片11的径向上彼此远离，吸附盘54选择性地配设于期望的吸引口48a、48b，因此仅通过变更配设吸附盘54的吸引口48a、48b，就能够易于应对直径不同的晶片11。
另外，上述实施方式的结构、方法等可以在不脱离本发明目的的范围内适当变更。

Claims (1)

1.一种搬运装置，其将收纳于盒中的晶片从该盒中搬出，或将该晶片搬入到该盒中，
该搬运装置的特征在于，具有：
保持部，其吸引保持该晶片；以及
驱动部，其使该保持部进行移动，
该保持部具有：
保持部主体；
多个吸引口，它们在该保持部主体的正面开口且彼此远离；
负压传递路，其与吸引源连接而对该吸引口传递负压；以及
吸附盘，其配设于该吸引口且由弹性材料构成，
该多个吸引口被设置为在该晶片的径向上远离，
该吸附盘选择性地配设于期望的该吸引口处。
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