CN1851892A

CN1851892A - Vacuum mechanical-arm

Info

Publication number: CN1851892A
Application number: CN 200510126404
Authority: CN
Inventors: 董博宇
Original assignee: BEIJING YUANHE ELECTRONIC TECHNOLOGY Co Ltd
Current assignee: Beijing North Microelectronics Co Ltd
Priority date: 2005-12-08
Filing date: 2005-12-08
Publication date: 2006-10-25
Anticipated expiration: 2025-12-08
Also published as: CN100388457C

Abstract

This invention relates to a vacuum manipulator of a vacuum transmission section in the transmission system of a semiconductor etching device including two telescopic arms connected by a fixed hinge joint and each includes a fixed arm, a second arm, a third arm, a fourth arm and a fifth arm connected orderly by a hinged structure, a terminal effector for holding wafers is set at the free end of the fifth arm, the center of which is on the same line with the central shaft of the fourth arm and vertical to the center of the fixed arm and the technical cavity.

Description

Vacuum mechanical-arm

Technical field

The present invention relates to plasma etching apparatus, particularly a kind of quartz cover structure has improved plasma etching apparatus.

Background technology

In the transmission system of etching apparatus, the path of wafer is to be sent on the positioning devices by the atmosphere manipulator, through behind the location of this device, is transported in the processing chamber of etching through vacuum mechanical-arm and carries out technological operation.Generally, in order to save space and easy to maintenance, the profile of vacuum transmission chamber all is radial polygonized structure, and vacuum mechanical-arm is single armed or arm structure.

Vacuum mechanical-arm is when carrying wafer, normally vacuum mechanical-arm at first reduces several millimeters (distance of general vertical motion is all in 35mm) on the numerical value direction, the end effector of manipulator front end is extend into the bottom of the parts of setting element supporting wafers, vertically go up then and promote vacuum mechanical-arm, vacuum mechanical-arm has just grasped a wafer from setting element like this, then according to arts demand, control by software, vacuum machine wafer on hand is placed in the needed processing chamber, and its action step is similar to the above.

In transmission system, the factor that influences output capacity has a lot, the vacuum machine hand portion bottleneck of whole system output capacity often wherein, thereby the output capacity that how to improve the vacuum mechanical-arm of vacuum hop seems particularly important, it has influence on the output capacity of whole etching technics.

Fig. 6 is the transmission chamber 8 of great majority employing in the present 300mm semiconductor etching device transmission system and the profile of vacuum mechanical-arm 7.Vacuum mechanical-arm takes out wafer from front end wafer orientation mechanism, its arm is carrying the wafer withdrawal, according to arts demand, vacuum mechanical-arm after the withdrawal is carrying the outstanding at a high speed relative position of processing chamber that forwards to of slice, thin piece, the arm that is carrying wafer is elongated in the processing chamber, regulates the distance on the vertical direction then, wafer is placed on the electrostatic chuck, withdrawal manipulator arm reaches new wafer again.

The characteristics of this structure are that vacuum transmission chamber floor space is little, convenient for maintaining, vacuum mechanical-arm all are to have got a wafer to place a wafer then at every turn, carry out the technology etching again after, also be to have got a wafer to be placed in the load locking device at every turn, and then get the wafer after a slice PROCESS FOR TREATMENT.So, under the situation of process time,, reduced the output capacity of whole technology owing to the carrying number of times and the sheet number of vacuum mechanical-arm than weak point.

Therefore the bottleneck of the output capacity of present most etching apparatus is all in the transmittability part of vacuum mechanical-arm.

Summary of the invention

(1) technical problem that will solve

The objective of the invention is to provides a kind of vacuum mechanical-arm of high efficiency at above-mentioned the deficiencies in the prior art.

(2) technical scheme

For achieving the above object, the present invention adopts following technical scheme:

Vacuum mechanical-arm of the present invention, comprise by hinge arrangement and be fixed on fixed arm on the motor drive shaft, two ends at fixed arm are provided with second arm, the 3rd arm and the 4th arm symmetrically in single file, connect by hinge arrangement between each arm, free end at the 4th arm is provided with the end effector that wafer is carried in holder, the central shaft of the center of described end effector and the 4th arm is located along the same line, and perpendicular to the center of fixed arm and processing chamber.

Described end effector is fixed on the 4th arm by being threaded.

Described fixed arm is a straight-arm, perhaps the two ends bending shape that makes progress.

Described drive motors is fixed on the bottom surface of transmission chamber.

Described transmission chamber is a square structure.

(3) beneficial effect

Vacuum mechanical-arm of the present invention is compared with present normally used vacuum mechanical-arm, motion path has obtained optimization, thereby saved the transmission time, under the situation of process time than weak point, improve the efficiency of transmission of manipulator and the output capacity of system, adopted foursquare transmission chamber to reduce floor space simultaneously; In addition, this technical scheme can realize the compatibility of 200mm wafer and 300mm wafer process simultaneously.

Description of drawings

Fig. 1 is the structural representation of vacuum mechanical-arm of the present invention;

Fig. 2 is the state diagram of vacuum mechanical-arm shown in Figure 1 when withdrawing fully;

Fig. 3 is the state diagram that vacuum mechanical-arm shown in Figure 1 extends fully;

Fig. 4 is the shape figure of another embodiment of vacuum mechanical-arm fixed arm shape shown in Figure 1;

Fig. 5 is vacuum mechanical-arm of the present invention and vacuum transmission chamber location diagram;

Fig. 6 is existing 300mm vacuum transmission cavity and vacuum mechanical-arm work schematic diagram.

Among the figure: 1. fixed arm; 2. second arm; 3. the 3rd arm; 4. the 4th arm; 5. end effector; 6. wafer; 7. manipulator; 8. transmission chamber; 9. processing chamber.

Below in conjunction with accompanying drawing, further describe the embodiment of FlexbleJoint of the present invention, but be not used for limiting protection scope of the present invention.

Embodiment

Referring to Fig. 1, vacuum mechanical-arm of the present invention comprises fixed arm 1 (this arm can be described as first arm again), this fixed arm is fixed on the driving shaft of motor by hinge arrangement, and be positioned at the center of vacuum transmission chamber, two ends at fixed arm 1 are provided with second arm 2 symmetrically in single file, the 3rd arm 3 and the 4th arm 4, connect by hinge arrangement between each arm, free end at the 4th arm 4 is provided with the end effector 5 that wafer is carried in holder, this end effector is fixed on by being threaded on the 4th arm 4, thereby can be according to arts demand, by changing the end effector of threaded connection place, realize the compatibility of 200mm wafer and 300mm wafer 6; By software control, moved on perpendicular to the chamber center and the motor drive shaft line of centres in the center of end effector 5, therefore, no matter which kind of position manipulator is in, the central shaft of the center of end effector, the 4th arm 4 all is located along the same line, and perpendicular to the center of fixed arm 1 and processing chamber 9.

Carrying out manipulator when processing chamber is outwards got the operation of wafer, telescopic arm with Fig. 1 left side is an example, at first adjust the height on the direction (Z to) of vacuum mechanical-arm vertical up-or-down movement, the thimble of wafer 6 from electrostatic chuck held up, fixed arm 1 holding position is constant then, second arm 2 rotates around hinge axis b clockwise direction fixed arm 1 direction simultaneously, the 3rd arm 3 rotates around hinge axis c clockwise direction second arm 2 directions, the end effector holder carries wafer and the 4th arm 4 and hinge axis d and retracts to axle b place along center line and get wafer operation, when wafer is taken out fully, when manipulator is in the state of withdrawal fully, as shown in Figure 2, second arm 2, the 3rd arm 3 overlaps with fixed arm 1, and hinge axis d overlaps with hinge axis b.The arm that is loaded with wafer of the right and left of vacuum mechanical-arm is according to process requirements then, rotates to next position around hinge axis a with 90 degree or 180 degree, 270 degree.

The power of each arm motion is to realize that by the drive motor of vacuum mechanical-arm this motor is fixed on the bottom surface of transmission chamber 8; Height on the direction of described vacuum mechanical-arm vertical up-or-down movement (Z to) is realized by the software control motor; The 3rd arm 3 around hinge axis c clockwise by software to the motor order, the running by motor realizes then.

Described transmission chamber 8 is a square structure, can reduce floor space.

From the complete retracted mode of manipulator in processing chamber 9 or load dead lock 10 and load dead lock 11 (numbering with Arabic numerals in the drawings) carrying wafer, second arm 2 and the slowly diastole forward of the 3rd arm 3, the end effector holder carries wafer and the 4th arm 4 and hinge axis d and places the wafer operation along center line to processing chamber or load dead lock 10 and load dead lock 11, when the center (the perhaps center of wafer) of end effector arrives the pallet center of the center of processing chamber electrostatic chuck or load dead lock 10 and load dead lock 11, the center of end effector then, the 4th arm 4, hinge axis d, the 3rd arm 3, hinge axis c, second arm 2, hinge axis b is positioned on the center line, this moment, manipulator was in the longest elongation state, as shown in Figure 3.Reduce then manipulator Z to height, the wafer on the end effector is placed on the thimble of processing chamber fully, or on the pallet of load dead lock 10 load dead locks 11, and then will hangs down several millimeters distances a little, extract manipulator fast out.According to arts demand, make the vacuum mechanical-arm that wafer is carried in present no holder rotate to next technology position.

The present invention has improved the efficiency of transmission under the vacuum environment by the version of design transmission chamber 9 with vacuum mechanical-arm 8, under the situation of process time than weak point, has improved the output capacity of system.As shown in Figure 5, two end effector of vacuum mechanical-arm enter into load dead lock 10 and load dead lock 11 simultaneously, by adjust vacuum mechanical-arm Z to, realize that two end effector get sheet simultaneously, vacuum mechanical-arm arm withdrawal then, so, carry two wafer simultaneously on two end effector and carry out high speed rotating, revolve and turn 90 degrees or 180 degree, after 270 degree, arrive the position of processing chamber 1 and processing chamber 2, two arms with vacuum mechanical-arm extend into respectively in processing chamber 1 and the processing chamber 2 simultaneously then, by adjust vacuum mechanical-arm Z to height (general range is below 35mm), respectively two wafer are placed on simultaneously on the thimble of electrostatic chuck of processing chamber 9, manipulator arm withdrawal is then carried out next one and is circulated.

In addition, the vacuum mechanical-arm among the present invention is because the right and left is got sheet and film releasing synchronously, and the anglec of rotation is the multiples of 90 degree, thereby this vacuum mechanical-arm is more suitable for foursquare vacuum transmission chamber 8.

Described fixed arm 1 can be a straight-arm, also can make the two ends bending shape that makes progress, as shown in Figure 4, the function of bending shape is the same with said structure, but because this structure is an oblique structure, thereby under the situation of identical elongated distance, can shorten the length of mechanical second arm 2 or the length of the 3rd arm 3.

More than be preferred forms of the present invention, according to content disclosed by the invention, some identical, replacement schemes that those of ordinary skill in the art can expect apparently all should fall into the scope of protection of the invention.

Claims

1. vacuum mechanical-arm, it is characterized in that comprising by hinge arrangement and be fixed on fixed arm (1) on the motor drive shaft, be provided with second arm (2), the 3rd arm (3) and the 4th arm (4) symmetrically in single file at the two ends of fixed arm (1), connect by hinge arrangement between each arm, free end at the 4th arm (4) is provided with the end effector (5) that wafer is carried in holder, the central shaft of the center of described end effector and the 4th arm (4) is located along the same line, and perpendicular to the center of fixed arm (1) and processing chamber (9).

2. vacuum mechanical-arm according to claim 1 is characterized in that described end effector is fixed on by being threaded on the 4th arm (4).

3. vacuum mechanical-arm according to claim 1 and 2 is characterized in that described fixed arm (1) is a straight-arm, perhaps the two ends bending shape that makes progress.

4. vacuum mechanical-arm according to claim 1 and 2 is characterized in that described drive motors is fixed on the bottom surface of transmission chamber.

5. vacuum mechanical-arm according to claim 4 is characterized in that described transmission chamber is a square structure.