JP2013541843A - 高さが低い双アーム真空ロボット - Google Patents
高さが低い双アーム真空ロボット Download PDFInfo
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- JP2013541843A JP2013541843A JP2013529313A JP2013529313A JP2013541843A JP 2013541843 A JP2013541843 A JP 2013541843A JP 2013529313 A JP2013529313 A JP 2013529313A JP 2013529313 A JP2013529313 A JP 2013529313A JP 2013541843 A JP2013541843 A JP 2013541843A
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- 210000000245 forearm Anatomy 0.000 claims abstract description 172
- 238000012546 transfer Methods 0.000 claims abstract description 89
- 239000000758 substrate Substances 0.000 claims abstract description 55
- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 239000012636 effector Substances 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 11
- 230000009977 dual effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 10
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000015654 memory Effects 0.000 description 4
- 238000000231 atomic layer deposition Methods 0.000 description 2
- 238000005229 chemical vapour deposition Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000005240 physical vapour deposition Methods 0.000 description 2
- 238000000137 annealing Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- WYEMLYFITZORAB-UHFFFAOYSA-N boscalid Chemical compound C1=CC(Cl)=CC=C1C1=CC=CC=C1NC(=O)C1=CC=CN=C1Cl WYEMLYFITZORAB-UHFFFAOYSA-N 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000007872 degassing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
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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
- H01L21/67739—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
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
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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
- H01L21/683—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
-
- 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
- H01L21/67745—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 characterized by movements or sequence of movements of transfer devices
Abstract
Description
Claims (15)
- 双アーム基板移送ロボットであって、
前記移送ロボットを中心軸のまわりに回転させるための中央アクチュエータと、
第1の端部およびほぼ反対側の第2の端部を有する連結アームであって、前記第1の端部と前記第2の端部の間の前記連結アームの中央近辺で前記中央アクチュエータに結合される、連結アームと、
前記連結アームの前記第1の端部に回転可能なように結合された第1のフォアアームと、
前記連結アームの前記第2の端部に回転可能なように結合された第2のフォアアームと、
前記連結アームに対する前記第1のフォアアームの前記回転を制御するための第1のフォアアームアクチュエータと、
前記連結アームに対する前記第2のフォアアームの前記回転を制御するための第2のフォアアームアクチュエータと
を備え、前記第1のフォアアームアクチュエータおよび前記第2のフォアアームアクチュエータは、前記中央アクチュエータから横方向にずらされる双アーム基板移送ロボット。 - 前記第1のフォアアームの第1の端部に回転可能なように結合された第1のエンドエフェクタと、前記第2のフォアアームの第1の端部に回転可能なように結合された第2のエンドエフェクタとをさらに備え、各エンドエフェクタは、前記エンドエフェクタの上の基板を支持するように構成される請求項1に記載の基板移送ロボット。
- 前記第1のフォアアームおよび前記第2のフォアアームのそれぞれが、
前記エンドエフェクタに結合され、前記第1のフォアアームおよび前記第2のフォアアームのそれぞれの前記第1の端部に回転可能なように結合された第1のプーリと、
前記第1のフォアアームおよび前記第2のフォアアームの前記第1の端部と反対側の第2の端部に結合され、前記連結アームに固定的に結合された第2のプーリと、
前記第1のフォアアームアクチュエータまたは前記第2のフォアアームアクチュエータの作動が、前記第1のフォアアームまたは前記第2のフォアアームに対する前記第1のエンドエフェクタおよび前記第2のエンドエフェクタのそれぞれの回転を引き起こすように、前記第1のプーリを前記第2のプーリに結合するベルトと
をさらに備える請求項2に記載の基板移送ロボット。 - 前記第1のプーリと前記第2のプーリの間の中心間の距離が前記第1のプーリと前記中心軸の間の中心間の距離に等しく、前記第1のプーリおよび前記第2のプーリは、前記第1のプーリと前記第2のプーリのサイズの比がおよそ2:1である請求項3に記載の基板移送ロボット。
- 基板処理システムの移送チャンバ内に配置される請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記移送チャンバが、
前記基板移送ロボットを前記移送チャンバに結合するための底面であって、前記第1のフォアアームアクチュエータ、前記第2のフォアアームアクチュエータ、および前記中央アクチュエータが前記移送チャンバ内で回転することを可能にするための複数の凹部を備える、前記底面を備える請求項5に記載の基板移送ロボット。 - 前記基板移送ロボットの垂直移動を制御するための、前記中央アクチュエータに結合されたリフトをさらに備える請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記リフトが、
リフトアクチュエータと、
前記リフトアクチュエータを前記中央アクチュエータに結合する運び台と
を備え、前記リフトアクチュエータが、前記運び台の垂直移動を制御する請求項7に記載の基板移送ロボット。 - 前記中央アクチュエータ、前記第1のフォアアームアクチュエータ、および前記第2のフォアアームアクチュエータが、回転油圧ポンプ、電気モータ、油圧モータ、または空気圧モータである請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記第1のフォアアームを前記第1のフォアアームアクチュエータに回転可能なように結合して前記第1のフォアアームアクチュエータから前記フォアアームに回転エネルギーを伝達する第1のギアボックスと、
前記第2のフォアアームを前記第2のフォアアームアクチュエータに回転可能なように結合して前記第2のフォアアームアクチュエータから前記第2のフォアアームに回転エネルギーを伝達する第2のギアボックスと
をさらに備える請求項1ないし4のいずれか一項に記載の基板移送ロボット。 - 前記第1のフォアアームアクチュエータの回転軸、前記第2のフォアアームアクチュエータの回転軸、および前記中心軸が同一平面上にある請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記第1のフォアアームアクチュエータの回転軸および前記第2のフォアアームアクチュエータの回転軸が、互いに対して同一平面上にあり、前記中心軸に対してずれている請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記第1のフォアアームおよび前記第2のフォアアームのそれぞれが、前記連結アームの長さの2分の1に実質的に等しい長さを有する請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記第1のフォアアームおよび前記第2のフォアアームのそれぞれが、前記連結アームの長さの2分の1よりも長い長さを有する請求項1ないし4のいずれか一項に記載の基板移送ロボット。
- 前記第1のフォアアームアクチュエータおよび前記第2のフォアアームアクチュエータのそれぞれが、大部分、前記連結アームの下に配置される請求項1ないし4のいずれか一項に記載の基板移送ロボット。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US38314010P | 2010-09-15 | 2010-09-15 | |
US61/383,140 | 2010-09-15 | ||
US13/232,951 | 2011-09-14 | ||
US13/232,951 US20120063874A1 (en) | 2010-09-15 | 2011-09-14 | Low profile dual arm vacuum robot |
PCT/US2011/051699 WO2012037312A2 (en) | 2010-09-15 | 2011-09-15 | Low profile dual arm vacuum robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013541843A true JP2013541843A (ja) | 2013-11-14 |
JP2013541843A5 JP2013541843A5 (ja) | 2015-01-15 |
Family
ID=45806871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013529313A Pending JP2013541843A (ja) | 2010-09-15 | 2011-09-15 | 高さが低い双アーム真空ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US20120063874A1 (ja) |
JP (1) | JP2013541843A (ja) |
KR (1) | KR20130100153A (ja) |
CN (1) | CN103430296A (ja) |
TW (1) | TW201228784A (ja) |
WO (1) | WO2012037312A2 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
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US8784033B2 (en) | 2009-01-11 | 2014-07-22 | Applied Materials, Inc. | Robot systems, apparatus and methods for transporting substrates |
KR102153608B1 (ko) * | 2012-07-05 | 2020-09-08 | 어플라이드 머티어리얼스, 인코포레이티드 | 전자 디바이스 제조 시스템들에서 기판들을 운송하기 위한 붐 구동 장치, 멀티-아암 로봇 장치, 전자 디바이스 프로세싱 시스템들, 및 방법들 |
US20140220777A1 (en) * | 2013-02-05 | 2014-08-07 | International Business Machines Corporation | Processing system for combined metal deposition and reflow anneal for forming interconnect structures |
CN106015497B (zh) * | 2016-05-16 | 2017-11-14 | 太原理工大学 | 一种密闭空间定位操作机构 |
US11270904B2 (en) * | 2016-07-12 | 2022-03-08 | Brooks Automation Us, Llc | Substrate processing apparatus |
US10704142B2 (en) * | 2017-07-27 | 2020-07-07 | Applied Materials, Inc. | Quick disconnect resistance temperature detector assembly for rotating pedestal |
CN109994358B (zh) * | 2017-12-29 | 2021-04-27 | 中微半导体设备(上海)股份有限公司 | 一种等离子处理系统和等离子处理系统的运行方法 |
US11574826B2 (en) * | 2019-07-12 | 2023-02-07 | Applied Materials, Inc. | High-density substrate processing systems and methods |
JP2022540607A (ja) | 2019-07-12 | 2022-09-16 | アプライド マテリアルズ インコーポレイテッド | 同時基板移送用ロボット |
US11117265B2 (en) | 2019-07-12 | 2021-09-14 | Applied Materials, Inc. | Robot for simultaneous substrate transfer |
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2011
- 2011-09-14 US US13/232,951 patent/US20120063874A1/en not_active Abandoned
- 2011-09-15 CN CN2011800445226A patent/CN103430296A/zh active Pending
- 2011-09-15 KR KR1020137009365A patent/KR20130100153A/ko not_active Application Discontinuation
- 2011-09-15 JP JP2013529313A patent/JP2013541843A/ja active Pending
- 2011-09-15 TW TW100133251A patent/TW201228784A/zh unknown
- 2011-09-15 WO PCT/US2011/051699 patent/WO2012037312A2/en active Application Filing
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JPH10163296A (ja) * | 1996-11-27 | 1998-06-19 | Rootsue Kk | 基板搬送装置 |
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Also Published As
Publication number | Publication date |
---|---|
CN103430296A (zh) | 2013-12-04 |
TW201228784A (en) | 2012-07-16 |
US20120063874A1 (en) | 2012-03-15 |
KR20130100153A (ko) | 2013-09-09 |
WO2012037312A2 (en) | 2012-03-22 |
WO2012037312A3 (en) | 2012-06-21 |
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