JP2015514019A5 - - Google Patents

Download PDF

Info

Publication number
JP2015514019A5
JP2015514019A5 JP2015505785A JP2015505785A JP2015514019A5 JP 2015514019 A5 JP2015514019 A5 JP 2015514019A5 JP 2015505785 A JP2015505785 A JP 2015505785A JP 2015505785 A JP2015505785 A JP 2015505785A JP 2015514019 A5 JP2015514019 A5 JP 2015514019A5
Authority
JP
Japan
Prior art keywords
forearm
rotation
upper arm
substrate
chamber
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.)
Pending
Application number
JP2015505785A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015514019A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2013/034902 external-priority patent/WO2013154863A1/en
Publication of JP2015514019A publication Critical patent/JP2015514019A/ja
Publication of JP2015514019A5 publication Critical patent/JP2015514019A5/ja
Pending legal-status Critical Current

Links

JP2015505785A 2012-04-12 2013-04-02 独立して回転可能なウェストを有するロボットシステム、装置、および方法 Pending JP2015514019A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261623128P 2012-04-12 2012-04-12
US61/623,128 2012-04-12
PCT/US2013/034902 WO2013154863A1 (en) 2012-04-12 2013-04-02 Robot systems, apparatus, and methods having independently rotatable waists

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018186381A Division JP2019036738A (ja) 2012-04-12 2018-10-01 独立して回転可能なウェストを有するロボットシステム、装置、および方法

Publications (2)

Publication Number Publication Date
JP2015514019A JP2015514019A (ja) 2015-05-18
JP2015514019A5 true JP2015514019A5 (https=) 2016-06-09

Family

ID=49325246

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2015505785A Pending JP2015514019A (ja) 2012-04-12 2013-04-02 独立して回転可能なウェストを有するロボットシステム、装置、および方法
JP2018186381A Pending JP2019036738A (ja) 2012-04-12 2018-10-01 独立して回転可能なウェストを有するロボットシステム、装置、および方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2018186381A Pending JP2019036738A (ja) 2012-04-12 2018-10-01 独立して回転可能なウェストを有するロボットシステム、装置、および方法

Country Status (6)

Country Link
US (1) US9117865B2 (https=)
JP (2) JP2015514019A (https=)
KR (1) KR20150003803A (https=)
CN (1) CN104380452B (https=)
TW (1) TWI593528B (https=)
WO (1) WO2013154863A1 (https=)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5065167B2 (ja) * 2007-09-20 2012-10-31 東京エレクトロン株式会社 基板の処理方法及び基板の処理システム
CN102326244B (zh) 2009-01-11 2014-12-17 应用材料公司 用于在电子器件制造中传输基板的机械手系统、装置及方法
CN104428884B (zh) * 2012-07-05 2017-10-24 应用材料公司 吊杆驱动装置、多臂机械手装置、电子器件处理系统及用于在电子器件制造系统中传送基板的方法
US9190306B2 (en) * 2012-11-30 2015-11-17 Lam Research Corporation Dual arm vacuum robot
US10224232B2 (en) 2013-01-18 2019-03-05 Persimmon Technologies Corporation Robot having two arms with unequal link lengths
US9281222B2 (en) * 2013-03-15 2016-03-08 Applied Materials, Inc. Wafer handling systems and methods
US9330951B2 (en) 2013-06-05 2016-05-03 Persimmon Technologies, Corp. Robot and adaptive placement system and method
US9346160B2 (en) * 2013-06-24 2016-05-24 Redwood Robotics, Inc. Modular reconfigurable workcell for quick connection of peripherals
US10328580B2 (en) * 2013-08-09 2019-06-25 Persimmon Technologies Corporation Reduced footprint substrate transport vacuum platform
KR20210127823A (ko) * 2013-11-04 2021-10-22 어플라이드 머티어리얼스, 인코포레이티드 증가된 개수의 측들을 갖는 이송 챔버들, 반도체 디바이스 제조 프로세싱 툴들, 및 프로세싱 방법들
US11587813B2 (en) 2013-12-17 2023-02-21 Brooks Automation Us, Llc Substrate transport apparatus
US10134621B2 (en) * 2013-12-17 2018-11-20 Brooks Automation, Inc. Substrate transport apparatus
KR102323370B1 (ko) * 2014-01-05 2021-11-05 어플라이드 머티어리얼스, 인코포레이티드 전자 디바이스 제조에서 기판들을 운송하기 위한 로봇 장치, 구동 조립체들, 및 방법들
KR101866625B1 (ko) * 2014-09-03 2018-06-11 가부시키가이샤 알박 반송 장치 및 진공 장치
US9799544B2 (en) 2015-10-23 2017-10-24 Applied Materials, Inc. Robot assemblies, substrate processing apparatus, and methods for transporting substrates in electronic device manufacturing
TWI707754B (zh) 2016-06-28 2020-10-21 美商應用材料股份有限公司 包括間隔上臂與交錯腕部的雙機器人以及包括該者之方法
US10453725B2 (en) 2017-09-19 2019-10-22 Applied Materials, Inc. Dual-blade robot including vertically offset horizontally overlapping frog-leg linkages and systems and methods including same
US10943805B2 (en) 2018-05-18 2021-03-09 Applied Materials, Inc. Multi-blade robot apparatus, electronic device manufacturing apparatus, and methods adapted to transport multiple substrates in electronic device manufacturing
JP7243295B2 (ja) 2018-09-19 2023-03-22 セイコーエプソン株式会社 プリントヘッド制御回路、プリントヘッド及び液体吐出装置
CN112219269B (zh) * 2018-11-19 2024-08-20 玛特森技术公司 用于加工工件的系统和方法
US11883958B2 (en) * 2019-06-07 2024-01-30 Applied Materials, Inc. Robot apparatus including dual end effectors with variable pitch and methods
US11850742B2 (en) 2019-06-07 2023-12-26 Applied Materials, Inc. Dual robot including splayed end effectors and systems and methods including same
US11049740B1 (en) 2019-12-05 2021-06-29 Applied Materials, Inc. Reconfigurable mainframe with replaceable interface plate
US20210407837A1 (en) * 2020-06-30 2021-12-30 Applied Materials, Inc. Robot apparatus and systems, and methods for transporting substrates in electronic device manufacturing
CN114695216B (zh) * 2020-12-31 2025-10-28 拓荆科技股份有限公司 传送晶圆的方法和机械手臂
US11358809B1 (en) * 2021-03-01 2022-06-14 Applied Materials, Inc. Vacuum robot apparatus for variable pitch access
US11856898B2 (en) * 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
CN113921455B (zh) * 2021-09-29 2025-06-24 北京北方华创微电子装备有限公司 半导体工艺设备及其晶圆支撑结构
KR20250103716A (ko) * 2022-12-28 2025-07-07 가와사끼 쥬고교 가부시끼 가이샤 기판 반송 로봇 시스템
WO2025091105A1 (en) 2023-10-30 2025-05-08 4Ag Robotics Inc. Machine-learning virtualization-enabled harvesting
WO2025166444A1 (en) 2024-02-08 2025-08-14 4Ag Robotics Inc. Machine-learning-enabled tool changer for mushroom crop management system
US12377567B1 (en) 2024-11-22 2025-08-05 4Ag Robotics Inc. Mushroom trimming and sorting system

Family Cites Families (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5447409A (en) 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
JPH03154791A (ja) 1989-11-14 1991-07-02 Sumitomo Eaton Noba Kk ロボット用多関節アーム
JP2808826B2 (ja) * 1990-05-25 1998-10-08 松下電器産業株式会社 基板の移し換え装置
JPH05109866A (ja) * 1991-10-16 1993-04-30 Nec Corp ウエハ移載ロボツト
US5765444A (en) * 1995-07-10 1998-06-16 Kensington Laboratories, Inc. Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities
US5789878A (en) 1996-07-15 1998-08-04 Applied Materials, Inc. Dual plane robot
US5838121A (en) 1996-11-18 1998-11-17 Applied Materials, Inc. Dual blade robot
JPH11188671A (ja) 1997-12-26 1999-07-13 Daihen Corp 2アーム方式の搬送用ロボット装置
US6155768A (en) * 1998-01-30 2000-12-05 Kensington Laboratories, Inc. Multiple link robot arm system implemented with offset end effectors to provide extended reach and enhanced throughput
US6267549B1 (en) 1998-06-02 2001-07-31 Applied Materials, Inc. Dual independent robot blades with minimal offset
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
US6485250B2 (en) * 1998-12-30 2002-11-26 Brooks Automation Inc. Substrate transport apparatus with multiple arms on a common axis of rotation
JP2000306978A (ja) * 1999-02-15 2000-11-02 Kokusai Electric Co Ltd 基板処理装置、基板搬送装置、および基板処理方法
JP4558981B2 (ja) * 2000-11-14 2010-10-06 株式会社ダイヘン トランスファロボット
JP2002166376A (ja) 2000-11-30 2002-06-11 Hirata Corp 基板搬送用ロボット
US6499936B2 (en) * 2001-02-17 2002-12-31 Yokogawa Electric Corporation Transfer system
AU2002327249A1 (en) * 2001-07-13 2003-01-29 Brooks Automation, Inc. Substrate transport apparatus with multiple independent end effectors
US7891935B2 (en) * 2002-05-09 2011-02-22 Brooks Automation, Inc. Dual arm robot
US7578649B2 (en) * 2002-05-29 2009-08-25 Brooks Automation, Inc. Dual arm substrate transport apparatus
JP4294984B2 (ja) * 2003-03-19 2009-07-15 東京エレクトロン株式会社 基板搬送装置及び基板処理装置
JP4816790B2 (ja) * 2003-06-02 2011-11-16 東京エレクトロン株式会社 基板処理装置及び基板搬送方法
KR100582697B1 (ko) * 2003-07-16 2006-05-23 동경 엘렉트론 주식회사 피처리 기판의 반송 장치 및 회전 위치를 검출하는 기능을갖는 구동 기구
US20050223837A1 (en) * 2003-11-10 2005-10-13 Blueshift Technologies, Inc. Methods and systems for driving robotic components of a semiconductor handling system
JP4262064B2 (ja) * 2003-11-28 2009-05-13 株式会社ダイヘン 搬送ロボット
KR100527669B1 (ko) * 2003-12-19 2005-11-25 삼성전자주식회사 로봇 암 장치
US8376685B2 (en) * 2004-06-09 2013-02-19 Brooks Automation, Inc. Dual scara arm
CN1942288B (zh) 2005-02-12 2010-12-22 应用材料公司 一种多轴真空电机组件
DE102005034729B3 (de) 2005-07-21 2007-02-08 Eads Deutschland Gmbh Verfahren und Lidar-System zur Messung von Luftturbulenzen an Bord von Luftfahrzeugen sowie für Flughäfen und Windfarmen
TWI342597B (en) 2005-11-21 2011-05-21 Applied Materials Inc Methods and apparatus for transferring substrates during electronic device manufacturing
CN101535010B (zh) 2006-08-11 2013-02-27 应用材料公司 用于机械手肘关节组件的方法和装置
US20080175694A1 (en) * 2007-01-19 2008-07-24 Dong-Seok Park Unit and method for transferring substrates and apparatus and method for treating substrates with the unit
US7946800B2 (en) * 2007-04-06 2011-05-24 Brooks Automation, Inc. Substrate transport apparatus with multiple independently movable articulated arms
WO2008150484A1 (en) * 2007-05-31 2008-12-11 Applied Materials, Inc. Methods and apparatus for extending the reach of a dual scara robot linkage
US7933009B2 (en) 2007-07-27 2011-04-26 Applied Materials, Inc. Method and apparatus for verifying proper substrate positioning
JP5102564B2 (ja) * 2007-08-31 2012-12-19 日本電産サンキョー株式会社 産業用ロボット
CN102341901B (zh) 2009-01-11 2013-11-06 应用材料公司 用于移动基板的系统、设备与方法
CN102326244B (zh) * 2009-01-11 2014-12-17 应用材料公司 用于在电子器件制造中传输基板的机械手系统、装置及方法
US8777547B2 (en) 2009-01-11 2014-07-15 Applied Materials, Inc. Systems, apparatus and methods for transporting substrates
US8264187B2 (en) 2009-01-11 2012-09-11 Applied Materials, Inc. Systems, apparatus and methods for making an electrical connection
JP5480562B2 (ja) * 2009-08-26 2014-04-23 日本電産サンキョー株式会社 産業用ロボット
JP2011119556A (ja) * 2009-12-07 2011-06-16 Yaskawa Electric Corp 水平多関節ロボットおよびそれを備えた搬送装置
JP2011199121A (ja) * 2010-03-23 2011-10-06 Ulvac Japan Ltd 搬送装置
JP5755842B2 (ja) * 2010-04-22 2015-07-29 株式会社ダイヘン ワーク搬送システム
US9076829B2 (en) * 2011-08-08 2015-07-07 Applied Materials, Inc. Robot systems, apparatus, and methods adapted to transport substrates in electronic device manufacturing
US9076830B2 (en) * 2011-11-03 2015-07-07 Applied Materials, Inc. Robot systems and apparatus adapted to transport dual substrates in electronic device manufacturing with wrist drive motors mounted to upper arm
JP5472283B2 (ja) * 2011-12-21 2014-04-16 株式会社安川電機 ロボットのアーム構造およびロボット
JP2013143513A (ja) * 2012-01-12 2013-07-22 Hitachi High-Technologies Corp 真空処理装置
US8961099B2 (en) * 2012-01-13 2015-02-24 Novellus Systems, Inc. Dual arm vacuum robot with common drive pulley
JP5810929B2 (ja) * 2012-01-13 2015-11-11 シンフォニアテクノロジー株式会社 ウェーハ搬送装置
WO2013162774A1 (en) * 2012-04-27 2013-10-31 Applied Materials, Inc. Method and apparatus for independent wafer handling
JP2014120520A (ja) * 2012-12-13 2014-06-30 Tokyo Electron Ltd 基板処理装置、基板処理方法及び記憶媒体

Similar Documents

Publication Publication Date Title
JP2015514019A5 (https=)
US12263587B2 (en) Dual arm robot
TWI513968B (zh) 具有多重連接裝置機器人之系統,及校正多重連接裝置機器人中位置及旋轉對準的方法
JP6285926B2 (ja) ブーム駆動装置、マルチアームロボット装置、電子デバイス処理システム、および電子デバイス製造システムにおいて基板を搬送するための方法
JP6336467B2 (ja) 不等長の前腕部を備えた多軸ロボット装置、電子デバイス製造システム、及び、電子デバイス製造において基板を搬送するための方法
CN104733355B (zh) 带有集成对准器的机器人
US9117865B2 (en) Robot systems, apparatus, and methods having independently rotatable waists
JP6571629B2 (ja) 基板処理ツール
US20080298945A1 (en) Methods and apparatus for extending the reach of a dual scara robot linkage
US9561586B2 (en) Articulated robot, and conveying device
CN101101888A (zh) 衬底传送装置以及使用该装置的衬底加工系统
US11850742B2 (en) Dual robot including splayed end effectors and systems and methods including same
US11883958B2 (en) Robot apparatus including dual end effectors with variable pitch and methods
US20200384636A1 (en) Dual pitch end effector robot apparatus, dual pitch load locks, systems, and methods
US11538705B2 (en) Plasma processing system and operating method of the same
CN101652228B (zh) 搬送装置
KR100976193B1 (ko) 기판 이송 장치
JP4550164B2 (ja) 搬送装置及び真空処理装置
JP2002280436A (ja) 基板処理装置