JP2016514376A - ツールへかつツールから及び選別機内でトレイを移送するためのトレイエンジン及び方法 - Google Patents
ツールへかつツールから及び選別機内でトレイを移送するためのトレイエンジン及び方法 Download PDFInfo
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- 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
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- 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
Description
114 垂直駆動コラム
116 エンドエフェクタ
174 トレイを移送するためのシステム
P1 後退位置
Claims (23)
- 垂直駆動コラムと、
前記垂直駆動コラムを回転させるための回転機構と、
前記垂直駆動コラムに取り付けられ、
前記垂直駆動コラムに取り付けられたエンドエフェクタベース、
存在する時にトレイを支持し、かつ該トレイが前記エンドエフェクタベースの長さに沿って摺動することを可能にするように該エンドエフェクタベースに取り付けられたスライド、及び
前記エンドエフェクタベースの前記長さに沿って移動するために該エンドエフェクタベースに取り付けられ、存在する時に前記トレイが該長さに沿って直線的に摺動することを可能にし、かつ前記スライドへ又はそこから該トレイをロード又はアンロードする駆動機構、
を含むエンドエフェクタと、
を含むことを特徴とするトレイエンジン。 - 前記回転機構は、360度運動で前記垂直駆動コラムを回転させるモータを含むことを特徴とする請求項1に記載のトレイエンジン。
- 前記エンドエフェクタベースに取り付けられ、前記トレイが前記スライドに沿って摺動する時に該トレイを支持するための複数のスライド支持体を更に含むことを特徴とする請求項1に記載のトレイエンジン。
- 前記スライドは、前記トレイを支持するためのレールを含むことを特徴とする請求項1に記載のトレイエンジン。
- 前記駆動機構は、前記エンドエフェクタベースに摺動可能に取り付けられたコネクタブロックと、該コネクタブロックに対して固定されたスライダブロックと、該スライダブロックに対して固定された駆動板とを含むことを特徴とする請求項1に記載のトレイエンジン。
- 前記駆動板に取り付けられたグリップアセンブリを更に含むことを特徴とする請求項5に記載のトレイエンジン。
- 前記グリップアセンブリは、
前記駆動板に取り付けられたグリップ本体と、
前記グリップ本体に取り付けられ、該グリップ本体の長さに沿って移動するためのピストン機構と、
前記ピストン機構に取り付けられ、該ピストン機構が前記グリップ本体の前記長さに沿って移動する時にピボット回転するための捩りコネクタと、
前記捩りコネクタに取り付けられたアームと、
ピボット機構を通じて前記アームに取り付けられたクランプと、
ピボット機構を通じて前記クランプに取り付けられたグリップクランプであって、前記ピストン機構が、前記グリップ本体に対して前記捩りコネクタをピボット回転させるためのものであり、前記アームが、該捩りコネクタの該ピボット回転と共に延長及び後退するためのものであり、該クランプが、該アームの該延長及び後退と共に前方及び後方に移動するためのものであり、該グリップクランプが、該クランプの前方及び後方移動と共に上方及び下方に移動するためのものである前記グリップクランプと、
を含む、
ことを特徴とする請求項6に記載のトレイエンジン。 - 前記グリップアセンブリは、
グリップ口部と、
光源から光を受け入れ、かつ該光を案内して前記グリップ口部内にセンサビームを形成する光ファイバケーブルと、
を含む、
ことを特徴とする請求項6に記載のトレイエンジン。 - 前記グリップアセンブリは、
前記駆動板に取り付けられ、前記トレイの縁部を受け取って該トレイに係合するためのスロットを含むグリップ本体と、
前記グリップ本体に取り付けられ、該グリップ本体と係合する時に前記トレイをロックするために該グリップ本体の長さに沿って移動するためのピストン機構と、
を含む、
ことを特徴とする請求項6に記載のトレイエンジン。 - 前記グリップアセンブリは、垂直運動してトレイを把持するように構成された把持器を含むことを特徴とする請求項6に記載のトレイエンジン。
- 前記グリップアセンブリは、水平運動してトレイを把持するように構成された把持器を含むことを特徴とする請求項6に記載のトレイエンジン。
- 直線方向に摺動するように構成された前記駆動機構を駆動するためのエンドエフェクタ駆動モータを更に含むことを特徴とする請求項1に記載のトレイエンジン。
- トレイを移送するための選別機であって、
トレイをロードするか又はカセットからアンロードするためのロードポート側と、
トレイをロードするか又はインデクサーからアンロードするためのインデクサー側と、
存在する時にトレイを前記ロードポート側と前記インデクサー側の間で移送するためのトレイエンジンであって、該インデクサー側及び該ロードポート側が、該トレイエンジンの両側に位置付けられる前記トレイエンジンと、
を含み、
前記トレイエンジンは、
回転機構と、
前記回転機構に取り付けられた垂直駆動コラムと、
垂直駆動コラムに取り付けられたエンドエフェクタと、
を含み、
前記エンドエフェクタは、
エンドエフェクタベースと、
前記エンドエフェクタベースに取り付けられたスライドと、
前記エンドエフェクタベースに結合された直線駆動機構と、
前記直線駆動機構に取り付けられたグリップアセンブリであって、該直線駆動機構が、前記スライドに沿って水平に移動して該グリップアセンブリを水平方向に移動するためのものであり、該グリップアセンブリが、存在する時に1つ又はそれよりも多くのトレイを前記ロードポート側又は前記インデクサー側でロード又はアンロードするために該水平方向に移動する前記グリップアセンブリと、
を含む、
ことを特徴とする選別機。 - 前記回転機構は、前記垂直駆動コラム及び前記エンドエフェクタを回転させるように構成されることを特徴とする請求項13に記載の選別機。
- 前記垂直駆動コラムは、前記エンドエフェクタを垂直に上方及び下方に駆動するように構成されることを特徴とする請求項13に記載の選別機。
- 前記スライドの上又は底に位置付けられた第2のスライドを更に含むことを特徴とする請求項13に記載の選別機。
- 前記スライドは、2つのアームを含み、前記グリップアセンブリは、該スライドの該アーム間でトレイを摺動させてトレイをロード又はアンロードするために前記水平方向に移動することを特徴とする請求項13に記載の選別機。
- 前記回転機構は、シータモータを含み、前記直線駆動機構は、駆動板を含むことを特徴とする請求項13に記載の選別機。
- 前記ロードポート側は、選別機の壁及び選別機の棚を含み、
前記インデクサー側は、選別機の壁及び選別機の棚を含む、
ことを特徴とする請求項13に記載の選別機。 - 前記ロードポート側のドアと、
前記ドアに取り付けられて前記カセット内の前記トレイの有無を感知し、該ドアの移動により該有無を感知するためのものであるセンサと、
前記ドアに取り付けられて前記カセット内の前記トレイに関する情報の画像を取り込み、該ドアの前記移動により該画像を取り込むためのものであるカメラと、
を更に含むことを特徴とする請求項13に記載の選別機。 - 前記インデクサーは、該インデクサー内の前記トレイ又は選別機内の該トレイを識別する情報を読み取る読取器に取り付けられることを特徴とする請求項13に記載の選別機。
- トレイを移送するためのエンドエフェクタであって、
エンドエフェクタベースと、
前記エンドエフェクタベース内に位置付けられたスライドベースと、
前記スライドベースを通じて前記エンドエフェクタベースに対して摺動可能な直線駆動機構と、
存在する時にトレイを支持するために前記エンドエフェクタベースに取り付けられたスライドであって、前記直線駆動機構が、該スライド上で該トレイを移動するように構成される前記スライドと、
を含むことを特徴とするエンドエフェクタ。 - 前記スライドベースは、レールを含み、
前記直線駆動機構は、前記エンドエフェクタベースに摺動可能に取り付けられたスライダブロックと、該スライダブロックに取り付けられたコネクタブロックと、該コネクタブロックに取り付けられた駆動板とを含む、
ことを特徴とする請求項22に記載のエンドエフェクタ。
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WO2014159916A3 (en) | 2014-11-27 |
KR20150128955A (ko) | 2015-11-18 |
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KR102196965B1 (ko) | 2020-12-31 |
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CN107458796A (zh) | 2017-12-12 |
CN111056199B (zh) | 2022-04-05 |
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US20140262979A1 (en) | 2014-09-18 |
US10092929B2 (en) | 2018-10-09 |
CN105121309B (zh) | 2017-09-26 |
US11077466B2 (en) | 2021-08-03 |
CN107458796B (zh) | 2020-01-07 |
TW201505793A (zh) | 2015-02-16 |
US9545724B2 (en) | 2017-01-17 |
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