JP2020099185A - デバイス、装置及びシステム - Google Patents
デバイス、装置及びシステム Download PDFInfo
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- 239000004065 semiconductor Substances 0.000 claims abstract description 78
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 64
- 229910052742 iron Inorganic materials 0.000 claims abstract description 32
- 238000012546 transfer Methods 0.000 claims description 274
- 230000033001 locomotion Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 17
- 239000000758 substrate Substances 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 230000004044 response Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 30
- 230000000712 assembly Effects 0.000 description 25
- 238000000429 assembly Methods 0.000 description 25
- 238000012806 monitoring device Methods 0.000 description 18
- 230000007246 mechanism Effects 0.000 description 11
- 238000001816 cooling Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 229910000576 Laminated steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052796 boron Inorganic materials 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/006—Controlling linear motors
-
- 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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67144—Apparatus for mounting on conductive members, e.g. leadframes or conductors on insulating substrates
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Combustion & Propulsion (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Wire Bonding (AREA)
- Die Bonding (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Linear Motors (AREA)
Abstract
Description
Is=IsΦ+Isx・・・(2)
It=ItΦ+Itx・・・(3)
IsΦ=Asin(n(Φ−θ)−2π/3n)・・・(5)
ItΦ=−IrΦ−IsΦ=Asin(n(Φ−θ)+(2π/3n)・・・(6)
Irx=Bcos(n(Φ−θ))・・・(7)
Isx=Bcos(n(Φ−θ)−2π/3n)・・・(8)
Itx=−Irx−Isx=Bcos(n(Φ−θ)+(2π/3n)・・・(9)
Claims (14)
- 多相コイル配列を含み、複数のコイル又はコイルセットを備える固定子と、
その回転軸の軸方向に移動可能であり、少なくとも1つの永久磁石をそれぞれ含む複数の極を有する回転子と、
計算式によって、少なくとも前記複数のコイル又はコイルセットのコイル数又はコイルセット数と、前記回転子の回転角と、前記回転子の軸方向位置に応じたパラメータとに基づいて電流(Ir,Is,It)を決定するように動作する制御ユニットと、
を備える直線・回転運動のための単一電気モータを備えるデバイスであって、
各電流(Ir,Is,It)は、トルクを生成する電流成分(IrΦ,IsΦ,ItΦ)と、軸力を生成する電流成分(Irx,Isx,Itx)とを有し、決定した電流を開ループで前記個数のコイル又はコイルセットに供給し、前記電流の合計はゼロであり、さらに、前記固定子と前記回転子のうちの少なくとも1つがバックアイアンを含む、デバイス。 - 前記単一電気モータは、外部回転子トポロジと内部回転子トポロジのうちの1つを含む、請求項1に記載のデバイス。
- 前記回転角を検知し、それを前記制御ユニットに供給するよう構成された第1のセンサと、前記回転子の前記軸方向位置を検知し、それを前記制御ユニットに供給するよう構成された第2のセンサとを備えている、請求項1又は2に記載のデバイス。
- 前記回転子を支え、前記回転軸に沿った線形自由度と前記回転軸周りの回転自由度を除くすべての自由度を制約するよう構成された軸受システムを備えている、請求項1〜3のいずれか一項に記載のデバイス。
- 前記軸受システムは、アクティブ磁気軸受システムを含む、請求項4に記載のデバイス。
- 前記パラメータの変化は、前記軸方向位置に応じて反比例する、請求項1〜5のいずれか一項に記載のデバイス。
- 前記制御ユニットは、前記軸方向位置には依存しないさらなるパラメータにも基づいて前記電流を決定するよう構成されている、請求項1〜6のいずれか一項に記載のデバイス。
- 前記制御ユニットは、
第1のコイル又はコイルセットの電流を
Ir=IrΦ+Irx=Asin(n(Φ−θ))+Bcos(n(Φ−θ))として、
第2のコイル又はコイルセットの電流を
Is=IsΦ+Isx=Asin(n(Φ−θ)−(2π/3n))+Bcos(n(Φ−θ)−(2π/3n))として、そして
第3のコイル又はコイルセットの電流を
It=−Ir−Is=ItΦ+Itx=Asin(n(Φ−θ)+(2π/3n))+Bcos(n(Φ−θ)+(2π/3n))として
決定するよう構成され、ここで
Aは前記軸方向位置に応じたパラメータ、nは磁極対数、Φは前記回転角、θは0と2π/nとの間のアライメント角、Bは追加パラメータである、請求項1〜7のいずれか一項に記載のデバイス。 - 前記電気モータは、直流電気モータである、請求項1〜8のいずれか一項に記載のデバイス。
- 半導体デバイスをウエハから目標位置に移送する装置であって、
請求項1〜9のいずれか一項に記載のデバイスと、
回転移送アセンブリの回転軸を中心に回転して半導体デバイスをピックアップ位置から移送位置に移送し、その回転面に対して軸方向に移動可能な移送ヘッドを備えた回転移送アセンブリと、
を備え、
前記移送ヘッドの回転及び/又は軸方向の移動は、前記デバイスによって行われる、
装置。 - 前記回転移送アセンブリは、その前記移送ヘッドを前記ピックアップ位置まで回転させ、前記移送ヘッドを前記移送位置まで回転させるよう動作する、請求項10に記載の装置。
- 前記移送位置は前記目標位置を含み、
及び/又は、必要に応じて、
前記目標位置は、キャリア構造上への載置のために前記半導体デバイスが配置される位置を含み、
及び/又は、必要に応じて、
前記目標位置は、キャリアテープ上への載置のために半導体デバイスが配置される位置を含み、
又は、必要に応じて、
前記目標位置は、リードフレーム上への載置のために半導体デバイスが配置される位置を含む、請求項10又は11に記載の装置。 - 前記回転移送アセンブリは、前記移送位置での前記半導体デバイスの移送と同時に前記軸方向に移動可能である、請求項10〜12のいずれか一項に記載の装置。
- 基板のアライメントを行う装置であって、
請求項1〜9のいずれか一項に記載のデバイスと、
処理位置で前記基板の処理を行うため、基板を搬送方向に搬送するように動作する基板搬送装置と、
前記基板上のインデックス要素の位置を検出するように動作する基板位置検出器と、
前記インデックス要素の検出位置が、処理が発生する可能性のある上記処理位置の所望の位置と一致するかどうかを判断するように動作するミスアライメント検出器と、
を備え、
前記検出位置と前記所望の位置とのミスアライメントの判断に応じて、前記デバイスは、前記インデックス要素の位置が前記所望の位置と一致するよう、前記搬送方向及び/又は前記搬送方向に対して横方向に前記基板の位置を調整するように動作する、装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18212980.9 | 2018-12-17 | ||
EP18212980.9A EP3672040A1 (en) | 2018-12-17 | 2018-12-17 | Device for enabling a rotating and translating movement by means of a single motor; apparatus and system comprising such a device |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020099185A true JP2020099185A (ja) | 2020-06-25 |
JP7270535B2 JP7270535B2 (ja) | 2023-05-10 |
Family
ID=64744398
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019219711A Active JP7270535B2 (ja) | 2018-12-17 | 2019-12-04 | 単一電気モータで回転運動と並進運動を可能にするデバイス、及びそのデバイスに関連する装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10998804B2 (ja) |
EP (1) | EP3672040A1 (ja) |
JP (1) | JP7270535B2 (ja) |
KR (1) | KR20200075745A (ja) |
CN (1) | CN111327171A (ja) |
TW (1) | TW202025604A (ja) |
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-
2018
- 2018-12-17 EP EP18212980.9A patent/EP3672040A1/en active Pending
-
2019
- 2019-11-06 CN CN201911104945.7A patent/CN111327171A/zh active Pending
- 2019-12-04 JP JP2019219711A patent/JP7270535B2/ja active Active
- 2019-12-06 TW TW108144670A patent/TW202025604A/zh unknown
- 2019-12-06 KR KR1020190161869A patent/KR20200075745A/ko not_active Application Discontinuation
- 2019-12-16 US US16/715,477 patent/US10998804B2/en active Active
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JPH05316710A (ja) * | 1992-05-07 | 1993-11-26 | Toshiba Corp | 推進コイル及び推進コイルの取りつけ方法 |
JP2005020885A (ja) * | 2003-06-26 | 2005-01-20 | Meidensha Corp | ロータリ・リニア直流モータ |
JP2012522478A (ja) * | 2009-03-27 | 2012-09-20 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 直線運動と回転運動のためのモータ |
US20160336207A1 (en) * | 2015-05-12 | 2016-11-17 | Nxp B.V. | Method and system for transferring semiconductor devices from a wafer to a carrier structure |
JP2017038442A (ja) * | 2015-08-07 | 2017-02-16 | 株式会社デンソー | 交流回転電機の制御装置 |
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US10998804B2 (en) | 2021-05-04 |
US20200195111A1 (en) | 2020-06-18 |
JP7270535B2 (ja) | 2023-05-10 |
TW202025604A (zh) | 2020-07-01 |
EP3672040A1 (en) | 2020-06-24 |
CN111327171A (zh) | 2020-06-23 |
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