JP2021129076A - 搬送装置、処理システム及び搬送方法 - Google Patents
搬送装置、処理システム及び搬送方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 239000000758 substrate Substances 0.000 claims description 33
- 210000003205 muscle Anatomy 0.000 claims description 4
- 230000032258 transport Effects 0.000 description 37
- 238000010586 diagram Methods 0.000 description 11
- 230000008602 contraction Effects 0.000 description 7
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
- 229910001220 stainless steel Inorganic materials 0.000 description 4
- 239000010935 stainless steel Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
-
- 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
- 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
- H01L21/67748—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 horizontal transfer of a single workpiece
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
【解決手段】本開示の一態様による搬送装置は、ピックが取り付けられる搬送アームと、前記搬送アームの下部に設けられ、前記搬送アームの傾きを調整する傾き調整機構と、を有し、前記傾き調整機構は、前記搬送アームの下部に固定される上側部と、前記上側部の下方に該上側部と対向して配置される下側部と、前記上側部を前記下側部に対して回転可能に支持する支持部と、前記上側部と前記下側部との間の少なくとも2箇所に設けられるアクチュエータと、を含む。
【選択図】図3
Description
図1を参照し、実施形態の処理システムについて説明する。図1は、実施形態の処理システムの一例を示す図である。図1では、説明の便宜上、内部の構成要素が透過するように図示されている。
図2を参照し、実施形態の搬送装置の一例について説明する。図2は、搬送装置の一例を示す図である。図2(a)は搬送装置を側面から見たときの図であり、図2(b)は搬送装置を正面(図2(a)の矢印Aの方向)から見たときの図であり、図2(c)は図2(a)における一点鎖線2C−2Cにおいて切断したときの断面を示す図である。
20 プロセスチャンバ
90 制御装置
100 搬送装置
113 第3アーム
120 ピック
130 傾き調整機構
131 上側部
131h 貫通孔
132 下側部
132h 貫通孔
133 支持部
133x 回転軸
134 アクチュエータ
140 伸縮体
150 傾きセンサ
Claims (12)
- ピックが取り付けられる搬送アームと、
前記搬送アームの下部に設けられ、前記搬送アームの傾きを調整する傾き調整機構と、
を有し、
前記傾き調整機構は、
前記搬送アームの下部に固定される上側部と、
前記上側部の下方に該上側部と対向して配置される下側部と、
前記上側部を前記下側部に対して回転可能に支持する支持部と、
前記上側部と前記下側部との間の少なくとも2箇所に設けられるアクチュエータと、
を含む、
搬送装置。 - 前記上側部及び前記下側部には、貫通孔が設けられる、
請求項1に記載の搬送装置。 - 前記上側部及び前記下側部は、円環形状を有する、
請求項1又は2に記載の搬送装置。 - 前記支持部は、回転軸を含む、
請求項1乃至3のいずれか一項に記載の搬送装置。 - 前記支持部は、外力により撓む部材により形成される、
請求項1乃至3のいずれか一項に記載の搬送装置。 - 前記アクチュエータは、ピエゾアクチュエータ又は空気圧を利用した人工筋肉である、
請求項1乃至5のいずれか一項に記載の搬送装置。 - 前記傾き調整機構を覆うように該傾き調整機構の周囲に設けられる伸縮体を更に有する、
請求項1乃至6のいずれか一項に記載の搬送装置。 - 前記伸縮体は、ベローズである、
請求項7に記載の搬送装置。 - 真空中に設けられる、
請求項1乃至8のいずれか一項に記載の搬送装置。 - 前記搬送アームに取り付けられ、該搬送アームの傾きを計測する傾きセンサを更に有する、
請求項1乃至9のいずれか一項に記載の搬送装置。 - 内部に基板を収容して該基板に処理を行う処理室と、
前記処理室に収容する前記基板を搬送する搬送装置と、
を備え、
前記搬送装置は、
前記基板を保持するピックに取り付けられる搬送アームと、
前記搬送アームの下部に設けられ、前記搬送アームの傾きを調整する傾き調整機構と、
を有し、
前記傾き調整機構は、
前記搬送アームの下部に固定される上側部と、
前記上側部の下方に該上側部と対向して配置される下側部と、
前記上側部を前記下側部に対して回転可能に支持する支持部と、
前記上側部と前記下側部との間の少なくとも2箇所に設けられるアクチュエータと、
を含む、
処理システム。 - ピックに取り付けられる搬送アームと、
前記搬送アームの下部に設けられ、前記搬送アームの傾きを調整する傾き調整機構と、
を有し、
前記傾き調整機構は、前記搬送アームの下部に固定される上側部と、前記上側部の下方に該上側部と対向して配置される下側部と、前記上側部を前記下側部に対して回転可能に支持する支持部と、前記上側部と前記下側部との間の少なくとも2箇所に設けられるアクチュエータと、を含む搬送装置により基板を搬送する方法であって、
前記アクチュエータを伸縮させて前記搬送アームの傾きを調整するステップと、
前記傾きが調整された状態の前記搬送アームにより前記基板を搬送するステップと、
を有する、
搬送方法。
Priority Applications (3)
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JP2020024315A JP7412208B2 (ja) | 2020-02-17 | 2020-02-17 | 搬送装置、処理システム及び搬送方法 |
KR1020210016062A KR102451219B1 (ko) | 2020-02-17 | 2021-02-04 | 반송 장치, 처리 시스템 및 반송 방법 |
US17/174,755 US11434087B2 (en) | 2020-02-17 | 2021-02-12 | Transfer device, processing system, and transfer method |
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Cited By (1)
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KR20240034645A (ko) | 2022-09-07 | 2024-03-14 | 캐논 톡키 가부시키가이샤 | 반송 장치 및 성막 장치 |
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JP7253955B2 (ja) * | 2019-03-28 | 2023-04-07 | 東京エレクトロン株式会社 | 基板処理装置および基板処理方法 |
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JPS62148174A (ja) * | 1985-12-19 | 1987-07-02 | 日立金属株式会社 | ロボツト用微小角傾転装置 |
JPH09213768A (ja) * | 1996-02-02 | 1997-08-15 | Yaskawa Electric Corp | ウェハ搬送装置 |
JP2004505789A (ja) * | 2000-08-09 | 2004-02-26 | ジェンマーク・オートメーション・インコーポレーテッド | ロボット運動補償装置 |
JP2002289673A (ja) * | 2001-03-26 | 2002-10-04 | Disco Abrasive Syst Ltd | 搬出入装置 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20240034645A (ko) | 2022-09-07 | 2024-03-14 | 캐논 톡키 가부시키가이샤 | 반송 장치 및 성막 장치 |
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KR20210104567A (ko) | 2021-08-25 |
US11434087B2 (en) | 2022-09-06 |
KR102451219B1 (ko) | 2022-10-06 |
US20210253365A1 (en) | 2021-08-19 |
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