JP2023540957A - マニピュレーター - Google Patents
マニピュレーター Download PDFInfo
- Publication number
- JP2023540957A JP2023540957A JP2023514745A JP2023514745A JP2023540957A JP 2023540957 A JP2023540957 A JP 2023540957A JP 2023514745 A JP2023514745 A JP 2023514745A JP 2023514745 A JP2023514745 A JP 2023514745A JP 2023540957 A JP2023540957 A JP 2023540957A
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- JP
- Japan
- Prior art keywords
- wafer
- support
- manipulator
- finger structure
- flexible member
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 22
- 238000010586 diagram Methods 0.000 abstract 1
- 235000012431 wafers Nutrition 0.000 description 120
- 230000008569 process Effects 0.000 description 19
- 238000012545 processing Methods 0.000 description 8
- 229910052751 metal Inorganic materials 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 239000004065 semiconductor Substances 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 3
- 238000000151 deposition Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010453 quartz Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000010936 titanium Substances 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 238000005019 vapor deposition process Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- 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
- H01L21/683—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
- H01L21/68714—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 susceptor, stage or support
- H01L21/68721—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 susceptor, stage or support characterised by edge clamping, e.g. clamping ring
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (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)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
Description
本発明の実施例に係るマニピュレーターについては、それは指構造には同一円周上に間隔をあけて配置される複数の支持部材が設置され、各支持部材はウエハを支持するようにウエハのエッジに接触し、且つ該ウエハを指構造に接触させることを回避するためのものである。複数の支持部材がウエハのエッジのみに接触するため、ウエハを支持することが確保される上で、支持部材がウエハの表面に接触することを回避することができ、これによりマニピュレーターがウエハの表面に接触することでウエハの表面に擦り傷及び接触痕跡が発生することを回避することができる。それと同時に、上記複数の支持部材はさらにウエハを指構造に接触させることを回避することができ、これによりウエハが反ることで指構造に接触摩擦して擦り傷が生じることをある程度低減することができる。これにより、本発明の実施例に係るマニピュレーターはウエハの表面に擦り傷が生じることによる後続のプロセスへの影響を低減して製品の歩留まりを向上させることができ、それによりウエハの裏面に金属を蒸着するプロセスなどのウエハの表面を保護するプロセスを必要とする半導体プロセス装置に応用され得る。
Claims (10)
- ウエハを搬送するためのマニピュレーターであって、
指構造及び複数の支持部材を備え、複数の前記支持部材は前記指構造に設置され、且つ同一円周上に間隔をあけて配置され、各前記支持部材は前記ウエハを支持するように前記ウエハのエッジに接触し、且つ前記ウエハを前記指構造に接触させることを回避するためのものであることを特徴とするマニピュレーター。 - 各前記支持部材はいずれも前記ウエハを支持するための支持面を備え、前記支持面が水平面に対して傾斜する斜面であり、前記水平面に対する前記斜面の高さは前記円周の径方向において前記円周の中心から離れる方向に沿って徐々に大きくなることを特徴とする請求項1に記載のマニピュレーター。
- 前記斜面は平面であり、且つ前記水平面との夾角が1°~60°であることを特徴とする請求項2に記載のマニピュレーター。
- 前記夾角が5.75°であることを特徴とする請求項3に記載のマニピュレーター。
- 各前記支持部材はいずれも支持本体と、前記支持本体に設置される滑り止め用可撓性部材とを備え、前記滑り止め用可撓性部材に前記支持面が形成されることを特徴とする請求項2~4のいずれか一項に記載のマニピュレーター。
- 前記滑り止め用可撓性部材が環状を呈し、且つ前記滑り止め用可撓性部材の横断面形状が前記支持面と前記ウエハとを点接触させることを満たすことを特徴とする請求項5に記載のマニピュレーター。
- 前記支持本体に取付溝が形成され、前記滑り止め用可撓性部材は一部が前記取付溝の内部に設置され、残りの部分が前記取付溝の外部に設置されることを特徴とする請求項5に記載のマニピュレーター。
- 各前記支持部材の前記支持面に少なくとも1つの表示線が設置され、各前記表示線がその中の1つのサイズのウエハエッジの前記支持面上での位置を表示するためのものであることを特徴とする請求項2~4のいずれか一項に記載のマニピュレーター。
- 前記指構造は水平面に平行する方向において間隔をあけて設置される2つの指を備え、2つの前記指の間の間隔が前記ウエハを前記指に接触させることを回避するように設定されることを特徴とする請求項1に記載のマニピュレーター。
- 前記マニピュレーターはさらに位置決め部材及び締結部材を備え、前記位置決め部材は前記指構造に設置され、前記支持部材の前記指構造上での位置を制限するためのものであり、前記締結部材は前記支持部材を前記指構造に固定して接続するためのものであることを特徴とする請求項1に記載のマニピュレーター。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010952374.9A CN112018024A (zh) | 2020-09-11 | 2020-09-11 | 机械手 |
CN202010952374.9 | 2020-09-11 | ||
PCT/CN2021/115292 WO2022052827A1 (zh) | 2020-09-11 | 2021-08-30 | 机械手 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2023540957A true JP2023540957A (ja) | 2023-09-27 |
JPWO2022052827A5 JPWO2022052827A5 (ja) | 2023-12-14 |
JP7469561B2 JP7469561B2 (ja) | 2024-04-16 |
Family
ID=73521912
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023514745A Active JP7469561B2 (ja) | 2020-09-11 | 2021-08-30 | マニピュレーター |
Country Status (7)
Country | Link |
---|---|
US (1) | US20230330864A1 (ja) |
EP (1) | EP4213192A1 (ja) |
JP (1) | JP7469561B2 (ja) |
KR (1) | KR20230017880A (ja) |
CN (1) | CN112018024A (ja) |
TW (1) | TWI808476B (ja) |
WO (1) | WO2022052827A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112018024A (zh) * | 2020-09-11 | 2020-12-01 | 北京北方华创微电子装备有限公司 | 机械手 |
CN114347060A (zh) * | 2022-01-21 | 2022-04-15 | 长江存储科技有限责任公司 | 移载机构及具有其的机器手臂 |
CN115122369B (zh) * | 2022-08-31 | 2022-11-25 | 上海果纳半导体技术有限公司武汉分公司 | 一种末端执行器、机械手和晶圆传输装置 |
CN115424976B (zh) * | 2022-11-07 | 2023-02-17 | 浙江果纳半导体技术有限公司 | 晶圆夹持机构及晶圆传输设备 |
CN117381819B (zh) * | 2023-12-12 | 2024-02-23 | 泓浒(苏州)半导体科技有限公司 | 一种超真空环境作业的边缘夹持式晶圆取放机械手臂 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6293749B1 (en) * | 1997-11-21 | 2001-09-25 | Asm America, Inc. | Substrate transfer system for semiconductor processing equipment |
US7104578B2 (en) * | 2002-03-15 | 2006-09-12 | Asm International N.V. | Two level end effector |
JP2004140058A (ja) | 2002-10-16 | 2004-05-13 | Hitachi Electronics Eng Co Ltd | ウエハ搬送装置およびウエハ処理装置 |
JP4339615B2 (ja) | 2003-03-04 | 2009-10-07 | 株式会社ダイヘン | ワークピースの保持機構 |
JP5612849B2 (ja) | 2009-12-01 | 2014-10-22 | 川崎重工業株式会社 | エッジグリップ装置、それを備える搬送ロボット及び半導体プロセス用ウエハの解放方法 |
JPWO2011077678A1 (ja) | 2009-12-22 | 2013-05-02 | 株式会社アルバック | 基板保持装置 |
JP6535187B2 (ja) | 2015-03-10 | 2019-06-26 | 株式会社荏原製作所 | 基板搬送用ハンド |
CN106601656A (zh) * | 2015-10-14 | 2017-04-26 | 中芯国际集成电路制造(上海)有限公司 | 机械手 |
JP6594177B2 (ja) * | 2015-11-24 | 2019-10-23 | 平田機工株式会社 | ハンド部材およびハンド |
JP6630591B2 (ja) | 2016-02-26 | 2020-01-15 | 川崎重工業株式会社 | 基板把持ハンド及び基板搬送装置 |
CN208923074U (zh) * | 2018-10-26 | 2019-05-31 | 长鑫存储技术有限公司 | 传送手臂 |
US11600580B2 (en) | 2019-02-27 | 2023-03-07 | Applied Materials, Inc. | Replaceable end effector contact pads, end effectors, and maintenance methods |
CN209658147U (zh) * | 2019-03-26 | 2019-11-19 | 上海华力集成电路制造有限公司 | 一种防滑圈和机械手臂 |
CN211907410U (zh) * | 2020-04-09 | 2020-11-10 | 北京北方华创微电子装备有限公司 | 半导体设备中的晶圆机械手 |
CN112018024A (zh) * | 2020-09-11 | 2020-12-01 | 北京北方华创微电子装备有限公司 | 机械手 |
CN113113340A (zh) * | 2021-03-30 | 2021-07-13 | 北京北方华创微电子装备有限公司 | 半导体设备的机械手 |
-
2020
- 2020-09-11 CN CN202010952374.9A patent/CN112018024A/zh active Pending
-
2021
- 2021-08-30 EP EP21865883.9A patent/EP4213192A1/en active Pending
- 2021-08-30 WO PCT/CN2021/115292 patent/WO2022052827A1/zh unknown
- 2021-08-30 TW TW110132131A patent/TWI808476B/zh active
- 2021-08-30 US US18/044,866 patent/US20230330864A1/en active Pending
- 2021-08-30 JP JP2023514745A patent/JP7469561B2/ja active Active
- 2021-08-30 KR KR1020227046287A patent/KR20230017880A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
KR20230017880A (ko) | 2023-02-06 |
CN112018024A (zh) | 2020-12-01 |
WO2022052827A1 (zh) | 2022-03-17 |
TW202211368A (zh) | 2022-03-16 |
US20230330864A1 (en) | 2023-10-19 |
TWI808476B (zh) | 2023-07-11 |
EP4213192A1 (en) | 2023-07-19 |
JP7469561B2 (ja) | 2024-04-16 |
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