JP4406611B2 - 基板支持用エンドエフェクタ・アセンブリ - Google Patents
基板支持用エンドエフェクタ・アセンブリ Download PDFInfo
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- JP4406611B2 JP4406611B2 JP2004563625A JP2004563625A JP4406611B2 JP 4406611 B2 JP4406611 B2 JP 4406611B2 JP 2004563625 A JP2004563625 A JP 2004563625A JP 2004563625 A JP2004563625 A JP 2004563625A JP 4406611 B2 JP4406611 B2 JP 4406611B2
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- end effector
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- 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
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/062—Easels, stands or shelves, e.g. castor-shelves, supporting means on vehicles
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- 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
-
- 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
-
- 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
- H01L21/68735—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 profile or support profile
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/902—Gripping element
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/135—Associated with semiconductor wafer handling
- Y10S414/141—Associated with semiconductor wafer handling includes means for gripping wafer
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- Engineering & Computer Science (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)
- Robotics (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
Claims (18)
- 四辺形基板を支持する為のエンドエフェクタ・アセンブリであって、
ロボットリンク機構に結合するように適合された第1端部、末端部を有するエンドエフェクタと、
前記エンドエフェクタの前記第1端部に結合されたスペーサアセンブリであって、前記エンドエフェクタから延び出る延出部を有するスペーサアセンブリと、
前記スペーサアセンブリ上の前記延出部上に配置され、前記エンドエフェクタの第1端部に前記スペーサアセンブリによって接続され、保持面、および凹部または凸部を有する支持面を有する第1内縁部支持体と、
前記エンドエフェクタの前記末端部に配置され、複数の階段部を有する第1外縁部支持体であって、前記複数の階段部の各々が垂直な面および前記基板を支持するのに適用される、凹部または凸部を有する水平な面を有し、前記外縁部支持体の前記垂直な面の各々が前記第1内縁部支持体の前記保持面に対し平行であり、前記保持面に対面している、第1外縁部支持体と、
を備える、エンドエフェクタ・アセンブリ。 - 前記外縁部支持体は、500℃を越える融点、150未満のロックウェルM硬さを有する熱可塑性材料から製造される、請求項1記載のエンドエフェクタ・アセンブリ。
- 前記エンドエフェクタの前記末端部は、前記外縁部支持体の前記階段部の垂直な面に対し垂直な方向に延び、前記外縁部支持体を通って配置されたファスナーを受容するように適合された複数のスロットを有する、請求項1記載のエンドエフェクタ・アセンブリ。
- 第1端部に配置されたベースと、
前記ベースの一側部から前記エンドエフェクタの末端部まで延びる第1部材と、
前記ベースの反対側部から前記エンドエフェクタの末端部まで延びる第2部材と、
を更に備える、請求項1記載のエンドエフェクタ・アセンブリ。 - 前記第2部材の前記末端部に配置された第2外縁部支持体と、
前記エンドエフェクタの前記第1端部に配置された第2内縁部支持体と、
を更に備える、請求項4記載のエンドエフェクタ・アセンブリ。 - 前記第2外縁部支持体は、複数の階段部を有し、前記複数の階段部の各々が前記第1外縁部支持体の対応する前記垂直な面と同一平面上の面を有し、
前記第2内縁部支持体は、前記第1内縁部支持体の前記保持面と同一平面上の面を有する、
請求項5記載のエンドエフェクタ・アセンブリ。 - 前記エンドエフェクタに結合された前記スペーサアセンブリに配置された第1側方ガイド部と、
前記エンドエフェクタに結合された第2スペーサアセンブリに配置され、前記第1側方ガイド部の前記面に向けられ前記面に対して平行な面を有する第2側方ガイド部であって、前記第1側方ガイド部の前記面、前記第2側方ガイド部の前記面、前記第1内縁部支持体の前記保持面、前記第1外縁部支持体の前記複数の垂直な面の一つが、四辺形基板を保持するように形成されている、第2側方ガイド部と、
を更に備える、請求項1記載のエンドエフェクタ・アセンブリ。 - 前記エンドエフェクタに結合された前記スペーサアセンブリに配置され、前記第1外縁部支持体の前記垂直な面に垂直に向けられた面を有する、第1側方ガイド部を更に備える、請求項1記載のエンドエフェクタ・アセンブリ。
- 前記スペーサアセンブリが、
前記エンドエフェクタに結合された第1端部と、上に配置された第1側方ガイド部を有する第2端部とを有するアウトリガーであって、前記アウトリガーの前記第2端部が、前記第1端部の外側に向けられている前記アウトリガー、
を備える、請求項1記載のエンドエフェクタ・アセンブリ。 - 前記第1側方ガイド部は、前記アウトリガーに対し位置が調整可能である、請求項9記載のエンドエフェクタ・アセンブリ。
- 前記アウトリガー又は前記エンドエフェクタの少なくとも一つは、前記アウトリガー及び前記エンドエフェクタを結合するファスナを受けるように適合された前記第1側方ガイド部に対して垂直な方向に延びる複数のスロットを有する、請求項9記載のエンドエフェクタ・アセンブリ。
- 前記第1側方ガイド部は、複数の階段部を備える、請求項9記載のエンドエフェクタ・アセンブリ。
- 前記第1内縁部支持体は、複数の保持面、および凹部または凸部を有する複数の支持面を更に備える、請求項1記載のエンドエフェクタ・アセンブリ。
- 前記スペーサアセンブリが、
前記エンドエフェクタに結合された第1端部と、前記第1内縁部支持体に結合された第2端部とを有するアウトリガーであって、前記アウトリガーの前記第2端部が、前記第1端部の外側に向けられ、前記アウトリガーの前記第2端部が、前記エンドエフェクタに関して調整可能であり、前記第1内縁部支持体は、前記アウトリガーに対し調整可能である、前記アウトリガー、
を備える、請求項13記載のエンドエフェクタ・アセンブリ。 - 搬送中、四辺形面形状を有する基板を支持する為のエンドエフェクタ・アセンブリであって、前記エンドエフェクタ・アセンブリは、
a)ベースと、前記ベース部材の一側部から末端部まで延びる第1部材と、前記ベース部材の反対側の一側部から末端部まで延びる第2部材を備える、エンドエフェクタと、
b)前記第1部材の前記末端部に結合され、複数の階段部を有する、第1外縁部支持体であって、前記階段部の各々が、凹部または凸部を有する基板支持面及び前記基板支持面から上方に延びる保持面を有する、前記第1外縁部支持体と、
c)前記第2部材の末端部に結合され、複数の階段部を有する第2外縁部支持体であって、前記階段部の各々は、凹部または凸部を有する基板支持面、前記基板支持面から上方に延びる保持面を有し、前記第2外縁部支持体の前記保持面は、前記第1外縁部支持体の前記保持面と同一平面上にある、前記第2外縁部支持体と、
d)前記エンドエフェクタの第1部材に結合された第1スペーサアセンブリであって、前記エンドエフェクタから延び出た延出部を有する第1スペーサアセンブリと、
e)前記第1スペーサアセンブリによって前記エンドエフェクタに結合されるとともに、前記第1スペーサアセンブリ上の前記延出部上に配置され、凹部または凸部を有する基板支持面と前記第2外縁部支持体の前記保持面とは反対の方向を向いている保持面を有する、第1内縁部支持体と、
f)前記エンドエフェクタの第2部材に前記エンドエフェクタから延び出た延出部を有する第2スペーサアセンブリによって結合されるとともに前記第2スペーサアセンブリ上の前記延出部上に配置され、凹部または凸部を有する基板支持面および前記第1内縁部支持体の前記保持面と同一平面上の保持面を有する第2内縁部支持体と、
を備える、前記エンドエフェクタ・アセンブリ。 - 前記エンドエフェクタに結合された前記第1スペーサアセンブリに配置された側方ガイド部を更に備える、請求項15記載のエンドエフェクタ・アセンブリ。
- 前記スペーサアセンブリが、
前記エンドエフェクタに結合された第1端部と、上に配置された前記側方ガイド部を有する第2端部とを有するアウトリガーであって、前記アウトリガーの前記第2端部が、前記第1端部の外側に向けられている前記アウトリガー、
を備える、請求項16記載のエンドエフェクタ・アセンブリ。 - 前記外縁部支持体は、500℃を越える融点、150未満のロックウェルM硬さを有する熱可塑性材料から製造される、請求項15記載のエンドエフェクタ・アセンブリ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/321,826 US7641247B2 (en) | 2002-12-17 | 2002-12-17 | End effector assembly for supporting a substrate |
PCT/US2003/040088 WO2004059724A1 (en) | 2002-12-17 | 2003-12-15 | End effector assembly for supporting substrates |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006510559A JP2006510559A (ja) | 2006-03-30 |
JP4406611B2 true JP4406611B2 (ja) | 2010-02-03 |
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ID=32507138
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004563625A Expired - Fee Related JP4406611B2 (ja) | 2002-12-17 | 2003-12-15 | 基板支持用エンドエフェクタ・アセンブリ |
Country Status (6)
Country | Link |
---|---|
US (1) | US7641247B2 (ja) |
JP (1) | JP4406611B2 (ja) |
KR (2) | KR20110065541A (ja) |
CN (1) | CN100446211C (ja) |
TW (1) | TWI285626B (ja) |
WO (1) | WO2004059724A1 (ja) |
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- 2003-12-15 WO PCT/US2003/040088 patent/WO2004059724A1/en active Application Filing
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KR20050085784A (ko) | 2005-08-29 |
US7641247B2 (en) | 2010-01-05 |
CN100446211C (zh) | 2008-12-24 |
KR20110065541A (ko) | 2011-06-15 |
US20040113444A1 (en) | 2004-06-17 |
TW200413229A (en) | 2004-08-01 |
WO2004059724A1 (en) | 2004-07-15 |
CN1726589A (zh) | 2006-01-25 |
JP2006510559A (ja) | 2006-03-30 |
KR101155142B1 (ko) | 2012-06-11 |
TWI285626B (en) | 2007-08-21 |
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