JP4755088B2 - 半導体ウェーハを取り扱うエンドエフェクタ - Google Patents
半導体ウェーハを取り扱うエンドエフェクタ Download PDFInfo
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- JP4755088B2 JP4755088B2 JP2006517080A JP2006517080A JP4755088B2 JP 4755088 B2 JP4755088 B2 JP 4755088B2 JP 2006517080 A JP2006517080 A JP 2006517080A JP 2006517080 A JP2006517080 A JP 2006517080A JP 4755088 B2 JP4755088 B2 JP 4755088B2
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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
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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
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- 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)
- Chemical Vapour Deposition (AREA)
- Manipulator (AREA)
Description
Claims (19)
- 基端部及び末端部を有するベース部材であって、半導体ウェーハを受け取るように構成されている頂面を有するベース部材、
ベース部材の頂面に配置される複数の支持部材であって、頂面上に受け取られたウェーハに接触するように構成されている複数の支持部材、
ベース部材上のウェーハを位置決めする押し装置であって、半導体ウェーハの縁部に接触するように構成されている引き込み式のピストンを含み、該ピストンが突出位置と引込位置との間を移動可能である押し装置、
ピストンに関連して配置される偏倚部材であって、ピストンをその引込位置に向けて偏倚させる偏倚部材、及び
ピストンと動作的に関連する空気圧式アクチュエータであって、偏倚部材によってピストンに加えられている力に打ち勝ち、引込位置から突出位置にピストンを移動させるのに使用される加圧ガスを受け入れるように構成されている空気圧式アクチュエータ、
を備え、
半導体ウェーハは、押し装置のピストンの突出により位置決めされることを可能とし、
複数の支持部材は、ウェーハ受け取り領域を画定し、エンドエフェクタは、ベース部材の基端部と末端部との間のウェーハ受け取り領域の略中心領域のベース部材上に互に向かい合って配置される一対の応急ピンであって、支持部材の高さより低い高さを有し、半導体ウェーハがベース部材に接触することを防止する応急ピンをさらに備えていることを特徴とする半導体ウェーハを取り扱うエンドエフェクタ。 - 半導体ウェーハに接触するピストンの端部に配置される接触要素であって、平坦な表面を有する接触要素をさらに備えていることを特徴とする請求項1に記載のエンドエフェクタ。
- 半導体ウェーハに接触するピストンの端部に配置される接触要素であって、凸状の表面を有する接触要素をさらに備えていることを特徴とする請求項1に記載のエンドエフェクタ。
- ピストンは、接触要素の近くに配置される2重軸受アセンブリに維持され、該2重軸受けアセンブリは、ピストンの移動中に発生する微粒子がベース部材に保持されている半導体ウェーハに接触することを防止することを特徴とする請求項2または3に記載のエンドエフェクタ。
- 偏倚部材は、バネを含むことを特徴とする請求項1に記載のエンドエフェクタ。
- 偏倚部材によりピストンに加えられる力は、ピストンが突出するにつれ増大することを特徴とする請求項1に記載のエンドエフェクタ。
- 空気圧式アクチュエータは、第1のガス配管及び第2の配管に接続され、該アクチュエータは、駆動部材を含み、第1の配管は、駆動部材を空気圧式アクチュエータから移動させるためにガスを空気圧式アクチュエータ内に供給するように構成され、第2の配管は、駆動部材を引き込めるためにガスを空気圧式アクチュエータに供給するように構成され、該駆動部材は、ピストンに接続されていることを特徴とする請求項1に記載のエンドエフェクタ。
- 空気圧式アクチュエータに隣接して配置される吸引装置であって、ピストンの移動中に放出されるいかなる微粒子をも捕捉するために吸引力を生成するように構成されている吸引装置をさらに備えていることを特徴とする請求項1に記載のエンドエフェクタ。
- ピストンの位置を感知する少なくとも1つの位置センサをさらに備えていることを特徴とする請求項1に記載のエンドエフェクタ。
- 押し装置は、ベース部材の基端部に配置されていることを特徴とする請求項1に記載のエンドエフェクタ。
- エンドエフェクタは、約12mm未満の最大外形高さを有することを特徴とする請求項1に記載のエンドエフェクタ。
- エンドエフェクタは、約10mm未満の最大外形高さを有することを特徴とする請求項1に記載のエンドエフェクタ。
- 押し装置に略対向してベース部材上に配置される少なくとも1つの補助支持部材をさらに備え、該補助支持部材は、ピストンが少なくとも部分的に突出すると、ウェーハが補助支持部材とピストンとの間に保持されるのに十分な高さを有することを特徴とする請求項1に記載のエンドエフェクタ。
- ベース部材は、第2のフォーク状の歯と間隔をおいて配置される第1のフォーク状の歯を含み、該第1及び第2のフォーク状の歯は、ベース部材の末端部で終わっており、フォーク状の歯各々は、少なくとも1つの補助支持部材を含んでいることを特徴とする請求項13に記載のエンドエフェクタ。
- 偏倚部材及び空気圧式アクチュエータは、ベース部材により画定されるハウジング内に含まれていることを特徴とする請求項1に記載のエンドエフェクタ。
- 少なくともいくつかの支持部材は、半導体ウェーハの縁部に単に接触するように構成されている表面を含み、該表面は、凸状の且つ偏心した形状を有することを特徴とする請求項1に記載のエンドエフェクタ。
- ベース部材を横切って光受信路に対向して配置される光送信路であって、光受信路に向かって光線を放出するように構成されている光送信路を含んでいるウェーハ検出システムをさらに備え、ウェーハ検出システムは、光線がウェーハにより横切られるときウェーハの存在を検出するように構成されていることを特徴とする請求項1に記載のエンドエフェクタ。
- 一対の補助支持部材が、各フォーク状の歯の端部に配置され、一対の補助支持部材各々は、対応する支持部材を取り囲み、各補助支持部材は、対応する支持部材の高さより高い高さを有することを特徴とする請求項14に記載のエンドエフェクタ。
- 複数の支持部材は、ウェーハ受け取り領域を画定し、エンドエフェクタは、ウェーハ受け取り領域の外側のベース部材の基端部に配置されている少なくとも1つの周辺支持ピンであって、ウェーハ受け取り領域内に半導体ウェーハを保持するために、支持部材の高さより高い高さを有する周辺支持ピンを備えていることを特徴とする請求項1に記載のエンドエフェクタ。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US48342503P | 2003-06-27 | 2003-06-27 | |
US60/483,425 | 2003-06-27 | ||
US10/781,323 | 2004-02-18 | ||
US10/781,323 US7654596B2 (en) | 2003-06-27 | 2004-02-18 | Endeffectors for handling semiconductor wafers |
PCT/US2004/008767 WO2005010956A2 (en) | 2003-06-27 | 2004-03-23 | Endeffectors for handling semiconductor wafers |
Publications (2)
Publication Number | Publication Date |
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JP2007525001A JP2007525001A (ja) | 2007-08-30 |
JP4755088B2 true JP4755088B2 (ja) | 2011-08-24 |
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JP2006517080A Expired - Lifetime JP4755088B2 (ja) | 2003-06-27 | 2004-03-23 | 半導体ウェーハを取り扱うエンドエフェクタ |
Country Status (6)
Country | Link |
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US (3) | US7654596B2 (ja) |
JP (1) | JP4755088B2 (ja) |
KR (1) | KR101135216B1 (ja) |
CN (1) | CN101908498A (ja) |
DE (1) | DE112004001162B4 (ja) |
WO (1) | WO2005010956A2 (ja) |
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WO2005010956A3 (en) | 2005-09-15 |
CN101908498A (zh) | 2010-12-08 |
US7654596B2 (en) | 2010-02-02 |
WO2005010956A2 (en) | 2005-02-03 |
KR20060026444A (ko) | 2006-03-23 |
DE112004001162B4 (de) | 2018-10-04 |
US20100096869A1 (en) | 2010-04-22 |
US8622451B2 (en) | 2014-01-07 |
KR101135216B1 (ko) | 2012-04-12 |
DE112004001162T5 (de) | 2006-07-27 |
US8109549B2 (en) | 2012-02-07 |
JP2007525001A (ja) | 2007-08-30 |
US20050006916A1 (en) | 2005-01-13 |
US20120126555A1 (en) | 2012-05-24 |
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