JP5053388B2 - 搬送ロボットの診断システム - Google Patents
搬送ロボットの診断システム Download PDFInfo
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- JP5053388B2 JP5053388B2 JP2009548089A JP2009548089A JP5053388B2 JP 5053388 B2 JP5053388 B2 JP 5053388B2 JP 2009548089 A JP2009548089 A JP 2009548089A JP 2009548089 A JP2009548089 A JP 2009548089A JP 5053388 B2 JP5053388 B2 JP 5053388B2
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- JP
- Japan
- Prior art keywords
- robot
- robot arm
- detection means
- detected
- substrate
- 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.)
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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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
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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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67288—Monitoring of warpage, curvature, damage, defects or the like
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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
-
- 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
- H01L21/68—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 positioning, orientation or alignment
- H01L21/681—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 positioning, orientation or alignment using optical controlling means
-
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40562—Position and orientation of end effector, teach probe, track them
Landscapes
- 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)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
12 ロボットハンド
2 検知手段
2a、2b 検知位置
S 基板
A ロードロック室
C 処理室
Claims (6)
- 処理すべき基板を支持するロボットハンドを先端に有するロボットアーム及び当該ロボットアームを駆動する駆動手段を有する搬送ロボットと、
当該ロボットアームにより複数の処理室間で基板を搬送する際にロボットハンドにより支持された基板を検知するように配置された少なくとも1個の検知手段とを備え、
前記処理室間でロボットアームにより基板を搬送する際にいずれかの検知手段にてロボットアームの所定部分が検知される場合に、当該検知手段にて検知されるロボットアームの作動データを取得して基準値を作製し、前記ロボットアームの所定部分が前記検知手段で検知されると、そのときの作動データを取得し、この作動データと前記基準値とを比較し、所定の範囲を超えて変化した場合に搬送ロボットの異常を判断するようにし、
前記検知手段のいずれかにてロボットアームの所定部分が検知された後、他の検知手段にてロボットアームの所定部分が検知されるまでの時間、または搬送ロボットの作動開始指示から前記検知手段のいずれかにてロボットアームの所定部分が検知されるまでの時間から前記作動データを取得することを特徴とする搬送ロボットシステム。 - 前記ロボットアームは、少なくとも同一平面上を旋回及び伸縮自在に駆動されるように構成されたものであり、前記検知手段は、前記平面に対し垂直に投光するように配置した光学センサであることを特徴とする請求項1記載の搬送ロボットの診断システム。
- 前記駆動手段はエンコーダを備えたモータであり、検知手段にてロボットアームの所定部分が検知されたときのエンコーダのアドレスから前記作動データを取得するようにしたことを特徴とする請求項1または請求項2記載の搬送ロボットの診断システム。
- 前記搬送ロボットの異常判断を所定の規定動作の際に行うことを特徴とする請求項1乃至請求項3のいずれか1項に記載の搬送ロボットの診断システム。
- 前記ロボットアームの所定部分を検出する場合、特定の作動データのみを抽出して取得することを特徴とする請求項1乃至請求項4のいずれか1項に記載の搬送ロボットの診断システム。
- 前記ロボットアームを昇降自在に構成し、所定の高さ位置にて搬送ロボットの異常判断を行うことを特徴とする請求項1乃至請求項5のいずれか1項に記載の搬送ロボットの診断システム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009548089A JP5053388B2 (ja) | 2007-12-27 | 2008-12-26 | 搬送ロボットの診断システム |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007337164 | 2007-12-27 | ||
JP2007337164 | 2007-12-27 | ||
JP2009548089A JP5053388B2 (ja) | 2007-12-27 | 2008-12-26 | 搬送ロボットの診断システム |
PCT/JP2008/073731 WO2009084630A1 (ja) | 2007-12-27 | 2008-12-26 | 搬送ロボットの診断システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2009084630A1 JPWO2009084630A1 (ja) | 2011-05-19 |
JP5053388B2 true JP5053388B2 (ja) | 2012-10-17 |
Family
ID=40824343
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009548089A Active JP5053388B2 (ja) | 2007-12-27 | 2008-12-26 | 搬送ロボットの診断システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20100256811A1 (ja) |
JP (1) | JP5053388B2 (ja) |
KR (1) | KR101209020B1 (ja) |
CN (1) | CN101911274B (ja) |
TW (1) | TWI507278B (ja) |
WO (1) | WO2009084630A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101098556B1 (ko) * | 2011-01-20 | 2011-12-26 | (주)해피글로벌솔루션 | 로봇 진단시스템 및 이를 이용한 로봇 진단방법 |
JP5572758B2 (ja) * | 2011-03-16 | 2014-08-13 | 株式会社アルバック | 搬送装置、真空装置 |
JP2012238762A (ja) * | 2011-05-12 | 2012-12-06 | Tokyo Electron Ltd | 基板搬送装置、これを備える塗布現像装置、及び基板搬送方法 |
CN104022051A (zh) * | 2014-04-22 | 2014-09-03 | 上海华力微电子有限公司 | 一种检测机台机械臂出现异常的方法 |
KR102022804B1 (ko) * | 2017-11-02 | 2019-09-18 | 조재용 | 웨이퍼 이송용 로봇 감지장치 |
CN110834334B (zh) * | 2019-11-20 | 2023-11-07 | 常州捷佳创精密机械有限公司 | 机械手的控制方法、装置及处理槽设备 |
KR102597583B1 (ko) * | 2020-12-29 | 2023-11-02 | 세메스 주식회사 | 이송 로봇의 이상 진단 장치 및 방법 |
Citations (6)
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JPH06326172A (ja) * | 1993-05-10 | 1994-11-25 | Tel Varian Ltd | 移載装置 |
JPH10244479A (ja) * | 1997-03-03 | 1998-09-14 | Sumitomo Eaton Noba Kk | ディスク搬送装置 |
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JP2002178279A (ja) * | 2000-12-12 | 2002-06-25 | Ulvac Japan Ltd | 基板搬送方法 |
JP2004241484A (ja) * | 2003-02-04 | 2004-08-26 | Tokyo Electron Ltd | 基板の搬送装置及び搬送装置の位置ずれ検出方法 |
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-
2008
- 2008-12-26 US US12/745,823 patent/US20100256811A1/en not_active Abandoned
- 2008-12-26 TW TW097151285A patent/TWI507278B/zh active
- 2008-12-26 WO PCT/JP2008/073731 patent/WO2009084630A1/ja active Application Filing
- 2008-12-26 KR KR1020107014561A patent/KR101209020B1/ko active IP Right Grant
- 2008-12-26 CN CN2008801226544A patent/CN101911274B/zh active Active
- 2008-12-26 JP JP2009548089A patent/JP5053388B2/ja active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH06326172A (ja) * | 1993-05-10 | 1994-11-25 | Tel Varian Ltd | 移載装置 |
JPH10244479A (ja) * | 1997-03-03 | 1998-09-14 | Sumitomo Eaton Noba Kk | ディスク搬送装置 |
JP2000127069A (ja) * | 1998-10-27 | 2000-05-09 | Tokyo Electron Ltd | 搬送システムの搬送位置合わせ方法 |
JP2001332604A (ja) * | 2000-05-25 | 2001-11-30 | Nec Kyushu Ltd | 搬送位置ずれ検出機構 |
JP2002178279A (ja) * | 2000-12-12 | 2002-06-25 | Ulvac Japan Ltd | 基板搬送方法 |
JP2004241484A (ja) * | 2003-02-04 | 2004-08-26 | Tokyo Electron Ltd | 基板の搬送装置及び搬送装置の位置ずれ検出方法 |
Also Published As
Publication number | Publication date |
---|---|
US20100256811A1 (en) | 2010-10-07 |
WO2009084630A1 (ja) | 2009-07-09 |
CN101911274B (zh) | 2012-07-04 |
KR101209020B1 (ko) | 2012-12-06 |
CN101911274A (zh) | 2010-12-08 |
TW200942383A (en) | 2009-10-16 |
KR20100091237A (ko) | 2010-08-18 |
JPWO2009084630A1 (ja) | 2011-05-19 |
TWI507278B (zh) | 2015-11-11 |
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