JP6017508B2 - 基板処理装置 - Google Patents
基板処理装置 Download PDFInfo
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- JP6017508B2 JP6017508B2 JP2014212977A JP2014212977A JP6017508B2 JP 6017508 B2 JP6017508 B2 JP 6017508B2 JP 2014212977 A JP2014212977 A JP 2014212977A JP 2014212977 A JP2014212977 A JP 2014212977A JP 6017508 B2 JP6017508 B2 JP 6017508B2
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- H—ELECTRICITY
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- 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
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67161—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers
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- 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
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- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67161—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers
- H01L21/67167—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers surrounding a central transfer chamber
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- 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
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67161—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers
- H01L21/67173—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers in-line arrangement
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- H—ELECTRICITY
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- 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
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67184—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the presence of more than one transfer chamber
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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
- H01L21/67703—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 between different workstations
- H01L21/67709—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 between different workstations using magnetic elements
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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
- H01L21/67703—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 between different workstations
- H01L21/67727—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 between different workstations using a general scheme of a conveying path within a factory
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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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- 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
- H01L21/67763—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 the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
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Description
本出願は、米国仮特許出願第60/397,895号の利益を主張する米国特許出願第10/624,987号(出願日2003年7月22日)の一部継続出願であり、これら両方の全体が参照することによって本明細書に含まれている。
の 実施例である。この実施例は、少なくとも作動部分(モータ巻線及び制御電子部品等)の数を最小化することによって、複雑さの減少、コストの低減及び信頼性 の向上を提供する。特に、アクティブかつ閉ループ制御を必要とする自由度の数が最小化され、個別の専用の案内巻線が除去され、制御が分離されるので、この 実施例は、従来の2チャンネルモータ増幅器を用いて実施されてもよい。さらに、システムの効率は、いくつかの実施例において受動的磁力の使用の故に向上さ せられるので、冷却の必要及び操作のコストが減少する。
X=x軸に沿った搬送装置22の位置(m)
Y=y軸に沿った搬送装置22の位置(m)
YF=y軸に沿った搬送装置22の前部の位置(m)
YR=y軸に沿った搬送装置22の後部の位置(m)
z=z軸に沿った搬送装置22の位置(m)
FX=搬送装置22にかかるX方向の全ての力(N)
FY=搬送装置22にかかるY方向の全ての力(N)
FZ=搬送装置22にかかるZ方向の全ての力(N)
MX=x軸周りのモーメント(Nm)
RX=x軸周りの回転(rad)
MY=y軸周りのモーメント(Nm)
RY=y軸周りの回転(rad)
搬送チャンバ18の一側面として示されているが、表面2810は、搬送チャンバ18の床部、側部、天井、または任意の表面であってもよい。搬送チャンバ 18は、ステンレス鋼等の非磁性材料から形成されてもよく、表面2810は、巻線2800と搬送装置22との間のバリアをもたらしてもよい。
FX=FxRF+FxRRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRR;ここで、FyLF、FyLRは受動的力として与えられ、FyRF、FyRRは、マクスウェル及び/またはローレンツ力として与えられ;
Fz、Mx、Myは、受動的力として与えられる。
FX=FxRF+FxRRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRRは、マクスウェル及び/またはローレンツ力として与えられ;
Fz、Mx、Myは、受動的力として与えられる。
FX=FxL+FxRは、ローレンツ力として与えられ;
FyF=FyL+FyRは、マクスウェルまたはローレンツ力として与えられ、互いに反対にある側部にある推進巻線及び浮揚巻線によって生成された案相力の間の差として与えられ;
Fz=FzL+FzRは、ローレンツ力として与えられ;
Mx、My、Mzは、位相コミュテーションの開ループ安定化効果によって生成される。
FX=FxL+FxRは、ローレンツ力として与えられ;
FyF=FyL+FyRは、推進巻線3110、3115によってのみ生成されたマクスウェルまたはローレンツ力として与えられ;
Fz=FzL+FzRは、ローレンツ力として与えられ;
Mx、Myは、浮揚巻線3140、3145の位相コミュテーションの故の開ループ安定化によって生成される。
FX=FxL+FxRは、ローレンツ力として与えられ;
Fy=FyL+FyRは、推進巻線3210、3215及び浮揚巻線3220、3225の両方によって生成されたマクスウェル力として与えられ;
Fz=FzL+FzRは、ローレンツ力として与えられ;
Myは、浮揚巻線3220、3225の位相コミュテーションの故の開ループ安定化によって生成される。
Fx=FxL+FxRは、ローレンツ力として与えられ;
FyF=FyL/2+FyLR、FyR=FyL/2+FyRRは、浮揚巻線のみによって生成された ローレンツまたはマクスウェル力として与えられ;
FzL、FzRF、FzRRは、ローレンツ力として与えられる。
Fx=FxL+FxRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRRは、浮揚巻線のみによって生成されたローレンツまたはマクスウェル力として与えられ;
FzF=FzLF+FzRF、FzLR、FzRRは、ローレンツ力として与えられる。
Fx=FxLF+FxRF+FxLR+FxRRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRRは、ローレンツまたはマクスウェル力として与えられる。すなわち、マクスウェルの定理が使用される場合、これらの力は浮揚巻線によってのみ生成され、ローレンツの定理が使用される場合、これらの力は推進巻線及び浮揚巻線の組み合わせによって生成される;
FzF=FzLF+FzRF、FzLR、FzRRは、ローレンツ力として与えられる。
FX=FxLF+FxRF+FxLR+FxRRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRRは。推進巻線及び浮揚巻線の組み合わせによってローレンツ力またはマクスウェル力として与えられ;
FzF=FzLF+FzRF、FzLR、FzRRは、ローレンツ力として与えられる。
Fx=FxLF+FxRF+FxLR+FxRRは、ローレンツ力として与えられ;
FyF=FyLF+FyRF、FyR=FyLR+FyRRは、ローレンツまたはマクスウェル力として与えられ、
MzF=r(FxLF+FxRF)、MzR=(FxLR+FxRR)、r=radius
FzLF、FzRF、FzLR、FzRRは、ローレンツ力として与えられる。
Claims (14)
- 搬送装置であって、
関節ジョイントを有するフレームと、
前記フレームに接続された複数の永久マグネットと、
前記複数の永久マグネットのうちの少なくとも1つの磁界に曝されている複数の固定巻線と、
前記固定巻線を励磁して前記フレームに磁力を提供する制御システムと、
前記フレームの少なくとも片側に近接して設けられて、前記固定巻線によって提供されかつ前記搬送装置に対しその浮揚の方向において作用する前記磁力から独立して前記搬送装置の浮揚、ピッチ及びロールの受動的安定化をもたらす強磁性コンポーネントの配列と、を含み、
前記関節ジョイントは前記フレームの少なくとも1つの関節部を前記フレームのベース部に移動自在に接続し、前記複数の永久マグネットの少なくとも1つは前記関節部に接続されていることを特徴とする搬送装置。 - 請求項1に記載の搬送装置であって、前記強磁性コンポーネントの配列が、前記複数の永久マグネットのうちの他の少なくとも1つ及び1または複数の強磁性エレメントを含むことを特徴とする搬送装置。
- 請求項1に記載の搬送装置であって、前記1または複数の強磁性エレメントが、前記複数の固定巻線の一部として形成されていることを特徴とする搬送装置。
- 請求項1に記載の搬送装置であって、前記固定巻線が前記フレームの片側に近接していることを特徴とする搬送装置。
- 請求項1に記載の搬送装置であって、前記固定巻線が前記フレームの互いに反対にある側部に近接していることを特徴とする搬送装置。
- 請求項1に記載の搬送装置であって、前記複数の永久マグネットを含みかつ前記フレームの第1及び第2の互いに反対にある側部に配されている磁性プラテンを含んでいることを特徴とする搬送装置。
- 請求項6に記載の搬送装置であって、前記磁性プラテンが、前記巻線と向き合っている交互に配された磁極を有するマグネットの配列を含むことを特徴とする搬送装置。
- 請求項6に記載の搬送装置であって、前記固定巻線が、
前記フレームの前記第1及び第2の対向側部に近接した推進巻線と、
前記フレームの前記第1及び第2の対向側部に近接した浮揚巻線と、を含むことを特徴とする搬送装置。 - 請求項8に記載の搬送装置であって、前記フレームの前記第1の対向側部に近接している前記推進及び浮揚巻線が、前記フレームの前記第2の対向側部に近接している推進及び浮揚巻線の各々から横方向にオフセットしていることを特徴とする搬送装置。
- 請求項8に記載の搬送装置であって、前記制御システムが、前記推進巻線を駆動して前記フレームの前記互いに反対にある側部に平行な推進力を生成し、かつ前記浮揚巻線を駆動して前記推進力と垂直な浮揚力を生成する制御電子機器を含むことを特徴とする搬送装置。
- 請求項8に記載の搬送装置であって、前記制御システムが、前記推進巻線を駆動して前記推進及び浮揚力と直交している第1の案内力を生成し、かつ前記浮揚巻線を駆動して前記第1の案内力と反対方向の第2の案内力を生成する制御電子機器を含むことを特徴とする搬送装置。
- 請求項8に記載の搬送装置であって、前記制御システムが、前記推進巻線を駆動して前記推進及び浮揚力と直交する第1及び第2の対向する案内力を生成する制御電子機器を含むことを特徴とする搬送装置。
- 請求項8に記載の搬送装置であって、前記制御システムが、前記推進及び浮揚巻線を駆動して、ローレンツ力として推進及び浮揚力を生成する制御電子機器を含むことを特徴とする搬送装置。
- 請求項8に記載の搬送装置であって、前記制御システムが、前記推進及び浮揚巻線を駆動して、マクスウェル力として案内力を生成する制御電子機器を含むことを特徴とする搬送装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US12/330,780 | 2008-12-09 | ||
US12/330,780 US8960099B2 (en) | 2002-07-22 | 2008-12-09 | Substrate processing apparatus |
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JP2011539806A Division JP5941677B2 (ja) | 2008-12-09 | 2009-12-09 | 基板処理装置 |
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JP2015043457A JP2015043457A (ja) | 2015-03-05 |
JP6017508B2 true JP6017508B2 (ja) | 2016-11-02 |
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JP2011539806A Active JP5941677B2 (ja) | 2008-12-09 | 2009-12-09 | 基板処理装置 |
JP2014212977A Expired - Fee Related JP6017508B2 (ja) | 2008-12-09 | 2014-10-17 | 基板処理装置 |
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US (1) | US8960099B2 (ja) |
JP (2) | JP5941677B2 (ja) |
KR (1) | KR101729301B1 (ja) |
WO (1) | WO2010077727A1 (ja) |
Families Citing this family (21)
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KR101288599B1 (ko) * | 2007-05-29 | 2013-07-22 | 엘지디스플레이 주식회사 | 기판 이송 장치 |
JP5280522B2 (ja) | 2009-04-28 | 2013-09-04 | キヤノンアネルバ株式会社 | 識別情報設定装置、および識別情報設定方法 |
US7957118B2 (en) * | 2009-04-30 | 2011-06-07 | Taiwan Semiconductor Manufacturing Co., Ltd. | Multi-zone electrostatic chuck and chucking method |
KR101690970B1 (ko) * | 2010-02-19 | 2016-12-29 | 주성엔지니어링(주) | 기판 처리 시스템 및 기판 반송 방법 |
US9027739B2 (en) | 2011-09-16 | 2015-05-12 | Persimmon Technologies Corporation | Wafer transport system |
JP2013243312A (ja) * | 2012-05-22 | 2013-12-05 | Tokyo Electron Ltd | 搬送装置 |
DE102012220008B4 (de) * | 2012-11-02 | 2023-06-01 | Syntegon Technology Gmbh | Transportvorrichtung mit steuerbarem Förderelement |
DE102013203066A1 (de) * | 2013-02-25 | 2014-08-28 | Robert Bosch Gmbh | Transportvorrichtung und Verfahren zum Betrieb der Transportvorrichtung |
US10564221B2 (en) | 2013-11-13 | 2020-02-18 | Brooks Automation, Inc. | Method and apparatus for brushless electrical machine control |
US9948155B2 (en) * | 2013-11-13 | 2018-04-17 | Brooks Automation, Inc. | Sealed robot drive |
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US20090162179A1 (en) | 2009-06-25 |
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