JP6663774B2 - 基板搬送方法及び基板処理システム - Google Patents
基板搬送方法及び基板処理システム Download PDFInfo
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- JP6663774B2 JP6663774B2 JP2016068041A JP2016068041A JP6663774B2 JP 6663774 B2 JP6663774 B2 JP 6663774B2 JP 2016068041 A JP2016068041 A JP 2016068041A JP 2016068041 A JP2016068041 A JP 2016068041A JP 6663774 B2 JP6663774 B2 JP 6663774B2
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- 238000012546 transfer Methods 0.000 title claims description 176
- 239000000758 substrate Substances 0.000 title claims description 85
- 238000012545 processing Methods 0.000 title claims description 60
- 238000000034 method Methods 0.000 title claims description 24
- 230000008859 change Effects 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 3
- 235000012431 wafers Nutrition 0.000 description 115
- 239000012636 effector Substances 0.000 description 20
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 7
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- 238000010586 diagram Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000003779 heat-resistant material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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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
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- 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
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
-
- 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
- H01L21/677—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
- H01L21/67778—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 involving loading and unloading of wafers
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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
- H01L21/68—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
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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
- H01L21/68—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
- H01L21/682—Mask-wafer alignment
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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
- H01L21/68764—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 a movable susceptor, stage or support, others than those only rotating on their own vertical axis, e.g. susceptors on a rotating caroussel
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Description
10 基板処理システム
11 真空処理室
13 ロードロック室
18 搬送アーム
20 ステージ
27 エンドエフェクタ
28 フォーク
Claims (7)
- 基板を搬送元から受け取り且つ搬送先へ搬送する搬送系を備え、前記搬送系は前記基板を把持する把持部を有し、前記基板を搬送するために前記搬送系が伸長する際に前記搬送系が前記把持部を回転させる基板処理システムにおける基板搬送方法であって、
前記搬送先における前記基板の回転方向のずれを算出する第1のステップと、
前記算出された基板の回転方向のずれを解消するように、前記搬送元において前記基板を前記搬送系が受け取る際の前記把持部に対する前記基板の回転角を変更する第2のステップとを有することを特徴とする基板搬送方法。 - 前記算出された基板の回転方向のずれが許容値を超えたときに、前記第2のステップを実行することを特徴とする請求項1記載の基板搬送方法。
- 前記第2のステップでは、前記搬送元において前記基板を前記搬送系が受け取る際の前記搬送系の伸長量を変更させることを特徴とする請求項1又は2記載の基板搬送方法。
- 前記第1のステップでは、前記基板処理システムの各構成要素の熱膨張に起因する前記基板の搬送距離の変化に対応するために前記搬送系の伸長量を変更した際、前記搬送系の伸長量の変更に起因する前記搬送先における前記基板の回転方向のずれを算出することを特徴とする請求項1乃至3のいずれか1項に記載の基板搬送方法。
- 前記第1のステップでは、前記把持部に対する前記基板の位置ずれの修正に伴う前記基板の搬送距離の変化に対応するために前記搬送系の伸長量を変更した際、前記搬送系の伸長量の変更に起因する前記搬送先における前記基板の回転方向のずれを算出することを特徴とする請求項1乃至3のいずれか1項に記載の基板搬送方法。
- 前記搬送系は1リンク形式の搬送アームであることを特徴とする請求項1乃至5のいずれか1項に記載の基板搬送方法。
- 基板を搬送元から受け取り且つ搬送先へ搬送する搬送系と、制御部とを備え、前記搬送系は前記基板を把持する把持部を有し、前記基板を搬送するために前記搬送系が伸長する際に前記搬送系が前記把持部を回転させる基板処理システムであって、
前記制御部は、前記搬送先における前記基板の回転方向のずれを算出し、さらに、前記算出された基板の回転方向のずれを解消するように、前記搬送元において前記基板を前記搬送系が受け取る際の前記把持部に対する前記基板の回転角を変更することを特徴とする基板処理システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2016068041A JP6663774B2 (ja) | 2016-03-30 | 2016-03-30 | 基板搬送方法及び基板処理システム |
US16/089,738 US11545381B2 (en) | 2016-03-30 | 2017-02-23 | Substrate transporting method and substrate processing system |
KR1020187027975A KR102128674B1 (ko) | 2016-03-30 | 2017-02-23 | 기판 반송 방법 및 기판 처리 시스템 |
PCT/JP2017/008207 WO2017169495A1 (ja) | 2016-03-30 | 2017-02-23 | 基板搬送方法及び基板処理システム |
TW106110242A TWI700160B (zh) | 2016-03-30 | 2017-03-28 | 基板搬送方法及基板處理系統 |
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JP2016068041A JP6663774B2 (ja) | 2016-03-30 | 2016-03-30 | 基板搬送方法及び基板処理システム |
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JP2017183483A JP2017183483A (ja) | 2017-10-05 |
JP6663774B2 true JP6663774B2 (ja) | 2020-03-13 |
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US (1) | US11545381B2 (ja) |
JP (1) | JP6663774B2 (ja) |
KR (1) | KR102128674B1 (ja) |
TW (1) | TWI700160B (ja) |
WO (1) | WO2017169495A1 (ja) |
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JP6958338B2 (ja) * | 2017-12-22 | 2021-11-02 | 東京エレクトロン株式会社 | 基板処理装置及び基板処理装置の運転方法 |
US11414748B2 (en) * | 2019-09-25 | 2022-08-16 | Intevac, Inc. | System with dual-motion substrate carriers |
JP2022041221A (ja) * | 2020-08-31 | 2022-03-11 | 東京エレクトロン株式会社 | 基板搬送システムの制御方法及び基板搬送システム |
CN112151432B (zh) * | 2020-11-26 | 2021-03-05 | 西安奕斯伟硅片技术有限公司 | 夹取储存在硅片盒中的硅片的装置、方法及硅片传送设备 |
KR20240004944A (ko) * | 2021-05-14 | 2024-01-11 | 도쿄엘렉트론가부시키가이샤 | 반송 장치 및 팽창량 산출 방법 |
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JPH02198783A (ja) * | 1989-01-23 | 1990-08-07 | Fanuc Ltd | 産業用ロボットの位置決め補正方式 |
JP3058289B2 (ja) * | 1991-03-19 | 2000-07-04 | 日立電子エンジニアリング株式会社 | ウエハのプリアライメント方式 |
US5775000A (en) * | 1996-05-13 | 1998-07-07 | Ebara Corporation | Substrate gripper device for spin drying |
JP4290455B2 (ja) | 2003-03-28 | 2009-07-08 | 日産自動車株式会社 | 車両用制動制御装置 |
US9002514B2 (en) * | 2007-11-30 | 2015-04-07 | Novellus Systems, Inc. | Wafer position correction with a dual, side-by-side wafer transfer robot |
JP2010199478A (ja) * | 2009-02-27 | 2010-09-09 | Hitachi High-Tech Control Systems Corp | ウェーハの偏心補正方法及びウェーハ搬送装置 |
US8757345B2 (en) * | 2009-04-29 | 2014-06-24 | Novellus Systems, Inc. | Magnetic rotational hardstop for robot |
LT3006454T (lt) | 2013-06-05 | 2021-04-12 | Shanghai Lumosa Therapeutics Co., Ltd. | Nauji junginiai, turintys trigubą trombolitinį, prieštrombinį ir radikalų gaudyklės aktyvumą, bei jų sintezė, nanostruktūra ir naudojimas |
JP6594304B2 (ja) * | 2013-10-18 | 2019-10-23 | ブルックス オートメーション インコーポレイテッド | 処理装置 |
JP6574715B2 (ja) * | 2016-02-01 | 2019-09-11 | 東京エレクトロン株式会社 | 基板搬送方法及び基板処理システム |
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- 2016-03-30 JP JP2016068041A patent/JP6663774B2/ja active Active
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- 2017-02-23 US US16/089,738 patent/US11545381B2/en active Active
- 2017-02-23 KR KR1020187027975A patent/KR102128674B1/ko active IP Right Grant
- 2017-02-23 WO PCT/JP2017/008207 patent/WO2017169495A1/ja active Application Filing
- 2017-03-28 TW TW106110242A patent/TWI700160B/zh active
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Publication number | Publication date |
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US20200312689A1 (en) | 2020-10-01 |
JP2017183483A (ja) | 2017-10-05 |
KR20180122370A (ko) | 2018-11-12 |
WO2017169495A1 (ja) | 2017-10-05 |
US11545381B2 (en) | 2023-01-03 |
TW201803708A (zh) | 2018-02-01 |
KR102128674B1 (ko) | 2020-07-08 |
TWI700160B (zh) | 2020-08-01 |
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