JP6710518B2 - 搬送装置及び補正方法 - Google Patents
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- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
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- H—ELECTRICITY
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- H—ELECTRICITY
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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
- 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
- H01L21/67706—Mechanical details, e.g. roller, belt
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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
- H01L21/67748—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 horizontal transfer of a single workpiece
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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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- 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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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Description
また、中央ハブ40には、図示しない回転部材を介してモータ40a、40bが接続されている。第1のアーム41は当該モータ40aの駆動により中心Aを回転軸として回転自在に構成されている。この第1のアーム41の回転角をθ1(以下、第1のアーム41の回転角度θ1)とする。一方、モータ40bの駆動によれば、アーム機構32全体を中心Aを回転軸として回転させることが可能な構成となっている。
このようなセンサ37によってウェハWの位置情報を取得する場合に、フォーク31が処理チャンバ20の内部に到達した後の段階(即ち、搬送アームが十分に伸びきる直前の状態)での各アームの伸びや歪み等の形状変化は、上記位置情報の取得に反映されない。搬送アーム(第1のアーム41及び第2のアーム45)が十分に伸びきる直前の状態においては、当該搬送アームの伸びや歪みはY方向(処理チャンバ20への直線方向)に顕著に発現する。
このような事情に鑑み、本発明者らは、ウェハWの所定位置への載置に関し、更なる精度の向上を図ることが可能であると考え、本実施の形態に係るウェハ搬送装置30の制御方法を創案した。以下、本実施の形態に係るウェハ搬送装置30の制御方法について図4を参照して説明する。
一方で、第2のアーム45の位置検出センサとしてのキッカー部材60及びキッカー用センサ63によれば、上記センサ37による検出が終了した後のウェハWの位置情報の取得が行われる。
このように回転角度検出機構及びセンサ37によって取得されたウェハWの位置情報と、第2のアーム45の位置検出センサとしてのキッカー部材60及びキッカー用センサ63によって取得されたウェハWの位置情報と、を比較し、その差分を算出する。そして、図示しない制御部により、当該差分に基づきウェハWの位置に補正を加え、最終的なウェハWの載置位置を決定することで、高精度で所定の位置にウェハWを載置することができる。
従って、従来に比べより高精度で正確な位置にウェハWを載置することが可能となる。特に、第1のアーム41及び第2のアーム45の昇温や降温による伸び・歪みは図中Y方向に顕著に発現するため、そのような伸び・歪みを考慮に入れた位置情報の取得・補正を行うことができ、結果として極めて高精度で正確な位置にウェハWを載置することができる。
その結果、昇温条件では、従来の補正方法では位置ずれ0.91mm、本発明に係る補正方法では位置ずれ0.21mmであった。また、室温条件では、従来の補正方法では位置ずれ0.35mm、本発明に係る補正方法では位置ずれ0.29mmであった。
10…カセット載置部
20…処理チャンバ
21…真空搬送室
30…ウェハ搬送装置
31…フォーク
32…アーム機構
37…センサ
40…中央ハブ
41…第1のアーム
43…関節部
45…第2のアーム
60…キッカー部材
63…キッカー用センサ
W…ウェハ(被処理体)
Claims (3)
- 搬送対象物を保持する保持部と、一端部が前記保持部に連結される直線形状の第2のアームと、当該第2のアームの他方端部に関節部を介して連結される直線形状の第1のアームと、を有する搬送装置であって、
前記第1のアーム及び前記第2のアームを回転駆動させ、前記保持部を待機位置と搬送位置との間で移動させる、回転駆動機構と、
前記第1のアーム及び前記第2のアームの回転角度を検出する回転角検出機構と、
前記第2のアームの位置を検出する位置検出センサと、
前記回転角検出機構で検出される前記第1のアーム及び前記第2のアームの回転角度に基いて前記保持部の位置を算出する計算部と、
前記計算部によって算出された前記保持部の位置情報と、前記位置検出センサによって検出された第2のアームの位置情報とを比較し、両者の差分に基いて搬送対象物を搬送する搬送位置に補正を施す制御部と、を備え、
前記第2のアームの位置を検出する位置検出センサは、当該第2のアームの長手方向の途中に設けられるキッカー部材と、当該キッカー部材の検出を行うキッカー用センサから構成され、
前記キッカー用センサによる前記キッカー部材の検出は、前記第2のアームの回転駆動時における等速領域または減速領域においてのみ実施されることを特徴とする、搬送装置。 - 前記第1のアーム及び前記第2のアームがそれぞれ一対設けられることを特徴とする、請求項1に記載の搬送装置。
- 搬送対象物を保持する保持部と、一端部が前記保持部に連結される直線形状の第2のアームと、当該第2のアームの他方端部に関節部を介して連結される直線形状の第1のアームと、を有する搬送装置において、搬送対象物を搬送する搬送位置に補正を施す補正方法であって、
前記第1のアーム及び前記第2のアームの回転角度から前記保持部の位置を算出する工程と、
前記第2のアームの位置を検出する位置検出センサによって当該第2のアームの位置情報を検出する工程と、
前記第1のアーム及び前記第2のアームの回転角度から算出された前記保持部の位置情報と、前記位置検出センサによって検出された第2のアームの位置情報とを比較し、両者の差分に基いて搬送対象物を搬送する搬送位置に補正を施す工程と、を有し、
前記第2のアームの位置を検出する位置検出センサは、当該第2のアームの長手方向の途中に設けられるキッカー部材と、当該キッカー部材の検出を行うキッカー用センサから構成され、
前記キッカー用センサによる前記キッカー部材の検出は、前記第2のアームの回転駆動時における等速領域または減速領域においてのみ実施されることを特徴とする、補正方法。
Priority Applications (4)
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JP2015236793A JP6710518B2 (ja) | 2015-12-03 | 2015-12-03 | 搬送装置及び補正方法 |
KR1020160155168A KR101896796B1 (ko) | 2015-12-03 | 2016-11-21 | 반송 장치 및 보정 방법 |
US15/364,910 US10607878B2 (en) | 2015-12-03 | 2016-11-30 | Transfer device and correction method |
CN201611097180.5A CN106992137B (zh) | 2015-12-03 | 2016-12-02 | 搬送装置和校正方法 |
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JP2015236793A JP6710518B2 (ja) | 2015-12-03 | 2015-12-03 | 搬送装置及び補正方法 |
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JP2017100261A JP2017100261A (ja) | 2017-06-08 |
JP6710518B2 true JP6710518B2 (ja) | 2020-06-17 |
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US10050008B1 (en) * | 2017-01-24 | 2018-08-14 | Asm Technology Singapore Pte Ltd | Method and system for automatic bond arm alignment |
JP7275039B2 (ja) * | 2017-03-15 | 2023-05-17 | ラム リサーチ コーポレーション | リニア真空搬送モジュールを有する省スペースプラットフォームアーキテクチャ |
JP6962790B2 (ja) * | 2017-11-09 | 2021-11-05 | 日本電産サンキョー株式会社 | ワーク搬送システム及びその制御方法 |
JP7023094B2 (ja) * | 2017-12-05 | 2022-02-21 | 日本電産サンキョー株式会社 | ロボット |
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 |
JP6528913B1 (ja) * | 2018-02-26 | 2019-06-12 | 三菱電機株式会社 | 補正関数生成装置、ロボット制御システム及びロボットシステム |
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JP7158238B2 (ja) * | 2018-10-10 | 2022-10-21 | 東京エレクトロン株式会社 | 基板処理システム |
JP7199211B2 (ja) | 2018-12-03 | 2023-01-05 | 東京エレクトロン株式会社 | 搬送検知方法及び基板処理装置 |
JP7202176B2 (ja) * | 2018-12-21 | 2023-01-11 | キヤノン株式会社 | 搬送装置、基板処理装置、および物品製造方法 |
JP7236934B2 (ja) | 2019-05-28 | 2023-03-10 | 東京エレクトロン株式会社 | 基板処理システム及び基板処理システムの制御方法 |
JP2020193902A (ja) * | 2019-05-29 | 2020-12-03 | セイコーエプソン株式会社 | 電子部品搬送装置、判断方法、および電子部品検査装置 |
CN110600826B (zh) * | 2019-08-27 | 2023-01-31 | 回收哥(武汉)互联网有限公司 | 一种二次定位抓取机构及二次定位方法 |
KR102361724B1 (ko) * | 2020-07-20 | 2022-02-11 | 주식회사 싸이맥스 | 고속데이터 래치모듈 및 고속데이터 래치모듈의 이송로봇에 형성된 회전축을 얼라이너 시키는 방법 |
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JP2002178279A (ja) * | 2000-12-12 | 2002-06-25 | Ulvac Japan Ltd | 基板搬送方法 |
JP2003303754A (ja) * | 2002-04-08 | 2003-10-24 | Tokyo Seimitsu Co Ltd | 多段ロボットアームを有する搬送装置及び近接露光方式電子ビーム露光装置 |
KR100676823B1 (ko) * | 2005-07-23 | 2007-02-01 | 삼성전자주식회사 | 웨이퍼이송장치 및 그 이송방법 |
JP2008218903A (ja) | 2007-03-07 | 2008-09-18 | Olympus Corp | ウエハの求心装置および方法 |
JP5266964B2 (ja) * | 2008-08-26 | 2013-08-21 | 株式会社安川電機 | 基板搬送システム、半導体製造装置および基板位置算出方法 |
JP5685875B2 (ja) * | 2010-09-28 | 2015-03-18 | シンフォニアテクノロジー株式会社 | 治具、搬送ロボット、円盤状搬送対象物アライメント方法 |
JP5940342B2 (ja) * | 2011-07-15 | 2016-06-29 | 東京エレクトロン株式会社 | 基板搬送装置、基板処理システムおよび基板搬送方法、ならびに記憶媒体 |
KR20130009700A (ko) * | 2011-07-15 | 2013-01-23 | 도쿄엘렉트론가부시키가이샤 | 기판 반송 장치, 기판 처리 시스템, 기판 반송 방법, 및 기억 매체 |
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