JP6804146B2 - 搬送装置、加工装置及び搬送方法 - Google Patents
搬送装置、加工装置及び搬送方法 Download PDFInfo
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- JP6804146B2 JP6804146B2 JP2016219619A JP2016219619A JP6804146B2 JP 6804146 B2 JP6804146 B2 JP 6804146B2 JP 2016219619 A JP2016219619 A JP 2016219619A JP 2016219619 A JP2016219619 A JP 2016219619A JP 6804146 B2 JP6804146 B2 JP 6804146B2
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- 238000000034 method Methods 0.000 title claims description 12
- 230000032258 transport Effects 0.000 claims description 61
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- 230000003028 elevating effect Effects 0.000 description 9
- 238000003754 machining Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 239000002390 adhesive tape Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000000608 laser ablation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003672 processing method Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 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
- H01L21/683—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
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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
- H01L21/677—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
- H01L21/677—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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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
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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
- H01L21/02—Manufacture or treatment of semiconductor devices or of parts thereof
- H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer
- H01L21/18—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer the devices having semiconductor bodies comprising elements of Group IV of the Periodic Table or AIIIBV compounds with or without impurities, e.g. doping materials
- H01L21/26—Bombardment with radiation
- H01L21/263—Bombardment with radiation with high-energy radiation
- H01L21/268—Bombardment with radiation with high-energy radiation using electromagnetic radiation, e.g. laser radiation
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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
- H01L21/6773—Conveying cassettes, containers or carriers
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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
- H01L21/683—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
- H01L21/70—Manufacture or treatment of devices consisting of a plurality of solid state components formed in or on a common substrate or of parts thereof; Manufacture of integrated circuit devices or of parts thereof
- H01L21/77—Manufacture or treatment of devices consisting of a plurality of solid state components or integrated circuits formed in, or on, a common substrate
- H01L21/78—Manufacture or treatment of devices consisting of a plurality of solid state components or integrated circuits formed in, or on, a common substrate with subsequent division of the substrate into plural individual devices
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Computer Hardware Design (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- High Energy & Nuclear Physics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Toxicology (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Dicing (AREA)
- Mechanical Treatment Of Semiconductor (AREA)
- Laser Beam Processing (AREA)
Description
4 基台
6 カセット
8 カセット載置領域
10 搬送ユニット(搬送装置)
12 昇降機構(移動部)
14 搬送アーム(移動部)
16 第1アーム
18 第2アーム
20 保持ハンド(保持部)
22 保持ハンドフレーム
24 第1部分
24a 第1突き当て面(突き当て部)
26 第2部分
26a 第2突き当て面(突き当て部)
28 第3部分
28a 第3突き当て面(突き当て部)
30,32 挟持爪(挟持部)
34 制御ユニット(制御部)
36 チャックテーブル移動機構
38 Y軸移動テーブル
40 X軸移動テーブル
42 チャックテーブル
42a 保持面
44 クランプ
46 支持構造
48 支持アーム
50 レーザー加工ユニット(加工ユニット)
52 レンズ
62,64 側板部
62a,64a 棚板部
66 天板部
68 底板部
70 背板部
82 上爪
84 下爪
82a,84a 中央部
82b,84b 先端部
1 フレームユニット
11 被加工物
11a 表面
11b 裏面
13 デバイス
21 テープ(粘着テープ)
23 フレーム
Claims (3)
- リング状のフレームの開口にテープを介して板状の被加工物が支持されたフレームユニットを収容するカセットから該フレームユニットを搬出し、所定の位置まで搬送する搬送装置であって、
該フレームに突き当てられる突き当て部を含む直線状の第1部分と、該第1部分の両端から突出する第2部分及び第3部分と、該第2部分及び該第3部分に設けられ該フレームの手前側の離れた2か所を上下に挟んで把持可能な2組の挟持部と、を有する保持部と、
該保持部を移動させる移動部と、
各構成要素を制御する制御部と、を備え、
該制御部は、
該挟持部で該フレームを把持して該カセットから部分的に引き出し、該挟持部による把持を解除した後、該フレームを該カセットに向かって移動させるように該突き当て部を該フレームに突き当てた状態で、該挟持部によって該フレームを把持して持ち上げ該所定の位置まで搬送するように各構成要素を制御することを特徴とする搬送装置。 - 被加工物を保持するチャックテーブルと、
該チャックテーブルに保持された被加工物を加工する加工ユニットと、
該カセットが載置されるカセット載置領域と、
該カセットから該フレームユニットを搬出して該チャックテーブルまで搬送する搬送ユニットと、を備え、
該搬送ユニットは、請求項1に記載の搬送装置であることを特徴とする加工装置。 - リング状のフレームの開口にテープを介して板状の被加工物が支持されたフレームユニットを収容するカセットから該フレームユニットを搬出し、所定の位置まで搬送する搬送方法であって、
該フレームに突き当てられる突き当て部を含む直線状の第1部分と、該第1部分の両端から突出する第2部分及び第3部分と、該第2部分及び該第3部分に設けられ該フレームの手前側の離れた2か所を上下に挟んで把持可能な2組の挟持部と、を有する保持部と、
該保持部を移動させる移動部と、
各構成要素を制御する制御部と、を備える搬送装置を用い、
該2組の挟持部の一方又は双方で該フレームを把持して該カセットから部分的に引き出し、
該2組の挟持部の一方又は双方による把持を解除してから、該フレームを該カセットに向かって移動させるように該突き当て部を該フレームに突き当て、
該突き当て部が該フレームに突き当てられた状態で、該2組の挟持部によって該フレームを把持して持ち上げ該所定の位置まで搬送することを特徴とする搬送方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016219619A JP6804146B2 (ja) | 2016-11-10 | 2016-11-10 | 搬送装置、加工装置及び搬送方法 |
TW106134032A TWI724246B (zh) | 2016-11-10 | 2017-10-02 | 搬送裝置、加工裝置及搬送方法 |
US15/793,574 US10242904B2 (en) | 2016-11-10 | 2017-10-25 | Transfer apparatus, processing apparatus, and transfer method |
CN201711058243.0A CN108074849B (zh) | 2016-11-10 | 2017-11-01 | 搬送装置、加工装置和搬送方法 |
KR1020170147243A KR102293784B1 (ko) | 2016-11-10 | 2017-11-07 | 반송 장치, 가공 장치 및 반송 방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016219619A JP6804146B2 (ja) | 2016-11-10 | 2016-11-10 | 搬送装置、加工装置及び搬送方法 |
Publications (2)
Publication Number | Publication Date |
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JP2018078209A JP2018078209A (ja) | 2018-05-17 |
JP6804146B2 true JP6804146B2 (ja) | 2020-12-23 |
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JP2016219619A Active JP6804146B2 (ja) | 2016-11-10 | 2016-11-10 | 搬送装置、加工装置及び搬送方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10242904B2 (ja) |
JP (1) | JP6804146B2 (ja) |
KR (1) | KR102293784B1 (ja) |
CN (1) | CN108074849B (ja) |
TW (1) | TWI724246B (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7330606B2 (ja) * | 2018-11-07 | 2023-08-22 | 株式会社ディスコ | 加工装置及びカセット載置機構 |
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JP2733674B2 (ja) * | 1988-12-29 | 1998-03-30 | 株式会社ディスコ | ウエーハ塔載フレームのプリアライメント方法 |
JPH11204461A (ja) * | 1998-01-09 | 1999-07-30 | Disco Abrasive Syst Ltd | フレーム位置決め装置及びフレーム位置決め方法 |
JP2005150177A (ja) * | 2003-11-12 | 2005-06-09 | Nitto Denko Corp | 半導体ウエハ裏面への粘着テープ貼付方法及び粘着テープ貼付装置 |
CN102130033B (zh) * | 2005-07-08 | 2014-05-14 | 交叉自动控制公司 | 工件支撑结构及其使用设备 |
US20090101067A1 (en) * | 2005-07-08 | 2009-04-23 | Bonora Anthony C | Method and apparatus for wafer support |
JP4451854B2 (ja) * | 2006-03-20 | 2010-04-14 | 東京エレクトロン株式会社 | 縦型熱処理装置及び縦型熱処理装置における移載機構の制御方法 |
US20090196724A1 (en) * | 2008-02-05 | 2009-08-06 | Chen Hui Fred | Edge contact gripper |
JP5504641B2 (ja) * | 2009-02-13 | 2014-05-28 | 株式会社安川電機 | 基板搬送用ロボット及びそれを備えた基板搬送装置、半導体製造装置 |
JP2012084720A (ja) | 2010-10-13 | 2012-04-26 | Disco Abrasive Syst Ltd | ワークの加工方法 |
JP5695520B2 (ja) * | 2011-07-29 | 2015-04-08 | 三星ダイヤモンド工業株式会社 | ウエハリングのアライメント方法 |
SG194239A1 (en) * | 2012-04-09 | 2013-11-29 | Semiconductor Tech & Instr Inc | End handler |
TWI625814B (zh) * | 2012-07-27 | 2018-06-01 | 荏原製作所股份有限公司 | 工件搬送裝置 |
JP6024267B2 (ja) * | 2012-08-01 | 2016-11-16 | 三星ダイヤモンド工業株式会社 | 基板保持リング把持機構 |
TWI625815B (zh) * | 2012-08-31 | 2018-06-01 | 聯達科技設備私人有限公司 | 用於自動校準在膜框架上之晶圓在轉動上的對準誤差之系統與方法 |
JP6158551B2 (ja) | 2013-03-26 | 2017-07-05 | 株式会社ディスコ | ウェーハの分割方法 |
JP6242603B2 (ja) * | 2013-06-25 | 2017-12-06 | 株式会社ディスコ | ウエーハ加工装置 |
US10483143B2 (en) * | 2013-12-26 | 2019-11-19 | Kawasaki Jukogyo Kabushiki Kaisha | End effector and substrate conveying robot |
US10269606B2 (en) * | 2014-05-05 | 2019-04-23 | Persimmon Technologies Corporation | Two-link arm trajectory |
US20150332950A1 (en) * | 2014-05-16 | 2015-11-19 | Applied Materials, Inc. | On-end effector magnetic wafer carrier alignment |
US20150360370A1 (en) * | 2014-06-17 | 2015-12-17 | John Mazzocco | Thin end effector with ability to hold wafer during motion |
JP6511074B2 (ja) * | 2015-02-13 | 2019-05-15 | 川崎重工業株式会社 | 基板搬送ロボットおよびその運転方法 |
US9929034B2 (en) * | 2015-09-03 | 2018-03-27 | Kawasaki Jukogyo Kabushiki Kaisha | Substrate transfer device |
-
2016
- 2016-11-10 JP JP2016219619A patent/JP6804146B2/ja active Active
-
2017
- 2017-10-02 TW TW106134032A patent/TWI724246B/zh active
- 2017-10-25 US US15/793,574 patent/US10242904B2/en active Active
- 2017-11-01 CN CN201711058243.0A patent/CN108074849B/zh active Active
- 2017-11-07 KR KR1020170147243A patent/KR102293784B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
US20180130688A1 (en) | 2018-05-10 |
TW201818494A (zh) | 2018-05-16 |
US10242904B2 (en) | 2019-03-26 |
CN108074849B (zh) | 2023-03-31 |
CN108074849A (zh) | 2018-05-25 |
JP2018078209A (ja) | 2018-05-17 |
KR102293784B1 (ko) | 2021-08-24 |
KR20180052537A (ko) | 2018-05-18 |
TWI724246B (zh) | 2021-04-11 |
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