JP7037379B2 - 薄板状基板保持装置、及び保持装置を備える搬送ロボット - Google Patents
薄板状基板保持装置、及び保持装置を備える搬送ロボット Download PDFInfo
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- 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
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Description
内部に不活性ガスを流通させるための流路が形成され前記リストブロックに固定されたパージプレートと、不活性ガス供給源と前記流路とを連通させる配管部材と、
前記流路と連通し、前記パージプレートの薄板状基板の被処理面に対向する面に設けられる噴出口と、前記パージプレートに対向する位置に配置されて、前記薄板状基板を保持する保持部材と、前記リストブロックに設けられ、前記制御部の制御により前記保持部材を前記パージプレートに対して昇降移動させる第一の昇降機構とを備え、前記保持部材の前記パージプレートに対する離間距離は予め調整して教示されており、前記パージプレートは前記薄板状基板を収納する収納容器に水平状に形成される複数の棚板の上下方向の間隔に進入可能な外形寸法を有し、前記パージプレートは前記薄板状基板と接触しない状態で前記上下方向の間隔に進入させられ、前記薄板状基板搬送ロボットによる前記リストブロックの昇降移動を停止させた状態で、前記教示に従った離間距離になるように前記第一の昇降機構を駆動して、前記保持部材を前記容器内で上昇及び下降移動させることを特徴としている。
進退機構を水平面内で旋回させる旋回機構と、進退機構を昇降移動させる昇降機構とを備える薄板状基板搬送ロボットに搭載することも出来る。これにより、薄板状基板の被処理面を不活性ガスで置換しながら所定の位置まで薄板状基板を搬送することが出来る。
Claims (10)
- 制御部の制御により、リストブロックを昇降移動させ、平面内で旋回させ、進退移動させることにより、収容容器に収容される薄板状基板を搬送する薄板状基板搬送ロボットであって、
内部に不活性ガスを流通させるための流路が形成され前記リストブロックに固定されたパージプレートと、
不活性ガス供給源と前記流路とを連通させる配管部材と、
前記流路と連通し、前記パージプレートの薄板状基板の被処理面に対向する面に設けられる噴出口と、
前記パージプレートに対向する位置に配置されて、前記薄板状基板を保持する保持部材と、
前記リストブロックに設けられ、前記制御部の制御により前記保持部材を前記パージプレートに対して昇降移動させる第一の昇降機構とを備え、
前記保持部材の前記パージプレートに対する離間距離は予め調整して教示されており、
前記パージプレートは前記薄板状基板を収納する収納容器に水平状に形成される複数の棚板の上下方向の間隔に進入可能な外形寸法を有し、
前記パージプレートは前記薄板状基板と接触しない状態で前記上下方向の間隔に進入させられ、前記薄板状基板搬送ロボットによる前記リストブロックの昇降移動を停止させた状態で、前記教示に従った離間距離になるように前記第一の昇降機構を駆動して、前記保持部材を前記容器内で上昇及び下降移動させることを特徴とする薄板状基板搬送ロボット。
- 制御部の制御により、リストブロックを昇降移動させ、平面内で旋回させ、進退移動させることにより、収容容器に収容される薄板状基板を搬送する薄板状基板搬送ロボットであって、
内部に不活性ガスを流通させるための流路が形成されたパージプレートと、
不活性ガス供給源と前記流路とを連通させる配管部材と、
前記流路と連通し、前記パージプレートの薄板状基板の被処理面に対向する面に設けられる噴出口と、
前記パージプレートに対向する位置に配置されて、前記リストブロックに固定され、前記薄板状基板を保持する保持部材と、
前記リストブロックに設けられ、前記制御部の制御により前記パージプレートを前記保持部材に対して昇降移動させる第二の昇降機構とを備え、
前記保持部材の前記パージプレートに対する離間距離は予め調整して教示されており、
前記パージプレートは前記薄板伏基板を収納する収納容器に水平状に形成される複数の棚板の上下方向の間隔に進入可能な外形寸法を有し、
前記パージプレートは前記薄板状基板と接触しない状態で前記上下方向の間隔に進入させられ、前記薄板状基板搬送ロボットの昇降移動により前記リストブロックを上昇移動させるとともに、前記教示に従った離間距離になるように前記第二の昇降機構を駆動して、前記パージプレートを、前記リストブロックの上昇移動に連動して、前記保持部材の上昇スピードと同じスピードで下降移動させることを特徴とする薄板状基板搬送ロボット。
- 制御部の制御により、リストブロックを昇降移動させ、平面内で旋回させ、進退移動させることにより、収容容器に収容される薄板状基板を搬送する薄板状基板搬送ロボットであって、
内部に不活性ガスを流通させるための流路が形成されたパージプレートと、
不活性ガス供給源と前記流路とを連通させる配管部材と、
前記流路と連通し、前記パージプレートの薄板状基板の被処理面に対向する面に設けられる噴出口と、
前記パージプレートに対向する位置に配置されて、前記薄板状基板を保持する保持部材と、
前記リストブロックに設けられ、前記制御部の制御により前記保持部材と前記パージプレートとを昇降移動させる第三の昇降機構とを備え、
前記保持部材の前記パージプレートに対する離間距離は予め調整して教示されており、
前記パージプレートは前記薄板状基板を収納する収納容器に水平伏に形成される複数の棚板の上下方向の間隔に進入可能な外形寸法を有し、
前記パージプレートは前記薄板状基板と接触しない状態で前記上下方向の間隔に進入させられ、前記教示に従った離間距離になるように前記第三の昇降機構を駆動して、前記保持部材と前記パージプレートが互いに近づく方向、若しくは遠ざかる方向に移動させることを特徴とする薄板状基板搬送ロボット。
- 前記保持部材は、前記薄板状基板を下方から吸着保持することを特徴とする請求項1から請求項3のいずれか一項に記載の薄板状基板搬送ロボット。
- 前記保持部材は、前記薄板状基板の周縁を把持することを特徴とする請求項1から請求項3のいずれか一項に記載の薄板状基板搬送ロボット。
- 前記噴出口は、前記パージプレートに複数形成され、複数の前記噴出口の一部は、前記保持部材が配置される位置に対応して配置されることを特徴とする請求項1から請求項5のいずれか一項に記載の薄板状基板搬送ロボット。
- 前記噴出口は、前記パージプレートに複数形成され、
複数の前記噴出口のうち、少なくとも一部の前記噴出口は、
保持されている前記薄板状基板の外側に向かって傾斜して設けられていることを特徴とする請求項1から請求項6のいずれか一項に記載の薄板状基板搬送ロボット。
- 請求項1から請求項7のいずれか一項に記載の薄板状基板搬送ロボットであって、さらに蓄圧器を備えていることを特徴とする薄板状基板搬送ロボット。
- 請求項1から請求項8のいずれか一項に記載の薄板状基板搬送ロボットが配置される搬送空間と、
前記搬送空間を形成する搬送空間形成部材と、
前記搬送空間形成部材に固定され、
前記薄板状基板を収容する密閉容器を所定の位置に載置して前記密閉容器を開閉する密閉容器開閉装置と、
前記搬送空間形成部材の上部に固定され、前記搬送空間に清浄な空気をダウンフローとして供給するFFUとを備えることを特徴とする薄板状基板搬送装置。
- 前記密閉容器開閉装置は、
前記密閉容器の内部を所定の雰囲気に置換することが可能な雰囲気置換装置を備える
ことを特徴とする請求項9に記載の薄板状基板搬送装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018018797A JP7037379B2 (ja) | 2018-02-06 | 2018-02-06 | 薄板状基板保持装置、及び保持装置を備える搬送ロボット |
EP19750264.4A EP3734651A4 (en) | 2018-02-06 | 2019-01-17 | HOLDING DEVICE FOR THIN PLATE-SHAPED SUBSTRATES AND A HOLDING DEVICE EQUIPPED WITH A TRANSPORT ROBOT |
PCT/JP2019/001256 WO2019155842A1 (ja) | 2018-02-06 | 2019-01-17 | 薄板状基板保持装置、及び保持装置を備える搬送ロボット |
CN201980011784.9A CN111727500A (zh) | 2018-02-06 | 2019-01-17 | 薄板状衬底保持装置以及具有保持装置的运送机器人 |
KR1020207021160A KR102606448B1 (ko) | 2018-02-06 | 2019-01-17 | 박판 형상 기판 유지 장치 및 유지 장치를 구비하는 반송 로봇 |
US16/966,888 US11227784B2 (en) | 2018-02-06 | 2019-01-17 | Thin plate substrate-holding device and transfer robot provided with this holding device |
TW108103724A TWI776016B (zh) | 2018-02-06 | 2019-01-31 | 薄板狀基板保持裝置及具備保持裝置之搬送機器人 |
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WO2018207599A1 (ja) * | 2017-05-11 | 2018-11-15 | ローツェ株式会社 | 薄板状基板保持フィンガ、及びこのフィンガを備える搬送ロボット |
JP2021048242A (ja) * | 2019-09-18 | 2021-03-25 | 東京エレクトロン株式会社 | 搬送装置及び搬送方法 |
JP7045353B2 (ja) * | 2019-10-02 | 2022-03-31 | 株式会社アルバック | 基板搬送装置、および、基板搬送方法 |
WO2021145110A1 (ja) * | 2020-01-15 | 2021-07-22 | 日本特殊陶業株式会社 | 保持装置 |
JP7467152B2 (ja) * | 2020-02-13 | 2024-04-15 | 東京エレクトロン株式会社 | 収容容器及び基板状センサの充電方法 |
TWI760096B (zh) * | 2021-02-05 | 2022-04-01 | 矽碁科技股份有限公司 | 微型化半導體製程系統 |
JP2023006718A (ja) * | 2021-06-30 | 2023-01-18 | 株式会社荏原製作所 | 搬送装置、および基板処理装置 |
CN116031184A (zh) * | 2021-10-25 | 2023-04-28 | 大立钰科技有限公司 | 晶圆存取总成及其晶圆存取装置与晶圆载具 |
CN117080135A (zh) * | 2023-08-24 | 2023-11-17 | 上海广川科技有限公司 | 一种可净化保护的末端执行器 |
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TW201937645A (zh) | 2019-09-16 |
KR20200116919A (ko) | 2020-10-13 |
TWI776016B (zh) | 2022-09-01 |
US20210050242A1 (en) | 2021-02-18 |
US11227784B2 (en) | 2022-01-18 |
JP2019140130A (ja) | 2019-08-22 |
KR102606448B1 (ko) | 2023-11-27 |
EP3734651A1 (en) | 2020-11-04 |
WO2019155842A1 (ja) | 2019-08-15 |
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EP3734651A4 (en) | 2021-08-25 |
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