JPWO2016194219A1 - ロボットシステム及び傾斜検出方法 - Google Patents
ロボットシステム及び傾斜検出方法 Download PDFInfo
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- JPWO2016194219A1 JPWO2016194219A1 JP2017521467A JP2017521467A JPWO2016194219A1 JP WO2016194219 A1 JPWO2016194219 A1 JP WO2016194219A1 JP 2017521467 A JP2017521467 A JP 2017521467A JP 2017521467 A JP2017521467 A JP 2017521467A JP WO2016194219 A1 JPWO2016194219 A1 JP WO2016194219A1
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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
- H01L21/67736—Loading to or unloading from a conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- H01L21/67005—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
- H01L21/67265—Position monitoring, e.g. misposition detection or presence detection of substrates stored in a container, a magazine, a carrier, a boat or the like
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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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45057—Storage handling for disks or material
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
- 複数のワークを多段に収容したカセットに対して前記ワークを出し入れするためのハンドと、
前記ワークを検出するセンサと、
前記複数のワークが並ぶ第一方向及び前記第一方向と交差する第二方向において、前記センサと前記カセットとの相対的な位置を変更する移動機構と、
第一位置に前記センサを配置し、前記第一方向において前記センサを走査させるように前記移動機構を制御し、前記第一方向における前記ワークの配置を示す第一マッピングデータを取得する第一走査制御部と、
前記第二方向において前記第一位置と異なる第二位置に前記センサを配置し、前記第一方向において前記センサを走査させるように前記移動機構を制御し、前記第一方向における前記ワークの配置を示す第二マッピングデータを取得する第二走査制御部と、
前記第一マッピングデータ及び前記第二マッピングデータに基づいて前記ワークの傾斜を検出する傾斜検出部と、
を備えるロボットシステム。 - 前記第二方向は、前記カセットに対して前記ハンドが前記ワークを出し入れする方向である、
請求項1記載のロボットシステム。 - 前記カセットにおける前記ワークの収容予定位置に対してずれた異常値が前記第一マッピングデータ及び前記第二マッピングデータの少なくとも一方に含まれていることを検出する異常値検出部を更に備え、
前記傾斜検出部は、前記第一マッピングデータ及び前記第二マッピングデータの少なくとも一方が前記異常値を含んでいる場合に、当該異常値に基づいて傾斜を検出する、請求項1又は2記載のロボットシステム。 - 前記第二方向は、前記カセットに対して前記ハンドが前記ワークを出し入れする方向であり、
前記異常値検出部は、前記第一マッピングデータと前記第二マッピングデータとを照合し、前記第一マッピングデータと前記第二マッピングデータとの差に基づいて前記異常値を検出する、請求項3に記載のロボットシステム。 - 前記傾斜検出部は、前記ワークの傾斜を検出した場合に当該ワークの傾斜角度を更に検出する、請求項1〜4のいずれか一項記載のロボットシステム。
- 前記傾斜検出部は、前記第一マッピングデータ又は前記第二マッピングデータのいずれか一方が前記異常値を含んでいる場合に、前記第一マッピングデータ又は前記第二マッピングデータの他方に含まれる値のうち前記異常値に最も近い値と当該異常値とに基づいて前記ワークの傾斜角度を検出する、請求項3記載のロボットシステム。
- 前記傾斜検出部は、前記ワークの傾斜角度と、前記ワークの収容予定位置同士の間隔とに基づいて、当該ワークが複数段の前記収容予定位置に亘っているか否かを検出する、請求項5又は6記載のロボットシステム。
- 前記傾斜検出部による検出結果に基づいて、傾斜した前記ワークに隣接する空間への前記ハンドの進入可否を判定する進入可否判定部を更に備える、請求項1〜7のいずれか一項記載のロボットシステム。
- 複数のワークを多段に収容したカセットに対して、前記ワークを検出するためのセンサを第一位置に配置すること、
前記第一位置に配置された前記センサを前記複数のワークが並ぶ第一方向において走査させて前記第一方向における前記ワークの配置を示す第一マッピングデータを取得すること、
前記第一方向と交差する第二方向において、前記第一位置と異なる第二位置に前記センサを配置すること、
前記第二位置に配置された前記センサを前記第一方向において走査させて前記第一方向における前記ワークの配置を示す第二マッピングデータを取得すること、及び
前記第一マッピングデータ及び前記第二マッピングデータに基づいて前記ワークの傾斜を検出すること、を含む傾斜検出方法。
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PCT/JP2015/066317 WO2016194219A1 (ja) | 2015-06-05 | 2015-06-05 | ロボットシステム及び傾斜検出方法 |
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JPWO2016194219A1 true JPWO2016194219A1 (ja) | 2018-03-29 |
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US10811290B2 (en) * | 2018-05-23 | 2020-10-20 | Taiwan Semiconductor Manufacturing Co., Ltd. | Systems and methods for inspection stations |
US11004713B2 (en) * | 2019-05-16 | 2021-05-11 | Taiwan Semiconductor Manufacturing Co., Ltd. | Robot arm device and method for transferring wafer |
US11654578B2 (en) * | 2020-09-17 | 2023-05-23 | Kawasaki Jukogyo Kabushiki Kaisha | Robot system and offset acquisition method |
US11996308B2 (en) * | 2021-03-03 | 2024-05-28 | Taiwan Semiconductor Manufacturing Company, Ltd. | Method for mapping wafers in a wafer carrier |
Citations (7)
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JPH05102286A (ja) * | 1991-10-07 | 1993-04-23 | Canon Inc | 板状体の搬送方法およびその装置 |
JP2002141394A (ja) * | 2000-11-01 | 2002-05-17 | Hirata Corp | 検査装置 |
JP2005285799A (ja) * | 2004-03-26 | 2005-10-13 | Dainippon Screen Mfg Co Ltd | カセット内基板位置検出装置、ならびにそれを用いた基板搬出装置および基板処理装置 |
JP2007148778A (ja) * | 2005-11-28 | 2007-06-14 | Hitachi Industrial Equipment Systems Co Ltd | 電動機制御装置及びそれを用いた搬送システム |
JP2014116426A (ja) * | 2012-12-07 | 2014-06-26 | Tokyo Electron Ltd | 基板処理装置、基板装置の運用方法及び記憶媒体 |
JP2014130866A (ja) * | 2012-12-28 | 2014-07-10 | Kawasaki Heavy Ind Ltd | エンドエフェクタ |
JP2014143388A (ja) * | 2012-12-25 | 2014-08-07 | Tokyo Electron Ltd | 基板搬送装置、基板搬送方法及び記憶媒体 |
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US5376785A (en) * | 1992-10-02 | 1994-12-27 | Chin; Philip K. | Optical displacement sensor utilizing optical diffusion |
JP2000124289A (ja) * | 1998-10-19 | 2000-04-28 | Mecs Corp | 薄型基板搬送ロボットのハンド |
US6468022B1 (en) * | 2000-07-05 | 2002-10-22 | Integrated Dynamics Engineering, Inc. | Edge-gripping pre-aligner |
US7654596B2 (en) * | 2003-06-27 | 2010-02-02 | Mattson Technology, Inc. | Endeffectors for handling semiconductor wafers |
US8146973B2 (en) * | 2008-03-13 | 2012-04-03 | Applied Materials, Inc. | Tendon enhanced end effector |
JP5447431B2 (ja) | 2011-05-09 | 2014-03-19 | 株式会社安川電機 | ロボットシステム |
US9120233B2 (en) * | 2012-05-31 | 2015-09-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Non-contact optical distance and tactile sensing system and method |
JP5949741B2 (ja) * | 2013-12-19 | 2016-07-13 | 株式会社安川電機 | ロボットシステム及び検出方法 |
-
2015
- 2015-06-05 JP JP2017521467A patent/JP6380673B2/ja active Active
- 2015-06-05 WO PCT/JP2015/066317 patent/WO2016194219A1/ja active Application Filing
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- 2017-12-01 US US15/828,445 patent/US10134620B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05102286A (ja) * | 1991-10-07 | 1993-04-23 | Canon Inc | 板状体の搬送方法およびその装置 |
JP2002141394A (ja) * | 2000-11-01 | 2002-05-17 | Hirata Corp | 検査装置 |
JP2005285799A (ja) * | 2004-03-26 | 2005-10-13 | Dainippon Screen Mfg Co Ltd | カセット内基板位置検出装置、ならびにそれを用いた基板搬出装置および基板処理装置 |
JP2007148778A (ja) * | 2005-11-28 | 2007-06-14 | Hitachi Industrial Equipment Systems Co Ltd | 電動機制御装置及びそれを用いた搬送システム |
JP2014116426A (ja) * | 2012-12-07 | 2014-06-26 | Tokyo Electron Ltd | 基板処理装置、基板装置の運用方法及び記憶媒体 |
JP2014143388A (ja) * | 2012-12-25 | 2014-08-07 | Tokyo Electron Ltd | 基板搬送装置、基板搬送方法及び記憶媒体 |
JP2014130866A (ja) * | 2012-12-28 | 2014-07-10 | Kawasaki Heavy Ind Ltd | エンドエフェクタ |
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Publication number | Publication date |
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US20180090357A1 (en) | 2018-03-29 |
WO2016194219A1 (ja) | 2016-12-08 |
US10134620B2 (en) | 2018-11-20 |
JP6380673B2 (ja) | 2018-08-29 |
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