KR100850436B1 - 반도체 제조설비 - Google Patents
반도체 제조설비 Download PDFInfo
- Publication number
- KR100850436B1 KR100850436B1 KR1020070060400A KR20070060400A KR100850436B1 KR 100850436 B1 KR100850436 B1 KR 100850436B1 KR 1020070060400 A KR1020070060400 A KR 1020070060400A KR 20070060400 A KR20070060400 A KR 20070060400A KR 100850436 B1 KR100850436 B1 KR 100850436B1
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- robot arm
- chamber
- load lock
- wafers
- Prior art date
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Classifications
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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
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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
- H01L21/67754—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 batch of workpieces
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/135—Associated with semiconductor wafer handling
- Y10S414/141—Associated with semiconductor wafer handling includes means for gripping wafer
Abstract
Description
Claims (7)
- 다수개의 웨이퍼를 탑재하는 카세트; 상기 카세트와 로드락 챔버 사이에 위치하는 대기챔버; 상기 대기챔버와 트랜스퍼 챔버 사이에 위치하여 공정수행을 위해 대기중이거나 공정수행이 완료된 웨이퍼들이 대기중인 로드락챔버; 반도체 제조공정을 매엽식으로 수행하는 복수개의 프로세스 챔버; 상기 복수개의 프로세스 챔버 및 로드락 챔버를 공통으로 연결하며 슬릿 밸브에 의해 선택적으로 개폐되는 트랜스퍼 챔버; 및 상기 트랜스퍼 챔버의 중심 및 대기챔버에 구비되어 상기 로드락 챔버와 프로세스 챔버간, 로드락 챔버와 트랜스퍼 챔버간 웨이퍼를 이송하는 웨이퍼 이송용 로봇장치를 포함하는 반도체 제조설비에 있어서,상기 웨이퍼 이송용 로봇장치는 로봇 몸통; 상기 로봇 몸통 내에 구비되어 두 개의 로봇암(제 1,2 로봇암) 각각을 구동시키는 제 1, 2 로봇암 구동부; 상기 제 1 로봇암 구동부와 연결되어 수평면상에서 구동되는 제 1 로봇암; 상기 제 2 로봇암 구동부와 연결되어 수평면상에서 구동되는 제 2 로봇암; 상기 제 1 로봇암 구동부과 제 1 로봇암을 연결하는 제 1 회전축; 및 상기 제 2 로봇암 구동부와 제 2 로봇암을 연결하는 제 2 회전축;을 포함하고,상기 제 1 회전축과 제 2 회전축은 동일축상에 위치하고, 제 1 로봇암 구동부와 제 2 구봇암 구동부에서 발생된 동력이 각각 제 1 회전축과 제 2 회전축으로 전달되고, 상기 제 1 회전축과 제 2 회전축으로 전달된 동력은 각각 제 1 로봇암과 제 2 로봇암으로 전달되어 제 1 로봇암과 제 2 로봇암이 서로 독립적으로 구동이 이루어지는 것을 특징으로 하는 반도체 제조설비.
- 제 1항에 있어서,상기 제 1 회전축과 제 2 회전축은 로봇 몸통의 중심에 위치하는 것을 특징으로 하는 반도체 제조설비.
- 제 1항 또는 2항에 있어서,제 1 로봇암과 제 2 로봇암이 서로 독립적으로 구동되면서 지지되도록 복수개의 베어링을 상기 로봇 몸통에 구비하는 것을 특징으로 하는 반도체 제조설비.
- 제 1항에 있어서,상기 대기챔버 내에 웨이퍼를 정렬시키는 얼라이너를 더 구비함을 특징으로 하는 반도체 제조설비.
- 제 4항에 있어서,상기 얼라이너는 한번에 2장의 웨이퍼를 동시에 정렬시키는 것을 특징으로 하는 반도체 제조설비.
- 제 1항에 있어서,상기 제 1 웨이퍼 이송용 로봇장치는 두 개의 로봇암을 이용하여 로드락 챔 버에서 동시에 2장을 로딩/언로딩하여 각기 다른 2개의 프로세스 챔버에 동시에 언로딩/로딩하고,두 개의 로봇암을 이용하여 웨이퍼를 한 장씩 로딩할 경우에는 한쪽 암이 로드락 또는 프로세스챔버에서 로딩/언로딩 하는 동안에 다른 암은 다음 작업을 위해 미리 프로세스 챔버 또는 로드락 챔버로 회전하여 다음 작업을 위해 준비하는 것을 특징으로 하는 반도체 제조설비.
- 제 4항 또는 5항에 있어서,상기 제 2 웨이퍼 이송용 로봇장치는 두 개의 로봇암을 동시에 이용하여 카세트에서 2장의 웨이퍼를 동시에 로딩하여 대기챔버에 있는 얼라이너에 언로딩함을 특징으로 하는 반도체 제조설비.
Priority Applications (1)
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KR1020070060400A KR100850436B1 (ko) | 2007-06-20 | 2007-06-20 | 반도체 제조설비 |
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KR1020070060400A KR100850436B1 (ko) | 2007-06-20 | 2007-06-20 | 반도체 제조설비 |
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KR100850436B1 true KR100850436B1 (ko) | 2008-08-05 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103802099A (zh) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | 一种机械手机构 |
WO2014143662A1 (en) * | 2013-03-15 | 2014-09-18 | Applied Materials, Inc | Substrate deposition systems, robot transfer apparatus, and methods for electronic device manufacturing |
CN105382828A (zh) * | 2014-08-20 | 2016-03-09 | 株式会社安川电机 | 机器人系统、机器人示教方法及机器人示教装置 |
CN110745522A (zh) * | 2018-07-24 | 2020-02-04 | 深圳市矽电半导体设备有限公司 | 一种物料传输自动线及其取送料装置 |
JP7292249B2 (ja) | 2012-02-10 | 2023-06-16 | ブルックス オートメーション ユーエス、エルエルシー | 基板処理装置 |
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JP2004289036A (ja) | 2003-03-25 | 2004-10-14 | Tadamoto Tamai | 真空処理装置 |
JP2007035792A (ja) | 2005-07-25 | 2007-02-08 | Tokyo Electron Ltd | 基板の搬送装置 |
KR20070056416A (ko) * | 2005-11-29 | 2007-06-04 | 세메스 주식회사 | 기판 이송 장치 및 방법 |
-
2007
- 2007-06-20 KR KR1020070060400A patent/KR100850436B1/ko active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004289036A (ja) | 2003-03-25 | 2004-10-14 | Tadamoto Tamai | 真空処理装置 |
JP2007035792A (ja) | 2005-07-25 | 2007-02-08 | Tokyo Electron Ltd | 基板の搬送装置 |
KR20070056416A (ko) * | 2005-11-29 | 2007-06-04 | 세메스 주식회사 | 기판 이송 장치 및 방법 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7292249B2 (ja) | 2012-02-10 | 2023-06-16 | ブルックス オートメーション ユーエス、エルエルシー | 基板処理装置 |
CN103802099A (zh) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | 一种机械手机构 |
WO2014143662A1 (en) * | 2013-03-15 | 2014-09-18 | Applied Materials, Inc | Substrate deposition systems, robot transfer apparatus, and methods for electronic device manufacturing |
CN105164799A (zh) * | 2013-03-15 | 2015-12-16 | 应用材料公司 | 基板沉积系统、机械手移送设备及用于电子装置制造的方法 |
US10427303B2 (en) | 2013-03-15 | 2019-10-01 | Applied Materials, Inc. | Substrate deposition systems, robot transfer apparatus, and methods for electronic device manufacturing |
CN111489987A (zh) * | 2013-03-15 | 2020-08-04 | 应用材料公司 | 基板沉积系统、机械手移送设备及用于电子装置制造的方法 |
CN105382828A (zh) * | 2014-08-20 | 2016-03-09 | 株式会社安川电机 | 机器人系统、机器人示教方法及机器人示教装置 |
CN110745522A (zh) * | 2018-07-24 | 2020-02-04 | 深圳市矽电半导体设备有限公司 | 一种物料传输自动线及其取送料装置 |
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