KR100928234B1 - 반송암의 후퇴허가위치 결정방법 및 그 교시장치 - Google Patents
반송암의 후퇴허가위치 결정방법 및 그 교시장치 Download PDFInfo
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- KR100928234B1 KR100928234B1 KR1020030003888A KR20030003888A KR100928234B1 KR 100928234 B1 KR100928234 B1 KR 100928234B1 KR 1020030003888 A KR1020030003888 A KR 1020030003888A KR 20030003888 A KR20030003888 A KR 20030003888A KR 100928234 B1 KR100928234 B1 KR 100928234B1
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- carrier arm
- wafer
- support pin
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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
- H01L21/68714—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 susceptor, stage or support
- H01L21/68742—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 susceptor, stage or support characterised by a lifting arrangement, e.g. lift pins
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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
-
- 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
-
- 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
- H01L21/68714—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 susceptor, stage or support
- H01L21/6875—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 susceptor, stage or support characterised by a plurality of individual support members, e.g. support posts or protrusions
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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 (8)
- 반송암으로 기판의 주변부를 유지하고 해당 기판을 재치대 위쪽으로 반송하고,상기 재치대를 관통하는 승강가능한 3개의 지지핀상에 상기 기판을 얹고,그 후 상기 반송암을 재치대 바깥으로 후퇴하여 퇴피시킬 때의 상기 반송암의 후퇴허가위치를 결정하는 방법에 있어서,상기 기판과 동일한 정도 크기의 원판을 준비하고,상기 원판에는 상기 복수의 지지핀이 삽입통과 가능하게 형성한 3개의 삽입통과공의 각각에 대해, 상기 각 지지핀의 유무를 검출가능한 센서를 삽입 통과공을 사이에 끼워 대향해서 설치하고,상기 원판의 주변부를 상기 반송암으로 유지하고 상기 재치대 위쪽으로 반송하고,상기 반송암과 지지핀을 수직방향으로 상대이동시키고,지지핀의 선단부를 상기 센서로 검출하고,상기 지지핀 선단부의 검출위치에서 적어도 상기 반송암의 두께분을 넘는 분만큼 상대적으로 반송암을 상기 원판에 대해 높이방향으로 이동시킨 위치를 구하고, 해당 위치를 반송암의 후퇴허가위치로 하는 것을 특징으로 하는 결정방법.
- 청구항 1에 있어서,상기 센서로서, 광축이 원판의 삽입통과공 내를 직교방향으로 자르는 투과형 광센서를 이용하는 것을 특징으로 하는 결정방법.
- 청구항 1에 있어서,상기 반송암의 후퇴허가위치는 상기 지지핀 선단부의 검출위치에서 반송암의 두께부분에 대해 높이방향으로 여유폭을 더 추가하여 산출한 위치로 하는 결정방법.
- 청구항 1에 있어서,상기 원판은 중앙부에 형성된 투과공을 통해 아래쪽을 촬상가능한 카메라를 탑재하고 있는 것을 이용하고,상기 반송암과 지지핀을 수평면 내에서 상대이동시키고, 상기 카메라로 감시하면서 상기 원판 중심을 이미 알고있는 중심타겟에 일치시키는 공정을 상기 반송암과 지지핀을 수직방향으로 상대이동하기 전에 더 갖는 것을 특징으로 하는 결정방법.
- 반송암으로 기판 주변부를 유지하고 해당 기판을 재치대의 위쪽으로 반송하고,상기 재치대를 관통하는 승강가능한 3개의 지지핀 위에 상기 기판을 얹고,상기 반송암을 재치대 바깥으로 후퇴하여 퇴피시킬 때의 상기 반송암의 후퇴허가위치를 교시하는 장치에 있어서,상기 지지핀이 삽입통과가능한 삽입통과공이 3개 형성되고, 또한 상기 반송암에 보유 유지할 수 있는 상기 기판과 동일한 정도 크기의 원판과,상기 원판의 상면에 있어서 각 삽입 통과공을 사이에 끼워서 대향하는 위치에 설치되고, 이 원판의 각 삽입통과공에 삽입통과되는 각 지지핀의 유무를 검출가능한 센서와,상기 센서로부터의 출력신호를 받고, 지지핀 선단부의 검출위치에서 적어도 상기 반송암의 두께부분을 넘는 부분만큼, 상대적으로 반송암을 상기 원판에 대해 수직방향으로 이동시킨 위치를 연산에 의해 구하고,그 위치를 상기 반송암의 후퇴허가위치로서 해당 반송암에 교시하는 콘트롤러와,를 구비하는 후퇴허가위치를 교시하는 장치.
- 청구항 5에 있어서,상기 센서는 광축이 상기 원판의 삽입통과공을 직교방향으로 자르는 광센서인 것을 특징으로 하는 후퇴허가위치를 교시하는 장치.
- 청구항 5에 있어서,상기 콘트롤러는 상기 지지핀 선단부의 검출위치에서 반송암의 두께부분에 높이방향으로 여유폭을 더 추가하여 산출한 위치를 상기 반송암의 후퇴허가위치로 하여 해당 반송암에 교시하는 것을 특징으로 하는 장치.
- 청구항 5에 있어서,상기 원판은 중앙부에 형성된 투과공과,해당 투과공에서 아래쪽의 이미 알고있는 중심타겟을 시각으로 알 수 있는 카메라를 갖고 있는 후퇴허가위치를 교시하는 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2002-00012900 | 2002-01-22 | ||
JP2002012900A JP3888620B2 (ja) | 2002-01-22 | 2002-01-22 | 基板搬送装置における基板の受け渡し位置検知方法及びその教示装置 |
Publications (2)
Publication Number | Publication Date |
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KR20030063215A KR20030063215A (ko) | 2003-07-28 |
KR100928234B1 true KR100928234B1 (ko) | 2009-11-24 |
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Application Number | Title | Priority Date | Filing Date |
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KR1020030003888A KR100928234B1 (ko) | 2002-01-22 | 2003-01-21 | 반송암의 후퇴허가위치 결정방법 및 그 교시장치 |
Country Status (3)
Country | Link |
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US (1) | US6643564B2 (ko) |
JP (1) | JP3888620B2 (ko) |
KR (1) | KR100928234B1 (ko) |
Cited By (1)
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CN108724200A (zh) * | 2017-04-14 | 2018-11-02 | 北京北方华创微电子装备有限公司 | 机械手系统及半导体加工设备 |
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JP4254116B2 (ja) * | 2002-03-22 | 2009-04-15 | 東京エレクトロン株式会社 | 位置合わせ用基板 |
US7233841B2 (en) * | 2002-04-19 | 2007-06-19 | Applied Materials, Inc. | Vision system |
US6952255B2 (en) * | 2003-08-06 | 2005-10-04 | Lam Research Corporation | System and method for integrated multi-use optical alignment |
DE102006008997A1 (de) * | 2006-02-23 | 2007-10-11 | Integrated Dynamics Engineering Inc., Randolph | Verfahren und Vorrichtung zum Aufnehmen und/oder Transportieren von Substraten |
US8146902B2 (en) * | 2006-12-21 | 2012-04-03 | Lam Research Corporation | Hybrid composite wafer carrier for wet clean equipment |
JP4956328B2 (ja) | 2007-08-24 | 2012-06-20 | 東京エレクトロン株式会社 | 搬送アームの移動位置の調整方法及び位置検出用治具 |
US8317450B2 (en) * | 2008-10-30 | 2012-11-27 | Lam Research Corporation | Tactile wafer lifter and methods for operating the same |
JP5402284B2 (ja) * | 2008-12-18 | 2014-01-29 | 株式会社安川電機 | 基板搬送ロボット、基板搬送装置、半導体製造装置および基板搬送ロボットの干渉物回避方法 |
JP6148025B2 (ja) * | 2013-02-04 | 2017-06-14 | 株式会社Screenホールディングス | 受渡位置教示方法、受渡位置教示装置および基板処理装置 |
JP2016105060A (ja) * | 2014-12-01 | 2016-06-09 | 国立研究開発法人産業技術総合研究所 | 処理基板の表面形状測定装置 |
KR102240922B1 (ko) * | 2015-10-01 | 2021-04-14 | 세메스 주식회사 | 기판 처리 장치 및 로봇 티칭 방법 |
JP6671993B2 (ja) | 2016-02-01 | 2020-03-25 | 東京エレクトロン株式会社 | 基板受け渡し位置の教示方法及び基板処理システム |
US9987747B2 (en) * | 2016-05-24 | 2018-06-05 | Semes Co., Ltd. | Stocker for receiving cassettes and method of teaching a stocker robot disposed therein |
JP6651994B2 (ja) * | 2016-06-17 | 2020-02-19 | 東京エレクトロン株式会社 | 基板処理装置、メンテナンス用治具、基板処理装置のメンテナンス方法及び記憶媒体 |
USD887469S1 (en) * | 2018-10-02 | 2020-06-16 | Teleflex Medical Incorporated | Camera assembly |
US20210352835A1 (en) * | 2020-05-05 | 2021-11-11 | Integrated Dynamics Engineering Gmbh | Method for processing substrates, in particular wafers, masks or flat panel displays, with a semi-conductor industry machine |
KR102396431B1 (ko) * | 2020-08-14 | 2022-05-10 | 피에스케이 주식회사 | 기판 처리 장치 및 기판 반송 방법 |
US11845179B2 (en) * | 2020-12-22 | 2023-12-19 | Kawasaki Jukogyo Kabushiki Kaisha | Wafer jig, robot system, communication method, and robot teaching method |
JP2022187931A (ja) | 2021-06-08 | 2022-12-20 | 東京エレクトロン株式会社 | 測定治具及び処理方法 |
WO2023026678A1 (ja) * | 2021-08-26 | 2023-03-02 | 東京エレクトロン株式会社 | 治具基板およびティーチング方法 |
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2003
- 2003-01-17 US US10/346,111 patent/US6643564B2/en not_active Expired - Fee Related
- 2003-01-21 KR KR1020030003888A patent/KR100928234B1/ko active IP Right Grant
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JP2000349133A (ja) * | 1999-04-02 | 2000-12-15 | Tokyo Electron Ltd | 搬送装置の位置合わせ方法および基板処理装置 |
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JP2003218186A (ja) | 2003-07-31 |
JP3888620B2 (ja) | 2007-03-07 |
US20030139852A1 (en) | 2003-07-24 |
US6643564B2 (en) | 2003-11-04 |
KR20030063215A (ko) | 2003-07-28 |
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