TWI732377B - Substrate conveying device - Google Patents

Abstract

The problem to be solved by the present invention is to provide a substrate conveying device whose structure is small and the yield of substrate processing is high. In order to solve this problem, the substrate transfer device of the present invention includes: a substrate transfer module, and an atmospheric transfer robot provided inside the substrate transfer module; wherein the atmospheric transfer robot has a relative to the substrate transfer module The robot base that can move freely. The substrate transfer device further includes a substrate aligner, which is provided on the upper part of the robot base and has at least two substrate mounting tables to perform position alignment of the direction of the substrate.

Description

Substrate conveying device

The present invention relates to a substrate conveying device, and to a substrate conveying device that takes out a substrate from a container containing a substrate and transfers the substrate to a processing device to perform various processing on the substrate.

The substrate transfer device is equipped with an atmospheric transfer robot (a transfer robot in an atmospheric environment) in its interior to take out wafers from a container containing substrates (hereinafter, referred to as wafers), transfer and transport the wafers. The atmospheric transport robot can travel along the traveling guide, and its front end is equipped with an end effector. The atmosphere transports the robot to extend and bend its arm unit, and uses the terminator to take out the wafer or reposition it. In the substrate transfer device, the wafer taken out by the terminator is transferred to the substrate aligner. The substrate aligner adjusts the orientation of the wafer to a predetermined direction and performs centering of the wafer. ). In this way, the transfer of the wafer by the atmospheric transport robot and the adjustment of the orientation and center position of the wafer by the substrate aligner are performed.

In addition, as a substrate transfer device, a configuration in which a holding shaft (hereinafter, referred to as a substrate aligner) integrated with the atmospheric transfer robot is provided is known. In the substrate transfer device, in the substrate transfer device, the arm unit of the atmospheric transfer robot is extended and raised, whereby the terminator is advanced to the wafer take-out position of the cassette, and the wafer is moved upward lift. Thereafter, the arm unit is bent and lowered, whereby the terminator is moved to a position directly above the substrate aligner, and the wafer is transferred to the substrate aligner. In this way, the substrate aligner integrated with the atmospheric transfer robot is provided, thereby eliminating the need to deliberately move the atmospheric transfer robot to the position of the substrate aligner in order to perform wafer alignment. Therefore, the moving distance of the atmospheric transfer robot is shorter than before, and the cycle time of the substrate processing in the substrate transfer device can be shortened (refer to Patent Document 2).

[Prior Technical Literature] (Patent Document) Patent Document 1: Japanese Patent Application Publication No. 2009-21504 Patent Document 2: Japanese Patent Laid-Open No. 8-255821

[The problem to be solved by the invention] The substrate transfer devices of Patent Literature 1 and Patent Literature 2 are provided with only one substrate aligner. Particularly in the case of Patent Document 2, even if the respective robot arms are used to take out the substrates, the positional alignment of the wafers can only be performed by the substrate aligner one at a time. Therefore, while the wafer position alignment of one of the robot arms is performed, the wafer of the other robot arm is on standby, which will shorten the cycle time of the substrate processing performed by the substrate aligner. bottleneck. Therefore, it has been conceived to provide a plurality of substrate aligners in the substrate conveying device, but as the number of installation increases, the device configuration may increase in size. In addition, due to recent advances in IoT (Internet of Things), etc., the demand for shortening the cycle time in substrate processing has further increased.

The present invention has been completed in view of the above circumstances, and its object is to provide a substrate conveying device whose device structure is compact (compact) and the yield of substrate processing is high.

[Technical means to solve the problem] The substrate transfer device of the present invention includes a substrate transfer module and an atmospheric transfer robot provided inside the substrate transfer module; wherein, the atmospheric transfer robot has a substrate that can move freely with respect to the substrate transfer module. Robot base; the substrate transfer device further includes a substrate aligner, which is provided on the upper part of the robot base, and has at least two substrate mounting tables to perform positional alignment of the direction of the substrate.

In the substrate transfer device of the present invention, the aforementioned atmospheric transfer robot may also be provided with: a pair of arm units that are rotatably supported on the base of the aforementioned robot and can be extended and bent; and, a terminator, which They are respectively provided at the front ends of a pair of the aforementioned arm units, and have two upper and lower stages of mounting portions on which the aforementioned substrates can be mounted.

In the substrate conveying device related to the present invention, the substrate aligner may be provided with a temporary substrate placement portion above each of the substrate mounting tables.

In the substrate conveying device of the present invention, the aforementioned substrate aligner may have: at least two substrate mounting tables to perform positional alignment of the orientation of the substrates; and a base portion provided with these substrates Mounting table.

In the substrate conveying device of the present invention, the aforementioned substrate aligners may be constructed using at least two, and each of the aforementioned substrate aligners has: a substrate mounting table for performing position alignment of the orientation of the substrate; And, the base part is provided with the substrate mounting table.

In the substrate transfer device related to the present invention, a load lock chamber may be further provided, which has a polygonal shape in plan view and is connected to the substrate transfer module; the load lock chamber is on the surface connected to the substrate transfer module , And the adjacent surface of the connected surface, respectively, have openings for carrying out and carrying in the aforementioned substrates.

In the substrate transfer device related to the present invention, the two load lock chambers are connected to the substrate transfer module; the two load lock chambers may be arranged such that the abutting surfaces face each other and are adjacent to each other. The faces are respectively provided with openings.

[Effects of the invention] According to the present invention, it is possible to obtain a substrate conveying device whose device structure is small and the yield of substrate processing is high.

The following description will be made regarding the substrate transport device of the present invention. As shown in FIG. 1, the substrate transfer device 10 includes a substrate transfer module (EFEM, Equipment Front End Module) 12, an atmospheric transfer robot 14, and a substrate aligner 15. A plurality of loading ports 13 are connected to the front surface (lower surface in FIG. 1) of the housing outer wall 22 in the substrate transport module 12. In addition, a plurality of load lock chambers 16, 17 are provided behind the outer wall 22 of the housing in the substrate transport module 12 (upper side in Figure 1), and a vacuum transport is provided between the load lock chambers 16, 17 Module 18.

In the substrate transfer module 12, a guide mechanism 24 and a drive mechanism 220 are provided on the inner wall 21 of the housing of the substrate transfer module 12. The guide mechanism 24 includes: a pair of guide rails 24a, 24b, which are provided on the bottom surface of the housing inner wall 21 in the substrate transport module 12; and a rack 24c, which runs along one of the guide rails 24a (or 24c) Settings. In addition, the drive mechanism 220 provided on the robot base 25 of the atmospheric transport robot 14 includes: a pair of engaged portions (sliders) 124a, 124b, which are respectively engaged with the guide rails 24a, 24b; and a pinion ( pinion gear) 225, which engages the rack 24c; and, the driving source 224, which drives the pinion 225. In the present embodiment, as the linear motion mechanism for moving the transport robot 14, a rack and pinion mechanism using a rack 24c and a pinion 225 is cited, but it is not limited to this. For example, all conventional linear motion mechanisms used for robot travel can replace this rack-and-pinion mechanism.

The loading port 13 is a device for opening and closing the door 32a of the FOUP (Front Opening Unified Pod) 32. The FOUP 32 is, for example, a container having a 25-stage mounting bay, and is placed on the load port 13. A semiconductor wafer (substrate) 35 is stored in each stage of the 25-stage mounting bay. In addition, in this embodiment, an example in which 25 semiconductor wafers are accommodated in the FOUP 32 will be described, but the number of semiconductor wafers 35 accommodated in the FOUP 32 can be appropriately selected. The loading port 13 is used to open the door 32a of the FOUP 32, so that the semiconductor wafer 35 stored in the FOUP 32 faces the inner wall 21 of the housing, and the semiconductor wafer 35 can be transported between the FOUP 32 and the atmospheric transport robot 14 Handover.

As shown in FIG. 2, an atmospheric transfer robot 14 is provided inside the substrate transfer module 12. The atmospheric transfer robot 14 includes a robot base 25; a pair of arm units 26 and 27; terminators 28 and 29 provided at the tips of the arm units 26 and 27; and a substrate aligner 15 described later. The robot base 25 is supported by the guide mechanism 24 so as to be able to move freely in the substrate transfer module 12. Thereby, the atmospheric transport robot 14 can be accessed freely with respect to any one of the plurality of load ports 13 and the load lock chambers 16, 17. The pair of arm units 26 and 27 are supported by the robot base 25 so as to be rotatable and liftable. In addition, the robot base 25 includes an elevating mechanism and a rotating mechanism (not shown) in its interior. With these, the pair of arm units 26 and 27 can move up and down and swing freely with respect to the robot base 25.

As shown in FIG. 3, the first arm unit 26 among the pair of arm units 26 and 27 includes a first arm 41 and a second arm 42 that are connected so as to be extendable and bendable. Specifically, the base of the first arm 41 is rotatably connected to the robot base 25, and the base of the second arm 42 is rotatably connected to the tip of the first arm 41. In addition, the first terminator 28 is connected to the front end of the second arm 42.

The second arm unit 27, like the first arm unit 26, includes a third arm 45 and a fourth arm 46 that are connected so as to be extendable and bendable. Specifically, the base of the third arm 45 is connected to the robot base 25, and the base of the fourth arm 46 is rotatably connected to the tip of the third arm 45. In addition, the second terminator 29 is connected to the front end of the fourth arm 46.

The first terminator 28 includes an upper hand member (mounting part) 51 and a lower hand member (mounting part) 52. The upper hand member 51 and the lower hand member 52 are arranged in two upper and lower stages in a state where the relative positions in the vertical direction and the horizontal direction are fixed. The wafer 35 is placed on the upper hand member 51 and the lower hand member 52. The second terminator 29, like the first terminator 28, includes an upper hand member (mounting portion) 53 and a lower hand member (mounting portion) 54. The upper hand member 53 and the lower hand member 54 are arranged in two upper and lower stages, similarly to the upper hand member 51 and the lower hand member 52 of the first terminator 28. In addition, the wafer 35 is also placed on the upper hand member 53 and the lower hand member 54 in the same manner. In the state where the first arm unit 26 and the second arm unit 27 are bent (the state in FIG. 3 ), the second terminator 29 is arranged to overlap below the first terminator 28.

As shown in FIGS. 2, 4 and 5, a substrate aligner 15 is provided on the upper part 25 a of the robot base 25. In other words, the substrate aligner 15 and the robot base 25 are provided as one body. The substrate aligner 15 includes: one base 56; two substrate mounting tables 57 and 58; two notch detection means 61 and 62; and one ID (identification code) reading means 63. This substrate aligner 15 is a dual aligner (dual aligner) provided with two substrate mounting tables 57 and 58 and, as described later, can align two wafers 35 almost simultaneously. Hereinafter, one of the two substrate mounting tables 57, 58 is set as the first substrate mounting table 57, and the other is set as the second substrate mounting table 58 for description; and the two notch detection means 61, One of 62 is set as the first notch portion detecting means 61, and the other is set as the second notch portion detecting means 62 for description.

The first substrate mounting table 57 and the second substrate mounting table 58 are rotatably supported on the upper portion 56a of the base portion 56 with a space therebetween. The wafer 35 of the first terminator 28 is placed on the second substrate mounting table 58. The wafer 35 of the second terminator 29 is placed on the first substrate mounting table 57. In other words, the first arm unit 26 mounts the wafer 35 on the second substrate mounting table 58, and the second arm unit 27 mounts the wafer 35 on the first substrate mounting table 57. The first substrate mounting table 57 and the second substrate mounting table 58 are formed so that the wafers 35 placed on the respective substrate mounting tables 57 and 58 can be aligned and arranged in a horizontal plane. In the upper part 56a of the base part 56, the first cut part detecting means 61 is provided at one end part (the lower right end part in Fig. 4) 56b on the side of the first substrate mounting table 57, and the second cut part The portion detecting means 62 is provided at the other end portion (upper left end portion in FIG. 4) 56c on the side of the second substrate mounting table 58. The first notch detection means 61 and the second notch detection means 62 are respectively provided to face the edges of the wafers 35 placed on the first substrate mounting table 57 and the second substrate mounting table 58 so as to The positions of the cut portions in the circumferential direction of the wafer 35 are respectively detected.

Furthermore, on the upper part 56 a of the base part 56, one ID reading means 63 is provided between the first substrate mounting table 57 and the second substrate mounting table 58. The ID reading means 63 is provided so that the top surface thereof faces the upper part 56a of the base part 56. The ID reading means 63 reads the ID on the edge and back of the wafer 35 placed on the first substrate placing table 57 and the second substrate placing table 58 to detect, for example, processing information and history of the wafer 35.

According to the substrate aligner 15, the first substrate mounting table 57 and the second substrate mounting table 58 are rotated in a state where the semiconductor wafer 35 has been mounted on the first substrate mounting table 57 and the second substrate mounting table 58 , Thereby rotating each wafer 35. Then, the position of the notch (notch) provided on the edge of each wafer 35 is detected by the first notch detection means 61 and the second notch detection means 62. Then, based on the detection information, the rotation of the first substrate mounting table 57 and the second substrate mounting table 58 is controlled, and the orientation of the wafer 35 is adjusted so that the cut portion reaches a predetermined position. Thereby, the wafer 35 is aligned so that the crystal direction of each wafer 35 faces any direction. In addition, the ID reading means 63 reads the ID of each wafer 35 to detect, for example, processing information and history of the wafer 35.

In this manner, two substrate mounting tables 57 and 58 are provided on one base portion 56 of the substrate aligner 15. In addition, an ID reading means 63 is provided between the two substrate mounting tables 57 and 58 to alternately read the ID of each wafer 35 placed on the two substrate mounting tables 57 and 58. That is, by sharing an expensive detection device, that is, the ID reading means 63, the cost of the device can be suppressed.

Next, based on FIG. 2, FIG. 3, FIG. 6 A, FIG. 6 B, FIG. 7 A, and FIG. 7 B, the wafer 35 is aligned and read by the substrate aligner 15 Take the example of the ID of the wafer 35. The atmospheric transport robot 14 is moved, the robot base 25 is positioned at a desired position in front of the loading port 13, and the respective arm units 26 and 27 are directed to the loading port 13. After that, the atmospheric transport robot 14 shown in FIG. 2 is driven to extend the arm units 26 and 27 toward the FOUP 32. Then, the upper hand member 51 and the lower hand member 52 of the first terminator 28 and the upper hand member 53 and the lower hand member 54 of the second terminator 29 are used to pick up the wafer 35 housed in the FOUP 32, and the wafer 35 Circle 35 is transferred from FOUP32 to each hand member. After that, the arm units 26 and 27 are retracted toward the robot base 25, and the wafer 35 is taken out.

Thereafter, the respective arm units 26 and 27 are rotated relative to the robot base 25 so that the respective arm units 26 and 27 are facing the substrate aligner 15. Hereinafter, the wafer 35 placed on the handle member 52 of the first terminator 28 is referred to as "wafer 35A", and the wafer 35 placed on the handle member 51 of the first terminator 28 is referred to as "wafer 35A". Set to "Wafer 35C". In addition, the wafer 35 placed on the handle member 54 of the second terminator 29 is referred to as "wafer 35B", and the wafer 35 placed on the handle member 53 of the second terminator 29 is referred to as "wafer 35B". Set it as "Wafer 35D" and explain in this way.

The atmospheric transport robot 14 is driven, and the respective arm units 26 and 27 are extended toward the substrate aligner 15. As shown in FIGS. 3 and 6A, the wafer 35A placed on the handle member 52 of the first terminator 28 in the arm unit 26 is transferred to the first substrate mounting table 57. After that, the robot base 25 is rotated, and the wafer 35C of the upper hand member 51 of the first terminator 28 is transferred to the second substrate mounting table 58. After that, the wafers 35A and 35C are aligned using the two substrate mounting tables 57 and 58. After the first alignment is completed, the upper hand member 51 of the first terminator 28 in the arm unit 26 is used to pick up the wafer 35C on the second substrate mounting table 58 and place the wafer 35C on the second substrate mounting table 58 in the arm unit 27. The wafer 35B on the lower member 54 of the second terminal 29 is transferred to the second substrate mounting table 58. After that, the robot base 25 is rotated in the opposite direction, and the lower member 52 of the first terminator 28 in the arm unit 26 is used to pick up the wafer 35A of the first substrate mounting table 57 and place it on the arm. The wafer 35D on the upper hand member 53 of the second terminator 29 in the unit 27 is transferred to the first substrate mounting table 57. After that, the wafers 35B and 35D are aligned using the two substrate mounting tables 57 and 58.

After the second alignment is completed, the upper hand member 53 of the second terminator 29 in the arm unit 27 is used to pick up the wafer 35D of the first substrate mounting table 57. After that, the robot base 25 is rotated, and the handle member 54 of the second terminator 29 in the arm unit 27 is used to pick up the wafer 35B of the second substrate mounting table 58.

Here, the substrate aligner 15 is driven, and the first substrate placing table 57 and the second substrate placing table 58 are rotated, thereby, the wafer 35A placed on the first substrate placing table 57 and the wafer 35A placed on the first substrate placing table 57 and The wafer 35C on the second substrate mounting table 58 is rotated. Due to the rotation of the wafer 35A and the wafer 35C, the first notch detection means 61 and the second notch detection means 62 detect the notches of the wafers 35A and 35C. Then, based on the detection information, the rotation of the first substrate mounting table 57 and the second substrate mounting table 58 is controlled, and the wafers 35A and 35C are aligned so that the cut portions reach predetermined positions. When the wafers 35A and 35C rotate, the ID reading means 63 reads the ID of each wafer 35A and 35C to detect the processing information and history of each wafer 35A and 35C. After that, the atmosphere transfer robot 14 is driven again, and the respective arm units 26 and 27 are extended toward the substrate aligner 15. The upper hand member 51 of the first terminator 28 is used to pick up and transfer the wafer 35C whose ID has been aligned and whose ID has been read from the second substrate mounting table 58. Then, the robot base 25 is rotated again, and the respective arm units 26 and 27 are extended toward the substrate aligner 15. The handle member 52 of the first terminator 28 is used to pick up and transfer the wafer 35A whose ID has been aligned and whose ID has been read from the first substrate mounting table 57.

The substrate aligner 15 is driven again, and the first substrate placing table 57 and the second substrate placing table 58 are rotated, whereby the wafer 35B placed on the first substrate placing table 57 and the second substrate are placed The wafer 35D on the mounting table 58 is rotated. Due to the rotation of the wafer 35B and the wafer 35D, the first notch detection means 61 and the second notch detection means 62 detect the notches of the wafers 35B and 35D. Then, based on the detection information, the rotation of the first substrate mounting table 57 and the second substrate mounting table 58 is controlled, and the wafers 35B and 35D are aligned so that the cut portions reach predetermined positions. In addition, when the wafers 35B and 35D rotate, the ID reading means 63 reads the ID of the wafers 35B and 35D to detect the processing information and history of the wafers 35B and 35D.

After that, the arm unit 27 is extended toward the substrate aligner 15 again. As shown in Fig. 3 and Fig. 7B, the upper hand member 53 of the second terminator 29 is used to align the wafer 35B whose ID has been read from the first substrate mounting table 57 and pick it up. Transfer. Then, the robot base 25 is rotated again, and the arm unit 27 is extended toward the substrate aligner 15. The handle member 54 of the second terminator 29 is used to pick up and transfer the wafer 35D whose ID has been aligned and whose ID has been read from the second substrate mounting table 58. Thereby, the respective wafers 35C and 35A whose ID has been aligned and whose ID has been read are placed on the upper hand member 51 and the lower hand member 52 of the first terminator 28, respectively. In addition, the respective wafers 35B and 35D whose ID has been aligned and whose ID has been read are placed on the upper hand member 53 and the lower hand member 54 of the second terminator 29, respectively. That is, the alignment of all the wafers 35A to 35D placed on each hand member is completed. After that, the atmospheric transport robot 14 is moved and the robot base 25 is positioned at a desired position in front of the load lock chamber 16 (or 17). After that, the atmospheric transport robot 14 is driven so that the respective arm units 26 and 27 face the load lock chamber 16. After that, the respective arm units 26 and 27 are extended toward the load lock chamber 16. Four wafers 35C, 35A, 35B, 35D to be carried on the upper hand member 51 and the lower hand member 52 of the first terminator 28, and the upper hand member 53 and the lower hand member 54 of the second terminator 29 Carry into the first load lock chamber 16 (or the second load lock chamber 17). In Fig. 1, the second load lock chamber 17 is shown. Here, it is preferable to complete the traveling and position alignment of the atmospheric transport robot 14 in the alignment of the wafer 35. Thereby, the alignment of the wafer 35 and the traveling of the atmospheric transport robot 14 are performed in parallel, so the cycle time can be shortened, and the yield can be improved.

In the substrate transfer device 10 of the present embodiment, the atmospheric transfer robot 14 is installed so as to be freely movable. Therefore, unlike the fixed rotary transfer robot in the conventional substrate transfer device, one robot can cover all the loading ports. 13 and two load lock chambers 16, 17. Therefore, it is possible to increase the operating rate of each atmospheric transport robot and suppress the equipment cost. Furthermore, the substrate aligner 15 that can align the two wafers 35 is integrally installed on the robot base 25 of the atmospheric transfer robot 14, and the substrate aligner 15 always follows the movement of the atmospheric transfer robot 14. . Therefore, during the traveling of the atmospheric transport robot 14, the alignment of the wafer 35 can be performed. Thereby, the cycle time of the substrate conveying device 10 is shortened, and the productivity is improved.

In addition, while the wafer 35 is aligned by the substrate aligner 15, the operation of the atmospheric transport robot 14 (refer to FIG. 2) is temporarily stopped (idle time occurs). However, as shown in FIGS. 4 and 5, the substrate aligner 15 is provided with two substrate mounting tables 57 and 58 and can perform alignment of two wafers 35 in parallel at the same time. As a result, compared to the conventional substrate transfer device in which the substrate mounting table is provided with one substrate aligner, the substrate transfer device 10 of the present embodiment can reduce the idle time of the atmospheric transfer robot 14 by half. Thereby, it is possible to reduce the cycle time of the substrate conveying device when the wafer 35 is continuously processed, and to improve the yield. Furthermore, this substrate aligner 15 is provided with a first buffer area 64a and a second buffer area 64b above the first substrate placing table 57 and the second substrate placing table 58. Alignment of the wafer 35. Thereby, the productivity of the substrate conveying device can be further improved.

Returning to FIGS. 1 and 2, the two load lock chambers 16 and 17 are connected to the other long side wall 22 b among the outer wall 22 of the housing of the substrate transfer module 12. Hereinafter, the load lock chamber connected to one side of the vacuum transfer module 18 among the two load lock chambers 16 and 17 is set as the first load lock chamber 16, and is connected to the vacuum transfer module 18 The load lock chamber on the other side will be described as the second load lock chamber 17. In addition, the first load lock chamber 16 and the second load lock chamber 17 have a symmetrical structure with respect to the vacuum transfer module 18. Hereinafter, the second load lock chamber 17 is given the same reference numerals as the constituent members of the first load lock chamber 16, and a detailed description of the second load lock chamber 17 is omitted.

As shown in Figures 8 and 9, the first load lock chamber 16 includes a frame 71, a first gate valve mechanism (gate valve mechanism) 72, a second gate valve mechanism (gate valve mechanism) 73, and a multi-stage substrate mounting portion 74, and the lifting and rotating unit 75. The frame body 71 presents a quadrangular shape among the polygonal shapes in a plan view, and has a first surface 71a, a second surface 71b, a third surface 71c, and a fourth surface 71d. In the present embodiment, the frame 71 is exemplified in a quadrangular shape in plan view, but the frame 71 may be formed in other polygonal shapes.

The first surface 71 a is a surface connected to the other long side wall 22 b among the outer wall 22 of the housing of the substrate transfer module 12. A first opening (opening) 77 is formed in the first surface 71a. The second surface 71b is a surface adjacent to the first surface 71a. A second opening (opening) 78 is formed on the second surface 71b. In this manner, a first opening 77 and a second opening 78 are provided on the adjacent first surface 71a and the second surface 71b, respectively. The first opening 77 and the second opening 78 have sufficient heights that can only correspond to the upper and lower hand members 51, 52 of the first terminator 28 and the upper and lower hand members 53, 52 of the second terminator 29. 54. Transfer 4 wafers 35 at a time.

By the atmospheric transfer robot 14, the wafer 35 is transferred from the substrate transfer module 12 side via the first opening 77 to the inside of the first load lock chamber 16 (multi-stage substrate placement portion 74) (arrow A direction). Then, the wafer 35 inside the first load lock chamber 16 is taken out through the second opening 78 by a vacuum transfer robot (not shown) in the vacuum transfer module 18 (in the direction of arrow B). The vacuum transfer robot is rotatably supported in the vacuum transfer module 18 with the rotating shaft 81 as an axis. When the wafer 35 is transferred from the vacuum transfer module 18 to the substrate transfer module 12 via the first load lock chamber 16, the wafer 35 is transferred in the order of the arrow C direction and the arrow D direction.

Here, the intersection angle θ1 between the carrying-in direction (arrow A direction) of the wafer 35 and the carrying-out direction (arrow B direction) of the wafer 35 is 90∘ (right angle). That is, the carrying-in and carrying-out path of the wafer 35 is L-shaped. Thereby, when the vacuum transfer module 18 is connected to the first load lock chamber 16, the installation position of the vacuum transfer module 18 is as close as possible to the substrate transfer module 12 side. As a result, the gap between the substrate transfer module 12 and the vacuum transfer module 18 becomes smaller, so that the empty space becomes smaller. Therefore, the total length and depth of the substrate transfer module 12 and the vacuum transfer module 18, that is, the footprint, becomes smaller, and the housing (not shown) constituting a clean space (clean space) can be correspondingly reduced. ) Of the volume. The wafer 35 taken out by the vacuum transfer robot in the vacuum transfer module 18 is transferred to the transfer module chamber (vacuum chamber). The transfer module chamber is connected to the surface of the vacuum transfer module 18 on the side opposite to the substrate transfer module 12. At this time, by rotating the vacuum transfer robot by a rotation angle θ2 of 90∘, the vacuum transfer robot can face the transfer module chamber. Here, in the conventional vacuum transfer robot, the crossing angle θ1 is larger than 90∘, for example, 120∘～150∘. The rotation angle θ2 of the vacuum transfer robot at this time is 120∘ to 150∘. That is, in the substrate transfer apparatus 10 of the present embodiment, the rotation angle θ2 of the vacuum transfer robot can be made smaller than before. Therefore, as the rotation angle becomes smaller, the cycle time from the start of the rotation of the vacuum transfer robot to the end of the rotation can be correspondingly shortened. Thereby, in the step of taking out the wafer 35 from the second opening 78 by the vacuum transfer robot and carrying it into the transfer module, the cycle time can be shortened.

Between the first load lock chamber 16 and the substrate transfer module 12, the four wafers 35 are collectively passed through the first opening by the first terminator 28 and the second terminator 29 of the atmospheric transport robot 14 77 to move in and move out. That is, the four wafers 35 placed on the upper hand member 51 and the lower hand member 52 of the first terminator 28, and the upper hand member 53 and the lower hand member 54 of the second terminator 29 as shown in FIG. 3, one It is carried into the first load lock chamber 16 from the first opening 77. In addition, between the first load lock chamber 16 and the vacuum transfer module 18, the wafer 35 is transferred in and out through the second opening 78 by the vacuum transfer robot.

As shown in FIG. 1, the respective second openings 78 of the first load lock chamber 16 and the second load lock chamber 17 are provided at opposing positions. The two second openings 78 are the openings connected to the vacuum transfer module 18. Thereby, the vacuum transfer module 18 can be arranged in the space between the first load lock chamber 16 and the second load lock chamber 17. Thereby, the vacuum transfer module 18 can be arranged to be adjacent to the other long side wall 22 b among the outer walls 22 of the casing of the substrate transfer module 12.

The first opening 77 can be opened and closed freely by the first gate valve mechanism 72 and can be hermetically sealed. The first gate valve mechanism 72 includes a first gate valve 84 and a first opening and closing mechanism (not shown). The first gate valve 84 is supported so as to be liftable between the closed position where the first opening 77 is closed and the open position where the first opening 77 is opened. The first opening and closing mechanism is connected to the first gate valve 84. By operating the first opening and closing mechanism, the first gate valve 84 is raised and lowered and the first opening 77 is opened and closed. In a state where the first opening 77 is closed by the first gate valve 84, the first opening 77 is sealed in an airtight state by the first gate valve 84.

The second opening 78 can be opened and closed freely by the second gate valve mechanism 73 and can be hermetically sealed. The second gate valve mechanism 73, like the first gate valve mechanism 72, includes a second gate valve 85 and a second opening and closing mechanism 86. The second gate valve 85 is supported so as to be movable between a closed position where the second opening 78 is closed and an open position where the second opening 78 is opened. The second opening and closing mechanism 86 is connected to the second gate valve 85. By operating the second opening and closing mechanism 86, the second gate valve 85 is raised and lowered and the second opening 78 is opened and closed. In a state where the second opening 78 is closed by the second gate valve 85, the second opening 78 is sealed in an airtight state by the second gate valve 85.

A multi-stage substrate mounting portion 74 is provided inside the frame 71. The multi-stage substrate mounting portion 74 includes, for example, a shelf in which at least 25 stages are arranged in the vertical direction, and can accommodate 25 wafers 35 at a time. Here, generally speaking, 25 wafers 35 can be stored in a FOUP (wafer box) 32. Thereby, the multi-stage substrate mounting portion 74 can store the wafer 35 of the FOUP 32 at a time. In this embodiment, an example in which 25 wafers 35 are accommodated in the multi-stage substrate mounting portion 74 will be described. However, the number of semiconductor wafers 35 accommodated in the multi-stage substrate mounting portion 74 can be appropriately selected. .

The elevation and rotation unit 75 is connected to the multi-stage substrate mounting portion 74. The lifting and turning unit 75 includes a lifting mechanism 75a and a turning mechanism 75b. The raising and lowering mechanism 75a is a mechanism that raises and lowers the multi-stage substrate mounting portion 74. For example, after the four wafers 35 are transferred to any four stages of the substrate placing portion 74 by the atmospheric transfer robot 14 through the first opening 77, the entire substrate placing portion 74 is raised by the lifting mechanism 75a The amount of 4 segments. Thereafter, four new wafers 35 are transferred to the substrate mounting portion 74, and this step is repeated sequentially, thereby transferring and storing the wafers 35 in all desired stages of the substrate mounting portion 74 on. The rotation mechanism 75b rotates the multi-stage substrate mounting portion 74 about a vertical axis (that is, a rotation center axis) 88. The multi-stage substrate mounting portion 74 is provided such that the center position 89 of the multi-stage substrate mounting portion 74 is shifted from the rotation center axis 88 toward the substrate transport module 12 side by only L2. For example, after the wafer 35 is transferred and stored on all the desired stages of the substrate mounting portion 74, the entire substrate mounting portion 74 is rotated 90∘ toward the vacuum transfer module 18 by the rotation mechanism 75b. After that, the wafer 35 is taken out from the substrate mounting portion 74 by the vacuum transfer robot in the vacuum transfer module 18.

Here, the center of the wafer 35 placed on the multi-stage substrate placing portion 74 through the first opening 77 is located at the center position 89 of the multi-stage substrate placing portion 74. That is, the wafer 35 is placed at a position shifted toward the first opening 77 side from the rotation center axis 88 of the rotation mechanism 75b in a state where it is placed on the multi-stage substrate placement portion 74. Thereby, when the atmospheric transfer robot 14 loads the wafer 35 into the multi-stage substrate mounting portion 74 from the substrate transfer module 12, the transfer stroke (extend and retreat stroke) of the atmospheric transfer robot 14 can be shortened. As a result, as the loading and unloading stroke becomes shorter, the cycle time when the wafer 35 is transferred from the substrate transfer module 12 into the multi-stage substrate mounting portion 74 can be correspondingly shortened.

Next, the first modification to the third modification of the present embodiment will be described. (First modification example) In the substrate transfer apparatus 10 of this embodiment, an example of the substrate aligner 15 will be described. The substrate aligner 15 has two substrate mounting tables 57 and 58 installed on the base 56 and one Each ID reading means 63 is also used to read the ID of each wafer 35, but it is not limited to this. For example, as in this modified example, as the substrate aligner, the existing individual aligners may be arranged in a side-by-side manner. The substrate aligner of this modified example may also be a double aligner provided with two substrate mounting tables, which can align two wafers 35 almost simultaneously. The existing aligner is formed by installing a substrate mounting table, a notch detection means, and an ID reading means on a base part. According to the substrate transfer device 10 of this modified example, a conventional and existing aligner can be directly applied to the substrate aligner, so it is easy to purchase, and the ID reading of two wafers 35 can be performed independently. Compared with this embodiment, it has a higher yield.

(Second modification example) In the substrate transfer device 10 of this modification, an example of the multi-stage substrate mounting portion 74 will be described. The center position 89 of the multi-stage substrate mounting portion 74 is arranged from the rotation center axis 88 of the rotation mechanism 75b. The substrate transport module 12 side is shifted only by the position L2, but it is not limited to this. For example, as in the second modified example, the rotation center axis 88 of the rotation mechanism 75b and the center position 89 of the multi-stage substrate mounting portion 74 may be set coaxially. Thereby, the rotation mechanism 75b coincides with the axis of the multi-stage substrate mounting portion 74, so the multi-stage substrate mounting portion 74 is rotated in a stable state by the rotation mechanism 75b.

(Third Variation Example) In the substrate transport device 10 of this modification example, as shown in FIGS. 4 to 6B, the substrate aligner 15 includes two temporary substrate placement portions 64.

In the substrate aligner 15 of this modified example, a substrate temporary placement portion 64 is provided on the upper portion of the base portion 56. The substrate temporary placement portion 64 is provided above the first substrate placement table 57 and the second substrate placement table 58. Specifically, the substrate temporary placement portion 64 includes a first buffer area 64 a arranged above the first substrate mounting table 57 and a second buffer area 64 b arranged above the second substrate mounting table 58. The first buffer area 64a is an annular frame member, and can drop or pick up the wafer 35 of the handle member 51 (refer to FIG. 3) in the first terminator 28. The ring-shaped frame member may be any one of a continuous frame member with cutouts in only a part, or an aggregate of a plurality of discontinuous frame members. The second buffer area 64b has the same structure as the first buffer area 64a.

Hereinafter, the wafer 35 placed on the handle member 52 of the first terminator 28 is referred to as "wafer 35A", and the wafer 35 placed on the handle member 51 of the first terminator 28 is referred to as "wafer 35A". Set to "Wafer 35C". In addition, the wafer 35 placed on the handle member 54 of the second terminator 29 is referred to as "wafer 35B", and the wafer 35 placed on the handle member 53 of the second terminator 29 is referred to as "wafer 35B". Set it as "Wafer 35D" and explain in this way. The arm units 26 and 27 are rotated relative to the robot base 25 so that the arm units 26 and 27 are facing the substrate aligner 15. After that, the atmosphere transfer robot 14 is driven, and the respective arm units 26 and 27 are extended toward the substrate aligner 15. As shown in FIGS. 3 and 6A, the wafer 35A placed on the handle member 52 of the first terminator 28 in the arm unit 26 is transferred to the first substrate mounting table 57; the first end The wafer 35C of the upper hand member 51 of the adapter 28 is transferred to the first buffer area 64a (refer to FIG. 5). At the same timing as the transfer by the arm unit 26 (or almost at the same time with a slight time difference), as shown in Fig. 3 and Fig. 6B, the second terminator 29 placed in the arm unit 27 The wafer 35B on the lower hand member 54 is transferred to the second substrate mounting table 58; the wafer 35D on the upper hand member 53 of the second terminator 29 is transferred to the second buffer area 64b (refer to FIG. 5).

The substrate aligner 15 is driven, and the first substrate placing table 57 and the second substrate placing table 58 are rotated, thereby, the wafer 35A placed on the first substrate placing table 57 and the wafer 35A placed on the second substrate placing table 58 The upper wafer 35B is rotated. Due to the rotation of the wafer 35A and the wafer 35B, the first notch detection means 61 and the second notch detection means 62 detect the notches of the wafers 35A and 35B. Then, based on the detection information, the rotation of the first substrate mounting table 57 and the second substrate mounting table 58 is controlled, and the alignment of the wafers 35A and 35B is adjusted so that the cut portions reach a predetermined position. When the wafers 35A and 35B rotate, the ID reading means 63 reads the IDs of the wafers 35A and 35B, and detects the processing information and history of the wafers 35A and 35B. After that, the atmosphere transfer robot 14 is driven again, and the respective arm units 26 and 27 are extended toward the substrate aligner 15. The wafer 35A that has been aligned and the ID is read is transferred from the first substrate mounting table 57 to the lowering member 52 of the first terminator 28, and the wafer 35C is transferred from the first buffer area 64a to the first end The upper hand member 51 of the connector 28. At the same timing as the transfer of wafers 35A and 35C, the wafer 35B whose ID has been aligned and whose ID has been read is transferred from the second substrate mounting table 58 to the lower member 54 of the second terminator 29. The wafer 35D is transferred from the second buffer area 64b to the upper hand member 53 of the second terminator 29.

After that, the elevating mechanism (not shown) of the atmospheric transport robot 14 is driven, the pair of arm units 26 and 27 are lowered, and the respective arm units 26 and 27 are extended toward the substrate aligner 15 again. As shown in FIGS. 3 and 7A, the wafer 35C is transferred from the handle member 51 of the first terminator 28 to the first substrate mounting table 57. At the same timing as the transfer of the wafer 35C, the wafer 35D is transferred from the handle member 53 of the second terminator 29 to the second substrate mounting table 58.

The substrate aligner 15 is driven again, and the first substrate placing table 57 and the second substrate placing table 58 are rotated, whereby the wafer 35C placed on the first substrate placing table 57 and the second substrate are placed The wafer 35D on the mounting table 58 is rotated. Due to the rotation of the wafer 35C and the wafer 35D, the first notch detection means 61 and the second notch detection means 62 detect the notches of the wafers 35C and 35D. Then, based on the detection information, the rotation of the first substrate mounting table 57 and the second substrate mounting table 58 is controlled, and the alignment of the wafers 35C and 35D is adjusted so that the notch reaches a predetermined position. In addition, when the wafers 35C and 35D rotate, the ID reading means 63 reads the IDs of the wafers 35C and 35D, and detects the processing information and history of the wafers 35C and 35D.

After that, the respective arm units 26 and 27 are extended toward the substrate aligner 15 again. As shown in FIGS. 3 and 7B, the wafer 35C whose ID has been aligned and whose ID has been read is transferred from the first substrate mounting table 57 to the handle member 51 of the first terminator 28. At the same timing as the transfer of the wafer 35C, the wafer 35D whose ID has been aligned and whose ID has been read is transferred from the second substrate mounting table 58 to the handle member 53 of the second terminator 29. Thereby, each wafer 35C, 35A whose ID has been aligned and whose ID has been read is placed on the upper hand member 51 and the lower hand member 52 of the first terminator 28, respectively. In addition, the wafers 35D and 35B whose ID has been aligned and whose ID has been read are placed on the upper hand member 53 and the lower hand member 54 of the second terminator 29, respectively. That is, the alignment of all the wafers 35A to 35D placed on each hand member is completed. Thereafter, as in this embodiment, the wafers 35B and 35A placed on the upper hand member 51 and the lower hand member 52 of the first terminator 28, and the upper hand member 53 and the lower hand member 54 of the second terminator 29 , 35D, 35C, the four pieces are carried into the first load lock chamber 16 (or the second load lock chamber 17) together.

As mentioned above, the embodiment of the present invention is described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and the present invention also includes design changes that do not deviate from the gist of the present invention. For example, in the substrate transport device 10 of this embodiment, an example in which the substrate aligner 15 is provided with two substrate stages 57 and 58 will be described, but as another example, three or more substrate stages may be provided. . In addition, in the first modification example, an example of the substrate aligner 15 will be described. The substrate aligner 15 arranges two existing aligners in a side-by-side arrangement, but it may include three or more. The existing aligner.

10: Substrate conveying device 12: Substrate transport module 13: loading port 14: Transport robot (atmospheric transport robot) 15: substrate aligner 16: Load lock room (first load lock room) 17: Load lock room (second load lock room) 18: Vacuum transfer module 21: The inner wall of the shell 22: Outer wall of shell 22b: Long side wall 24: Guiding agency 24a, 24b: guide rail 24c: rack 25: base (bot base) 25a: upper part 26: Arm unit (first arm unit) 27: Arm unit (second arm unit) 28: Terminator (the first terminator) 29: Terminator (second terminator) 32: FOUP (front opening wafer transfer box) 32a: door 35, 35A, 35B, 35C, 35D: Wafer (substrate, semiconductor wafer) 41: First arm 42: second arm 45: third arm 46: Fourth Arm 51: Placement part (hands-on component) 52: Placement part (underhand member) 53: Placement part (hands-on component) 54: Placement part (underhand member) 56a: upper part 56b, 56c: end 57: Substrate mounting table (first substrate mounting table) 58: Substrate mounting table (second substrate mounting table) 61: Notch detection means (first notch detection means) 62: Notch detection means (second notch detection means) 63: ID reading means 64a: the first buffer 64b: second buffer 71: Frame 71a: First side 71b: second side 71c: third side 71d: Fourth side 72: Gate valve mechanism (first gate valve mechanism) 73: Gate valve mechanism (second gate valve mechanism) 74: Board placement section 75: Lifting and rotating unit 75a: Lifting mechanism 75b: Rotating mechanism 77: Opening (first opening) 78: Opening (second opening) 81: Rotation axis 84: The first gate valve 85: second gate valve 86: The second opening and closing mechanism 88: Rotation center axis (vertical axis) 89: central location 124a, 124b: the engaged part 220: drive mechanism 224: drive source 225: Pinion II, III: Amplification section A, B, C, D: wafer transport direction L2: offset θ1: Crossing angle θ2: rotation angle

Fig. 1 is a plan view showing a substrate conveying device related to the present invention. Fig. 2 is an enlarged view of part II of Fig. 1. Fig. 3 is an enlarged view of part III of Fig. 2. Fig. 4 is a perspective view showing a substrate aligner of the substrate transfer device. Fig. 5 is a front view showing the substrate aligner of the substrate transfer device. FIG. 6A is a perspective view illustrating an example of placing a wafer on the first substrate mounting table and the first buffer area of the substrate transfer device. Fig. 6B is a perspective view illustrating an example in which the wafers placed on the first substrate stage and the second substrate stage of the substrate transfer device are aligned and read the ID (identification code) . Fig. 7A illustrates the positioning of wafers in the first buffer zone and the second buffer zone of the substrate transfer device on the first substrate mounting table and the second substrate mounting table and the orientation of the wafers is aligned, and A perspective view of an example of performing ID reading. FIG. 7B is a perspective view illustrating an example in which the atmospheric transfer robot takes out the wafer on the first substrate mounting table of the substrate transfer device. Fig. 8 is a plan view showing the first load lock chamber of the substrate transfer device. Fig. 9 is a schematic cross-sectional view showing the first load lock chamber of the substrate transfer device.

Domestic hosting information (please note in the order of hosting organization, date and number) no

Foreign hosting information (please note in the order of hosting country, institution, date, and number) no

10: Substrate conveying device

12: Substrate transport module

13: loading port

14: Transport robot (atmospheric transport robot)

15: substrate aligner

16: Load lock room (first load lock room)

17: Load lock room (second load lock room)

21: The inner wall of the shell

22: Outer wall of shell

22b: Long side wall

24: Guiding agency

24a, 24b: guide rail

24c: rack

25: base (bot base)

32: FOUP (front opening wafer transfer box)

32a: door

35: Wafer (substrate, semiconductor wafer)

57: Substrate mounting table (first substrate mounting table)

58: Substrate mounting table (second substrate mounting table)

72: Gate valve mechanism (first gate valve mechanism)

73: Gate valve mechanism (second gate valve mechanism)

74: Board placement section

84: The first gate valve

85: second gate valve

II: Enlargement section

Claims (9)

A substrate conveying device includes a substrate conveying module and an atmospheric conveying robot provided inside the substrate conveying module; the substrate conveying device is characterized in that the atmospheric conveying robot is capable of comparing with the substrate conveying module A robot base that can move freely; the substrate conveying device further includes a substrate aligner, which is provided on the upper part of the robot base, and has at least two substrate mounts to perform the orientation and position alignment of the substrate; wherein, the aforementioned The atmospheric transport robot is provided with: a pair of arm units, which are rotatably supported on the base of the robot, and can be extended and bent; and, terminators, which are respectively provided at the front ends of the pair of arm units , And has two upper and lower stages of the mounting portion that can mount the substrate; and the substrate mounting table, each of which is fixed to the robot base at a different position from each other when viewed from above; is mounted on one of the arm units The two substrates on the above-mentioned upper and lower stages of the mounting portion are transferred to the two substrate mounting tables, respectively. The substrate transfer device according to claim 1, wherein the substrate aligner includes a substrate temporary placement portion above each of the substrate mounting tables. The substrate transport device according to claim 1 or 2, wherein the substrate aligner has: At least two substrate mounting tables are aligned to perform the orientation of the aforementioned substrates; and, one base part is provided with these substrate mounting tables. The substrate transfer device according to claim 1 or 2, wherein the substrate aligner is constructed using at least two, and each of the substrate aligners has: a substrate mounting table for performing the orientation of the substrate Position alignment; and, the base portion, which is provided with the substrate mounting table. The substrate transfer device according to claim 1, further comprising a load lock chamber, which has a polygonal shape in plan view and is connected to the substrate transfer module; the load lock chamber is connected to the substrate transfer module The surface and the adjacent surface on the connected surface have openings respectively to carry out and carry in the aforementioned substrates. The substrate transfer device according to claim 5, wherein the two load lock chambers are connected to the substrate transfer module; and the two load lock chambers are arranged such that the abutting surfaces face each other and are opposite to each other The abutting surfaces are respectively provided with openings. The substrate transfer device according to claim 5 or 6, wherein the substrate aligner includes a temporary substrate placement portion above each of the substrate mounting tables. The substrate transfer device according to claim 5 or 6, wherein the substrate aligner has: at least two substrate mounting tables to perform the orientation of the substrate Alignment; And, a base portion, which is provided with these substrate mounting tables. The substrate transfer device according to claim 5 or 6, wherein the substrate aligner is constructed using at least two, and each of the substrate aligners has: a substrate mounting table for performing the orientation of the substrate Position alignment; and, the base portion, which is provided with the substrate mounting table.

Images