WO2003065287A1 - Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportantau moins une marque d'orientation - Google Patents
Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportantau moins une marque d'orientation Download PDFInfo
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- WO2003065287A1 WO2003065287A1 PCT/FR2003/000255 FR0300255W WO03065287A1 WO 2003065287 A1 WO2003065287 A1 WO 2003065287A1 FR 0300255 W FR0300255 W FR 0300255W WO 03065287 A1 WO03065287 A1 WO 03065287A1
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- characters
- plate
- semiconductor plate
- rotary
- gripping arm
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
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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
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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
- Y10S414/136—Associated with semiconductor wafer handling including wafer orienting means
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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
Definitions
- the present invention relates to the field of manufacturing electronic components, in particular the manufacture of integrated circuits from substrates or plates made of semiconductor materials such as silicon, and more particularly relates to the methods and devices for identifying characters inscribed on a semiconductor plate having at least one orientation mark.
- Prior Art teaches several methods and devices for identifying characters written on a semiconductor plate.
- a method of identifying characters engraved on plate-shaped substrates is known, which consists of using a manipulator arm to take each plate horizontally, the latter being stored in alignment with one another in respective grooves of a basket arranged vertically, to take the plate out of the basket, then orient it angularly using the orientation mark on its perimeter in the form of a notch or flat, so as to present the portion of surface bearing the characters to be identified in the alignment of the optical axis of a camera and a lighting system, and perpendicular to the latter.
- This method has the major drawback linked to the need to extract the plate from the support, for the sole purpose of being able to be identified, and also the drawback of imposing the presence of many elements, above the plate, likely to contaminate it.
- the prior art also teaches with document WO 91/10968 methods and devices for identifying characters using at least one mirror reflecting the light rays used in the identification of characters more or less engraved deep in the plates. More particularly, this document describes in particular an apparatus for identifying characters engraved on silicon plates aligned in a basket, an apparatus in which light radiation is reflected on one or two mirrors before illuminating the characters on a plate to be identified , and in which the image of the characters thus lit is reflected on two mirrors before entering an observation camera.
- the apparatus comprises means for lifting the plate placed directly in front of the plate to be identified in order to allow the placement of a mirror opposite the characters, the mirror being positioned at 45 ° relative to the plane defined by the plate.
- This device has the disadvantage of requiring the manipulation of a plate in order to allow the identification of another plate, which can generate a risk of particulate contamination of the plates and identification times slowed down by these manipulations.
- this device uses several mirrors to observe the illuminated characters, thus resulting in an increased complexity of the mechanisms, and a higher cost price of the device, and being able to cause errors of identification of plates due to the multiple reflections of the image on the mirrors before entering the observation camera.
- the applicant has developed methods and devices for identifying the characters of the semiconductor wafers which make it possible to largely overcome the aforementioned drawbacks, advantageously using a single reflection mirror, which are described in document FR 2 751 769.
- the identification methods and apparatus described in this document make it possible to effectively identify the characters inscribed more or less deeply on a semiconductor plate without touching another plate or the plate which must be identified, this thanks to a geometry specific to lighting and observation using a mirror to reflect the incident light rays on the characters to be identified, inserted between two successive plates from the underside of the plates.
- Such identification methods and apparatus are also entirely satisfactory.
- the methods and apparatuses according to the document mentioned above FR 2 711 824 they require an alignment of the semiconductor plates so that the characters to be identified are aligned.
- the present invention aims to overcome the drawbacks of the methods and devices of the prior art, and to provide other advantages. More specifically, it consists of a method of identifying characters written on a semiconductor plate comprising at least one orientation mark, characterized in that it comprises the following steps:
- the method according to the invention allows, by combining the grip by its peripheral part, of the plate whose characters must be identified, its rotation or its alignment of the characters in an appropriate position so that they are identified, and the use of a mirror allowing in particular the identification of more or less deeply engraved characters, of proposing an identification process reducing the risks of contamination in particular by handling only the plate to be identified, by its peripheral part, integrating alignment and character identification.
- the method according to the invention consists in taking said semiconductor plate by pressing on its peripheral part between at least three rotary stops and in simultaneously placing reflection means for light rays in the spatial zone substantially adjacent d 'a location that characters will adopt after orientation of the plate and above said location.
- This characteristic makes it possible to save time and resources, and to propose a simpler process and therefore less expensive and more reliable, in that with a single operation, the plate is grasped and the means of reflection simultaneously put in place.
- the method according to the invention also consists in placing light protection means against ambient parasitic lighting of said characters to be identified, simultaneously with the placement of the reflection means in said spatial area.
- This characteristic provides additional efficiency in the identification of the characters of the semiconductor wafers, without however lengthening the process development time since the operation of putting in place the protection means is simultaneous with the placement of the reflection means.
- the method according to the invention also consists in displacing said semiconductor plate in space, after having identified said characters or simultaneously with the execution of one of the steps consisting in orienting the plate semiconductor, illuminate, observe, or identify said characters.
- the method according to the invention consists in that said step consisting in taking said semiconductor plate by pressing on its peripheral part between at least three rotary stops linked to a gripping arm, comprises the following steps :
- said method further comprises the following steps after identifying said characters:
- the invention also relates to a device for identifying characters written on a semiconductor plate comprising at least one orientation mark, making it possible to implement the general method according to the invention, characterized in that it includes:
- a rigid gripping arm comprising in a determined plane at least a first and a second rotary stop having respectively at least one degree of freedom in rotation about their axis of symmetry, and a third rotary stop having at least one degree of freedom in rotation about its axis of symmetry and a degree of freedom in said determined plane, said first, second and third rotary stops allowing the grip of a semiconductor plate by its peripheral part,
- means for orienting said semiconductor plate comprising means for driving in rotation at least one of said first, second or third rotary stops,
- means for illuminating said characters comprising at least one light beam
- said third rotary stop having at least one degree of freedom in said determined plane is coupled with said reflection means for light rays, so that said means for moving said third rotary stop allow simultaneous movement of said means of reflection for light rays and vice versa.
- the device according to the invention comprises light protection means against ambient parasitic lighting of said characters to be identified, coupled with said reflection means, so that said displacement means of said reflection means allow simultaneous displacement said light protection means.
- the device according to the invention further comprises means for moving in space said gripping arm.
- said means for moving in space said gripping arm comprise at least:
- FIG. 1 represents a perspective view of an exemplary embodiment of a character identification device according to the invention, in a first operating position.
- FIG. 2 represents a perspective view of the exemplary embodiment of FIG. 1, from another angle of view and in a second operating position.
- FIG. 3 represents a top view of the character identification device represented in FIG. 1.
- FIG. 4 represents a sectional view along the line I-I of FIG. 3.
- FIG. 5 represents an enlarged detail view from below in the direction F of FIG. 1.
- FIG. 6 represents a partial side detail view in the direction G of FIG. 3.
- FIG. 7 represents an enlarged top view of the detail of FIG. 6.
- FIG. 8 represents an enlarged detail view of FIG. 4.
- FIG. 9 represents an axial section view of an enlarged detail of FIG. 1.
- the device 1 for identifying characters 2 written on a semiconductor plate 3 comprising at least one orientation mark 4, represented in FIGS. 1 to 4, comprises:
- a rigid gripping arm 5 comprising in a determined plane 11, a first 6 and a second 7 rotary stops respectively having a degree of freedom in rotation about their respective axes of symmetry, and a third 8 rotary stop having a degree of freedom in rotation about its axis of symmetry and a degree of freedom in the determined plane 11, the first 6, second 7, and third 8 rotary stops allowing the taking of a semiconductor plate 3 by its peripheral part 9,
- the rigid gripping arm 5 consists of any rigid structure 17, for example a metal frame or chassis preferably hollowed out as shown in the figures, in order to lighten its weight, with which the various constituent elements of the device described herein are associated. above, as will be detailed below.
- the rigid structure 17 adopts substantially the external shape of a hollowed rectangle with fixed dimensions and can have internal reinforcing ribs 18, 19 in the corners, as shown in FIG. 1.
- the rigid structure 17 preferably extends parallel to a plane 11 which can represent the flat surface of a semiconductor plate 3 and at least over the extent of this surface on a dimension or one side of the rectangle, in order to allow the placement of the rotary stops 6, 7, and 8 so that the semiconductor plate 3 fits between them, as shown in FIG. 2.
- the rotary stops 6 and 7 are placed substantially at the two corners 20 and 21 limiting a first short side 50 of the rectangle, and the stop 8 having a degree of freedom in the plane 11 relative to the rigid structure, is placed on the second short side 51 of the rectangle opposite the first short side 50, so that when the stop 8 m obile is placed in abutment on the peripheral part of the semiconductor plate 3, the thrust exerted on the peripheral part of the plate 3 is directed between the two supports which constitute the stops 6 and 7 so that the plate is maintained between the three stops 6, 7, and 8.
- the second short side of the rectangle allows a rigid connection of the gripping arm 5 to means for moving the latter in the three dimensions of the space X, Y, Z, in any known manner , for example by a rigid connection to a mobile arm support in the X, Y, Z directions perpendicular to the space.
- the stops 6 and 7 are free rotary stops, mounted on bearings or bearings. These stops 6 and 7 may advantageously each consist of two juxtaposed wheels 22, as shown in FIG. 1, in order to increase the stability of the guide in rotation of the plate 3.
- Each of the stops 6 and 7 or of the wheels 22 which make up comprises an axis of rotation, for example substantially or perfectly vertical, and an appropriate circular tread, so that when the plate 3 rotates, via its peripheral part, bearing on the tread of a stop 6, 7, it does not come off unexpectedly from the tread.
- peripheral part of a semiconductor plate its edge, either the circular or substantially circular part, continuous or almost continuous due to the presence of the orientation mark, of the plate which excludes the upper and lower faces. of it. As shown in FIG.
- the rotary stops 6 and 7 will be provided for this purpose, for example with a vertical axis of rotation 66 and a tread 63 with vertical generator, the band bearing or the rotary stop having an upper return 65 acting as a stop preventing the release of the plate upwards out of the tread when the three stops 6, 7, and 8 are in abutment on the peripheral part of the plate; the rotary stops 6 and 7 or their respective treads 63 will also be provided with such a lower return 64 in the lower part of the tread, preventing the release of the plate downwards out of the tread and guiding the semiconductor plate 3 when it bears on the tread under the effect of the thrust of the rotary stop 8, as shown in FIG. 9.
- the rotary stop 8 is driving and allows the plate to be driven in rotation between the three rotary stops 6, 7, 8.
- the stop 8 adopts two positions, a first position in which it is distant from the peripheral part of the plate 3 , thus allowing the insertion of the arm 5 and its three stops 6, 7, 8 around the peripheral part of the plate 3, without however touching it, by a displacement of the gripping arm 5 in the direction Z perpendicular to the plane 11 , and a second position in which the rotary stop 8 is in abutment against the peripheral part of the plate 3, in order to allow a rotational drive of the latter by adhesion.
- the rotary stop 8 advantageously has a circular tread with cross section forming a groove, for example in N as shown in Figure 8, so that the semiconductor plate 3 is naturally caused to temporarily roll helically from contact at the edge of the groove until it sits in the bottom of the groove in the stabilized rotation position, thus avoiding untimely release of the plate out of the tread during rotation.
- the production of an N-shaped tread on the driving stop 8 makes it possible to form, by the upper and lower branches of the N, the respectively upper and lower returns described above with respect to the freely rotating stops 6 and 7. As shown in FIG.
- the displacement means 10 of the third 8 rotary stop in the determined plane 11 comprise a lever 23, at one end of which the rotary stop 8 is mounted to rotate freely, and the rotation of which around an axis 24 is controlled by a motor 25 for driving the lever 23 in rotation.
- the driving stop 8 works against the peripheral part of the plate preferably at constant pressure rather than at constant position, in order to ensure better traction of the rotary stop 8.
- the control of the motor 25 driving the lever 23 carrying the stop 8, against the peripheral part of the plate 3 is done by controlling the current of the motor 25, operating alo rs with direct current, and thus allowing control of the stop 8 at controlled constant pressure.
- the driving of the driving stop 8 at constant pressure can alternatively be carried out by other means, for example pneumatic or spring-loaded, the piloting however not being, in these cases, entirely carried out at constant pressure.
- the driving stop 8 performs, by means of the lever 23, a displacement in the plane 11 in the form of an arc of a circle, the axis of rotation 24 of the lever 23 and the axis of rotation 31 of the stop 8 being perpendicular to the plane 11.
- the approach of the stop against the peripheral part of the semiconductor plate takes place in two stages in order to avoid a impact of the stop against the plate; a first approach during which the lever driving motor is controlled in position control, at the end of this first time the stop 8 coming to be positioned in the immediate vicinity of the semiconductor plate, and a second time during which the stop 8 enters in contact with the plate and remains in abutment against the latter during the rotation of the plate, the control of the motor 25 being carried out by monitoring the current in the latter during this second stage.
- the orientation means of the semiconductor plate 3, comprising means 12 for driving in rotation the third rotary stop 8, comprise a second motor 26 driving the stop 8 in rotation by means of a transmission 27 by belts 28, 29.
- the motor 26 is rigidly fixed on the arm 5 next to the motor 25 on the second short side of the rectangle forming the rigid structure 17 of the arm 5, the motor 25 being itself also rigidly fixed on the arm 5, as shown in Figures 1 to 3.
- the transmission 27 comprises two successive belts 28 and 29, a first belt 28 transmitting the rotational movement of the axis 30 of the motor 26 to the axis 24 of pivoting of the lever 23, and a second belt 29 transmitting the rotational movement of the axis 24 of pivoting of the lever 23 to the axis 31 of rotation of the stop 8.
- the drive stop 8 is preferably set rotating with ant to come into contact with the peripheral part of the plate 3 in order to avoid a shifting of the semiconductor plate at the bottom of the groove after the contact between the tread of the rotary stop 8 and the peripheral part 9 of the plate 3.
- the plate 3 will move into position at the bottom of the groove of the stop 8 by a progressive helical movement as explained above, avoiding a sudden shifting of the plate which would take place if the stop 8 was rotated after its contact with the peripheral part of the semiconductor plate 3.
- the orientation means of the semiconductor plate 3 also advantageously comprise three detectors 40, 41, 42 of position of the notch 4 of the plate 3.
- the three position detectors 40, 41, 42 of the notch are light beam detectors each having a transmitter and a receiver of the light rays and operating according to a principle of reflection of the light beam, and which are p laced on the rigid structure 17 on a diameter slightly smaller than that of the external diameter of the semiconductor plate 3 and on which the orientation mark of the plate is located, along the second short side of the rectangle forming the rigid structure 17, as shown in Figure 3 for example.
- a first 40 and a second detector 41 are respectively placed at the ends of the second short side of the rectangle, and the third detector 42 is placed between the first and the second detector, exactly at the place where the notch 4 of the plate 3 for character identification.
- the detectors 40, 41, and 42 are fixed to the rigid structure 17 so that when the notch passes over one of the detectors during the rotation of the plate, the light beam emitted by this detector crosses the notch and does not is thus more reflected by the plate, the receiver of reflected light rays placed on the detector no longer receiving light rays thus provides a position signal of the notch to a central control unit (not shown) of the device which records this position and determines the action to to take.
- the central detector 42 allows the rotation of the plate to be stopped, by stopping the drive motor 26 of the rotary stop 8, and the lateral detectors 40 and 41 allow the plate to decelerate when the notch passes over one of these side detectors.
- the side detectors without being compulsory advantageously allow a faster angular speed of approach in rotation of the plate.
- the character observation means 16 can be used to replace the central detector 42, the observation camera 38 being used to detect the position of the notch like the central detector, and thus allow the 'stopping the rotation of the plate when the notch is detected exactly where it should be for character identification.
- the reflection means for light rays comprise a plane mirror 13 whose surface corresponds substantially, and preferably is slightly greater, to the surface of the characters to be identified on the semiconductor plate 3, that is to say in the case of 'species a substantially rectangular surface whose length is large in front of the width, the mirror 13 being associated with the lever 23 for moving the movable stop 8 by a first of its short sides by means of a rigid connection, allowing precise transmission of any movement of the lever 23 at the mirror 13, so that in the first position of the rotary driving stop 8, distant from the peripheral part of the plate 3, the mirror 13 is placed outside the surface reserved for the plate on the structure rigid, as shown in FIG.
- the mirror 13 is placed in a spatial area 62 substantially close to and above the characters to be identified, as shown in FIG. 2.
- the driving stop 8, like the mirror 13, moves from the basket towards the front of the arm 5, to pass from the first inactive position to the second active position in which the plate can be rotated. It will be noted that the support of the driving stop 8 against the peripheral part of the semiconductor plate gives the mirror linked to said stop a precise position relative to said semiconductor plate.
- the displacement means 14 of the reflection means 13 therefore comprise the lever 23 and the drive motor 25 in rotation of the lever 23.
- the exact position of the mirror 13 in its first position must allow movement in Z of the arm in order to place a plate 3 between the three rotary stops 6, 7, and 8, the mirror 13 must therefore not constitute an obstacle during this movement and must consequently be outside of a perimeter corresponding to that of the plate, and the exact position of the mirror 13 in its second position is a function of the location of the characters inscribed on the semiconductor plate 3, and must allow an illumination of these characters, as will be explained below and also further.
- the characters are generally inscribed along a cord of the circular peripheral part of the plates 3 in an area close to this peripheral part.
- the mirror 13 must in this case be in its second position, with its large side parallel to this cord and substantially above the characters, the peripheral part of the plate being defined on the device 1 by the circle tangent to the three stops 6 , 7, and 8, the stop 8 then being considered in its second position against the peripheral part of the plate.
- the long side of the mirror 13 is substantially parallel to the short side of the rectangle forming the rigid structure 17.
- the orientation mark 4 is located in the example on the peripheral part and in the middle of the characters inscribed , as shown in FIG. 2, so that when the orientation mark is placed in the position determined for the observation of the characters, the latter are parallel to the short side of the rectangle forming the rigid structure 1.
- the mirror 13 and the lever 23 are placed on either side other of the rigid structure 17 forming a rectangle, the lever 23 as well as the transmission by belts 27 being placed on the face of the rigid structure 17 opposite to that receiving the semiconductor plate 3.
- its second short side will also be rigidly fixed to the lever 23 by means of a fixing lug 33 passing through the rigid structure 17 and connecting the second short side of the lever mirror 23. If the rigid structure is full at this location, a light 34 corresponding to the movement of the fixing lug 33 at the place where it passes through the rigid structure must be produced.
- the third rotary stop 8 with two degrees of freedom in the plane 11 is thus coupled with the reflection means 13 for light rays, so that the means for moving the third rotary stop 8 allow movement simultaneous reflection means 13 for light rays and vice versa.
- the device shown in the figures comprises light protection means 35 against ambient parasitic lighting of the characters 2 to be identified, coupled with the reflection means 13, so that the displacement means 14 of the reflection means 13 allow simultaneous movement of the light protection means.
- a difficulty in identifying the characters inscribed on the plates is to get rid of the ambient parasitic lighting in which the device 1 is located, in particular the lighting of the characters coming from the same side as the specific lighting.
- the mirror 13 advantageously comprises on its face opposite to the face which reflects the specific lighting, a screen 35 with parasitic light rays so that this screen obstructs a large part of the ambient light rays illuminating the characters to be identified, and forms a shadow area on these characters.
- the screen 35 is constituted by the opaque face of the mirror 13 opposite the reflecting face.
- the rigid arm 5 advantageously includes two additional supports, formed by two fixed stops 36 placed substantially at the ends of the second short side of the rigid structure 17, as shown in Figures 1 or 2.
- the stops 36 allow support on the lower edge of the peripheral part of the plate before being pressurized between the three rotary stops 6, 7, and 8.
- the stops 36 each have a lower frustoconical part on which the lower edge of the plate is placed, and a central part making it possible to guide the plate on the lower frustoconical part when the arm moves in Z to place the plate between the three stops presses.
- the lighting means 15 of the characters 2 inscribed on the semiconductor plate 3, comprise in known manner at least one specific light beam emitted by one or more light-emitting diodes 37, as shown in FIG.
- the light source for illuminating the characters comprises a plurality of light-emitting diodes 37 which emit light rays 57 in a direction 59 substantially parallel to the plane 11 passing through the stops 6, 7, and 8, and which are rigidly fixed to the rigid structure 17 behind the short side of the rectangle formed by this structure, as shown in FIG. 2.
- the light rays 57 emitted by the diodes 37 are reflected on the reflecting face of the mirror 13 when it is placed in its second position as described above, this second position being defined so that the rays 57 emitted by the diodes are reflected on the characters 2 written on the plate 3.
- the rays 58 reflected by the mirror and reaching the characters 2 are then reflected on the latter to reach the observation means 16 comprising an observation camera 38 sensit the wavelength of the light rays used by the diodes 37 and fixed, like the lighting means 15, rigidly to the rigid structure 17 behind the short side of the rectangle that forms this structure, as shown in Figure 2
- the mirror 13 in its second position must be located beyond the characters 2 towards the front of the arm 5 so that the reflected light rays 58 return to the characters 2 located at rear, then by reflection on the latter in the rearward direction 60, reach the observation means located in the vicinity of the area of emission of light rays.
- the reflecting face 61 of the mirror 13 will adopt an angle ⁇ of inclination relative to the plane 11 greater than 45 °.
- Such an arrangement of lighting and observation makes it possible to fix the lighting means and the observation means on the same small side of the rectangle formed by the rigid structure 17, and to leave free the rigid structure which must be able penetrate between two semiconductor plates 3 and 3A placed successively in a support, as shown in FIG. 4.
- the device comprises means for identifying the characters (not shown) as a function of the image observed and transmitted to the latter by the observation camera 38, according to all known means, including in particular image processing software, and neural network character recognition software.
- image processing software advantageously makes it possible to rough the transmitted image
- recognition software with neural networks advantageously allows an operator to visualize and identify the characters, for example by means of a monitor (not shown).
- the character identification function can be performed by means of an electronic circuit comprising a processor neural, ZISC (Zero Instruction Set Computer) type.
- the device shown in Figures 1 to 5 further advantageously comprises positioning means 45 allowing positioning of the arm 5 in the immediate vicinity of a semiconductor plate placed in a support of semiconductor plates.
- These positioning means 45 comprise two detectors 46, 47 operating on the principle of reflection of light rays, and each comprising a transmitter 52 and a receiver 53 of light rays, similarly to the detectors 40, 41, and 42 described above. .
- the arrangement of the transmitter 52, the receiver 53 and the light rays on one of the detectors 46, 47 can vary from that used on the detectors 40, 41, and 42 as will be explained below.
- the two detectors 46 and 47 are advantageously respectively substantially placed towards the two ends of the first short side 50 of the rectangle forming the rigid structure 17, in an area adjacent to the rotary stops 22, as shown in FIGS. 1 to 3.
- the two detectors 46 and 47 have the function of detecting the position of the plate, the characters of which must be identified and the dimensions of which, in particular the diameter, are known, in order to guide the movement of the arm towards the appropriate position for taking up the plate.
- each of the detectors provides a positioning point for the plate, which, with the additional knowledge of its diameter, makes it possible to determine the exact position of the plate in a support so that the arm then comes to position itself exactly at the desired location in the immediate vicinity of the plate in the support containing it.
- Each detector 46, 47 therefore comprises an emitter 52 of at least one beam 54 of light rays inclined in the direction 56 of movement of the arm 5, towards the front, as shown in FIG. 6.
- a receiver 53 of the emitted light beam by the emitter 52 is placed in front of the latter so that it receives the light beam reflected by the plate 3 when the latter intercepts it in the movement of the arms, as shown in FIG. 6.
- the control unit (not shown) records this reception and thus determines a first positioning point of the plate
- the control unit (not shown) records this reception and thus determines a second positioning point of the plate.
- the control unit controls the means of movement of the gripping arm at least in a first direction Y so as to place the arm in the immediate vicinity of the plate.
- semiconductor placed in a support of semiconductor plates whose control unit has just determined the position. From the knowledge of the position of the plate and that of the arm compared, the first movement of the arm near the plate can be made according to a combination of the X and Y directions of space.
- control unit controls the means of movement of the gripping arm in a second direction Z of the space in order to place the semiconductor plate between the three rotary stops 6, 7, 8, bearing on the fixed stops 36 and the lower returns of the rotary stops 6 and 7, so that it is then possible to put the three rotary stops 6, 7, 8 of the gripping arm bearing on the peripheral part of the semiconductor plate, by a displacement of the mobile rotary stop 8 as explained above.
- the device according to the invention also advantageously comprises means for displacement (not shown) in the space of the gripping arm, in the three directions X, Y, Z of the space.
- the gripping arm as described above and represented in FIGS. 1 to 3 is rigidly connected and in any known manner to an arm support (not shown) movable in space in three directions X, Y, Z, for example perpendicular, of space.
- the central control unit (not shown) of the device shown in the figures makes it possible to coordinate the control of the rotation of the mobile rotary stop 8, of the joint movement of this stop 8 and of the associated mirror 13 in the plane 11 as explained more top, lighting means 15, active detectors 40, 41, 42, 46, 47, means of observation 38 and identification of the characters, means of movement of the arm in space according to a method of identification of characters determined as required, as explained above.
- the method of identifying characters 2 written on a semiconductor plate comprising a mark 4 orientation includes the following steps:
- the method can also consist in displacing the semiconductor plate in space, after identifying the characters, by means of the gripping arm 5 and before releasing the plate 3, for example in a support other than that in which the plate was taken, or simultaneously with the execution of one of the steps consisting in orienting the plate, lighting, observing, or identifying the characters.
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2004-7011607A KR20040086304A (ko) | 2002-01-29 | 2003-01-28 | 적어도 하나의 정렬 마커를 포함하는 반도체 판 위에새겨진 특징 식별 방법 및 장치 |
JP2003564804A JP2005516311A (ja) | 2002-01-29 | 2003-01-28 | 少なくとも1つのオリエンテーション・マーカーを含む半導体プレートに書き込まれた文字を認識するための方法および装置 |
CA002474543A CA2474543A1 (fr) | 2002-01-29 | 2003-01-28 | Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportantau moins une marque d'orientation |
EP20030715054 EP1470523A1 (fr) | 2002-01-29 | 2003-01-28 | Procede et dispositif d'identification de caracteres inscrites sur une plaque de semi-conducteur comportantau moins une marque d'orientation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR02/01032 | 2002-01-29 | ||
FR0201032A FR2835337B1 (fr) | 2002-01-29 | 2002-01-29 | Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportant au moins une marque d'orientation |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003065287A1 true WO2003065287A1 (fr) | 2003-08-07 |
Family
ID=27619715
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2003/000255 WO2003065287A1 (fr) | 2002-01-29 | 2003-01-28 | Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportantau moins une marque d'orientation |
Country Status (8)
Country | Link |
---|---|
US (1) | US6961639B2 (fr) |
EP (1) | EP1470523A1 (fr) |
JP (1) | JP2005516311A (fr) |
KR (1) | KR20040086304A (fr) |
CN (1) | CN100347716C (fr) |
CA (1) | CA2474543A1 (fr) |
FR (1) | FR2835337B1 (fr) |
WO (1) | WO2003065287A1 (fr) |
Families Citing this family (10)
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US7334826B2 (en) * | 2001-07-13 | 2008-02-26 | Semitool, Inc. | End-effectors for handling microelectronic wafers |
US7235806B2 (en) * | 2003-05-16 | 2007-06-26 | Asm America, Inc. | Wafer edge with light sensor |
KR100832772B1 (ko) * | 2006-05-22 | 2008-05-27 | 주식회사 나온테크 | 반도체이송장비 |
US20070297885A1 (en) * | 2006-06-27 | 2007-12-27 | Jean Michel Processe | Product designed to be used with handling system |
KR101489963B1 (ko) | 2007-12-13 | 2015-02-04 | 한국에이에스엠지니텍 주식회사 | 박막 증착 장치 및 이를 이용한 증착 방법 |
US8273178B2 (en) | 2008-02-28 | 2012-09-25 | Asm Genitech Korea Ltd. | Thin film deposition apparatus and method of maintaining the same |
US8315485B2 (en) * | 2008-07-24 | 2012-11-20 | Camtek Ltd. | System and method for obtaining text |
JP6118102B2 (ja) * | 2012-12-21 | 2017-04-19 | 東京エレクトロン株式会社 | 基板位置検出装置及びこれを用いた基板処理装置、成膜装置 |
WO2022148607A1 (fr) * | 2021-01-11 | 2022-07-14 | Asml Netherlands B.V. | Dispositif de préhension et appareil lithographique comprenant le dispositif de préhension |
JP1722253S (ja) * | 2022-02-03 | 2022-08-12 | 半導体ウエハ収納カセット用把持機 |
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2002
- 2002-01-29 FR FR0201032A patent/FR2835337B1/fr not_active Expired - Fee Related
-
2003
- 2003-01-28 CN CNB038028131A patent/CN100347716C/zh not_active Expired - Fee Related
- 2003-01-28 WO PCT/FR2003/000255 patent/WO2003065287A1/fr active Application Filing
- 2003-01-28 JP JP2003564804A patent/JP2005516311A/ja active Pending
- 2003-01-28 KR KR10-2004-7011607A patent/KR20040086304A/ko not_active Application Discontinuation
- 2003-01-28 EP EP20030715054 patent/EP1470523A1/fr not_active Withdrawn
- 2003-01-28 US US10/353,845 patent/US6961639B2/en not_active Expired - Lifetime
- 2003-01-28 CA CA002474543A patent/CA2474543A1/fr not_active Abandoned
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US4892455A (en) * | 1987-05-21 | 1990-01-09 | Hine Derek L | Wafer alignment and transport mechanism |
EP0620584A1 (fr) * | 1993-04-12 | 1994-10-19 | Hughes Aircraft Company | Appareil et méthode pour la mise en coincidence reproductible sans coincement d'une galette semi-conductrice à encoche |
FR2751769A1 (fr) * | 1996-07-29 | 1998-01-30 | Recif Sa | Procede et appareil d'identification de caracteres formes sur une pluralite de plaquettes de silicium |
Also Published As
Publication number | Publication date |
---|---|
EP1470523A1 (fr) | 2004-10-27 |
FR2835337A1 (fr) | 2003-08-01 |
JP2005516311A (ja) | 2005-06-02 |
CN100347716C (zh) | 2007-11-07 |
FR2835337B1 (fr) | 2004-08-20 |
CA2474543A1 (fr) | 2003-08-07 |
KR20040086304A (ko) | 2004-10-08 |
US20030219914A1 (en) | 2003-11-27 |
CN1623161A (zh) | 2005-06-01 |
US6961639B2 (en) | 2005-11-01 |
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