WO2012049998A1 - 処理システム - Google Patents
処理システム Download PDFInfo
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- WO2012049998A1 WO2012049998A1 PCT/JP2011/072761 JP2011072761W WO2012049998A1 WO 2012049998 A1 WO2012049998 A1 WO 2012049998A1 JP 2011072761 W JP2011072761 W JP 2011072761W WO 2012049998 A1 WO2012049998 A1 WO 2012049998A1
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- small space
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
- H01L21/67265—Position monitoring, e.g. misposition detection or presence detection of substrates stored in a container, a magazine, a carrier, a boat or the like
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/6719—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the construction of the processing chambers, e.g. modular processing chambers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67778—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading involving loading and unloading of wafers
Definitions
- This invention relates to a processing system.
- a hoop (Front-Opening Unified Pod: FOUP).
- FOUP Front-Opening Unified Pod
- the hoop has an open / close door on the front, and has a groove or a slot on the left and right inner walls for supporting the substrate at each step and allowing it to be taken in and out horizontally from the front of the container.
- the hoop door opens and the inside of the hoop communicates with the inside of the loader loading / unloading chamber. In this state, recognition processing for detecting the presence or absence of the wafer in the hoop and the storage position, so-called “mapping” is performed.
- the transfer device is provided with a mapping arm in addition to the transfer arm, and mapping is performed using a mapping arm as described in, for example, Japanese Patent Application Laid-Open No. 2006-185960 (Patent Document 1). Done.
- the mapping arm is provided in the transfer device separately from the transfer arm.
- the transfer arm is an articulated arm type that moves the arm at the tip of the arm by turning the arm, the arm that has been turned will interfere with the mapping arm, and mapping to the transfer device There is a situation that it is difficult to attach a separate arm. Therefore, it is considered to attach the mapping sensor to the pick at the tip of the transfer arm.
- the present invention provides a processing system capable of quickly starting a new mapping or a new mapping while having a mapping sensor in the pick of the transfer arm.
- a small space configured to be capable of adjusting the inside to atmospheric pressure or substantially atmospheric pressure, and a cassette that accommodates an object to be processed, which is provided in the small space, are attached.
- a processing system having a load port and a transfer device disposed in the small space, wherein the transfer device includes an articulated arm, a pick attached to a tip of the articulated arm, and the pick And when the small space performs mapping in the cassette, if the target object is on the pick provided with the mapping sensor, the target object is temporarily A temporary evacuation unit for evacuating automatically.
- the top view which shows roughly an example of the processing system which concerns on one Embodiment of this invention
- the top view which expands and shows the carrying in / out part of the processing system shown in FIG. Sectional view along line 2B-2B in FIG. 2A 2B is an enlarged plan view showing the pick shown in FIGS. 2A and 2B 2B is an enlarged plan view showing the pick shown in FIGS. 2A and 2B
- Flow chart showing an example of the flow up to remapping when slot data is lost
- FIG. 1 is a plan view schematically showing an example of a processing system according to an embodiment of the present invention.
- a processing system 1 includes a processing unit 2 that processes a substrate to be processed, a loading / unloading unit 3 that loads and unloads the substrate to be processed, and a control unit 4 that controls the processing system 1. And.
- a processing system 1 shown in FIG. 1 is a cluster tool type (multi-chamber type) semiconductor manufacturing apparatus, and a substrate to be processed is a semiconductor wafer.
- the processing unit 2 includes processing devices 21a and 21b that perform processing on a substrate to be processed.
- Each of the processing apparatuses 21a and 21b has chambers 22a and 22b that are configured so that the inside can be depressurized to a predetermined degree of vacuum.
- a film forming process and an etching process that are performed in a reduced pressure environment Processing such as processing is performed on the substrate to be processed.
- the chambers 22a and 22b are connected to one transfer chamber 23 through gate valves G1 and G2.
- the loading / unloading unit 3 includes a loading / unloading chamber 31.
- the carry-in / out chamber 31 is a small space configured to be capable of adjusting the inside to atmospheric pressure or almost atmospheric pressure, for example, slightly positive pressure with respect to the outside atmospheric pressure.
- the plane shape of the carry-in / out chamber 31 is a rectangle having a long side when viewed from the plane and a short side perpendicular to the long side. The long side of the rectangle is adjacent to the processing unit 2.
- the direction along the long side is the X direction
- the direction along the short side is the Y direction
- the height direction is the Z direction.
- the loading / unloading chamber 31 includes a load port to which a cassette, for example, a hoop is attached.
- a cassette for example, a hoop
- three load ports 32 a, 32 b, and 32 c are provided along the long side facing the processing unit 2 of the carry-in / out chamber 31.
- a hoop that accommodates a substrate to be processed or an empty hoop is attached.
- the carry-in / out chamber 31 includes a pre-aligner 33 for aligning the direction of the substrate to be processed.
- the pre-aligner 33 is provided on the short side of the carry-in / out chamber 31.
- a load lock chamber in this example, two load lock chambers 51a and 51b are provided.
- Each of the load lock chambers 51a and 51b is configured to be able to switch the inside to a predetermined degree of vacuum and atmospheric pressure or almost atmospheric pressure.
- the load lock chambers 51a and 51b are connected to the carry-in / out chamber 31 through gate valves G3 and G4, respectively, and are connected to the transfer chamber 23 through gate valves G5 and G6.
- a transfer device 24 is arranged inside the transfer chamber 23.
- the transfer device 24 transfers the substrate to be processed between the chambers 22a and 22b and the load lock chambers 51a and 51b.
- a transfer device 34 is arranged inside the loading / unloading chamber 31.
- the transfer device 34 transfers the substrate to be processed between the load ports 32a to 32c, the pre-aligner 33, and the load lock chambers 51a and 51b.
- the control unit 4 includes a process controller 41, a user interface 42, and a storage unit 43.
- the process controller 41 is composed of a microprocessor (computer).
- the user interface 42 includes a keyboard on which an operator inputs commands to manage the processing system 1, a display that visualizes and displays the operating status of the processing system 1, and the like.
- the storage unit 43 includes a recipe for causing the processing system 1 to execute processing according to a control program for realizing processing executed in the processing system 1 under the control of the process controller 41, various data, and processing conditions.
- the recipe is stored in a storage medium in the storage unit 43.
- the storage medium can be read by a computer, and can be, for example, a hard disk or a portable medium such as a CD-ROM, a DVD, or a flash memory. Moreover, you may make it transmit a recipe suitably from another apparatus via a dedicated line, for example.
- Arbitrary recipes are called from the storage unit 43 by an instruction from the user interface 42 and executed by the process controller 41, so that the processing system 1 performs processing on the substrate to be processed under the control of the process controller 41. Is done.
- FIG. 2A is an enlarged plan view showing the carry-in / out unit 3 of the processing system 1 shown in FIG. 1, and FIG. 2B is a cross-sectional view taken along line 2B-2B shown in FIG. 2A.
- the load ports 32a to 32c are provided with shutters 35, respectively.
- a substrate to be processed for example, a wafer W is stored or an empty hoop F is attached to the load ports 32a to 32c, the shutter 35 is released.
- the inside of the FOUP F and the inside of the carry-in / out chamber 31 are communicated with each other while preventing the outside air from entering.
- the transfer device 34 is a double-armed multi-joint arm type robot that can travel along the X travel axis 36 in the X direction.
- a lower pick 38a for holding the wafer W is attached to the tip of the articulated arm 37a
- an upper pick 38b is attached to the tip of the articulated arm 37b.
- These picks 38a and 38b move forward and backward as the articulated arms 37a and 37b turn. Further, the articulated arms 37a and 37b move up and down in the Z direction, so that the picks 38a and 38b move up and down.
- the picks 38a and 38b move forward and backward, and move up and down, so that the transfer device 34 transfers the wafer W between the load ports 32a to 32c, the pre-aligner 33, and the load lock chambers 51a and 51b. be able to.
- mapping sensors 61a and 61b are attached to the tip of the upper pick 38b in this example, at least one of the lower pick 38a and the upper pick 38b. In this example, mapping sensors 61a and 61b are attached to the surface (back surface) opposite to the surface holding the wafer of the upper pick 38b.
- FIG. 3A is an enlarged plan view showing the upper pick 38b shown in FIGS. 2A and 2B.
- this example shows an example of an optical mapping sensor, in which the mapping sensor 61a is on the light emitting element side and the mapping sensor 61b is on the light receiving element side.
- a signal instructing “start mapping” is transmitted from the process controller 41 toward the light emitting element side mapping sensor 61a.
- the light emitting element side mapping sensor 61a outputs “sensor light”.
- the process controller 41 receives this sensor light, a signal indicating “light received” is transmitted from the light receiving element side mapping sensor 61b to the process controller 41.
- the process controller receives this signal, the process controller recognizes “no wafer” at the sensed position.
- the light receiving element side mapping sensor 61b "Is transmitted to the process controller 41.
- the process controller recognizes that “the wafer is present” at the sensed position.
- mapping is executed in a state where the upper pick 38b does not hold the wafer W.
- the temporary retracting unit 62 capable of temporarily retracting the wafer W held by the upper pick 38 b is provided in the loading / unloading chamber 31.
- the temporary retracting portion 62 is provided immediately below the pre-aligner 33.
- Examples of use of the temporary saving unit 62 include the following states, for example.
- Step 1 in FIG. 4 the slot data in the cassette is lost.
- intra-cassette remapping is executed.
- step 2 it is determined whether or not there is a wafer on the pick with a mapping sensor. In this example, it is determined whether or not there is a wafer on the upper pick 38b.
- step 3 the wafer is retracted to the temporary retracting portion, and in this example, there is no wafer on the upper pick 38b.
- step 4 the process proceeds to step 4 and remapping in the cassette is performed using the upper pick 38b.
- the processed wafer can be collected into the cassette in which the slot data has been recovered, as shown in Step 5.
- mapping example 2 When the process is interrupted while the upper pick 37b is holding the wafer W, a new hoop F may be attached to the load port during this time. Also at this time, the wafer W held on the upper pick 38b is retracted to the temporary retracting portion 62, and the upper pick 38b is not holding the wafer W. Thereafter, mapping of a new hoop F can be started using the mapping sensors 61a and 61b attached to the upper pick 38b. This process is also executed by the process controller 41.
- the temporary retracting portion 62 capable of temporarily retracting the wafer W is provided in the loading / unloading chamber 31. Therefore, even if the upper pick 38b of the transfer arm has the mapping sensors 61a and 61b, the mapping sensor 61a of the upper pick 38b can be obtained by retracting the wafer W held by the upper pick 38b to the temporary retracting portion 62. , 61b can be used again, or a new mapping can be started quickly.
- the spatial coordinates in the loading / unloading position of the temporary retracting unit 62 are excluded from the spatial coordinates of the pre-aligner 33 and the Z coordinate, Both the X coordinate and the Y coordinate are the same.
- the spatial coordinates of the pre-aligner 33 are (X1, Y1, Z1).
- the spatial coordinates of the temporary saving unit 62 are (X1, Y1, Z2).
- the position of the temporary retracting unit 62 can be calculated by teaching the spatial coordinates of the pre-aligner 33 without teaching, such as a predetermined distance, for example, 20 mm below, in the Z-axis direction. This is because it can be obtained.
- a double-armed multi-joint arm type robot is illustrated as an example of the transfer device 34.
- the articulated arm may be provided.
- the transport device 34 has two picks 38a and 38b, but may have one pick or three or more picks.
- the present invention can be variously modified without departing from the gist thereof.
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Abstract
Description
以下、添付図面を参照して、この発明の実施の形態について説明する。
例えば、処理システム1がメンテナンスモードからノーマルモードへの復帰時、上側ピック38bがウエハWを保持している場合、一実施形態に係る処理システム1は、上側ピック38bに保持されたウエハWを一時退避部62に退避させ、上側ピック38bがウエハWを保持していない状態とする。この後、上側ピック38bに取り付けられたマッピングセンサ61a、61bを用いて、ノーマルモード復帰の最初に行われるマッピング処理を開始する。
また、上側ピック37bがウエハWを保持している状態で処理を中断した場合、この間に、新たなフープFがロードポートに取り付けられる時がある。この時にも、上側ピック38bに保持されたウエハWを一時退避部62に退避させ、上側ピック38bがウエハWを保持していない状態とする。この後、上側ピック38bに取り付けられたマッピングセンサ61a、61bを用いて、新たなフープFのマッピングを開始させることもできる。この流れもまた、プロセスコントローラ41が実行する。
その他、この発明はその要旨を逸脱しない範囲で様々に変形することができる。
Claims (8)
- 内部を大気圧、又はほぼ大気圧に調圧可能に構成された小空間と、
前記小空間に備えられた、被処理体を収容するカセットが取り付けられるロードポートと、
前記小空間内に配置された搬送装置と、を有した処理システムであって、
前記搬送装置が、
多関節アームと、
前記多関節アームの先端に取り付けられたピックと、
前記ピックに設けられたマッピングセンサと、を備え、
前記小空間が、
前記カセット内のマッピングを行うとき、前記マッピングセンサが設けられた前記ピック上に前記被処理体がある場合、この被処理体を一時的に退避させる一時退避部を備える処理システム。 - 前記小空間が、前記小空間内に搬入された前記被処理体の向きを合わせるプリアライナーを、さらに備え、
前記一時退避部の位置の空間座標が、前記プリアライナーの位置の空間座標と、高さ方向の座標を除き、同一座標に設定されている請求項1に記載の処理システム。 - 前記ピックが複数ある場合、前記マッピングセンサは、前記複数のピックのうちの少なくとも1つに設けられている請求項1に記載の処理システム。
- 前記ピックが複数ある場合、前記マッピングセンサは、前記複数のピックのうちの少なくとも1つに設けられている請求項2に記載の処理システム。
- 前記処理システムが、メンテナンスモードからノーマルモードへ復帰する時、前記マッピングセンサが設けられた前記ピック上に前記被処理体があるか否かが判断され、前記ピック上に前記被処理体がある場合に、この被処理体を前記一時退避部へ一時的に退避させる請求項1に記載の処理システム。
- 前記処理システムが、メンテナンスモードからノーマルモードへ復帰する時、前記マッピングセンサが設けられた前記ピック上に前記被処理体があるか否かが判断され、前記ピック上に前記被処理体がある場合に、この被処理体を前記一時退避部へ一時的に退避させる請求項2に記載の処理システム。
- 前記処理システムが、処理を中断した場合、この中断の間に、新たなカセットが前記ロードポートに取り付けられた時、前記マッピングセンサが設けられた前記ピック上に前記被処理体があるか否かが判断され、前記ピック上に前記被処理体がある場合に、この被処理体を前記一時退避部へ一時的に退避させる請求項1に記載の処理システム。
- 前記処理システムが、処理を中断した場合、この中断の間に、新たなカセットが前記ロードポートに取り付けられた時、前記マッピングセンサが設けられた前記ピック上に前記被処理体があるか否かが判断され、前記ピック上に前記被処理体がある場合に、この被処理体を前記一時退避部へ一時的に退避させる請求項2に記載の処理システム。
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US11139190B2 (en) * | 2019-04-23 | 2021-10-05 | Applied Materials, Inc. | Equipment front end modules including multiple aligners, assemblies, and methods |
US11328947B1 (en) * | 2021-01-26 | 2022-05-10 | Kawasaki Jukogyo Kabushiki Kaisha | Aligner apparatus and alignment method |
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JP4925650B2 (ja) * | 2005-11-28 | 2012-05-09 | 東京エレクトロン株式会社 | 基板処理装置 |
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JP5108557B2 (ja) * | 2008-02-27 | 2012-12-26 | 東京エレクトロン株式会社 | ロードロック装置および基板冷却方法 |
JP5131094B2 (ja) * | 2008-08-29 | 2013-01-30 | 東京エレクトロン株式会社 | 熱処理装置及び熱処理方法並びに記憶媒体 |
JP5336885B2 (ja) * | 2009-03-03 | 2013-11-06 | 東京エレクトロン株式会社 | 基板搬送装置及び基板搬送方法 |
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2010
- 2010-10-14 JP JP2010231682A patent/JP5473857B2/ja not_active Expired - Fee Related
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2011
- 2011-10-03 CN CN201180006294.3A patent/CN102714170B/zh active Active
- 2011-10-03 KR KR1020127015345A patent/KR101477874B1/ko active IP Right Grant
- 2011-10-03 WO PCT/JP2011/072761 patent/WO2012049998A1/ja active Application Filing
Patent Citations (5)
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JP2002110769A (ja) * | 2000-09-26 | 2002-04-12 | Shinko Electric Co Ltd | ウェハ移載装置 |
JP2003110003A (ja) * | 2001-06-13 | 2003-04-11 | Applied Materials Inc | 半導体基板を移送するための方法及び装置 |
JP2005116807A (ja) * | 2003-10-08 | 2005-04-28 | Kawasaki Heavy Ind Ltd | 基板保持装置 |
JP2009099996A (ja) * | 2004-03-25 | 2009-05-07 | Tokyo Electron Ltd | 縦型熱処理装置及び被処理体移載方法 |
JP2007169007A (ja) * | 2005-12-22 | 2007-07-05 | Kawasaki Heavy Ind Ltd | ロボットハンドおよび基板搬送ロボット |
Also Published As
Publication number | Publication date |
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JP5473857B2 (ja) | 2014-04-16 |
KR20120082470A (ko) | 2012-07-23 |
CN102714170A (zh) | 2012-10-03 |
KR101477874B1 (ko) | 2014-12-30 |
JP2012084802A (ja) | 2012-04-26 |
CN102714170B (zh) | 2015-06-10 |
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