WO2016133054A1 - ペリクルフレーム把持装置及びペリクルフレーム把持方法 - Google Patents
ペリクルフレーム把持装置及びペリクルフレーム把持方法 Download PDFInfo
- Publication number
- WO2016133054A1 WO2016133054A1 PCT/JP2016/054317 JP2016054317W WO2016133054A1 WO 2016133054 A1 WO2016133054 A1 WO 2016133054A1 JP 2016054317 W JP2016054317 W JP 2016054317W WO 2016133054 A1 WO2016133054 A1 WO 2016133054A1
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- WIPO (PCT)
- Prior art keywords
- pellicle
- frame
- gripping
- gripping member
- container body
- Prior art date
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Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F1/00—Originals for photomechanical production of textured or patterned surfaces, e.g., masks, photo-masks, reticles; Mask blanks or pellicles therefor; Containers specially adapted therefor; Preparation thereof
- G03F1/62—Pellicles, e.g. pellicle assemblies, e.g. having membrane on support frame; Preparation thereof
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F1/00—Originals for photomechanical production of textured or patterned surfaces, e.g., masks, photo-masks, reticles; Mask blanks or pellicles therefor; Containers specially adapted therefor; Preparation thereof
- G03F1/66—Containers specially adapted for masks, mask blanks or pellicles; Preparation thereof
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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
Definitions
- the present invention relates to a pellicle frame gripping apparatus and a pellicle frame gripping method.
- Patent Document 1 after holding the outer peripheral portion of the substrate to which the pellicle frame is attached, a thin bar is attached to each of the holes provided in a plurality of locations on the outer side of each of the two sides constituting the opposite side of the pellicle frame.
- a pellicle frame removing method is disclosed in which the pellicle frame is supported by aligning and inserting, and a force in a direction perpendicular to the substrate is applied to the thin rod in a direction to uniformly move the pellicle frame away from the substrate.
- the pellicle frame Since the pellicle frame has a thin plate shape with a wide surface to which the pellicle film is attached, there is a high possibility that distortion occurs in a direction (height direction) perpendicular to the surface to which the pellicle film is attached.
- the distortion of the pellicle frame is not taken into consideration.
- the present invention has been made in view of such circumstances, and a pellicle frame gripping device and a pellicle frame that can grip a pellicle frame without an operator even when the pellicle frame or the like is distorted.
- An object is to provide a gripping method.
- a pellicle frame gripping device is, for example, a substantially hollow cylindrical pellicle frame, which includes a first end surface on which a pellicle film covering the hollow portion is provided, and an adhesive member.
- a pellicle frame having a second end surface substantially parallel to the first end surface and a side surface on which a groove is formed, a protective sheet affixed to the adhesive member, and the first surface facing substantially horizontally upward
- a first driving unit that moves in a vertical direction that is substantially perpendicular to the container body, and a jig frame that is provided above the container body, and is two bars that are held substantially horizontally at a predetermined interval; , Not each of the two bars A plurality of pellicle gripping members provided; and a second drive unit provided for each of the plurality of pellicle gripping members, wherein the pellicle gripping member is inserted into the groove; and the pellicle gripping member
- Each of the plurality of pellicle gripping members has a jig frame having a second drive unit that moves the pellicle gripping member in a substantially horizontal direction between the second position where the pellicle gripping member is not inserted into the groove.
- a plurality of distance measuring sensors wherein when the pellicle gripping member is in the first position, the height of the pellicle gripping member, which is a substantially vertical position, is continuously measured, and the pellicle gripping member Is located at the second position, the measurement unit having a plurality of distance measuring sensors for continuously measuring the height of the first end face, and the measurement result continuously measured by the measurement unit based on the measurement result Peri
- the height of the pellicle gripping member substantially coincides with the height of the groove while moving the container body upward
- the height of the pellicle gripping member and the groove is determined.
- the first drive unit and the second drive are configured to move the container body downward.
- a control unit for controlling the unit.
- the heights of the grooves formed on the side surfaces of the pellicle gripping member and the pellicle frame are continuously acquired.
- the container body is moved upward, the pellicle gripping member is inserted into the groove based on the height of the pellicle gripping member and the groove, and when the pellicle gripping member is inserted into the groove, the container body is moved downward.
- the distance measuring sensor is provided for each pellicle gripping member, the pellicle frame can be reliably gripped.
- the control unit moves the container body downward by a first distance and then stops the movement of the container body.
- the control unit controls the first driving unit and then the measurement unit acquires that the height of the first end face has moved upward by the first distance, the protective sheet and the adhesive You may determine with the member having peeled. Thereby, it can be detected that the pellicle frame has been peeled off from the container main body without intervention of an operator.
- the container main body has a substantially rectangular upper surface on which the pellicle frame is placed, and the first driving unit is a first actuator that moves near the center of the first side of the upper surface. And a second actuator and a third actuator that respectively move positions closer to the end than the center of the second side substantially parallel to the first side of the upper surface, and the control unit includes The first actuator, the second actuator, and the third actuator may be controlled separately. Thereby, the pellicle frame can be moved in various forms.
- the control unit moves the container body upward
- the control unit is obtained based on a result measured by a first ranging sensor among a plurality of ranging sensors included in the measuring unit.
- a relative position between the pellicle gripping member and the groove, and a relative position between the pellicle gripping member and the groove determined based on a result measured by a second distance measuring sensor different from the first distance measuring sensor.
- the first actuator, the second actuator, and the third actuator may be controlled so as to be substantially the same. Thereby, even when the pellicle frame is distorted or the like, the height of the groove can be made substantially the same, and the time required to insert the pellicle gripping member into the groove can be shortened.
- the protective sheet is fixed to the upper surface in the vicinity of the center of the first side, and the control unit first drives the first actuator when moving the container body downward. Also good. Thereby, a protective sheet can be peeled from an adhesion layer with weak force.
- the positions of the ends of the two rods on the side where the rotation shaft is not provided are in a direction perpendicular to the first end surface.
- tool frame can be stably hold
- the jig frame includes the first rod and the second rod which are the two rods, the third rod and the fourth rod which are substantially orthogonal to the first rod and the second rod.
- the first bar, the second bar, and the third bar may be provided so as to be movable in a direction substantially orthogonal to the longitudinal direction. Thereby, pellicle frames of various sizes can be gripped.
- the jig frame may have a moving mechanism for moving the pellicle gripping member in a direction orthogonal to the first end face.
- a strong force in a direction perpendicular to the first end surface is applied to the pellicle gripping member, it is possible to prevent the pellicle gripping member from being deformed or broken.
- a pellicle frame gripping method includes, for example, a first end surface provided with a pellicle film covering a hollow portion, and a first end surface substantially parallel to the first end surface provided with an adhesive member.
- a container in which a substantially hollow cylindrical pellicle frame having two end surfaces and a side surface in which a groove is formed is placed with the first surface facing substantially horizontally upward and the second surface facing substantially horizontally downward Each of two bars which are main bodies and are held substantially horizontally at a predetermined interval of a jig frame provided above a container main body to which a part of a protective sheet affixed to the adhesive member is fixed.
- a plurality of pellicle gripping members provided on the pellicle gripping member are arranged at a first position where the pellicle gripping member is inserted into the groove, and one each of the plurality of pellicle gripping members is provided for each of the plurality of pellicle gripping members.
- the pellicle gripping member is moved from the second position.
- the first drive unit is controlled to move the container body downward when the pellicle gripping member is moved to the first position and moved to the first position.
- the pellicle frame can be gripped without an operator.
- FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. It is a figure which shows the detail of the jig
- FIG. It is a figure explaining the mechanism which moves the stick
- FIG. 5 is a diagram showing a state where the pellicle gripping mechanism 24a is not gripping the pellicle frame 101.
- 2 is a block diagram showing an electrical configuration of the pellicle frame gripping device 1.
- FIG. 6 is a flowchart showing a flow of a pellicle gripping process performed by the pellicle frame gripping apparatus 1; It is a figure which shows how the height of the upper surface 101a changes with progress of time. 6 is a flowchart showing a flow of a pellicle sticking process performed by the pellicle frame gripping apparatus 1.
- 3 is a perspective view showing an outline of a jig frame main body 21A of the pellicle frame gripping device 2.
- FIG. 1 is a perspective view schematically showing a pellicle frame gripping device 1 according to the first embodiment.
- the pellicle frame gripping device 1 mainly includes a pellicle storage container 10 and a jig frame 20 provided above (+ z direction) the pellicle storage container 10.
- the pellicle storage container 10 mainly includes a container main body 11 and a pellicle 100.
- the pellicle 100 placed on the container body 11 is supported by the jig frame 20 and removed from the container body 11.
- FIG. 2 is a perspective view showing details of the pellicle storage container 10.
- 3 is a cross-sectional view taken along the line AA in FIG.
- the pellicle 100 mainly includes a pellicle frame 101, a pellicle film 102 stretched on the pellicle frame 101, and an adhesive layer 103 (see FIG. 3) formed on the lower surface of the pellicle frame 101.
- the pellicle frame 101 has a frame shape (hollow tube shape) having a substantially rectangular outer periphery, and is formed of a metal such as iron or aluminum.
- the size of the hollow portion 101e is approximately the same as the size of the photomask (for example, about 520 mm ⁇ 800 mm to 1620 mm ⁇ 1780 mm).
- the width of the frame-like portion of the pellicle frame 101 is about several tens mm, and the thickness is about 2 mm to 10 mm.
- the pellicle frame 101 has a substantially parallel upper surface 101a and lower surface 101b. Further, a groove 101d is formed along the outer peripheral surface of the side surface 101c orthogonal to the upper surface 101a and the lower surface 101b of the pellicle frame 101. The groove 101d has a height and depth of about 2 mm. A pellicle gripping member 241 (described in detail later) provided in the jig frame 20 is inserted into the groove 101d.
- the pellicle film 102 is a thin film having a thickness of submicron.
- the pellicle film 102 is stretched on the upper surface 101 a of the pellicle frame 101 so as to cover the hollow portion 101 e of the pellicle frame 101.
- the pellicle film 102 is provided at a predetermined interval from the pattern formation surface of the photomask.
- the adhesive layer 103 is provided on the lower surface 101b of the pellicle frame 101, that is, the surface facing the container body 11.
- the adhesive layer 103 is formed in a frame shape on the entire periphery of the pellicle frame 101.
- the adhesive layer 103 is provided so as not to protrude from the pellicle frame 101.
- a pellicle liner 104 that protects the adhesive layer 103 is provided on the lower surface of the adhesive layer 103.
- the pellicle liner 104 has a thickness of about 0.1 mm and has a frame shape substantially the same as the shape of the pellicle frame 101.
- the pellicle liner 104 is formed, for example, by applying a release agent to the surface of a base material made of PET or the like.
- the pellicle liner 104 functions as a so-called release paper, and is peeled off when the pellicle 100 is taken out from the container body 11.
- the pellicle liner 104 and the container body 11 come into contact with each other. Therefore, the adhesive layer 103 and the container body 11 do not come into contact with each other.
- the pellicle liner 104 is formed with one tab 104a in the vicinity of the center of each side of the frame shape.
- the tab 104a is formed so as to protrude from the outer periphery of the pellicle frame 101.
- the tab 104a is for facilitating peeling of the pellicle liner 104.
- the tab 104a is fixed to the upper surface 101a of the container body 11 with, for example, an adhesive tape 105 or the like. Thereby, the tab 104a, that is, the pellicle 100 is fixed to the container body 11.
- the tab 104a is not limited to the upper surface 101a, but may be fixed anywhere on the container body 11.
- the pellicle 100 configured in this manner is placed on the upper side (+ z side) of the upper surface 11a of the container body 11, as shown in FIG.
- a driving member 12 is provided below the upper surface 11a ( ⁇ z side).
- the drive member 12 moves the upper surface 11a of the container main body 11 up and down (z direction).
- the drive member 12 mainly includes three actuators 12a, an actuator 12b, and an actuator 12c.
- the actuators 12a, 12b, and 12c have rods (not shown) whose tips can move in the z direction, and the tips of the rods are respectively provided on the lower side ( ⁇ z side) of the upper surface 11a.
- the actuator 12a is provided in the vicinity of the long side 11b of the upper surface 11a and in the approximate center of the long side 11b, and the actuator 12b and the actuator 12c are positioned in the vicinity of the long side 11c of the upper surface 11a and closer to the end than the center of the long side 11c. Is provided.
- the actuator 12a, the actuator 12b, and the actuator 12c are provided to be individually drivable. Thereby, the pellicle frame can be moved in various forms (detailed later).
- the jig frame 20 mainly includes a jig frame main body 21, a rotating shaft 22, a contact member 23, and a pellicle gripping mechanism 24 (see FIG. 4, the pellicle gripping mechanism 24 includes pellicle gripping mechanisms 24a to 24n). And having. In FIG. 1, the pellicle gripping mechanism 24 is omitted.
- FIG. 4 is a diagram showing details of the jig frame main body 21 and the rotating shaft 22.
- FIG. 4 shows a state in which the jig frame main body 21 and the rotation shaft 22 are viewed from the ⁇ z direction.
- the jig frame main body 21 has four bars 211, 212, 213, and 214 and a frame 215 provided around the bars 212, 213, and 214.
- the rods 211, 212, 213, 214 and the frame 215 are made of metal, such as iron or aluminum.
- the two bars 211 and 212 have a longitudinal direction provided along the x direction, and the two bars 213 and 214 have a longitudinal direction provided along the y direction. Thereby, the four rods 211, 212, 213, 214 are combined in a frame shape.
- the pellicle gripping mechanism 24 is provided on each of the rods 211, 212, 213, and 214.
- the rods 211 and 212 are each provided with three pellicle gripping mechanisms 24 (24a to 24c, 24h to 24j), and the bars 213 and 214 each have four pellicle gripping mechanisms 24. (24d-24g, 24k-24n) are provided.
- the frame 215 is a substantially U-shaped (substantially U-shaped) frame-shaped member fixed at both ends to the rod 211, and is provided outside the rods 212, 213, and 214 combined in a frame shape.
- the bars 212, 213, and 214 are provided so as to be movable with respect to the frame 215.
- the bars 213 and 214 are provided to be movable along the longitudinal direction of the bars 211 and 212, that is, the x direction.
- the bar 212 is provided to be movable along the longitudinal direction of the bars 213 and 214, that is, the y direction.
- FIG. 5 is a diagram for explaining a mechanism for moving the bars 213 and 214 in the x direction.
- the rod 214 is described as an example, but the rod 213 is also described using a mechanism similar to that of the rod 214, and thus the description thereof is omitted.
- the rod 214 is a rod-shaped member in which a plate 214a having the widest surface substantially parallel to the xy plane and a reinforcing plate 214b having the widest surface substantially parallel to the yz plane are combined in a substantially L-shape. Is provided with an end plate 214c. A hole 214d is formed in the end plate 214c.
- the rod 211 is mainly composed of a plate 211a whose widest surface is substantially parallel to the xy plane, a plate 211b whose widest surface is substantially parallel to the xz plane, and a substantially cylindrical shaft 211c whose longitudinal direction is substantially parallel to the plate 211a. And a rib 211d for attaching the shaft 211c.
- the plate 211b is not essential.
- the shaft 211c is inserted into the hole 214d, and the shaft 211c is rotated by the actuator 218 provided in the shaft 211c, so that the rod 214 moves along the shaft 211c, that is, in the x direction.
- various known mechanisms can be used as the mechanism for moving the bar 214 along the axis 211c.
- the wiring / pipe guide 216 includes a bar 216a and a bar 216b. One end of the rod 216a and the rod 216b are coupled to each other by a joint. As the bar 214 moves in the x direction, the angle ⁇ formed by the bar 216a and the bar 216b changes. Note that the wiring / piping guide 216 is not an essential component and can be omitted.
- FIG. 6 is a diagram for explaining a mechanism for moving the rod 212 along the y direction.
- the rod 214 has a shaft 214e.
- the shaft 214e is provided on the end plate 214c (not shown in FIG. 6) so that the longitudinal direction is substantially parallel to the y direction.
- the shaft 214e is shown only in FIG. 6, and the shaft 214e is omitted in FIG.
- the rod 212 includes a rod 212a and a guide member 212c in which a hole 212b into which the shaft 214e is inserted is formed.
- the moving mechanism 217 for moving the rod 212 includes a rack 217a provided on the plate 214a, an actuator 217b provided on the guide member 212c, and a pinion 217c provided on the output shaft of the actuator 217b.
- the output shaft of the actuator 217b that is a drive member, that is, the pinion 217c rotates
- the guide member 212c that is, the bar 212 moves in the y direction along the rack 217a.
- the form in which the bars 213 and 214 are provided to be movable along the x direction and the form in which the bar 212 is provided to be movable along the y direction are not limited thereto, and various forms can be taken.
- the bars 212, 213, and 214 move in a direction orthogonal to the longitudinal direction, so that the size of the frame formed by the four bars 211, 212, 213, and 214 changes.
- the size of the frame formed by the bars 211, 212, 213, and 214 can be changed to various sizes of the pellicle 100 ( 100A, 100B, 100C, 100D, and 100E).
- the pellicle 100A has a size of, for example, about 420 mm ⁇ 720 mm
- the pellicle 100B has a size of, for example, about 700 mm ⁇ 800 mm
- the pellicle 100C has a size of, for example, about 520 mm ⁇ 680 mm
- the pellicle 100D has, for example, The size is about 750 mm ⁇ 1300 mm
- the pellicle 100E is about 1520 mm ⁇ 1680 mm, for example.
- the pellicle 100A, pellicle 100B, and pellicle 100C are gripped using the pellicle gripping mechanisms 24b, 24d, 24e, 24m, and 24n.
- the pellicle 100D is gripped using the pellicle gripping mechanisms 24b, 24d, 24e, 24f, 24l, 24m, and 24n.
- the pellicle 100E is gripped using all the pellicle gripping mechanisms 24a to 24n.
- FIG. 7 is a diagram showing details of the pellicle gripping mechanism 24.
- the pellicle gripping mechanism 24a will be described as an example. However, since the pellicle gripping mechanisms 24b to 24n have the same configuration as the pellicle gripping mechanism 24a, description thereof is omitted.
- FIG. 7 illustrates a state in which the pellicle gripping mechanism 24 grips the pellicle frame 101. In FIG. 7, the container body 11 is omitted.
- the pellicle gripping mechanism 24a includes a pellicle gripping member 241a inserted into the groove 101d, a holding portion 242a that holds the pellicle gripping member 241a, and a base 243a that attaches the holding portion 242a to the rod 211.
- the pellicle gripping member 241a is formed of a metal plate material.
- the pellicle gripping member 241a in the present embodiment is formed by bending a plate material twice, but the plate material may not be bent.
- the pellicle gripping member 241a is not limited to a plate-like member, and may be formed using, for example, a rod-like member.
- the holding member 242a is provided with a driving member 44.
- the drive member 44 has an actuator 44b having a rod 44a whose tip moves in a direction (y direction) substantially orthogonal to the longitudinal direction (x direction) of the rod 211 (see arrow in FIG. 7).
- the pellicle gripping member 241a is connected to the rod 44a. As a result, the pellicle gripping member 241a is moved in the horizontal direction (along the xy plane) and in the direction orthogonal to the bar 211.
- the pellicle gripping member 241a is retracted by the drive member 44 so that the pellicle gripping member 241a is inserted into the groove 101d and the pellicle gripping member 241a is not inserted into the groove 101d so that the pellicle gripping member 241a does not interfere with the pellicle frame 101.
- the position is moved in the horizontal direction (see the dotted line in FIG. 7).
- the tip of the pellicle gripping member 241a is covered with a sheet or the like made of resin (for example, ultra high molecular weight polyethylene). Thereby, when the pellicle gripping member 241a is inserted into the groove 101d, the pellicle gripping member 241 and the pellicle frame 101 are prevented from being scraped and generating dust.
- resin for example, ultra high molecular weight polyethylene
- the heights of the bars 211, 212, 213, 214 vary by several millimeters to several tens of millimeters. Therefore, it is desirable that the heights of the tips of the pellicle gripping members 241 (241a to 241n) be made substantially the same by changing the heights of the bases 243 (243a to 243n), respectively.
- the method for making the tips of the pellicle gripping members 241 (241a to 241n) substantially the same height is not limited to this.
- the pellicle gripping member can be changed by changing the heights of the holding portions 242 (242a to 242n).
- the height of the tip of 241 (241a to 241n) may be substantially the same.
- a corresponding measuring unit 25 is provided in each of the pellicle gripping mechanisms 24.
- One measuring unit 25 (25a to 25n) is provided for each pellicle gripping mechanism 24 (24a to 24n).
- the measurement unit 25a is provided in the pellicle gripping mechanism 24a
- the measurement unit 25b is provided in the pellicle gripping mechanism 24b.
- the pellicle gripping mechanism 24n is provided with a measuring unit 25n.
- the measurement units 25b to 25n are the same as the configuration of the measurement unit 25a, and thus the description thereof is omitted.
- the measurement unit 25a mainly includes an ultrasonic sensor 251a and a reflection plate 252a.
- the ultrasonic sensor 251a is a distance measuring sensor that transmits an ultrasonic wave toward an object, receives a reflected wave thereof, and measures a distance to the target based on a time interval between the signal transmission and the reflected wave reception. is there.
- the ultrasonic sensor 251a has a resolution of about 0.2 ⁇ m. Since the ultrasonic sensor 251a is already known, detailed description thereof is omitted.
- the reflector 252a reflects the ultrasonic wave transmitted from the ultrasonic sensor 251a.
- the ultrasonic sensor 251 a transmits ultrasonic waves in a direction (+ y direction) orthogonal to the longitudinal direction of the bar 211. Therefore, by providing the reflecting plate 252a at an angle of 45 degrees on the yz plane, the ultrasonic wave transmitted from the ultrasonic sensor 251a is reflected downward ( ⁇ z direction) (see the two-dot chain line in FIG. 7). ).
- the ultrasonic sensor 251a and the reflection plate 252a are provided in the holding unit 242a, but the positions where the ultrasonic sensor 251a and the reflection plate 252a are provided are not limited thereto.
- the ultrasonic sensor 251a and the reflection plate 252a may be provided on the base 243a or may be provided on the bar 211.
- FIG. 8 shows a state where the pellicle gripping mechanism 24 is not gripping the pellicle frame 101.
- the case where the pellicle gripping member 241 is located at the retracted position is indicated by a solid line
- the case where the pellicle gripping member 241 is located at the insertion position is indicated by a dotted line.
- the container body 11 is omitted as in FIG.
- the pellicle film 102 (not shown in FIG. 8) is formed of a material that reflects ultrasonic waves. Therefore, when the pellicle gripping member 241 is located at the retracted position (see the solid line in FIG. 8), the pellicle gripping member 241 does not interfere with the pellicle frame 101 (the position on the xy plane does not overlap), and therefore, from the ultrasonic sensor 251a.
- the transmitted ultrasonic wave is reflected in the + z direction by the pellicle film 102, turned in the -y direction by the reflecting plate 252a, and received by the ultrasonic sensor 251a.
- the ultrasonic sensor 251a can measure the distance between the ultrasonic sensor 251a and the upper surface 101a, that is, the height of the upper surface 101a.
- the ultrasonic wave transmitted from the ultrasonic sensor 251a is blocked by the pellicle gripping member 241 before hitting the pellicle film 102. .
- the ultrasonic wave transmitted from the ultrasonic sensor 251a is reflected by the pellicle gripping member 241 in the + z direction, changed in the -y direction by the reflecting plate 252a, and received by the ultrasonic sensor 251a.
- the ultrasonic sensor 251a can measure the distance between the ultrasonic sensor 251a and the pellicle gripping member 241, that is, the height of the pellicle gripping member 241.
- the measuring unit 25 includes the ultrasonic sensor 251 in order to obtain the height of the upper surface 101a of the pellicle frame 101 or the height of the pellicle gripping member 241, but a sensor for obtaining the distance. Is not limited to the ultrasonic sensor 251.
- a sensor for obtaining the distance Is not limited to the ultrasonic sensor 251.
- an optical sensor or an eddy current type sensor in which the measuring unit 25 obtains a distance using light may be used.
- the optical sensor for example, a laser displacement sensor using a laser or a triangulation optical sensor can be used.
- the pellicle film 102 has a property of reflecting ultrasonic waves satisfactorily, it is desirable to use an ultrasonic sensor as a distance measuring sensor.
- the reflection plate 252 is provided, but the reflection plate 252 may not be used.
- the ultrasonic sensor 251 may be provided at the position of the reflecting plate 252 so that the ultrasonic wave is transmitted downward ( ⁇ z direction).
- the reflector moving mechanism is provided so that the reflector 252 can be moved to a position where the position on the xy plane does not overlap the position on the xy plane of the pellicle frame 101 (see the long dotted line in FIG. 8). Thereby, the pellicle 100 taken out from the container body 11 can be inspected using a laser beam or the like.
- the ultrasonic sensor 251 When the ultrasonic sensor 251 is provided at the position of the reflecting plate 252, a mechanism similar to the reflecting plate moving mechanism, that is, the ultrasonic sensor 251 is moved to a position that does not overlap with the position on the xy plane of the pellicle frame 101. It is desirable to add a mechanism.
- the rod 211 is provided with a rotating shaft 22 along the longitudinal direction (x direction) of the rod 211.
- the jig frame main body 21 is formed by the peeling position where the surface formed by the rod 211 and the frame 215 is substantially horizontal (substantially parallel to the xy plane), and the rod 211 and the frame 215 around the rotation shaft 22.
- the surface can be rotated approximately 90 degrees between the pasting position where the surface is substantially vertical (substantially parallel to the xz plane).
- FIG. 4 illustrates a state where the jig frame main body 21 is in the peeling position.
- the bars 211, 212, 213, and 214 are provided substantially horizontally, that is, the longitudinal direction thereof is substantially horizontal.
- the lower surface (the surface on the ⁇ z side in FIG. 1) 215a (see FIG. 4) of the frame 215 contacts the contact member 23 (see FIG. 1).
- the jig frame main body 21 can be stably held at the peeling position by supporting (both-supporting) the jig frame main body 21 at a plurality of positions (the rotation shaft 22 and the contact member 23). .
- FIG. 9 is a block diagram showing an electrical configuration of the pellicle frame gripping device 1.
- the pellicle frame gripping device 1 includes a CPU (Central Processing Unit) 151, a RAM (Random Access Memory) 152, a ROM (Read Only Memory) 153, an input / output interface (I / F) 154, and a communication interface (I / F) 155 and a media interface (I / F) 156, which are connected to the drive member 12, the drive member 44, the measuring unit 25, and the like.
- a CPU Central Processing Unit
- RAM Random Access Memory
- ROM Read Only Memory
- the CPU 151 operates based on programs stored in the RAM 152 and the ROM 153, and controls each part. Signals are input from the measurement unit 25, the drive member 12, and the drive member 44 to the CPU 151. A signal output from the CPU 151 is output to the drive member 12 and the drive member 44.
- the RAM 152 is a volatile memory.
- the ROM 153 is a non-volatile memory in which various control programs and the like are stored.
- the CPU 151 operates based on programs stored in the RAM 152 and the ROM 153, and controls each unit.
- the ROM 153 stores a boot program executed by the CPU 151 when the pellicle frame gripping device 1 is started up, a program depending on the hardware of the pellicle frame gripping device 1, and the like.
- the RAM 152 stores programs executed by the CPU 151, data used by the CPU 151, and the like.
- the CPU 151 controls the input / output device 161 such as a keyboard and a mouse via the input / output interface 154.
- the communication interface 155 receives data from other devices via the network 162 and transmits the data to the CPU 151, and transmits data generated by the CPU 151 to other devices via the network 162.
- the media interface 156 reads the program or data stored in the storage medium 163 and stores it in the RAM 152.
- the storage medium 163 is, for example, an IC card, an SD card, a DVD, or the like.
- a program for realizing each function is read from, for example, the storage medium 163, installed in the pellicle frame gripping device 1 via the RAM 152, and executed by the CPU 151.
- the CPU 151 has a function of a control unit 151a that controls each unit of the pellicle frame gripping device 1 based on an input signal.
- the control unit 151a is constructed by executing a predetermined program read by the CPU 151.
- the control unit 151 a controls the drive member 12 and the drive member 44 based on the signal acquired from the measurement unit 25. The processing performed by the control unit 151a will be described in detail later.
- the configuration of the pellicle frame gripping apparatus 1 shown in FIG. 9 is the main configuration for explaining the features of the present embodiment, and does not exclude, for example, the configuration of a general information processing apparatus.
- the functional configuration shown in FIG. 9 is classified for easy understanding of the configuration of the pellicle frame gripping apparatus 1, and the classification method and names of the constituent elements are not limited to the form shown in FIG.
- the configuration of the pellicle frame gripping device 1 may be classified into more components depending on the processing content, or one component may execute processing of a plurality of components.
- FIG. 10 is a flowchart showing the flow of the pellicle gripping process performed by the pellicle frame gripping apparatus 1. The following processing is mainly performed by the control unit 151a.
- the control unit 151a positions the pellicle storage container 10 at the initial position (the position shown in FIG. 1), that is, the jig frame main body 21 is positioned above the pellicle 100. It is confirmed that it is in a state (initial state) (step S101).
- the pellicle gripping member 241 is located at the retracted position. Accordingly, the ultrasonic wave transmitted from the ultrasonic sensor 251a is reflected in the + z direction by the pellicle film 102, is changed in the -y direction by the reflecting plate 252a, and is received by the ultrasonic sensor 251a. Further, the height of the jig frame main body 21, that is, the height of the pellicle gripping member 241 is basically unchanged, and this information is stored in the ROM 153 in advance.
- the control unit 151a based on the signal acquired from the measurement unit 25 and information on the height of the pellicle gripping member 241 stored in the ROM 153, the control unit 151a has a height of the pellicle 100 that is lower than the height of the jig frame main body 21. That is, it can be determined that the pellicle storage container 10 is in the initial state.
- the number of measurement units 25 is 14 of measurement units 25a to 25n.
- the control unit 151a sequentially transmits ultrasonic waves from the ultrasonic sensors 251a to 251n, and acquires measurement results sequentially from the ultrasonic sensors 251a to 251n.
- the control unit 151a sequentially transmits ultrasonic waves from the ultrasonic sensors 251a to 251n again after a predetermined time has elapsed after acquiring the measurement results from all the ultrasonic sensors 251.
- the predetermined time is substantially the same as the time required for the ultrasonic wave transmitted from the ultrasonic sensor 251 to be reflected by the pellicle frame 101 at the initial position and received by the ultrasonic sensor 251 (only a minute time). Long case).
- the time required for sequentially transmitting ultrasonic waves from the ultrasonic sensors 251a to 251n and acquiring the measurement results sequentially by the ultrasonic sensors 251a to 251n is approximately 20 milliseconds. Therefore, the control unit 151a can acquire the measurement value from the measurement unit 25 in almost real time.
- control unit 151a controls the drive member 44 to move the pellicle gripping member 241 to the insertion position, and confirms the actual position of the pellicle gripping member 241 (step S102).
- step S102 The process of step S102 will be described in detail.
- the controller 151a drives the actuator 44b to move the rod 44a in a direction perpendicular to the rods 211, 212, 213, and 214, thereby moving the pellicle gripping member 241 connected to the rod 44a from the retracted position to the insertion position.
- the ultrasonic wave transmitted from the ultrasonic sensor 251a is transmitted in the + z direction by the pellicle gripping member 241.
- the direction is changed in the ⁇ y direction by the reflecting plate 252a and is received by the ultrasonic sensor 251a.
- the measurement unit 25 measures the height of the pellicle gripping member 241, and the control unit 151 a acquires this.
- the distance between the ultrasonic sensor 251a and the reflecting plate 252a is known, and this value is preset and stored in the ROM 153. Therefore, the control unit 151a determines the pellicle gripping member 241 based on the result of the measurement unit 25 measuring the height of the pellicle gripping member 241 and the distance between the ultrasonic sensor 251a and the reflecting plate 252a stored in the ROM 153. Find the height of.
- control unit 151a controls the driving member 44 to move the pellicle gripping member 241 from the insertion position to the retracted position. Thereby, the process of step S102 is complete
- control unit 151a continuously obtains the height of the groove 101d of the pellicle 100 while controlling the driving member 12 to move the container body 11 (pellicle storage container 10) upward (+ z direction) (step S103). ).
- the measurement unit 25 continuously performs detection, in this state, the measurement unit 25 continuously measures the height of the upper surface 101a of the pellicle 100, and the control unit 151a continuously acquires this. To do.
- the ROM 153 stores information on the difference in height between the upper surface 101a of the pellicle 100 and the groove 101d (here, a value, for example, 3 mm).
- the control unit 151a includes a signal acquired from the measurement unit 25, information on a height difference between the upper surface 101a and the groove 101d stored in the ROM 153, an ultrasonic sensor 251a and a reflector 252a stored in the ROM 153, Based on the distance, the height of the groove 101d can be obtained continuously (in real time).
- the actuator 12a and the actuator 12b are arranged so that the heights of the upper surfaces 101a measured by the measurement units 25a to 25n substantially coincide with each other.
- the actuator 12c may be driven separately.
- the height of the upper surface 101a is not constant when placed on the container body 11, but the actuator 12a, the actuator 12b, and the actuator 12c are driven separately.
- the actuator 12a, the actuator 12b, and the actuator 12c are driven separately.
- step S105 the time required for the step (step S105) of inserting the pellicle gripping member 241 described later in detail into the groove 101d can be shortened, and the force and distortion applied to the pellicle frame by the pellicle gripping material 241 can be suppressed.
- step S103 may be performed simultaneously with step S101.
- the controller 151a determines whether or not the height of the groove 101d obtained in step S103 matches the height of the pellicle gripping member 241 obtained in step S102 (step S104). The control unit 151a performs the process of step S104 for each pellicle gripping member 241.
- step S104 If the height of the groove 101d does not match the height of the pellicle gripping member 241 (NO in step S104), the control unit 151a returns the process to step S103.
- the control unit 151a controls the drive member 44 to move the pellicle gripping member 241 from the retracted position to the insertion position. Then, the pellicle gripping member 241 is inserted into the groove 101d (step S105). The control unit 151a performs the process of step S105 for each pellicle gripping mechanism 24. Accordingly, the pellicle gripping member 241 can be reliably inserted into the groove 101d.
- the control unit 151a determines whether or not all the pellicle gripping members 241 have been inserted into the grooves 101d (step S106). When all the pellicle gripping members 241 are not inserted into the groove 101d (NO in step S106), the control unit 151a returns the process to step S103.
- step S106 When all the pellicle gripping members 241 are inserted into the grooves 101d (YES in step S106), the control unit 151a controls the driving member 12 to move the container body 11 (pellicle storage container 10) downward ( ⁇ z direction). ), The height of the upper surface 101a of the pellicle 100 is continuously obtained (step S107).
- the actuator 12b and the actuator 12c are first stopped to drive only the actuator 12a, and the height of the region moved by the actuator 12a on the upper surface 101a and the vicinity thereof are set.
- the height may be lower by a predetermined height than the other portions of the upper surface 101a.
- the position of the actuator 12a on the xy plane is one of the four tabs 104a, or the adhesive tape 105 that fixes the tab 104a to the container body 11 and the xy plane.
- the position on the xy plane of the upper surface 11a driven by the actuator 12a is the position where the pellicle gripping member 241b of the pellicle gripping mechanism 24b is inserted into the groove 101d, that is, the measurement unit 25b measures the height of the upper surface 101a of the pellicle 100. It is almost coincident with the position to be.
- control unit 151a makes the height of the upper surface 101a measured by the measurement unit 25b lower by a predetermined height than the average value of the heights measured by the other measurement units 25, for example, the measurement units 25e to 25m.
- the actuator 12a is driven at the beginning of step S107.
- the force is concentrated on the root 104b (see FIGS. 2 and 3) of the tab 104a at the position overlapping with the position on the xy plane of the upper surface 11a driven by the actuator 12a, and the trigger to peel the pellicle liner 104 from the adhesive layer 103.
- the pellicle liner 104 can be peeled from the adhesive layer 103 with a weak force.
- control part 151a determines whether the pellicle liner 104 stuck on the container main body 11 peeled from the container main body 11 (step S108).
- FIG. 11 is a diagram showing how the control unit 151a moves the container body 11 (pellicle storage container 10), that is, how the height of the upper surface 101a changes with time.
- the vertical axis indicates the distance D (see FIG. 8) between the reflector 252 and the upper surface 101a, and the horizontal axis indicates time t. Since the measurement unit 25 continuously performs detection, the control unit 151a continuously obtains the distance D between the reflection plate 252 and the upper surface 101a based on the signal acquired from the measurement unit 25.
- T t1 is the time when all the pellicle gripping members 241 are inserted into the grooves 101d (YES in step S106), and the distance D between the reflecting plate 252 and the upper surface 101a at this time is a. Since the container body 11 is moved upward in step S103, the distance a is smaller than the distance i. At this time, the weight of the pellicle storage container 10 is all supported by the pellicle gripping member 241.
- control unit 151a performs a process of moving the container body 11 downward (step S107).
- step S107 the relationship between the distance D between the reflecting plate 252 and the upper surface 101a in step S107 and the time t will be described in detail.
- control unit 151a continues to move the container body 11 downward (t2 ⁇ t ⁇ t3) as it is, the distance D between the reflection plate 252 and the upper surface 101a becomes as the control unit 151a moves the container body 11 downward. Gradually grows.
- the control unit 151a stops moving the container body 11 downward, and the control unit 151a stops the movement between the reflection plate 252 and the upper surface 101a.
- the distance D is kept at a + ⁇ a.
- An arbitrary value is set in advance for ⁇ a.
- the ROM 153 stores information (here, a value) related to ⁇ a. Based on the signal acquired from the measurement unit 25 and information on ⁇ a stored in the ROM 153, the control unit 151a moves the container body 11 downward at a position where the distance D between the reflecting plate 252 and the upper surface 101a becomes a + ⁇ a. Stop moving.
- the pellicle liner 104 is gradually peeled from the adhesive layer 103.
- t4 and t5 are slightly separated from each other, but it is actually a very short time, and it can be said that t4 and t5 have substantially the same timing.
- step S108 If the pellicle liner 104 affixed to the container body 11 has not peeled from the adhesive layer 103 (NO in step S108), the control unit 151a returns the process to step S107.
- the control unit 151a ends the pellicle gripping process.
- FIG. 12 is a flowchart showing the flow of the pellicle sticking process performed by the pellicle frame gripping apparatus 1.
- the pellicle sticking process is performed after the pellicle gripping process.
- the following processing is mainly performed by the control unit 151a.
- the control unit 151a drives a drive unit (not shown) to rotate the jig frame main body 21 about 90 degrees around the rotation shaft 22 to move the jig frame main body 21 from the peeling position to the pasting position ( Step S201). Since the jig frame main body 21 holds the pellicle 100, the pellicle 100 also rotates approximately 90 degrees together with the jig frame main body 21.
- Step S201 is time t6 ⁇ t ⁇ t7 in FIG.
- the angle between the direction of gravity and the direction perpendicular to the upper surface 101a of the pellicle 100 begins to change, and therefore the distance D between the reflector 252 and the upper surface 101a is Smaller from a.
- the control unit 151a inspects the pellicle 100 held by the jig frame body 21 using an inspection unit (not shown) (step S202).
- the inspection unit includes a transmission unit that transmits a laser beam or the like, and inspects the pellicle 100 using various known methods.
- the control unit 151a moves the reflecting plate 252 to a position where it does not overlap with the pellicle frame 101.
- control unit 151a uses a moving unit (not shown) to move to the pasting position.
- a certain jig frame main body 21 is translated into the apparatus on which the photomask is placed (step S203). Then, alignment (alignment) between the photomask and the pellicle 100 is performed (step S204).
- step S204 the controller 151a attaches the pellicle 100 to the photomask (step S205). Since the pellicle liner 104 is peeled from the pellicle 100, the adhesive layer 103 provided on the lower surface 101b of the pellicle frame 101 is exposed. Therefore, when the pellicle 100 is pressed against the photomask, the pellicle 100 is attached to the photomask by the adhesive layer 103.
- the controller 151a performs the process of step S205 during t8 ⁇ t ⁇ t10.
- the control unit 151a moves the pellicle 100 as it is toward the photomask as it is. However, since the pellicle 100 and the photomask are in contact with each other, the distance D between the reflecting plate 252 and the upper surface 101a gradually decreases from b (t9 ⁇ t ⁇ t10) while the pellicle 100 is pressed by the photomask.
- the control unit 151a continuously obtains the distance D between the reflecting plate 252 and the upper surface 101a based on the signal acquired from the measuring unit 25.
- control unit 151a performs the pellicle 100. Finishes the process of attaching the image to the photomask (step S205).
- ⁇ b is set to an arbitrary value in advance.
- Information (here, a value) regarding ⁇ b is stored in the ROM 153.
- the control unit 151a Based on the signal acquired from the measurement unit 25 and the information regarding ⁇ b stored in the ROM 153, the control unit 151a parallels the pellicle 100 at a position where the distance D between the reflector 252 and the upper surface 101a is b ⁇ b. Stop moving. The control unit 151a performs this process for each measurement unit 25. Thereby, the pellicle 100 can be affixed to the photomask without any operator intervention.
- the pellicle frame 101 can be gripped by peeling the pellicle 100 from the container main body 11 without an operator intervening.
- the pellicle frame 101 can be gripped using the pellicle gripping mechanism 24 without any operator even when the pellicle 100 is deformed. it can.
- the measurement unit 25 since the measurement unit 25 continuously measures the height of the pellicle frame 101, it can be determined that the pellicle 100 has been peeled from the container body 11 without the operator being involved. it can.
- the pellicle gripping member 241 is movable between the retracted position and the insertion position, but may be further movable in the vertical direction (z direction).
- an elastic member that can be elastically deformed in the z direction is provided at the connecting portion between the pellicle gripping member 241 and the rod 44a, and when a force in the ⁇ z direction is applied to the pellicle gripping member 241, the elastic member is deformed.
- the pellicle gripping member 241 moves in the ⁇ z direction and the force in the ⁇ z direction is removed, the pellicle gripping member 241 may move in the + z direction by returning the elastic member to the original shape.
- a strong force in the vertical direction is applied to the pellicle gripping member 241
- the rods 212, 213, and 214 are capable of handling a plurality of pellicles by translating, but it is not essential to be able to handle a plurality of pellicles.
- the second embodiment has a simpler configuration.
- the pellicle frame gripping apparatus 2 according to the second embodiment will be described. Since the difference between the pellicle frame gripping device 1 according to the first embodiment and the pellicle frame gripping device 2 is only the jig frame main body, only the jig frame main body will be described for the pellicle frame gripping device 2. To do. Further, in the description of the jig frame main body of the pellicle frame gripping device 2, the same parts as those of the pellicle frame gripping device 1 are denoted by the same reference numerals and description thereof is omitted.
- FIG. 13 is a perspective view showing an outline of the jig frame main body 21A of the pellicle frame gripping device 2.
- the jig frame main body 21A mainly includes a bar 211A, a bar 213A, and a bar 214A.
- the bar 213A and the bar 214A are fixed to the bar 211A so as to protrude from the bar 211A.
- the longitudinal direction of the rod 213A and the rod 214A is substantially orthogonal to the longitudinal direction of the rod 211A.
- the rod 213A is provided with pellicle gripping mechanisms 24d and 24e and measuring units 25d and 25e (not shown in FIG. 13), and the rod 214A is provided with a pellicle gripping mechanism 24m and 24n and measuring units 25m and 25n (in FIG. 13). (Not shown) is provided.
- a pellicle frame gripping apparatus that peels the pellicle 100 from the container main body 11 and grips the pellicle frame 101 with a simpler configuration and without operator intervention.
- substantially is a concept that includes not only a case where they are exactly the same but also errors and deformations that do not lose the identity.
- substantially parallel is not limited to being strictly parallel, and is a concept including an error of, for example, several degrees.
- near means including a region in a certain range (which can be arbitrarily determined) near a reference position. For example, in the case of the vicinity of A, it is a concept indicating that it is an area in a certain range near A and may or may not include A.
- Pellicle frame gripping device 10 Pellicle storage container 11: Container body 11a: Upper surface 12: Drive members 12a, 12b, 12c: Actuator 20: Jig frame 21, 21A: Jig frame body 22: Rotating shaft 23 : Contact member 24: pellicle gripping mechanism 25: measuring unit 44: drive member 44a: rod 44b: actuators 100, 100A, 100B, 100C, 100D, 100E: pellicle 101: pellicle frame 101a: upper surface 101b: lower surface 101c: side surface 101d : Groove 101e: hollow portion 102: pellicle membrane 103: adhesive layer 104: pellicle liner 104a: tab 104b: root 105: adhesive tape 151: CPU 151a: Control unit 152: RAM 153: ROM 154: Input / output interface 155: Communication interface 156: Media interface 157: Storage medium 211, 211A: Bar 211a, 211b: Plate 211c: Shaft 211d: Rib
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Abstract
Description
<第1の実施の形態>
第1の実施の形態は、棒212、213、214が平行移動することで複数の大きさのペリクルに対応可能な形態であるが、複数の大きさのペリクルに対応できることは必須ではない。
10:ペリクル収納容器
11:容器本体
11a:上面
12:駆動部材
12a、12b、12c:アクチュエータ
20:治具枠
21、21A:治具枠本体
22:回動軸
23:当接部材
24:ペリクル把持機構
25:計測部
44:駆動部材
44a:ロッド
44b:アクチュエータ
100、100A、100B、100C、100D、100E:ペリクル
101:ペリクルフレーム
101a:上面
101b:下面
101c:側面
101d:溝
101e:中空部
102:ペリクル膜
103:粘着層
104:ペリクルライナー
104a:タブ
104b:根元
105:接着テープ
151:CPU
151a:制御部
152:RAM
153:ROM
154:入出力インターフェース
155:通信インターフェース
156:メディアインターフェース
157:記憶媒体
211、211A:棒
211a、211b:板
211c:軸
211d:リブ
212:棒
212a:棒
212b:孔
212c:ガイド部材
213、213A:棒
214、214A:棒
214a:板
214b:補強板
214c:端部板
214d:穴
214e:軸
215:枠
216:補強部
216a、216b:棒
217:移動機構
217a:ラック
217b:アクチュエータ
217c:ピニオン
218:アクチュエータ
241:ペリクル把持部材
242:保持部
243:土台
243a:土台
251:超音波センサ
252:反射板
Claims (10)
- 略中空筒状のペリクルフレームであって、中空部を覆うペリクル膜が設けられる第1の端面と、粘着部材が設けられる前記第1の端面と略平行な第2の端面と、溝が形成される側面と、を有するペリクルフレームと、
前記粘着部材に貼付された保護シートと、
前記第1の面が略水平上向き、前記第2の面が略水平下向きの状態で前記ペリクルフレームが載置される容器本体であって、前記保護シートの一部が固定される容器本体と、
前記容器本体を前記第1の面と略直交する方向である上下方向に移動させる第1の駆動部と、
前記容器本体の上方に設けられた治具枠であって、所定の間隔で略水平に保持される2本の棒と、前記2本の棒のそれぞれに複数ずつ設けられる複数のペリクル把持部材と、前記複数のペリクル把持部材毎に設けられた第2の駆動部であって、前記ペリクル把持部材が前記溝に挿入される第1の位置と、前記ペリクル把持部材が前記溝に挿入されない第2の位置との間で前記ペリクル把持部材を略水平方向に移動させる第2の駆動部と、を有する治具枠と、
前記複数のペリクル把持部材のそれぞれに各1個設けられた測距センサであって、前記ペリクル把持部材が前記第1の位置にあるときには、前記ペリクル把持部材の略鉛直方向の位置である高さを連続して計測し、前記ペリクル把持部材が前記第2の位置にあるときには、前記第1の端面の高さを連続して計測する測距センサを複数有する計測部と、
前記計測部により連続して計測された計測結果に基づいて前記ペリクル把持部材及び前記溝の高さを求めると共に、前記容器本体を上方へ移動させつつ前記ペリクル把持部材の高さと前記溝の高さとが略一致した場合には前記ペリクル把持部材を前記第2の位置から前記第1の位置へ移動させ、前記ペリクル把持部材が全て前記第1の位置へ移動した場合には前記容器本体を下方へ移動させるように前記第1の駆動部及び前記第2の駆動部を制御する制御部と、
を備えたことを特徴とするペリクルフレーム把持装置。 - 前記制御部は、前記ペリクル把持部材が前記第1の位置へ移動した場合には、前記容器本体を第1の距離だけ下方へ移動させてから前記容器本体の移動を停止するように前記第1の駆動部を制御し、その後、前記第1の端面の高さが前記第1の距離だけ上方に移動したことが前記計測部から取得された場合には、前記保護シートと前記粘着部材とが剥離したと判定することを特徴とする請求項1に記載のペリクルフレーム把持装置。
- 前記容器本体は、前記ペリクルフレームが載置される略矩形形状の上面を有し、
前記第1の駆動部は、前記上面の第1の辺の中央近傍を移動させる第1のアクチュエータと、前記上面の前記第1の辺と略平行な第2の辺の中央より端に近い位置をそれぞれ移動させる第2のアクチュエータ及び第3のアクチュエータと、を有し、
前記制御部は、前記第1のアクチュエータ、前記第2のアクチュエータ、前記第3のアクチュエータを別々に制御することを特徴とする請求項1に記載のペリクルフレーム把持装置。 - 前記制御部は、前記容器本体を上方へ移動させるときに、前記計測部が有する複数の測距センサのうちの第1の測距センサで計測された結果に基づいて求められた前記ペリクル把持部材と前記溝との相対位置と、前記第1の測距センサと異なる第2の測距センサで計測された結果に基づいて求められた前記ペリクル把持部材と前記溝との相対位置と、が略同一となるように前記第1のアクチュエータ、前記第2のアクチュエータ、及び前記第3のアクチュエータを制御することを特徴とする請求項3に記載のペリクルフレーム把持装置。
- 前記保護シートは、前記第1の辺の中央近傍で前記上面に固定され、
前記制御部は、前記容器本体を下方へ移動させるときに、前記第1のアクチュエータを最初に駆動することを特徴とする請求項3又は4に記載のペリクルフレーム把持装置。 - 前記治具枠は、前記2本の棒の端近傍に設けられた回動軸を有し、
前記2本の棒は、前記回動軸を中心に略90度回動可能に設けられることを特徴とする請求項1から5のいずれか1項に記載のペリクルフレーム把持装置。 - 前記2本の棒が略水平に配置されたときに、前記2本の棒の前記回動軸が設けられていない側の端の、前記第1の端面と直交する方向の位置を位置決めする位置決め部材を有することを特徴とする請求項6に記載のペリクルフレーム把持装置。
- 前記治具枠は、前記2本の棒である第1の棒及び第2の棒と、前記第1の棒及び前記第2の棒と略直交する第3の棒及び第4の棒と、を有し、
前記第1の棒、前記第2の棒及び前記第3の棒は、それぞれ、長手方向と略直交する方向に移動可能に設けられることを特徴とする請求項1から7のいずれか1項に記載のペリクルフレーム把持装置。 - 前記治具枠は、前記ペリクル把持部材を前記第1の端面と直交する方向に移動させる移動機構を有することを特徴とする請求項1から7のいずれか1項に記載のペリクルフレーム把持装置。
- 中空部を覆うペリクル膜が設けられる第1の端面と、粘着部材が設けられる前記第1の端面と略平行な第2の端面と、溝が形成される側面と、を有する略中空筒状ペリクルフレームが、前記第1の面が略水平上向き、前記第2の面が略水平下向きの状態で載置される容器本体であって、前記粘着部材に貼付された保護シートの一部が固定される容器本体の上方に設けられた治具枠の、所定の間隔で略水平に保持される2本の棒のそれぞれに複数ずつ設けられる複数のペリクル把持部材を、前記ペリクル把持部材が前記溝に挿入される第1の位置に配置し、
前記複数のペリクル把持部材のそれぞれに各1個設けられた測距センサの計測結果に基づいて、前記ペリクル把持部材の高さを求め、
前記ペリクル把持部材を、前記第1の位置から、前記ペリクル把持部材が前記溝に挿入されない第2の位置へ移動させ、
前記容器本体が上方へ移動させつつ、前記測距センサの計測結果に基づいて前記溝の高さを求め、当該求められた前記溝の高さが前記ペリクル把持部材の高さと略一致したら前記ペリクル把持部材を前記第2の位置から前記第1の位置へ移動させ、
前記ペリクル把持部材が前記第1の位置へ移動したら前記容器本体を下方へ移動させるように前記第1の駆動部を制御する
ことを特徴とするペリクルフレーム把持方法。
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