WO2017158972A1 - 基板収納容器 - Google Patents
基板収納容器 Download PDFInfo
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- WO2017158972A1 WO2017158972A1 PCT/JP2016/087177 JP2016087177W WO2017158972A1 WO 2017158972 A1 WO2017158972 A1 WO 2017158972A1 JP 2016087177 W JP2016087177 W JP 2016087177W WO 2017158972 A1 WO2017158972 A1 WO 2017158972A1
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- Prior art keywords
- contact portion
- contact
- area
- storage container
- wafer
- Prior art date
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Classifications
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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
- H01L21/673—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 using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/6735—Closed carriers
- H01L21/67396—Closed carriers characterised by the presence of antistatic elements
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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
- H01L21/673—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 using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/67303—Vertical boat type carrier whereby the substrates are horizontally supported, e.g. comprising rod-shaped elements
- H01L21/67306—Vertical boat type carrier whereby the substrates are horizontally supported, e.g. comprising rod-shaped elements characterized by a material, a roughness, a coating or the like
-
- 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
- H01L21/673—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 using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/6735—Closed carriers
- H01L21/67366—Closed carriers characterised by materials, roughness, coatings or the like
-
- 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
- H01L21/673—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 using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/6735—Closed carriers
- H01L21/67379—Closed carriers characterised by coupling elements, kinematic members, handles or elements to be externally gripped
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
Definitions
- the present invention relates to a substrate storage container for storing semiconductor wafers, photomasks, glass substrates, hard disks and other substrates.
- the wafer In each process of handling a semiconductor wafer, such as wafer cleaning, drying, inspection, heat treatment, and CVD processing, among the semiconductor wafer manufacturing process and the subsequent semiconductor device manufacturing process, the wafer is referred to as a wafer storage container (also referred to as a cassette case).
- a wafer storage container also referred to as a cassette case.
- a wafer is taken out from the container one by one using a robot or the like, and various processes are performed.
- a typical wafer storage container is formed entirely of an insulating plastic such as polycarbonate PC or polyetheretherketone PEEK, and has a box-shaped container body with one side opened, A wafer holding rack fixed in the container main body and a lid body detachably attached to the opening of the container main body.
- an insulating plastic such as polycarbonate PC or polyetheretherketone PEEK
- JP 2010-40612 A JP 2008-021744 A JP 2008-021743 A JP-T-2004-531064 Table 2011/102318
- the above-described insulating wafer storage container is charged to a positive potential or a negative potential when it contacts, rubs, peels, or collides with an operator or a robot. Especially in a clean room controlled at low humidity, the possibility of charging is extremely high.
- the wafer storage container is charged, there are problems that surrounding particles are electrically adsorbed and sparks are generated between the conductive robot hand and contaminants such as metal adhere to the wafer. Therefore, in Patent Documents 2 to 5, it is possible to prevent particles adhering to the container and the substrate by electrostatic force by adopting an antistatic material in which a conductive material such as carbon black is added to the material constituting the container. Proposed.
- the substrate storage container made of an antistatic material has a problem that it is hard and heavy and easily cracks.
- the problem to be solved by the present invention is to provide a substrate storage container capable of suppressing charging by a simple method.
- the present invention is an insulating container that accommodates a substrate therein, and when an object other than the container is brought into contact with at least one outer surface of the container, a contact portion that contacts the object and the one outer surface
- the non-contact part that does not contact the object is formed, and the area of the contact part is 40% or less with respect to the total of the area of the contact part and the area of the non-contact part. Resolve.
- the surface resistance value of at least one outer surface in contact with the object is 1 ⁇ 10 11 ⁇ or more.
- the contact portion may be a convex portion, and the non-contact portion may be a concave portion relative to the convex portion.
- the outer surface in contact with the object may be one outer surface of a hexahedron or a cylinder, and the outer surface in contact with the object may be a specific contact surface provided on one outer surface of the hexahedron or the cylinder. Good.
- the substrate is a substrate including at least a semiconductor wafer, a photomask, a glass substrate, and a hard disk.
- the substrate storage container is charged by contact, friction, separation, and collision (hereinafter collectively referred to as contact) with an object other than the container, but the charged surface potential correlates with the contact area.
- contact contact, friction, separation, and collision
- the occurrence rate of sparks due to the charged potential is almost 0% when the contact area is 40% or less.
- a contact portion that contacts the object and a non-contact portion that does not contact the object are formed on at least one surface that contacts the object other than the container. Since the sum of the area and the area of the non-contact portion is 40% or less, the surface potential due to charging is reduced to a level where the spark occurrence rate is 0%. As a result, surrounding particles can be prevented from adhering to the substrate, and contaminants accompanying the occurrence of sparks can be prevented from adhering to the substrate.
- FIG. 1 is a perspective view showing an embodiment of a substrate storage container according to the present invention.
- FIG. 2 is a front view (A) and a cross-sectional view (B) showing an example of a pattern of a contact portion and a non-contact portion in FIG. 3 is a front view (A) and a cross-sectional view (B) showing another example of the pattern of the contact portion and the non-contact portion of FIG. 4 is a front view (A) and a cross-sectional view (B) showing still another example of the pattern of the contact portion and the non-contact portion in FIG. 1.
- FIG. 5 is a perspective view schematically showing a substrate storage container according to the present invention.
- FIG. 6 is a perspective view showing another embodiment of the substrate storage container according to the present invention.
- FIG. 7 is a graph showing the results of measuring the relationship between the contact area and the surface potential in the substrate storage container of FIG.
- FIG. 8 is a graph showing the results of measuring the relationship between the contact area and the spark generation rate
- FIG. 1 is a perspective view showing a wafer storage container 1 which is an embodiment of a substrate storage container according to the present invention.
- the wafer storage container 1 of the present embodiment is a process for handling a semiconductor wafer such as cleaning, drying, and inspection of a wafer, such as a semiconductor wafer (hereinafter, also simply referred to as a wafer) manufacturing process and a subsequent semiconductor device manufacturing process.
- This is a so-called cassette case for storing and transporting a plurality of wafers.
- FIG. 1 is a perspective view showing a wafer storage container 1 which is an embodiment of a substrate storage container according to the present invention.
- the wafer storage container 1 of the present embodiment is a process for handling a semiconductor wafer such as cleaning, drying, and inspection of a wafer, such as a semiconductor wafer (hereinafter, also simply referred to as a wafer) manufacturing process and a subsequent semiconductor device manufacturing process.
- This is a so-called cassette case for storing and transporting a pluralit
- the wafer storage container 1 of the present embodiment includes a container main body 11 capable of storing a plurality of wafers W, a rack 12 for holding wafers provided in the container main body 11, A lid (not shown) that can be detachably attached to the opening 11a of the container body 11 and opens and closes the opening 11a is provided.
- the container body 11 is made of an insulating material, and is formed from a plastic such as polycarbonate (PC) or polyether ether ketone (PEEK).
- the container body 11 is substantially a hexahedron, that is, a substantially rectangular parallelepiped box shape, and an opening 11a is formed on one side surface (front side in FIG. 1).
- the wafer W is loaded into the container main body 11 through the opening 11a and stored.
- the stored wafer W is carried out of the container body 11 through the opening 11a.
- FIG. 5 is a perspective view schematically showing a substrate storage container according to the present invention, and corresponds to the wafer storage container 1 shown in FIG.
- FIG. 5 is a perspective view schematically showing a substrate storage container according to the present invention, and corresponds to the wafer storage container 1 shown in FIG.
- FIG. 5 is a perspective view schematically showing a substrate storage container according to the present invention, and corresponds to the wafer storage container 1 shown in FIG.
- FIG. 5 is
- the six surfaces of the container body 11 are referred to as an upper surface 11A, a bottom surface 11B, a front surface 11C, a back surface 11D, a right side surface 11E, and a left side surface 11F.
- the opening 11a is provided on the front surface 11C.
- the surface resistance value of the wafer storage container 1 molded from these plastics is 1 ⁇ 10 11 ⁇ or more.
- the rack 12 provided in the container body 11 includes a pair of wafer holders 12a and 12b installed in a state of facing the right side surface 11E and the left side surface 11F adjacent to the opening 11a of the container body 11.
- Each wafer holder 12a, 12b is formed with a plurality of wafer holding grooves extending in the insertion / removal direction of the wafer W (arrow direction in FIG. 1).
- the groove width of this groove is larger than the thickness of the wafer W, and the wafer W is inserted into the groove. Further, the distance between the tip portions of the wafer holders 12 a and 12 b facing each other is narrower than the diameter dimension of the wafer W.
- each wafer holder 12a, 12b is formed with a plurality of grooves so that a plurality of wafers W can be held in the container body 11 at intervals.
- the posture as shown in FIG. 1, that is, the right side surface 11 ⁇ / b> E on which the opening 11 a is on the lateral side (a state directed in the lateral direction) and the wafer holders 12 a and 12 b are installed.
- the container main body 11 When the container main body 11 is placed horizontally so that the left side surface 11F is located on both sides, the plurality of wafers W stored in the container main body 11 are in a horizontal state (horizontal state).
- the container main body 11 may be placed horizontally.
- the operator or the work robot grasps the right side surface 11E and the left side surface 11F of the wafer storage container 1.
- a worker's hand usually wearing a nitrile glove
- work robot hand usually coated with an insulating material
- the wafer storage container 1 is charged.
- a clean room having a temperature of 18 to 25 ° C. and a humidity of 25 to 45%, it is easy to be charged as compared with a high temperature and high humidity environment.
- FIG. 7 shows the potential charged on the surface when the contact areas are 100%, 80%, and 30% with respect to the right side surface 11E and the left side surface 11F of the wafer storage container 1 formed of different materials A and B, respectively. It is a graph which shows the result of having measured.
- the contact area on the horizontal axis indicates the ratio of the area where the worker or the work robot has contacted the right side surface 11E and the left side surface 11F of the wafer storage container 1, and when the entire surface of the right side surface 11E and the left side surface 11F of the container body 11 is contacted
- the charging potential was measured with 100%. As a result, it was confirmed that even if the material of the wafer storage container 1 is different, the surface potential is reduced when the contact area is reduced.
- the contact area is 100%, 90%, 80%, 70%, 60%, 50%, 40% and 30% with respect to the right side surface 11E and the left side surface 11F of the wafer storage container 1, respectively.
- FIG. 2 is a front view (A) showing an example of a pattern of the contact portion 13 and the non-contact portion 14 in FIG. 1 and a cross-sectional view (B) along the line IIB-IIB.
- the contact portion 13 shown in FIG. 1 and FIG. 2 is composed of linear strip-shaped convex portions that intersect with each other arranged in a vertical and horizontal grid pattern, and a rectangular portion surrounded by the contact portion 13 composed of these convex portions is a concave portion.
- the non-contact part 14 is comprised.
- contact portions 13 each including four grid-shaped convex portions are formed on the entire right side surface 11 ⁇ / b> E of the wafer storage container 1, and these contact portions 13 are formed.
- the portion surrounded by is a non-contact portion 14 composed of 21 rectangular recesses.
- the ratio of the area of the contact portion 13 to the area of the side surface 11E is 150: 400, and the area of the contact portion 13 is equal to the area of the contact portion 13 and the non-contact portion. It is 37.5% with respect to the sum total with the area of 14.
- the protruding shape of the convex portion which is the contact portion 13 may rise up perpendicularly to the right side surface 11E or may be inclined and raised so as to shrink toward the top surface. By doing so, the area of the contact portion 13 can be set smaller.
- FIG. 3 is a front view (A) showing another example of the pattern of the contact portion and the non-contact portion in FIG. 1 and a cross-sectional view (B) along the line IIIB-IIIB.
- the contact portion 13 shown in FIG. 3 is composed of a plurality of circular convex portions regularly arranged in the vertical and horizontal directions, and a non-circular portion surrounded by the contact portion 13 made of these convex portions is a concave portion.
- a contact portion 14 is formed.
- the contact portion 13 including a total of 36 circular convex portions of 6 rows horizontally and 6 rows vertically is formed on the entire right side surface 11 ⁇ / b> E of the wafer storage container 1.
- a portion surrounded by the contact portion 13 is a non-contact portion 14 formed of a recess.
- the ratio of the area of the contact portion 13 to the area of the side surface 11E is 283: 1000, and the area of the contact portion 13 is equal to the area of the contact portion 13 and the non-contact portion. It is 28.3% with respect to the sum total with 14 areas.
- the raised shape of the circular convex portion that is the contact portion 13 rises perpendicularly to the right side surface 11E, or may be inclined and raised so as to shrink toward the top surface. That is, the area of the contact portion 13 can be set smaller by forming the contact portion 13 in a truncated cone or cone.
- FIG. 4 is a front view (A) and a cross-sectional view (B) taken along line IVB-IVB showing still another example of the pattern of the contact portion and the non-contact portion in FIG.
- the contact portion 13 shown in FIG. 4 is composed of a plurality of rectangular protrusions regularly arranged vertically and horizontally, and a portion formed by hollowing out a rectangle surrounded by the contact portion 13 made of these protrusions is a non-recessed portion.
- a contact portion 14 is formed.
- a contact portion 13 composed of a total of 16 rectangular convex portions of 4 in the horizontal direction and 4 rows in the vertical direction is formed on the entire right side surface 11E of the wafer storage container 1.
- a portion surrounded by the contact portion 13 is a non-contact portion 14 formed of a recess.
- the ratio of the area of the contact portion 13 to the area of the right side surface 11E is 128: 400, and the area of the contact portion 13 is not in contact with the area of the contact portion 13. It is 32% of the total with the area of the portion 14.
- the raised shape of the rectangular convex portion that is the contact portion 13 may rise up perpendicularly to the right side surface 11E or may be inclined and raised so as to shrink toward the top surface. By doing so, the area of the contact portion 13 can be set smaller.
- the arrangement pattern in the planar view of the convex portion that becomes the contact portion 13 and the concave portion that becomes the non-contact portion 14 is the entire surface of the right side surface 11E and / or the left side surface 11F of the wafer storage container 1 (or the operator's hand or It can be said that it is desirable that the contact portions of the hand of the working robot are uniformly formed with equal intervals and the same size.
- the present invention is not limited to the regular arrangement pattern, and may be an irregular arrangement pattern.
- the portion that may come into contact with the operator's hand or the hand of the work robot is the entire right side surface 11E and left side surface 11F of the container body 11. Therefore, in the wafer storage container 1 shown in FIG. 1, the contact portion 13 that is 40% or less of the total area of the right side surface 11E and the left side surface 11F is formed.
- the portion that may come into contact with the hand of the worker or the hand of the work robot is a grip portion 15 provided on the right side surface 11E and the left side surface 11F of the wafer storage container 1, for example, as shown in FIG. In this case, the contact portion 13 and the non-contact portion 14 are formed on the grip portion 15, and the area of the contact portion 13 is set to be 40% or less of the entire area of the grip portion 15.
- the container main body 11 is brought into contact with an object without changing the material of the container main body 11 to a special material such as an antistatic material, and without performing a charge removing process such as an ionizer. It is possible to prevent the occurrence of sparks when taking out the wafer housed in the interior only by making the contact area of the portion that is likely to be 40% or less of the whole. Further, not only the occurrence of sparks but also the charging itself is suppressed, so that foreign matters such as particles can be suppressed from adhering to the wafer.
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Abstract
Description
図1は、本発明に係る基板収納容器の一実施の形態であるウェーハ収納容器1を示す斜視図である。本実施形態のウェーハ収納容器1は、半導体ウェーハ(以下、単にウェーハともいう。)の製造プロセスやその後の半導体デバイスの製造プロセスなど、たとえばウェーハの洗浄・乾燥・検査といった半導体ウェーハを取り扱う工程において、複数のウェーハを収納して搬送するための、いわゆるカセットケースである。本実施形態のウェーハ収納容器1は、図1に示すように、複数枚のウェーハWの収納が可能な容器本体11と、容器本体11内に設けられたウェーハを保持するためのラック12と、容器本体11の開口部11aに着脱自在に装着可能で、この開口部11aを開閉する蓋体(不図示)とを備える。
11…容器本体
11A…上面
11B…底面
11C…前面
11D…背面
11E…右側面
11F…左側面
12…ラック
12a,12b…ウェーハ保持体
11a…開口部
13…接触部分
14…非接触部分
15…把持部
Claims (7)
- 開口部と、前記開口部から基板が収納される内部と、外面とを有する絶縁性の容器本体を備え、
前記容器本体の少なくとも一つの外面に、前記容器本体以外の物体を前記外面に接触させた場合に、当該外面に前記物体と接触する接触部分と、前記物体と接触しない非接触部分と、が形成され、
前記接触部分の面積が、前記接触部分の面積と前記非接触部分の面積との総和に対して40%以下とされている基板収納容器。 - 六面体又は円柱体の絶縁性の容器本体を備え、
前記容器本体は、
開口部と、
前記開口部から、半導体ウェーハ、フォトマスク、ガラス基板及びハードディスクを含む基板が収納される内部と、
外面と、を有し、
前記容器本体の少なくとも一つの外面に、前記容器本体以外の物体を前記外面に接触させた場合に、当該外面に前記物体と接触する接触部分と、前記物体と接触しない非接触部分と、が形成され、
前記接触部分の面積が、前記接触部分の面積と前記非接触部分の面積との総和に対して40%以下とされている基板収納容器。 - 前記物体と接触する少なくとも一つの外面の表面抵抗値が、1×1011Ω以上である請求項1又は2に記載の基板収納容器。
- 前記接触部分が凸部であり、前記非接触部分が前記凸部に対して相対的な凹部である請求項1~3のいずれか一項に記載の基板収納容器。
- 前記物体と接触する外面が、六面体又は円柱体の一つの外面である請求項1~4のいずれか一項に記載の基板収納容器。
- 前記物体と接触する外面が、六面体又は円柱体の一つの外面に設けられた特定の接触面である請求項1~4のいずれか一項に記載の基板収納容器。
- 前記基板は、半導体ウェーハ、フォトマスク、ガラス基板及びハードディスクを含む請求項1,3~6のいずれか一項に記載の基板収納容器。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US16/084,369 US11011400B2 (en) | 2016-03-18 | 2016-12-14 | Substrate-storing container |
KR1020187018924A KR102235404B1 (ko) | 2016-03-18 | 2016-12-14 | 기판 수납 용기 |
CN201680083743.7A CN108886009B (zh) | 2016-03-18 | 2016-12-14 | 基板收纳容器 |
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JP2016054768A JP6772498B2 (ja) | 2016-03-18 | 2016-03-18 | 基板収納容器 |
JP2016-054768 | 2016-03-18 |
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WO2017158972A1 true WO2017158972A1 (ja) | 2017-09-21 |
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US (1) | US11011400B2 (ja) |
JP (1) | JP6772498B2 (ja) |
KR (1) | KR102235404B1 (ja) |
CN (1) | CN108886009B (ja) |
WO (1) | WO2017158972A1 (ja) |
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WO2020027530A1 (ko) | 2018-08-02 | 2020-02-06 | 주식회사 정석케미칼 | 자기장 발생 방법과 자기장을 이용한 차선 감지 방법, 이를 이용한 자동차 |
US20240162068A1 (en) * | 2022-11-14 | 2024-05-16 | Entegris, Inc. | Semiconductor substrate carrying container with support wall formed with corrugation portions |
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- 2016-12-14 US US16/084,369 patent/US11011400B2/en active Active
- 2016-12-14 CN CN201680083743.7A patent/CN108886009B/zh active Active
- 2016-12-14 KR KR1020187018924A patent/KR102235404B1/ko active IP Right Grant
- 2016-12-14 WO PCT/JP2016/087177 patent/WO2017158972A1/ja active Application Filing
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Also Published As
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CN108886009B (zh) | 2023-07-07 |
JP6772498B2 (ja) | 2020-10-21 |
JP2017168765A (ja) | 2017-09-21 |
KR20180090329A (ko) | 2018-08-10 |
US20190080946A1 (en) | 2019-03-14 |
US11011400B2 (en) | 2021-05-18 |
KR102235404B1 (ko) | 2021-04-01 |
CN108886009A (zh) | 2018-11-23 |
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