WO2020116510A1 - 基板搬送装置及びその運転方法 - Google Patents
基板搬送装置及びその運転方法 Download PDFInfo
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- WO2020116510A1 WO2020116510A1 PCT/JP2019/047417 JP2019047417W WO2020116510A1 WO 2020116510 A1 WO2020116510 A1 WO 2020116510A1 JP 2019047417 W JP2019047417 W JP 2019047417W WO 2020116510 A1 WO2020116510 A1 WO 2020116510A1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing 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
- H01L21/67005—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
- H01L21/677—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
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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
- H01L21/683—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 transfer device and an operating method thereof.
- -Semiconductor wafers are manufactured by performing multiple processes in a clean room.
- semiconductor wafers are housed and transported in carriers (pods).
- Patent Document 1 discloses such a substrate processing apparatus.
- the substrate processing apparatus disclosed in Patent Document 1 includes a mapping device and a wafer position deviation detection device.
- the mapping device and the wafer position shift detection device are provided at the wafer loading/unloading opening of the pod opener that opens and closes the pod door.
- the mapping device is provided with a plurality of pairs of a pair of a light emitting unit and a light receiving unit that face each other.
- the plurality of sets of the light emitting unit and the light receiving unit are arranged in a state of being vertically aligned in a comb tooth shape.
- the wafer position deviation detection device is equipped with a plurality of limited reflection type sensors.
- the limited reflection sensor includes a light projecting section and a light receiving section.
- the limited reflection type sensor has a detection range that is a predetermined distance and width from the light projecting unit and the light receiving unit to the outer peripheral surface of the wafer that is the detection target.
- the limited reflection type sensor is configured to receive the reflected light, which is projected from the light projecting unit and reflected on the outer peripheral surface of the wafer, in the light receiving unit in this detection range.
- both the mapping device and the wafer position shifting device are provided near the wafer loading/unloading port. Therefore, it may be difficult to detect the positional deviation of the wafer in the holding groove on the side far from the wafer loading/unloading port (the holding groove on the back side of the pod).
- the inclination angle of the wafer is small even if the wafer is not located in the holding groove on the back side of the pot.
- the diameter of the wafer is 30 cm or more and the distance between the plurality of wafers is 5 to 20 mm, the inclination angle of the wafer is small. It may be difficult for the mapping device and the wafer displacement device provided near the wafer loading/unloading port to detect the displacement of the wafer having a slight inclination angle. There is still room for improvement in the mapping device and the wafer position shift device.
- An object of the present invention is to provide a substrate transfer device and an operating method thereof that can detect a positional deviation of a substrate more accurately.
- the substrate transfer device holds and transfers the substrate from a mounting table on which the substrate is mounted.
- This substrate transfer device is arranged in the hand that holds the substrate, the manipulator to which the hand is attached, and the hand, and detects the distance to the main surface of the substrate mounted on the mounting table.
- a first substrate detector A first substrate detector.
- the first substrate detector is a capacitance sensor.
- the first substrate detector is arranged at the tip of the hand.
- the substrate transfer device further includes a second substrate detector which is arranged in the hand at a position different from the first substrate detector in the front-rear direction and detects a distance to the main surface of the substrate.
- another substrate transfer device is a substrate transfer device that holds and transfers the substrate from a container in which a plurality of substrates are stored,
- the device includes a hand that holds the substrate, a manipulator, and a control device, and a tip portion of the hand has a first light projecting unit that projects light toward the main surface of the substrate.
- a substrate detector having a first light receiving unit for receiving light reflected by the main surface of the substrate is provided, and the control device operates the manipulator so as to cause the hand to enter the container.
- the first light projecting portion of the substrate detector projects light toward the main surface of the substrate, and the first light receiving portion of the substrate detector reflects on the main surface of the substrate. According to whether or not the received light is received, it is determined whether or not the substrate is displaced.
- the substrate transfer device detects a distance to a main surface of the substrate, a hand holding the substrate, a manipulator to which the hand is attached, and the hand. And a first substrate detector that operates.
- This driving method is (A) a step of preparing the substrate mounted on a mounting table, (B) a step of detecting the distance to the main surface of the substrate mounted on the mounting table, and (C) a step of holding the substrate with the hand.
- the distance to the main surface of the substrate is detected at three or more places.
- This driving method is The method further includes (D) determining whether to hold the substrate with the hand based on the distances to the main surface of the substrate detected at three or more locations.
- the distance to the main surface of the substrate is detected at three or more places.
- This driving method is (E) The method further includes the step of determining the position for holding the substrate based on the distances to the main surface of the substrate detected at three or more locations.
- the distance obtained from the first substrate detector is smaller than a predetermined lower limit value
- the distance to the main surface of the substrate is equal to or more than the predetermined lower limit value.
- the moving path of the hand is changed so as to move away.
- the first substrate detector is a capacitance sensor.
- the capacitance of the substrate is within a predetermined range.
- another operating method of the substrate transfer apparatus is a method of operating the substrate transfer apparatus, in which the substrate is held and transferred from a container in which a plurality of substrates are stored, and the substrate transfer apparatus is A hand for holding the substrate, a manipulator, and a control device, and a tip of the hand for projecting light toward the main surface of the substrate, and the substrate.
- a substrate detector having a first light receiving portion that receives light reflected by the main surface of the manipulator, and the control device operates the manipulator so as to cause the hand to enter the container.
- the first light projecting unit of the substrate detector projects light toward the main surface of the substrate, and the first light receiving unit of the substrate detector reflects the light reflected by the main surface of the substrate. It is configured to determine whether or not the positional deviation of the substrate has occurred depending on whether or not the light is received.
- the substrate transfer apparatus and the method of operating the same according to the present invention it is possible to detect the positional deviation of the substrate more accurately than the conventional substrate processing apparatus.
- FIG. 1 is a side view schematically showing a schematic configuration of a substrate transfer device and a robot system including the same according to the first embodiment.
- FIG. 2 is a top view schematically showing a schematic configuration of the robot system shown in FIG.
- FIG. 3 is an enlarged schematic view of a main part of the robot system shown in FIG.
- FIG. 4 is an enlarged schematic view of a main part of the robot system shown in FIG.
- FIG. 5 is a flowchart showing an example of the operation of the substrate transfer apparatus according to the first embodiment.
- FIG. 6 is a flowchart showing another example of the operation of the substrate transfer device according to the first embodiment.
- FIG. 7 is a schematic diagram showing a schematic configuration of a main part of the substrate transfer apparatus of the first modification of the first embodiment.
- FIG. 1 is a side view schematically showing a schematic configuration of a substrate transfer device and a robot system including the same according to the first embodiment.
- FIG. 2 is a top view schematically showing a schematic configuration of the
- FIG. 8 is a schematic diagram showing a schematic configuration of a main part of the substrate transfer apparatus according to the first modification of the first embodiment.
- FIG. 9 is a top view schematically showing a schematic configuration of the substrate transfer device according to the second embodiment and a robot system including the same.
- FIG. 10 is a side view schematically showing a schematic configuration of the substrate transfer device and the robot system including the same according to the third embodiment.
- FIG. 11 is a top view schematically showing a schematic configuration of the robot system shown in FIG. 12A is a sectional view of the container of the robot system taken along line XIIA-XIIA in FIG. 12B, and FIG. 12B is taken along line XIIB-XIIB in FIG. 12A. It is sectional drawing of this container.
- FIG. 12A is a sectional view of the container of the robot system taken along line XIIA-XIIA in FIG. 12B
- FIG. 12B is taken along line XIIB-XIIB
- FIG. 13 is an explanatory diagram showing a usage state of the robot system of FIG.
- FIG. 14A is an explanatory diagram showing another usage state of the robot system of FIG. 10
- FIG. 14B is an explanatory diagram showing yet another usage state of the robot system of FIG.
- FIG. 14C is an explanatory view showing still another usage state of the robot system of FIG.
- FIG. 15A is an explanatory diagram showing still another usage state of the robot system of FIG. 10
- FIG. 15B is an explanatory diagram showing yet another usage state of the robot system of FIG.
- FIG. 16B is an explanatory diagram showing still another usage state of the robot system of FIG.
- FIG. 16C is an explanatory diagram showing still another usage state of the robot system of FIG.
- FIG. 17A is a top view of a hand of a substrate transfer apparatus according to another embodiment of the present invention
- FIG. 17B is a cross-sectional view taken along the line segment XVIIB-XVIIB of FIG. 17A.
- FIG. 18 is an explanatory view showing the hand of the substrate transfer apparatus according to the fourth embodiment together with the substrate.
- the substrate transfer device is a substrate transfer device that holds and transfers a substrate from a container that stores a plurality of substrates, and the substrate transfer device includes a hand that holds the substrate and a manipulator. And a control device, and a first light projecting unit that projects light toward the main surface of the substrate and a first light receiving unit that receives light reflected by the main surface of the substrate at the tip of the hand. And a substrate detector having a part, and the controller controls the first light projecting part of the substrate detector to move the manipulator so that the hand enters the container. The light is projected toward the surface, and the first light receiving portion of the substrate detector determines whether or not the positional deviation of the substrate occurs depending on whether or not the light reflected by the main surface of the substrate is received. Is configured.
- the control device operates the manipulator so as to move the hand into the container.
- the position shift of the substrate occurs. It may be configured to determine that.
- the substrate transfer apparatus when the first light projecting unit projects light toward the main surface of the substrate while the substrate detector is normally storing the substrate, 1
- the light receiving unit is configured to receive the light reflected by the main surface of the substrate, and the control device operates the manipulator so as to move the hand into the container.
- the first light projecting unit projects light toward the main surface of the substrate and the first light receiving unit of the substrate detector receives the light reflected by the main surface of the substrate, the substrate is displaced. It may be configured to determine that it is not.
- the substrate transfer apparatus when the first light projecting unit projects light toward the main surface of the substrate while the substrate detector is normally storing the substrate, The 1 light receiving unit is configured not to receive the light reflected by the main surface of the substrate, and the control device operates the manipulator so as to move the hand into the container.
- the first light projecting unit projects light toward the main surface of the substrate and the first light receiving unit of the substrate detector receives the light reflected by the main surface of the substrate, the substrate is displaced. It may be configured to determine that.
- the first light projecting unit projects light toward the main surface of the substrate while the substrate detector is normally storing the substrate
- the light receiving unit is configured to receive the light reflected by the main surface of the substrate, and the control device operates the manipulator so as to move the hand into the container.
- the position shift of the substrate occurs. It may be configured to determine that it is not.
- the control device in the substrate detector, when the main surface of the substrate is located at the second distance which is a distance smaller than the first distance, The control device is configured to receive the light reflected by the main surface, and the controller causes the first light projecting unit of the substrate detector to detect the substrate when the manipulator is operated so that the hand enters the container.
- the first light receiving section of the substrate detector receives the light reflected by the main surface of the substrate, it is determined that the positional displacement of the substrate has occurred. It may be configured.
- the control device in the substrate detector, when the main surface of the substrate is located at the second distance which is a distance smaller than the first distance, The control device is configured to receive the light reflected by the main surface, and the controller causes the first light projecting unit of the substrate detector to detect the substrate when the manipulator is operated so that the hand enters the container.
- the first light receiving unit of the substrate detector does not receive the light reflected by the main surface of the substrate, it is determined that the positional displacement of the substrate has not occurred. It may be configured.
- the substrate detector may be configured such that the first light projecting unit projects light upward.
- control device may be configured to stop the operation of the manipulator when it is determined that the substrate is displaced.
- the manipulator when the control device determines that the substrate is displaced, the manipulator is operated so that the hand retracts from the container. May be.
- FIG. 1 for an example of the substrate transfer device according to the first embodiment below. Will be described with reference to.
- FIG. 1 is a side view schematically showing a schematic configuration of a substrate transfer device and a robot system including the same according to the first embodiment.
- FIG. 2 is a top view schematically showing a schematic configuration of the robot system shown in FIG.
- the front-rear direction and the up-down direction in the substrate transfer device are represented as the front-rear direction and the up-down direction in the drawing.
- the front-rear direction in the substrate transfer device is represented as the front-rear direction in the drawing.
- the robot system 100 includes a substrate transfer device 101 and a container 102 in which the substrate 1 is stored.
- the container 102 may be, for example, a FOUP (Front Opening Unified Pod) or a quartz boat.
- the substrate 1 may be a circular thin plate which is a material of a substrate of a semiconductor device such as a semiconductor substrate and a glass substrate.
- the semiconductor substrate may be, for example, a silicon substrate, a sapphire (single crystal alumina) substrate, various other substrates, or the like.
- the glass substrate may be, for example, a glass substrate for FPD (Flat Panel Display), a glass substrate for MEMS (Micro Electro Mechanical Systems), or the like.
- the substrate transfer device 101 includes a hand 20, a manipulator 30, and a control device 70, and is configured to hold and transfer the substrate 1 stored in the container 102 by the hand 20.
- the manipulator 30 is not limited to the horizontal articulated robot, and may be based on a vertical articulated robot.
- the manipulator 30 includes a housing 50, a plurality of arms (here, the first arm 32 and the second arm 34), a lifting member 40, a first connecting portion 31, a second connecting portion 33, and a third connecting portion 35. ing.
- An elevating member 40 is provided on the top of the housing 50.
- a linear actuator 41 and a control device 70 are arranged inside the housing 50.
- the control device 70 may be provided outside the housing 50. The control device 70 will be described later.
- the linear actuator 41 is configured to be able to move the elevating member 40 up and down (movable in the vertical direction).
- an electric motor for example, a ball screw, a linear guide, a rack and pinion, or the like may be used, or an air cylinder or the like may be used.
- a rotation sensor that detects the rotational position of the electric motor and outputs it to the control device 70, a current sensor that detects a current that controls the rotation of the drive motor, and the like may be arranged inside the housing 50. ..
- a base end portion of the first arm 32 is connected to the elevating member 40 via a first connecting portion 31 so as to be rotatable around a rotation axis L1 passing through the axis of the elevating member 40.
- the elevating member 40 is provided with, for example, a drive motor for rotating the first arm 32, a rotation sensor for detecting the rotational position of the drive motor, and the like.
- the drive motor and the like may be arranged on the first arm 32.
- the base end portion of the second arm 34 is connected to the tip end portion of the first arm 32 via the second connection portion 33 so as to be rotatable around the rotation axis L2.
- a drive motor for rotating the second arm 34, a rotation sensor for detecting the rotational position of the drive motor, and the like are arranged on the first arm 32.
- the drive motor and the like may be arranged on the second arm 34.
- the hand 20 is connected to the tip end of the second arm 34 via the third connecting portion 35 so as to be rotatable around the rotation axis L3.
- the second arm 34 is provided with, for example, a drive motor for rotating the hand 20, a rotation sensor for detecting the rotational position of the drive motor, and the like.
- the hand 20 has a main body portion 21 and a claw portion 22.
- the main body portion 21 is formed in a substantially Y shape when viewed from above and has a pair of finger portions 21A and 21B.
- a claw portion 22 is provided on each of the tip end portion and the base end portion of each of the finger portions 21A and 21B.
- the claw portion 22 is formed in an L shape (the vertical cross section is formed in an L shape) when viewed in the horizontal direction, and the substrate 1 is placed on the bottom portion thereof.
- the hand 20 may have a structure in which the hand 20 and the substrate 1 are not displaced relative to each other, such as an edge grip hand or a suction hand.
- a substrate detector 60 is provided at each of the tips of the fingers 21A and 21B of the main body 21.
- the substrate detector 60 has a first light projecting unit 61 and a first light receiving unit 62, and the light projected from the first light projecting unit 61 is reflected by the main surface of the substrate 1 and the reflected light is reflected.
- the first light receiving unit 62 receives light, and outputs the presence/absence information of light reception to the control device 70.
- the first light projecting unit 61 is configured to project light upward (toward the lower surface of the substrate 1).
- FIG. 3 and 4 are enlarged schematic views of the main part of the robot system shown in FIG.
- FIG. 3 shows the substrate detector 60 configured such that the first light receiving unit 62 receives the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102.
- FIG. 4 shows the substrate detector 60 configured such that the first light receiving unit 62 does not receive the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. ing.
- the upper surface of the main body portion 21 is located below the predetermined first distance h1 preset from the lower surface of the substrate 1 by the instruction of the operator and/or the automatic instruction by the control device 70.
- the first distance h1 has only to be smaller than the distance between the adjacent substrates 1 and 1, and can be set arbitrarily.
- the substrate detector 60 is configured such that the first light receiving unit 62 receives the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. Has been done. In other words, the substrate detector 60 is configured to receive the light reflected by the main surface of the substrate 1 when the main surface of the substrate 1 is located at the first distance h1.
- the first light receiving portion 62 is on the main surface of the substrate 1. Cannot receive the reflected light.
- the first light receiving unit 62 of the substrate 1 detects the substrate 1. It is configured to receive the light reflected by the main surface.
- the substrate detector 60 receives the light reflected by the first light receiving portion 62 on the main surface of the substrate 1 when the main surface of the substrate 1 is located at the second distance h2 smaller than the first distance h1. Is configured to.
- the substrate detector 60 detects the light reflected by the first light receiving portion 62 on the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. Cannot receive light.
- control device 70 can determine whether or not the positional deviation of the substrate 1 has occurred depending on whether or not the first light receiving section 62 of the substrate detector 60 receives the reflected light.
- the substrate detector 60 is provided in both the finger portions 21A and 21B, but the present invention is not limited to this, and either one of the finger portions 21A and 21B is used. It is also possible to adopt the form arranged in the.
- the substrate detector 60 having the first light receiving portion 62 that can receive the reflected light when the substrate 1 is normally stored in one of the finger portions 21A and 21B is arranged.
- a substrate detector 60 having a first light receiving portion 62 that cannot receive reflected light when the substrate 1 is normally stored is provided in the other finger portion. You may.
- the control device 70 includes a computing unit such as a microprocessor and a CPU, and a storage unit such as a ROM and a RAM (all not shown). Information such as a basic program and various fixed data is stored in the storage device.
- the arithmetic unit controls various operations of the robot system 100 by reading and executing software such as a basic program stored in the storage unit.
- control device 70 may be configured by a single control device 70 that performs centralized control, or may be configured by a plurality of control devices 70 that perform distributed control in cooperation with each other.
- control device 70 may be configured by a microcomputer, and may be configured by an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
- FIG. 5 is a flowchart showing an example of the operation of the substrate transfer device according to the first embodiment.
- FIG. 5 shows a flowchart in the case where the substrate detector 60 having the first light receiving portion 62 capable of receiving the reflected light is arranged when the substrate 1 is normally stored.
- the control device 70 operates the manipulator 30 to move the hand 20 until the hand 20 is positioned in front of the container 102 (step S101).
- the control device 70 operates the manipulator 30 so that the hand 20 enters the container 102 (step S102).
- the control device 70 determines whether or not the light receiving information, which is the information indicating that the first light receiving unit 62 has received the light reflected by the substrate 1 from the substrate detector 60 (step S103).
- control device 70 determines that the received light information is acquired from the substrate detector 60 (Yes in step S103). Then, the control device 70 operates the manipulator 30 so as to hold the substrate 1 in the hand 20 (step S105).
- control device 70 operates the manipulator 30, conveys the substrate 1 to a predetermined place set in advance, places the substrate 1 on the predetermined place (step S106), and ends the program. To do.
- step S103 determines that the light reception information is not acquired from the substrate detector 60 (No in step S103)
- the control device 70 determines that the substrate 1 is not normally housed (step S103). Step S107).
- the control device 70 stops the intrusion of the hand 20 into the container 102 (step S108). Specifically, the control device 70 stops the operation of the manipulator 30.
- control device 70 operates the manipulator 30 so that the hand 20 moves to the outside of the container 102 (step S109), and ends this program.
- control device 70 may notify the operator or the like that the substrate 1 is not normally stored by an alarm device (not shown).
- a display device such as a display, a speaker, a siren, or the like may be used.
- FIG. 6 is a flowchart showing another example of the operation of the substrate transfer device according to the first embodiment.
- FIG. 6 shows a flowchart in the case where the substrate 1 is normally stored and the substrate detector 60 having the first light receiving portion 62 that cannot receive the reflected light is provided.
- the control device 70 operates the manipulator 30 to move the hand 20 until the hand 20 is positioned in front of the container 102 (step S201).
- the control device 70 operates the manipulator 30 so that the hand 20 enters the container 102 (step S202).
- the control device 70 determines whether or not the light receiving information, which is information indicating that the first light receiving unit 62 has received the light reflected by the substrate 1 from the substrate detector 60 (step S203).
- the control device 70 determines that the substrate 1 is not normally stored (step S204). Then, the control device 70 stops the intrusion of the hand 20 into the container 102 (step S205). Specifically, the control device 70 stops the operation of the manipulator 30.
- control device 70 operates the manipulator 30 so that the hand 20 moves to the outside of the container 102 (step S206), and ends this program.
- control device 70 may notify the operator or the like that the substrate 1 is not normally stored by an alarm device (not shown).
- a display device such as a display, a speaker, a siren, or the like may be used.
- step S203 when the control device 70 determines that the light receiving information is not acquired from the substrate detector 60 (No in step S203), it is determined that the substrate 1 is normally stored (step S203). Step S207). Then, the control device 70 operates the manipulator 30 so as to hold the substrate 1 in the hand 20 (step S208).
- control device 70 operates the manipulator 30, conveys the substrate 1 to a predetermined place set in advance, places the substrate 1 on the predetermined place (step S209), and ends the program. To do.
- the controller 70 operates the manipulator 30 so that the hand 20 enters the container 102, and the substrate detector is detected. Whether or not the first light projecting unit 61 of 60 projects light toward the main surface of the substrate 1 and the first light receiving unit 62 of the substrate detector 60 receives the light reflected by the main surface of the substrate 1 Thus, it is configured to determine whether or not the positional displacement of the substrate 1 has occurred.
- the substrate 1 becomes large (for example, the diameter is 30 cm) and the distance between the adjacent substrates 1 and 1 is small (for example, the distance between the substrates 1 and 1 is 6 to 20 mm), The tilt angle due to the positional displacement is small. Therefore, on the front side of the container 102 (the side close to the substrate transfer apparatus 101), the position of the outer peripheral surface (side surface) of the substrate 1 is almost the same as that in the normally stored state ( (See FIGS. 3 and 4).
- the control device 70 allows the first light receiving section 62 of the substrate detector 60 when the hand 20 is entering the container 102. However, it is determined whether or not the positional displacement of the substrate 1 occurs depending on whether or not the light reflected by the main surface of the substrate 1 is received.
- the first light projecting unit of the substrate detector is configured to project light downward.
- FIG. 7 and FIG. 8 are schematic diagrams showing a schematic configuration of a main part of the substrate transfer apparatus according to the first modification of the first embodiment.
- FIG. 7 shows the substrate detector 60 configured such that the first light receiving unit 62 receives the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102.
- FIG. 8 shows the substrate detector 60 configured such that the first light receiving unit 62 does not receive the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. ing.
- the control device 70 is provided below the predetermined first distance h1 from the lower surface of the substrate 1 by the teaching by the operator and/or the automatic teaching by the control device 70. It is assumed that the operation of the substrate transfer apparatus 101 is taught so that the upper surface of the main body portion 21 is located. In addition, when the upper surface of the main body portion 21 is located below the lower surface of the substrate 1 by the first distance h1, between the lower surface of the main body portion 21 and the upper surface of the substrate 1 located below the main body portion 21. The distance is defined as the third distance h3.
- the substrate transfer apparatus 101 according to the first modification has the same basic configuration as the substrate transfer apparatus 101 according to the first embodiment, but the first light projection of the substrate detector 60 is performed. The difference is that the portion 61 is configured to project light downward (toward the upper surface of the substrate 1).
- the substrate detector 60 is configured so that the first light receiving portion 62 receives the light reflected by the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. There is.
- the substrate detector 60 is configured to receive the light reflected by the main surface of the substrate 1 when the main surface of the substrate 1 is located at the third distance h3.
- the first light receiving portion 62 is on the main surface of the substrate 1. Cannot receive the reflected light.
- the first light receiving unit 62 detects the substrate 1 of the substrate 1. It is configured to receive the light reflected by the main surface. In other words, the substrate detector 60 receives the light reflected by the first light receiving unit 62 on the main surface of the substrate 1 when the main surface of the substrate 1 is located at the fourth distance h4 which is smaller than the third distance h3. Is configured to.
- the substrate detector 60 detects the light reflected by the first light receiving portion 62 on the main surface of the substrate 1 when the substrate 1 is normally stored in the container 102. Cannot receive light.
- the thus configured substrate transporting apparatus 101 of the first modification also has the same effects as the substrate transporting apparatus 101 according to the first embodiment.
- the substrate transfer apparatus according to the second embodiment is the same as the substrate transfer apparatus according to the first embodiment except that the second light projecting unit that projects light in the horizontal direction and the light projected from the second light projecting unit are used.
- a mapping device having a second light receiving portion for receiving light is provided at a tip portion of the hand, and the controller does not detect the light emitted from the second light emitting portion by the second light receiving portion.
- the information is acquired from the mapping device as the position information of the substrate, and based on the position information of the substrate acquired from the mapping device, the manipulator is positioned so that the hand is located below the preset first distance from the lower surface of the substrate. Is configured to operate.
- the control device in the substrate detector, when the main surface of the substrate is located at the second distance which is a distance smaller than the first distance, The control device is configured to receive the light reflected by the main surface, and the controller causes the first light projecting unit of the substrate detector to detect the substrate when the manipulator is operated so that the hand enters the container.
- the first light receiving section of the substrate detector receives the light reflected by the main surface of the substrate, it is determined that the positional displacement of the substrate has occurred. It may be configured.
- the control device in the substrate detector, when the main surface of the substrate is located at the second distance which is smaller than the first distance, The control device is configured to receive the light reflected by the main surface, and the controller causes the first light projecting unit of the substrate detector to detect the substrate when the manipulator is operated so that the hand enters the container.
- the first light receiving unit of the substrate detector does not receive the light reflected by the main surface of the substrate, it is determined that the positional displacement of the substrate has not occurred. It may be configured.
- FIG. 9 is a top view schematically showing a schematic configuration of the substrate transfer device according to the second embodiment and a robot system including the same. Note that, in FIG. 9, the front-rear direction in the substrate transfer device is represented as the front-rear direction in the drawing.
- the substrate transfer device 101 according to the second embodiment has the same basic configuration as the substrate transfer device 101 according to the first embodiment, but a mapping device is provided at the tip of the main body 21. The difference is that 80 is provided.
- the mapping device 80 includes a second light projecting unit 81 that projects light in the horizontal direction and a second light receiving unit 82 that receives the light projected by the second light projecting unit 81.
- the second light projecting portion 81 is arranged on the finger portion 21A of the main body portion 21, and the second light receiving portion 82 is arranged on the finger portion 21B of the main body portion 21.
- the second light projecting unit 81 and the second light receiving unit 82 are arranged so as to face each other.
- the mapping device 80 is also configured to output position information, which the second light receiving part 82 did not detect the light projected from the second light projecting part 81, to the control device 70 as the position information of the substrate 1. ing. Thereby, the control device 70 can acquire the position information of the substrate 1 more accurately.
- the control device 70 is configured to operate the manipulator 30 so that the hand 20 is located below the lower surface of the substrate 1 by the first distance h1 based on the position information of the substrate 1 acquired from the mapping device 80. There is. As a result, the control device 70 can position the hand 20 below the lower surface of the substrate 1 by the first distance h1 more accurately than the substrate transfer device 101 according to the first embodiment.
- the robot system 200 includes a substrate transfer device 201 and a container 112 as a mounting table.
- the substrate 1 is stored in the container 112, so that the substrate 1 is mounted on the mounting table.
- the container 112 may be, for example, a FOUP (Front Opening Unified Pod) or a quartz boat.
- the left-right direction and the up-down direction in FIG. 10 represent the front-back direction and the up-down direction of the substrate transfer apparatus 201. Further, the left-right direction of FIG. 11 represents the front-back direction of the substrate transfer device 201. The up-down direction of FIG. 11 represents the left-right direction of the substrate transfer device 201.
- the substrate 1 is a semiconductor device substrate such as a semiconductor substrate and a glass substrate.
- the substrate 1 is, for example, a circular thin plate.
- the substrate 1 has a pair of circular main surfaces 1A and 1B and an outer peripheral surface 1C between the main surfaces 1A and 1B.
- the substrate 1 may be a thin plate, and may be a polygonal thin plate, for example.
- Examples of the semiconductor substrate include a silicon substrate, a sapphire (single crystal alumina) substrate, and other various substrates.
- Examples of the glass substrate include a glass substrate for FPD (Flat Panel Display) and a glass substrate for MEMS (Micro Electro Mechanical Systems).
- the board transfer device 201 includes a hand 120, a manipulator 30, and a control device 70.
- the substrate transfer device 201 holds the substrate 1 stored in the container 112 with the hand 120.
- the hand 120 is attached to the manipulator 30.
- the substrate 1 is transported by moving the hand 120 with the manipulator 30. In FIG. 10, the substrate 1 is held by the hand 120.
- the configuration of a horizontal articulated robot as the manipulator 30 will be described below.
- the manipulator 30 according to the present invention is not limited to the horizontal articulated robot.
- the manipulator 30 may be based on a vertical articulated robot.
- the manipulator 30 includes a plurality of arms (here, the first arm 32 and the second arm 34), a first connecting portion 31, a second connecting portion 33, a third connecting portion 35, a lifting member 40, and a housing 50. There is.
- An elevating member 40 is provided on the top of the housing 50.
- the elevating member 40 is movable in the vertical direction with respect to the housing 50.
- a linear actuator 41 and a control device 70 are arranged inside the housing 50.
- the control device 70 may be provided outside the housing 50.
- the linear actuator 41 is capable of moving up and down the lifting member 40 (movable in the vertical direction).
- a drive motor for example, a drive motor (servo motor), a ball screw, a linear guide, a rack and pinion, or the like may be used, or an air cylinder or the like may be used.
- the base end portion of the first arm 32 is connected to the elevating member 40 via the first connecting portion 31.
- the first arm 32 is rotatable around the rotation axis L1.
- the rotation axis L1 extends in the up-down direction through the axis of the elevating member 40.
- the elevating member 40 is provided with, for example, a drive motor for rotating the first arm 32, a rotation sensor for detecting the rotational position of the drive motor, and the like.
- the drive motor and the like may be arranged on the first arm 32.
- the base end portion of the second arm 34 is connected to the tip end portion of the first arm 32 via the second connecting portion 33.
- the second arm 34 is rotatable around the rotation axis L2.
- the rotating shaft L2 extends in the vertical direction.
- the first arm 32 is provided with, for example, a drive motor for rotating the second arm 34, a rotation sensor for detecting the rotational position of the drive motor, and the like.
- the drive motor and the like may be arranged on the second arm 34.
- the hand 120 is connected to the tip of the second arm 34 via the third connecting portion 35.
- the hand 120 can rotate around the rotation axis L3.
- the rotating shaft L3 extends in the vertical direction.
- the second arm 34 is provided with, for example, a drive motor for rotating the hand 120, a rotation sensor for detecting the rotation position of the drive motor, and the like.
- the drive motor and the like may be arranged on the hand 120.
- the hand 120 has a main body 121 and a plurality of claws 22.
- the main body 121 is formed in a substantially Y shape when viewed from above as shown in FIG. 11, and has a pair of fingers 121A and 121B.
- a claw portion 22 is provided at each of the tip portion (tip portions of the finger portions 121A and 121B) and the base end portion of the main body portion 121.
- the claw portion 22 is formed in an L shape when viewed in the horizontal direction (a vertical cross section is formed in an L shape).
- the claw portion 22 is configured so that the substrate 1 is placed on the bottom portion thereof.
- the main surface 1A of the substrate 1 is placed on this bottom portion.
- the hand 120 may have a structure in which the hand 120 and the substrate 1 do not move relative to each other, such as an edge grip hand or a suction hand.
- a substrate detector 160A as a first substrate detector is arranged at the tip of each of the fingers 121A and 121B.
- the respective substrate detectors 160A are arranged at the same positions in the front-rear direction.
- the substrate detector 160A detects the distance to the main surface 1A of the substrate 1 which faces the substrate detector 160A.
- a capacitance sensor is used as the substrate detector 160A.
- the substrate detector 160A detects the electrostatic capacitance generated between the main surface 1A of the substrate 1 facing the hand 120.
- the substrate detector 160A can detect a change in the distance to the main surface 1A due to a change in the generated capacitance.
- the substrate detector 160A is arranged at the tip of the body 121 here, it may be arranged at the middle or the base of the body 121.
- the substrate detector 160A may be arranged at a position where it can face the main surface 1A of the substrate 1.
- control device 70 includes a computing unit such as a microprocessor and a CPU, and a storage unit such as a ROM and a RAM. Information such as a basic program and various fixed data is stored in the storage device.
- the arithmetic unit controls various operations of the robot system 200 by reading and executing software such as the basic program stored in the storage unit.
- the control device 70 may be configured by a single control device 70 that performs centralized control.
- the control device 70 may be configured by a plurality of control units that perform distributed control in cooperation with each other.
- the control device 70 may be configured by a microcomputer, and may be configured by an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
- the container 112 is shown together with the substrate 1.
- the container 112 includes a box-shaped shell 113.
- the shell 113 has an opening 114 and a plurality of grooves 115 arranged in the vertical direction. Each groove 115 extends in the horizontal direction.
- the groove 115 extends along the inner wall of the shell 113.
- the groove 115 can support the edge of the main surface 1A of the substrate 1.
- the groove 115 supports the main surface 1A of the substrate 1.
- the plurality of substrates 1 are held by the grooves 115 with the main surface 1A parallel to the horizontal direction.
- the plurality of substrates 1 are arranged vertically.
- a double-headed arrow Dp shown in FIG. 12B represents the interval between the grooves 115.
- a plurality of substrates 1 are arranged in the vertical direction at a constant interval Dp.
- the distance Dp is not particularly limited, but is, for example, 5 mm or more and 20 mm or less.
- FIG. 13 shows the substrate 1 and the hand 120.
- the substrate 1 is held in the groove 115 of the container 112.
- the substrate 1 is held with the principal surface 1A parallel to the horizontal direction.
- the substrate detector 160A detects upwards and downwards.
- the substrate detector 160A faces the main surface 1A.
- the substrate detector 160A is electrically connected to a capacitance measuring unit (not shown).
- the capacitance measuring unit is electrically connected to the control device 70.
- the substrate detector 160A is connected to the capacitance measuring section by an electric conductor 161.
- the electric conductor 161 extends along the lower surface 121C of the main body 121 of the hand 120.
- a double-headed arrow ha in FIG. 13 represents the distance between the substrate detector 160A and the main surface 1A in the vertical direction.
- the capacitance detected by the substrate detector 160A changes as the distance ha changes.
- the substrate detector 160A is configured to output the detected capacitance to the capacitance measuring unit.
- the capacitance measuring unit is configured to output to the control device 70 a voltage signal that changes according to the magnitude of the input capacitance.
- FIG. 14A to 14C show the substrate 1 housed in the container 112.
- the main surface 1A of the substrate 1 extends parallel to the horizontal direction.
- the substrate 1 is located above the hand 21 and is the closest to the hand 21.
- FIG. 14(A) shows a state in which the tip of the hand 21 is inserted into the container 112 through the opening 114.
- the substrate detector 160 ⁇ /b>A faces the main surface 1 ⁇ /b>A of the substrate 1.
- FIG. 14B shows a state in which the hand 21 is inserted deep inside the container 112.
- FIG. 14C shows a state in which the hand 21 is inserted further into the container 112.
- the substrate detector 160A faces the main surface 1A of the substrate 1.
- a double-headed arrow ha1 in FIG. 14A represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction. From FIG. 14(A) to FIG. 14(C), the hand 120 is moving in the horizontal direction. 14B and 14C as well, the distance between the substrate detector 160A and the main surface 1A of the substrate 1 is the same as the distance ha1 in FIG. 14A.
- FIGS. 15A to 15C show another substrate 1 housed in the container 112.
- the main surface 1A of the substrate 1 extends from the opening 114 toward the inner side while being inclined downward.
- Other configurations in FIGS. 15A to 15C are similar to those in FIGS. 14A to 14B.
- a double-headed arrow ha2 in FIG. 15A represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- a double-headed arrow ha3 in FIG. 15B represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- a double-pointed arrow ha4 in FIG. 15C represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- the distance ha2 is larger than the distance ha3, and the distance ha3 is larger than the distance ha4.
- FIGS. 16(A) to 16(C) show still another substrate 1 housed in the container 112. This substrate 1 is warped.
- the main surface 1A of the substrate 1 is curved in a downwardly convex arc shape.
- 16(A) to 16(C) the other configurations are similar to those of FIGS. 14(A) to 14(C).
- a double-headed arrow ha5 in FIG. 16(A) represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- a double-headed arrow ha6 in FIG. 16B represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- a double-headed arrow ha7 in FIG. 16C represents the distance between the substrate detector 160A and the main surface 1A of the substrate 1 in the vertical direction.
- the distance ha5 is larger than the distance ha6, and the distance ha7 is smaller than the distance ha5 and larger than the distance ha6.
- a container 112 containing the substrate 1 is prepared (STEP 1).
- the distance ha to the main surface 1A of the substrate 1 is detected by the substrate detector 160A (STEP 2).
- the hand 120 is inserted into the shell 113 through the opening 114 of the container 112.
- the substrate detector 160A faces the main surface 1A of the substrate 1.
- the substrate detector 160A detects the distance ha1 to the main surface 1A as a capacitance.
- the hand 120 moves from the state of FIG. 14(A) through the state of FIG. 14(B) to the state of FIG. 14(C). While the hand 120 moves from the state of FIG. 14A to the state of FIG. 14C, the substrate detector 160A detects the distance ha1 as a capacitance. The detected capacitance is converted into a voltage signal and output to the control device 70. The control device 70 obtains the distance ha1 from this voltage signal.
- the control device 70 determines whether or not the substrate 1 is held by the hand 120 (STEP 3). In this STEP3, the distance ha1 is within the range of a predetermined distance. The control device 70 determines to hold the substrate 1 with the hand 120.
- the controller 70 holds the substrate 1 with the hand 120 (STEP 4).
- the substrate 1 is held by the claw portions 22 of the hand 120. At this time, the edge of the main surface 1A contacts the claw portion 22.
- the substrate 1 held by the hand 120 is transported to the next step by the manipulator 30 (STEP 5).
- the substrate detector 160A detects the distance ha as the electrostatic capacitance while the hand 120 moves from the state of FIG. 15(A) to the state of FIG. 15(C).
- the generated capacitance increases from the distance ha2 to the distance ha4.
- the detected capacitance is converted into a voltage signal and output to the control device 70.
- the control device 70 obtains the distance ha2, the distance ha3, and the distance ha4 from this voltage signal.
- this distance ha4 is small and does not satisfy the predetermined distance range.
- the control device 70 determines not to hold the substrate 1 with the hand 120.
- the hand 120 is returned to the predetermined standby position.
- the control device 70 notifies an operator or the like by an alarm device (not shown).
- a display device such as a display, a speaker, a siren, or the like may be used.
- the substrate detector 160A detects the distance ha as the electrostatic capacitance while the hand 120 moves from the state of FIG. 16(A) to the state of FIG. 16(C).
- the capacitance generated from the distance ha5 toward the distance ha6 increases.
- the capacitance reaches the maximum value on the way from the distance ha6 to the distance ha7. After that, the capacitance decreases toward the distance ha7.
- the detected capacitance is converted into a voltage signal and output to the control device 70.
- the control device 70 obtains the distance ha5, the distance ha6, and the distance ha7 from this voltage signal.
- this distance ha6 is small and does not satisfy the predetermined distance range.
- the control device 70 determines not to hold the substrate 1 with the hand 120.
- the hand 120 is returned to the predetermined standby position.
- the control device 70 notifies an operator or the like by an alarm device (not shown).
- a display device such as a display, a speaker, a siren, or the like may be used.
- the substrate transfer device 201 includes a substrate detector 160A that detects a distance ha to the main surface 1A of the substrate 1. Compared to a detector that detects whether the distance ha to the main surface 1A is within a predetermined range, the substrate detector 160A can accurately detect the distance ha to the main surface 1A.
- the substrate transfer device 201 can obtain the change in the distance ha while moving the hand 120.
- the substrate transfer apparatus 201 can stop the movement of the hand 12 when the distance ha becomes less than a predetermined lower limit value.
- the substrate transfer device 201 can avoid the interference between the hand 120 and the substrate 1 in advance. Further, when the distance ha becomes equal to or smaller than a predetermined lower limit value, an operator (not shown) can notify the operator or the like.
- the substrate transfer device 201 can easily confirm the substrate 1 that has interfered with the hand 120.
- This board detector 160A is arranged in the hand 120.
- the hand 120 is inserted into the small space Dp between the substrates 1. Therefore, the substrate detector 160A is preferably small and lightweight.
- the substrate detector 160 is preferably thin. Further, it is preferable that the substrate detector 160 can be molded into a desired shape that matches the surface shape of the hand 120. From these viewpoints, the capacitance sensor is suitable as the substrate detector 160A.
- the substrate detector 160A is arranged at the tip of the hand 120.
- the substrate detector 160A can detect the distance ha before the entire hand 120 is inserted into the container 112. Thereby, the interference between the hand 120 and the substrate 1 can be suppressed.
- the substrate detector 160A is preferably arranged at the tip of the hand 120.
- the front end portion here means the frontmost range portion when the range from the front end of the main body portion 121 of the hand 120 to the rear end of the main body portion 121 is divided into three equal parts in the front-rear direction.
- the substrate transfer apparatus 201 can suppress erroneous detection of the substrate detector 160A due to the charging abnormality of the substrate 1.
- the distance ha is measured in the front-back direction.
- the substrate detector 160A preferably measures the distance ha at a plurality of points at two or more points in the front-rear direction, and more preferably at a plurality of points at three or more points.
- the substrate detector 160A preferably measures the distance ha in a linear shape continuous in the front-rear direction.
- STEP 2 of the operation method of the substrate transfer apparatus 201 it may be determined whether or not the inclination of the main surface 1A in the front-rear direction is within a predetermined range. Thereby, the abnormal posture of the substrate 1 can be detected.
- the distance ha is measured in the front-rear direction as shown in FIGS. 16(A) to 16(C).
- the warp of the substrate 1 in the front-back direction can be measured.
- the substrate detector 160A preferably measures the distance ha at a plurality of points at three or more points in the front-rear direction, and more preferably at a plurality of points at four points or more.
- the substrate detector 160A preferably measures the distance ha in a linear shape continuous in the front-rear direction.
- STEP 2 of the operating method of the substrate transfer apparatus 201 it may be determined whether the warp of the main surface 1A in the front-rear direction is within a predetermined range. Thereby, the abnormal posture of the substrate 1 and the abnormal shape of the substrate 1 can be detected.
- the interference between the substrate 1 and the hand 120 can be suppressed by measuring the inclination or warpage of the substrate 1.
- the substrate 1 can be held by the hand 120 in a stable posture. From these viewpoints, in STEP 2 of this operating method, it is preferable that the control device 70 determine the inclination or warpage of the substrate 1.
- the board detector 160A only needs to be able to detect a change in the distance ha.
- the substrate detector 160A is not limited to the capacitance sensor.
- the substrate detector 160A may be arranged on the hand 120 so as to detect downward.
- the substrate detector 160A may detect the distance to the upward main surface 1B instead of the main surface 1A of the substrate 1.
- the presence/absence of the substrate 1 may be detected by using the substrate detector 160A.
- the substrate detector 160A may detect the distance ha to the main surface 1A of the substrate 1 held by the hand 120. This can contribute to improving the stability of the transportation of the substrate 1.
- the substrate transfer apparatus 201 can detect an abnormal posture of the substrate 1 or an abnormal shape of the substrate 1 more accurately than before before holding the substrate 1 with the hand 120. By including this substrate detector 160A, the substrate transfer device 201 can avoid interference between the hand 120 moving toward the substrate 1 and the substrate 1 in advance. As a result, the substrate transfer apparatus 201 can omit or simplify the mapping operation of the substrate 1.
- the substrate detector 160A is arranged in the main body 121, but the whole or a part of the main body 121 may constitute the substrate detector 160.
- part or all of the main body 121 made of an aluminum alloy may be used as the substrate detector 160.
- FIG. 17A and 17B show a hand 212 of another substrate transfer apparatus 211 according to the present invention.
- the substrate carrying device 211 has the same configuration as the substrate carrying device 201 except that a hand 212 is provided instead of the hand 120.
- the configuration different from the substrate transfer apparatus 201 will be mainly described.
- the description of the same configuration as the substrate transfer device 201 is omitted. Further, the same configuration as that of the substrate transfer apparatus 201 will be described with the same reference numerals.
- the hand 212 has a main body 213 and a plurality of claws 22. As shown in FIG. 17, the main body portion 213 is formed in a substantially Y shape when viewed from above and has a pair of finger portions 213A and 213B. A claw portion 22 is provided on each of a tip portion (tip portions of the finger portions 213A and 213B) and a base end portion of the main body portion 213.
- the substrate transfer device 211 includes a substrate detector 160A as a second substrate detector in addition to the substrate detector 160A.
- the substrate transfer device 211 further includes a plurality of substrate detectors 160B to 160E.
- the plurality of substrate detectors 160A to 160F are arranged in the main body 213.
- the board detectors 160A to 160F are arranged at different positions in the front-rear direction.
- Substrate detectors 160A to 160E are arranged in the front-rear direction on the finger portions 213A and 213B, respectively.
- Substrate detectors 160A to 160E are arranged at the same positions in the front and rear directions on the finger portions 213A and 213B.
- the substrate detector 160F is arranged between the pair of substrate detectors 160A.
- the substrate detector 160F is the second substrate detector.
- any of the substrate detectors 160B to 160E may be the second substrate detector.
- the distance ha can be simultaneously detected by the substrate detector 160A to the substrate detector 160F. Thereby, the shape of the main surface 1A of the substrate 1 can be grasped more accurately.
- the inclination and the warp of the surface can be easily grasped. From this viewpoint, it is preferable that the substrate detector 160 detects at three or more locations. It is preferable that the substrate detectors 160 are arranged at two or more different positions in the front-rear direction. Similarly, it is preferable that the substrate detectors 160 are arranged at a plurality of three or more different positions in the left-right direction.
- FIG. 18 shows a hand 222 of still another substrate transfer device 221 according to the present invention.
- the substrate transfer device 221 has the same configuration as the substrate transfer device 201 except that a hand 222 is provided instead of the hand 120.
- the configuration different from the substrate transfer apparatus 201 will be mainly described.
- the description of the same configuration as the substrate transfer device 201 is omitted. Further, the same configuration as that of the substrate transfer apparatus 201 will be described with the same reference numerals.
- the hand 222 has a main body 223 and a suction pad 224.
- the hand 222 is a kind of suction hand.
- the main body portion 223 is formed in a substantially Y shape when viewed from above and has a pair of finger portions 223A and 223B, like the main body portion 121.
- the hand 222 is provided with four suction pads 224 so as to correspond to the claw portions 22 of the hand 120.
- the suction pad 224 include a vacuum suction pad and a Bernoulli suction pad.
- a high suction force is exerted by making the distance between the entire suction surface and the main surface 1A of the substrate 1 uniform.
- the high suction force contributes to improving the positioning accuracy of the substrate 1 and the stability of conveyance.
- the substrate detector 160A detects the distance ha to the main surface 1A of the substrate 1. By detecting the distances ha at a plurality of points, it is possible to obtain the inclination and the warp of the main surface 1A. From this inclination or warpage, the hand 222 can be positioned at a position where the suction pad 224 can exert a high suction force, and the substrate 1 can be sucked by the suction pad 224. Further, by detecting the distance ha to the main surface 1A of the substrate 1 while the substrate 1 is sucked by the suction pad 224, it can be confirmed that the substrate 1 is sucked at a predetermined position and posture. Thereby, the substrate 1 can be stably transported.
- the inclination and the warp of the main surface 1A can be more accurately grasped by detecting the substrate 1 with the plurality of substrate detectors 160. Further, the position of the substrate 1 held by the hand 222 can be accurately grasped. From these points of view, in the hand 222, it is preferable that a plurality of substrate detectors 160 are arranged, like the hand 212.
- the substrate transfer apparatus and the method of operating the same of the present invention are useful because the positional deviation of the substrate can be detected more accurately than the conventional substrate processing apparatus.
- Substrate 1A ... Main surface 20, 120, 212, 222... Hand 21... Main body 21A... Finger 21B... Finger 22... Claw 30... Manipulator 31... First connection part 32... First arm 33... Second connection part 34... Second arm 35... Third connection part 40... Elevating member 41... Straight Dynamic actuator 50... Casing 60, 160 (160A to 160F)... Substrate detector 61... First light emitting unit 62... First light receiving unit 70... Control device 80... Mapping Device 81... Second light projecting unit 82... Second light receiving unit 100, 200... Robot system 101, 201, 211, 221,... Substrate transfer device 102, 112... Container
Abstract
Description
この運転方法は、
(A)載置台に載置された前記基板を準備する工程、
(B)載置台に載置された前記基板の前記主面までの距離を検知する工程
及び
(C)前記基板を前記ハンドで保持する工程
を含む。
(D)3箇所以上で検知した前記基板の前記主面までの距離に基づいて前記基板を前記ハンドで保持するか否かを判定する工程
を、更に含む。
(E)3箇所以上で検知した前記基板の前記主面までの距離に基づいて前記基板を保持する位置を判定する工程
を、更に含む。
図1は、本実施の形態1に係る基板搬送装置及びそれを備えるロボットシステムの概略構成を模式的に示す側面図である。図2は、図1に示すロボットシステムの概略構成を模式的に示す上面図である。
次に、本実施の形態1に係る基板搬送装置101の動作及びその作用効果について、図1~図6を参照しながら説明する。
次に、本実施の形態1に係る基板搬送装置101の変形例について、図7及び図8を参照しながら説明する。
本実施の形態2に係る基板搬送装置は、実施の形態1に係る基板搬送装置において、水平方向に光を投光する第2投光部と、第2投光部から投光された光を受光する第2受光部と、を有する、マッピング装置がハンドの先端部に設けられていて、制御装置は、第2受光部が第2投光部から投光された光を検知しなかった位置情報を基板の位置情報として、マッピング装置から取得し、マッピング装置から取得した基板の位置情報を基に、ハンドが、基板の下面から予め設定されている第1距離下方に位置するように、マニピュレータを動作させるように構成されている。
図9は、本実施の形態2に係る基板搬送装置、及びそれを備えるロボットシステムの概略構成を模式的に示す上面図である。なお、図9においては、基板搬送装置における前後方向を図における前後方向として表している。
図10及び図11に示すように、ロボットシステム200は、基板搬送装置201と、載置台としての容器112とを備えている。このロボットシステム200では、この容器112に基板1が収納されることで、載置台に基板1が載置されている。容器112としては、例えば、FOUP(Front Opening Unified Pod)であってもよく、石英ボートであってもよい。
図18には、本発明に係る更に他の基板搬送装置221のハンド222が示されている。この基板搬送装置221は、ハンド120に代えてハンド222を備える他は、基板搬送装置201と同様の構成を備えている。ここでは、基板搬送装置201と異なる構成について、主に説明がされる。基板搬送装置201と同様の構成について、その説明が省略される。また、基板搬送装置201と同様の構成について、同様の符号を付して説明がされる。
1A・・・主面
20、120、212、222・・・ハンド
21・・・本体部
21A・・・指部
21B・・・指部
22・・・爪部
30・・・マニピュレータ
31・・・第1接続部
32・・・第1アーム
33・・・第2接続部
34・・・第2アーム
35・・・第3接続部
40・・・昇降部材
41・・・直動アクチュエータ
50・・・筐体
60、160(160Aから160F)・・・基板検出器
61・・・第1投光部
62・・・第1受光部
70・・・制御装置
80・・・マッピング装置
81・・・第2投光部
82・・・第2受光部
100、200・・・ロボットシステム
101、201、211、221・・・・・・基板搬送装置
102、112・・・容器
Claims (33)
- 基板が載置された載置台から前記基板を保持して搬送する基板搬送装置であって、
前記基板を保持するハンドと、前記ハンドが取り付けられたマニピュレータと、前記ハンドに配置されており、前記載置台に載置された前記基板の主面までの距離を検知する第1基板検出器とを備える、基板搬送装置。 - 前記第1基板検出器が静電容量センサである、請求項1に記載の基板搬送装置。
- 前記第1基板検出器が、前記ハンドの先端部に配置されている、請求項1又は2に記載の基板搬送装置。
- 前記ハンドに前後方向において前記第1基板検出器と異なる位置に配置されて前記基板の前記主面までの距離を検知する第2基板検出器を、更に備える、請求項1から3のいずれかに記載の基板搬送装置。
- 複数の基板が収納されている容器から前記基板を保持して搬送する、基板搬送装置であって、
前記基板搬送装置は、前記基板を保持するハンドと、マニピュレータと、制御装置と、を備え、
前記ハンドの先端部には、前記基板の主面に向けて、光を投光する第1投光部と、前記基板の主面で反射した光を受光する第1受光部と、を有する基板検出器が設けられていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光したか否かにより、前記基板の位置ずれが生じているか否かを判定するように構成されている、基板搬送装置。 - 水平方向に光を投光する第2投光部と、前記第2投光部から投光された光を受光する第2受光部と、を有する、マッピング装置が前記ハンドの先端部に設けられていて、
前記制御装置は、前記第2受光部が前記第2投光部から投光された光を検知しなかった位置情報を前記基板の位置情報として、前記マッピング装置から取得し、前記マッピング装置から取得した前記基板の位置情報を基に、前記ハンドが、前記基板の下面から予め設定されている第1距離下方に位置するように、前記マニピュレータを動作させるように構成されている、請求項5に記載の基板搬送装置。 - 前記基板検出器は、前記基板が正常に収納されている状態で、前記第1投光部が前記基板の主面に向けて光を投光すると、前記第1受光部が、前記基板の主面で反射した光を受光するように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項5又は6に記載の基板搬送装置。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項7に記載の基板搬送装置。
- 前記基板検出器は、前記基板が正常に収納されている状態で、前記第1投光部が前記基板の主面に向けて光を投光すると、前記第1受光部が、前記基板の主面で反射した光を受光しないように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項5から8のいずれかに記載の基板搬送装置。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項9に記載の基板搬送装置。
- 前記基板検出器は、前記基板の主面が、前記第1距離よりも小さい距離である第2距離に位置するときに、前記第1受光部が前記基板の主面で反射した光を受光するように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項6から8のいずれかに記載の基板搬送装置。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項11に記載の基板搬送装置。
- 前記基板検出器は、前記第1投光部が、上方に向けて光を投光するように構成されている、請求項5から12のいずれかに記載の基板搬送装置。
- 前記基板検出器は、前記第1投光部が、下方に向けて光を投光するように構成されている、請求項5から13のいずれかに記載の基板搬送装置。
- 前記制御装置は、前記基板の位置ずれが生じていると判定した場合には、前記マニピュレータの動作を停止するように構成されている、請求項5から14のいずれかに記載の基板搬送装置。
- 前記制御装置は、前記基板の位置ずれが生じていると判定した場合には、前記ハンドが前記容器から退避するように前記マニピュレータを動作させるように構成されている、請求項5から15のいずれかに記載の基板搬送装置。
- 基板を保持するハンドと、前記ハンドが取り付けられたマニピュレータと、前記ハンドに配置されて前記基板の主面までの距離を検知する第1基板検出器とを備えている基板搬送装置の、運転方法であって、
(A)載置台に載置された前記基板を準備する工程、
(B)載置台に載置された前記基板の前記主面までの距離を検知する工程
及び
(C)前記基板を前記ハンドで保持する工程
を含む、運転方法。 - 前記工程(B)において、前記基板の前記主面までの距離を3箇所以上で検知し、
(D)3箇所以上で検知した前記基板の前記主面までの距離に基づいて前記基板を前記ハンドで保持するか否かを判定する工程
を、更に含む、請求項17に記載の運転方法。 - 前記工程(B)において、前記基板の前記主面までの距離を3箇所以上で検知し、
(E)3箇所以上で検知した前記基板の前記主面までの距離に基づいて前記基板を保持する位置を判定する工程
を、更に含む、請求項17又は18に記載の運転方法。 - 前記工程(B)において、前記第1基板検出器から求められた距離が所定の下限値より小さいときに、前記基板の前記主面までの距離が所定の下限値以上離れる様に、前記ハンドの移動経路を変更させる、請求項17から19のいずれかに記載の運転方法。
- 前記第1基板検出器が静電容量センサであり、
前記工程(B)において、前記基板の静電容量が所定の範囲内か否かを判定する、請求項17から20のいずれかに記載の運転方法。 - 複数の基板が収納されている容器から前記基板を保持して搬送する、基板搬送装置の運転方法であって、
前記基板搬送装置は、前記基板を保持するハンドと、マニピュレータと、制御装置と、を備え、
前記ハンドの先端部には、前記基板の主面に向けて、光を投光する第1投光部と、前記基板の主面で反射した光を受光する第1受光部と、を有する基板検出器が設けられていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光したか否かにより、前記基板の位置ずれが生じているか否かを判定するように構成されている、基板搬送装置の運転方法。 - 水平方向に光を投光する第2投光部と、前記第2投光部から投光された光を受光する第2受光部と、を有する、マッピング装置が前記ハンドの先端部に設けられていて、
前記制御装置は、前記第2受光部が前記第2投光部から投光された光を検知しなかった位置情報を前記基板の位置情報として、前記マッピング装置から取得し、前記マッピング装置から取得した前記基板の位置情報を基に、前記ハンドが、前記基板の下面から予め設定されている第1距離下方に位置するように、前記マニピュレータを動作させるように構成されている、請求項22に記載の基板搬送装置の運転方法。 - 前記基板検出器は、前記基板が正常に収納されている状態で、前記第1投光部が前記基板の主面に向けて光を投光すると、前記第1受光部が、前記基板の主面で反射した光を受光するように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項22又は23に記載の基板搬送装置の運転方法。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項24に記載の基板搬送装置の運転方法。
- 前記基板検出器は、前記基板が正常に収納されている状態で、前記第1投光部が前記基板の主面に向けて光を投光すると、前記第1受光部が、前記基板の主面で反射した光を受光しないように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項22から25のいずれかに記載の基板搬送装置の運転方法。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項26に記載の基板搬送装置の運転方法。
- 前記基板検出器は、前記基板の主面が、前記第1距離よりも小さい距離である第2距離に位置するときに、前記第1受光部が前記基板の主面で反射した光を受光するように構成されていて、
前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光した場合には、前記基板の位置ずれが生じていると判定するように構成されている、請求項23から25のいずれかに記載の基板搬送装置の運転方法。 - 前記制御装置は、前記ハンドを前記容器内に進入させるように、前記マニピュレータを動作させているときに、前記基板検出器の前記第1投光部に前記基板の主面に向けて光を投光させ、前記基板検出器の前記第1受光部が、前記基板の主面で反射した光を受光しない場合には、前記基板の位置ずれが生じていないと判定するように構成されている、請求項28に記載の基板搬送装置の運転方法。
- 前記基板検出器は、前記第1投光部が、上方に向けて光を投光するように構成されている、請求項22から29のいずれかに記載の基板搬送装置の運転方法。
- 前記基板検出器は、前記第1投光部が、下方に向けて光を投光するように構成されている、請求項22から30のいずれかに記載の基板搬送装置の運転方法。
- 前記制御装置は、前記基板の位置ずれが生じていると判定した場合には、前記マニピュレータの動作を停止するように構成されている、請求項22から31のいずれかに記載の基板搬送装置の運転方法。
- 前記制御装置は、前記基板の位置ずれが生じていると判定した場合には、前記ハンドが前記容器から退避するように前記マニピュレータを動作させるように構成されている、請求項22から32のいずれかに記載の基板搬送装置の運転方法。
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US18/213,339 Continuation US20230352331A1 (en) | 2018-12-07 | 2023-06-23 | Substrate transferring device and method of operating the same |
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WO2022051751A1 (en) * | 2020-09-01 | 2022-03-10 | Persimmon Technologies Corporation | Material-handling robot with magnetically guided end-effectors |
WO2022050204A1 (ja) * | 2020-09-04 | 2022-03-10 | 川崎重工業株式会社 | ロボット及びハンド部姿勢調整方法 |
WO2022196712A1 (ja) * | 2021-03-19 | 2022-09-22 | 川崎重工業株式会社 | ウエハ搬送ロボット及びウエハ取出方法 |
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JP2020000578A (ja) * | 2018-06-29 | 2020-01-09 | 株式会社三洋物産 | 遊技機 |
JP2020000579A (ja) * | 2018-06-29 | 2020-01-09 | 株式会社三洋物産 | 遊技機 |
JP2020000577A (ja) * | 2018-06-29 | 2020-01-09 | 株式会社三洋物産 | 遊技機 |
JP2020000580A (ja) * | 2018-06-29 | 2020-01-09 | 株式会社三洋物産 | 遊技機 |
JP2022145029A (ja) * | 2021-03-19 | 2022-10-03 | 株式会社Screenホールディングス | 基板搬送装置および基板搬送方法 |
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- 2019-12-04 JP JP2020559964A patent/JP7240414B2/ja active Active
- 2019-12-04 KR KR1020217020736A patent/KR102560894B1/ko active IP Right Grant
- 2019-12-04 CN CN201980079455.8A patent/CN113165189A/zh active Pending
- 2019-12-05 TW TW108144493A patent/TWI722697B/zh active
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2022
- 2022-03-22 JP JP2022046026A patent/JP7431880B2/ja active Active
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TW202038362A (zh) | 2020-10-16 |
KR20210097183A (ko) | 2021-08-06 |
US20220020623A1 (en) | 2022-01-20 |
US20230352331A1 (en) | 2023-11-02 |
JP7431880B2 (ja) | 2024-02-15 |
JP7240414B2 (ja) | 2023-03-15 |
TWI722697B (zh) | 2021-03-21 |
JP2022091855A (ja) | 2022-06-21 |
JPWO2020116510A1 (ja) | 2021-09-02 |
CN113165189A (zh) | 2021-07-23 |
KR102560894B1 (ko) | 2023-07-28 |
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