JP7433179B2 - 制御方法及び基板搬送システム - Google Patents
制御方法及び基板搬送システム Download PDFInfo
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- JP7433179B2 JP7433179B2 JP2020156679A JP2020156679A JP7433179B2 JP 7433179 B2 JP7433179 B2 JP 7433179B2 JP 2020156679 A JP2020156679 A JP 2020156679A JP 2020156679 A JP2020156679 A JP 2020156679A JP 7433179 B2 JP7433179 B2 JP 7433179B2
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- 239000000758 substrate Substances 0.000 title claims description 191
- 238000000034 method Methods 0.000 title claims description 25
- 238000012546 transfer Methods 0.000 title description 20
- 230000007723 transport mechanism Effects 0.000 claims description 84
- 230000032258 transport Effects 0.000 claims description 59
- 238000005259 measurement Methods 0.000 claims description 44
- 238000012545 processing Methods 0.000 description 33
- 238000010586 diagram Methods 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 230000008602 contraction Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000004380 ashing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- 238000005530 etching Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67748—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber horizontal transfer of a single workpiece
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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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/681—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment using optical controlling means
-
- 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
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
- Human Computer Interaction (AREA)
Description
一実施形態に係る基板処理システム1の全体構成の一例について、図1を用いて説明する。図1は、一実施形態に係る基板処理システム1の構成を示す平面図の一例である。なお、図1では、基板Wにドットのハッチングを付して図示している。なお、以下の説明において、搬送機構5の第3アーム53に基板Wを保持して、真空搬送室3から処理室4の載置部41に基板Wを搬送するものとして説明する。
次に、搬送機構5の制御について、図2を用いて説明する。図2は、制御装置7の機能ブロック図の一例である。
1 基板処理システム
2 ロードロック室
21 載置部
3 真空搬送室
4 処理室
41 載置部
5 搬送機構
53 第3アーム
53a 保持部
6,6a,6b,61,62 センサ(計測部)
7 制御装置
71 姿勢算出部
72 中心位置算出部
73 記憶部
91~93 モータ
91a~93a 角度センサ
Claims (7)
- 基板を保持する保持部を有し、前記基板を搬送する搬送機構の制御方法であって、
前記搬送機構によって搬送される前記基板の外縁を検出し、予め設定された前記基板を搬送する経路に対応する調整値を用いて前記基板の中心位置を計測する工程と、
前記基板の中心位置と予め設定された前記保持部の基準位置とのずれ量に基づいて、目標位置を補正する工程と、
前記保持部の基準位置が補正された前記目標位置となるように前記搬送機構を制御する工程と、を有する制御方法。 - 前記保持部は、保持された前記基板よりも突出する突出部を有し、
前記基板を搬送して前記基板の外縁を検出する際、前記突出部の外縁を検出して、前記保持部の基準位置を計測する、
請求項1に記載の制御方法。 - 前記突出部の外縁は、前記保持部の基準位置を中心とする円弧形状を有する、
請求項2に記載の制御方法。 - 前記搬送機構の温度に対応する前記調整値を記憶し、
前記基板を搬送する経路及び前記搬送機構の温度に対応する前記調整値を用いて前記基板の中心位置を計測する、
請求項1乃至請求項3のいずれか1項に記載の制御方法。 - 基板を保持する保持部を有し、前記基板を搬送する搬送機構と、
前記搬送機構によって搬送される前記基板の外縁を検出し、前記基板の中心位置を計測する計測部と、
前記搬送機構を制御する制御部と、を備え、
前記計測部は、
予め設定された前記基板を搬送する経路に対応する調整値を用いて前記基板の中心位置を計測し、
前記制御部は、
前記基板の中心位置と前記保持部の基準位置とのずれ量に基づいて、目標位置を補正し、
前記保持部の基準位置が補正された前記目標位置となるように前記搬送機構を制御する、基板搬送システム。 - 基板を保持する保持部を有し、前記基板を搬送する搬送機構と、
前記搬送機構によって搬送される前記基板の外縁を検出し、前記基板の中心位置を計測する計測部と、
前記搬送機構を制御する制御部と、を備え、
前記保持部は、保持された前記基板よりも突出する突出部を有し、
前記制御部は、
前記基板を搬送する際、前記突出部の外縁を前記計測部で検出して、前記保持部の基準位置を計測するとともに、前記基板の外縁を前記計測部で検出して、前記基板の中心位置を計測し、
前記基板の中心位置と前記保持部の基準位置とのずれ量に基づいて、目標位置を補正し、
前記保持部の基準位置が補正された前記目標位置となるように前記搬送機構を制御する、
基板搬送システム。 - 前記突出部の外縁は、前記保持部の基準位置を中心とする円弧形状を有する、
請求項6に記載の基板搬送システム。
Priority Applications (4)
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JP2020156679A JP7433179B2 (ja) | 2020-09-17 | 2020-09-17 | 制御方法及び基板搬送システム |
KR1020210118787A KR102638031B1 (ko) | 2020-09-17 | 2021-09-07 | 제어 방법 및 기판 반송 시스템 |
CN202111042397.7A CN114203605A (zh) | 2020-09-17 | 2021-09-07 | 控制方法和基片输送*** |
US17/474,644 US20220084862A1 (en) | 2020-09-17 | 2021-09-14 | Control method and substrate transfer system |
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Citations (1)
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JP2003243479A (ja) | 2002-02-19 | 2003-08-29 | Tokyo Electron Ltd | 搬送手段の停止位置調整機構 |
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JP4697192B2 (ja) | 2007-06-12 | 2011-06-08 | 東京エレクトロン株式会社 | 位置ずれ検出装置及びこれを用いた処理システム |
US8185242B2 (en) * | 2008-05-07 | 2012-05-22 | Lam Research Corporation | Dynamic alignment of wafers using compensation values obtained through a series of wafer movements |
US9196518B1 (en) * | 2013-03-15 | 2015-11-24 | Persimmon Technologies, Corp. | Adaptive placement system and method |
JP2015005682A (ja) * | 2013-06-24 | 2015-01-08 | シンフォニアテクノロジー株式会社 | 搬送ロボット、円盤状搬送対象物の搬送方法 |
KR102469258B1 (ko) * | 2014-11-18 | 2022-11-22 | 퍼시몬 테크놀로지스 코포레이션 | 엔드 이펙터 위치 추정을 위한 로봇의 적응형 배치 시스템 |
JP6918770B2 (ja) * | 2015-07-13 | 2021-08-11 | ブルックス オートメーション インコーポレイテッド | オンザフライ方式の自動ウェハセンタリング方法および装置 |
KR102373081B1 (ko) * | 2017-02-15 | 2022-03-11 | 퍼시몬 테크놀로지스 코포레이션 | 다수의 엔드-이펙터들을 가진 재료-핸들링 로봇 |
KR102411116B1 (ko) * | 2018-12-10 | 2022-06-20 | 주식회사 원익아이피에스 | 기판처리시스템, 기판처리시스템의 기판이송방법 |
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JP2003243479A (ja) | 2002-02-19 | 2003-08-29 | Tokyo Electron Ltd | 搬送手段の停止位置調整機構 |
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JP2022050210A (ja) | 2022-03-30 |
KR102638031B1 (ko) | 2024-02-16 |
US20220084862A1 (en) | 2022-03-17 |
CN114203605A (zh) | 2022-03-18 |
KR20220037353A (ko) | 2022-03-24 |
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