JP7442389B2 - 基板搬送装置及び基板把持判定方法 - Google Patents
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- 239000000758 substrate Substances 0.000 title claims description 88
- 238000000034 method Methods 0.000 title claims description 16
- 238000001514 detection method Methods 0.000 claims description 26
- 230000005856 abnormality Effects 0.000 claims description 12
- 230000007547 defect Effects 0.000 claims description 4
- 235000012431 wafers Nutrition 0.000 description 185
- 238000010586 diagram Methods 0.000 description 12
- 230000006866 deterioration Effects 0.000 description 9
- 239000002245 particle Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- H01L21/67742—Mechanical parts of transfer devices
-
- 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
-
- 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
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- H01L21/67253—Process monitoring, e.g. flow or thickness monitoring
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Description
次に、実施形態について説明する。最初に、本実施形態にかかる基板処理システムの構成について説明する。図1は、は、実施形態に係る基板処理システム100の構成の概略を模式的に示す平面図である。
制御部400が基板の把持状況を判定する基板把持判定方法の制御の流れの一例について説明する。図9は、実施形態に係る基板把持判定方法の制御の流れの一例を説明する図である。
10 ウェハ搬送装置
11 搬送アーム
12 基台
13 第1のアーム
14 第2のアーム
15 搭載部
20 フォーク
20a フォーク本体
20b 固定クランプ部
21 プッシャ
21a プッシャ本体
21b 可動クランプ部
22 アクチュエータ
23 センサ
100 基板処理システム
313~316 処理装置
400 制御部
410 記憶部
420 判定部
W ウェハ
Claims (7)
- 搬送する基板を支持し、前記基板の一方側に前記基板のエッジと係合する複数の係合部が設けられた支持部と、
前記複数の係合部に対して前進及び後退移動が可能とされ、前進移動した際に前記基板の他方側にエッジと接触する複数の接触部が設けられた把持部と、
前記複数の接触部にそれぞれ設けられ、前記接触部の歪みを検出する複数の検出部と、
前記基板を正常に搬送した際の歪み量の波形データを記憶する記憶部と、
前記複数の検出部による検出結果に基づいて前記基板の把持状況を判定する判定部と、
を有し、
前記判定部は、前記基板を搬送した際に前記複数の検出部により検出された歪み量の波形を、前記記憶部に記載された波形データの波形と比較して搬送異常が発生したかをさらに判定する
基板搬送装置。 - 前記判定部は、前記複数の検出部により検出される歪み量の波形に基づいて前記基板の把持状況を判定する
請求項1に記載の基板搬送装置。 - 前記判定部は、前記複数の検出部により検出される歪み量の差から把持不良が発生したか否かを判定する
請求項1又は2に記載の基板搬送装置。 - 前記判定部は、何れかの前記検出部により検出される歪み量が第1の閾値以上となり、前記複数の検出部により検出される歪み量の差が第2の閾値以上となった場合、把持不良が発生した判定する
請求項1~3の何れか1つに記載の基板搬送装置。 - 前記支持部は、先端側が二股に分岐し、分岐した先端に前記係合部がそれぞれ設けられたフォークとされ、
前記把持部は、間隔を空けて接触部が二箇所設けられた
請求項1~4の何れか1つに記載の基板搬送装置。 - 搬送する基板を支持し、前記基板の一方側に前記基板のエッジと係合する複数の係合部が設けられた支持部と、
前記複数の係合部に対して前進及び後退移動が可能とされ、前進移動した際に前記基板の他方側にエッジと接触する複数の接触部が設けられた把持部と、
前記複数の接触部にそれぞれ設けられ、前記接触部の歪みを検出する複数の検出部と、
前記複数の検出部による検出結果に基づいて前記基板の把持状況を判定する判定部と、
を有し、
前記判定部は、基板搬送装置が動作を停止している停止中に前記検出部により検出される歪み量の変化から周囲の装置が劣化したかを判定する
基板搬送装置。 - 搬送する基板を支持し、前記基板の一方側に前記基板のエッジと係合する複数の係合部が設けられた支持部と、
前記複数の係合部に対して前進及び後退移動が可能とされ、前進移動した際に前記基板の他方側にエッジと接触する複数の接触部が設けられた把持部と、
前記複数の接触部にそれぞれ設けられ、前記接触部の歪みを検出する複数の検出部と、
前記基板を正常に搬送した際の歪み量の波形データを記憶する記憶部と、
を有する基板搬送装置の基板把持判定方法であって、
前記複数の係合部と前記複数の接触部とにより前記基板を把持している際の前記複数の検出部による検出結果に基づいて前記基板の把持状況を判定し、
前記基板を搬送した際に前記複数の検出部により検出された歪み量の波形を、前記記憶部に記載された波形データの波形と比較して搬送異常が発生したかを判定する
基板把持判定方法。
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JP2020089832A JP7442389B2 (ja) | 2020-05-22 | 2020-05-22 | 基板搬送装置及び基板把持判定方法 |
KR1020210061915A KR102530784B1 (ko) | 2020-05-22 | 2021-05-13 | 기판 반송 장치 및 기판 파지 판정 방법 |
US17/325,704 US11923222B2 (en) | 2020-05-22 | 2021-05-20 | Substrate transfer device and substrate gripping determination method |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004119554A (ja) | 2002-09-25 | 2004-04-15 | Rorze Corp | 薄板状物の把持装置及びそれを具えた製造設備 |
JP2009094506A (ja) | 2007-10-04 | 2009-04-30 | Asm Japan Kk | 基板搬送ロボット用の位置検出装置を備えた半導体処理装置及びその方法 |
JP2011119348A (ja) | 2009-12-01 | 2011-06-16 | Kawasaki Heavy Ind Ltd | エッジグリップ装置、及びそれを備えるロボット。 |
JP2019197799A (ja) | 2018-05-09 | 2019-11-14 | 芝浦メカトロニクス株式会社 | 基板把持装置、基板搬送装置及び基板搬送方法 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JPH04277647A (ja) * | 1991-03-05 | 1992-10-02 | Mitsubishi Electric Corp | 円板状物品の把持装置 |
JP3328680B2 (ja) | 1991-09-18 | 2002-09-30 | 芝浦メカトロニクス株式会社 | 物品の把持方法及び装置 |
JP4460477B2 (ja) * | 2005-02-25 | 2010-05-12 | セメス株式会社 | 基板移送装置 |
JP2012059951A (ja) * | 2010-09-09 | 2012-03-22 | Daihen Corp | 基板搬送ロボット |
JP6782180B2 (ja) | 2017-01-31 | 2020-11-11 | 川崎重工業株式会社 | 基板把持ハンド及び基板搬送装置 |
JP6992515B2 (ja) * | 2018-01-05 | 2022-01-13 | コニカミノルタ株式会社 | Gpu割当プログラム、gpu割当方法、コンピュータ読取可能な記録媒体、および、gpu割当装置 |
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- 2021-05-13 KR KR1020210061915A patent/KR102530784B1/ko active IP Right Grant
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004119554A (ja) | 2002-09-25 | 2004-04-15 | Rorze Corp | 薄板状物の把持装置及びそれを具えた製造設備 |
JP2009094506A (ja) | 2007-10-04 | 2009-04-30 | Asm Japan Kk | 基板搬送ロボット用の位置検出装置を備えた半導体処理装置及びその方法 |
JP2011119348A (ja) | 2009-12-01 | 2011-06-16 | Kawasaki Heavy Ind Ltd | エッジグリップ装置、及びそれを備えるロボット。 |
JP2019197799A (ja) | 2018-05-09 | 2019-11-14 | 芝浦メカトロニクス株式会社 | 基板把持装置、基板搬送装置及び基板搬送方法 |
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KR20210144580A (ko) | 2021-11-30 |
US20210366747A1 (en) | 2021-11-25 |
KR102530784B1 (ko) | 2023-05-11 |
US11923222B2 (en) | 2024-03-05 |
JP2021184438A (ja) | 2021-12-02 |
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