Patent ID: 6126380
Filing Date: 2000-10-03
Classification: H01L,Y10S

Abstract:
A cylindrical coordinate robot for performing the task of centering and notch or flat finding of a wafer as well as the task of pre-alignment comprising:a. a frame;b. at least one hand operatively mounted to said frame;c. a chuck having a vertical axis mounted to said frame;d. means for moving at least one of said hand and said chuck relative to said frame so that said hand places a wafer on said chuck or removes a wafer from said chuck and so that said hand moves relative to said chuck in a circumferential direction around said vertical axis while a wafer is disposed on said chuck, said means for moving including means for moving said hand relative to said frame so that said hand orbits around said vertical axis while said chuck does not rotate around said vertical axis; ande. a sensor attached to said hand for detecting the radial position of the wafer edge at various circumferential positions about the vertical axis of the chuck, said robot using movement of said hand both for (1) placement or removal of the wafer and for (2) determining position of the wafer on the chuck.