Source: http://www.google.com/patents/US20030135302?dq=6,232,546
Timestamp: 2014-03-07 11:49:07
Document Index: 140813730

Matched Legal Cases: ['art 90', 'art 92', 'art 90', 'art 92', 'art 90', 'art 92', 'art 90', 'art 92', 'art 90', 'art 92']

Patent US20030135302 - Method of calibrating a wafer edge gripping end effector - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA method of calibrating a wafer edge gripping end effector. A wafer calibration tool is held in a stationary position simulating the position of a semiconductor wafer to be picked up by the wafer edge gripping end effector. A controller associated with a robot having an end effector attached to a robot...http://www.google.com/patents/US20030135302?utm_source=gb-gplus-sharePatent US20030135302 - Method of calibrating a wafer edge gripping end effectorAdvanced Patent SearchPublication numberUS20030135302 A1Publication typeApplicationApplication numberUS 10/047,331Publication dateJul 17, 2003Filing dateJan 14, 2002Priority dateJan 14, 2002Also published asUS6678581Publication number047331, 10047331, US 2003/0135302 A1, US 2003/135302 A1, US 20030135302 A1, US 20030135302A1, US 2003135302 A1, US 2003135302A1, US-A1-20030135302, US-A1-2003135302, US2003/0135302A1, US2003/135302A1, US20030135302 A1, US20030135302A1, US2003135302 A1, US2003135302A1InventorsKo-Chin Chung, Kwun-Goo Hung, Tung-Li Lee, Fan-Lin LuOriginal AssigneeTaiwan Semiconductor Manufacturing Co., Ltd.Export CitationBiBTeX, EndNote, RefManReferenced by (10), Classifications (4), Legal Events (3) External Links: USPTO, USPTO Assignment, EspacenetMethod of calibrating a wafer edge gripping end effectorUS 20030135302 A1Abstract A method of calibrating a wafer edge gripping end effector. A wafer calibration tool is held in a stationary position simulating the position of a semiconductor wafer to be picked up by the wafer edge gripping end effector. A controller associated with a robot having an end effector attached to a robot arm thereto is turned off. The robot arm and end effector are moved to position where the first and second clamp structures on the end effector each engage a respective inner edge that in part defines a notch formed in the wafer calibration tool. An actuator driven movable clamp structure is manually advanced so that the movable clamp structure engages an inner edge that in part defines one of the notches formed in the wafer calibration tool. The controller is turned on and data regarding the location of robot arm, end effector and movable clamp structure is stored. Images(4) Claims(25)
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0044]FIG. 1 illustrates a wafer handling apparatus useful in the present invention. The wafer handling apparatus 10 includes a main body portion 12 including a plurality of motors (not shown), typically at least three motors, for moving a robot arm 18 in a multitude of directions. Typically the plurality of motors in the main body portion are capable of moving the robot arm 18 in at least radial, angular and vertical directions. A cap 14 is provided on the main body portion 12 through which a piston type actuator 16 travels, driven by one of the motors, to move the robot arm 18 in a vertical direction. The robot arm 18 includes a plurality of arm segments. A first arm segment 20 includes a first end 22 pivotally connected to the top of the piston type actuator 16. A second end 24 of the first arm segment 20 is pivotally connected to a first end 26 of a second arm segment 28. A second end of 30 of the second arm segment 28 is pivotally connected to a first end 32 of a third arm segment 34. A second end 36 of the third arm segment is coupled to an end effector 42 by way of a second actuator 38. The second actuator 38 includes a coupling 40 connected to a necked portion 44 of the end effector 42. The second actuator 38 is constructed and arranged to rotate the end effector 42, and wafer 50 held thereby, 360 degrees about the central axis of the end effector 42. The end effector 42 further includes a main body portion 46 extending from the neck portion 44, and a plurality of fingers 48 extending from the main body portion 46. The wafer handling apparatus 10 also includes a controller 4 for sending signals via line 6 and receiving signals the via line 8 to control the motors and robot arm18, including the second actuator 38 and actuator driven movable clamp structure 52 (to be described in greater detail hereafter). [0045]FIG. 2 is a top view of the wafer handling apparatus shown in FIG. 1. As will be better appreciated from FIG. 2, the end effector 42 includes a plurality of clamping structures 52, 54, and 58 utilized to position and grip the edges of a semiconductor wafer 50. At least one of the clamping structures is movable from a first position spaced away from the outer edge 51 of the semiconductor wafer 50 to a position in engagement with the outer edge 51 and so that the outer edge 51 of the wafer also engages at least one other clamping structure 54. A plurality of the clamping structures may be movable and actuator driven. [0046]FIG. 3 is enlarged view of a wafer handling apparatus, with portions broken away, that is useful in the present invention. As indicated earlier, at least one of the clamping structures 52, as shown in FIG. 3, is movable and may be driven by an actuator housed in the coupling 40 or other portion of the robot arm 18. The end effector 42 includes at least one movable clamp structure 52 and a stationary clamp structure 54 located near a free end 56 of each finger 48 extending from the main body 46 of the end effector 42. However, it is within the scope of this invention that the clamp structures 54 located near the free end 56 of each finger 48 may also be movable and actuator driven. Additional clamp structures 58 may be located adjacent to the movable clamp structure 52 to help align the semiconductor wafer prior to actuation of the movable clamp structure 52 to engage the outer edge 51 of the wafer 50. [0047] As will be better appreciated from FIG. 3, the movable clamping structure 52 preferably includes a rod portion 55 with a bar type structure 57 attached to the end thereof. The bar type structure 57 includes a front engagement face 53 for engaging the outer edge 51 of the semiconductor wafer 50. The bar type structure 57 includes a rear face 61 and a side 103 extending from the rear face 61 to the front engagement face 53. The thickness of the bar type structure 57 being defined by the side 103. [0048] The end effector 42 may have only a single finger 48 extending from a main body portion 46 so that the end effector 42 has a blade-like configuration. In such a configuration, the main body portion 46 and the finger 42 may be a single piece typically of consistent width. [0049]FIG. 4 is a sectional view taken along lines 4-4 of FIG. 3 illustrating a stationary clamp structure 54 located near a free end 56 of the finger 48. The stationary clamp structure 54 may be made from any of a variety of materials including a plastic that is embedded in a cutout formed in the finger 58. The stationary clamp structure 54 may include a clamp wall 64 extending perpendicularly from a flat upper surface of 60 of the finger 48. The stationary clamp structure 54 may also include a leg 65 extending perpendicularly to the clamp wall 64 through which a screw 62 may be used to mount the clamp structure 54 to the finger 48. Preferably the leg 65 includes a top surface 63 that is flush with the top surface 60 of the finger 48. The clamping wall 64 includes a front face 66 for engagement with the outer edge 51 of the semiconductor wafer 50. A front face 66 may be substantially flat so that only a relatively small portion of the front face 66 engages the outer edge 51 of the semiconductor wafer, or the front face 66 may be arcuate shaped to match the outer edge 51 of the disc shaped semiconductor wafer 50. The clamp wall 64 also includes a rear face 100, and a thickness 105 of the clamp wall 64 is defined by the distance between the rear face 100 and the front face 66. [0050]FIG. 5 illustrates a wafer calibration tool 68 according to the present invention. The calibration tool 68 includes a plurality of cutouts or notches 70 formed in an outer edge 69. The calibration tool 68 is generally disc shaped having a diameter, indicated by line D, as measured between the most outer edges 69 that is slightly greater than the diameter of the semiconductor wafer 50 to be gripped by the end effector 42. Each notch 70 is constructed and arranged to receive one of the clamp structures 52, 54. The notch 70 is defined in part by an inner edge 72 that simulates the outer edge 51 of a semiconductor wafer 50 to be gripped by the end effector 42. A distance, indicated by line R, from the inner edge 72 defined by the notch 70 to the center (71) of the tool 68 is identical to the radius of the semiconductor wafer 50 to be gripped by the end effector 42. Further, the distance between the most outer edge 69 of the tool and the inner edge 72 defined by the notch 70 is equal to the thickness 105 of the clamp wall 64 of the stationary clamping structure 54 or the thickness 103 of the movable clamping structure 52. Accordingly, at least a portion of, and preferably all of the clamp wall 64 of the stationary structure 54 may be received in the notch 70 defined in the tool 68, and likewise at least a portion of the bar and preferably all of bar type structure 57, of the movable clamping structure 52 may be received also in a notch 70 defined in the tool 68. [0051]FIG. 6 is a perspective view illustrating a calibration tool holder 74 for holding the calibration tool 68 in a stationary position. The calibration tool holder 74 may be identical to a holder for the semiconductor wafer such as that which might be found in a cleaner output station. The tool holder 74 typically includes a platform 76 on which a plurality wafer or wafer calibration tool clamping features may be secured. A stationary clamp post 78 may include a post portion 79 extending upwardly above the platform 76 and a leg extension 80 extending outwardly and parallel to the platform 76 through which a screw 82 may be utilized to secure the stationary clamp post to the platform 76. The post portion 79 may have a notch 83 (best shown in FIG. 7) formed therein to define a flat surface 84 constructed and arranged to support the calibration tool (or wafer) in a horizontal position. The calibration tool holder 74 also may include an adjustable clamp structure 88 including a movable first part 90 and a stationary second part 92. The adjustable clamp structure 88 is constructed and arranged so that the movable first part 90 may be moved vertically away from the stationary second part 92 to receive a wafer 50 or the wafer calibration tool 68 between the movable first part 90 and the stationary second part 92. Thereafter the movable first part 90 is moved toward the stationary second part 92 to clamp onto the wafer 50 or calibration tool 68. A spring loaded post or a threaded post (that shown) may extend between the movable first part 90 and the stationary second part 92 to accomplish this purpose. [0052]FIG. 8 illustrates the wafer calibration tool 68 secured in a stationary position by the holder 74. Once the wafer calibration tool 88 is held in a stationary position simulating a wafer pickup position such as the position a wafer might be in a cleaner output station. The controller for the wafer handling apparatus 10 is turned off and the robot arm is manually move so that the clamp wall 64 of each of the stationary clamp structures 54 on the ends of the end effector fingers are each received in a respective notch 70 formed in the calibration tool 68 and so that the front face 66 of the clamp wall 64 engages the inner edge 72 (that simulates the outer and 51 of the semiconductor wafer 50) of the calibration tool 68. The movable clamp structure 52 is advanced (in the direction indicated by line A) so that the engagement face 53 engages the inner edge 72 that defines in part one of the notches 70 formed in the calibration tool 68. Because the calibration tool 68 is firmly held in a stationary position by the holder 74, the clamping features 54 and 52 may be brought into exact contact with the inner edge 72 that simulates the outer edge 51 of a semiconductor wafer 50 without the substantial trial and error associated with prior art methods. Once the clamp structures 52 and 54 precisely engage an inner edge 72 of the calibration tool, the controller is turned on and the position of the end effector and the movable clamping structure 52 is saved in the memory of the controller as the precise position for gripping the outer edge 51 of a semiconductor wafer 50 to pick the wafer up from the specific position desired, in this case the position of the wafer in the cleaner output station. BRIEF DESCRIPTION OF THE DRAWINGS [0036]FIG. 1 illustrates a wafer handling apparatus useful in present invention; [0037]FIG. 2 is a top view of a wafer handling apparatus useful in the present invention; [0038]FIG. 3 is an enlarged view of a wafer handling apparatus, with portions broken away, useful in the present invention; [0039]FIG. 4 is a side view, with portions broken away, showing an end effector finger with a stationary clamp structure useful in a method according to the present invention; [0040]FIG. 5 illustrates a wafer calibration tool for a wafer edge gripping end effector according to the present invention; [0041]FIG. 6 illustrates a wafer calibration tool holding apparatus according to the present invention; [0042]FIG. 7 is a side view of a clamp post of a wafer calibration tool holding apparatus according to the present invention; and [0043]FIG. 8 illustrates the use of a wafer calibration tool to calibrate a wafer edge gripping end effector according to the present invention.
Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7933685 *Jan 10, 2006Apr 26, 2011National Semiconductor CorporationSystem and method for calibrating a wafer handling robot and a wafer cassetteUS8014991 *Sep 30, 2003Sep 6, 2011Tokyo Electron LimitedSystem and method for using first-principles simulation to characterize a semiconductor manufacturing processUS8032348 *Sep 30, 2003Oct 4, 2011Tokyo Electron LimitedSystem and method for using first-principles simulation to facilitate a semiconductor manufacturing processUS8036869Sep 30, 2003Oct 11, 2011Tokyo Electron LimitedSystem and method for using first-principles simulation to control a semiconductor manufacturing process via a simulation result or a derived empirical modelUS8050900 *Sep 30, 2003Nov 1, 2011Tokyo Electron LimitedSystem and method for using first-principles simulation to provide virtual sensors that facilitate a semiconductor manufacturing processUS8073667 *Sep 30, 2003Dec 6, 2011Tokyo Electron LimitedSystem and method for using first-principles simulation to control a semiconductor manufacturing processUS8296687Sep 30, 2003Oct 23, 2012Tokyo Electron LimitedSystem and method for using first-principles simulation to analyze a process performed by a semiconductor processing toolUS8335589Mar 28, 2011Dec 18, 2012National Semiconductor CorporationSystem and method for calibrating a wafer handling robot and a wafer cassetteUS8629902 *Oct 12, 2010Jan 14, 2014Kla-Tencor CorporationCoordinate fusion and thickness calibration for semiconductor wafer edge inspectionUS20120086796 *Oct 12, 2010Apr 12, 2012Kla-Tencor CorporationCoordinate fusion and thickness calibration for semiconductor wafer edge inspection* Cited by examinerClassifications U.S. Classification700/245International ClassificationH01L21/687Cooperative ClassificationH01L21/68707European ClassificationH01L21/687GLegal EventsDateCodeEventDescriptionJun 15, 2011FPAYFee paymentYear of fee payment: 8Jun 15, 2007FPAYFee paymentYear of fee payment: 4Jan 14, 2002ASAssignmentOwner name: TAIWAN SEMICONDUCTOR MANUFACTURING CO. LTD., TAIWAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HUNG, KWUN-GOO;LEE, TUNG-LI;CHUNG, KO-CHIN;AND OTHERS;REEL/FRAME:012517/0577Effective date: 20011025Owner name: TAIWAN SEMICONDUCTOR MANUFACTURING CO. LTD. NO. 12Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HUNG, KWUN-GOO /AR;REEL/FRAME:012517/0577RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google