Source: http://www.google.com/patents/US7959395?dq=6,275,983
Timestamp: 2014-10-24 13:11:58
Document Index: 121317640

Matched Legal Cases: ['Application No. 60', 'arts 406', 'arts 22', 'arts 406', 'art 406', 'arts 406', 'art 229', 'art 229', 'arts 22', 'art 229', 'art 229', 'art 229', 'art 229', 'art 229', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 700', 'art 1557', 'art 1557', 'arts 22', 'arts 4406', 'art 4406', 'art 5406', 'arts 6406']

Patent US7959395 - Substrate processing apparatus - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsSubstrate processing apparatus having a transport chamber, a linear array of substrate holding modules alongside the transport chamber, and a substrate transport located in the chamber. The chamber can hold an isolated atmosphere, and defines more than one substantially linear transport paths extending...http://www.google.com/patents/US7959395?utm_source=gb-gplus-sharePatent US7959395 - Substrate processing apparatusAdvanced Patent SearchPublication numberUS7959395 B2Publication typeGrantApplication numberUS 11/442,509Publication dateJun 14, 2011Filing dateMay 26, 2006Priority dateJul 22, 2002Also published asUS8651789, US20060285945, US20110232844, US20140161570, WO2007139896A2, WO2007139896A3Publication number11442509, 442509, US 7959395 B2, US 7959395B2, US-B2-7959395, US7959395 B2, US7959395B2InventorsChristopher Hofmeister, Robert T. CaveneyOriginal AssigneeBrooks Automation, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (67), Referenced by (9), Classifications (19), Legal Events (1) External Links: USPTO, USPTO Assignment, EspacenetSubstrate processing apparatusUS 7959395 B2Abstract Substrate processing apparatus having a transport chamber, a linear array of substrate holding modules alongside the transport chamber, and a substrate transport located in the chamber. The chamber can hold an isolated atmosphere, and defines more than one substantially linear transport paths extending longitudinally along the transport chamber. The transport in the chamber is capable of transporting the substrate along the linear transport paths. The transport has a transporter capable of holding and moving the substrate. The transporter interfaces a wall of the transport chamber for moving along at least one of linear paths. The transport chamber has interfaces for mating with other substrate holding modules at opposite ends of the transport chamber. Each interface has an opening through which at least one of the more than one linear transport paths extends, and the transport chamber has a selectably variable longitudinal length between the interfaces.
a transport chamber, capable of holding an isolated atmosphere isolated from an outside atmosphere, and defining more than one stacked substantially linear substrate transport paths extending longitudinally along the transport chamber between opposing walls of the transport chamber, the more than one stacked substantially linear substrate paths being stacked one above the other;
a generally linear array of substrate holding modules alongside at least one of the opposing walls of the transport chamber, each communicably connected to the chamber, through the at least one of the opposing walls, to allow passage of a substrate between transport chamber and holding module, the substantially linear substrate transport paths extending along the at least one of the opposing walls; and
a substrate transport located in and movably mounted to the transport chamber for transporting the substrate along the more than one stacked substantially linear substrate transport paths, the substrate transport having at least one transporter capable of holding and moving the substrate; and
a substrate transport drive operably connected to the substrate transport, and having a drive motor for moving the transporter in at least two substantially orthogonal directions, the two substantially orthogonal directions respectively effecting travel along and between the more than one stacked substantially linear substrate transport paths, the at least one transporter translatably interfacing a wall of the transport chamber for moving along at least one of the more than one stacked substantially linear substrate transport paths, and the drive motor being fixedly mounted to the wall;
wherein the transport chamber has interfaces for mating with other substrate holding modules at opposite ends of the transport chamber, each interface having an opening through which at least one of the more than one stacked substantially linear substrate transport paths extends, and the transport chamber has a selectably variable longitudinal length between the interfaces.
CROSS-REFERENCE TO RELATED APPLICATION(S) This is a continuation-in-part of application Ser. No. 10/962,787, filed Oct. 9, 2004, that is a continuation in part of application Ser. No. 10/624,987, filed Jul. 22, 2003, now U.S. Pat. No. 7,575,406 that claims the benefit of U.S. Provisional Application No. 60/397,895, filed Jul. 22, 2002, which is incorporated by reference herein in its entirety.
SUMMARY OF THE EMBODIMENTS AND METHODS In accordance with one exemplary embodiment, a substrate processing apparatus is provided. The substrate processing apparatus comprising a transport chamber, a generally linear array of substrate holding modules alongside the transport chamber, and a substrate transport located in and movably mounted to the transport chamber. The transport chamber is capable of holding an isolated atmosphere isolated from an outside atmosphere. The chamber defines more than one substantially linear transport paths extending longitudinally along the transport chamber between opposing walls of the transport chamber. Each holding module of the linear array alongside the transport chamber is communicably connected to the chamber to allow passage of a substrate between transport chamber and holding module. The substrate transport located in the transport chamber is capable of transporting the substrate along the more than one substantially linear transport paths. The substrate transport has at least one transporter capable of holding and moving the substrate. The transporter translatably interfaces a wall of the transport chamber for moving along at least one of linear transport paths. The transport chamber has interfaces for mating with other substrate holding modules at opposite ends of the transport chamber. Each interface has an opening through which at least one of the more than one linear transport paths extends, and the transport chamber has a selectably variable longitudinal length between the interfaces.
DETAILED DESCRIPTION OF THE EMBODIMENTS Referring to FIG. 2, there is shown a schematic plan view of a substrate processing apparatus 10 incorporating features of the present invention. Although the present invention will be described with reference to the embodiments shown in the drawings, it should be understood that the present invention can be embodied in many alternate forms of embodiments. In addition, any suitable size, shape or type of elements or materials could be used.
Still referring to FIG. 2, the transport chamber 18 in this embodiment has a general rectangular shape though in alternate embodiments the chamber may have any other suitable shape. The chamber 18 has a slender shape (i.e. length much longer than width) and defines a generally linear transport path for the transport apparatus therein. The chamber 18 has longitudinal side walls 18S. The side walls 18S have transport openings or ports 18O formed therethrough. The transport ports 18O are sized large enough to allow substrates to pass through the ports (can be through valves) into and out of the transport chamber. As can be seen in FIG. 2, the processing modules 20 in this embodiment are mounted outside the side walls 18 s with each processing module being aligned with a corresponding transport port in the transport chamber. As can be realized, each processing module 20 may be sealed against the sides 18S of the chamber 18 around the periphery of the corresponding transport aperture to maintain the vacuum in the transport chamber. Each processing module may have a valve, controlled by any suitable means to close the transport port when desired. The transport ports 18O may be located in the same horizontal plane. Accordingly, the processing modules on the chamber are also aligned in the same horizontal plane. In alternate embodiments the transport ports may be disposed in different horizontal planes. As seen in FIG. 2, in this embodiment, the load locks 16 are mounted to the chamber sides 18S at the two front most transport ports 18O. This allows the load locks to be adjacent the EFEM 14 at the front of the processing apparatus. In alternate embodiments, the load locks may be located at any other transport ports on the transport chamber such as shown for example in FIG. 4. The hexahedron shape of the transport chamber allows the length of the chamber to be selected as desired in order to mount as many rows of processing modules as desired (for example see FIGS. 3, 5, 6-7A showing other embodiments in which the transport chamber length is such to accommodate any number of processing modules).
Referring now to FIGS. 6, and 7 there are shown other substrate processing apparatus in accordance with other embodiments of the present invention. As seen in FIGS. 6 and 7 the transport chamber in these embodiments is elongated to accommodate additional processing modules. The apparatus shown in FIG. 6 has twelve (12) processing modules connected to the transport chamber, and each apparatus (two apparatus are shown) in FIG. 7 has 24 processing module connected to the transport chamber. The numbers of processing modules shown in these embodiments are merely exemplary, and the apparatus may have any other number of processing modules as previously described. The processing modules in these embodiments are disposed along the sides of the transport chamber in a Cartesian arrangement similar to that previously discussed. The number of rows of processing modules in these case however have been greatly increased (e.g. six (6) rows in the apparatus of FIG. 6, and twelve (12) rows in each of the apparatus of FIG. 7). In the embodiment of FIG. 6, the EFEM may be removed and the load ports may be mated directly to load locks. The transport chamber of the apparatus in FIGS. 6, and 7 have multiple transport apparatus (i.e. three apparatus in the case of FIG. 6, and six apparatus in the case of FIG. 7) to handle the substrates between the load locks and the processing chambers. The number of transport apparatus shown are merely exemplary and more or fewer apparatus may be used. The transport apparatus in these embodiments are generally similar to that previously described, comprising an arm and a cart. In this case, however, the cart is supported from zoned linear motor drives in the side walls of the transport chamber. The linear motor drives in this case provide for translation of the cart in two orthogonal axis (i.e. longitudinally in the transport chamber and vertically in the transport chamber). Accordingly, the transport apparatus are capable of moving past one another in the transport chamber. The transport chamber may have �passing� or transport areas above and/or below the plane(s) of the processing modules, through which the transport apparatus may be routed to avoid stationary transport apparatus (i.e. picking/releasing substrates in the processing modules) or transport apparatus moving in opposite directions. As can be realized, the substrate transport apparatus has a controller for controlling the movements of the multiple substrate transport apparatus.
In the embodiment shown in FIG. 7, processes 18A and 18B may be the same process, for example etch, where the processing apparatus 18A and 18B in combination with tool 300 being a stocker are capable of processing equal amounts of substrates as, for example the apparatus shown in FIG. 9 but without the associated material handling overhead associated with transporting FOUPS from the stocker to individual process tools via an AMHS, and transporting individual wafers via EFEM's to the respective processing tools. Instead, the robot within the stocker directly transfers FOUPS to the load ports (3 shown per tool, more or less could be provided depending on throughput requirements) where the wafers are batch moved into locks and dispatched to their respective process module(s) depending on the desired process and/or throughput required. In this manner, in a steady state fashion, the FIG. 7 apparatus and FIG. 9 apparatus may have the same throughput, but the apparatus in FIG. 7 does it with less cost, lower footprint, less WIP required�therefor less inventory and with a quicker turnaround when looking at the time to process a single carrier lot (or �hot lot�) resulting in significant advantages for the fab operator. Within the tool 18A, 18B or the stocker 300 may further have metrology capability, sorting capability, material identification capability, test capability, inspection capability (put boxes . . . ) etc. as required to effectively process and test substrates.
In the embodiment shown in FIG. 7, more or less processes 18A and 18B may be provided that are different processes, for example etch, CMP, copper deposition, PVD, CVD, etc. where the processing apparatus 18A, 18B, etc. in combination with tool 300 being, for example a photolithography cell are capable of processing equal amounts of substrates as, for example multiple apparatus' shown in FIG. 9 but without the associated material handling overhead associated with transporting FOUPs from stockers to individual process tool bays and a lithography bay via an AMHS, and transporting individual wafers via EFEM's to the respective processing tools. Instead, the automation within the lithography cell directly transfers FOUPS, substrates or material to the load ports (3 shown per process type, more or less could be provided depending on throughput requirements) where the substrates are dispatched to their respective process depending on the desired process and/or throughput required. An example of such an alternative is shown in FIG. 7A. In this manner, the apparatus in FIG. 7 processes substrates with less cost, lower footprint, less WIP required�therefor less inventory and with a quicker turnaround when looking at the time to process a single carrier lot (or �hot lot�), and with a higher degree of contamination control resulting in significant advantages for the fab operator. Within the tool 18A, 18B or the tool or cell 300 may further have metrology capability, processing capability, sorting capability, material identification capability, test capability, inspection capability (put boxes . . . ) etc . . . as required to effectively process and test substrates. As can be realized from FIG. 7, the processing apparatus 18A, 18B, and tool 300 may be coupled to share a common controller environment (e.g. inert atmosphere, or vacuum). This ensures that substrates remain in a controlled environment from tool 300 and throughout the process in apparatus 18A, 18B. This eliminates use of special environment controls of the FOUPs as in conventional apparatus configuration shown in FIG. 8.
Referring now to FIG. 7A, there is shown an exemplary fabrication facility layout 601 incorporating features of the embodiment shown in FIG. 7. Carts 406, similar to carts 22A, 122A transport substrates or wafers through process steps within the fabrication facility 601 through transport chambers 602, 604, 606, 608, 610, 612, 614, 616, 618, 620, 624, 626. Process steps may include epitaxial silicon 630, dielectric deposition 632, photolithography 634, etching 636, ion implantation 638, rapid thermal processing 640, metrology 642, dielectric deposition 644, etching 646, metal deposition 648, electroplating 650, chemical mechanical polishing 652. In alternate embodiments, more or less processes may be involved or mixed; such as etch, metal deposition, heating and cooling operations in the same sequence. As noted before, carts 406 may be capable of carrying a single wafer or multiple wafers and may have transfer capability, such as in the case where cart 406 has the capability to pick a processed wafer and place an unprocessed wafer at the same module. Carts 406 may travel through isolation valves 654 for direct tool to tool or bay to bay transfer or process to process transfer. Valves 654 may be sealed valves or simply conductance type valves depending upon the pressure differential or gas species difference on either side of a given valve 654. In this manner, wafers or substrates may be transferred from one process step to the next with a single handling step or �one touch�. As a result, contamination due to handling is minimized. Examples of such pressure or species difference could be for example, clean air on one side and nitrogen on the other; or roughing pressure vacuum levels on one side and high vacuum on the other; or vacuum on one side and nitrogen on the other. Load locks 656, similar to chambers 184P4 in FIG. 7, may be used to transition between one environment and another; for example between vacuum and nitrogen or argon. In alternate embodiments, other pressures or species may be provided in any number of combinations. Load locks 656 may be capable of transitioning a single carrier or multiple carriers. Alternately, substrate(s) may be transferred into load lock 656 on shelves (not shown) or otherwise where the cart is not desired to pass through the valve. Additional features 658 such as alignment modules, metrology modules, cleaning modules, process modules (ex: etch, deposition, polish etc . . . ), thermal conditioning modules or otherwise, may be incorporated in lock 656 or the transport chambers. Service ports 660 may be provided to remove carts or wafers from the tool. Wafer or carrier stockers 662, 664 may be provided to store and buffer process and or test wafers. In alternate embodiments, stockers 662, 664 may not be provided, such as where carts are directed to lithography tools directly. Another example is where indexer or wafer storage module 666 is provided on the tool set. Re-circulation unit 668 may be provided to circulate and or filter air or the gas species in any given section such as tool section 612. Re-circulation unit 668 may have a gas purge, particle filters, chemical filters, temperature control, humidity control or other features to condition the gas species being processed. In a given tool section more or less circulation and or filter or conditioning units may be provided. Isolation stages 670 may be provided to isolate carts and/or wafers from different process' or tool sections that can not be cross contaminated. Locks or interconnects 672 may be provided to change cart orientation or direction in the event the cart may pick or place within a generic workspace without an orientation change. In alternate embodiments or methods any suitable combination of process sequences or make up could be provided.
Referring now to FIG. 12, there is shown a top view of an exemplary cart 229 for the processing apparatus 10 in accordance with another embodiment of the apparatus. Cart 229 may be similar to carts 22, 122A, 406 described before and shown in FIGS. 2, 3, and 7-7A. Cart 229 is shown as being capable of transporting substrate 148 along an axial path 150 and/or a radial path 152. The cart 229 is also capable of moving the substrate along path 154 shown in FIG. 12. Cart 229 is shown as a two dimensional system for simplicity, however in alternate embodiments additional axis of motion, for example, z motion (not shown�in and out of paper) or angular motion 154 could be provided. Cart 229 is shown as being capable of handling a single substrate 148 for simplicity. However, in alternate embodiments, additional handling could be provided. For example, the cart may include capability to handle a second substrate, as in the case where it is desired that a substrate be exchanged at a process module (i.e. a first, processed substrate may be picked and a second unprocessed substrate may then be placed at the same process module from the same cart 229).
Referring now to FIG. 13A, there is shown a portion of chamber 716 of the apparatus 10, and a top view of an exemplary drive system 701 with an exemplary cart 700 that may be used with the apparatus. Chamber 716 is another representative portion of chamber 18, or chambers 602-624 of the apparatus (see FIGS. 2-3, and 7-7A). Cart 700 is shown as being capable of transporting substrates 702A, 702B along an axial path 704 and/or a radial path 706 or in a Z motion (not shown�in and out of paper). In alternate embodiments, angular motion could be provided. In alternate embodiments, more or less substrate handling could be provided. Cart 700 has transport mechanisms 724A and 724B which can be a linear mechanism or any suitable arm system may be used such as, for example, a scara type arm. In alternate embodiments no arm may be provided. Transport mechanisms 724A and 724B may extended into process modules or other modules as desired in a manner similar to that shown in FIG. 12A. Cart 700 has platens 722, 720, 710 and 712 on its sides which interface with synchronous motors in the walls of transport chamber 716. Drive platen 712 is mounted on the side of cart 700 and is slideable relative to cart 700 along direction 704. Platen 712 drives mechanism 724A such that the movement of platen 712 along direction 704 (from location 712A to 712B, see FIG. 13A) relative to cart 700 allows mechanism 724A to transport wafer 702A between location 708A and 708B through slots 718A and 718B. Similarly, drive platen 710 is mounted on the side of cart 700 and is slideable relative to cart 700 along direction 704. Platen 710 drives mechanism 724B such that the movement of platen 710 along direction 704 (from location 710A to 710B, see FIG. 13A) relative to cart 700 allows mechanism 724B to transport wafer 702B between location 708A and 708B through slots 718A and 718B. Platens 710 and 712 are independently moveable relative to cart 700. Platens 722, 720 are fixed relative to cart 700. Holding platens 720, 722 stationary while simultaneously moving platen 712 along direction 704 causes a radial transfer motion along direction 706. Holding platens 720, 722 stationary while simultaneously moving platen 710 along direction 704 also causes a separate radial transfer motion along direction 706. Simultaneously moving platens 720, 722, 710 and 712 along direction 704 causes cart 700 to move along direction 704�enabling the cart 700 to move from process location to process location as through valve 714 for example.
FIG. 24 is an elevation view of another embodiment of the cart mechanism 1557′ with dual rotary end effectors mounted to the cart base plate 1558′. Cart 1557′ is otherwise similar to cart 1557 described before and shown in FIGS. 22-23. Similar features are similarly numbered. FIGS. 24A-24C show the use of both linear transport and couple relative motion of the bearing carriage array as the cart is moving. As described before with reference to FIG. 22, the rotation of pulleys 1570′ and 1572′ results from the bearing carriage and magnet array moving with respect to the fixed magnet arrays which are coupled to the cart's base plate. In the combined case, the robot cart transport is moving along the linear chamber, in the direction indicated by arrows 15X′, and the bearing carriage and magnet array move with respect to the grounded arrays. This motion enables the end effector (s) 1588′ and 1590′ to rotate thereby causing the robot end effector to extend substantially perpendicular to the linear direction of the cart similar to FIGS. 23A-23B, described before. FIGS. 24A-24C show the end effectors 1588′ and 1590′ extended to one side for example purposes. As can be realized however, the end effectors 1588′, 1590′ may be extended to any side of the base plate. Further, the end effectors 1588′, 1590′ may be extended to any side of the base plate. Further, the end effectors 1588′, 1590′ may be extended to a position where the end effector is oriented at an angle more or less than about 90� as shown in FIGS. 24A-24C.
Systems, such as those shown in FIGS. 2-7, may be controlled by configurable and scaleable software stored in controller C. Referring now also to FIG. 26, there is shown manufacturing execution (�MES�) system software that may be provided in the controller C communicably connected to the processing system. The MES system 2000 comprises software modules 2002-2016 or options that enhance the capabilities of the MES. The modules include a material control system (�MCS�) 2002, a real time dispatcher (�RTD�) 2004, a workflow or activity manager (�AM�) 2006, an engineering data manager (�EDA�) 2008 and a computer maintenance management system (�CMMS�) 2010. The MES 2002 allows manufacturers to configure their factory resources and process plans, track inventory and orders, collect and analyze production data, monitor equipment, dispatch work orders to manufacturing operators, and trace consumption of components into finished products. The MCS software module 2002 allows the manufacturer to efficiently schedule individual carts (for example, carts 22, 122A, 406, 228, 700, 1557 in FIGS. 2-3, 7-7A, 12, 13A and 22) to arrive at the processing tools to maximize overall system efficiency. The MCS schedules when an individual cart will arrive at, and depart from, a specified processing tool (for example, process 18A, 18B in FIG. 7, and modules 602-626 in FIG. 7A). The MCS manages any queuing and routing requirements at each processing tool and optimizes the system yield while minimizing the cart transport cycle time. The RTD 2004 allows manufacturers to make cart routing decisions, in real time, based on feed back from the health of the processing tools. Additionally, cart routing decisions may be made by the MES operator. The MES operator may change the priority in which specific products need to be manufactured. The AM 2006 allows manufacturers to monitor the progress of any given cart containing one or more substrates though the entire manufacturing process. If a processing tool generates an error, the AM 2006 determines the best remaining route for the all the substrates being processed at the processing tool. The EDA 2008 allows manufactures to analyze the manufacturing data and execute statistical process control algorithms on that data in an effort to improve the efficiency of the processing tool. The CMMS 2010 system allows the manufacturer to predict when maintenance is required on an individual processing tool. Variances in the process of the processing tool is monitored and compared against known process results and changes to the process or scheduled repairs to the processing tool is predicted.
Referring now to FIG. 31, there is shown a schematic plan view of a substrate processing apparatus 4010 in accordance with another exemplary embodiment. Processing apparatus 4010 illustrated in FIG. 31, is generally similarly to processing apparatus 10, 10, 601 and 3010, described previously and shown in FIGS. 2-7A, 27 except as otherwise noted. Similar features are similarly numbered. As may be realized, and similarly to the other exemplary embodiments illustrated in the Figures, the arrangement of the apparatus 4010 in the embodiment shown in FIG. 31 is merely exemplary, and in alternate embodiments, the processing apparatus may have any other desired shape/configuration. Similar to the processing apparatus in the exemplary embodiments described before, apparatus 4010 generally has an interface section 4014, transport chamber section 4018 and processing/substrate holding section 4300. The interface section 4014 may have module(s) or section(s) 4014A, similar for example to EFEM modules 14 (see for example FIGS. 2-3). The interface section 4014 may communicate with the other sections of the apparatus (such as the transport chamber section) and allowing the apparatus 4014 to interface with substrate peripheral systems, such as FAB AMHS or, manual interface, for loading/unloading substrate(s) from the apparatus. The number and locations of the interface section module(s) 4014A, in the exemplary embodiment shown in FIG. 31, is representative, and in alternate embodiments there may be more or fewer interface modules located in any desired positions of the apparatus. The transport chamber section generally includes a transport chamber 4018. Transport chamber 4018 may be generally similarly to transport chambers 18, 18A, 18B and transport chamber 3014 described before and shown in FIGS. 2-7A and 27. The processing/substrate holding section may generally have one or more substrate processing/holding modules, as will be described further below, communicably connected to the transport chamber 4018 of the apparatus to allow substrate transfer direction there between. In the exemplary embodiment, the transport chamber 4018 may have a selectably variable length and shape. The transport chamber 4018 in the exemplary embodiment show in FIG. 31, may be modularly formed from transport chamber modules, similar for example to transport chamber modules 18P1-18P4 (see FIG. 7), that may be serially connected linearly or in a two dimensional or three dimensional array, (as will be described further below) to form the transport chamber. As shown in FIG. 31, in the exemplary embodiment, the transport chamber 4018 may be extended and arranged to run through a FAB, similar for example to the FAB facility layout 601 of the exemplary embodiments shown in FIG. 7A. As noted before, the transport chamber 4018 (as well as the overall apparatus) arrangement is merely exemplary and in alternate embodiments the transport chamber may have any other desired arrangement. In alternate embodiments, the transport chamber may for example be arranged in accordance with inter bay and intra bay organization scheme (in which processes may be organized according to process �bays�; the associated transport chamber section, similar to chamber 18A in FIG. 7, may be referred to as an �intra-bay� section, and the intermediate sections of the transport chamber, linking the �intra-bay� sections, may be referred to as �inter bay� sections). The versatility inherent in the processing apparatus 4010, and its transport chamber 4018 as previously described and as will be described in greater detail below, enables what may be referred to as an organic arrangement of processes (e.g. processing/holding modules 4300) and the associated transport chamber within the FAB as illustrated in the exemplary embodiment shown in FIG. 31 (see also FIG. 7A). In other alternate embodiments, the transport chamber modules may be arranged to form a transport chamber similarly to transport chamber 18 shown in FIG. 5. The transport apparatus 4010 may also have a linearly distributed transport system 4400 capable of transporting, through the chamber, substrate from the interface section modules 4014 to the processing section a modules and between processing section modules and returning processed substrates to the interface section modules for off loading. The transport chamber may have one or more transport paths through a given cross section. In the exemplary embodiment the transport system may have one or more cart(s) 4406, similarly to casts 22A, 27A, 406 described before. In the exemplary embodiment cart(s) 4406 (for example along one, two or three directional axes) may be independently propelled through the transport chamber by linear motors. For example, the linear motors of the transport system 4400 may be brushless as linear motors, in section linear motor(s) consists of iron core linear motors, linear stepper motors) or any other desired type of linear motor. The linear motors may have winding sets similarly to winding sets 402, 404 (see FIG. 11A) or to winding sets 770A, 770B, 770C (see FIGS. 13B-13C0 disclosed in the side walls of the transport chamber. The linear motor may also have winding sets similarly to winding 322 (see FIG. 10) or windings 340L, 3404 (see FIG. 28). In alternate embodiments, the cart may be driven by any suitable drive system. In other alternate embodiments, the linearly distributed transport system may have any desired configuration.
Referring still to FIG. 31, in the exemplary embodiments, the transport chamber of the processing apparatus, may include supplement transport chamber(s) or passage(s) 4570. The supplement transport passage(s) 4570 operate to generally supplement the transport capacity of transport chamber 4018 as will be describe further below. In the exemplary embodiment, the transport passage(s) 4570 may be operated as express transit passage(s) or chamber(s). The term express refers generally to substantially uninterrupted transit between departure and destination stations, bypassing intermediate stations. In alternate embodiments, the supplement transport passage may be operated in any other desired manner to supplement the transport capacity of transport chamber 4018 (e.g. shunt, buffer, etc.) In the exemplary embodiment shown in FIG. 31 the transport passage 4570 is connected at desired locations to the transport chamber 4018 and also to one or more tool interfaces 4014. The transport passage 4570 may have a transport shuttle(s) or vehicle(s) 4571 capable of traversing the length of the transit passage. The shuttle 4571 may be capable of holding substrate(s) or a substrate carrier(s), and transporting the substrate(s) or carrier(s) through the length of the transit passage 4570. In alternate embodiments the transport passage may be configured to allow carts similar to carts 4406 to transit the transport passage. The transport passage 4570 may be a linearly elongated tube or tubes, each capable of holding an isolated atmosphere, such as N2 or vacuum, or may have an atmosphere of highly clean air, that may be circulated through a desired filtration. In the exemplary embodiment shown in FIG. 31, the transport passage 4570 includes a passage tube 4572, schematically depicted for example as extending generally along the transport chamber section 4612. In alternate embodiments, each transport chamber section 4602, 4604, 4612, 4608 may have a complementing transport passage similar to passage tube 4572. In the exemplary embodiment shown, the transport passage also has a passage tube 4573 shunting between transport chamber sections 4612 and 4608. In alternative embodiments, the supplemental transport passage may have another desired passage tubes. The transport passage 4570 in the exemplary embodiment shown, has interconnect passages 4576, 4578 (two are shown for example purposes and in alternate embodiments there may be more or fewer interconnection passages) connecting the passage tube 4572 to the desired modules 4656, 4658 of the transport chamber 4018. In the exemplary embodiment shown, interconnect passage tube 4576 may be joined to an intermediate loadlock (LL) module 4656, and another interconnect passage tube 4578 may be joined to another LL module 4658 located, in the exemplary embodiments, at the end of the linear portion 4612 of the transport chamber. In alternate embodiments, the interconnect passage(s) may be joined to any desired portion of the transport chamber, such as a transport chamber module 4518 that is not a loadlock. As may be realized, other passage tube(s) 4573 of the transport passage 4570 may be connected to corresponding portions of respected transport chamber sections 4612, 4608 via similar interconnect passages. In the exemplary embodiment, other interconnect passage tube(s) 4575 may join passage tubes 4572, 4573 to each other. The passage tube to passage tube interconnects may have suitable means to change directions and/or orientation of vehicle(s) 4571 to transit between passage tubes. In alternate embodiments the passage interconnects may have a transfer system capable of transferring substrate(s) or carrier(s) between vehicles in adjoining passage tubes. In other alternative embodiments, passage tubes may not be directly interconnected, but may communicate via separate connections between passage tubes and corresponding sections of the transport chamber. The interconnect passage tubes may be sized to allow passage of one or more substrates between the transport chamber 4018 and transport passage 4570. A transfer system (not shown) for moving the workpieces between the transit passage and transport chamber through the interconnect passages may be provided in the transit passage or transport chamber as will be described in greater detail below. The transport passage 4570 may be located in any desired position relative to linear transport chamber 4018 to allow the interconnect passages to be joined to the transport chamber. For example, the transport passage tubes 4572 may be located above, along side or under the transport chamber section 4612. The interconnect passages may be mated to any desired workpiece transit openings of the transport chamber modules, such as side openings similar to the closable openings 718A (see FIG. 13C) or closable top openings in the transport chamber modules. The transit openings may be closed by suitable valves (similar to slot valves 4654 for side openings) to isolate the transport chamber atmosphere from the transit passage. In alternate embodiments, the transport passage tubes may have any other desired orientation, such as being angled relative to the transport chamber. In the exemplary embodiment shown in FIG. 31, the transport passage has a passage(s) 4574 (one is shown for example) that communicates with tool interface section 4014A to allow workpiece(s) to be loaded/unloaded from shuttle 4571 from the interface section 4014A. As may be realized, the shuttle 4571 may be capable of substantially uninterrupted movement within transport passage(s) 4570 between for example interface section 4014A and interconnect passages 4576, 4578 and may thus transit substrates in the controlled atmosphere of the transport passage between interface section(s) 4014A and the interconnect passages 4576, 4578, or between passages 4576, 4578 thereby allowing the substrates to bypass transport through portions of the transport chamber 4018. In the exemplary embodiment, the passage tubes 4572, 4573 or the transport tube 4570 may have a common atmosphere and transit times through the transport passage may not be affected by atmosphere cycling times. Accordingly, transit time between desired station may be shorter via transport passage 4570 compared to transport chamber 4018. Moreover, by bypassing portions of the transport chamber 4018 throughput of the processing tool 4010 may be increased and WIP may be reduced. By way of example, turnaround time, such as from one interfacing station 4014, for �hot lots� may be reduced. For instance, a single workpiece (�hot lot�) carrier may be loaded, by a FAB AMHS (not shown), at tool interface section 4014A where the �hot lot� substrate(s) are to be processed at processing modules 4031. The substrate(s) may be picked, by a suitable transfer system (such as an indexer in the interface section), from the interface section 4014A and placed onto shuttle 4571. The shuttle 4571 may transit through passage 4570 to interconnect passage 4576 and the workpiece may be loaded, by another suitable transfer system (now shown) to load lock 4656. Hence, the workpiece is expressed from the loading location to a portion of the tool 4010 proximate to the desired processing steps. The LL 4656 may be cycled to allow one or more cart(s) 4406 of the transport system 4400 access to the substrate(s) from shuttle 4571. For example the indexing system may move substrates from shuttle to cart. The workpiece may be moved through the transport chamber 4612 by cart 4406 and loaded and unloaded from the desired processing modules 4631 for processing. Upon completion of the desired processing, the workpiece may be located, for example, near the LL to which interconnect passage 4578 is connected. Accordingly, the workpiece may be transported in transport chamber 4612 to this LL for loading onto shuttle 4571. The LL may be cycled to facilitate access for loading the processed workpiece unto the shuttle 4571 in the transit passage without compromise of the different atmosphere in the transport chamber 4612. The shuttle 4571 may express the processed workpiece to a desired location, such as tool interface section 4014A (via passage 4574) or interface section 4014B (via passage 4576) for loadout. In alternate embodiments, the express transit passage may have any desired length and configuration, and may communicate to allow workpiece transfer with any desired portion of the processing tool 510 including for example metrology, workpiece stocker (WS) or carrier stocker (CS) sections, lithography sections 4634, etc.
As noted before, the module transport lanes L1, L2, L3, L5, L6, L7 combine to form the substantially continuous longitudinal transport paths A, R, B. For example, as shown in FIG. 32, lanes L2 (in modules 5653, 5656) and L5 (module 5652, 5660) and L7 (modules 5656A, 5655A) combined form path A. Similarly path R, R′ and B may be formed in the corresponding sections of the transport chamber 5012. In alternate embodiments, different portions of the transport chamber may have more or fewer paths and any desired path arrangement. In the exemplary embodiment, the side walls (referred to generally with reference numerals 5716 in FIG. 32) may be similar to sidewalls of chamber module 716, shown in FIGS. 13A-13C. Winding sets in the side walls 5716 may define the travel lanes within the respective modules of the transport chamber. In the exemplary embodiment, each of the transport chamber modules may be communicably connected, for example by a suitable �plug and play� type coupling (as will be described further below) to controller C. The controller C, as noted before, has programming that operably integrates the discrete winding sets, and hence travel lanes, of the individual transport chamber modules to form the transport paths for cart(s) 5406 throughout the desired portions of the transport chamber 5018/5012. As noted before, and as will also be described further below, the controller may polarize (or define specific) travel directions along portions of the transport paths A, R, R′, B. As may be realized, in a given transport chamber module where a travel lane is undesired, the winding sets (see form example FIG. 13C) corresponding to the undesired travel lane, may be de-energized by the controller. Conversely, winding sets corresponding to desired travel lanes may be energized and controllably operated by the controller to move the cart(s) 5406 (or cart platens) as previously. Hence, the travel lanes of the transport chamber modules may be varied. In alternate embodiments, the transport chamber module travel lanes may be formed in any suitable manner (see for example FIGS. 10, 12B, 28).
In the exemplary embodiment shown, modules 5653, 5657, 5659A, 5659B may have closable side openings 5180O for communication with processing modules/substrate holding stations (not shown). The side openings 5180O may be generally similar to wall openings 180, 18A, 18B described previously (see also FIGS. 2, 13A-13C), sized to allow substrate transfer between transport chamber and mated processing module by any desired means (for example, transfer with cart mounted arm, see FIGS. 22-25; or transport arm in processing module, or transport arm in transport chamber independent from cart, or by cart transiting through the opening). The openings may be controllably opened/closed by slot valves, or other suitable valves/doors, to avoid compromise of the internal atmosphere of the transport chamber module. The valves are connected to and controlled by the controller, for example via �plug and play� coupling 5720. The number and arrangement of side openings 5180O in the transport chamber modules shown in FIG. 32 is merely exemplary, and is alternate embodiments more or fewer openings may be provided. Undesired openings may be covered with a blank. As noted before, openings 5180O, 5180O′ 5180O″ for communicating with processing modules arrayed along side the transport chamber may be positioned relative to the transport lanes to allow transfer of substrates from/to the cart(s) 5406. For example, transfer openings 5180O′, 5180O″ in module 5653 may be respectively positioned relative to lanes L2, L3, and opening 5180O in module 5657 may be positioned relative to transport lane L5. In the exemplary embodiment, the substrate transfer openings in the transport chamber may be considered to correspond to desired transport lanes, and hence transport paths of the transport chamber. For example, openings 5180O, 5180O′ may be correspond to path A, and opening 5180″ to path R (path B may be a bypass path). Accordingly, as may be realized, the process modules of the apparatus may be connected to desired transfer openings 5180O′, 5180O″, 5180O of the transport chamber according to a desired process protocol to be established (by the controller) along desired paths. Conversely, the transport directions of the transport paths in the chamber may be defined by the controller based on the process module arrangement. In alternate embodiments, some combination of this may be used. In the exemplary embodiment, path A may have a defined direction (for example) away, from interface section 5014A, (interface section 5014A is being used as a reference point relative to the transport path directions only for ease of description, and any suitable reference location may be used), path R may have a defined direction towards section 5014A, path R′ may be polarized away from section 5014A. Path B in the exemplary embodiment is, as noted before a bypass path, and is shown as being bidirectional, though in alternate embodiments the bypass path may be polarized to a specific direction. In the exemplary embodiment shown in FIG. 32, interconnecting vertical paths V may be provided in the transport chamber (see for example FIG. 13C) allow transport cart(s) 5406 to switch between longitudinal paths A, R, R′. As may be realized, the controller may apply different process protocols to substrates, for example loaded at interface station 5014A, via transport along the different transport paths. If desired for a specific lot, one or more transport path directions may be changed to establish still other process protocols.
As noted before, the transport chamber modules in the exemplary embodiment, may be provided with a �plug and play� capability via for example coupling 5120, allowing the controller C to automatically recognize a specific transport chamber module, and desired parameters of the module (including for example processing modules connected to the transport chamber module) when the module is connected to the transport chamber and the controller C. For example, the coupling 5120 of the transport chamber module, may have a suitable interface, for communicating with controller C, provided with integral programming to automatically provide the �plug and play� capability on connection of the respective interface to the controller. For example, the coupling and interface may be configured and a USB port an connector. Mating of the coupling 5120, for example to a suitable port in bidirectional communication with the controller, may cause the interface to automatically identify to the controller C the module configuration, for example module 5653 is transport chamber module, with (M) travel lanes, the winding sets defining the travel lanes, and the control parameters for the drive section motors, and control instrumentation, identification and control parameters for any other controllable system resident on module 5653, position of module with respect to a desired reference frame (e.g. Mth module of transport chamber). The information, which is downloaded automatically by controller C on mating with the interface of coupling 5120 may provide the controller with system information and control parameters for all controllable systems of the module being controlled by controller C to enable the controller to communicate and control operation of the module's controllable systems substantially immediately on connection of the coupling. The information may also provide the controller C with the geometric parameters defining the transport �space� of the transport chamber 5012, incorporating the specific transport chamber module(s) 5653, 5656, 5657 for establishing the kinematic equations and commands controlling transport motions. For example, the downloaded information may allow the controller to establish the spatial coordinates (X, Y, Z) of various features, such as location of substrate transfer openings (See FIG. 32) and isolation valves 5654, 5576, chamber boundaries, center of substrate pick, place positions, etc. As may be realized, the information programmed into interface module/controller of coupling 5120 may be but a portion, or an identifier, sufficient to enable the controller to look up/read the information from a memory location (not shown) of the controller where the control information may have been preprogrammed. By way of example, the controller may be programmed with lookup tables or an algorithm establishing the X,Y,Z coordinates for kinematic relevant features such as the locations of substrate transfer openings, module chamber walls for transport chamber modules. Upon coupling, the interface of a given module, may provide an indication to the controller that (M) module is being coupled to other modules of the transport chamber, for example already registered by the controller, causing the controller to access (via for example the lookup tables/algorithm) the desired characteristics of the module.
In alternate embodiments, the module interface may be programmed with any other desired information to be downloaded by the controller on coupling. Upon registering that (M) transport chamber module is coupled, the controller C may further automatically access, or automatically make available to an operator corresponding programming to initialize the respective operable systems/components and query status of the various systems (e.g. slot valves open/shut, transport encoders position, etc.). Similarly, the controller C may automatically lookup and initialize suitable test protocol to verify that the systems (hardware, software) of the added module are operating nominally and if desired actuate module systems to bring them to a �zero� position. In addition, the controller may enable display features (not shown), for example indicating to an operator the addition of the module, the present configuration of the transport chamber and tool, as well as command protocol allowing entry of operator commands, via a desired user interface, to operate the systems on the added module or modify workpiece process protocol carried out by the tool to incorporate the newly available features from the added module. For example, on registration of the coupling of the transport chamber module, the controller may add or enable features on the display (not shown) schematically representing the module and its relative position in the transport chamber with respect to other modules as well as presence and status of any module systems. Also enabled may be user selectable features such as �soft keys�, for initializing test programs, or teaching programs (e.g. fine teaching programming for arm 26B) for the module systems. As may be realized, any desired user interface architecture may be employed, and in alternate embodiments more or fewer features may be enabled by the controller at coupling. The downloaded information may be used by the controller MES system software (See FIG. 26) to configure or reconfigure factory resources and process plans in order to maximize overall system efficiency.
Still referring to FIG. 32, substrates may be loaded into the transport chamber 5012 from any interface section 5014A, 5014C. In the exemplary embodiment, each of the interface section 5014A, 5014C may have multiple substrate transfer planes T1-T5 along which substrates may be transferred (loaded/unloaded) between interface section and transport chamber. In the exemplary embodiment shown the transfer planes T1-T5 may be vertically offset. As may be realized, the interface section(s) 5014A, 5014C may have a suitable indexer (not shown) to index substrates to and from the desired transfer plane. One or more transfer planes may be substantially aligned with one or more of the transport paths A, R, R′ of the transport chamber 5012. In alternate embodiments, transfer paths for loading/unloading substrates between interface section and transport chamber may be horizontally offset (e.g. horizontally arrayed). An exemplary process protocol may transfer substrates from interface section 5014A, for example along transfer plane T1 (though in alternate embodiments any transfer plane may be used) to the transport chamber. As may be realized, one or more substrate(s) may be simultaneously transferred (e.g. vertically stacked) along a given transfer plane. Substrate transfer may occur via a load lock (not shown) located for example between transport chamber module 5653 and interface section 5014A. In alternate embodiments, the interface section may have load lock capabilities, or may hold a vacuum or other desired gas species/pressure conforming to the internal atmosphere of transport chamber module 5653. In the exemplary embodiment, the substrate(s) may be transferred to a cart 5406 (for example with a pick from the robot arm on the cart) on transport path A (in alternate embodiments the cart may be on any desired transport path). In the exemplary embodiment, carts may be queued prior to positioning for receiving substrate(s) from the interface section 5014A on another transport path (e.g. path R or bypass path B). As noted before, cart(s) may be moved between transport paths A, R, B by interconnects V. In the exemplary embodiment, the cart may move the substrate(s) on path A which as noted before may have a polarized direction (e.g. away from interface section 5014A) by the controller in accordance with the desired process protocol. For example, the substrate(s), in accordance with the process protocol, may be processed in processing module(s) connected to transfer opening 5180O′. If further processing is desired, the substrate(s) are moved, via load lock 5656, to chamber module 5657 for processing in the process module accessed via the transfer opening 5180O. Processing of the substrate(s) may be similarly continued as the substrate(s) are transported along path A. The substrate(s) may be for example thermally conditioned (heated/cooled) to desired temperature in the load lock 5656, and may undergo alignment or metrology testing or other desired processing in the transport chamber according to the capabilities of the transport chamber modules. If unloading of the substrate(s) at interface section 5014C is desired, the substrate(s) may continue on path A to the chamber module 5660 for transfer along a desired transfer plane T4 to the interface section 5014C. If processing of the substrate(s) is desired according to protocols provided along path R, R′ the cart may move from path A to path R, R′ for processing the substrate(s) therein along those paths. Bypass path B, may be used in the exemplary embodiment to bypass blocked portions of the transport paths A, R and �jump over� process steps or intervening traffic along the other paths. In the exemplary embodiment, the bypass path B may be used either to advance substrates from the interface section(s) or when returning or bringing substrate(s) to the interface section. The controller may variably designate one or more of the paths A, R, R′, B a bypass path for some period of time depending on existing and predicted traffic conditions along given transport paths.
Referring to FIG. 33, there is shown a schematic elevation view of another representative portion of a processing apparatus 6010 in accordance with another exemplary embodiment. The representative portion of apparatus 6010 shown in FIG. 33 may be similar to processing apparatus 4010, and the representative portion of apparatus 5010 shown respectively in FIGS. 31, 32. Similar features are similarly numbered. In the exemplary embodiment shown in FIG. 33, the apparatus may have a transport chamber 6018, with a section thereof 6012 connected to interface sections 6014A, 6014C, 6014C′. The configuration shown in FIG. 32 is merely exemplary and in alternate embodiments, any other suitable configuration may be employed. For example, one or more of the interface sections may be located at an intermediate position along the transport chamber, alongside or inline with the transport chamber. The interface section 6014A, 6014C, 6014C′ may be similar to the interface sections described before. In the exemplary embodiment shown, interface sections 6014C, 6014C′ may be vertically stacked, and may be parted from each other by a suitable partition. Each interface section 6014C, 6014C′ may hold an atmosphere isolated from the other. For example, interface section 6014C′ may hold a vacuum or a desired gas species, and interface section 6014C may be an environmental interface module. The transport chamber 6012 may be formed from transport chamber modules similar to modules 6018P, 5018P2 (See FIG. 32). In the exemplary embodiment, modules 6572 are prearranged to define an express or bypass passage 6570 (akin to supplemental transport passage 4570, 5570 shown in FIGS. 31 and 32). In the exemplary embodiment shown in FIG. 33, the express passage 6570 may be integrated into the transport chamber, though in alternate embodiments some separation may be provided between the express passage and other corresponding portions of the transport chamber. As noted before, the modules 6572 forming the express passage of the transport chamber may be similar to other transport chamber modules 6653, 6656, 6657. Thus, the express passage modules 6572, in the exemplary embodiment, may have integral transport lanes that form transport paths BA, BR through the express passage that can be used by transport carts 6406. Though integral to transport chamber 6012, in the exemplary embodiment, the passage 6570 may be partitioned by suitable means (e.g. floor/wall/ceiling) from adjoining modules of the transport chamber. Accordingly, the express passage may maintain an atmosphere (e.g. filtered air, inert gas, vacuum) different from the atmosphere(s) maintained in other modules of the transport chamber. In the exemplary embodiment, the express passage modules are illustrated without transfer openings in side walls for example purposes. In alternate embodiments, the express passage modules may be provided with closed or closable access openings (similar for example to openings 6180O in FIG. 33) for substrate transfer. In the exemplary embodiment the controller may define, may define in accordance with temporal status conditions of the apparatus 6010, one or more of the suitable tube sections formed in the transport chamber by the module architecture into one or more bypass/express passages. By way of example, the controller may, according to its programming, review the status and expected operation of the apparatus, and identify a tube section similar to passage 6572 of the transport chamber that is not being used (for some desired period of time) for substrate processing. The passage may be connected to desired interface sections and desired transport chamber modules in order to allow the passage to be efficiently operated as an express passage. Accordingly, the controller may establish the identified tube section as an express passage and operate it in a manner similar to passage tube 5572 (see FIG. 32). The selection may be made by the controller, if desired, in real time and used for example for a temporal �hot lot�. The express passage selected may thus be different for different lots at different times. The location of the express passage 6578 shown in FIG. 33 is exemplary and as may be realized, in alternate embodiments, the express passage may be located anywhere in the transport chamber module stack. The express passage may be sandwiched between transport chamber modules as shown in FIG. 33. In other alternate embodiments, the express passage may extend horizontally along one or more transport chamber section or be horizontally sandwiched between such sections. In the exemplary embodiment, the express passage may communicate with other modules (e.g. load locks 6656, 6660) via suitable isolation valves 6576. Valves 6576 may be sized to allow the cart(s) 6406 to travel through between express passage and other portion of the transport chamber. In alternate embodiments, the load lock module may be located in the express passage. In the exemplary embodiment, an indexing system (e.g. a mechanical indexer 6700) may be positioned to transfer carts between load lock 6656 and express passage. Other modules 6572, 6660 of the transport chamber may have suitable drive motors to define interconnect paths I as shown in FIG. 33 for directly motivating the cart(s) in and out of the express passage. Substrate processing may be performed in a manner similar to that previously described.
Patent CitationsCited PatentFiling datePublication dateApplicantTitleUS3294670Oct 7, 1963Dec 27, 1966Western Electric CoApparatus for processing materials in a controlled atmosphereUS3976330 *Oct 1, 1975Aug 24, 1976International Business Machines CorporationTransport system for semiconductor wafer multiprocessing station systemUS4348139 *Apr 30, 1980Sep 7, 1982International Business Machines Corp.Gas film wafer transportation systemUS4518078Jul 24, 1984May 21, 1985Varian Associates, Inc.Wafer transport systemUS4624617Oct 9, 1984Nov 25, 1986David BelnaLinear induction semiconductor wafer transportation apparatusUS4766993Nov 10, 1986Aug 30, 1988Fuji Electric Co., Ltd.Conveying apparatusUS4794863Mar 21, 1988Jan 3, 1989International Business Machines CorporationMotive structure for transporting workpiecesUS4836733Dec 21, 1987Jun 6, 1989Varian Associates, Inc.Wafer transfer systemUS4917556May 26, 1989Apr 17, 1990Varian Associates, Inc.Modular wafer transport and processing systemUS4951601Jun 23, 1989Aug 28, 1990Applied Materials, Inc.Multi-chamber integrated process systemUS5040484Mar 2, 1990Aug 20, 1991Varian Associates, Inc.Apparatus for retaining wafersUS5076205Jan 6, 1989Dec 31, 1991General Signal CorporationModular vapor processor systemUS5202716Jun 25, 1992Apr 13, 1993Tokyo Electron LimitedResist process systemUS5215420 *Sep 20, 1991Jun 1, 1993Intevac, Inc.Substrate handling and processing systemUS5248236 *Aug 1, 1991Sep 28, 1993Mitsubishi Jukogyo Kabushiki KaishaTransfer system and transfer palletUS5275709Apr 6, 1992Jan 4, 1994Leybold AktiengesellschaftApparatus for coating substrates, preferably flat, more or less plate-like substratesUS5391035Apr 18, 1994Feb 21, 1995Applied Materials, Inc.Micro-enviroment load lockUS5417537May 7, 1993May 23, 1995Miller; Kenneth C.Wafer transport deviceUS5538390Oct 29, 1993Jul 23, 1996Applied Materials, Inc.Enclosure for load lock interfaceUS5571325 *Jun 7, 1995Nov 5, 1996Dainippon Screen Mfg. Co., Ltd.Subtrate processing apparatus and device for and method of exchanging substrate in substrate processing apparatusUS5586535Dec 5, 1994Dec 24, 1996Suzuki Motor CorporationEngine rotational number controllerUS5651868May 22, 1995Jul 29, 1997International Business Machines CorporationMethod and apparatus for coating thin film data storage disksUS5655277Aug 8, 1996Aug 12, 1997Balzers AktiengesellschaftVacuum apparatus for the surface treatment of workpiecesUS5700127Jun 21, 1996Dec 23, 1997Tokyo Electron LimitedSubstrate processing method and substrate processing apparatusUS5846328 *Feb 22, 1996Dec 8, 1998Anelva CorporationIn-line film deposition systemUS5894760Jun 12, 1997Apr 20, 1999Brooks Automation, Inc.Substrate transport drive systemUS5897710Apr 7, 1998Apr 27, 1999Kabushiki Kaisha ToshibaSubstrate processing apparatus and substrate processing methodUS5989346Dec 10, 1996Nov 23, 1999Tokyo Electron LimitedSemiconductor processing apparatusUS6002840Sep 30, 1997Dec 14, 1999Brooks Automation Inc.Substrate transport apparatusUS6017820Jul 17, 1998Jan 25, 2000Cutek Research, Inc.Integrated vacuum and plating cluster systemUS6053980Sep 4, 1997Apr 25, 2000Kokusai Electric Co., Ltd.Substrate processing apparatusUS6066210Aug 5, 1996May 23, 2000Kokusai Electric Co., Ltd.Substrate processing apparatus with a processing chamber, transfer chamber, intermediate holding chamber, and an atmospheric pressure sectionUS6155131Dec 13, 1999Dec 5, 2000Komatsu Ltd.Handling robotUS6183615Feb 17, 1995Feb 6, 2001Tokyo Electron LimitedTransport system for wafer processing lineUS6206176 *May 20, 1998Mar 27, 2001Applied Komatsu Technology, Inc.Substrate transfer shuttle having a magnetic driveUS6261048Nov 8, 1999Jul 17, 2001Brooks Automation, Inc.Multi-level substrate processing apparatusUS6296735Oct 23, 1998Oct 2, 2001Unaxis Balzers AktiengesellschaftPlasma treatment apparatus and method for operation sameUS6297611Jul 6, 2000Oct 2, 2001Genmark AutomationRobot having independent end effector linkage motionUS6318951Aug 31, 1999Nov 20, 2001Semitool, Inc.Robots for microelectronic workpiece handlingUS6364592Dec 1, 1999Apr 2, 2002Brooks Automation, Inc.Small footprint carrier front end loaderUS6425722Mar 8, 2000Jul 30, 2002Tokyo Electron LimitedSubstrate treatment system, substrate transfer system, and substrate transfer methodUS6468021Dec 14, 1999Oct 22, 2002Asyst Technologies, Inc.Integrated intra-bay transfer, storage, and delivery systemUS6503365Jan 26, 1999Jan 7, 2003Samsung Electronics Co., Ltd.Multi-chamber system having compact installation set-up for an etching facility for semiconductor device manufacturingUS6519504Jan 19, 2000Feb 11, 2003Hitachi, Ltd.Vacuum processing apparatus and semiconductor manufacturing line using the sameUS6540869Jun 1, 2001Apr 1, 2003Tokyo Electron LimitedSemiconductor processing systemUS6634845Jun 16, 2000Oct 21, 2003Tokyo Electron LimitedTransfer module and cluster system for semiconductor manufacturing processUS6641350Apr 16, 2001Nov 4, 2003Hitachi Kokusai Electric Inc.Dual loading port semiconductor processing equipmentUS7134222 *Jun 7, 2004Nov 14, 2006Samsung Electronics Co., Ltd.Transfer apparatusUS7575406 *Jul 22, 2003Aug 18, 2009Brooks Automation, Inc.Substrate processing apparatusUS20010026748Nov 23, 1999Oct 4, 2001Wendell T. BloniganSubstrate transfer shuttle having a magnetic driveUS20010053324 *Jun 1, 2001Dec 20, 2001Hiroaki SaekiBy introducing carbon dioxide to the pulp suspension; for the production of paper or boardUS20020044860May 8, 2001Apr 18, 2002Yoshinobu HayashiProcessing systemUS20020089237Jan 8, 2001Jul 11, 2002Hazelton Andrew J.Electric linear motorUS20020150448Jun 11, 2002Oct 17, 2002Shinko Electric Co., Ltd.Conveyance systemUS20020192056Jun 13, 2001Dec 19, 2002Applied Materials, Inc.Method and apparatus for transferring a semiconductor substrateUS20030129045Sep 3, 2002Jul 10, 2003Bonora Anthony C.Universal modular wafer transport systemUS20040151562Jul 22, 2003Aug 5, 2004Christopher HofmeisterSubstrate processing apparatusUS20050105991Oct 9, 2004May 19, 2005Christopher HofmeisterSubstrate processing apparatusUS20050111938Nov 10, 2004May 26, 2005Blueshift Technologies, Inc.Mid-entry load lock for semiconductor handling systemUS20050111956Nov 10, 2004May 26, 2005Blueshift Technologies, Inc.Methods and systems for reducing the effect of vibration in a vacuum-based semiconductor handling systemUS20050113964Nov 10, 2004May 26, 2005Blueshift Technologies, Inc.Sensor methods and systems for semiconductor handlingUS20050113976Nov 10, 2004May 26, 2005Blueshift Technologies, Inc.Software controller for handling systemUS20050118009Nov 10, 2004Jun 2, 2005Blueshift Technologies, Inc.Stacked process modules for a semiconductor handling systemUS20050120578Nov 10, 2004Jun 9, 2005Blueshift Technologies, Inc.Methods and systems for handling a workpiece in vacuum-based material handling systemUS20050223837Nov 10, 2004Oct 13, 2005Blueshift Technologies, Inc.Methods and systems for driving robotic components of a semiconductor handling systemWO1997027977A1Jan 30, 1997Aug 7, 1997Kazuhiro HatakeRobot for handlingWO2003038869A2Sep 3, 2002May 8, 2003Asyst TechnologiesUniversal modular wafer transport system* Cited by examinerReferenced byCiting PatentFiling datePublication dateApplicantTitleUS8267632Oct 23, 2007Sep 18, 2012Brooks Automation, Inc.Semiconductor manufacturing process modulesUS8313277 *Oct 23, 2007Nov 20, 2012Brooks Automation, Inc.Semiconductor manufacturing process modulesUS8602716Oct 23, 2007Dec 10, 2013Brooks Automation, Inc.Semiconductor manufacturing process modulesUS8694152Dec 15, 2011Apr 8, 2014Symbotic, LLCMaintenance access zones for storage and retrieval systemsUS8696298Oct 23, 2007Apr 15, 2014Brooks Automation, Inc.Semiconductor manufacturing process modulesUS8812150Oct 23, 2007Aug 19, 2014Brooks Automation, Inc.Semiconductor manufacturing process modulesUS20090269937 *Feb 3, 2009Oct 29, 2009Hitachi Kokusai Electric, Inc.Substrate processing apparatus and method of manufacturing semiconductor deviceUS20130079913 *Sep 28, 2011Mar 28, 2013Globalfoundries Inc.Methods and systems for semiconductor fabrication with local processing managementUS20130121792 *Sep 14, 2012May 16, 2013Peter van der MeulenSemiconductor manufacturing process module* Cited by examinerClassifications U.S. Classification414/217, 414/221, 414/939International ClassificationH01L21/677Cooperative ClassificationY10S414/139, H01L21/67715, H01L21/67742, H01L21/67173, H01L21/67724, H01L21/67727, H01L21/67709, H01L21/67161European ClassificationH01L21/677B2, H01L21/677A2, H01L21/677A7, H01L21/677A8, H01L21/67S2Z2L, H01L21/67S2Z2, H01L21/677A4Legal EventsDateCodeEventDescriptionAug 23, 2006ASAssignmentOwner name: BROOKS AUTOMATION, INC., MASSACHUSETTSFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HOFMEISTER, CHRISTOPHER;CAVENEY, ROBERT T.;REEL/FRAME:018205/0939Effective date: 20060808RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google