Method and apparatus for handling workpieces

• US 3,968,885 A
• Filed: 08/27/1974
• Issued: 07/13/1976
• Est. Priority Date: 06/29/1973
• Status: Expired due to Term

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Mack, Alfred, Hassan, Javathu K., Wojtaszek, Michael R.
• Primary Examiner(s): Paperner, L. J.
• Assistant Examiner(s): Noland, Kenneth
• Application Number:
  US05/501,005
• Time in Patent Office: 686 Days
• Field of Search: 214/1 BC, 214/1 BD, 214/1 BH, 214/1 BB, 198/210, 72/422, 10/12 T, 269/229, 269/58, 269/250, 118/49, 29/211 C, 90/DIG. 24, 90/58 B
• US Class Current: 414/591
• CPC Class Codes: B23Q 7/1431 Work holder changers B23Q7/1442 takes precedence
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: H01L 21/6719 characterized by the construction of the processing chambers, e.g. modular processing chambers
• CPC Class Codes: H01L 21/67201 characterized by the construction of the load-lock chamber
• CPC Class Codes: H01L 21/67742 Mechanical parts of transfer devices robots in general in B25J
• CPC Class Codes: H01L 21/68707 the wafers being placed on a robot blade, or gripped by a gripper for conveyance
• CPC Class Codes: Y10S 414/135 Associated with semiconductor wafer handling
• CPC Class Codes: Y10S 414/139 including wafer charging or discharging means for vacuum chamber

Abstract

A semiconductor wafer, which has chips formed thereon, is moved from a class 100 environment into a vacuum chamber in which pattern writing is performed on the chips by an electron beam without significantly affecting the vacuum level in the vacuum chamber. The wafer is initially disposed on an elevator, which is within the vacuum chamber, through an opening, which is vacuum sealed by the elevator at this time, in the top wall of the vacuum chamber. A lid is then placed over the opening from the exterior to cooperate with the elevator to form an ante chamber which the wafer disposed therein. The ante chamber, which is purged prior to the lid being placed over the opening, is then reduced to a vacuum of 5 × 10.sup.^-2 torr. The elevator then lowers the wafer into a horizonal plane in which a transfer mechanism is located to transfer the wafer from the elevator to an X-Y table on which the wafer is mounted for pattern writing of the chips. The transfer mechanism includes an arm, which is indexed 180° during each antivation of an indexing means connected thereto, and gripping means at each end of the arm to simultaneously grasp and release wafers on the elevator and X-Y table to interchange the wafers between the elevator and the table.

Claims

1. An apparatus for transferring workpieces between first and second stations including:

a rotary arm;

said arm having workpiece gripping means disposed 180°

from each other;

index means to rotate said arm 180°

in a plane during each activation to always position each of said gripping means at one of the stations; and

each of said gripping means having means responsive to the station at which it is located to cause one of said gripping means to grasp one of the workpieces at only the first station and to release the grasped workpiece at only the second station and to cause the other of said gripping means to grasp one of the workpieces at only the second station and to release the grasped workpiece at only the first station.

2. The apparatus according to claim 1 in which each of said gripping means includes:

a body slidably mounted on said arm;

moving means to extend and retract said body along said arm when said arm is positioned so that said gripping means can cooperate with a workpiece support position at each of the first and second stations; and

means mounted on said body for grasping a workpiece at one of the first and second stations for transfer of the workpiece to the other of the first and second stations when said arm is rotated 180°

by said index means, said mounted means releasing the workpiece at the other of the first and second work stations.

3. The apparatus according to claim 2 in which:

said mounted means of each of said gripping means includes;

a pair of cooperating grippers mounted on said body for movement toward and away from each other;

and means continuously urging said grippers to the position in which said grippers grasp a workpiece;

and said responsive means includes;

first means to enable said urging means of said one gripping means to be effective to cause said grippers of said one gripping means to grasp the workpiece only at the first station; and

second means to enable said urging means of said other gripping means to be effective to cause said grippers of said other gripping means to grasp the workpiece only at the second station.

4. The apparatus according to claim 3 in which each of said first and second means of said responsive means enables said urging means of each of said gripping means to be effective to cause said grippers to grasp a workpiece in response to movement of said moving means in the direction in which said body is retracted when said gripping means is at the station at which said gripping means grasps a workpiece.

5. The apparatus according to claim 4 including:

means cooperating with said grippers of each of said gripping means to move said grippers to a non-grasping position when said moving means is moved in the direction in which said body is extended after movement of said body by said moving means has been completed; and

each of said first and second means of said responsive means including means to hold said grippers in a non-grasping position after said grippers have been moved to this position by said cooperating means when said gripping means is at the station at which said gripping means releases a workpiece.

6. The apparatus according to claim 5 in which:

each of said gripping means includes means to activate means at each of the stations to retain a workpiece when said gripping means is at the station at which said gripping means releases a workpiece, said activating means at each of the stations being effective after the workpiece has been disposed at the workpiece support position; and

each of said activating means inactivating the workpiece retaining means at the other of the stations at which said gripping means grasps a workpiece, said activating means being effective to cause inactivation after said gripping means has grasped the workpiece.

7. The apparatus according to claim 6 in which said moving means includes means to cause simultaneous extension and retraction of said bodies of said gripping means.

8. The apparatus according to claim 2 in which said moving means includes means to cause simultaneous extension and retraction of said bodies of said gripping means.

9. The apparatus according to claim 1 in which each of said responsive means has means cooperating with means disposed at each of the first and second stations to determine whether said responsive means causes grasping or releasing of the workpiece by said gripping means.

10. The apparatus according to claim 1 in which:

each of said gripping means includes means to activate means at each of the stations to retain a workpiece when said gripping means is at the station at which said gripping means releases a workpiece, said activating means at each of the stations being effective after the workpiece has been disposed at a workpiece support position; and

each of said activating means inactivating the workpiece retaining means at the other of the stations at which said gripping means grasps a workpiece, said activating means being effective to cause inactivation after said gripping means has grasped the workpiece.

11. The apparatus according to claim 1 including elevator means at one of the first and second stations to move the workpiece into and out of the plane of rotation of said arm.

12. The apparatus according to claim 1 including means to cause said gripping means to simultaneously grasp the workpiece and to simultaneously release the workpieces.

13. The apparatus according to claim 1 in which said gripping means are disposed in the plane of rotation of said arm.

14. The apparatus according to claim 1 in which said responsive means prevents said one gripping means from grasping one of the workpieces at the second station and said other gripping means from grasping one of the workpieces at the first station.