Apparatus and method for loading and unloading wafers

• US 4,775,281 A
• Filed: 12/02/1986
• Issued: 10/04/1988
• Est. Priority Date: 12/02/1986
• Status: Expired due to Fees

• Current Assignee: Teradyne Laser Systems, Inc.
• Original Assignee: Teradyne Incorporated
• Inventors: Prentakis, Antonios E.
• Primary Examiner(s): Werner, Frank E.
• Application Number:
  US06/936,825
• Time in Patent Office: 672 Days
• Field of Search: 414/416, 414/417, 414/331, 414/786, 414/225, 414/226, 414/217, 414/222, 414/618, 414/280, 414/754, 414/749, 414/750, 414/751, 414/752, 414/626, 414/627, 414/659, 414/661 , 414/279, 414/277, 414/281, 414/757, 118/729, 118/730, 118/500
• US Class Current: 414/416.03
• CPC Class Codes: B23Q 7/048 Multiple gripper units
• CPC Class Codes: H01L 21/67766 Mechanical parts of transfer devices robots in general in B25J
• CPC Class Codes: H01L 21/67781 Batch transfer of wafers
• CPC Class Codes: Y10S 414/136 including wafer orienting means
• CPC Class Codes: Y10S 414/137 including means for charging or discharging wafer cassette
• CPC Class Codes: Y10S 414/139 including wafer charging or discharging means for vacuum chamber

Abstract

Apparatus for loading and unloading wafers including a support structure having associated with it a predetermined wafer engagement position at which wafers can be engaged by the processing machine, a temporary storage device mounted on the support structure for storing a wafer in position for pick up, the flat surfaces of the wafer being parallel to an X-axis and perpendicular to a Z-axis, a first wafer engagement member for carrying the wafer on the first engagement member between the temporary storage device and the engagement position, a first X-direction mover mounted on the support structure and operable to move the first engagement member parallel to the X-axis, a second wafer engagement member for carrying the wafer on the second engagement member between the temporary storage device and the engagement position, a second X-direction mover mounted on the support structure and operable to move the second engagement member parallel to the X-axis independent of the first engagement member, a Z-direction mover mounted on the support structure and operable to move the first and second engagement members in the Z-direction, and a controller to cause the first X-direction mover to move the first engagement member parallel to the X-axis toward the engagement position at the same time as or shortly after the second engagement member moves parallel to said X-axis away from the engagement position.

Claims

1. Apparatus for transporting wafers between a temporary storage device and a processing machine comprising

a support structure having associated with it a predetermined wafer engagement position at which wafers having flat surfaces can be engaged by said processing machine,

a temporary storage device mounted on said support structure for temporarily storing a wafer in a known position for pick up, said flat surfaces of said wafer being parallel to an X-axis and perpendicular to a Z-axis,

a first wafer engagement member for gripping, lifting and carrying a said wafer on said first engagement member between said temporary storage device and said engagement position,

a first X-direction mover mounted on said support structure and operable to move said first engagement member parallel to said X-axis,

a second wafer engagement member for gripping, lifting and carrying a said wafer on said second engagement member between said temporary storage device and said engagement position,

a second X-direction mover mounted on said support structure and operable to move said second engagement member parallel to said X-axis independent of said first engagement member,

a Z-direction mover mounted on said support structure and operable to move said first and second engagement members parallel to the Z-axis,

an alignment station carried by said support structure for placing said wafer in desired position to be received at said processing station, a said wafer being transportable to said alignment station by a said wafer engagement member, and

a controller to cause said first X-direction mover to move said first engagement member and an unprocessed wafer carried by it parallel to said X-axis toward said engagement position at the same time as or shortly after said second engagement member and a processed wafer carried by it moves parallel to said X-axis away from said engagement position,

said controller also causing an unprocessed wafer to be carried to, aligned at and removed from said alignment station while another said wafer is being processed at said processing machine.

2. The apparatus of claim 1 wherein said Z-direction mover comprises a carriage that is movable along the Z-axis and carries said first and second X-direction movers, said first and second engagement members being movable along first and second axes that are fixed with respect to said carriage, are parallel to said X-axis, and are spaced from each other by a fixed distance along said Z-axis.

3. The apparatus of claim 2 wherein said Z-direction mover comprises a lead screw having a longitudinal axis that is parallel to said Z-axis and is rotatably driven with respect to a threaded member of said carriage.

4. The apparatus of claim 2 wherein said first and second wafer engagement members comprise flat vacuum wands that engage said wafers at their back surfaces.

5. The apparatus of claim 4 wherein said vacuum wands are U-shaped.

6. The apparatus of claim 4 wherein said X-axis is aligned with the horizontal, said back surfaces of said wafers are at the bottom, and said wands engage said wafers from underneath.

7. The apparatus of claim 1 wherein said alignment station includes a member operable to engage a said wafer at the center of its back surface and to rotate the wafer to a desired angular orientation.

8. The apparatus claim 7 wherein said first and second wafer engagment members comprise flat vacuum wands that engage said wafers at their back surfaces.

9. The apparatus of claim 8 wherein said vacuum wands are U-shaped.

10. A method of transporting wafers between a temporary storage device and a processing machine comprising

providing a temporary storage device for temporarily storing a wafer in position for pick up, the flat surfaces of the wafer being parallel to an X-axis and perpendicular to a Z-axis, first and second wafer engagement members, first and second X-direction movers for independently moving the first and second wafer engagement members parallel to the X-axis, a Z-direction mover for moving the first and second wafer engagement members parallel to the Z-axis, and an alignment station carried by said support structure for placing said wafer in desired position to be received at said processing station,

picking up by gripping and lifting a first, unprocessed wafer at said storage device with said first wafer engagement member,

causing said first unprocessed wafer to be carried to, aligned at and removed from said alignment station,

said picking up and causing being carried out while another said wafer is being processed at said processing machine,

moving said second wafer engagement member parallel to said X-axis to a wafer engagement position in said processing machine at which said another wafer is located,

engaging by gripping and lifting said another wafer by said second wafer engagement member, said another wafer being a processed wafer,

removing said second wafer engagement member and engaged processed wafer from said processing machine parallel to said X-axis,

moving said first wafer engagement member and engaged unprocessed wafer parallel to said X-axis to said wafer engagement position,

disengaging said unprocessed wafer from said first wafer engagement member, and

removing said first wafer engagement member without said unprocessed wafer parallel to said X-axis.

11. The method of claim 10 wherein said providing includes providing a carriage which is movable along said Z-axis and which carries said first and second X-direction movers, and further comprising, after said picking up, moving said carriage along said Z-axis from a position even with said storage device to a position even with said engagement position to bring said second wafer engagement member in alignment with said engagement position prior to said moving said second wafer engagement member.

12. The method of claim 11 further comprising moving said carriage along said Z-axis to bring said first engagement member even with said engagement position after said removing said second engagement member, and, after said removing said first engagement member, moving said carriage along said Z-axis to bring said second engagement member and attached wafer even with said storage device and moving said second engagement member and attached processed wafer along an axis parallel to said X-axis to said storage device.

13. The method of claim 12 further comprising removing said first wafer from said processing machine and returning it to said storage device.

14. The method of claim 13 wherein said returning comprises returning said first wafer to the location of said storage device from which it had been removed.

15. The method of claim 13 wherein said returning comprises returning said first wafer to a different location of said storage device than the location from which it had been removed.

16. The method of claim 15 wherein said storage device comprises a plurality of cassettes with slots for receiving wafers, and wherein said first wafer is returned to a slot of a different cassette than the cassette from which it had been removed.