Automated opening and closing of ultra clean storage containers
First Claim
1. A substrate handling system adapted to transport a substrate between a first position and a second position, the substrate when in the first position being disposed within a pod having a removable pod door, the second position being within a micro environment, the substrate handling system comprising:
- a load lock chamber having a port for allowing access to the pod in an engagement position and having a removable load lock chamber door for closing the port; and
a robot having an articulating arm comprised of a plurality of links including a proximal link and one or more distal links, wherein at least one of said distal links is provided with at least two degrees of freedom and is configured to support a first tool for removing the load lock chamber door and the pod door to a location within the load lock chamber which is remote from the port, and a second tool for transporting the substrate between the first position and the second position,wherein said first and second tools are supported by said one of said distal links so as to have at least two degrees of freedom.
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Accused Products
Abstract
A substrate handling system is provided with a robot having the dual function of a removing and replacing substrate-containing pod doors and load lock chamber doors, and of transporting the substrates between the pods and various processing stations. The robot is equipped with an end effector having sockets into which interchangeable tools for implementing the various functions are removably mounted. The tools are retrieved from respective parking locations disposed within the system micro environment, and automatic interchangeability of the tools is facilitated by a novel socket mechanism which engages and disengages the tools to the robot arm without introducing contaminants into the micro environment.
115 Citations
28 Claims
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1. A substrate handling system adapted to transport a substrate between a first position and a second position, the substrate when in the first position being disposed within a pod having a removable pod door, the second position being within a micro environment, the substrate handling system comprising:
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a load lock chamber having a port for allowing access to the pod in an engagement position and having a removable load lock chamber door for closing the port; and a robot having an articulating arm comprised of a plurality of links including a proximal link and one or more distal links, wherein at least one of said distal links is provided with at least two degrees of freedom and is configured to support a first tool for removing the load lock chamber door and the pod door to a location within the load lock chamber which is remote from the port, and a second tool for transporting the substrate between the first position and the second position, wherein said first and second tools are supported by said one of said distal links so as to have at least two degrees of freedom. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification