Semiconductor wafer handling transport

• US 9,884,726 B2
• Filed: 03/17/2014
• Issued: 02/06/2018
• Est. Priority Date: 11/10/2003
• Status: Active Grant

• Current Assignee: Brooks Automation Ltd. (United Kingdom) (Azenta, Inc.)
• Original Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Inventors: van der Meulen, Peter, Kiley, Christopher C., Pannese, Patrick D., Ritter, Raymond S., Schaefer, Thomas A.
• Primary Examiner(s): KEENAN, JAMES W
• Application Number:
  US14/216,829
• Publication Number:
  US 20140199138A1
• Time in Patent Office: 1,422 Days
• Field of Search: 414805, 414939
• CPC Class Codes: B65G 25/02 the carrier or impeller having different forward and return paths of movement, e.g. walking beam conveyors
• CPC Class Codes: B65G 37/00 Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes series of co-operating belt conveyor units B65G15/22; series of co-operating chain conveyor units B65G17/26; sequence control of combined conveyors B65G43/10
• CPC Class Codes: H01L 21/67161 characterized by the layout of the process chambers
• CPC Class Codes: H01L 21/67196 characterized by the construction of the transfer chamber
• CPC Class Codes: H01L 21/67742 Mechanical parts of transfer devices robots in general in B25J
• CPC Class Codes: H01L 21/67745 characterized by movements or sequence of movements of transfer devices
• CPC Class Codes: H01L 21/67748 horizontal transfer of a single workpiece
• CPC Class Codes: H01L 21/68792 characterised by the construction of the shaft
• CPC Class Codes: Y10S 414/139 including wafer charging or discharging means for vacuum chamber

Abstract

Modular wafer transport and handling facilities are combined in a variety of ways deliver greater levels of flexibility, utility, efficiency, and functionality in a vacuum semiconductor processing system. Various processing and other modules may be interconnected with tunnel-and-cart transportation systems to extend the distance and versatility of the vacuum environment. Other improvements such as bypass thermal adjusters, buffering aligners, batch processing, multifunction modules, low particle vents, cluster processing cells, and the like are incorporated to expand functionality and improve processing efficiency.

Claims

1. A substrate transport system for moving substrates in a semiconductor manufacturing process, the substrate transport system comprising:

at least one tunnel capable of being sealed for holding a sealed environment within the at least one tunnel, the at least one tunnel having a first end and a second end and a transport path extending between the first and second ends;

at least one transport cart disposed within the at least one tunnel and configured to traverse at least a portion of the transport path, each of the at least one transport carts being configured to hold at least one substrate;

at least one sealable workpiece handling module communicably coupled to one or more of the first and second ends of the at least one tunnel through a respective exchange zone port of the at least one tunnel;

an equipment front end unit having an environment external to the sealed environment and communicably coupled to the at least one sealable workpiece handling module through a distinct exchange zone that is different and distinct from the equipment front end unit and coupled to an outside of the equipment front end unit so as to be disposed between, and coupled to, the equipment front end unit and the at least one sealable workpiece handling module, the exchange zone being persistently external to the sealed environment so that at least a portion of the exchange zone accommodating substrate exchange therein persistently shares the external environment of the equipment front end unit and the exchange zone is isolated by each respective exchange zone port from the sealed environment of the at least one tunnel; and

at least one robotic arm configured to reach into at least the portion of the exchange zone persistently sharing the external environment of the equipment front end unit and indirectly transfer the at least one substrate therefrom to the at least one transport cart, the at least one robotic arm being located at one or more of the first and second ends for introducing the at least one substrate into the at least one tunnel, through the at least one sealable workpiece handling module and the respective exchange zone port, from the environment persistently external to the sealed environment.

2. The substrate transport system of claim 1, wherein the at least one robotic arm includes a first robotic arm disposed within the equipment front end unit and a second robotic arm disposed within the sealed environment of the tunnel, the first robotic arm being configured to hand off the at least one substrate to the second robotic arm for transfer of the at least one substrate to the at least one transport cart.

3. The substrate transport system of claim 2, wherein the second robotic arm comprises a 4-link scara arm.

4. The substrate transport system of claim 1, wherein the at least one tunnel includes at least one process port configured to connect at least one substrate processing module to the at least one tunnel and at least one exchange zone port, each process port including a robotic arm for transferring the at least one substrate between a respective one of the at least one processing module and the at least one transport cart.

5. The substrate transport system of claim 4, wherein the at least one substrate processing module comprises a linear substrate processing system.

6. The substrate transport system of claim 1, wherein the equipment front end unit is connected to the first end of the at least one tunnel and another equipment front end unit is connected to the second end of the at least one tunnel and the equipment front end unit and the other equipment front end unit are configured to transfer the at least one substrate to and from the sealed environment.

7. The substrate transport system of claim 1, wherein the at least one robotic arm is located within a transfer chamber of a cluster substrate processing cell.

8. The substrate transport system of claim 1, further comprising a linear substrate processing system having opposite ends wherein the at least one tunnel comprises two tunnels connected to the linear substrate processing system on respective ones of the opposite ends and the at least one transport cart comprises two transport carts, each cart being disposed within a respective one of the two tunnels.

9. The substrate transport system of claim 1, wherein the at least one tunnel comprises two tunnels and the at least one robotic arm comprises two robotic arms, the two tunnels and the two robotic arms being configured as a substrate transport loop.

10. The substrate transport system of claim 1, wherein the at least one transport cart is a passive cart having a substrate holder configured to receive the at least one substrate from the at least one robotic arm.

11. The substrate transport system of claim 1, wherein the at least one transport cart includes a robotic arm configured to load and unload the at least one substrate from the at least one transport cart.

12. The substrate transport system of claim 1, wherein a substrate transport path of the at least one robotic arm for transferring the at least one substrate to the at least one transport cart is substantially in line with the transport path extending between the first and second ends.

13. A substrate transport apparatus comprising:

at least one tunnel configured to hold a sealed environment within the at least one tunnel, each of the at least one tunnel including a plurality of process ports, a first end, a second end, at least one exchange zone port disposed at one or more of the first and second ends, and a transport cart track extending between the first and second ends;

a transport cart disposed with the at least one tunnel and configured to traverse at least a portion of the at least one tunnel along the transport cart track, the transport cart being configured to hold at least one substrate;

at least one sealable workpiece handling module communicably coupled to one or more of the first and second ends of the at least one tunnel through a respective one of the at least one exchange zone port;

an equipment front end unit having an external environment and communicably coupled to the at least one sealable workpiece handling module through a distinct exchange zone that is different and distinct from the equipment front end unit and coupled to an outside of the equipment front end unit so as to be disposed between, and coupled to, the equipment front end unit and the at least one sealable workpiece handling module, the exchange zone being persistently external to the sealed environment so that at least a portion of the exchange zone accommodating substrate exchange therein persistently shares the external environment of the equipment front end unit and the exchange zone is isolated by each respective exchange zone port from the sealed environment of the at least one tunnel; and

at least one robotic arm disposed at one or more of the first and second end, the at least one robotic arm being configured to reach into at least the portion of the exchange zone persistently sharing the external environment of the equipment front end unit and indirectly transfer the at least one substrate therefrom into the at least one tunnel from the external environment, persistently outside the sealed environment, through the at least one sealable workpiece handling module and the at least one exchange zone port.

14. The substrate transport apparatus of claim 13, wherein the at least one robotic arm includes a first robotic arm disposed within the equipment front end unit and a second robotic arm disposed within the sealed environment of the tunnel, the first robotic arm being configured to hand off the at least one substrate to the second robotic arm for transfer of the at least one substrate to the transport cart.

15. The substrate transport apparatus of claim 14, wherein the second robotic arm comprises a 4-link scara arm.

16. The substrate transport apparatus of claim 13, wherein the equipment front end unit is connected to the first end of the at least one tunnel and another equipment front end unit is connected to the second end of the at least one tunnel and the equipment front end unit and the other equipment front end unit are configured to transfer the at least one substrate to and from the sealed environment.

17. The substrate transport apparatus of claim 13, wherein the at least one tunnel comprises two tunnels and the least one robotic arm comprises two robotic arms, the two tunnels and the two robotic arms being configured as a substrate transport loop.

18. The substrate transport apparatus of claim 13, wherein the transport cart is a passive cart having a substrate holder configured to receive the at least one substrate from the at least one robotic arm.

19. The substrate transport apparatus of claim 13, wherein the transport cart includes a robotic arm configured to load and unload the at least one substrate from the transport cart.