Process tool tending robots
Apparatus and methods for process tool tending in a semiconductor fab are disclosed. In certain embodiments, a robot includes a robotic arm and a turntable that rotates relative to the robotic arm. The turntable holds at least one lot box storing a wafer cassette of semiconductor wafers, and the robotic arm includes an end-effector operable to manipulate the lot box. Accordingly, the robot handles wafer lot boxes to improve semiconductor fab throughput by automating unloading and loading processes that are conventionally performed manually. For example, the robot can transport a wafer lot box to a point of use, remove the wafer cassette from the lot box, load the wafer cassette into a tool at the point of use, remove the wafer cassette from the tool after processing, reload the wafer cassette into the lot box, and transport the lot box to the next point of use.
1 . A robot for process tool tending in a semiconductor fab, the robot comprising:
a pedestal;
a robotic arm attached to the pedestal; and
a turntable configured to rotate relative to the robotic arm and around the pedestal, wherein the turntable is configured to hold at least one lot box storing a wafer cassette of semiconductor wafers,
wherein the robotic arm includes an end-effector configured to manipulate the at least one lot box,
wherein the pedestal elevates the robotic arm over the turntable, and the pedestal passes through a center of the turntable such that the robotic arm is centered about the turntable.
2 . The robot of claim 1 , wherein the robotic arm is a 6-axis articulated robotic arm with 6 axes of freedom, and the turntable is operable to rotate to provide a 7th axis of freedom.
3 . The robot of claim 1 , wherein the end-effector is fully passive, the robotic arm and the end-effector operable to move the at least one lot box and insert or remove the wafter cassette from the at least one lot box.
4 . The robot of claim 3 , wherein the end-effector includes a pair of arms configured to interface with the at least one lot box.
5 . The robot of claim 4 , wherein the pair of arms includes one or more unlatching fingers configured to unlock the at least one lot box.
6 . The robot of claim 4 , wherein the pair of arms are connected by a base, wherein the end-effector further includes one or more knuckles attached to the base and operable to interface with the wafer cassette.
7 . The robot of claim 4 , wherein the pair of arms are connected by a base, wherein the end-effector further includes an offset linkage connecting the base to an end of the robotic arm.
8 . The robot of claim 1 , further comprising a box opener configured to open a lid of the at least one
lot box.
9 . The robot of claim 8 , wherein the box opener includes a suction mechanism configured to apply a suction force to the lid and a box opener arm configured to actuate to open the lid.
10 . The robot of claim 1 , further comprising a housing supporting the turntable and including one or more components configured to control a rotation of the turntable and a plurality of movements of the robotic arm.
11 . The robot of claim 10 , further comprising a mobile base supporting the housing.
12 . The robot of claim 1 , further comprising at least one of a time-of-flight sensor or a LIDAR sensor configured to detect one or more obstacles in an environment of the robot.
13 . The robot of claim 1 , further comprising the at least one lot box storing the wafer cassette of semiconductor wafers and a plurality of lot box holders arranged on the turntable and holding the at least one lot box.
14 . A method of robotic process tool tending in a semiconductor fab, the method comprising:
controlling a rotation of a turntable of a robot relative to a robotic arm of the robot, the robotic arm attached to a pedestal of the robot, the turntable rotating relative to the robotic arm and around the pedestal and holding at least one lot box storing a wafer cassette of semiconductor wafers, the robotic arm including an end-effector that manipulates the at least one lot box, wherein the pedestal elevates the robotic arm over the turntable and passes through a center of the turntable such that the robotic arm is centered about the turntable;
controlling a position of the robotic arm relative to the at least one lot box; and
manipulating the at least one lot box using the end-effector of the robot.
15 . The method of claim 14 , wherein the end-effector is fully passive, the method further comprising interfacing the end-effector with the at least one lot box using a pair of arms of the end-effector.
16 . The method of claim 15 , further comprising unlocking the at least one lot box using one or more latching fingers of the pair of arms.
17 . The method of claim 15 , further comprising manipulating the wafer cassette using the end-effector.
18 . The method of claim 14 , further comprising opening a lid of the at least one lot box using a box opener of the robot.