Batch substrate handling
View Patent ↗A substrate-handling vacuum robot includes a first robotic arm with a single-substrate end effector and a second robotic arm with a batch end effector. The single-substrate end effector permits single-substrate pick-and-place operations while the batch end effector permits batch handling of substrates within a vacuum environment.
1. A vacuum handling robot for a vacuum processing system, the vacuum handling robot comprising:
a multifaceted chamber having a base with a center axis and being configured so that each facet of the multifaceted chamber on no more than one side of the center axis is configured to couple to both batch processing modules and single-substrate processing modules;
a first robotic arm rotatably coupled to the base and a drive section, the first robotic arm including a single-substrate end effector and the drive section being configured to independently operate movement of the first robotic arm to each of the facets of the multifaceted chamber;
a second robotic arm rotatably coupled to the base and the drive section, the second robotic arm including a batch end effector including a plurality of vertically-stacked end effectors in a fixed orientation relative to one another and the drive section being configured to independently operate movement of the second robotic arm to each of the facets of the multifaceted chamber; and
a controller including a neural network scheduler, the controller including the neural network scheduler being configured to coordinate movement of the first and second robotic arms within the vacuum processing system, where the neural network scheduler
coordinates movement of the first robotic arm for accessing at least the single-substrate processing modules and
coordinates movement of the second robotic arm for accessing the batch processing modules, and
coordinates movement of the first robotic arm and the second robotic arm through a common opening of the multifaceted chamber.
2. The vacuum handling robot of claim 1 wherein the first robotic arm is a two-link SCARA unit.
3. The vacuum handling robot of claim 1 wherein the second robotic arm is a two-link SCARA unit.
4. The vacuum handling robot of claim 1 wherein at least one of the first robotic arm and the second robotic arm has z-movement capability.
5. The vacuum handling robot of claim 1 wherein a first link of the first robotic arm and a first link of the second robotic arm have a fixed rotational orientation to one another with respect to the center axis of the base.
6. The vacuum handling robot of claim 1 wherein the batch end effector includes at least three vertically-stacked end effectors.
7. The vacuum handling robot of claim 1 wherein the batch end effector includes at least two side-by-side end effectors.
8. The vacuum handling robot of claim 1 wherein the plurality of vertically-stacked end effectors includes at least two vertically-aligned end effectors.
9. The vacuum handling robot of claim 1 wherein the plurality of vertically-stacked end effectors includes at least two vertically-offset end effectors.
10. The vacuum handling robot of claim 1 wherein the base is rotatable.
11. The vacuum handling robot of claim 1 further comprising a load lock sharing a vacuum environment with the vacuum handling robot and positioned within reach of at least one of the first robotic arm and the second robotic arm.
12. The vacuum handling robot of claim 1 further comprising a batch load lock sharing a vacuum environment with the vacuum handling robot and positioned within reach of at least one of the first robotic arm and the second robotic arm.
13. The vacuum handling robot of claim 1 wherein the single substrate processing module shares a vacuum environment with the vacuum handling robot and is positioned within reach of at least one of the first robotic arm and the second robotic arm.
14. The vacuum handling robot of claim 1 wherein the batch processing module shares a vacuum environment with the vacuum handling robot and is positioned within reach of at least one of the first robotic arm and the second robotic arm.
15. The vacuum handling robot of claim 1 further comprising a batch aligner sharing a vacuum environment with the vacuum handling robot and positioned within reach of at least one of the first robotic arm and the second robotic arm.
16. The vacuum handling robot of claim 1 wherein at least one of the first robotic arm and the second robotic arm is a telescoping arm.