Robotic device for substrate transfer applications
A device for use in the semiconductor industry includes a robotic arm whose end effector includes electromagnetic means to hold a substrate carrier. A pushing member can move independently of a flat, spatula-like portion of the device and is configured to exert force against the substrate carrier while the spatula-like portion is retracted from the substrate carrier, after the substrate carrier has been brought to its intended position. In this manner, the position of the substrate carrier is maintained at its intended position as the spatula-like portion is retracted.
1. A device, comprising:
a robotic arm that includes an end effector, the end effector including:
(i) an electrical or magnetic unit that has on and off modes, wherein the unit, when in the on mode, provides an electrical or magnetic attractive holding force between the unit and a substrate carrier that houses a substrate, so that the position of the substrate carrier remains fixed relative to the unit; and
(ii) a pushing member that is configured to exert force against the substrate carrier, thereby preventing the substrate carrier from being retracted from a desired position while the unit is retracted away from the desired position of the substrate carrier; and
a motor for moving the pushing member relative to the unit.
2. The device of claim 1 , wherein the unit provides an electrostatic attractive force between the unit and the substrate carrier.
3. The device of claim 2 , wherein the unit includes one or more electrodes that provide the electrostatic attractive force.
4. The device of claim 1 , wherein the unit provides a magnetic attractive force between the unit and the substrate carrier.
5. The device of claim 4 , wherein the unit includes one or more electromagnets that provide the magnetic attractive force.
6. The device of claim 4 , wherein the unit includes a permanent magnet that provides the magnetic attractive force.
7. The device of claim 6 , wherein the permanent magnet can be retracted without moving the pushing member.
8. The device of claim 1 , wherein the end effector has a width of less than 500 mm.
9. The device of claim 1 , wherein the pushing member has a range of motion that is at least 20 mm.
10. A method of using the device of claim 1 , comprising:
(a) using the end effector to bring the substrate carrier to the desired position, wherein the attractive force holds the unit and the substrate carrier together while the substrate carrier is moved;
(b) moving the pushing member towards the substrate carrier, so that the pushing member exerts force against the substrate carrier;
(c) moving the unit away from the substrate carrier, while the pushing member exerts force against the substrate carrier, thereby maintaining the desired position of the substrate carrier; and
(d) retracting the pushing member so that the pushing member no longer contacts the substrate carrier,
wherein said steps (a), (b), (c), and (d) are carried out in turn.
11. The method of claim 10 , wherein the substrate carrier is in a vacuum as steps (a)-(d) are carried out.
12. The method of claim 10 , wherein the substrate carrier is exposed to a temperature greater than 100° C. as steps (a)-(d) are carried out.
13. The method of claim 10 , wherein the substrate carrier is exposed to a temperature greater than 200° C. as steps (a)-(d) are carried out.
14. The method of claim 10 , wherein the substrate carrier is exposed to an oxidizing environment as steps (a)-(d) are carried out.
15. A device, comprising:
a robotic arm that includes an end effector, the end effector including:
(i) a spatula member whose distal end includes an electrical or magnetic unit having on and off modes, wherein the unit, when in the on mode, provides an electrical or magnetic attractive holding force between the unit and a substrate carrier that houses a substrate, so that the position of the substrate carrier remains fixed relative to the unit; and
(ii) a pushing member that is configured to exert force against the substrate carrier, thereby preventing the substrate carrier from being retracted from a desired position while the unit is retracted away from the desired position of the substrate carrier.
16. The device of claim 15 , comprising a motor for moving the pushing member relative to the unit.
17. The device of claim 15 , wherein the unit includes one or more electrodes that provide the electrostatic attractive force.
18. The device of claim 15 , wherein the unit provides a magnetic attractive force between the unit and the substrate carrier.
19. The device of claim 15 , wherein the end effector has a width of less than 500 mm.
20. The device of claim 15 , wherein the pushing member has a range of motion that is at least 20 mm.