Transfer mechanism with multiple wafer handling capability
An integrated robotic mechanism is disclosed for improving transport equipment, integrating an object movement with other functionalities such as alignment or identification. The disclosed integrated robot assembly can comprise a multiple end effector for moving a plurality of workpieces, a single end effector for moving a single workpiece, a rotation chuck incorporated on the robot body to provide alignment capability, and an optional identification subsystem for identify the object during transport. The present invention robot assembly can be used in a sorter or stocker equipment, in processing equipment, and a transfer system.
1. A robot assembly for transferring a plurality of workpieces, comprising:
a body comprising a first portion and a second portion,
wherein the first portion and the second portion are coupled to the body to move as a unit when the body moves;
a multiple end effector coupled to the first portion,
wherein the multiple end effector is configured to support multiple workpieces,
wherein the multiple end effector is configured for moving between a first retracted position and a first extended position with respect to the body;
a single end effector coupled to the second portion,
wherein the single end effector is configured to support a workpiece,
wherein the single end effector is configured for moving between a second retracted position and a second extended position with respect to the body;
wherein the multiple end effector and the single end effector are configured to support a common workpiece of the multiple workpieces at a same side in non-overlapping positions on the common workpiece, which is characterized as the single end effector and the multiple end effector are configured to hold the common workpiece substantially simultaneously;
wherein the first portion and the second portion are configured for moving relative to each other to enable the single end effector to access the common workpiece supported by the multiple end effector.
2. A robot assembly as in claim 1 further comprising a rotating chuck disposed on the second portion for rotating the workpiece.
3. A robot assembly as in claim 2 further comprising an aligning/reading mechanism disposed on the robot assembly for reading an identification mark of a workpiece on the rotating chuck.
4. A robot assembly as in claim 1 further comprises a linear guide coupling between the multiple end effector and the first portion.
5. A robot assembly as in claim 1 wherein the multiple end effector supports the multiple workpieces from a bottom and at side edges of the multiple workpieces.
6. A robot assembly as in claim 1 further comprises a linear guide coupling between the single end effector and the second portion.
7. A robot assembly as in claim 1 wherein the single end effector supports the workpiece from a bottom and at a middle of the workpiece.
8. A robot assembly as in claim 1 further comprises a linear guide coupling between the first portion and the second portion.
9. A robot assembly as in claim 1 wherein the second portion when moving moves the single end effector to access the workpiece at a bottom of the multiple workpieces.
10. A robot assembly as in claim 1 further comprising a moving mechanism coupled to the body to move the robot assembly.
11. A robot assembly as in claim 1 wherein the single end effector is configured to transfer the common workpiece between the multiple end effector and a workpiece station.
12. A robot assembly as in claim 1 wherein the single end effector is configured to transfer the workpiece between the single end effector and a workpiece station.
13. A robot assembly as in claim 1 wherein the multiple end effector is configured to simultaneously transfer multiple workpieces between the multiple end effector and a workpiece station.
14. A transfer station for transferring a plurality of workpieces, comprising:
a chamber;
a robot assembly comprising
a body comprising a first portion and a second portion,
wherein the first portion and the second portion are coupled to the body to move as a unit when the body moves;
a multiple end effector coupled to the first portion,
wherein the multiple end effector is configured to support multiple workpieces,
wherein the multiple end effector is configured for moving between a first retracted position and a first extended position with respect to the body;
a single end effector coupled to the second portion,
wherein the single end effector is configured to support a workpiece,
wherein the single end effector is configured for moving between a second retracted position and a second extended position with respect to the body;
wherein the multiple end effector and the single end effector are configured to support a common workpiece of the multiple workpieces substantially simultaneously in non-overlapping positions on the common workpiece;
wherein the first portion and the second portion are configured for moving relative to each other to enable the single end effector to access a workpiece supported by the multiple end effector;
a moving mechanism coupled to robot assembly for moving the robot assembly.
15. A transfer station as in claim 14 further comprising a plurality of workpiece stations coupled to the transfer station, wherein the multiple end effector and the single end effector are configured to transfer workpieces from a same workpiece station.
16. A transfer station as in claim 14 wherein the moving mechanism comprises a linear guide to move the robot assembly.
17. A robot assembly for transferring a plurality of workpieces, comprising:
a body;
a multiple end effector for supporting multiple workpieces,
wherein the multiple end effector is configured for transferring one or more workpieces between the multiple end effector and a first workpiece station,
wherein the multiple end effector is coupled to a first portion of the body; and
a single end effector for supporting a workpiece,
wherein the single end effector is coupled to a second portion of the body,
wherein the single end effector is configured for transferring a workpiece between the multiple end effector and the single end effector, such that the single end effector and the multiple end effector support a workpiece substantially simultaneously in non-overlapping positions;
wherein the single end effector is configured for transferring a workpiece between the single end effector and a second workpiece station,
wherein the multiple end effector and the single end effector are configured to transfer workpieces from a same workpiece station,
wherein the first portion and the second portion are coupled to the body to move as a unit when the body moves to face the first workpiece station.
18. A robot assembly as in claim 17 wherein the single end effector is configured for accessing a bottommost workpiece in the multiple end effector.
19. A robot assembly as in claim 17 wherein the single end effector is configured to accept a workpiece from the multiple end effector and is configured to transfer the workpiece from the single end effector to a third workpiece station.