Integrated gripper for workpiece transfer
View Patent ↗An integrated grip arm for transfer reticles and carrier boxes is disclosed for improving throughput, yield and reliability of transport equipment. The integrated grip arm comprises a plurality of grippers to accommodate a plurality of reticles and carrier boxes without the need of separate arm or gripper changes. The integrated grip arm can further comprise sensor or means to select the right gripper for the right reticles or carrier boxes.
1. An integrated handler for picking and placing at least an object comprising two opposite straight sides, the integrated handler comprising
a first gripper handler;
a second gripper handler,
wherein the second gripper handler is operable to approach the object from one direction for handling the object,
wherein the second gripper handler comprises two fork elements,
wherein each fork element comprises a top section and a bottom section,
wherein the top section and the bottom section are operable to support the object with the object disposed between the top section and the bottom section,
wherein the two fork elements are configured to be disposed at two extreme edges of the object along the two opposite straight sides of the object.
2. A handler as in claim 1
wherein the top section and the bottom section are configured to be not extended outside the object.
3. A handler as in claim 1
wherein the top section is longer than the bottom section.
4. A handler as in claim 1
wherein the top section is shorter than the bottom section.
5. A handler as in claim 1 wherein the object comprises a wafer, a reticle, or a carrier box.
6. A handler as in claim 1 wherein the first and the second gripper handlers are further configured for gripping a carrier box.
7. An integrated handler for picking and placing at least an object, comprising
an edge gripper handler,
wherein the edge gripper handler comprises two movable arms,
wherein the movable arms are operable to approach the object from two directions for gripping the object,
wherein each movable arm comprises a gripper element,
wherein the gripper element comprises a top component and a bottom component,
wherein the top component and the bottom component are operable to support the object with the object disposed between the top component and the bottom component;
a fork gripper handler,
wherein the fork gripper handler is operable to approach the object from one direction for gripping the object,
wherein the fork gripper handler comprises two fork elements,
wherein each fork element comprises a top section and a bottom section,
wherein the top section and the bottom section are operable to handle the object with the object disposed between the top section and the bottom section.
8. A handler as in claim 7 further comprising
a robot arm, wherein the edge gripper handler and the fork gripper handler are coupled to the robot arm.
9. A handler as in claim 8
wherein the edge gripper handler and the fork gripper handler are fixedly coupled to the robot arm,
wherein the fork gripper handler is fixedly coupled to the robot arm at an angle away from the edge gripper handler.
10. A handler as in claim 7
wherein the edge gripper handler comprises a movement mechanism for moving the two movable arms.
11. A handler as in claim 7
wherein the two fork elements are configured to be disposed at two extreme edges of the object.
12. A handler as in claim 7
wherein the top section is longer than the bottom section, or
wherein the top section is shorter than the bottom section.
13. A system comprising
a first station, wherein the first station is operable to support a first type of objects;
a second station, wherein the second station is operable to support a second type of objects,
wherein the first type of objects is configured to be handled by an arm approaching the objects from two directions,
wherein the second type of objects is configured to be handled by an arm approaching the objects from one direction;
a robot arm,
wherein the robot arm comprises an edge gripper handler and a fork gripper handler,
wherein the edge gripper handler comprises two movable arms,
wherein the movable arms are operable to approach an object from two directions for gripping the object,
wherein each movable arm comprises a gripper element,
wherein the gripper element comprises a top component and a bottom component,
wherein the top component and the bottom component are operable to support the object with the object disposed between the top component and the bottom component,
wherein the fork gripper handler is operable to approach an object from one direction for gripping the object,
wherein the fork gripper handler comprises two fork elements,
wherein each fork element comprises a top section and a bottom section,
wherein the top section and the bottom section are operable to handle the object with the object disposed between the top section and the bottom section.
14. A system as in claim 13
wherein the edge gripper handler and the fork gripper handler are fixedly coupled to the robot arm,
wherein the fork gripper handler is fixedly coupled to the robot arm at an angle away from the edge gripper handler.
15. A system as in claim 13
wherein the robot arm comprises a mechanism to position the edge gripper handler or the fork gripper handler to face an object.
16. A system as in claim 13
wherein the two fork elements are configured to be disposed at two extreme edges of the object.
17. A system as in claim 13
wherein the top section is longer than the bottom section, or
wherein the top section is shorter than the bottom section.
18. A system as in claim 13 further comprising
a chamber for storing, processing or using the objects.