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. A handler for handling one or more objects with at least an object of the one or more objects comprising two opposite lateral edges, the handler comprising:
a fork gripper comprising two fork elements;
wherein each fork element comprises a fork tyne having a top section and a bottom section configured to support the object;
wherein the top section and the bottom section of the fork tyne are configured to support the object with the object disposed between the top section and the bottom section so that an outermost lateral edge of the fork tyne of each fork element extends longitudinally along and between the two opposite lateral edges of the object so that the outermost lateral edge of the fork tyne of each fork element is proximate to a respective one of the two opposite lateral edges of the object;
wherein the two fork elements are configured to be disposed at the two opposite lateral edges of the object.
2. A handler as in claim 1
wherein the top section and the bottom section are configured not to extend outside the object.
3. A handler as in claim 1
wherein the top section and the bottom section of each fork tyne are configured to be disposed near a respective one of the two opposite lateral edges of the object.
4. A handler as in claim 1
wherein each of the two fork elements is configured to be disposed at a respective one of the two opposite lateral edges of the object.
5. A handler as in claim 1
wherein the top section is longer than the bottom section.
6. A handler as in claim 1
wherein the top section is shorter than the bottom section.
7. A handler as in claim 1 wherein the object comprises a wafer, a reticle, or a carrier box.
8. A handler as in claim 1 further comprising a robot arm, wherein the fork gripper is coupled to the robot arm.
9. A handler as in claim 1 further comprising:
a robot arm, wherein an edge gripper is coupled to the robot arm;
wherein the edge gripper comprises a plurality of gripper posts for gripping the object of the one or more objects by the two opposite lateral edges.
10. A handler as in claim 9
wherein the edge gripper and the fork gripper are coupled to the robot arm independently or separately.
11. A handler for handling at least an object having two opposite lateral edges, the handler comprising:
a fork gripper comprising two slender elongated fork elements configured for extending across the object;
wherein each fork element comprises a fork tyne having a top section and a bottom section;
wherein the top section and the bottom section are configured to support the object with the object disposed between the top section and the bottom section so that an outermost lateral edge of the fork tyne of each fork element extends longitudinally along and between the two opposite lateral edges of the object so that the outermost lateral edge of the fork tyne of each fork element is proximate to a respective one of the two opposite lateral edges of the object.
12. A handler as in claim 11
wherein the top section and the bottom section of each fork tyne are configured to be disposed near a respective one of the two opposite lateral edges of the object.
13. A handler as in claim 11
wherein each of the two fork elements is configured to be disposed at the two opposite lateral edges of the object.
14. A handler as in claim 11
wherein the top section is longer than the bottom section or
wherein the top section is shorter than the bottom section.
15. A handler as in claim 11 further comprising
a robot arm, wherein an edge gripper is coupled to the robot arm,
wherein the edge gripper comprises a plurality of gripper posts for gripping the object by the two opposite lateral edges.
16. A system comprising:
a station, wherein the station is operable to support at least an object having two opposite lateral edges;
a robot arm;
wherein the robot arm comprises a fork gripper;
wherein the fork gripper comprises two fork elements;
wherein each of the two fork elements comprises a straight arm;
wherein the straight arm comprises a top section and a bottom section and each straight arm of the two fork elements is configured to support the object so that an outermost lateral edge of each straight arm extends longitudinally along and between the two opposite lateral edges of the object so that the outermost lateral edge of each straight arm is proximate to a respective one of the two opposite lateral edges of the object; and
wherein the object is secured between the top section and the bottom section without using mechanical force.
17. A system as in claim 16
wherein the two straight arms of each of the two fork elements is configured to be disposed near the two opposite lateral edges.
18. A system as in claim 16
wherein the top section is longer than the bottom section, or
wherein the top section is shorter than the bottom section.
19. A system as in claim 16 wherein the robot arm further comprises an edge gripper comprising a plurality of gripper posts for gripping the object by the two opposite lateral edges.
20. A system as in claim 16
wherein gravity is used to secure the object.