Granted Patent B2

US 12,519,003 · App. 17/640,827 · Granted Jan 6, 2026

Inventors: Michael Kirkby (Tokyo, JP); Hiroshi Munakata (Tokyo, JP); Takuya Adachi (Tokyo, JP)

Assignee: Yamaha Robotics Co., Ltd.

H01L21/6838

Abstract

Claims (13)

1 . A transfer apparatus comprising a non-contact chuck that lifts and holds a workpiece in a non-contact manner, the transfer apparatus further comprising:

a plurality of ultrasonic vibrators that radiate ultrasonic waves,

wherein the plurality of ultrasonic vibrators are configured to radiate the ultrasonic waves to generate a standing wave that attracts the workpiece, and are configured for the non-contact chuck to hold the workpiece at a position where forces attracting in a plurality of directions toward outside of the workpiece are balanced when viewed from a direction facing the workpiece,

wherein the non-contact chuck is a Bernoulli chuck comprising:

an injection hole for injecting gas, and

a suction surface formed around the injection hole,

wherein the suction surface surrounding the injection hole is a flat surface extending along a horizontal direction,

wherein the injection hole is configured to inject the gas to form a gas layer between the workpiece and the suction face,

wherein the plurality of ultrasonic vibrators are provided on the suction surface,

wherein each of the plurality of ultrasonic vibrators is embedded in the suction surface and emits ultrasonic waves downward in the vertical direction.

2 . The transfer apparatus according to claim 1 , wherein the plurality of ultrasonic vibrators comprise at least three pairs of a pair of ultrasonic vibrators that generate a standing wave, and

the pair of ultrasonic vibrators are arranged at each of first to third positions surrounding the workpiece from three sides.

3 . The transfer apparatus according to claim 1 , wherein the plurality of ultrasonic vibrators are arranged in a grid pattern.

Assignments (2)

Continuity (1)

References Cited (17)