KR101932265B1 - Side opening substrate carrier and load port - Google Patents

Abstract

A processing section arranged to maintain a processing atmosphere; A shell configured to inject an internal volume at a predetermined vacuum pressure different from the air outside the substrate processing system and to form the internal volume for receiving at least one substrate for transport to the processing unit, A carrier; And to couple the substrate to the carrier for communicably coupling the substrate to the processing portion for loading the substrate into the processing portion via the load port and performing pump down on the internal volume of the carrier. And a load port communicatively coupled to the processing unit to isolate the process air from the outside air.

Description

[0001] SIDE OPENING SUBSTRATE CARRIER AND LOAD PORT [0002]

The present invention relates to an interface system for reducing particle contamination of a substrate during substrate processing.

<Cross reference of related application>

This application claims the benefit of U.S. Provisional Patent Application No. 60 / 930,634, filed May 17, 2007, U.S. Provisional Patent Application No. 61 / 024,152, filed January 28, 2008, and U.S. Provisional Patent Application filed on April 7, This application is related to US provisional patent application 60 / 916,912, filed May 9, 2007, which claims the benefit of U.S. Provisional Patent Application No. 61 / 043,097, the entire contents of which are incorporated herein by reference in their entirety .

In addition to improving wafer safety, there is a demand in the semiconductor industry to reduce wafer cycle times and work in progress (WIP) through FBA. Conventionally, a multi-step process including a six-step mechanism from the carrier to the load port interface has been required to perform the carrier load and unload operations. Under such circumstances, depending on the manufacturer, the load port cycle time is in the range of, for example, 12 to 18 seconds, reaching 2 million cycles for a lifetime of 7 years at maximum use. To optimize device usage and minimize device setup and wafer processing overhead, a conventional lot size of 25 wafers per carrier is used. In general, conventional semiconductors have been manufactured in high capacity through fewer product types through production lines. In contrast, the actual manufacturing environment is changing to produce a large number of product types in high capacity and low capacity. Originally, the semiconductor industry model is changing to enable FAB managers to minimize inventory and reduce manufacturing cycle times. The wafer size of the wafer carrier greatly affects the manufacturing cycle time. The lot size of wafers with fewer than 13 wafers is an important point at which they can benefit from the manufacturing cycle time. This approach is intended to lead to a single-wafer lot size. Even if a single wafer is theoretically ideal, the current state of the process tool architecture does not meet the changes in the manner associated with it, increasing the tool setup time. The length of the set time for the device may be equal to or greater than the time it takes to process a single wafer, which is contrary to the original intent. In addition, due to the complexity of advanced processing equipment, it is required to verify that some test or qualification wafers are used to meet the specification. These product non-product wafers can be handled in conjunction with the single wafer method.

The small multi-wafer lot size can be effectively employed to support the single wafer method. However, variations in lot size in the carrier have the same effect on the load port design. Specifically, the cycle time of the load port can be linearly proportional to the lot size. For example, a 2.4 second cycle time can be applied to a row of five wafers instead of a 12 second cycle time for a lot of 25 wafers so that the throughput of the processing unit is not limited. By recalculating the lifetime of the load port using a reduced cycle time, it reaches 10 million cycles for a lifetime of 7 years for the same throughput. The load port capable of opening and closing the carrier within about 1/5 of the cycle time must have inherent reliability. Otherwise, the mean cycle between failures (MCBF) until a load port malfunction occurs negatively affects the tool level MCBF.

On the other hand, reducing the lot size and cycle time has two effects on the carrier. First, by reducing the size of the lot, the time to open and close the carrier on the load port is affected. Second, the manufacturing cycle time affects the number of carrier opening and closing cycles. The total number of cycles of the carrier can be simply calculated based on the number of mask layers, the number of processing steps per layer, and the number of days per mask layer. Currently, 27 mask layers can be processed through 32 processing steps. Depending on the device and the manufacturer, the number of days per mask layer varies, but 1.5 days per mask layer is appropriate. Assuming, for example, that carriers are loaded on different devices for each process step (conservative estimation), the following is obtained.

Number of processing steps ÷ Number of days per mask layer = Cycle _carrier / day

32 ÷ 1.5 = 21.33 cycle _carrier / day

Device manufacturers propose that in order to obtain optimum productivity, the number of days per mask layer is reduced to 1 to 0.7 days, and the device to be developed subsequently is highly desirable to employ 45 mask layers. Substituting the predicted change into the above calculation yields the following values for the carrier cycle time: However, it is assumed that the number of processing steps per mask layer does not change.

Number of processing steps ÷ Number of days per mask layer = Cycle _carrier / day

32 ÷ 0.7 = 45.7 cycle _carrier / day

Based on the above calculations, the cycle number for a carrier lifetime of seven years would be 54,498 to 116,764. In other words, the carrier can be opened and closed every 31.5 minutes. Conventional load ports, carriers and interfaces between them do not satisfy the operating parameters to be obtained. (E.g., ability to provide high cleanliness throughout the carrier and interface because it will withstand substantially high (X2-X10) cycles), as well as the need for a carrier that moves to a more robust carrier and device interface There is a need to simplify and speed up the system for providing substrates to different processing modules and performing various processing steps, which can be implemented with conventional load ports and carriers.

In one embodiment, a substrate processing system is provided. The substrate processing system includes a processing section arranged to maintain a processing atmosphere; Wherein the internal volume is configured to perform pump down to a predetermined vacuum pressure different from the air outside the substrate processing system and the internal volume for accommodating at least one substrate for transport to the processing unit A carrier having a shell forming thereon; And a processor coupled to the carrier for communicably coupling the substrate to the processing portion for performing a pump down on the internal volume of the carrier and loading the substrate through the load port to the processing portion, And a load port communicably connected to the processing unit to isolate the processing unit from the outside air.

In another embodiment, a substrate carrier configured to couple to a load port of a substrate processing system is provided. The substrate carrier comprising: a shell; And an inner volume formed by the shell, wherein when the carrier is substantially located in an atmospheric environment, the shell is configured to pump down the inner volume at a predetermined vacuum pressure.

In yet another embodiment, a method of processing a substrate is disclosed. The method comprising: coupling a substrate carrier to a load port of a substrate processing system; And performing pump down at a predetermined vacuum pressure on an inner volume of the substrate carrier with one or more outer surfaces of the substrate carrier exposed to an air environment.

In another embodiment, a substrate processing system is provided. The substrate processing system comprising: a carrier having first and second carrier registration portions, the carrier receiving substrates; And a load port configured to connect the carrier to a processing portion of a substrate processing system, the load port having first registration portions for coupling the carrier to a first carrier interface, the first carrier interface including the first registration portions configured to form a coupling; And second registration portions configured to form a second motion coupling with second registration portions for coupling the carrier to a second carrier interface, wherein the second registration portions are configured to couple to a second carrier interface a second Wherein when the second motion coupling couples the carrier to the second carrier interface such that the second carrier registration portions engage the first registration portions, And is configured to move the carrier with a carrier interface.

In yet another embodiment, a substrate processing method is provided. The method includes performing registration of a carrier on a first registration interface; And moving the first registration interface to advance the carrier toward a second registration interface, wherein the contact between the carrier and the second registration interface is transferred from the first registration interface to the second registration interface, A relative movement between the carrier and the first registration interface for transferring the registration of the first registration interface.

Interruption of crystal growth / corrosion; Reduction of queue time and simplification of storage management; Removal of air, Et halogen, Et organic compounds and water; Inhibition of FAB cross contamination risks; Reduction of carbon monoxide (CoO); Removal of airborne molecular contaminants (AMC) such as HF HLC and VOC formed on the carrier environment and substrate; The protection of the carrier and the substrate contained therein from contaminated environment for a long period of time; To activate gas passivation protection on both the substrate and the carrier; POD refresh and protection; And integrated gas measurement through spectra signature analysis can be provided by the disclosed system.

BRIEF DESCRIPTION OF THE DRAWINGS The above features and advantages will now be described with reference to the following detailed description in conjunction with the accompanying drawings.
Figures 1A and 1B are schematic front views of a substrate processing apparatus and one or more substrate carriers or pods, respectively, according to one embodiment.
Figure 2 is a schematic partial front view of a load port of the substrate processing apparatus of Figure 1 and a carrier connected thereto.
Figure 3 is another schematic partial front view of the load port interface and the carrier.
Figures 3A-3L illustrate latches according to embodiments.
Figures 4A-4E are yet another schematic partial front views of the load port interface and carrier, respectively, positioned differently.
4F is a flowchart illustrating a process of moving a carrier to a load port according to an embodiment.
Figures 5A and 5B show carrier and load port interfaces, respectively, which are located differently.
6 is a schematic front view of a load port interface and a carrier according to another embodiment.
6A is a flowchart illustrating a process of transferring a carrier to a load port interface according to one embodiment.
Figs. 7A-7C are schematic partial cross-sectional and partial enlargement front views of a load port interface and carrier, and schematic cross-sectional views of a load port interface and carrier, respectively, according to another embodiment.
8 and 8A are schematic perspective and side views, respectively, of a carrier according to another embodiment.
9A-9C are cross-sectional views illustrating portions of a load port interface in engagement with a carrier and a schematic perspective view of a load port interface, respectively, in accordance with another embodiment.
10 is a horizontal cross-sectional view of the load port interface and carrier.
11 is a schematic perspective view illustrating an arrangement feature of kinematic coupling between a carrier and a device interface according to another embodiment;
12 and 12A are schematic front and partial front views of a carrier coupled with an apparatus interface according to another embodiment, and FIG. 12B is a top view and partial front view of a substrate interface for illustrating a path through which a carrier and port door move according to one embodiment. 1 is a schematic front view showing a carrier.
Figures 13 and 13A are schematic diagrams of a carrier and device interface according to yet another embodiment, and Figure 14 is a partial view of a carrier and device interface according to yet another embodiment.
15 and 15A are schematic front views of a substrate processing apparatus and a carrier connected thereto according to another embodiment.
Figures 16, 16A and 16B are schematic plan views of a substrate processing apparatus and carrier connected thereto according to other embodiments.
17 is a schematic front view of a substrate processing apparatus and a carrier connected thereto according to another embodiment.
18, 18A and 18B are schematic plan views showing a substrate processing apparatus according to another embodiment and a carrier connected thereto.
19 and 20 are a perspective view and a side view, respectively, of an actuator according to an embodiment.
Figure 21 illustrates an object coupled to the first interface surface of a load port in accordance with one embodiment.
Figures 21A and 21B illustrate the motion coupling between the object and the load port of Figure 21 in accordance with one embodiment.
Figure 22 illustrates another interface surface of the load port of Figure 21 in accordance with one embodiment.
Figures 22A and 22B illustrate the kinematic coupling features of the object and load port of Figure 21 in accordance with one embodiment.
Figures 23-25 illustrate the coupling of objects from the first interface surface to the second interface surface of Figures 21 and 22, according to one embodiment.
Figures 26 and 27 are schematic diagrams of substrate carriers according to embodiments.

1A and 1B are schematic front views of a substrate processing apparatus 2 and a substrate carrier or pod 100 according to embodiments described below.

Referring to Figs. 1A and 1B, the substrate processing apparatus 2 shown therein is a representative example, and may have an appropriate type and configuration. The substrate processing apparatus may be formed of any one of a material deposition method, an ion implantation method, an etching method, a photolithography method, Polishing, or any other suitable process. The substrate processing apparatus 2 may also be, for example, a metrology tool. In this embodiment, the substrate processing apparatus 2 generally comprises a processing section 6 and a front end module (FEM) 4 (when loading a wafer from the front end to the substrate processing apparatus) . The processing portion 6 is isolated and can maintain the appropriate process air (e.g., vacuum, inert gas (N2), etc.). The FEM 4 may be connected to the processing unit 6. In this embodiment, the FEM 4 can hold the same air as the processing portion 6 (for example, processing air such as inert gas). In this embodiment, the FEM 4 may be in releasable communication with the processing portion 6 via a load lock (e.g., if part of the processing portion is vacuum). In other embodiments, the FEM 4 has clean air air. In yet other embodiments, the substrate processing apparatus is not provided with an FEM, and the processing section may be directly connected to the substrate carrier. The carrier (s) 100 are configured to be directly connected to the processing portion 6, regardless of whether the processing portion or the carrier is gas air or vacuum, as will be described below. As shown in FIGS. 1A and 1B, the FEM 4 has interface (s) for the substrate carrier 100. An interface, also referred to as a load port 10, connects the carrier to the FEM 4 and the substrate processing apparatus 2 performs loading and unloading of the wafer or substrate. The FEM 4 can perform appropriate environmental control to load the wafer into the substrate processing apparatus (from the environment outside the substrate processing apparatus) without degrading the process air. The carrier (s) may, for example, form a chamber for receiving the substrate, in clean air (having the same or a different kind of gas as the process air). The interface between the carrier and the load port provides a clean tunnel between the carrier chambers where the substrate is transported in the FEM 4 or the processing section 6 and between the carrier chamber and the process air without degrading the process air . This will be described in more detail below.

2 is a schematic partial enlarged front view of the load port 10 and the carrier 100. Fig. The communication interface I (e.g., a clean tunnel) between the carrier chamber and the FEM air includes a carrier shell of the carrier door interface 103, a carrier shell of the load port flange interface 101, A carrier door of the port door interface 105 and a load port door of the load port flange interface 13. In other embodiments, the interface affecting communication between the carrier chamber and the FEM air, the processing air or vacuum may be of a suitable configuration with more or fewer interfaces (e.g., two or more of the interfaces described above To a common interface). In this embodiment, the clean tunnel (between the carrier chamber and the process air) provided by the multi-interface I is openable and closable (for example, in all cases except when the carrier is opened upon connection to the load port and the carrier interface is terminated Closed). When the tunnel is opened and closed as well as during opening and closing of the tunnel, the clean tunnel maintains a clean state (for example, a state in which substantially no internal air is deteriorated). Thus, by implementing and maintaining clean tunnels, each interface of the communication multi-interface I isolates the air in the carrier chamber, isolates the process air from the outside air, or when the surface is dirty (the effect of outside air) Seal it. For example, the carrier shell of the carrier door interface 103 may be sealed to isolate the carrier air, and the load port flange interface 13 (not shown) may be used to isolate the FEM or treatment air, or the vacuum chamber (when the clean tunnel is closed) ) Can be sealed. And can also seal the carrier door of the load port door interface 105 to isolate it from the exterior (e.g., a dirty surface on the carrier door and the load port door in clean tunnel air) To seal the carrier shell of the load port flange interface 101 to isolate the load port flange interface 101 from the clean tunnel. In this embodiment, the carrier shell and the carrier door interface 103, the carrier shell and the load port flange 101, the carrier door and the load port door 105, and the load port door 103 are provided in order to minimize the movement of the portion exposed to the clean tunnel. And the load port flange interface 13 may at least partially remain in a solid state, as described further below. Suitable examples of interfaces between the carrier and the load port are disclosed in U.S. Patent Application No. 11 / 207,231 (filed August 19, 2005), 11 / 211,236 (filed August 24, 2005), 11 / 210,918 (Filed on November 7, 2006), 11 / 787,981 (filed on April 18, 2007) and 11 / 803,077 (filed May 11, 2007), 11 / 594,365

1A, 1B and 2, in this embodiment, the load port 10 may be configured to be connected to a reduced or small capacity carrier 100. [ Suitable examples of load port interfaces having the same features as the carrier 100 and the same features as the small-capacity carrier and the load port 10 are described in U. S. Patent Application Serial No. 11 / 207,231, filed August 19, 2005, (Filed on August 24, 2005), 11 / 210,918 (filed on August 23, 2005), 11 / 594,365 (filed November 7, 2006), 11 / 787,981 11 / 803,077 (filed May 11, 2007). In this embodiment, the load port interface 11 may be arranged to satisfy current Equipment Front-End Modules (EFEM) interface standards. For example, a conventional load port 10, such as a load port for 25 wafers, is suitable for the BOLTS interface as determined by SEMI E63, and the carrier (s) within the space evelope identified by SEMI E15.1 (100). In this embodiment, the load port 10 with the laminated load port configuration is capable of connecting the stacked carriers 100 and is capable of connecting 25 of the carriers that meet the specifications of SEMI E47.1 that rest on the SEMI E151 load port The substrates can be transported to the transport device within the carrier by a height between the highest and lowest height in the wafer stack. In the present embodiment, three load ports 10A, 10B, 10C are shown (in other embodiments, the load ports have more or less load ports) that can couple the carrier 100 to the FEM. In other embodiments, the load port portion may be configured to couple more or fewer carriers to the FEM. In this embodiment, the load port portions 10A-10C and their corresponding interfaces 11A-11C may be substantially the same. For the wafer transfer, each of the load port portions 10A-10C and their corresponding interfaces 11A-11C provide FEM access individually or simultaneously at unlimited FEM access and by means of an Automated Material handling system (AMHS) And provides random access to the carrier on the load port portion. In other embodiments, the load port may have an appropriate configuration. Substrates dealt with in the carrier and load port may have the form of a semiconductor wafer of a suitable size, such as a 450 mm, 300 mm or 200 mm diameter reticle or pellicle, or a flat panel for a flat panel display.

3 is another schematic front view of the carrier 100. FIG. In the embodiment shown in Fig. 3, the carrier is seated on the load port portion 10A. The depicted carrier 100 is a representative example and, in other embodiments, may have appropriate features. In this embodiment, the carrier 100 includes a shell 102 defining a chamber surrounding the substrates (see FIG. 8). The shell 102 may be made of a nonmetallic material such as optically transparent thermoplastic polyvinylidine chloride (PVDC), a composite or aluminum alloy, a manganese alloy &lt; RTI ID = 0.0 &gt; And may be made of a non-magnetic metal such as a metalized plastic. For example, an observable port can be positioned to enable wafer mapping through a window with beam sensors outside the carrier shell. In other embodiments, the shell may be of any material capable of maintaining a sealed environment within the carrier. As shown in FIG. 8, the carrier shell forms a substrate transfer opening that can be closed by a door 104 on its side, which will be described further below. The carrier 100 may have couplings or attachments to handle and position the carriers, such as a load port interface. In this embodiment, the carrier 100, like the AMHS, may have a handle or flange 112 that can automatically grip from above. In other embodiments, the upper handle 112 may be employed to position the carrier at the load port interface (see Figs. 7A-7C). In yet other embodiments, the carrier may have appropriate handling features on the shell. In this embodiment, the carrier shell may have a carrier positioning coupling 110 that may provide a position of the carrier repeatedly on the load port interface. For example, the coupling 110 may comprise kinematic coupling (e.g., providing substantially self-repetitive positioning) located at the bottom opposite the surface of the carrier having substantial characteristics according to SEMI E57.1 . In this embodiment, in order to eliminate overcontraints in carrying out registration from the carrier to the load port interface and to ensure proper positioning between the carrier flange and the load port interface flange, Lt; / RTI &gt; can be relaxed. In other embodiments, the carrier mating surface and the registration coupling may be located on either side of the carrier. As shown in Figure 3, in this embodiment, the carrier 100 can couple the load port to the interfaces 110 and 101, which competing with the surfaces of the different interfaces, Transient constraints occurred in the configuration. In this embodiment, the carrier 100 may connect the load port to the interfaces 110, 101 without causing transient constraints, as will be described in greater detail below.

As shown in Figure 3, in this embodiment, the carrier shell 102 and the carrier door 104 are connected to the carrier door interface 103. In this embodiment, the carrier door interface 103 can be sealed by a seal 103S, and the door latch 106 can bear the door to the shell when the door is closed. As shown in FIG. 3, the carrier door 104 may also form at least a portion of the load port door interface 105 of the load port door 12. This allows the carrier door 104 to perform registration of the carrier with another interface and load port facing the carrier shell (carrier door interface 103) and the load port door (load port door interface 105) (E.g., the interface 101 as well as the interface 110 are formed between the carrier shell flange and the load port flange). In this embodiment, , When the carrier door is connected to the load port door, the carrier shell of the door interface 103 is suitable to realease the associated carrier door. Thus, a carrier door is connected to both the carrier shell and the load port door It is possible to eliminate the constraint. [0040] The internal cleanliness that resists the pressure difference between the carrier chamber and the outside air, A compliant seal 103S that can accommodate and compensate for the mismatch of the door and shell surfaces affects the compliance of the carrier door interface 103. Seal compression, The door latch 106 is configured to generate a sufficient latching force to withstand the pressure bias across the door from the substrate bias to the door and the pressure differential across the door, The door latch 106 can be a solid state device to substantially prevent particle generation (e.g., the effect of latching actuation by a non-contact method). A compliant seal 103S, May be included in the latch device such that its flexure affects the latch, or the latch device 106 may be integrally formed with the seal. As an example, As shown, the seal 103S can be a combination of a seal and a magnet. The seal 103S has a magnetic ribbon positioned on the door and a face seal seal, which operates on a magnetic material in a shell flange that compresses the seal. In other embodiments, a radial or curved door seal (e.g., a seal surface around the load port portion) is used in the shell of the carrier door interface. In still other embodiments, the seal may have a suitable configuration.

In this embodiment, the latch device 105 of the carrier is passive and the actuation of opening and closing the latch by the active side located at the load port is affected. In other embodiments, the active side of the latch device 105 is located in the carrier 100. Power and control must be provided to the latch device to affect the actuation of the latch device. For example, by locating the active portion of the latch device in the load port, the power and control demands of the carrier can be prevented or minimized. In the embodiment shown in FIG. 3, a magnet, such as an electromagnet (e.g., located at the load port door), which generates a magnetic field sufficient to separate the permanent magnet on the carrier door from the magnetic material of the shell 102 upon voltage application An energy transfer can be made to drive a passive section of the latch. In other embodiments, the energy transfer to the latch device may be affected by electrical induction or by electrical contact pads between the carrier 100 and the load port 10A. In yet other embodiments, the actuation energy is stored in the carrier 100, and the control command is transmitted wirelessly to the carrier 100 that drives the latch. In this embodiment, an actuation input for performing actuation of the latch 106 is applied via the carrier door 104, but in other embodiments it may be applied to the carrier shell. Figures 3A-3E are partial cross-sectional views illustrating the door shell of the door latch and the door interface 105 according to other embodiments. In this embodiment, the door latch actuation may be a magnet, and the active portion of the device is shown in the load port door 12. [ Actuation of the active portion thereby affects actuation of the carrier of the shell or door latch 106 in combination with actuation of the carrier door of the load port door latch 106D. The latch configuration shown in Figures 3A-3E is merely an example, and in other embodiments, the carrier door latch (both the shell and the load port door) may have a suitable configuration. In the embodiment shown in FIG. 3A, the magnetic latch may comprise a permanent magnet 9050 of a carrier door moving on a ferrous material 9051 of the carrier shell. In other embodiments, the permanent magnet may be a magnet of the shell and the carrier door. For example, when the carrier door latch is closed (off of the active portion), the configuration affects the closed magnetic circuit so that the potential of the stray magnetic field can be minimized. 3K, in this embodiment, the iron-based material 9050A may partly surround the permanent magnet 9050 as well. This iron-based material can be configured to form a shield around the magnet that prevents or minimizes the magnetic field inside as well as the inside of the carrier. An iron-based shield 9050A using the latch magnet arrangement shown in Fig. 3A is shown in Fig. 3k. However, as shown in Figs. 3B to 3H and 3K to 31, an iron-based shield can be used to shield the latch magnet having a suitable configuration. Although the configuration of the iron-based shield and magnet shown in Figure 3K is shown schematically, in other embodiments, the iron-based shield 9050A and the magnet can be any of those associated with a latch magnet that prevents or minimizes the magnetic field from the interior and exterior of the carrier The configuration is also possible. Magnets 9050 and / or ferrous materials / plates 9051 and 9050A may be included in non-ferrous materials or coated for corrosion resistance.

In this embodiment, the active portion may be an electromagnet 9052 located in the illustrated load port door. When the actuation of the active portion is performed (e.g., at turn-on), the carrier door / shell latch 106 is released and the carrier door of the load port door latch 106D is closed, It is possible to overcome the actuation force between the permanent magnet 9050 of the carrier door 104 and the magnetic material 9051 of the shell 102 due to the influence of the magnetic field generated from the magnetic material 9051. The carrier door 104 moves with the load port door 12 when the load port is opened so that the latch is in an open open position and the open- the permanent magnet 9050 of the carrier door moves to minimize unwanted magnetic fields. 3B, in another embodiment, the carrier door 104 includes a permanent magnet 9050 connected to one side of a flexure 9060 and a ferrous material 9060 connected to the other side of the flexure 9060 9050D). The flexure 9060 can be made of resiliently flexible material (s). When the electromagnet 9052 is activated to release the flexure causing the displacement of the permanent magnet 9050 associated with the iron-based material 9051 of the door (e.g., releasing the carrier door / And performs a latch between the door and the load port door) with the iron-based material 9051D. 3C, the permanent magnet 9050 of the carrier door 104 is rotated such that the permanent magnet 9050 rotates when the electromagnet 9052 is activated, so that the carrier door / carrier shell latch 106 is released The ferromagnetic material 9051, the permanent magnet 9050, and the electromagnet 9052 are interacted to engage the load port door / carrier door latch 106D. In the embodiments shown in Figures 3D and 3E, the latching portion of the carrier door has an induction electromagnet 9050 ', with an active coil 9052' located on the port door 12, to activate an induction electromagnet. 9050 &quot;), it is possible to latch / unlatch the carrier door from the carrier shell. As can be seen in Figure 3E, in this embodiment, the carrier shell may include a permanent magnet 9051 'that interacts with the induction electromagnet 9050 &quot;. The induction electromagnet array shown in Figs. 3d and 3e operates in the same manner as described with reference to Figs. 3a and 3b. The configuration of the induction electromagnets as well as the passive and active elements shown in Figs. 3A-3E are merely exemplary, and in other embodiments, a solid state (or nearly solid) structure between the carrier shell and the door, State &lt; RTI ID = 0.0 &gt; LATTI &lt; / RTI &gt; devices have an appropriate configuration and may include more or fewer components.

Referring to Figure 31, in another embodiment, the magnetic latch between the carrier and the door may be mechanically unlatched. For example, the magnetic latch / seal depicted in FIG. 31 may include a magnet 9090 and a magnetic (e.g., ferrous) material 9091, which may be attached to the door 104 and the carrier shell 102, And is the same as the arrangement shown in Figs. 3A to 3C. In other embodiments, the latch may have a suitable configuration. For example, the magnetic latch / seal may be released mechanically through the activation of a latch finger 9092. The latch finger 9092 may be at least partially mounted on the door 104 about a pivot 9093. For example, the latch finger 9092 may be connected to a movable (rotatable, rotatable) latch key hole 9094 of the door 104. The keyhole 9094 can be moved by the keys from the load port door. In this embodiment, as the latch key 9094 rotates in the direction of the arrow 9095, the latch members or fingers move in the direction of the arrow 9096 so that the door 104 is away from the carrier shell 102 By rotating, the magnetic latch is released. The arrangement shown is exemplary only, and in other embodiments, the magnetic latch / seal between the door and the carrier via a suitable manner may be released mechanically. For example, a magnet or a magnetic material may be mounted or connected to the latch finger to move the magnet / magnet material of the carrier door away from each other, such that the latch fingers release the latch. On the other hand, the arrangement of the latches can be influenced by the opposite motion of the latch finger.

FIG. 3F shows schematic partial cross-sectional views of a carrier shell, a door interface, and a latch 106, according to another embodiment. In this embodiment, some positive displacement (a flexible element or piezo-electric effect) between them along an interface that substantially causes interface compression between the carrier shell 102 and the carrier door 104 around the interface, Latching is influenced by the latching force. The interface between the carrier shell 102 and the door 104 is positioned to cooperate with a bias force on the carrier door 104 to cause compression and shelling (e.g., from a pressure differential across the carrier door 104) 102 and the carrier door 104. In this way, The displacement section may be located on the carrier shell 102 or the carrier door 104 or may be located on both sides thereof. To release the latch 106, the displacements perform actuation to release the applied compression on the carrier door 104. In this embodiment, the displacement portion may include a flexure member 9099 that performs actuation to affect the latch and unlatch. Actuation of the flexure member 9099 may be accomplished, for example, by vacuum (vacuum bladder), electroactive polymer, Shape Memory Alloy (SMA), or other actuation means Can be performed.

Referring to Figures 3i and 3j, examples of SMA members used to perform actuation of a flexure member 9099 or similar latch member are shown. The shape memory alloy (SMA) has a memory but does not store energy. In the present embodiment, the shape memory alloy (SMA) may only be an effective solid state actuator. In this embodiment, to move the flexure member to overcome the closing bias and open the latch, the latch mechanism is normally biased to a position closed by a flexure, spring, magnetic input, Actuation of the compressively stressed SAM member or wire (formed integrally with the carrier) through the incoming electrical or heat from the load port. In one embodiment, as shown in Figure 3i, an SMA member, such as wire 10200, may be coupled to a latch biased in a &quot; latched &quot; state. This type of latch may be a finger 106 'mounted rotatably in a horizontal or vertical plane. In other embodiments, flexures can be used instead of pivots. In another embodiment, as shown in Figure 3J, a gasket 10201 is used that has sufficient resilience to apply a compressive stress to the SMA member (s) 10200 ' Can be folded by the SMA member (s) 10200 '. A collapsible gasket may employ a wiper-type gasket that is bent by an SMA member that pulls the tip of a wiper. The bent wiper creates a sufficient separation to release or remove the door.

In another embodiment, a vacuum chamber (bladder actuator) having the same configuration as the actuator 5000 according to the embodiment shown in, for example, Figs. 19 and 20, may be used for actuating the flexure member 9099 and similar latch members As shown in FIG. (See FIGS. 3A through 3L), the actuator 5000 is actuated to perform actuation of the flexure member 9099 (see FIG. 3F) or to perform an actuatable actuator mechanism or device of the carrier and the carrier It is possible to construct the same bladder actuator. Here, the processing apparatus and carrier include, but are not limited to, a load port or substrate carrier door, a gate valve, and a latch. In the present embodiment, the actuator 5000 is generally composed of a vacuum or a partial vacuum bladder. In other embodiments, the actuator 5000 may have a suitable configuration. The actuator 5000 may be configured to minimize the overall size of the actuator 5000 stroke (e.g., to maximize the stroke relative to the size ratio of the actuator). In this embodiment, the actuator 5000 can be controlled to operate under a clean atmosphere controlled within the carrier or inside the processing apparatus. In this embodiment, the actuator 5000 generally has a base or substantially fixed surface 5020, a movable surface 5030, and a movement of the movable surface 5030 And has a power or drive surface 5035 that can perform actuation of the actuator 5000. [ As can be seen, the fixed surface 5020 has a seal 5010 for sealing the actuator on a suitable surface such that a pressure differential is created on each side of the actuator. In this embodiment, the power surface 5035 is referred to as a bladder, and in other embodiments may have other shapes or configurations. The fixed surface 5020 shown in Figs. 19 and 20 corresponds to a fixed surface or member of the device or carrier, and the movable actuator surface 5030 is connected to the actuation mechanism, A movable surface under the impetus of the applied pressure differential (e.g., the difference between the pressures P1 and P2 located on opposite sides of the drive surface 5035) causes the actuation of the mechanism. In this embodiment, the drive surface 5035 is shaped to form an inner space or volume 5002, and may include an isolation boundary or membrane that isolates the bounding inner space 5002, And may form moving components located internally from a space outside the drive surface 5035, as will be described further below. And may be made of a suitable material that removes or minimizes particles formed when the drive surface 5035 moves during actuation. In this embodiment, the drive surface 5035 is connected to the fixed surface 5020 and the movable surface 5030 of the actuator 5000, and when an appropriate pressure difference across the drive surface 5035 is achieved, A portion of the surface 5035 is disposed to move relative to the fixed surface 5020 as shown in Figures 19 and 20 (in other embodiments, other surface arrangements are possible). As will be explained in more detail below, the degree of freedom and rate of actuation are controlled and can reach an appropriate degree of freedom and actuation ratio without the use of electronic control or electrical power.

(E. G., Stretching and retraction) of the actuator 5000 through the pressure difference on the bladder of the actuator, as described above, and controls the flow of the flow through the driving surface 5035 around the actuator 5000, the actuation ratio can be controlled by the size of 5000 orifices located at a line 5055 or a leak point 5056. The leak point 5056 and the flow line 5055 may be properly positioned on the actuator 5000. [ For example, the orifices may be connected to the appropriate air (or an external environment such as the environment around the processing apparatus) of the processing apparatus 2 and may communicate with an internal volume of the actuator 5000. In one embodiment, different pressures P1 and P2 between the vacuum environment and the atmospheric environment in the processing apparatus 2 provide a linear motion of the vacuum actuator 5000. For example, the outside of the bladder 5001 can be exposed to the vacuum environment of the processing apparatus 2 while the bladder interior 5002 is exposed to the air environment of the processing apparatus 2. [ 20, the vacuum environment is provided by flow line 5050 (e.g., the flow line is connected to drive surface 5035 to pumping down the chamber, as described below) . As the vacuum pressure increases, the pressure difference between the vacuum and air pressures P1 and P2 increases resulting in actuation of the actuator 5000 (or vice versa). In other embodiments, one side of the actuator is compressed to operate the actuator, which is described below. In yet other embodiments, the outer 5001 of the bladder is exposed to the air environment, while the inner 5002 of the bladder may be exposed to vacuum air. In one embodiment, an appropriate filter can be placed at an opisy or leak point to prevent or minimize the ingress of particles generated within the actuator 5000 into a load lock or other controlled clean air. In other embodiments, the actuator 5000 may include a body pump system that inflates and deflates the bladder to perform its actuation. (E.g., acceleration and deceleration) at which the actuator 5000 is activated by limiting the opiates fixed or varying at the flow lines and / or leak points around the actuator 5000, for example, Can be controlled.

In one embodiment, its expansion and contraction can be guided to fix the desired free mobility of the actuator 5000. For example, as can be seen in FIG. 20, actuator 5000 is configured to limit the movement of the actuator in the direction indicated by arrows 5040-5042, while extending and contracting linearly in the direction of arrow 5050 . In other embodiments, the actuator 5000 may have an appropriate degree of freedom to perform actuation in one or more directions. In this embodiment, the actuator 5000 may include appropriate linkages 5005 to guide its movement. Here, the interlock may be a &quot; scissor &quot; or an &quot; accordion &quot; interlock, but in other embodiments may have an appropriate configuration. In the elongated state, the scissors or accordion interlock can provide a compact profile during shrinkage while maximizing its elongation (e.g., maximizing the shrinkage to elongation ratio of the actuator). In other embodiments, the linkage may comprise extendable rails. Here, the telescopic type is configured so that the small rails enter into the large rails to connect one or more rails in series to elongate and retract, and have different widths and heights. In still other embodiments, the bladder may be made of its own guide material, such as a mesh material, configured to guide a linear movement of the actuator 5000 when the drive surface moves in accordance with the pressure differential. In still other embodiments, movement of the actuator 5000 may be guided in an appropriate manner.

Here, the interlocking device 5005 is located inside the bladder 5002 so that particles generated by the interlocking device 5005 are not exposed to vacuum or clean air in the treatment device. In still other embodiments, the interlock device 5005 may be located external to the bladder. In other embodiments, particles generated by the interlocking device can be suppressed in a suitable manner. Here, the actuator is a linear actuator, but may be configured to perform rotational actuation. In still other embodiments, linear motion of the actuator may be changed to rotational motion in any suitable manner. In yet other embodiments, the actuators may include two bladders connected to a common actuator chamber that provides two degrees of motion with a spatial relationship to each other. For example, one of the bladders may be configured to move a door substantially perpendicular to the door interface surface of a substrate passage opening, such that the door passage surface is not obstructed by the door, So as to move the door substantially parallel to the door. The multiple bladders are configured to have different characteristics, such as material and thickness, so that actuation can be performed at different times according to the actuation pressure difference of each bladder. The bladders are configured in an appropriate orientation and may be arranged parallel or in series with respect to each other to provide appropriate actuation.

Figures 3G and 3H are schematic partial cross-sectional views illustrating a carrier shell and latch of a door interface having different configurations of displacement type latches according to different embodiments, respectively. In the embodiment shown in Figure 3G, the latch includes a ferrous material 10001 located in the carrier shell 102 and a permanent magnet 10002 located in the carrier door 104. [ A flexible material or gasket 10003 can be attached to the carrier door 104 so as to surround the permanent magnet 10002 in the carrier door 104. [ For example, when the magnet 10002 is pulled from the iron-based material 10001, the carrier door 104, which overcomes the magnetic force therebetween and releases the carrier door 104 from the carrier shell 102, One actuator 5000 or the same actuator 10005 as the other actuators. 3H, the latch comprises a multipole magnet 10100 in the form of a rotatable ring located in the carrier shell 102 and a ring-shaped stationary multiphase magnet 10102 located in the carrier door 104. In this embodiment, The magnets of the carrier door 104 are rotatable, but the carrier shell 102 may be of any suitable shape, for example, In order to release the latch, the handle 10101 connected to the rotatable magnet 10100 is connected to the magnets 10100, 10102 The magnets 10100 may be manually or manually operated, such as solenoids, springs, coils, latch keys identical to the latch key holes shown in FIG. 31, or other devices. Can move automatically . In yet other embodiments, the latch may have a suitable configuration.

4A-4E, the carrier 100 is shown in a different position to face the load port interface 10. 4F is a flowchart illustrating a process for aligning a carrier with a load port interface according to an embodiment. The positions and procedures shown in Figures 4A-4F are illustrative, and in other embodiments, the carrier may be connected to the load port through other processes. In the embodiment shown in FIG. 4A, the carrier 100 is away from the pod port interface until the carrier 100 arrives at the processing device (10600 in FIG. 4F). And operates the carrier 100 by the AMHS (not shown) supporting it from the upper handle 112. In other embodiments, the carrier 100 may be manipulated in any suitable manner. In the position shown in Figure 4A, the carrier chamber and the load port are closed. In Figure 4B, the carrier 100 may initially move to a load port (10601 in Figure 4F). As an example, the registration coupling portion 110 of the carrier (in this embodiment, located at the bottom facing the surface) engages the complementing registration coupling portion 20 of the load port 10. [ In this position, the axial interface of the carrier is located away from the load port flange 10500 without facing it. Referring again to Figure 3, in this embodiment, the kinematic coupling feature and the registration reference data or plane of the carrier formed thereby are located near the substrate's seating planes or midplane of the carrier It is possible to reduce the angular misalignment effect between the interfaces to be located and restricted. 4C). In the position shown in FIG. 4B, as the load port shuttle advances to the carrier (10602 of FIG. 4F), the carrier is positioned and the carrier shell flange 10501 is moved to the load port flange 10500 of the interface The carrier can be clamped to the load port interface 20A to loosely engage (10603 in Fig. 4F). In this embodiment, the carrier flange 10501 and the load port flange 10500 can include an exercise coupling portion that defines a repeatable registration datum of the interface 101 (described in detail below) , See Fig. 8). As described above, the carrier of the load port flange at the interface performs repetitive registration, and the clean tunnel is opened by the FEM in the carrier chamber without compromising the process air. As an example, the carrier door 104 may be connected to the load port door 12, as shown in FIG. 4C. The flexible interface 103 between the carrier shell and the door receives a positional difference that rises on the carrier registration of the interface 110 and faces the carrier door and the load port door of the interface 105. The interface 105 then closes, Is clamped to the load port door (10604 in Fig. 4F). In this embodiment, the load port door may have a vacuum port that removes any foreign material from the interface 105 prior to clamping the carrier door to the load port door, but substantially no foreign matter may be present. In this embodiment, the carrier door 104 may be clamped to the load port door 12 using a latch device that releases the latch between the carrier shell and the door and simultaneously clamps the carrier door to the load port door. In other embodiments, individual clamps may be used to secure the carrier door and the load port door. In yet another embodiment, a vacuum clamping is activated via the vacuum chamber on all carriers. The carrier door surface or local vacuum cups clamp the carrier door to the load port door and help separate the carrier door from the carrier shell. In Figure 4a, the carrier door is retracted to the FEM through the load port to move the load port door. In the embodiment shown in FIG. 4D, registration between the carrier shell and the load port of the interface 110 may be mitigated. For example, a hold down clamp that holds the carrier shell in the shifted position is released, and by lowering the coupling pin 20A from the groove or lifting the facing surface, The ring can be separated (10605 in Fig. 4F). The registration coupling portion of the interface 101 between the shell flange and the load port flange may cause the shell 102 to engage the load port flange 10500 as the registration in the interface 110 is relaxed 10607 in FIG. 4F). In this embodiment, actuation input for registration of the interface 101 (and for regeneration of the interface 101) can be made by contracting the load port door. As an example, the carrier door on the carrier shell may cause coarse coupling of the motion coupling portion (e.g., partial engagement) of the interface 101 and registration of the interface 1010, (Not shown) to perform the actuation of the clamps (not shown) and to move the carrier shell to the load port flange &lt; RTI ID = 0.0 &gt; By clamping, complete registration can be made at the interface 101 (yaw and pitch shown in Figures 5a and 5b). At the position moved in the interface 101, the carrier and load port door 104, and 12 are lowered as shown in FIG. 4E (10608 in FIG. 4F).

8 and 8A are schematic perspective and side elevation views, respectively, of a carrier 100 according to another embodiment. 8A, the carrier shell may have a flange facing the coupling portion forming the coupling portion 101B of the interface 101 between the shell flange 102F and the load port flange 14 3). 9A is a schematic partial perspective view illustrating a load port flange 14 facing a carrier shell flange 102F in a load port flange interface 101 according to another embodiment. The configuration of the interface shown is exemplary, and in other embodiments, the carrier flange of the load port interface may have a suitable configuration. In the embodiment shown in FIG. 9A, the load port flange 14 may be disposed on a frame member or a bulkhead forming the load port of the load port portion. An interface seal is provided around the load pods 16A-16C to seal it when the interface is closed and a clamping device (e.g., a magnetic clamp pad 10700) is positioned to mate with the carrier shell 102, The carrier shell 102 can be fixed. In other embodiments, the interface seal and clamping device may have a suitable configuration, such as, for example, vacuum clamping. 9A, the load port flange 14 may include coupling portions defining an auxiliary coupling portion 101A of the interface 101. In this embodiment, In this embodiment, each coupling portion 101A, 101B forms a motion coupling such that the carrier shell (s) 102 performs the recursive registration with the load port of the interface 101. [ As described above, the features of the motion coupling 101 shown in Figures 8, 8A, 9A-9C, and 10 are merely exemplary, and in other embodiments, the motion coupling 101 is suitable Configuration. In this embodiment, the kinematic coupling 101 includes the fins 22, 24 (coupling portion 101A) located on the load port flange and the grooves 122, 124 located on the carrier shell flange 102F (101B). The fins 22 and 24 and the grooves 122 and 124 are arranged such that the carrier shell 102 is repeatedly located in the x, y and z directions with respect to the load pod and the shell flange 102F and the interface seal (See Figs. 4C and 5A) to move the shell flange carrier shell 102 away from the pitch and the pivot shaft when moving to the interface 101 to overcome the tilt difference between the load port flange (Fig. 5A). For example, the pins and grooves may be substantially located in the midplane of the carrier shell 102 and the load ports 16A-16C. Loose coupling between the carrier shell and the load port 16A-16C of the interface 101 is accomplished in order to separate the coupling pin 20A of the coupling 110 to relieve the constraint from the motion coupling 110 , The coupling can be arranged such that the coupling provides a sufficient Z support. (e.g., a shuttle or an appropriate lifting mechanism) to move the z-loading onto the coupling pins 22, 24 to disengage the coupling pin 20A. (110). 10 is a schematic plan view showing a carrier at an opposite position of the interface 1101. Fig.

Referring to Figures 21-25, one embodiment for transferring the registration of a carrier from the motion coupling 110 to the interface 101 without unduly constraining the object 6000 will be described in more detail. As can be seen in FIG. 21, the object 6000 is located on the coupling plate 6010 of the load port 6099. The object 6000 is only a representative example of the carrier 100, and in other embodiments, a suitable object may be used. The coupling plate 6010 may include a motion coupling 6030 for coupling the object 6000 thereto. The motion coupling 6030 may be substantially the same as that described in Fig. 21A and 21B, the carrier 100 is configured to couple with the pins 6031A-6031C (generally referred to as pin (s) 6031) of the coupling plate 6010 Shaped grooves 6032A-6032C (generally referred to as groove (s) 6032) that are &quot; V &quot; shaped. In other embodiments, the motion coupling may have any suitable arrangement, such as a pin of the carrier and a groove in the coupling plate, a combination thereof, or a suitable motion coupling portion. 21B, in one embodiment, the pin 6031 has a curved interface surface and is positioned within a &quot; V &quot; -shaped groove 6032 for positioning the carrier 100 in the load port 6099 At least partially fit. In other embodiments, the pins and grooves may have a suitable configuration. The coupling is in accordance with Semiconductor Equipment and Materials International (SEMI) standard E57-0600. In other embodiments, the motion coupling may be an appropriate motion coupling.

Referring again to FIG. 21, the load port 6099 is adapted to move the object 6000 toward or away from the interface 6013 for coupling / decoupling the object 6000 to / from the interface 6013 And may include an actuator 6020. In one embodiment, the interface 6013 is substantially identical to the interface 101 and includes suitable motion coupling. In other embodiments, the interface 101 may be an appropriate interface with a coupling portion that couples the object 6000 to the interface 6013. Referring to Figure 22, the interface 6013 includes a moving surface 6050, which includes a coupling plane (e. G., A coupling of the plate 6010) that faces at a constant angle to the plane of the coupling plate 6010 Substantially perpendicular to the plane). In other embodiments, the moving surface 6050 may have an appropriate angular relationship to the coupling plate 6010. [

The interface 6013 is located on the motion surface and includes a motion coupling portion 6035, preloading 6060 to at least partially secure the object 6000 of the interface 6013, And a seal adapted to seal the air from the outside air into the carrier (and the chamber of the device element to which the object is connected). As described with reference to Figs. 3A to 3I, the interface 6013 may include latches for securing the object 6000 thereof. The latches may operate a preloading 6060 to secure the object 6000 of the interface 6013. In this embodiment, the preloading 6060 may be a vacuum preloading, but in other embodiments it may be an appropriate preloading that is not limited to magnetic or mechanical preloading. As an example of the preloading, preloadings to be described with reference to FIGS. 12 to 12B may be used.

The kinematic coupling portion may be any suitable kinematic coupling including a kinematic pin 6035 shown in Figs. 21-23, but is not limited thereto. In this embodiment, two pins are located on opposite sides of the interface 6013, but in other embodiments may be a number of pins suitably located around the interface 6013. [ As can be seen in Figure 23, the object 6000 may have corresponding recesses or apertures 6001 for connection with the pins 6035 (see Figure 22). The pin 6035 and the recess 6001 can be configured to stably secure and position the object 6000 on the motion surface 6050 in a predetermined relationship to the interface 6013. [ The motion couplings 6035 and 6001 repeatedly position the object (s) 6000 with the interface and can stably lock the object (s) 6000 coupled to the interface without the preload system 6060 have.

Referring to Figures 22A and 22B, the interface (e.g., pin and recess) between the object 6000 and the moving surface 6050 will be described in more detail. The configuration of the fins and recesses shown in Figs. 22A and 22B is merely exemplary, and in other embodiments, the fins and recesses may have a suitable configuration. Object 6000 includes an interface surface or face 22000 that includes recesses 6001A and 6001B that substantially complement the pins 6035 in combination with the kinematic coupling of interface 6013. In this embodiment, . The recess 6001A may be configured to have a cone shape, for example, with a pilot hole (defining the Z position). The recess 6001B may have the form of a slot, such as a &quot; V &quot; -shaped groove with a pilot hole (defining an X position). The pins 6035, which are formed identically on both sides of the load port, include a kinematic coupling lead pin 6035B that provides free movement in the X and Z directions with the slot 6001B, And a kinematic component (6035A) that moves freely along the X-axis (Y and Z axes are limited) as shown. In this embodiment, the kinematic element 6035A of the pin 6035 has a substantially spherical shape, but in other embodiments may have a suitable shape including a &quot; V &quot; shape. The interface may also include mechanical sensing pins for sensing the arrangement associated with the interface 6013 when coupling to the object 6000 and the movement surface 6050, as desired. In this embodiment, the lead pin 6035B engages the pilot hole of the recess 6001A, while the moving element 6035A engages the cone shape of the recess 6001A that places the object. The recess 6001B may move only in the X direction to provide compliance with the pin (s) on the other side of the load port via the slot / groove. For example, lead pin 6035B engages a &quot; V &quot; -shaped groove in recess 6100B (generally the same as that shown in Figure 9C).

Referring to FIG. 23, the actuator 6020 can move or advance the object 6000 toward the interface 6013. The coupling plate 6010 may move or advance the object 6000 and the coupling plate 6010 toward the interface 6013 which stops the movement of the object through contact with the interface 6013 as the coupling plate 6010 continues. In other embodiments, the pins 6031 can be moved in the coupling plate 6010 such that the coupling plate 6010 travels with the object 6000 while still at a certain distance. For example, the pins 6031 are located on a sub-plate movable in the coupling plate 6010 and extend through a slot on the coupling plate 6010. In other embodiments, a relative movement is made between the object 6000 and the pin 6031 in an appropriate manner such that the object 6000 engages the interface 6013 and is lifted by the pin 6031.

As the motion pin 6031 advances the object 6000 to the motion pin 6031 as it moves farther towards the interface in the direction of the arrow 6033 and advances past the point of engagement between the object 6000 and the interface 6013 (E.g., arrows 6033 and 6034 in Fig. 24) between the object 6000 (and its grooves 6032) and the fins 6031. The coupling plate 6010, as shown in Fig. 24, when the pin (s) 6031 move in the &quot; V &quot; -shaped groove (s) 6032, the gap between the coupling plate 6010 and the object 6000 Lifts the object 6000 from the coupling plate 6010 to engage with the motion pin 6035 of the interface 6013 forming the second body 6070. The relative movement between the groove 6032 and the pin 6031 causes the lifting and guiding forces (e.g., forces substantially parallel to the coupling plate 6010) V &quot; -shaped grooves 6032 can be oriented. The guide force is applied to the object 6000 along the centerline CL of the pin 6031 as the object 6000 is lifted in the coupling plate 6010 (see Fig. 21A) To maintain the moving path. In other embodiments, a suitable force may be generated through contact between the groove 6032 and the pin 6031, which guides the object 6000 towards the interface 6013. [

The interface between the pin 6031 and the groove 6032 can be configured to lift the object while rotating and moving the object 6000 so that the object 6000 is not overly constrained when facing the interface 6013. [ 25, the relationship between the pin 6031 and the &quot; V &quot; -shaped groove 6032 when the object 6000 is coupled to the interface 6013 is shown. As can be seen in Fig. 25, a gap is formed between the pin 6031 and the &quot; V &quot; -shaped groove 6032 such that the pin 6031 does not substantially contact the groove 6032. [ In other embodiments, the object 6000 faces the interface 6013 which positions the pin 6031 in the center of one of the respective grooves 6032 below and / or inside to form the gap 6071 The coupling plate 6010 (and / or the pin 6031) can be moved to the object 6000. [ When the object 6000 is released from the interface 6013, the gap 6071 is formed so that the &quot; V &quot; -shaped grooves 6032 are located at the bottom and center of the pin, Can be removed. It is also possible to release the object 6000 from the interface 6013 and reassociate the object 6000 with the coupling plate 6010 as well as the motion coupling of the interface 6013 so that the interface 6013 and the object 6000 are engaged. And the coupling plate 6010, the object 6000 can be appropriately limited.

6 is a schematic front view of a carrier 100 'according to another embodiment. The carrier 100 'may be the same as the carrier 100 described above. In this embodiment, the carrier 100 'has six degrees of freedom compliance between the motion coupling 110' (same as the motion coupling 110) and the motion coupling 101 ' (130 &apos;). &Lt; / RTI &gt; In this embodiment, the motion coupling 110 'is fixed to the bottom of the carrier shell, and the motion coupling 101' can be fixed to the carrier shell flange. Thereby, a compliant connection can be made at a suitable position on the carrier shell between the flange and the bottom of the carrier shell. The location shown in Figure 6 is only exemplary. In this embodiment, a wafer support structure may be secured to the flange. An example of a locking process between the carrier 100 'and the load port is shown in the flow chart of FIG. 6A. For example, the carrier 100 'is moved to the load port (11001 of FIG. 6A) and selectively clamped to the load port (11002 of FIG. 6A) in the same manner as described with reference to 10600 and 10601 of FIG. 4F. The load port shuttle advances the carrier 100 'to the carrier / load port interface (11003 in FIG. 6A). The load port door vacuum is activated during the course of the load carrier 100 'so that the particulate matter formed on the surface of the carrier 100' during the connection of the carrier and the load port can be removed. The load port shuttle presses the carrier 100 'to a carrier / load port interface that loosely couples the carrier to the load port (11004 in FIG. 6A). The carrier door is clamped to the load port door (11005 in Fig. 6A) and the shell flange clamp vacuum chamber is activated (11006 in Fig. 6A). The shell flange clamp causes the carrier to engage with a motion coupling (11007 in Figure 6a) that clamps the carrier to the load port and the carrier door begins to contract (11008 in Figure 6a). The carrier door is separated from the carrier (11009 and 11010 in Fig. 6A) and descends to the door storage area of the load port (11011 in Fig. 6A). In other embodiments, registration of the carrier to the load port may be performed in an appropriate manner.

11 is a schematic plan view showing a portion of a coupling interface 110 'according to another embodiment. In the present embodiment, the coupling interface 110 'is provided with flexibility (e.g. along three axes x, y and z) in the carrier shell such that the shell flange has six degrees of freedom . In other embodiments, the coupling flexibility may have a smaller degree of freedom. The flexibility of the coupling due to the flexibility in the x, y and z directions of the coupling pin 20A is schematically illustrated in Fig. In other embodiments, the flexibility of the interface 110 'at one or more other locations, such as a shuttle plate, a load port flange coupling, a shell flange, a shell coupling groove for a lower coupling, or a shell attached to a coupling groove, See FIG. 3) may be affected. Flexibility such as Z compliance at the fin and x and y flexibility at other locations of the shell flange can be distributed to various locations.

12 and 12B are schematic front views of a carrier 1100 and a load port 1010, respectively, according to another embodiment. In this embodiment, the load port and the carrier can generally have wedge-shaped doors that can be connected to each other. The carrier and the load port door can be clamped and opened by a short-axis movement such as the Z-axis. In this embodiment, registration features 1107 (e.g., positioning a carrier) to position the load port flange (e.g., the same surface of the door / carrier / load port) A load port registration movable motion coupling) can be provided in the carrier and the load port. As shown in Figs. 12 and 12A, the registration interface unit may have an arrangement such as &quot; V &quot; groove and pin features that do not excessively restrict the interface. In this embodiment, the interface is configured such that the carrier preloads the coupling in a mechanically stable state. In this embodiment, a door arrangement is made to form an opening of the pod door at an angle. The angle is defined by the direction in which the load port pulls the door from the carrier. Thereby, a continuous flat surface can be formed so that the port and the port door can each be sealed to the carrier. The motion axis of the load port can also be inclined at the angle of the opening. In other embodiments, as shown in FIG. 12B, the motion can be performed with two types of vectors that produce a short angled motion that is changed to a pure vertical motion. Driving of the door motion. A detailed description of motion coupling is provided in U.S. Patent Application No. 11 / 855,484, filed September 14, 2007.

13 is a schematic front view of a carrier and a load port interface according to yet another embodiment. The carrier 7000 can be configured to receive a self contained gas supply 7001 to remove impurities in the carrier. The gas supply unit 7001 may include, for example, a gas such as nitrogen. In this embodiment, the carrier forming the chamber 7002 of the material containing the purge gas may have a hollow volume. It has a material density of metal or polymer with a thin cross section, which helps to minimize the weight gain of the dense material. The chamber 7002 may be connected to an internal cavity 7003 of the pod 7000 where the wafer remains via a check valve. The check valve may serve to regulate the pressure inside the pod 7000 and prevent over prresurization. The chamber can be compressed at a load port or other location located in strategic areas during the process. Once compressed, the gas can be stored in the carrier 7000 without being connected to the gas supply for an extended period of time. The amount of time can be determined by the size of the chamber and the quality of the seal in the pod.

As can be seen in FIG. 13A, in other embodiments, the gas supply 7001 'may be located external to the carrier 7000'. The gas supply 7001 'is removably coupled to the carrier 7000 via suitable coupling. In this embodiment, the gas supply unit can be replaced with another gas supply unit when it can be recharged or the gas supply is low, as described with reference to Fig.

According to another embodiment, a low power pressure sensor 7004 may be integrated on the carrier 7000. The sensor 7004 measures the pressure in the carrier and sends a warning if the pressure falls below a critical level. The AMHS system can be commanded to return the carrier 7000 from its current position and place it on a purge nest for recharging.

Examples of carrier gas feeds are disclosed in U.S. Patent Application No. 11 / 855,484.

When leaks occur in the seal of the carrier, wafer contamination can be reduced by pressurizing the gas into the carrier via the gas supply units 7001 and 7001 'during storage or transfer of the wafer, for example . For example, if a leak occurs in the door seal, the compressed gas in the carrier escapes the carrier through the leak while preventing contaminants from entering the carrier. In contrast, a vacuum environment in the carrier draws external air (including contaminants) into the carrier on which the wafer resides. In one embodiment, when the carrier is located at a load port or a designated carrier cleaning station, the carrier is pumped down to the carrier to remove contaminants from the interior and is recharged with a given gas do. It is also possible to remove the contaminants from the wafer in the carrier during the recovery of the carrier gas and during recharging with the given gas.

Figure 14 is a schematic partial cross-sectional view of a carrier and load port interface according to another embodiment. There may be a pressure difference between the carrier environment and the load port environment before the carrier 8000 is opened. When the carrier door 8001 is opened, undesired air flow can be introduced into the wafer carrier as the pressure becomes equal. This turbulent flow of air can precipitate particulate matter and damage or destroy the wafers in the carrier 8000. When the carrier door 8001 is closed, the displaced volume of air in the carrier 8000 escapes outward. Such a volume of air can pass over the wafer and precipitate potentially harmful particles before exiting to the load port environment.

In this embodiment, air flow channels 8010 are provided in a carrier shell geometry defining air or gaseous fluid to be introduced or discharged. Place the channel 8010 in the perimeter of the carrier shell or at a suitable location to allow gas to escape out of the carrier 8000. A passage for air / gas flow during opening and closing of the carrier door 8001, a pressure relief for opening and closing the carrier door 8001, a port for discharging oxygen or other undesired particles, and / or a wafer cassette The channels 8010 provide ports that actively control (e.g., drain or inject fluid) the air flow around the cassette. In this embodiment, when the channels are located on a load port (or other interface), they can be influenced by a vacuum source and / or a fluid source. In other embodiments, these channels 8010 can be opened to the appropriate environment to allow gas to flow from the carrier to the environment through the channels 8010. [ A suitable valve, such as a check valve 8020, may be disposed in the channel 8010 to prevent gas from backflowing the gas through the channel 8010 from the carrier. In other embodiments, a separate positive pressure port may be used to channel the gas through the channel 8010 to the carrier.

As an example, as the carrier 8000 is positioned on the load port surface, an appropriate seal, such as seal 8025, is used to seal the area around the flow channel 8010. Before opening the carrier door 8001, a vacuum flow is initiated to remove debris or gas remaining on the carrier surface. When the door 8001 is opened, the pressure difference between the load port and the carrier environment is easily balanced due to the wide flow area and low pressure. In other embodiments, the pressure can be balanced by introducing gas through the channel into the interior of the carrier, so that the pressure in the carrier balances the pressure of the processing environment to which the carrier is attached. When the carrier door 8001 is closed, a large volume of the air / gas staying in the carrier changes. The flow channel 8010 and the vacuum chamber connected thereto provide a low resistance path for flowing fluid. This alleviates the &quot; piston effect &quot; that affects the air in the carrier 8000 and removes turbulent air flowing across the wafer.

*

7A-7C are cross-sectional views and partial perspective views of the load port plate 14, bulkhead, and carrier, respectively, according to another embodiment. In this embodiment, the load port or plate forming the load port 14 may be the same as the load port described above. As can be seen in FIG. 7A, the load port 14 may face the FEM 4 in the BOLTS plane, which is in accordance with the SEMI E63 standard. In this embodiment, the load port 14 is positioned such that the door opening is influenced outside the bolt interface plane (e.g., the load port door 12 with the carrier door 104 clamped thereto) ). As can be seen in Figures 7b and 7c, the load port partitions may form a recess or cavity to receive the door motion. The cavity may be masked such that the cavity is substantially covered within the FEM. Also in this embodiment, the bulkhead face is substantially continuous along the bolt interface (instead of the port) that minimizes the structure that impedes gas flow inside the FEM. In this embodiment, the load port partitions can form a return passage for recirculating the gas in the FEM, as shown in FIGS. 1A and 1B, Help. Use the appropriate resistor to direct the gas into the cavity. In other embodiments, the inlet or outlet lines may be laid directly on a load port that supplies or removes gas from the external gas supply. Referring to FIG. 10, in this embodiment, a door opener mechanism 111 may be located above the clean area. In this embodiment, the door opener mechanism or the door actuator may be the same as the actuator 5000 shown in Figs. 19 and 20. In other embodiments, the door actuator may be an actuation system or a combination thereof. As can be seen in Figures 7A and 7B, in this embodiment, the interface surfaces of the load port partitions connecting the carrier shells can be offset from the bolt surface for receiving the door cavities therebetween. Accordingly, referring to FIG. 3, when docking to a bolt interface based on SEMI specifications, a carrier shell is provided to receive the offset at the load port interface and to maintain the facial datum of the carrier. Can be configured.

In one embodiment, actuation of the latch can be performed by a suitable actuator, such as the actuator described with reference to Figures 19 and 20, to couple the carrier door 104 to the load port door 12. By way of example, in other embodiments, the door actuator includes the same bladder actuator as described in Figures 7A-7C, and performs actuation of the door (or other actuation elements) For example, it can be combined with an electric motor, a lead screw, a pneumatic cylinder or an appropriate drive. As another example, when the carrier faces the rope port, a suitable flow line, such as a vacuum or purge line, can adjust the air in the carrier to match the air in the processing apparatus. As an example, a pump down occurs inside the carrier such that it is in a predetermined vacuum condition that creates a pressure differential between the interior of the carrier and the cavity that receives the door motion. Actuation of the latch mechanism or device that engages the carrier door 104 with the load port door 12 after moving the drive surface 5035 of the actuator is performed by the pressure differential. In another embodiment, once the carrier door 104 has returned to the carrier, one side of the actuator may be subjected to pressure to release the latch between the carrier door 104 and the load port door. For example, the carrier is filled with an inert gas, such as nitrogen, for transporting the substrate to the carrier. (For example, pressure) acting on the actuator surface of the door actuator (the same as the actuator 5000 shown in Figs. 19 and 20) is applied between the carrier door 104 and the load port door 12 May be released by the pressure formed in the carrier filled with the incompressible gas. Actuation of the same or different actuators 5000 may also cause the carrier door 104 to latch onto the carrier in substantially the same manner as described above. In other embodiments, pressure may be applied to one side of the actuator 5000 to latch the carrier door to the load port door. On the other hand, the pressure difference can be used to release the latch between the carrier door and the load port door. In still other embodiments, pressure can be applied to one side of the actuator via a suitable method of applying a pressure differential or moving the actuator. A vacuum source or pressure source for performing actuation of the actuator 5000 may be a vacuum source or pressure source for carrying out the actuation of the actuator 5000 by, for example, a flow line for carrying out the purging or pumping of the carrier, Lt; RTI ID = 0.0 &gt; a &lt; / RTI &gt; In other embodiments, the linear motion of the actuator may be changed to rotational motion in any suitable manner. In still other embodiments, the actuator may include two bladders connected to a common actuator chamber that provides two degrees of motion with a spatial relationship. For example, one of the bladders may be configured to move a door that is substantially perpendicular to the door interface surface of a substrate passage opening, and the door interface surface may be configured such that the substrate passage opening is not blocked by the door. The other bladder can be configured to move the substantially parallel door.

The mapping of the carrier substrates can be performed in an appropriate manner. As a non-limiting example, it is possible to optically map thru-beam sensors (flip-in sensors), permeable sensors sensing through clear windows on the side of the carrier, or appropriate optical sensors and substrates . As another non-limiting example, the sensors are proximity sensors that provide mechanical mapping with air sensors fixed to supports and sense movement of the plunger to perform actuation of the wafer, Mechanical mapping with stress gauges that measure the strain of the substrate supports that support the weight of the wafer. In other embodiments, the substrates may be mapped in any suitable manner.

15 and 15A are schematic front views of a substrate processing apparatus 1002 and carrier (s) 1100 connected thereto according to another embodiment. In the embodiment shown in Fig. 15, the substrate processing apparatus is the same as the substrate processing apparatus 2 shown in Fig. 1, and the same elements have the same reference numerals. The substrate processing apparatus 1002 generally includes a processing unit 1006 and an FEM 1004 (the wafer is loaded in the apparatus from the front). In this embodiment, the substrate portion 1006 and the FEM 1004 can share a common control environment or air (e.g., inert gas (N2, Ar) or very clean dry air) . The processing unit 1006 is schematically illustrated and may include one or more processing units or modules (s) coupled to the FEM 1004. [ Here, the arrangement shown in Fig. 15 is merely illustrative, and in other embodiments, the FEM and the processing module (s) may be connected to each other through appropriate placement. The processing portion (s) or module (s) 1006 may be isolated from the FEM 1004 via a closable opening (e.g., a gate valve). Accordingly, FEM air and other process air may be provided to the processing section. In other embodiments, the processing unit may include a load lock to allow the process air to have dissimilar atmospheres or to connect a vacuum chamber connected to the FEM, as will be described further below.

In the embodiment shown in Fig. 15, the FEM 1004 may be the same as the FEM 4 (see Figs. 1 to 14). The FEM 1004 may include environmental controls to maintain the proper control environment or air of the FEM when transporting the substrate from the processing portion 1006. [ For example, the FEM 1004 may include a controller 31000, one or more fluid control valves 31010 and 31020, a pressure relief or check valve 31030 and a pressure sensor 31040, a contamination sensor 31041, Sensors 31042, &lt; / RTI &gt; The controller may be configured to adjust properties such as temperature, pressure, and gas flow rate (31050) of the control environment within the FEM (and processing unit 1006). For example, the controller 31000 may receive signals from the pressure sensor 31040, the temperature sensor 31042, and the contamination sensor 31041. In accordance with the environmental information contained in these signals, the controller 31000 performs actuation of the valves 31010 and 31030 to release or increase the pressure in the FEM or to increase or decrease the air flow 31050 in the FEM . It is also possible to increase or decrease the temperature of the gas in the FEM (for example via an adjusting coolant flow via a radiator 31060) based on the temperature measurements provided by the pressure sensor 31042 The control unit 31000 can be configured. The controller 31000 and the valves and sensors connected thereto are described with reference to Figs. 15 and 15A, and the controller 31000 can be used to control the environment (s) of other embodiments.

The FEM 1004 may include a substrate transport device or robot 1004R (suitably formable) capable of receiving and transporting a substrate. In this embodiment, similar to the FEM 4 described above, the FEM 1004 includes a carrier interface 1010 for connecting one or more carrier (s) 1100 to the apparatus 1002 and for loading and unloading substrates therefrom. ). The carrier interface 1010 may be configured to load and unload the substrate between the carrier and the FEM 1004 without degrading the controlled environment in the FEM 1004 and the processing portion 1006, And a complementing interface portion of the carrier (s) 1100. The carrier port The FEM load port 1010 of the carrier 1100 and the auxiliary interface (collectively referred to as a carrier of the FEM interface) may be disposed so that the carrier (s) 1100 connected to the FEM are integrated into the substrate processing apparatus. By way of example, the carrier (s) integrated via the interface can receive the substrate in controlled air, such as an FEM, by forming chamber (s) that share control air, such as FEM, Lt; RTI ID = 0.0 &gt; 1100 &lt; / RTI &gt; 15, the carrier of the FEM interface is connected to a clean tunnel (substantially a cleanliness, such as a FEM and a processing unit) from the inside of the carrier chamber through the interface of the FEM throughout the processing unit. In the embodiment shown in Fig. ). When the carrier (s) is removed from the load port, the clean tunnel is closed, and the cleanliness of the clean tunnel can be freely opened without deteriorating. In the embodiment shown in FIG. 15, the carriers of the FEM interface can be arranged to be integrated directly with the above-described substrate processing apparatus regardless of the carrier environment prior to the interface. Thus, the carrier (s) 1100 can be directly coupled and directly coupled to a processing device having a heterogeneous environment (e.g., clean air and an inert gas environment or a clean air and vacuum environment) Can be transferred and reconnected to the processing apparatus and integrated. Thus, the substrate (s) provided in one processing unit in the control environment is directly transported by the FEM robot to the carrier (s) from the processing unit (processing unit 1006) through the clean tunnel, (The same as the FEM 1004) of other processing apparatuses possible in a heterogeneous control environment, and the substrate (s) can be directly transported by the FEM robot through the clean tunnel without deteriorating the control environment in the other processing apparatus . As a result, the carrier of the FEM interface coupled with the carrier can form an external load lock or a carrier load lock.

Referring to FIG. 15, as described above, the load port 1010 of the FEM 1004 may be the same as the load port 10 described above. In the embodiment shown in Fig. 15, the load port 1010 is connected to the carrier 1100, and in other embodiments, the load port can be arranged to be connected to an appropriate number of carriers. For example, the load port may have a stacked structure that connects the carriers arranged in the same stack as the arrangement shown in FIG. In this embodiment, the load port 1010 includes a carrier (not shown) received in the load port for injecting air into the carrier to remove molecular contaminants from the substrate and from the substrate when the carrier is located on the load port. And a vacuum source 1010V communicably connected to the vacuum source 1100. [ On the other hand, when performing pump down on the carrier to be vacuum, the carrier may be arranged to be communicatively connected with the vacuum source 1010V at the load port and to withstand the air pressure in the carrier casings. As described above, the vacuum source 1010V for performing pump down on the carrier may be a vacuum source (not shown) for actuating the actuator 5000 to couple the carrier door to the load port door using pressure differentials in substantially the same manner as described with reference to FIG. Actuation may be affected. For example, the load port door can be connected to the carrier door via a vacuum interface. Air can be injected into the interior volume of the carrier at a higher degree of vacuum than the load port / carrier door vacuum interface, in order to create a pressure differential between the carriers affecting the movement of the actuator. In other embodiments, the vacuum interface between the load port door and the carrier door may affect the movement of the actuator 5000 that performs the latching of the carrier door and the load port door. In other embodiments, as noted above, pressure can be applied to the surface of the actuator in any suitable manner when removing impurities in the carrier with an inert gas. In other embodiments, the load port door is a vacuum / purge flow line that is directly connected to an actuator (e.g., an actuator seal around the flow line) that generates a pressure differential or places a pressure on one side of the actuator. purge flow line.

In the embodiment shown in Figure 15, the carrier is shown as a side opening carrier with a carrier door located on its sidewall, while in other embodiments the carrier door is located on the top or bottom wall of the carrier can do. The carrier 1100 can be sized to accommodate small lock carriers (e.g., accommodating up to five substrates) or 13, 25, or suitable numbers of suitable sizes. The carrier may comprise a metal housing made of, for example, aluminum, stainless steel or other material (a metal filled with a non-metallic material or a non-metallic material) to substantially prevent gas molecules from penetrating. As described above, the carrier housing may be a vacuum chamber provided externally thereto (e. G., Sufficient to effectively remove molecular contaminants in the carrier and have a vacuum state similar to vacuum processes of about &lt; RTI ID = 0.0 &gt; High vacuum chamber). The structure of the carrier housing is arranged to have an appropriate wall thickness (about 1/8 "in the case of stainless steel) and has one or more of the side surfaces of the carrier shown in FIG. 26 with appropriate values to minimize the deflection of the carrier housing A stiffener 10950 positioned along the top and / or bottom. The reinforcing member 10950 can be configured as ribs or an appropriate reinforcing member for minimizing the deflection of the carrier wall. In other embodiments, as can be seen in Fig. 27, the wall of the carrier can be a domed wall 10960 using circumferential stresses to reinforce it and minimize carrier deflection. In other embodiments, the wall of the carrier may have a suitable configuration to minimize its deflection. The carrier 1100 may be coupled to the same coupling portion as the carrier 100 described above (e.g., performing docking with the load port during transport from an over head transport, And a motion coupling for engaging the carrier side opening in the load port opening that affects the carrier. When the inside of the carrier is a vacuum, the carrier housing can be arranged such that deflection of the carrier housing does not attenuate the operation of the coupling. When the carrier 1100 is connected to or coupled to the load port, the carrier 1100 is coupled to a suitable path and oprisy (s) so that the vacuum source 1010V of the load port is automatically coupled to the carrier housing and can communicate with the interior of the carrier. Or ports. The position of the vacuum port shown in FIG. 15 is merely exemplary, and in other embodiments, the vacuum port may be located in a suitable location. For example, a vacuum passageway and port located on a carrier (or load port) may be formed on the opposite side of the carrier as shown in FIG. 14 (e.g., on the opposite side of the carrier within the sealed interface region between the carrier side and the load port rim) Flow channel). The carrier seal (see FIG. 3) has integrity to withstand the vacuum throughout its entirety.

As can be seen in FIG. 15, in this embodiment, the carrier 1100 can be configured to be communicatively connected to a gas feed, such as a vent or purge gas source. In the embodiment shown in FIG. 15, upon seating on a carrier support of the load port 1010, the carrier 1100 may be communicatively connected to the gas source 1010G. And an inlet port plug (and a gas channel connecting to the inside of the carrier) that automatically connects to the nozzle of the gas supply part 1010G when the carrier is positioned on the surface of the load port support. The arrangement of the gas source interface between the load port and the carrier shown in Fig. 15 is merely exemplary, and in other embodiments, the gas source interface may have an appropriate location and configuration. As described above, the gas source 1010G may provide purge and / or vent gas to a carrier that is seated or positioned in the load port 1010. [ As an example, if necessary, a carrier 1100 and gas properly positioned (overhead transported) to the load port 1010 (depending on the internal air of the carrier located in the load port and the environment maintained in the FEM) A purge gas (e.g., N2) may be supplied to the carrier using a gas feed nozzle connected to the carrier injecting the carrier gas. Thus, when the carrier comprises some process air formed in connection with the previous apparatus, the FEM 1004 maintains an inert gas or other clean air air different from the air of the carrier, Gas can be supplied to the carrier via the gas supply part 1010G so that the carrier which removes the impurities of the carrier air can be connected to the rod port opening and integrated into the above-described processing device 1002. [ Furthermore, if the carrier air is not fit to the FEM air or if unwanted contaminants are deemed to be present, a vacuum source (1010V) is placed inside the carrier (prior to opening the carrier interior to the FEM air) (E.g., N2 or very clean air) similar to the FEM environment to remove potential contaminants from the carrier. As described above, the purge gas supply portion 1010G can actuate the actuator 5000 in the same manner (with or in place of the vacuum source 1010V). (Radio Frequency Identification) tag or an appropriate data storage device that is located in the load port 1010 where the carrier is loaded or can perform reading (or access) by an adjacent reader. Thereby, information on the interior of the carrier is obtained by the device control section (see FIG. 16) communicating through an appropriate protocol, and if necessary, air can flow in and out of the carrier when positioned in the load port. For example, when performing docking of a carrier with a load port, or at an appropriate time, information about the carrier air may be written to a carrier borne storage device. If necessary, the FAB wide controller tracks this information. The carrier 1100 may be connected to an FEM without vacuum and gas supply connections. In other embodiments, the carrier may include an interior or mounted purge gas source (same as the embodiment shown in FIG. 13). In other embodiments, the load port interface coupled to the carrier may have a vacuum connection to provide gas from a gas source mounted on the carrier without a gas supply. Accordingly, the carrier may serve as a substrate clean chamber of a substrate processing apparatus that performs a cleaning process by storing a substrate in a substrate processing apparatus. The carrier pump / vent process may be performed prior to removing the carrier from the load port when relocating the conventional processing apparatus.

As described above, the arrangement of the carriers of the load port and device interface shown in Fig. 15 is merely exemplary, and in other embodiments, the interface may have a suitable configuration. For example, the gas supply may be positioned to vent gas into the carrier in a FEM environment after air is introduced into the carrier. 16 is a plan view of the substrate processing apparatus 2002 according to another embodiment. In the embodiment shown in Fig. 16, the substrate processing apparatus 2002 is generally the same as the substrate processing apparatus 1002 shown in Fig. 15, and the same elements have the same reference numerals. The substrate processing apparatus 2002 may include a processing module 2006, 2006A and an FEM 2004 having suitable control air (e.g., inert gas or very clean air). One or more processing modules 2006 may be connected to the FEM so that the FEM transport robot 2004R can lift or position the substrate in the processing module (same as the embodiment shown in Figure 16 and the embodiment shown in Figure 15) . The processing modules 2006, 2006A may share common air with the FEM 2004. Here, although one processing module is shown in Figures 15, 16 and 16A, in other embodiments, a stack of processing modules may be coupled to each of the FEMs or one or more transport modules. The FEM 2004 may have a loading interface or load port for loading or connecting the carrier 2100 to the processing apparatus in the same manner as described above. In this embodiment, the FEM transport robot 2004R can directly lift or position the substrate between the carrier 2100 and the one or more module (s) 2006 through the same clean tunnel as described above. In the embodiment shown in Figure 16, the length and configuration of the clean tunnel 2006, which is connected to the interior of the carrier via the FEM interface 2010 and extends to the processing modules 2006, 2006A, can be changed , U.S. Patent Application No. 11 / 422,511, filed May 26, 2006, U.S. Patent Application No. 10 / 624,987, filed July 22, 2003, U.S. Patent Application No. 10 / U.S. Patent Application No. 11 / 442,509, filed May 26, 2006, and U.S. Patent Application No. 11 / 441,711, filed May 26, 2006). In this embodiment, the transfer module (s) 2008 is connected to the FEM so that the FEM robot can lift or position the substrate with the transfer module. The location of the transport module (s) is merely exemplary. The clean tunnel may continue to extend from the FEM through the transport module. More or fewer transfer module (s) 2008, 2008A may be connected to one another (in series as shown in Figure 16) to change the length and configuration of the clean tunnel as needed. The processing modules (same as modules 2006, 2006A) can be coupled to a clean tunnel so that substrates can be transferred through the clean tunnel to the carrier 2010 and appropriate processing modules or between appropriate processing modules. In this embodiment, the transport module 2008 may include a transport robot inside the transport module 2008 to transport the substrate to the process module 2006A or to an adjacent transport module / chamber 2006A. In other embodiments, the transport module may not have a transport robot inside. Here, the robot lifts or positions the substrate from the transfer module into the adjacent module of the clean tunnel 2005. This will be described with reference to Figs. 16A and 16B. In still other embodiments, the transport module has an appropriate length and may include a suitable substrate transport device. 16A, the clean tunnel 2005 'is substantially identical to the clean tunnel described with reference to FIG. 16, and forms an extended chamber with the transfer cart (s) configured to traverse the chamber And the like. The transfer cart may be a manual cart (for example, without a transfer arm / robot) similar to the transfer cart disclosed in U.S. Patent Application No. 10 / 962,787, filed October 9, 2004 . For example, the transfer cart may be a moveable card that is integrated with the chamber. The transport cart can be configured to move back and forth in the chamber between the front 18F and the rear 18B. The cart (s) may define individual multiple transport passages in the clean tunnel (e.g., one per load port or one per process module of a module stack connected to a clean tunnel). The cart can be configured to grind the chamber so that particles (which can contaminate the substrate) do not enter the clean tunnel 2005 '. As an example, the cart may comprise a magnetically levitated cart or a suitable drive system for moving the cart without expelling contaminants into a clean tunnel. The cart of the transport apparatus 2004R 'has an end-effector for receiving one or more substrates. 16A, the transfer chamber 2004T is connected to the clean tunnel 2005 '. One or more transfer chambers 2004T are provided with transfer arms 2004R (configured to operate in a vacuum environment) for transferring substrates from the cart 2004C to the processing chambers 2006, 2006A connected to the transfer chamber 2004T. . &Lt; / RTI &gt; In this embodiment, the transfer arm 2004R in the transfer chamber may form multiple vertically stacked transfer passages or offset transfer passages vertically stacked in an offset processing module in communication with the transfer chamber. To lift or release the substrate from the cart 2004C, the cart 2004C is aligned with the appropriate module / port and has a corresponding port to position the end effector that lifts or releases the substrate from the cart 2004C Thereby extending / contracting the arm 2004R. In this embodiment, the clean tunnel comprises a clean tunnel extension (not shown) extending the clean tunnel in the proper direction to form a grid through which the cart (s) 2004C carrying the substrate from the carrier 2100 to the processing module (clean tunnel extension, 2005E). May have one or more transport paths followed by the cart 2004C across the clean tunnels 2005, 2005E. In one example, the transfer passages are vertically spaced from each other such that the carts pass vertically or downwardly with each other or vertically adjust the height of the cart, aligning the cart with vertically stacked processing modules / transfer chambers . In other embodiments, the cart feed passages may be spaced apart from one another horizontally. The FEM 2004 'shown in FIG. 16A is substantially the same as the FEM 2004 shown in FIG. 16, but the FEM 2004' can include one or more load ports coupling the carriers thereto. In this embodiment, the load ports are spaced apart from one another horizontally, but in other embodiments they may be spaced apart from one another vertically.

Referring to Fig. 16B, a substrate processing apparatus according to another embodiment is shown. In this embodiment, the substrate processing apparatus includes a clean tunnel 2005 &quot; substantially identical to the clean tunnel 2005 ', 2005E. Similarly, the transport module and the processing module may be coupled to the clean tunnel 2005 &quot;. In this embodiment, the transfer device 2004C 'comprises a passive or active cart (s) (including, for example, a substrate transfer arm / robot), a line in the clean tunnel and a substrate from one robot to another Or a transport device such as a suitable device for transporting the substrate through the clean tunnel 2005 &quot;. In other embodiments, a clean tunnel may be formed by a series of transport modules including a transfer arm configured to capture a substrate. The transfer modules can be coupled to each other to form the clean tunnel. The ports constituting the passages between the processing module, the transport module, the clean tunnel and the carrier are configured to isolate the respective parts of the substrate processing apparatus 2002 'so that one or more of the different parts of the substrate processing apparatus 2002' It can contain different air.

Referring again to Figure 16, in this embodiment, the clean tunnel transfer module (s) 2008, 2008A in the substrate processing apparatus 2002 are connected to common control air (e.g., inert gas or very clean air) . &Lt; / RTI &gt; In other embodiments, one or more transport module (s) 2008, 2008A may be configured as a load lock to allow portions of the clean tunnel to maintain different air volumes. For example, the clean tunnel portion defined in the FEM may have a nitrogen (N2) environment, and the clean tunnel portion defined within the transfer module 2008A may have a vacuum environment, It may be a load lock that circulates the substrate between the inert gas air in the FEM and the vacuum air in the transfer module 2008A.

15 and 16, as well as the carrier can be directly connected to the vacuum portion of the substrate processing apparatus. 17, a substrate processing apparatus 3002 and a carrier 3100 connected thereto are shown. The carrier 3100 may be the same as the carrier 1100 described above. The substrate processing apparatus 3002 includes a front loading section 3004 (holding a conventional front loading section of a processing apparatus to be loaded from the front of the processing section 2006) connected thereto and is connected to the above- . In the embodiment shown in Fig. 17, the front loading portion 3004 can be configured to maintain a vacuum (or suitable air). The loading portion 3104 may include a substantially same chamber interface or load port 3010 as the load port interface 1010 described above that can receive the carrier 3100 and connect the carrier directly to vacuum air. When the carrier is integrated into the carrier of the load port rim interface and is open to the vacuum air in the loading portion 3004, the carrier opening of the load port rim interface, as described above, so as not to degrade the vacuum air provides sufficient integrity do. Here, the clean tunnel is provided from the inside of the carrier via the carrier-load port interface, and the clean tunnel loading unit 3004 and the processing module (s) 3006 communicate with the clean tunnel. Thus, when the carrier is integrated with the clean tunnel, the substrate robot in the vacuum loading section lifts or positions the substrate within the carrier and processing module (s) 3006, and directs the substrate directly therebetween via the clean tunnel Can be transported. The arrangement shown in Fig. 17 is merely exemplary. When the carrier is not connected, the loading opening of the front loading portion 3004 may be closed by a vacuum gate valve (or an appropriate closure) to maintain a vacuum inside the front loading portion 3004 have. In this embodiment, the front loading portion may include a fore section 3012 located towards the vacuum gate valve and connected to a port interface (such as the interface 101 described with reference to Figure 3) for the carrier 3001 have. The fore section 3012 may have a closable opening (closed using the same door as the door 8014 shown in FIG. 3) through which the loading portion communicates with the interior of the carrier And the clean tunnel is extended. Further, when the carrier is connected and opened, the front portion 3012 can form vacuum air. For example, the front portion 3012 can be positioned so that the carrier door can move from the carrier to the front portion 3012 through the loading opening. In this embodiment, because the carrier 3100 load can be a load lock as described above, the front can not be a load lock (but in other embodiments it is possible). Thus, the substrates are received in the carrier and have the same vacuum source 3010V as the vacuum source described above to form a vacuum condition suitable for the process vacuum condition in the transfer chamber of the loading section, with the inert gas (e.g., Air) can be injected. With the formation of a suitable vacuum condition for the carrier, the vacuum gate valve is open so that the vacuum robot of the loading part can lift or position the substrate into the carrier. The carrier door can be opened after the carrier is in a vacuum state. In this embodiment, the front portion can form a vacuum environment so that the carrier door can be easily opened. Here, the clean tunnel is installed to extend from the inside of the carrier through the front interface opening, and the transfer chamber and processing module (s) communicate with the clean tunnel. In the present embodiment, the front part forms inert air between the carrier interfaces to minimize the possibility of contaminant entry, in which the carrier door is opened (e.g., opening the carrier door to the front with inert gas air) The inert air can be injected into a suitable vacuum chamber. Here, a suitable vacuum source and gas may be provided at the front portion. In other embodiments, the carrier air can be injected concurrently with the carrier and the front portion by opening the carrier door prior to injecting the gaseous air from the carrier and using a vacuum source connected to the front vacuum source or the vacuum furnace on the carrier. In this embodiment, after the carrier door is closed in anticipation of transferring another substrate processing apparatus, the feeder 3010G can be used to fill the carrier 3100 with an inert gas (for example, N2).

As described above, the arrangement of the carrier in the substrate processing apparatus 3002 and the apparatus interface may have an appropriate configuration. 18 is a front view of the substrate processing apparatus 4002 according to another embodiment. In the embodiment shown in Fig. 18, the substrate processing apparatus 4002 is generally the same as the substrate processing apparatus 3002 shown in Fig. 17, and the same elements have the same reference numerals. The substrate processing apparatus 4002 may include processing modules 4006 and 4006A and an FEM 4004 having vacuum air (in other embodiments, inert gas or very clean dry air). One or more processing modules 4006 (vertically stacked or offset arrangement) may be connected to the vacuum FEM to allow the vacuum transfer robot 4004R to raise or lower the substrate to the same processing module as the embodiment shown in Figures 18 and 16. [ have. The processing modules 4006 and 4006a may share a common processing vacuum chamber with the loading unit 4004. The FE 4004 may include a loading interface or load port for loading and interfacing the carrier 4100 with the substrate processing apparatus in the same manner as described above. In this embodiment, the vacuum transfer robot 4004R can directly lift or position the substrate between the carrier 4100 and the one or more processing module (s) 4006, 4006A through the same clean tunnel as described above. 18, the length or configuration of the clean tunnel 4005 connected to the interior of the carrier through the FEM interfaces 4010 and 4012 and extending to the substrate module 4006 can be changed.

Referring to FIG. 18A, the substrate processing apparatus according to another embodiment can be configured so that the carrier 4100 is directly connected to the air of the clean tunnel 2005 'described with reference to FIG. In this embodiment, the transfer robot 4004R may be positioned adjacent to a carrier that transfers the substrate from the carrier to the transfer cart. For example, the substrate transfer system may be substantially the same as the transfer cart (s) described with reference to Figures 16A and 16B. As described above, in the transport module communicating with the clean tunnel, the cart (s) are transported in the clean tunnel 2005 'so that the transport robot 4004R can transport the substrate between the substrate processing module 4006 and the clean tunnel. Move to the appropriate position. In this embodiment, the clean tunnel transfer system can form multiple substrate transfer passages (particularly, offsets) in the clean tunnel between the carrier and the substrate processing module 4006. In this embodiment, the substrate processing modules 4006 can be arranged in a vertical stacking manner at each substrate processing module station. Thus, the substrate (s) can be transferred from the carrier of the load port to the corresponding substrate processing module (s) of the substrate processing apparatus, and can be restored to the respective carrier independently of the other processing passages of the substrate from other carriers. In other embodiments, to lift or release the substrate directly from the substrate processing module 4006 or transfer robot 4004R adjacent to the clean tunnel 2005 ', the cart may include a joint for extending and contracting the end effector An articulated arm or a movable transfer mechanism. 18B shows a substrate processing apparatus in which the carriers 4100 are directly coupled to a clean tunnel. In this embodiment, the substrate processing apparatus is substantially the same as the clean tunnel described with reference to Fig. 18A, but the transfer system 2004C 'may be substantially the same as the transfer system described with reference to Fig. 16B. The clean tunnel (or portions thereof) may have transfer passages that are spaced apart from one another vertically or horizontally. As described above, the clean tunnel transports substrates to different substrate processing modules or carriers stacked vertically or side by side across the substrate processing apparatus.

Interruption of crystal growth / corrosion; Reduction of queue time and simplification of storage management; Removal of air, Et halogen, Et organic compounds and water; Inhibition of FAB cross contamination risks; Reduction of carbon monoxide (CoO); Removal of airborne molecular contaminants (AMC) such as HF HLC and VOC formed on the carrier environment and substrate; The protection of the carrier and the substrate contained therein from contaminated environment for a long period of time; To activate gas passivation protection on both the substrate and the carrier; POD refresh and protection; And integrated gas measurement through spectra signature analysis can be provided by the disclosed system.

It will be appreciated that the disclosed embodiments may be used individually or in appropriate combination. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the following claims. It can be understood that it is possible. Accordingly, the present invention may include various changes and modifications and other equivalent embodiments.

The following is a claim.

Claims (11)

Performing registration of a carrier on a first registration interface; And
Moving the first registration interface to advance the carrier toward a second registration interface,
Wherein the contact between the carrier and the second registration interface causes a spontaneous relative movement between the carrier and the first registration interface from the advance of the carrier,
Wherein the relative movement is achieved by a combination of releasing the first registration interface with the carrier and causing the registration of the carrier to engage the second registration interface under the advance of the carrier, So as to automatically transition between the registration interface and the second registration interface. The method according to claim 1,
Wherein transferring the first registration interface towards the second registration interface through a contact point between the carrier and a second registration interface causes the carrier to be spontaneously lifted from the first registration interface. A method for loading a carrier on a port. The method according to claim 1,
Wherein the first registration interface comprises first registration portions configured to form a first motion coupling with the carrier. &Lt; RTI ID = 0.0 &gt; 11. &lt; / RTI &gt; The method of claim 3,
Wherein the second registration interface comprises second registration portions configured to form a second motion coupling with the carrier and wherein the second motion coupling is separate and distinct from the first motion coupling. A method for loading a carrier on a load port. The method according to claim 1,
Further comprising positioning the carrier with a handling system to effect registration of the carrier with the first registration interface. &Lt; RTI ID = 0.0 &gt; 8. &lt; / RTI &gt; The method according to claim 1,
Wherein shifting the first registration interface comprises moving the first registration interface relative to the second registration interface with a load port shuttle. The method according to claim 1,
Further comprising: forming a seal between the seal surface of the load port and the carrier after contact between the carrier and the second registration interface. &Lt; RTI ID = 0.0 &gt; 31. &lt; / RTI &gt; 8. The method of claim 7,
Wherein the seal between the seal surface of the load port and the carrier seals a high vacuum atmosphere shared between the carrier and the processing module. The method according to claim 1,
Further comprising engaging the carrier door with the load port door after contact between the carrier and the second registration interface. &Lt; RTI ID = 0.0 &gt;&lt; / RTI &gt; A substrate processing apparatus comprising:
Wherein the substrate processing apparatus includes a load port and an interface,
Wherein the at least one sealable load port opening is located within the load port opening plane and the at least one sealable load port opening is configured to be accessible to at least one processable environment of the substrate processing apparatus through at least one sealable load port opening, The load port including a load port flange surrounding the at least one sealable load port opening and the load port flange having a carrier shell disposed on the load port and defining an interior volume for receiving substrates Arranged to face the substrate carrier,
Wherein the carrier shell includes a sealable carrier opening disposed perpendicularly to the plane of the substrates positioned within the interior volume and a carrier flange surrounding the periphery of the sealable carrier opening, Allowing passage of substrates into and out,
Wherein the interface is an interface disposed along the load port opening plane at least in part to engage the load port flange and the carrier flange so that during engagement of the carrier shell with the interface, Wherein the carrier is configured to repeatedly position the carrier with respect to the load port in at least three vertical axes while allowing spontaneous relative movement of the carrier shell at the interface in a direction aligned with the load port. 11. The method of claim 10,
Wherein the at least a portion of the interface disposed along the load port opening plane includes a dynamic coupling disposed over the load port flange.

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