# US 11,443,973 B2 · Robot for simultaneous substrate transfer > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,443,973 B2 - Document ID: US11443973B2 - Status: Granted - Kind: B2 - Application number: 16/922,727 - Filed: 2020-07-07 - Published: 2021-01-14 - Granted: 2022-09-13 - Earliest claimed: 2019-07-12 - Assignees: Applied Materials, Inc. - Applicants: Applied Materials, Inc. - Inventors: Jason M. Schaller; Luke Bonecutter; Charles T. Carlson; Rajkumar Thanu; Karuppasamy Muthukamatchi; Jeff Hudgens; Benjamin Riordon - Web page: https://patentgrep.com/patent/US11443973B2 ## CPC - H10P 72/3306: {Horizontal transfer of a single workpiece} - H10P 72/7602: {the wafers being placed on a robot blade or gripped by a gripper for conveyance} - B65G 47/90: Devices for picking-up and depositing articles or materials - H10P 72/0462: {characterised by the construction of the processing chambers, e.g. modular processing chambers} - H10P 72/0464: {characterised by the construction of the transfer chamber} - H10P 72/7621: {characterised by supporting two or more semiconductor substrates} - H10P 72/7626: {characterised by the construction of the shaft} - B65G 47/907: {with at least two picking-up heads} - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract Exemplary substrate processing systems may include a transfer region housing defining a transfer region fluidly coupled with a plurality of processing regions. A sidewall of the transfer region housing may define a sealable access for providing and receiving substrates. The systems may include a plurality of substrate supports disposed within the transfer region. The systems may also include a transfer apparatus having a central hub including a first shaft and a second shaft counter-rotatable with the first shaft. The transfer apparatus may include an eccentric hub extending at least partially through the central hub, and which is radially offset from a central axis of the central hub. The transfer apparatus may also include an end effector coupled with the eccentric hub. The end effector may include a plurality of arms having a number of arms equal to the number of substrate supports of the plurality of substrate supports. ## Claims ### Claim 1 A substrate processing system comprising: a transfer region housing defining a transfer region fluidly coupled with a plurality of processing regions disposed above the transfer region, wherein a sidewall of the transfer region housing defines a sealable access for providing and receiving substrates; a plurality of substrate supports disposed within the transfer region; and a transfer apparatus comprising: a central hub including a first shaft and a second shaft extending about and concentric with the first shaft, wherein the second shaft is counter-rotatable with the first shaft, and wherein the central hub is characterized by a central axis, wherein each of the plurality of substrate supports is at a fixed horizontal position relative to the central hub, an eccentric hub extending at least partially through the central hub, wherein the eccentric hub is radially offset from the central axis of the central hub, and wherein the eccentric hub is coupled with the first shaft of the central hub, and an end effector coupled with the eccentric hub, the end effector comprising a body having a plurality of arms equal to a total number of substrate supports of the plurality of substrate supports. ### Claim 2 (depends on 1) The substrate processing system of claim 1, wherein the plurality of substrate supports comprises at least four substrate supports, and wherein each processing region of the plurality of processing regions is vertically offset from the transfer region. ### Claim 3 (depends on 1) The substrate processing system of claim 1, wherein one or more linkages couples the eccentric hub with the first shaft of the central hub. ### Claim 4 (depends on 3) The substrate processing system of claim 3, wherein the one or more linkages comprises one or more belts extending about the first shaft or the eccentric hub or a plurality of gears coupled between the first shaft and the eccentric hub. ### Claim 5 (depends on 1) The substrate processing system of claim 1, wherein the end effector further comprises a plurality of end pieces configured to support a substrate. ### Claim 6 (depends on 5) The substrate processing system of claim 5, wherein each end piece extends vertically to a similar plane extending orthogonally to the central hub. ### Claim 7 (depends on 5) The substrate processing system of claim 5, wherein each arm includes a first end piece and a second end piece of the plurality of end pieces, the first end piece and the second end piece configured to support a substrate during movement of the end effector. ### Claim 8 (depends on 5) The substrate processing system of claim 5, wherein each first end piece and each second end piece define a recessed ledge and a shelf. ### Claim 9 (depends on 1) The substrate processing system of claim 1, wherein the central hub is vertically translatable along the central axis of the central hub. ### Claim 10 A method of transferring a substrate, the method comprising: receiving a substrate at a first substrate support within a transfer region of a substrate processing system, wherein the transfer region is fluidly coupled with a plurality of processing regions disposed above the transfer region, and wherein the substrate processing system includes a transfer apparatus positioned within the transfer region and comprising: a central hub including a first shaft and a second shaft extending about and concentric with the first shaft, an eccentric hub extending at least partially through the central hub, wherein the eccentric hub is radially offset from a central axis of the central hub, and wherein the eccentric hub is coupled with the first shaft of the central hub, and an end effector coupled with the eccentric hub, the end effector comprising a plurality of arms; engaging the substrate with an arm of the plurality of arms; rotating the second shaft in a first direction about the central axis of the central hub; rotating the first shaft in the first direction about the central axis of the central hub at a fixed ratio with the second shaft to radially reposition the substrate about the central axis within the transfer region; and delivering the substrate to a second substrate support within the transfer region of the substrate processing system, wherein each of the first substrate support and the second substrate support is at a fixed horizontal position relative to the central hub. ### Claim 11 (depends on 10) The method of transferring a substrate of claim 10, further comprising transitioning the transfer apparatus by further rotating the first shaft in the first direction or a second direction opposite the first direction about the central axis at an increased rate from a rate of the fixed ratio to laterally reposition the substrate along a radius extending from the central axis within the transfer region. ### Claim 12 (depends on 10) The method of transferring a substrate of claim 10, further comprising, subsequent engaging the substrate, lifting the substrate from the first substrate support by translating the transfer apparatus vertically within the transfer region of the substrate processing system. ### Claim 13 (depends on 10) The method of transferring a substrate of claim 10, further comprising, subsequent engaging the substrate, recessing the first substrate support from the substrate, wherein the substrate is received in the transfer region from a robot of a transfer chamber of the substrate processing system. ### Claim 14 (depends on 10) The method of transferring a substrate of claim 10, wherein each arm of the end effector comprises a first end piece and a second end piece, and wherein each first end piece and each second end piece define a recessed ledge and a shelf. ### Claim 15 (depends on 14) The method of transferring a substrate of claim 14, wherein engaging the substrate comprises rotating the arm across the substrate to position the substrate between the arm and the shelf of the first end piece and the shelf of the second end piece. ### Claim 16 (depends on 10) The method of transferring a substrate of claim 10, wherein the substrate processing system includes at least four substrates, and wherein engaging the substrate comprises individually or simultaneously engaging the at least four substrates with the end effector. ### Claim 17 (depends on 10) The method of transferring a substrate of claim 10, further comprising, prior to delivering the substrate to the second substrate support, delivering the substrate to an alignment hub positioned between the first substrate support and the second substrate support. ### Claim 18 A substrate processing system comprising: a transfer region housing defining a transfer region fluidly coupled with a plurality of processing regions above the transfer region, wherein a sidewall of the transfer region housing defines a sealable access for providing and receiving substrates; a plurality of substrate supports disposed within the transfer region; and a transfer apparatus positioned within the transfer region comprising: a central hub including a first shaft and a second shaft extending about the first shaft, wherein the second shaft is counter-rotatable with the first shaft, and wherein the central hub is characterized by a central axis, wherein each of the plurality of substrate supports is at a fixed horizontal position relative to the central hub, an eccentric hub extending at least partially through the central hub, wherein the eccentric hub is radially offset from the central axis of the central hub, and wherein the eccentric hub is coupled with the first shaft of the central hub with one or more linkages, and an end effector coupled with the eccentric hub, the end effector comprising a plurality of arms having a number of arms equal to a number of substrate supports of the plurality of substrate supports. ### Claim 19 (depends on 18) The substrate processing system of claim 18, wherein the end effector further comprises a plurality of end pieces configured to support a substrate, wherein each end piece extends vertically to a similar plane extending orthogonally to the central hub, and wherein each arm includes a first end piece and a second end piece of the plurality of end pieces, the first end piece and the second end piece configured to support a substrate during movement of the end effector. ### Claim 20 (depends on 18) The substrate processing system of claim 18, wherein the central hub is vertically translatable along the central axis of the central hub.