Electrostatic capacitance sensor

A wafer transfer apparatus, comprising:

• an internal space and a wafer transfer robot located in the internal space of the wafer transfer apparatus, the wafer transfer robot having an electrostatic capacitance sensor for measuring a distance between a detection unit and an object to be detected including an AC supply source for supplying AC voltage to the detection unit, a parasitic capacitance compensation circuit, an operational amplifier, a differential amplifier, a phase detection means and a low-pass filter, wherein an output terminal of the operational amplifier is connected to an inverting input terminal of the differential amplifier through a first band-pass filter, the AC supply source is connected to a non-inverting input terminal of the differential amplifier through a second band-pass filter, an output terminal of the differential amplifier is connected to an input terminal of the phase detection means, and the phase detection means uses an AC signal output from the AC supply source as a reference signal;
• a fan filter unit (FFU) for maintaining the internal space in a clean state;
• a load port for loading a storage container for storing the semiconductor wafer and for opening and closing a lid of the storage container;
• and,
• a static eliminator installed near a ceiling of the wafer transfer apparatus for eliminating static electricity in the internal space, wherein a frequency of a carrier wave output from the AC supply source is higher than a frequency of a power supply applied to an emitter of the static eliminator.

A wafer transfer robot, comprising:

• an electrostatic capacitance sensor for measuring a distance between a detection unit and an object to be detected including an AC supply source for supplying AC voltage to the detection unit, a parasitic capacitance compensation circuit, an operational amplifier, a differential amplifier, a phase detection means and a low-pass filter, wherein an output terminal of the operational amplifier is connected to an inverting input terminal of the differential amplifier through a first band-pass filter, the AC supply source is connected to a non-inverting input terminal of the differential amplifier through a second band-pass filter, an output terminal of the differential amplifier is connected to an input terminal of the phase detection means, and the phase detection means uses an AC signal output from the AC supply source as a reference signal;
• a plurality of wafer hands;
• a finger provided on each of the wafer hands to hold a semiconductor wafer, and,
• arm bodies for moving the wafer hands forward and backward, wherein the detection unit is located on each of the fingers.