# US 12,217,991 B2 · Portable robotic semiconductor pod loader > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,217,991 B2 - Document ID: US12217991B2 - Status: Granted - Kind: B2 - Application number: 17/443,995 - Filed: 2021-07-29 - Published: 2023-02-02 - Granted: 2025-02-04 - Earliest claimed: 2021-07-29 - Assignees: Taiwan Semiconductor Manufacturing Company, Ltd. - Applicants: Taiwan Semiconductor Manufacturing Company Limited - Inventors: Chih-Kuo Chang; Cheng-Lung Wu; Ting-Yau Shiu; Wei-Chen Lee; Yang-Ann Chu; Jiun-Rong Pai - Web page: https://patentgrep.com/patent/US12217991B2 ## CPC - H10P 72/3202: {Mechanical details, e.g. rollers or belts} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1697: {Vision controlled systems} - B25J 19/021: {Optical sensing devices} - H10P 72/0606: {Position monitoring, e.g. misposition detection or presence detection} - H10P 72/3214: {by means of a cart or a vehicle} - H10P 72/3216: {using a general scheme of a conveying path within a factory} - H10P 72/3218: {Conveying cassettes, containers or carriers} - H10P 72/3221: {Overhead conveying} - H10P 72/3222: {Loading to or unloading from a conveyor} - H10P 72/3408: {Docking arrangements} - H10P 72/7602: {the wafers being placed on a robot blade or gripped by a gripper for conveyance} - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A portable robotic semiconductor pod loader may detect, with at least one sensor, receipt of a semiconductor pod on a load port of the portable robotic semiconductor pod loader. The at least one sensor is supported by the load port. The portable robotic semiconductor pod loader may cause a robot, of the portable robotic semiconductor pod loader, to align with the semiconductor pod provided on the load port. The portable robotic semiconductor pod loader may cause the robot to attach to the semiconductor pod, and may cause the robot to provide the semiconductor pod from the load port to a staging area of a semiconductor processing tool. ## Claims ### Claim 1 A portable robotic semiconductor pod loader, comprising: a base housing; a top housing provided above and supported by the base housing; a load port supported by the base housing and configured to receive a semiconductor pod from an overhead automated material handling system, wherein the load port is configured to: rotate the semiconductor pod to orient an opening of the semiconductor pod with a staging area of a semiconductor processing tool, and support at least one sensor configured to detect a presence or placement of the semiconductor pod on the load port; a robot supported by the top housing, wherein the robot is configured to provide the semiconductor pod from the load port to the staging area of the semiconductor processing tool; and a set of powered wheels supporting the base housing and enabling the base housing to autonomously or semi-autonomously move in an unbounded manner in three or more directions of a plane. ### Claim 2 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein a width of the portable robotic semiconductor pod loader is approximately equivalent to or greater than a width of the semiconductor processing tool. ### Claim 3 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein the at least one sensor comprises: at least one optical sensor to detect the presence or placement of the semiconductor pod on the load port. ### Claim 4 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein the robot is configured to: move the semiconductor pod along a first axis that is parallel with a width of the portable robotic semiconductor pod loader, move the semiconductor pod, to or from the staging area of the semiconductor processing tool, along a second axis that is perpendicular to the width of the portable robotic semiconductor pod loader, move the semiconductor pod, towards or away from the load port, along a third axis that is perpendicular to a top surface of the load port, or a combination thereof. ### Claim 5 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein the robot includes a gripper portion to attach to the semiconductor pod and to enable the robot to lift and provide the semiconductor pod from the load port to the staging area of the semiconductor processing tool. ### Claim 6 (depends on 5) The portable robotic semiconductor pod loader of claim 5, wherein the gripper portion has a rotational range of motion to enable the gripper portion to rotate the semiconductor pod so that a front opening of the semiconductor pod is facing an entrance of the semiconductor processing tool. ### Claim 7 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein the robot comprises: a belt conveyor system to move the semiconductor pod along a first axis; a robotic arm to rotate the semiconductor pod and to move the semiconductor pod along a second axis; and a ball screw to move the semiconductor pod along a third axis. ### Claim 8 (depends on 1) The portable robotic semiconductor pod loader of claim 1, wherein: the robot includes a gripper portion, the top housing includes a monitor, and the top housing is constructed of materials configured to provide rigidity to support weights of the robot, the gripper portion, and the monitor. ### Claim 9 A method, comprising: detecting, with at least one sensor, receipt of a semiconductor pod on a load port of a portable robotic semiconductor pod loader, wherein the portable robotic semiconductor pod loader is supported by a set of powered wheels that enable the portable robotic semiconductor pod loader to autonomously or semi-autonomously move in an unbounded manner in three or more directions of a plane, and wherein the load port is configured to rotate the semiconductor pod to orient an opening of the semiconductor pod with a staging area of a semiconductor processing tool and support the at least one sensor; causing a robot, of the portable robotic semiconductor pod loader, to align with the semiconductor pod provided on the load port; causing the robot to attach to the semiconductor pod; and causing the robot to provide the semiconductor pod from the load port to the staging area of the semiconductor processing tool. ### Claim 10 (depends on 9) The method of claim 9, further comprising: receiving, from an overhead hoist transportation system, the semiconductor pod on the load port to permit the at least one sensor to detect receipt of the semiconductor pod. ### Claim 11 (depends on 9) The method of claim 9, wherein causing the robot to align with the semiconductor pod comprises: causing the robot to align with the semiconductor pod along a first axis that is parallel with a width of the portable robotic semiconductor pod loader; and causing the robot to align with the semiconductor pod along a second axis that is perpendicular to the width of the portable robotic semiconductor pod loader, wherein the robot is provided above the semiconductor pod when the robot is aligned with the semiconductor pod along the first axis and the second axis. ### Claim 12 (depends on 9) The method of claim 9, wherein causing the robot to attach to the semiconductor pod comprises: causing the robot to move, downward and toward the load port, along an axis that is perpendicular to a top surface of the load port; causing a gripper portion of the robot to attach to the semiconductor pod; and causing the robot to move, upward and away from the load port, along the axis. ### Claim 13 (depends on 9) The method of claim 9, wherein causing the robot to provide the semiconductor pod from the load port to the staging area of the semiconductor processing tool comprises: causing the robot to move the semiconductor pod along a first axis, that is perpendicular to a width of the portable robotic semiconductor pod loader, until the semiconductor pod is located above the staging area; causing the robot to move the semiconductor pod, downward and toward the staging area, along a second axis that is perpendicular to a top surface of the staging area; causing a gripper portion of the robot to release the semiconductor pod on the staging area; and causing the robot to move, upward and away from the staging area, along the second axis. ### Claim 14 (depends on 9) The method of claim 9, wherein causing the robot to provide the semiconductor pod from the load port to the staging area of the semiconductor processing tool comprises: causing the robot to remove the semiconductor pod from the load port; causing the robot to rotate the semiconductor pod to orient the opening of the semiconductor pod with the staging area of the semiconductor processing tool; and causing the robot to provide the rotated semiconductor pod to the staging area of the semiconductor processing tool. ### Claim 15 (depends on 9) The method of claim 9, further comprising: providing, to a control device, a signal indicating that the semiconductor pod was provided to the staging area of the semiconductor processing tool. ### Claim 16 A portable robotic semiconductor pod loader, comprising: a housing that is movable to position the portable robotic semiconductor pod loader adjacent to a staging area of a semiconductor processing tool, wherein a set of powered wheels supporting the housing enables the housing to autonomously or semi-autonomously move in an unbounded manner in three or more directions of a plane; a plurality of load ports supported by the housing, wherein one of the plurality of load ports is configured to: receive a semiconductor pod from an overhead automated material handling system, rotate the semiconductor pod to orient an opening of the semiconductor pod with the staging area of the semiconductor processing tool, and support at least two sensors that are configured to detect a presence or placement of the semiconductor pod on the one of the plurality of load ports; and a robot supported by the housing, wherein the robot is configured to provide the semiconductor pod from the one of the plurality of load ports to the staging area of the semiconductor processing tool. ### Claim 17 (depends on 16) The portable robotic semiconductor pod loader of claim 16, wherein the at least two sensors comprise: at least one placement sensor to detect the placement of the semiconductor pod on the one of the plurality of load ports, and at least one presence sensor to detect the presence of the semiconductor pod on the one of the plurality of load ports. ### Claim 18 (depends on 16) The portable robotic semiconductor pod loader of claim 16, wherein the robot, when providing the semiconductor pod from the one of the plurality of load ports to the staging area, is configured to: align with the semiconductor pod along a first axis that is parallel with a width of the portable robotic semiconductor pod loader, align with the semiconductor pod along a second axis that is perpendicular to the width of the portable robotic semiconductor pod loader, wherein the robot is provided above the semiconductor pod when the robot is aligned with the semiconductor pod along the first axis and the second axis, move, downward and toward the one of the plurality of load ports, along a third axis that is perpendicular to a top surface of the one of the plurality of load ports, cause a gripper portion of the robot to attach to the semiconductor pod, move, upward away from the one of the plurality of load ports, along the third axis, and move the semiconductor pod along the second axis until the semiconductor pod is located at the staging area. ### Claim 19 (depends on 16) The portable robotic semiconductor pod loader of claim 16, wherein the robot, when providing the semiconductor pod from the one of the plurality of load ports to the staging area, is configured to: remove the semiconductor pod from the one of the plurality of load ports, rotate the semiconductor pod to orient the opening of the semiconductor pod with the staging area of the semiconductor processing tool, and provide the semiconductor pod, after rotating the semiconductor pod, to the staging area of the semiconductor processing tool. ### Claim 20 (depends on 16) The portable robotic semiconductor pod loader of claim 16, wherein the robot includes a gripper portion, with a thickness of less than approximately five millimeters, to connect with one or more grooves provided in the semiconductor pod.