JP7008609B2 - 基板処理装置、及び搬送位置補正方法 - Google Patents
基板処理装置、及び搬送位置補正方法 Download PDFInfo
- Publication number
- JP7008609B2 JP7008609B2 JP2018196683A JP2018196683A JP7008609B2 JP 7008609 B2 JP7008609 B2 JP 7008609B2 JP 2018196683 A JP2018196683 A JP 2018196683A JP 2018196683 A JP2018196683 A JP 2018196683A JP 7008609 B2 JP7008609 B2 JP 7008609B2
- Authority
- JP
- Japan
- Prior art keywords
- pick
- substrate
- wafer
- previously described
- described pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 53
- 230000003028 elevating effect Effects 0.000 claims description 88
- 230000007246 mechanism Effects 0.000 claims description 83
- 238000001514 detection method Methods 0.000 claims description 78
- 239000000758 substrate Substances 0.000 claims description 72
- 230000007723 transport mechanism Effects 0.000 claims description 40
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 235000012431 wafers Nutrition 0.000 description 151
- 238000010586 diagram Methods 0.000 description 20
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000009792 diffusion process Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/02—Manufacture or treatment of semiconductor devices or of parts thereof
- H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having at least one potential-jump barrier or surface barrier, e.g. PN junction, depletion layer or carrier concentration layer
- H01L21/50—Assembly of semiconductor devices using processes or apparatus not provided for in a single one of the subgroups H01L21/06 - H01L21/326, e.g. sealing of a cap to a base of a container
- H01L21/52—Mounting semiconductor bodies in containers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67161—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers
- H01L21/67167—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the layout of the process chambers surrounding a central transfer chamber
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67196—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the construction of the transfer chamber
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67712—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations the substrate being handled substantially vertically
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67748—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber horizontal transfer of a single workpiece
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/682—Mask-wafer alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/6831—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using electrostatic chucks
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/6831—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using electrostatic chucks
- H01L21/6833—Details of electrostatic chucks
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68714—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a susceptor, stage or support
- H01L21/68742—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a susceptor, stage or support characterised by a lifting arrangement, e.g. lift pins
Description
以上、一実施形態に係る基板処理装置及び搬送位置補正方法について説明したが、開示技術はこれに限定されるものではなく、種々の実施形態にて基板処理装置及び搬送位置補正方法を実現しても良い。
10 真空搬送チャンバ
11~16 真空処理モジュール
17 ロードロックチャンバ
30 搬送機構
31 第1のピック
32 第2のピック
33 位置検出機構
60 制御装置
61 制御部
62 記憶部
100 プラズマ処理装置
102 処理チャンバ
200 載置台
232 昇降ピン
234 駆動機構
611 搬送制御部
612 調整部
613 検出部
614 補正部
621 ピック位置情報
W ウエハ
Claims (6)
- 基板を保持する第1のピックを有し、前記基板を搬送する搬送機構と、
前記搬送機構によって搬送される前記基板の位置を検出する検出機構と、
前記搬送機構及び前記検出機構を収容する搬送チャンバに接続された処理チャンバと、
前記処理チャンバ内に設けられ、前記基板が載置される載置台と、
前記載置台に対して進退自在に設けられ、前記基板を昇降させる昇降機構と、
前記搬送機構及び前記昇降機構を制御する制御装置と
を備え、
前記制御装置は、
前記搬送機構の前記第1のピックの位置を調整するティーチング処理を行う調整部と、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、及び前記載置台から前記第1のピックへ前記基板を受け渡し、前記載置台から前記第1のピックに受け渡された前記基板の第1の位置を前記検出機構によって検出する検出部と、
前記基板の第1の位置と予め検出された基準位置とのずれ量に基づいて、前記第1のピックの位置を補正する補正部と
を備え、
前記搬送機構は、
基板を保持する第2のピックをさらに有し、
前記調整部は、
前記搬送機構の前記第1のピックの位置及び前記第2のピックの位置を調整するティーチング処理を行い、
前記検出部は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、前記載置台から前記第2のピックへ、及び前記第2のピックから前記第1のピックへ前記基板を受け渡し、前記第2のピックから前記第1のピックに受け渡された前記基板の第2の位置を前記検出機構によって検出し、
前記補正部は、
前記基板の第2の位置と前記基板の第1の位置とのずれ量に基づいて、前記第2のピックの位置を補正することを特徴とする基板処理装置。 - 前記検出部は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、及び前記載置台から前記第1のピックへ前記基板を受け渡し、前記載置台から前記第1のピックに受け渡された前記基板の第1の位置を前記検出機構によって検出する処理を繰り返すことで、複数の前記第1の位置の平均値を算出し、
前記補正部は、
複数の前記第1の位置の平均値と前記基準位置とのずれ量に基づいて、前記第1のピックの位置を補正することを特徴とする請求項1に記載の基板処理装置。 - 前記検出部は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、前記載置台から前記第2のピックへ、及び前記第2のピックから前記第1のピックへ前記基板を受け渡し、前記第2のピックから前記第1のピックに受け渡された前記基板の第2の位置を前記検出機構によって検出する処理を繰り返すことで、複数の前記第2の位置の平均値を算出し、
前記補正部は、
複数の前記第2の位置の平均値と前記基板の第1の位置とのずれ量に基づいて、前記第2のピックの位置を補正することを特徴とする請求項1又は2に記載の基板処理装置。 - 基板を保持する第1のピックを有し、前記基板を搬送する搬送機構と、
前記搬送機構によって搬送される前記基板の位置を検出する検出機構と、
前記搬送機構及び前記検出機構を収容する搬送チャンバに接続された処理チャンバと、
前記処理チャンバ内に設けられ、前記基板が載置される載置台と、
前記載置台に対して進退自在に設けられ、前記基板を昇降させる昇降機構と、
前記搬送機構及び前記昇降機構を制御する制御装置と
を備える基板処理装置における前記制御装置が実行する搬送位置補正方法であって、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、及び前記載置台から前記第1のピックへ前記基板を受け渡し、前記載置台から前記第1のピックに受け渡された前記基板の第1の位置を前記検出機構によって検出し、
前記基板の第1の位置と予め検出された基準位置とのずれ量に基づいて、前記第1のピックの位置を補正し、
前記搬送機構は、
基板を保持する第2のピックをさらに有し、
前記検出する処理は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、前記載置台から前記第2のピックへ、及び前記第2のピックから前記第1のピックへ前記基板を受け渡し、前記第2のピックから前記第1のピックに受け渡された前記基板の第2の位置を前記検出機構によって検出し、
前記補正する処理は、
前記基板の第2の位置と前記基板の第1の位置とのずれ量に基づいて、前記第2のピックの位置を補正することを特徴とする搬送位置補正方法。 - 前記検出する処理は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、及び前記載置台から前記第1のピックへ前記基板を受け渡し、前記載置台から前記第1のピックに受け渡された前記基板の第1の位置を前記検出機構によって検出する処理を繰り返すことで、複数の前記第1の位置の平均値を算出し、
前記補正する処理は、
複数の前記第1の位置の平均値と前記基準位置とのずれ量に基づいて、前記第1のピックの位置を補正することを特徴とする請求項4に記載の搬送位置補正方法。 - 前記検出する処理は、
前記搬送機構及び前記昇降機構を制御して、前記第1のピックから前記載置台へ、前記載置台から前記第2のピックへ、及び前記第2のピックから前記第1のピックへ前記基板を受け渡し、前記第2のピックから前記第1のピックに受け渡された前記基板の第2の位置を前記検出機構によって検出する処理を繰り返すことで、複数の前記第2の位置の平均値を算出し、
前記補正する処理は、
複数の前記第2の位置の平均値と前記基板の第1の位置とのずれ量に基づいて、前記第2のピックの位置を補正することを特徴とする請求項4又は5に記載の搬送位置補正方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018196683A JP7008609B2 (ja) | 2018-10-18 | 2018-10-18 | 基板処理装置、及び搬送位置補正方法 |
TW108136253A TWI829776B (zh) | 2018-10-18 | 2019-10-07 | 基板處理裝置及搬送位置修正方法 |
KR1020190128535A KR20200043911A (ko) | 2018-10-18 | 2019-10-16 | 기판 처리 장치 및 반송 위치 보정 방법 |
US16/655,504 US10971385B2 (en) | 2018-10-18 | 2019-10-17 | Substrate processing apparatus and transfer position correcting method |
CN201910993949.9A CN111081599A (zh) | 2018-10-18 | 2019-10-18 | 基板处理装置和搬送位置校正方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018196683A JP7008609B2 (ja) | 2018-10-18 | 2018-10-18 | 基板処理装置、及び搬送位置補正方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2020065003A JP2020065003A (ja) | 2020-04-23 |
JP2020065003A5 JP2020065003A5 (ja) | 2021-08-26 |
JP7008609B2 true JP7008609B2 (ja) | 2022-01-25 |
Family
ID=70279744
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018196683A Active JP7008609B2 (ja) | 2018-10-18 | 2018-10-18 | 基板処理装置、及び搬送位置補正方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10971385B2 (ja) |
JP (1) | JP7008609B2 (ja) |
KR (1) | KR20200043911A (ja) |
CN (1) | CN111081599A (ja) |
TW (1) | TWI829776B (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7365924B2 (ja) * | 2020-02-13 | 2023-10-20 | 東京エレクトロン株式会社 | ティーチング方法 |
CN112216636A (zh) * | 2020-08-27 | 2021-01-12 | 西安奕斯伟硅片技术有限公司 | 一种晶圆外延反应设备 |
KR102463121B1 (ko) * | 2021-09-30 | 2022-11-04 | 한국야스카와전기(주) | 반도체용 웨이퍼의 보정-반송장치 및 이의 보정-반송방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001338969A (ja) | 2000-05-26 | 2001-12-07 | Tokyo Electron Ltd | 被処理体の搬送システムおよび被処理体の位置ずれ量の検出方法 |
JP2006351884A (ja) | 2005-06-16 | 2006-12-28 | Tokyo Electron Ltd | 基板搬送機構及び処理システム |
JP2008147483A (ja) | 2006-12-12 | 2008-06-26 | Tokyo Electron Ltd | 基板処理装置および基板搬送方法、ならびにコンピュータプログラム |
JP2013045817A (ja) | 2011-08-23 | 2013-03-04 | Hitachi High-Technologies Corp | 真空処理装置および真空処理方法 |
Family Cites Families (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3880769B2 (ja) * | 1999-04-02 | 2007-02-14 | 東京エレクトロン株式会社 | 搬送装置の位置合わせ方法および基板処理装置 |
JP4207530B2 (ja) * | 2002-10-28 | 2009-01-14 | 東京エレクトロン株式会社 | 被処理体の搬送機構 |
US7728256B2 (en) * | 2003-12-24 | 2010-06-01 | Lg Display Co., Ltd. | Silicon crystallization apparatus and silicon crystallization method thereof |
KR20070048650A (ko) * | 2004-08-31 | 2007-05-09 | 가부시키가이샤 니콘 | 위치 맞춤 방법, 처리 시스템, 기판의 투입 재현성 계측방법, 위치 계측 방법, 노광 방법, 기판 처리 장치, 계측방법 및 계측 장치 |
JP2007251090A (ja) | 2006-03-20 | 2007-09-27 | Tokyo Electron Ltd | 真空処理装置の搬送位置合わせ方法、真空処理装置及びコンピュータ記憶媒体 |
JP5132904B2 (ja) * | 2006-09-05 | 2013-01-30 | 東京エレクトロン株式会社 | 基板位置決め方法,基板位置検出方法,基板回収方法及び基板位置ずれ補正装置 |
JP2008173744A (ja) * | 2007-01-22 | 2008-07-31 | Tokyo Electron Ltd | 搬送システムの搬送位置合わせ方法 |
JP5146641B2 (ja) * | 2007-06-06 | 2013-02-20 | 株式会社安川電機 | 基板搬送ロボットおよび基板搬送ロボットの制御方法 |
US7724007B2 (en) * | 2007-09-28 | 2010-05-25 | Tokyo Electron Limited | Probe apparatus and probing method |
JP2012121680A (ja) * | 2010-12-08 | 2012-06-28 | Yaskawa Electric Corp | 基板搬送用ハンド、基板搬送用ロボットシステム、基板位置ずれ検出方法、及び基板位置補正方法 |
US9793148B2 (en) * | 2011-06-22 | 2017-10-17 | Asm Japan K.K. | Method for positioning wafers in multiple wafer transport |
JP2013018617A (ja) * | 2011-07-12 | 2013-01-31 | Murata Machinery Ltd | 搬送車 |
KR20130009700A (ko) * | 2011-07-15 | 2013-01-23 | 도쿄엘렉트론가부시키가이샤 | 기판 반송 장치, 기판 처리 시스템, 기판 반송 방법, 및 기억 매체 |
JP5940342B2 (ja) * | 2011-07-15 | 2016-06-29 | 東京エレクトロン株式会社 | 基板搬送装置、基板処理システムおよび基板搬送方法、ならびに記憶媒体 |
JP5673577B2 (ja) * | 2012-02-07 | 2015-02-18 | 東京エレクトロン株式会社 | 基板処理装置、基板処理方法及び記憶媒体 |
JP6059537B2 (ja) * | 2013-01-09 | 2017-01-11 | 株式会社Screenホールディングス | 熱処理装置 |
CN105814677B (zh) * | 2013-10-18 | 2019-06-18 | 布鲁克斯自动化公司 | 处理设备 |
US9786530B2 (en) * | 2014-10-20 | 2017-10-10 | Taiwan Semiconductor Manufacturing Co., Ltd. | Wafer transfer method and system |
JP6880364B2 (ja) * | 2015-08-18 | 2021-06-02 | 株式会社Screenホールディングス | 基板処理装置および基板処理方法 |
JP6842934B2 (ja) * | 2017-01-27 | 2021-03-17 | 株式会社Screenホールディングス | 基板搬送装置、検出位置較正方法および基板処理装置 |
JP6862903B2 (ja) * | 2017-02-23 | 2021-04-21 | 東京エレクトロン株式会社 | 基板搬送装置、基板搬送方法及び記憶媒体 |
JP6869111B2 (ja) * | 2017-06-06 | 2021-05-12 | 東京エレクトロン株式会社 | 基板受け渡し方法及び基板処理装置 |
JP2019002065A (ja) * | 2017-06-20 | 2019-01-10 | 株式会社荏原製作所 | めっき装置、及びプログラムを記録した記録媒体 |
-
2018
- 2018-10-18 JP JP2018196683A patent/JP7008609B2/ja active Active
-
2019
- 2019-10-07 TW TW108136253A patent/TWI829776B/zh active
- 2019-10-16 KR KR1020190128535A patent/KR20200043911A/ko not_active Application Discontinuation
- 2019-10-17 US US16/655,504 patent/US10971385B2/en active Active
- 2019-10-18 CN CN201910993949.9A patent/CN111081599A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001338969A (ja) | 2000-05-26 | 2001-12-07 | Tokyo Electron Ltd | 被処理体の搬送システムおよび被処理体の位置ずれ量の検出方法 |
JP2006351884A (ja) | 2005-06-16 | 2006-12-28 | Tokyo Electron Ltd | 基板搬送機構及び処理システム |
JP2008147483A (ja) | 2006-12-12 | 2008-06-26 | Tokyo Electron Ltd | 基板処理装置および基板搬送方法、ならびにコンピュータプログラム |
JP2013045817A (ja) | 2011-08-23 | 2013-03-04 | Hitachi High-Technologies Corp | 真空処理装置および真空処理方法 |
Also Published As
Publication number | Publication date |
---|---|
JP2020065003A (ja) | 2020-04-23 |
TWI829776B (zh) | 2024-01-21 |
US20200126828A1 (en) | 2020-04-23 |
TW202025365A (zh) | 2020-07-01 |
KR20200043911A (ko) | 2020-04-28 |
US10971385B2 (en) | 2021-04-06 |
CN111081599A (zh) | 2020-04-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR102250215B1 (ko) | 포커스 링 교환 방법 | |
JP7008609B2 (ja) | 基板処理装置、及び搬送位置補正方法 | |
JP7349845B2 (ja) | 基板処理システムにおける搬送方法 | |
KR20200022682A (ko) | 버퍼 유닛, 그리고 이를 가지는 기판 처리 장치 및 방법 | |
KR20200022681A (ko) | 버퍼 유닛, 그리고 이를 가지는 기판 처리 장치 및 방법 | |
JP6824461B2 (ja) | 処理システム | |
JP2012049306A (ja) | プラズマ処理装置 | |
JP2010010259A (ja) | 真空処理装置 | |
JP6719629B2 (ja) | プラズマ処理システム及び搬送方法 | |
JP7441711B2 (ja) | 基板支持台、プラズマ処理システム及びエッジリングの載置方法 | |
KR102277547B1 (ko) | 기판 처리 장치 및 기판 안착 상태 판단 방법 | |
KR20160144315A (ko) | 표면 개질 방법, 컴퓨터 기억 매체, 표면 개질 장치 및 접합 시스템 | |
JP7425149B2 (ja) | プラズマ処理システム | |
KR102232666B1 (ko) | 기판 처리 장치 및 부품 상태 검출 방법 | |
KR20230101644A (ko) | 기판 처리 장치 및 기판 처리 방법 | |
KR20210027647A (ko) | 기판 처리 장치 및 핸드 위치 티칭 방법 | |
JP2019186579A (ja) | プラズマ処理システム及びフォーカスリング交換方法 | |
KR20200078774A (ko) | 반송 유닛, 그를 포함하는 기판 처리 장치 및 기판 처리 방법 | |
CN116762153A (zh) | 表面改性装置和接合强度判定方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210716 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210716 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20210716 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210831 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20211214 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220111 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7008609 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |