WO2005098934A1 - 半導体処理装置及び方法 - Google Patents
半導体処理装置及び方法 Download PDFInfo
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- WO2005098934A1 WO2005098934A1 PCT/JP2005/003035 JP2005003035W WO2005098934A1 WO 2005098934 A1 WO2005098934 A1 WO 2005098934A1 JP 2005003035 W JP2005003035 W JP 2005003035W WO 2005098934 A1 WO2005098934 A1 WO 2005098934A1
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- transfer
- arm device
- transfer arm
- chamber
- processing
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- 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
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- 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
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- 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
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- 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
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- 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
- H01L21/681—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 using optical controlling means
Definitions
- the present invention relates to a semiconductor processing apparatus having a mechanism for adjusting a tilt of a transfer arm device, and a semiconductor processing method using the same.
- semiconductor processing refers to a process in which a semiconductor layer, an insulating layer, a conductive layer, and the like are formed on a substrate to be processed such as a semiconductor wafer or a glass substrate for an LCD (Liquid Crystal Display) or an FPD (Flat Panel Display).
- Forming by means means various processes performed for manufacturing a structure including a semiconductor device and wirings and electrodes connected to the semiconductor device on the substrate to be processed. Background art
- FIG. 12 is a plan view schematically showing such a conventional multi-chamber type semiconductor processing apparatus.
- this processing apparatus has an air transfer chamber 10 arranged in parallel with the cassette stage 1.
- a multi-joint type transfer arm device 11 that can bend and extend and turn is arranged.
- a hexagonal vacuum transfer chamber 14 is connected to the atmospheric transfer chamber 10 via two load lock chambers 12.
- a multi-joint transfer arm device 13 that can bend and extend and pivot is arranged.
- the transfer chamber 14 is connected to four vacuum processing chambers 15 (for example, for performing film formation and etching).
- the respective chambers are connected via a gate valve 16.
- a cassette container 20 containing, for example, 25 wafers W in a shelf shape is placed on the cassette stage 1.
- the wafer W is transferred from the cassette container 20 to the load lock chamber 12 by the transfer arm device 11.
- the wafer W is transferred from the load lock chamber 12 to the transfer chamber 14 by the transfer arm device 13.
- the wafer W is carried into one of the processing chambers 15 which is empty and undergoes, for example, an etching process.
- the wafer W is first transferred from the transfer arm device 13 to three lifter pins (not shown), and then placed on the wafer W by lowering the lifter pins. It is placed on the table 15a.
- a virtual reference plane is set in the entire apparatus, and a shift of the transfer surface of the wafer W by the transfer arm device 13 with respect to this surface, that is, a back surface of the wafer W is considered.
- the transfer surface In order to ensure the transfer of the wafer W, it is required that the transfer surface be within ⁇ 0.3 mm from the virtual reference plane in the entire access range of the transfer arm device 13.
- the reason why such accuracy is required is that the transfer port of the gate valve 16 is formed very narrow in recent years. This is because the symmetry in the processing chamber 15 is improved to improve the uniformity of the plasma, and the opening and closing mechanism of the gate valve 16 is reduced in size.
- the back surface of the wafer W is inclined with respect to the virtual reference plane! /, The three lifter pins will not simultaneously hit the back surface of the wafer W when transferring the wafer W to the lifter pins. In this case, the transfer operation of the wafer W becomes unstable.
- An object of the present invention is to provide a semiconductor processing apparatus and method capable of transporting a substrate to be processed at a high level by a transport arm device.
- a first aspect of the present invention is a semiconductor processing apparatus
- a transfer chamber having a plurality of transfer ports arranged at different positions in a lateral direction, and a semiconductor processing for a substrate to be processed connected to the transfer chamber via one of the plurality of transfer ports. Processing room,
- a transfer arm device disposed in the transfer chamber for transferring the substrate to be processed through the plurality of transfer ports;
- a second aspect of the present invention provides:
- FIG. 1 is a plan view schematically showing a semiconductor processing apparatus according to an embodiment of the present invention.
- FIG. 2 is a longitudinal sectional view showing a vacuum transfer chamber and one vacuum processing chamber of the apparatus shown in FIG. 1.
- FIG. 3 is a perspective view showing a transport port of the apparatus shown in FIG. 1.
- FIG. 4A is a cross-sectional view showing a swing table that supports a transfer arm device arranged in a vacuum transfer chamber of the apparatus shown in FIG. 1.
- FIG. 4B is a plan view of the swing table shown in FIG. 4A.
- FIG. 5A is a perspective view showing a mode of detecting a tilt of a transfer arm device of the apparatus shown in FIG. 1.
- FIG. 5B is a perspective view showing a detector (dummy substrate) for detecting the inclination of the transfer arm device shown in FIG. 5A.
- FIG. 6 is an explanatory view showing a control unit for adjusting the inclination of the transfer arm device in the apparatus shown in FIG. 1.
- FIG. 7 shows the inclination of the transfer arm device in the apparatus shown in FIG. 6 is a flowchart showing a process of adjusting in a use mode.
- FIG. 8 is a bottom view showing a modified example of the transfer arm device of the apparatus shown in FIG. 1.
- FIG. 9 is a perspective view showing a modified example of the transport port of the apparatus shown in FIG. 1.
- FIG. 10 is a plan view schematically showing a semiconductor processing apparatus according to another embodiment of the present invention.
- FIG. 11 is a cross-sectional view showing a swing table that supports a transfer arm device provided in a vacuum transfer chamber of the apparatus shown in FIG. 10.
- FIG. 12 is a plan view schematically showing a conventional multi-chamber type semiconductor processing apparatus.
- a mechanism for adjusting the height of the transfer arm device 13 may be provided.
- Z-axis adjustment mechanism for adjusting the height of the transfer arm device 13.
- the wafer W is tilted with respect to the virtual reference plane and cannot be adjusted.
- Such a phenomenon is caused, for example, by the occurrence of undulation at the bottom of the transfer chamber 14 in which the transfer arm device 13 is installed, due to deformation due to stress at the time of evacuation or a limit of manufacturing accuracy.
- FIG. 1 is a plan view schematically showing a semiconductor processing apparatus according to an embodiment of the present invention.
- FIG. 2 is a longitudinal sectional view showing a vacuum transfer chamber and one vacuum processing chamber of the apparatus shown in FIG.
- the processing apparatus has a cassette stage 2 in which a plurality of cassette containers 20 containing, for example, 25 semiconductor wafers W as substrates to be processed in a shelf shape can be placed. It becomes.
- a transfer stage 21 is disposed adjacent to one side surface of the cassette stage 2 in the longitudinal direction.
- the transfer stage 21 is provided with a multi-joint type transfer arm device 22 that can be bent and extended and turned in order to transfer the wafer W.
- the transfer arm device 22 is disposed so as to be slidable along the guide rail 23, and thereby can access the wafer W in any of the cassette containers 20.
- a vacuum transfer chamber 3 capable of evacuating the inside is connected to the rear side of the lock chambers 24A and 24B via gate valves 26A and 26B.
- the transfer chamber 3 is formed in a polygon, for example, a hexagon when viewed from above.
- One transfer port 33 is formed on each of the six side surfaces of the transfer chamber 3. That is, the transfer chamber 3 has a plurality of transfer ports 33 arranged at different positions in the lateral direction.
- Load lock chambers 24A and 24B are connected to transfer ports 33 on two sides of the transfer chamber 3 via gate valves 26A and 26B, respectively.
- four vacuum processing chambers 4A, 4B, 4C, and 4D are hermetically connected to the transfer ports 33 on the four side surfaces of the transfer chamber 3 via gate valves 31A, 31B, 31C, and 31D, respectively.
- the transfer chamber 3 may be formed, for example, in a circular or elliptical shape as long as the processing chambers 4A to 4D can be connected radially.
- One end of the transfer stage 21 is connected to an orienter 27 which is a device for determining the positions of the eno and the W.
- the orienter 27 detects the amount of eccentricity, the eccentric direction, and the azimuth of the wafer W by optically observing the periphery of the notch or the like while rotating the wafer W.
- the processing chambers 4A to 4D are set to perform the same or different kinds of processing from various kinds of processing such as film formation, diffusion, and etching.
- a treatment for etching a silicon nitride film or a silicon nitride film can be performed using a CF-based process gas.
- a treatment for etching a tungsten silicide film or a polycrystalline silicon film can be performed.
- FIG. 2 shows an etching processing chamber for etching a wafer W by plasma in a vacuum atmosphere as an example of the processing chambers 4A to 4D.
- the etching chamber 4A (4B-4D) has an airtight container 41 for creating a vacuum state.
- a gas shower head 42 also serving as an upper electrode is provided.
- a processing gas including, for example, a halogenated carbon gas, an oxygen gas and an argon gas is supplied into the airtight container 41.
- An exhaust port 45 for exhausting the processing gas is formed at the bottom of the airtight container 41.
- a mounting table 43 on which the wafer W is mounted and also serves as a lower electrode is disposed inside the airtight container 41 so as to face the gas shower head 42.
- a focus ring 44 is provided on the mounting table 43 so as to surround the outer peripheral edge of the wafer W with a gap.
- An RF power supply (not shown) for applying a radio frequency (RF) electric field for plasma generation is connected to the upper electrode (gas showerhead 42).
- An RF power supply (not shown) for applying a bias voltage is connected to the lower electrode (mounting table 43).
- FIG. 3 is a perspective view showing the transport port 33 of the apparatus shown in FIG.
- a transfer port 33 is formed in a partition wall 32 (the wall surface of the airtight container 41) that separates the transfer chamber 3 from the processing chambers 4A-4D.
- the transfer port 33 is formed in a strip shape extending laterally, and has a frame protruding toward the transfer chamber 3 on its periphery.
- the gate valve 31A (31B-31D) is disposed so as to close the transfer port 33 (not shown in FIG. 3).
- the gate valve 31A (31B-31D) is opened by an opening / closing mechanism (not shown), the transfer of the wafer W between the transfer chamber 3 and the processing chambers 4A-4D becomes possible.
- the length and width of the transfer port 33 are formed small in order to improve the symmetry in the processing chambers 4A-4D and improve the uniformity of semiconductor processing.
- an articulated transfer arm device 5 that can bend and extend and pivot is provided.
- the transfer arm device 5 is, for example, a hand 51a that supports the back side of the wafer W in a downward direction, and a middle arm 51b and a lower arm 51c.
- the lower arm 51c is supported by the plate 53 on the upper part of the driving table 52.
- a transmission unit (not shown) for transmitting a turning operation from the drive mechanism 55 described below is provided inside each of the joint arms 51a to 51c.
- FIG. 4A is a cross-sectional view showing the swing table 52 that supports the transfer arm device 5 disposed in the vacuum transfer chamber 3 of the apparatus shown in FIG.
- FIG. 4B is a plan view of the swing table 52 shown in FIG. 4A.
- the swing table 52 has a bottomed cylindrical casing 54. Inside the casing 54, a drive mechanism 55 for bending and stretching the transfer arm device 5 and rotating it around the vertical axis is provided.
- the drive mechanism 55 is specifically composed of a motor for expanding and contracting the transfer arm device 5 and a motor for rotating the entire transfer arm device 5. This allows the transfer arm device 5 to bend, stretch and turn, for example, while supporting the wafer W.
- the swing table 52 is provided so as to pass through an opening 3 a formed in the bottom of the transfer chamber 3.
- the opening 3a is closed from below by a cover 57 projecting downward.
- a spherical projection 58a protruding outward and downward is provided in the center of the bottom of the casing 54 of the swing table 52.
- the spherical protrusion 58a is operably fitted to a receiving portion 58b provided on the inner surface of the cover 57. This forms a universal joint in which the swing table 52 can be tilted even if it is 360 °!
- the casing 54 of the rocking table 52 is also provided on the inner surface of the cover 57 independently of each other.
- the lower side force is supported by, for example, three adjusters 6A, 6B, 6C that can be raised and lowered.
- the adjusters 6A, 6B, and 6C are arranged on the same circle centered on, for example, the spherical projection 58a (see FIG. 4B).
- the adjusters 6A-6C constitute a tilt adjusting mechanism (tilt adjusting mechanism) for adjusting the tilt of the transfer arm device 5 by adjusting the tilt of the swing table 52.
- the transfer arm device 5 is integrated with the swing table 52 with the center of the spherical projection 58a as a fulcrum.
- the inclination can be adjusted.
- the number of adjusters 6A-6C is not limited to three, but it is sufficient if there are three or more.
- a bellows (flexible wall) 59 for maintaining the airtightness of the transfer chamber 3 is provided between the upper peripheral edge of the casing 54 of the swing table 52 and the bottom of the transfer chamber 3.
- the bellows 59 isolates the space in which the adjusters 6A-6C and the universal 'joints 58a, 58b are present from the inside of the transfer chamber 3.
- Bellows 59 also allows movement of swing table 52 in any of 360 degrees.
- each adjuster 6A (6B, 6C) has an upwardly extending guide 61A (61B, 61C) disposed on the inner surface of the cover 57.
- the guide 61A (61B, 61C) has an external thread 62A (62B, 62C) formed along its surface.
- a female screw 63A (63B, 63C) formed in a shaft hole of the first gear 64A (64B, 64C) is screwed to the male screw 62A (62B, 62C).
- Projections 65A (65B, 65C) are formed on the upper end surface of the first gear 64A (64B, 64C), which also support the casing 54 in the downward direction.
- Second gear 66A (66B, 66C) is arranged to mesh with first gear 64A (64B, 64C).
- the second gear 66A (66B, 66C) is attached to a drive unit, for example, a rotating shaft of a motor 67A (67B, 67C).
- a motor 67A (67B, 67C)
- the motor 67A (67B, 67C) is driven to rotate the second gear 66A (66B, 66C) around the vertical axis
- the first gear 64A (64B, 64C) rotates around the vertical axis.
- gear 64A rotates
- gear 64A moves in the axial direction (vertical direction). That is, the protrusions 65A (65B, 65C) supporting the casing 54 are moved up and down by driving the motors 67A (67B, 67C).
- a cassette container 20 storing 25 wafers W in a shelf shape is placed.
- the wafer W is transferred from the cassette container 20 to the orienter 27 for positioning by the transfer arm device 22.
- the transfer arm device 22 transfers the wafer W from the orienter 27 into one of the vacant load lock chambers 24A (24B) via the gate valves 25A and 25B.
- the transfer arm device 5 transfers the wafer W force to the load lock chamber 24A (24B) to the transfer chamber 3.
- the wafer W is carried into one of the processing chambers 4A (4B, 4C, 4D) that is empty, and undergoes a predetermined process.
- wafer W is loaded into processing chamber 4A (4B, 4C, 4D)
- wafer W is first transferred from transfer arm device 5 to three lifter pins 46 (see FIG. 2), and then lifter pin As 46 descends, it is mounted on the mounting table 43.
- the wafer W subjected to the predetermined processing force S in the processing chamber 4A (4B, 4C, 4D) is thereafter returned to the cassette container 20 in a flow reverse to the above-described loading path.
- FIG. 5A is a perspective view showing a mode of detecting the inclination of the transfer arm device 5 of the apparatus shown in FIG.
- FIG. 5B is a perspective view showing a detector (dummy substrate) 7 for detecting the inclination of the transfer arm device 5 shown in FIG. 5A.
- the dummy substrate 7 is set to have the same diameter as the wafer W so as to be treated as a substitute for the wafer W.
- the dummy substrate 7 is, for example, mounted on a mounting table 43 in the processing chamber 4A (4B, 4C, 4D), and is used with the transfer arm device 5 extended thereon.
- the optical sensors 71A to 71C are arranged so as to face the distal end and the proximal end of the fork of the hand 51a.
- the light emitting unit of each of the optical sensors 71A-71C emits predetermined light toward the hand 51a, and the light receiving unit receives the reflected light from the opposing part of the hand 51a.
- the force of each optical sensor 71A (71B, 71C) is detected as the distance to the opposing part of the hand 51a. That is, based on the detection results obtained by the three optical sensors 71A-71C, the hand 51a moves around the vertical axis. 360 ° !, it can detect how much it is tilted from the horizontal in the direction of the deviation. Also, the surface force of the mounting table 43 can be determined by calculating the height difference between the virtual reference plane IRF (see FIG. 2) and the back surface of the wafer W because the vertical distance between the optical sensor 71A and the light receiving surface of the optical sensor 71C is known.
- the dummy substrate 7 is further provided with a communication unit 72 for wirelessly transmitting, for example, infrared light, distance data (sensor data), which is a detection result of the optical sensors 71A to 71C, to a control unit 73 described later.
- the sensor data is sequentially transmitted from the communication unit 72 to the control unit 73 at predetermined timing at intervals.
- FIG. 6 is an explanatory diagram showing a control unit 73 for adjusting the inclination of the transfer arm device 5 in the apparatus shown in FIG.
- the control unit 73 is constituted by, for example, a computer system having a CPU.
- the control unit 73 includes a communication unit 74 for receiving the detection results of the optical sensors 71A to 71C, and distance data (distance data to the hand 51 & ) of the optical sensors 71A to 71C in the processing room 48 (4). , 4C, and 4D) are provided.
- the control unit 73 further includes a conversion unit 76 for obtaining drive command values (drive amounts) of the three motors 67A to 67C according to the three distance data detected by the optical sensors 71A to 71C. Will be established.
- the three distance data include the hand difference including the height difference and the inclination with respect to the virtual reference plane IRF. It indicates the relative position of la.
- the drive command value is a drive amount required for adjusting the hand 5 la to the virtual reference plane IRF.
- a table prepared in advance can be referred to.
- This table includes the relationship between the combination of the three distance data and the driving amount (elevation amount) of the first gears 64A to 64C from the reference position by the three motors 67A to 67C.
- the conversion process can be performed on the assumption that the height of the hand 51a will hardly change.
- a combination of the difference in the distance data for example, the difference between the detection distances of the optical sensors 71A and 71B and the difference between the detection distances of the optical sensors 71A and 71C can be converted into a drive command value.
- FIG. 7 is a flowchart showing a process of adjusting the inclination of the transfer arm device 5 in the sensor output use mode in the apparatus shown in FIG.
- step S1 one of the selected lids of the processing chambers 4A-4D is opened, and a dummy is placed on the mounting table 43.
- the substrate 7 is placed.
- step S2 the transfer arm device 5 is extended until the hand 5 la is set at a position facing the surface of the wafer 7 (see FIG. 5A). At this time, it is preferable that the hand 51a actually hold the wafer W.
- step S3 distance data of the opposing hand 51a is acquired by the optical sensors 71A-71C.
- the distance data is received by the control unit 73 and stored in the storage unit 75.
- Steps S1 to S3 are performed for all processing chambers 4A to 4D (step S4). As a result, the inclination of the transfer arm device 5 with respect to all the processing chambers 4A to 4D is detected.
- step S5 the lids of the processing chambers 4A-4D are closed, and the operation of the apparatus and the transfer of the wafer are started. For this reason, first, the ueno and W are transported to the transport chamber 3 by the above-described route.
- step S6 the inclination of the transfer arm device 5 is adjusted (tilt adjustment) based on the distance data of the processing chamber 4A (4B, 4C, 4D) to which the wafer W is transferred. Do.
- the conversion unit 76 converts the distance data of the storage unit 75 into the drive amount of each motor 67A-67C, stores the drive amount in the storage unit 77, reads the drive amount, and reads out the drive amount of each motor 67A-67C. Control.
- the transfer arm device 5 After performing the tilt adjustment, the transfer arm device 5 is extended, and the wafer W is carried into the processing chamber 4A (4B, 4C, 4D) by the hand 51a. Then, as shown in step S7, the wafer W is mounted on the mounting table 43 of the processing chamber 4A (4B, 4C, 4D) by the cooperation of the transfer arm device 5 and the lifter pins 46. Next, as shown in step S8, a predetermined semiconductor process, for example, etching is performed.
- step S9 the wafer W after all the semiconductor processing is returned to the cassette container 20 via the load lock chambers 24A and 24B and the transfer stage 21.
- a mechanism for adjusting the inclination of the transfer arm device 5, more specifically, the inclination of the swing table 52 that supports the same.
- the wafers W should be transferred while maintaining the back surface of the wafer W at a high level in the entire access range of the transfer arm device 5.
- the transport port 33 is extremely narrow, for example, 30 to 50 mm.
- the wafer W can surely pass through the transfer port 33 without causing collision.
- the three lifter pins 46 simultaneously strike the back surface of the wafer W, stable delivery of the wafer W can be achieved.
- the acquisition of distance data by the optical sensors 71A to 71C described above is not limited to a predetermined timing after maintenance of the device.
- the distance data described above can be acquired at the time of teaching the transfer arm device 5 to learn the transfer operation, such as when the apparatus is started up. Even in this case, the same effect as in the above case can be obtained.
- the tilt adjustment mechanism described above is designed to perform adjustment based on the virtual reference plane IRF in combination with a height adjustment mechanism (Z-axis adjustment mechanism) for adjusting the height of the transfer arm device 5.
- a height adjustment mechanism Z-axis adjustment mechanism
- a configuration in which the drive mechanism 55 has a function of elevating and lowering the transfer arm device 5 can be given. Even in this case, the same effect as in the above case can be obtained.
- the optical sensors 71A to 71C can be arranged on the back surface of the dummy substrate instead of the upper surface.
- the transfer arm device 5 is extended to a position facing the surface of the mounting table 43 while supporting the dummy substrate.
- the distance to the surface of the mounting table 43 is measured by the optical sensors 71A to 71C on the back surface of the dummy substrate.
- FIG. 8 is a bottom view showing a modification of the transfer arm device of the apparatus shown in FIG.
- optical sensors 71A to 71C are provided on the back surface of the hand 51a of the transfer arm device.
- the transfer arm device 5 is extended to a position facing the surface of the mounting table 43.
- the distance to the surface of the mounting table 43 is measured by the optical sensors 71A and 71C on the back surface of the hand 51a.
- FIG. 9 is a perspective view showing a modified example of the transport port of the apparatus shown in FIG. In the modification shown in FIG.
- optical sensors 71A and 71B are provided on the lower surface of the transfer port 33 of each processing chamber 4A (4B, 4C, 4D).
- the transfer arm device 5 that actually holds the wafer W is extended to a position facing the optical sensors 71A and 71B.
- the distance to the rear surface of the wafer W is measured by the optical sensors 71A and 71B on the lower surface of the transfer port 33.
- the optical sensor When the optical sensor is provided in the transport port 33 # node 51a, the optical sensor is exposed to the processing gas. In this case, it is desirable to provide means for heating the light receiving portion of the optical sensor, for example, a heater. As a result, it is possible to obtain a stable distance data by suppressing deposition of the by-product film due to the processing gas on the light receiving portion.
- Distance measurement is not limited to the optical sensors 71A to 71C, and can be performed by, for example, a CCD camera. In this case, the distance is detected based on the image data captured by the CCD camera. Thereby, the same effect as in the above case can be obtained.
- FIG. 10 is a plan view schematically showing a semiconductor processing apparatus according to another embodiment of the present invention.
- FIG. 11 is a cross-sectional view showing a swing table that supports a transfer arm device disposed in a vacuum transfer chamber of the apparatus shown in FIG.
- the apparatus shown in Fig. 10 is shown in Fig. 1 except that six processing chambers 4A-4F are connected to the transfer chamber 3, and the transfer arm device 5 is made slidable as the number of processing chambers is increased. It has the same configuration as the device.
- a box-shaped moving body 8 corresponding to the cover 57 shown in FIG. 4A is provided with a gap with the bottom of the transfer chamber 3 so that the transfer arm device 5 can slide. Is performed.
- the movable body 8 also supports the swing table 52 in a downward force, and includes adjusters 6A-6C therein.
- the moving body 8 is movably supported on a guide rail 81 provided at the bottom of the transfer chamber 3. The moving body 8 is moved along the guide rail 81 together with the transfer arm device 5 by a drive unit (not shown) for sliding movement.
- the wafer W is taken out from the load lock chambers 24A and 24B. Next, move the mobile unit 8 rearward Slide until it reaches a certain position. Next, the transfer arm device 5 is extended, and the wafer W is loaded into the processing chambers 4B-4E. Even with such a configuration, the same effects as those described above can be obtained. In particular, in this case, the transfer chamber 3 becomes large, and the load due to the vacuum is easily deformed. Therefore, the tilt adjustment of the transfer arm device 5 is effective.
- the adjuster 6A (6B, 6C) includes the guide 61A (61B, 61C) and the first gear 64A as described above.
- Adjuster 6A (6B, 6
- the timing of performing the tilt adjustment is not limited to before the transfer arm device 5 holding the wafer W enters the processing chamber 4A (4B, 4C, 4D).
- the tilt adjustment is performed twice before the transfer arm device 5 enters the processing chamber 4A (4B, 4C, 4D) and after the transfer arm device 5 is transferred and before the wafer W is transferred to the lifter pins 46. It can be carried out. In this case, it is effective to use both the distance data obtained at the transport port 33 and the distance data obtained at the mounting table 43 as described above.
- transfer arm device 5 is connected to processing chamber 4A (4B, 4C, 4C).
- the tilt adjustment may be performed only after the vehicle enters D). This latter aspect is effective when the transfer port 33 is formed relatively large depending on the type of processing assigned to the processing chamber 4A (4B, 4C, 4D).
- the transfer arm device 5 may be supported by a ceiling or a side wall that is not at the bottom of the transfer chamber 3. Even in this case, the same effects as those described above can be obtained.
- the tilt adjustment can be set so as to reduce the acceleration that is generated when the operation is started or stopped when the transfer arm device 5 is extended, turned, or slid. Thereby, it is possible to prevent the wafer W from slipping on the hand 5 la and shifting its position when the operation is started or stopped. As a result, stable and stable delivery can be achieved, and the transport speed can be increased to reduce the throughput.
Abstract
Description
Claims
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US10/592,503 US7572742B2 (en) | 2004-03-30 | 2005-02-24 | Equipment and method for processing semiconductor |
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JP2004-100270 | 2004-03-30 | ||
JP2004100270A JP4524132B2 (ja) | 2004-03-30 | 2004-03-30 | 真空処理装置 |
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US (1) | US7572742B2 (ja) |
JP (1) | JP4524132B2 (ja) |
KR (1) | KR100816903B1 (ja) |
CN (1) | CN100414680C (ja) |
WO (1) | WO2005098934A1 (ja) |
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Also Published As
Publication number | Publication date |
---|---|
CN100414680C (zh) | 2008-08-27 |
KR100816903B1 (ko) | 2008-03-25 |
US20070275486A1 (en) | 2007-11-29 |
US7572742B2 (en) | 2009-08-11 |
CN1922725A (zh) | 2007-02-28 |
KR20060126600A (ko) | 2006-12-07 |
JP2005286211A (ja) | 2005-10-13 |
JP4524132B2 (ja) | 2010-08-11 |
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