WO2008029608A1 - Dispositif de transfert de substrat, dispositif de traitement de substrat, et procédé de transfert de substrat - Google Patents
Dispositif de transfert de substrat, dispositif de traitement de substrat, et procédé de transfert de substrat Download PDFInfo
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- WO2008029608A1 WO2008029608A1 PCT/JP2007/066087 JP2007066087W WO2008029608A1 WO 2008029608 A1 WO2008029608 A1 WO 2008029608A1 JP 2007066087 W JP2007066087 W JP 2007066087W WO 2008029608 A1 WO2008029608 A1 WO 2008029608A1
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- substrate
- wafer
- mounting table
- support pins
- support
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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
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
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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
- H01L21/67751—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 vertical 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
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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
- H01L21/683—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
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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
- H01L21/683—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
- H01L21/6875—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 plurality of individual support members, e.g. support posts or protrusions
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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
- H01L21/683—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
- H01L21/68785—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 the mechanical construction of the susceptor, stage or support
Definitions
- Substrate delivery apparatus for substrate processing apparatus, substrate processing apparatus, and substrate delivery method
- the present invention relates to a substrate delivery apparatus, a substrate processing apparatus, and a substrate delivery method.
- Post-processing includes, for example, processing for cleaning the wafer (for example, removal of deposits adhering to the wafer), processing for measuring the results of the process processing (for example, film thickness measurement processing, particle measurement processing, etc.) .
- Such wafer processing is performed by a substrate processing apparatus including a processing chamber configured to execute predetermined processing such as plasma processing and measurement processing.
- the substrate processing apparatus includes, for example, a transfer robot provided so that a transfer arm for transferring a wafer can be rotated and moved forward and backward, and the wafer is transferred to the processing chamber by the transfer arm.
- a mounting table for mounting a wafer is provided in the processing chamber, and wafers are transferred between the mounting table and the transfer arm.
- Wafer delivery as described above is conventionally performed by moving a plurality of support pins penetrating the mounting table so that the wafer on the transfer arm is received by the support pins and placed on the mounting table.
- Is known see, for example, Patent Document 1.
- a rotating arm is provided between the transfer robot and the mounting table, and the wafer on the tweezers of the transfer robot is transferred to the mounting table by this rotating arm (see Patent Document 2).
- Patent Document 1 JP-A-6-97269
- Patent Document 2 JP-A-5-343500
- Patent Document 3 JP-A-8-8328
- Patent Document 4 Japanese Patent Laid-Open No. 2002-280287 Disclosure of the invention
- Patent Document 4 the outer edge of a wafer is photographed by a plurality of CCD cameras while the wafer is supported by a rotating support (carrying arm) suspended in the processing chamber, and the results are taken into account. The wafer position is detected, and the displacement is corrected by moving the mounting table in the XY direction.
- the wafer in order to detect a wafer misalignment, the wafer must be lowered to the mounting table by means of a wafer and a lift, and if the wafer is misaligned.
- the wafer In order to compensate for this, the wafer must be lifted with a wafer and lift, then the stage must be moved in the XY directions, and then the wafer must be lowered again. In this way, since the wafer has to be raised and lowered many times, it takes time to correct the misalignment, and the throughput of the wafer processing is reduced accordingly.
- the wafer must be taken out by the transfer robot or transfer arm and placed on the rotating support (loading arm). Meanwhile, as described above, the transfer robot and the transfer robot cannot perform other operations (for example, transfer operations of other wafers), so that the throughput of wafer processing is reduced.
- the present invention has been made in view of such problems.
- the purpose of the present invention is to use the support pins without using the transfer arm or the transfer robot after the transfer arm force is received by the support pins.
- By driving the substrate in the horizontal direction it is possible to quickly correct the positional deviation of the substrate, and as a result, to provide a substrate transfer device that can improve the throughput of wafer processing.
- a substrate transfer apparatus for transferring a substrate between a transfer arm for transferring a substrate and a mounting table for mounting the substrate.
- a plurality of support pins arranged around the support shaft of the mounting table and supporting the substrate on its lower surface; a base to which the support pins are attached; and the support pins as the base
- Vertical driving means for raising and lowering the substrate by moving up and down through the horizontal drive means, and horizontal driving means for adjusting the horizontal position of the substrate by horizontally driving the support pins through the base.
- a substrate transfer device is provided.
- the support pin is configured to be movable in the horizontal direction (XY direction).
- the transfer arm is not used.
- the substrate can be driven in the horizontal direction while being supported by the support pins. This makes it possible to quickly correct substrate displacement.
- the transfer arm can perform other operations immediately after passing the board to the support pins. Therefore, it is possible to improve the throughput of substrate processing.
- a substrate position detecting means for detecting a horizontal position of the substrate supported by the support pins is disposed in the vicinity of the mounting table. As a result, it is possible to detect the position of the substrate in the horizontal direction while supporting the substrate with the support pins, and to detect whether the position has shifted. Furthermore, according to the present invention, since the mounting table is not driven in the horizontal direction, but the support pins are driven in the horizontal direction, for example, when the substrate position detection means cannot detect the substrate position detection means. However, it is possible to move the substrate horizontally with the support pins to the position that can be detected by the substrate position detection means while lifting the substrate with the support pins. As a result, even if the substrate is greatly displaced, the position of the substrate can be detected and the displacement can be corrected quickly.
- the substrate position detecting means is configured to detect, for example, at least two positions on the peripheral edge of the substrate. If the position of at least two locations on the peripheral edge of the substrate can be detected, the center position of the substrate can be detected in the case of a disk-shaped substrate such as a semiconductor wafer.
- a control unit that performs substrate transfer processing is provided. For example, when the substrate is received from the transfer arm by raising the support pin by vertical drive means, the substrate is supported by the support pin. Then, the horizontal position of the substrate is detected by the substrate position detecting means, and if the substrate is displaced, the support pin is driven in the horizontal direction by the horizontal driving means to cause the positional displacement of the substrate. After the correction, the support pin is lowered by the vertical driving means, and the transfer process for placing the substrate on the mounting table is actually performed.
- the transfer arm When the substrate is received from the transfer arm, the transfer arm may be lowered to receive the substrate with the support pins raised. According to this, the substrate can be received with the support pins raised.
- the plurality of support pins are disposed, for example, around the support shaft of the mounting table and spaced apart from the diameter of the mounting table, and through the through holes formed in the mounting table.
- the tip of each support pin can be projected and retracted from the substrate mounting surface. According to such a configuration, the point closer to the center of the substrate can be supported by each support pin.
- the force S is used to support the substrate at a point as far as possible from the part to be processed.
- the mounting table is configured to be rotatable around the support shaft, for example, when the mounting table is rotated, the tip of the support pin is positioned below the bottom surface of the mounting table. The support pin is lowered. As a result, when the mounting table is rotated, the through hole and the support pin do not collide with each other!
- the plurality of support pins may be arranged around the support shaft of the mounting table and spaced outside the diameter of the mounting table. According to this configuration, the substrate can be supported by the support pins without forming a through hole in the mounting table. In addition, since the amount of movement of the support pins in the horizontal direction is not limited by the through-holes, the substrate can be moved more horizontally. Therefore, the force S that increases the amount of movement to move the substrate in the horizontal direction at a time is reduced.
- a substrate processing apparatus for performing a predetermined process by placing a substrate on a mounting table disposed in a processing chamber, A substrate transfer device for transferring the substrate between the transfer arm for transferring the substrate into and out of the processing chamber and the mounting table is disposed in the vicinity of the mounting table, and the substrate transfer device is a supporting shaft of the mounting table. A plurality of supports that are spaced apart around and support the substrate on its lower surface.
- a holding pin a base to which the support pin is attached, a vertical drive means for raising and lowering the substrate by driving the support pin up and down through the base, and the support pin through the base
- a substrate processing apparatus comprising a horizontal driving means for adjusting a horizontal position of the substrate by horizontally driving.
- a plurality of processing chambers for performing predetermined processing on a substrate are provided, and the substrates are sequentially transported through the processing chambers by a transport arm.
- at least one of the processing chambers is a post-processing chamber in which a substrate processed in another processing chamber is transferred to perform post-processing.
- the post-processing chamber includes a substrate transfer device that transfers a substrate between a mounting table provided in the chamber and the transfer arm, and the substrate transfer device includes a plurality of substrates that support the substrate on its lower surface.
- Supporting pins a base to which the supporting pins are attached, vertical driving means for moving the supporting pins up and down through the base to raise and lower the substrate, and the supporting pins through the base Drive horizontally to
- the substrate processing apparatus is provided, characterized in that it comprises a horizontal drive means for adjusting the position of the direction.
- a substrate transferred to such a post-processing chamber is likely to be largely displaced because it is repeatedly carried in and out by the transfer arm via another processing chamber.
- the substrate transfer device of the present invention even when the substrate is largely misaligned, the support pins can be removed without taking out and reinserting the substrate as in the prior art, or repositioning the substrate. By driving in the horizontal direction while supporting the substrate, the positional deviation can be corrected quickly and accurately. Therefore, the effect of applying the substrate transfer device which is effective in the present invention to such a post-processing chamber is great.
- the post-processing chamber may be a cleaning processing chamber for removing deposits attached to the peripheral edge of the substrate.
- the plurality of support pins of the substrate transfer device are The tip of the support pin protrudes from the substrate mounting surface of the mounting table through a through hole formed in the mounting table around the support shaft of the mounting table. Preferably it is possible. According to this, the point near the center on the back surface of the substrate can be supported by each support pin. For this reason, it is possible to remove the deposits adhering to the peripheral edge of the substrate without being obstructed by each support pin.
- a substrate transfer apparatus that transfers a substrate between a transfer arm that transfers the substrate and a mounting table on which the substrate is mounted.
- the substrate transfer device is provided with a plurality of support pins arranged around the support shaft of the mounting table, supporting the substrate on its lower surface, and a base to which the support pins are attached.
- Vertical driving means for driving the support pins up and down via the base; horizontal driving means for driving the support pins horizontally through the base; and a substrate position for detecting the horizontal position of the substrate.
- Detecting means raising the support pins by the up-and-down driving means to receive the substrate from the transfer arm, and detecting the horizontal position of the received substrate with the support pins.
- a substrate delivery method characterized by comprising a step of placing on the mounting table.
- the transfer arm after receiving the substrate from the transfer arm with the support pin, even if the substrate is misaligned, the substrate is supported by the support pin without using the transfer arm. By driving in the horizontal direction, the displacement of the substrate can be corrected quickly. Also, the transfer arm can perform other operations immediately after passing the substrate to the support pins. Therefore, the throughput of substrate processing can be improved. [0032] In addition, in the step of receiving the substrate from the transfer arm, the transfer arm may be lowered to receive the substrate while the support pins are raised. According to this, the substrate can be received with the support pins raised.
- the support pin is driven in the horizontal direction so that the substrate is detected by the substrate position detecting means. You may make it move until it can detect. According to this, since the positional deviation of the substrate when received by the support pins is large, even if the substrate cannot be detected by the substrate position detecting means, the substrate can be moved as it is by the support pins. The position of the substrate can be detected by the means. This makes it possible to correct the misalignment without having to replace the substrate on the mounting table.
- the transfer arm can transfer the substrate to the substrate transfer device. Can immediately perform other operations (for example, transporting other substrates).
- the displacement of the substrate can be corrected before placing the substrate on the mounting table, the displacement of the substrate can be corrected quickly. For this reason, it is possible to improve the throughput of substrate processing.
- FIG. 1 is a perspective view for explaining a substrate transfer device, a substrate position detection unit, and a mounting table unit according to an embodiment of the present invention.
- FIG. 2 is a view showing a side surface of each device shown in FIG.
- FIG. 3 is a perspective view showing a configuration of the substrate transfer apparatus shown in FIG. 1.
- FIG. 4 is a perspective view for explaining a configuration of a substrate position detecting means provided in the substrate position detecting unit according to the embodiment.
- FIG. 5A is a diagram for explaining the relationship between the state of each measurement visual field and the position of the wafer W, and shows an example in which all of the measurement visual fields are determined to be in a white state (bright state).
- FIG. 5B is a diagram showing the positional relationship between the support pins and the wafer when the positional deviation of FIG. 5A is corrected.
- 6A] is a diagram for explaining the relationship between the state of each measurement field of view and the position of the wafer W, where one of the measurement fields is determined as (gray state) and the other is determined as white state (bright state). This is an example.
- 6B] is a diagram showing the positional relationship between the support pins and the wafer when the positional deviation of FIG. 6A is corrected.
- 7A] is a diagram for explaining the relationship between the state of each measurement field of view and the position of the wafer W. In this example, one of the measurement fields is determined as (gray state) and the other is determined as black state (dark state) and white state (bright state).
- FIG. 7B is a diagram showing the positional relationship between the support pins and the wafer when the positional deviation of FIG. 7A is corrected.
- FIG. 8 is a flowchart showing a specific example of the wafer delivery process that is effective in the embodiment.
- FIG. 9A is a diagram for explaining an operation example of the substrate transfer apparatus.
- FIG. 9B is a diagram for explaining an operation example of the substrate transfer apparatus.
- FIG. 9C is a diagram for explaining an operation example of the substrate transfer apparatus.
- FIG. 9D is a diagram for explaining an operation example of the substrate transfer apparatus.
- FIG. 9E is a diagram for explaining an operation example of the substrate transfer apparatus.
- FIG. 10 is a perspective view showing another example of the configuration of the substrate transfer device which is effective in the embodiment.
- FIG. 11 is a sectional view showing a configuration example of a substrate processing apparatus to which the substrate transfer apparatus according to the embodiment can be applied.
- FIG. 12 is a side view showing an example of the internal configuration of a cleaning processing chamber to which the substrate transfer apparatus according to the present embodiment is applied.
- Fig. 1 is a perspective view for explaining an installation example of each device
- Fig. 2 is a diagram showing a side view of each device shown in Fig. 1.
- a substrate transfer device 130 that transfers a substrate, for example, a semiconductor wafer (hereinafter simply referred to as “wafer”) W between a transfer arm (not shown) and a mounting table 112 will be described.
- a substrate transfer device (lifter unit) 130 that applies force to the present embodiment is arranged near the mounting table unit 110 including the mounting table 112 on which the wafer W is mounted.
- a substrate position detection unit 150 that detects the position of the wafer W is disposed in the vicinity of the mounting table unit 110.
- the mounting table 112 is formed in a disk shape smaller than the diameter of the wafer W, for example, as shown in FIG.
- the wafer W is placed on the placement surface on the upper side of the placement table 112.
- the mounting table 112 is attached to the bottom surface of the processing chamber by a support shaft 114 with a fastening member such as a bolt.
- the mounting table 112 may be configured to rotate.
- a stepping motor is provided in the support shaft 114, for example, and the mounting table 112 is rotated by driving the stepping motor.
- the wafer W on the mounting surface may be sucked and held by, for example, a vacuum chuck function.
- the mounting table unit 110 is connected to the control unit 200 as shown in FIG. 2, and the mounting table 112 is controlled to rotate based on a control signal from the control unit 200.
- FIGS. Fig. 3 shows only the substrate transfer device extracted from Fig. 1.
- the mounting table 112 is omitted and only the support shaft 114 of the mounting table 112 is indicated by a two-dot chain line to make it easier to understand the configuration of the substrate transfer device.
- the substrate transfer device 130 supports a plurality of (for example, three) supports for supporting the wafer W when the wafer W is transferred between a transfer arm (not shown) and the mounting table 112.
- Pins (lifter pins) 132A to 132C are provided. These support pins 132A to 132C are spaced apart around the support shaft 114 of the mounting table 112 as shown in FIG. It is preferable that the support pins 132A to 132C be arranged at equal intervals around the support shaft 114 so that the wafer W can be stably supported, for example.
- the number of support pins is not limited to three, but is preferably at least three so that the wafer can be stably supported.
- the support pins 132A to 132C are erected on a base (lifter base) 134, and all of the support pins 132A to 132C can be moved up and down or horizontally through the base 134. I'm getting ready.
- the base 134 is composed of, for example, a mounting plate 135 formed in a substantially ring shape and a support plate 136 that supports the mounting plate 135 as shown in FIG.
- support pins 132A to 132C are attached at predetermined intervals (for example, at equal intervals) along the ring shape, and the support plate 136 is driven in the X direction of the support pin drive mechanism 138 to be described later.
- Means 138X is attached to the stage.
- an opening is provided in a part of the ring shape of the mounting plate 135 so that the mounting plate 135 can be inserted from the side surface of the support shaft 114.
- the mounting plate 135 is inserted into the support shaft 114 through the opening, and the support pins 132A to 132C are disposed around the support shaft 114. It is possible to install the device 130.
- the base 134 is attached to a support pin drive mechanism 138 that can drive the support pins 132A to 132C not only in the vertical direction but also in the horizontal direction.
- the support pin drive mechanism 138 can drive the support pins 132A to 132C in the X direction via the base 134 and the X direction drive means 138X that can drive in the Y direction.
- Drive means 1 38Y is provided.
- the X direction drive means 138X is composed of a stage that can be linearly driven in the X direction, for example, and the Y direction drive means 138Y is composed of a stage that can linearly drive the X direction drive means in the Y direction that is perpendicular to the X direction. It may be.
- These X direction driving means 138X and Y direction driving means 138Y constitute a horizontal direction (XY direction) driving means.
- the support pin driving mechanism 138 includes Z-direction driving means 138Z as vertical driving means capable of driving the support pins 132A to 132C in the Z direction (vertical direction) via the base 134.
- the Z-direction driving means 138Z may be configured to drive the X-direction driving means 138X and the Y-direction driving means 138Y up and down with, for example, a stage capable of linear driving.
- linear actuators are preferably used. If a linear actuator is used, repeated positioning accuracy of several or less can be obtained, and each stage can be driven at high speed. In addition to the linear actuator, for example, each stage may be driven by a combination mechanism of a ball screw and a stepping motor.
- the board transfer device 130 is connected to the control unit 200 as shown in FIG. 2, and the drive means 138X, 138Y, and 138Z are driven and controlled based on the control signal from the control unit 200. ing.
- the supporting pins 132A to 132C are driven up and down through the base 134 by the heel direction driving means 138Z, thereby the wafer W with respect to the transfer arm or the mounting table 112. Can be raised and lowered.
- the support pins 132A to 132C are driven in the horizontal direction (XY direction) via the base 134 by the X direction drive means 138X and the Y direction drive means 138Y, and are mounted on the support pins 132A to 132C. The horizontal position can be adjusted while the wafer W is placed.
- the wafer W is horizontally placed on the support pins 132A to 132C without using the transfer arm or transfer robot.
- wafer misalignment can be corrected, resulting in improved wafer processing throughput.
- the support pins 132A to 132C are disposed on the inner side of the diameter of the mounting table 112. Then, the tips of the support pins 1 32A to 132C protrude from the mounting surface of the mounting table 112 through the through holes formed in the mounting table 112. For example, as shown in FIG. 1, through-holes 113A to 113C through which the support pins 132A to 132C are respectively passed are formed in the mounting table 112.
- the support pins 132A to 132C are driven up and down by the Z-direction drive means 138Z, the tips of the support pins 132A to 132C raise and lower the through holes 113A to 113C so that they can protrude and retract. That power S.
- the support pins 132A to 132C are horizontally driven (XY drive) by the X direction drive means 138X and the Y direction drive means 138Y, so that the tips of the support pins 1 32A to 132C are mounted through the through holes 113A to 113C. It is possible to move horizontally (XY movement) in each of the through holes 113A to 113C while protruding from the mounting surface of the mounting table 112.
- each of the through holes 113A to 113C is set in accordance with, for example, the diameter of the support pins 132A to 132C and the amount of movement in the horizontal direction (for example, the positioning range in the horizontal direction). It is preferable to do.
- Each through-hole 113A to 113C is formed with a diameter of 10 to 20 mm, for example.
- the support pins 132A to 132C are arranged such that the tips of the support pins 132A to 132C are below the bottom surface of the mounting table 112. ⁇ ; By lowering 132C, it is possible to prevent the through holes 113A to 113C and the support pins 132A to 132C from colliding with each other when the mounting table 112 is rotated.
- the present invention is not necessarily limited to this, and the number of support pins is not limited to this. In the case of increasing the number, a plurality of support pins may be inserted into the plurality of through holes of the mounting table, respectively.
- FIG. 4 is a perspective view for explaining the configuration of the substrate position detecting means.
- the mounting base 156 and the mounting base 112 shown in FIG. 1 are omitted to facilitate the explanation of the configuration of the substrate position detecting means.
- the substrate position detection unit 150 includes substrate position detection means for detecting the horizontal position of the wafer W.
- the substrate position detection means is arranged to face a plurality of (here, three) imaging means 152A to 152C for detecting the peripheral portion of the wafer W, and these imaging means 152A to 152C.
- the imaging means 152A to 152C are constituted by, for example, a CCD (Charge Coupled Device) image sensor, a CCD camera provided with a lens for focus adjustment and the like.
- the illumination light sources 154A to 154C are composed of, for example, LED units. Note that the illumination light sources 154A to 154C have a diffuser plate on the light emission surface, so that the light intensity can be made uniform over the entire light emission surface.
- the imaging means 152A to 152C and the illumination light sources 154A to 154C constituting the substrate position detecting means are attached to an upright mounting base 156 as shown in FIG.
- the mounting base 156 includes a bracket 157 that projects horizontally from the upper part thereof, and a bracket 158 that projects horizontally below the bracket 157.
- Imaging means 152A to 152C force S is attached to the upper bracket 157, and illumination light sources 154A to 154C are attached to the lower bracket 157.
- the imaging means 152A ⁇ ; 152C and the illumination light sources 154A ⁇ ; 154C are arranged so that the periphery of the wafer W is sandwiched between the wafer W and the wafer W.
- the optical axes of the illumination light sources 154A to 154C are adjusted so as to be directed toward the light receiving surfaces of the imaging means 152A to 152C, respectively.
- the support pins 132A to 132C are raised above the mounting surface of the mounting table 112, and the height of the wafer W when the wafer W is received from the transfer arm is defined as the receiving height. If the position of the wafer W (the position of the wafer indicated by the two-dot chain line shown in FIG. 4) when it is aligned with the center of the mounting table is the horizontal reference position Wst, each imaging means 152A-; It is adjusted to focus on the peripheral edge of the wafer at the reference position Wst at the height. Further, the region where the peripheral edge of the wafer at the reference position Wst can be detected is adjusted to be the measurement visual fields 153A to 153C of the imaging means 152A to 152C.
- the measurement visual fields 153A of each imaging means 152A to 152C are arranged at equal intervals along the peripheral edge of the wafer at the reference position Wst, for example, as shown in FIG. 5A described later. It ’s a sea urchin.
- the angles from the measurement visual fields 153A to 153B and the angles from the measurement visual fields 153B to 153C are 45 degrees (deg), respectively, and from the measurement visual fields 153A to 153C
- the angle is set to 90 degrees (deg).
- the angles of the measurement visual fields 153A to 153C are not limited to those described above, and can be changed freely by adjusting the mounting positions of the imaging means 152A to 152C.
- each of the image pickup means 152A to 152C is connected to the control unit 200, and the image data picked up by each of the image pickup means 152A to 152C is stored in each part of the board transfer device 130 and the like. It is transmitted to the control unit 200 that controls Based on the output image data of the measurement visual fields 153A to 153C imaged by the imaging means 152A to 152C, the control unit 200 The peripheral part of is detected.
- this state is defined as a state with a peripheral edge (gray state), and all of the measurement visual fields to be described later are distinguished from bright, state (white state), and all of the measurement visual fields are blurred and in state (black state).
- the boundary between the bright area and the dark area in the measurement visual field 153A is the shape of the peripheral edge of the wafer W (for example, in the case of a disk-shaped wafer like this embodiment, the arc shape) Therefore, the force S is used to detect the shape of the peripheral edge of the wafer W from the output image of the measurement field of view 153A.
- the control unit 200 calculates the center position of the wafer W. Then, the horizontal displacement amount and displacement direction of the wafer W from the center of the mounting table 112 (or the rotation center when the mounting table 112 rotates) are obtained.
- the X direction driving means 138X and the Y direction driving means 138Y in accordance with the positional deviation amount and the positional deviation direction, and driving the support pins 132A to 132C in the horizontal direction, the horizontal position of the wafer W is adjusted. Can be adjusted.
- the positional deviation in the horizontal direction of the wafer W is stored in advance as output image data of the measurement visual fields 153A to 153C when the wafer W is at the reference position Wst.
- the determination may be made by comparing the output image data of the measurement visual fields 153A to 153C obtained for detecting the wafer position with the reference image data. For example, it is assumed that the wafer W is deviated from the reference position Wst and the position of the peripheral edge of the wafer W in the output image data of the measurement visual field 153A is deviated.
- the ratio of the bright area to the dark area (brightness / darkness ratio) in the output image data of the measurement visual field 153A is that the wafer W is shifted from the reference position Wst! /, And the wafer W is at the reference position Wst. It is different from the case. Therefore, by comparing the brightness ratio for the target wafer W with the brightness ratio for the wafer at the reference position Wst, it is possible to detect the misalignment of the wafer W, and the position according to the brightness ratio. A deviation amount and a positional deviation direction can be obtained.
- the support pins 132A to 132C are driven in the horizontal direction in accordance with the position shift amount and the position shift direction so that the light / dark ratio of the measurement visual field 153A is the same as the ratio at the reference position Wst.
- the horizontal position of the wafer W can be adjusted.
- a peripheral shape pattern (reference pattern) of the wafer W when the wafer W is not displaced in advance is stored in the storage means. Then, by comparing the reference pattern with the edge pattern of the wafer W that was actually detected, the presence or absence of misalignment of the wafer W was judged, and based on the difference between the edge pattern of the wafer W and the reference pattern. Thus, the misalignment direction and the amount thereof may be calculated.
- the end of the wafer W is hooked from above and lifted up on the arm as in the transfer arm.
- the wafer W may be misaligned compared to when it is received by a delivery member that restricts the position of the wafer w.
- the output image data of any of the measurement visual fields 153A to 153C may be displaced so much that the peripheral portion of the wafer W does not exist.
- the entire image may be bright and area (in this case, the measurement field of view is determined to be white (or bright)), or the entire image may be blurred and area (in this case, measurement is performed).
- the field of view is determined to be black (or dark) and the periphery of the wafer W cannot be detected. In this case, the position of the wafer W cannot be detected, so the degree of the position shift cannot be determined, and the wafer position shift cannot be corrected.
- the relationship between the black and white determination (brightness determination) of the measurement visual field and the wafer position will be described. For example, if a measurement field is determined to be in a white state (when the entire measurement field is a bright area), the wafer W does not exist in that measurement field. At this time, if the wafer W exists on the support pins 132A to 132C, the center of the wafer W is largely displaced from the measurement field of view toward the center of the wafer at the reference position Wst (reference center). There is a high probability of being.
- a measurement field of view is determined to be in a black state (when the entire measurement field of view is a narrow area), the wafer W is present in the measurement field of view, but the center of the wafer W is the wafer at the reference position Wst. There is a high probability that the center of the screen is greatly displaced from the center of the display to the measurement field of view. [0072] Therefore, when a certain measurement field is determined to be in the white state, the support pins 132A to 132C are moved horizontally so as to approach the center of the wafer at the reference position Wst from the measurement field. Can be corrected.
- the support pins 132A to 132C are moved horizontally so as to move away from the center of the wafer at the reference position Wst toward the measurement field of view. Can be corrected. Furthermore, when there are black and white judgments in multiple fields of view, it is possible to infer the direction of displacement by combining them. Therefore, by determining the misalignment adjustment direction according to the combination of these black and white determinations, the misalignment of the wafer can be adjusted. As a result, even if the position of the wafer cannot be detected, the position of the wafer can be adjusted in a direction that roughly corrects the misalignment.
- the center of the wafer W is directed to all the measurement visual fields 153A to 153C;
- the position is greatly displaced in the plus direction.
- the direction in which the center of the wafer W approaches all the measurement fields 153A to 153C that is, the central force of the wafer at the reference position Wst is also combined with each direction (direction vector) up to each measurement field 153A to 153C.
- the wafer position deviation can be corrected. it can.
- the peripheral field of wafer W can be detected in measurement field of view 153A, but the peripheral part of wafer W cannot be detected in measurement fields of view 153B and 153C.
- the center of the wafer W is greatly displaced in the direction away from the measurement visual fields 153B and 153C.
- the center of the wafer W is in the direction away from the measurement visual field 153B, 15300, that is, the direction in which the respective directions from the center of the wafer at the reference position Wst to each measurement visual field 153B, 153C are combined.
- Support pins 132A ⁇ ; 132C moved horizontally As a result, the misalignment of the wafer W can be corrected as shown in Fig. 6B.
- the peripheral field of the wafer W can be detected in the measurement field 153B, but the peripheral part of the wafer W cannot be detected in the measurement fields 153A and 153C. If the measurement field of view 153C is determined to be in the white state, the center of the wafer W is in the direction approaching the measurement field 153A, and the direction of the measurement field 153C is a force away from the measurement field (here, The position is greatly displaced in the negative direction of the X axis!
- the center of wafer W is in the direction away from measurement field of view 153A and closer to measurement field of view 153C, that is, the direction from measurement field of view 153A to the center of the wafer at reference position Wst and the wafer at reference position Wst.
- the horizontal displacement of the support pins 132A to 132C in the direction (in this case, the positive direction of the X axis) that combines the directions from the center of the measurement field to the measurement field of view 153C, corrects the positional deviation of the wafer W as shown in Fig. 7B. can do.
- Wafer positional deviation can be corrected.
- the wafer W is moved by a predetermined amount in the misalignment correction direction obtained by the black and white judgment, and when the peripheral edge of the wafer W enters all the measurement visual fields 153A to 153C, the peripheral edge of the wafer W is detected.
- the wafer position may be detected by obtaining the center position of the wafer. This makes it possible to detect the position of the wafer W more accurately even if the wafer W is greatly displaced! /.
- the control unit 200 includes, for example, a central processing unit (CPU) that constitutes the control unit main body, a ROM (read only memory) that stores data necessary for the CPU to perform processing, and various data processing performed by the CPU. It consists of a RAM (Ranaom Access Memory) with a memory area used, a program for the CPU to control each unit, a hard disk (HDD) that stores various data, or a storage means such as a memory.
- CPU central processing unit
- ROM read only memory
- HDD hard disk
- FIG. 8 is a flowchart showing a specific example of the delivery process when the wafer on the transfer arm is received and placed on the mounting table.
- 9A to 9E are operation explanatory views for explaining an operation example of the substrate transfer apparatus 130 in the wafer transfer process. 9A to 9E, Cw indicates the center of the wafer W, and Ct indicates the center of the wafer at the reference position Wst described above.
- step S110 the support pins 132A to 132C are raised to move the wafer W on the transfer arm TA.
- C Receive W.
- the Z-direction driving means 138Z is driven and the support pins 132A to 132C are moved to the predetermined wafer W. Raise it in the Z (vertical) direction to the receiving height.
- the tips of the support pins 132A to 132C project upward from the mounting surface of the mounting table 112 through the through holes 113A to 113C, respectively, and are further lifted to move the transport arm TA as shown in FIG. 9B. Lift the upper wafer W.
- the transfer arm TA is pulled out from the upper side of the mounting table 112 as shown in FIG. 9B, and becomes as shown in FIG. 9C.
- the support pins 132A to 132C are raised and received. It is not limited.
- the transfer arm TA when the transfer arm TA is configured to be movable up and down, the transfer arm TA may be lowered and the wafer W may be lowered to the tips of the support pins 132A to 132C.
- the Z-direction driving means 138Z is driven and the support pins 132A to 132C are raised in the Z-axis direction, and the transfer arm TA on which the wafer W is loaded is inserted above the mounting table 112. .
- the transfer arm TA is lowered and received by the support pins 132A to 132C. According to this, the wafer W can be received while the support pins 132A to 132C are raised.
- the transfer arm TA when the transfer arm TA is inserted above the mounting table 112, the horizontal displacement of the wafer W (here, the center of the wafer at the reference position Wst (reference and reference)). If there is a misalignment of the center Cw of the wafer W with respect to Ct), the wafer W is lifted upward by the support pins 132A to 132C.
- Such a positional deviation of the wafer W is caused by a horizontal positional deviation of the wafer W while the wafer W is supported by the support pins 132A to 132C by the subsequent wafer positioning process (steps S120 to S140). Is detected and corrected by moving the support pins 132A to 132C in the horizontal direction. As a result, the transfer arm TA can start the next operation (for example, the operation of transferring another wafer) immediately after passing the wafer to the support pins, thereby improving the wafer processing throughput. Can do.
- the position of the wafer W is first detected by the substrate position detection unit 150 in step S120.
- the horizontal position of the wafer W is detected while the wafer W is supported by the support pins 132A to 132C.
- the position of the wafer W is detected based on the output image data of the measurement visual fields 153A to 153C obtained by causing the illumination light sources 154A to 154C to emit light and imaging with the imaging means 152A to 152C.
- the center of wafer W is detected as the position of wafer W from the shape of the peripheral edge of wafer W detected from the output image data.
- step S130 it is determined whether or not the wafer W has a positional deviation. Specifically, based on the detected position of the wafer W, the horizontal displacement amount of the wafer W is obtained, and if the displacement amount is within a predetermined allowable displacement range, it is determined that there is no displacement. , If the amount of displacement exceeds the specified allowable displacement range, it is determined that there is displacement.
- the amount of deviation between the center of the wafer W and the center of the wafer at the reference position Wst is determined as the positional deviation of the wafer W. Calculate as a quantity.
- the calculation of the amount of misalignment of the wafer W is not limited to this.
- the ratio of the brightness and the area to the shadow area (brightness / darkness ratio) and the wafer W to the reference position Wst are calculated.
- the positional deviation amount may be calculated by comparing with the light / dark ratio in a certain case, or the positional deviation amount may be calculated by comparing the pattern of the wafer peripheral portion shape with the pattern at the reference position Wst.
- step S150 is performed. Then, the support pins 132A to 132C are moved down to place the wafer W on the mounting table 112. On the other hand, if it is determined that the wafer W is misaligned, the support pins 132A to 132C are moved horizontally by driving the X direction driving means 138X and the Y direction driving means 138Y in step S140. Move in the direction to correct the position of wafer W. For example, as shown in Fig.
- the wafer W when the wafer W is displaced in the negative direction of the X axis, only the X direction driving means 138X is driven to move the support pins 132A to 132C in the positive direction of the X axis.
- the wafer W can be positioned so that the center Cw of the wafer W coincides with the center Ct of the wafer at the reference position Wst.
- the positional deviation amount and the positional deviation direction of the wafer W are calculated in advance, and the support pins 132A to 132A ; 132C may be moved in the horizontal direction, and the support pins 132A to 132C are moved in the horizontal direction by a predetermined amount, and the position of the wafer W is detected and confirmed by the imaging means 152A to 152C each time.
- the wafer W may be moved to the reference position.
- step S 120 to step S 140 the support pins 132 A to 132 C are lowered to place the wafer W on the mounting table 112 in step S 150.
- the Z-direction driving means 138Z is driven to lower the support pins 132A to 132C and lower the wafer W onto the mounting table 112.
- FIG. 9E the wafer W whose horizontal position has been corrected is mounted on the mounting table 112.
- the wafer W delivery process is completed.
- step S140 the misalignment correction direction is determined according to the combination of the black and white judgments of the respective measurement visual fields 153A to 153C as described above to correct the misalignment of the wafer. May be. According to this, even if the position of the wafer W has been displaced so much that the peripheral edge of the wafer W cannot be detected, the wafer position can be corrected.
- step S120 the wafer W is moved by a predetermined amount until the peripheral edge of the wafer W enters all of the measurement visual fields 153A to 153C in the position correction direction by the black and white determination in step S120.
- the peripheral portion of the wafer W may be detected and the subsequent processing may be performed.
- the wafer W is transferred from the transfer arm TA to the mounting table 112 using the substrate transfer apparatus 130 according to the present embodiment. Even when the wafer W is transferred from the mounting table 112 to the transfer arm TA by using the wafer 112 on the mounting table 112 by lifting it with the support pins 132 to 132, the position of the wafer W is detected as it is. Then, the position of the wafer W may be corrected and the force may be transferred to the transfer arm TA.
- the support pins 132A to 132C are configured to be movable in the horizontal direction (XY direction), for example, the wafer W is supported from the transfer arm TA to the support pins 132A to 132A. After receiving at 132C, the wafer W can be driven in the horizontal direction while being supported by the support pins 132A to 132C without using the transfer arm TA. As a result, the positional deviation of the wafer W can be corrected quickly. Also, the transfer arm TA can perform other operations (for example, transfer operation of other wafers) immediately after the wafer is transferred to the support pins 132A to 132C. Therefore, the throughput of wafer processing can be improved.
- the wafer W can be moved in a short time.
- the force S can be placed at the exact position (reference position) of the mounting surface of the mounting table 112. Therefore, the throughput of the wafer processing can be further improved, and the processing for the wafer W placed on the wafer placement surface of the placement table 112 can be reliably performed with high accuracy.
- the substrate transfer device 130 is separate from the mounting table unit 110. Because it is configured with, it can be a simple configuration. In addition, since the degree of freedom of installation in the processing chamber is increased, it can be applied to various processing chambers. Further, when the mounting table 112 rotates, the mounting table 112 can be rotated at high speed by making the mounting table unit 110 and the substrate transfer device 130 separate. In addition, the substrate transfer device 130 can be configured such that the support pins 132A to 132C are driven in the horizontal direction by the X-direction drive means 138X and the Y-direction drive means 138Y. Correction can be performed.
- the substrate transfer device 130 does not correct the displacement by driving the mounting table in the horizontal direction, but drives the support pins 132A to 132C in the horizontal direction to correct the displacement. For example, even if the wafer W is misaligned and cannot be detected by the substrate position detection unit 150, the position that can be detected by the substrate position detection unit 150 while the wafer W is lifted by the support pins 132A to 132C. The wafer W can be moved in the horizontal direction by the support pins 132A to 132C. As a result, even when the wafer W is greatly displaced, the force S can detect the position of the wafer W and quickly correct the displacement.
- a method of detecting an orientation flat or a notch of the wafer W may be used for alignment of the wafer W. According to this method, the wafer W must be rotated at least once. In contrast, according to the present embodiment, since the horizontal displacement of the wafer W is detected using the imaging means 152A to 152C, it is not necessary to rotate the wafer W. Therefore, the time required for detecting the displacement is extremely short. As a result, the throughput of wafer processing is improved.
- the wafer W is transferred from the transfer arm TA to the support pins 132A to 132C, the wafer W is immediately transferred before being placed on the wafer placement surface of the placement table 112. C) Since the horizontal positioning process of W can be performed, the force and time required to complete the positioning process are shortened. As a result, the throughput of wafer processing is improved.
- the support pins 132A to 132C are inserted into the through holes 113A to 113C by the Z-direction driving means 138Z so that the tips of the support pins 132A to 132C can protrude and retract. It can be driven up and down, and through each through hole 113A-113C With the tip of the support pins 132A to 132C protruding from the mounting surface of the mounting table 112, the through holes 113A to 113C are horizontally driven by the X direction driving means 138X and the Y direction driving means 138Y.
- the present invention is not limited to such a configuration.
- the support pins 132A to 132C are arranged around the support shaft 114 of the mounting table 116 so as to be spaced outside the diameter of the mounting table 116. Also good. According to this, it is not necessary to provide the through holes 113A to 113C for passing the support pins 132A to 132C through the mounting table 116. Further, the support pins 132A to 132C can be moved horizontally without being limited by the diameter of the through holes 113A to 113C. Therefore, the force S that increases the amount of movement of the wafer W once when the wafer W is displaced or adjusted.
- each supporting pin has a larger diameter on the mounting table, and near the end of the wafer W. Will be placed. Therefore, when applied to a processing chamber (for example, the cleaning processing chamber 400) in which processing is performed on the edge of the wafer W, the support pins 132A to 132C are arranged inside the mounting table as shown in FIG. I prefer to take the composition! /.
- a processing chamber for example, the cleaning processing chamber 400
- the present invention is not necessarily limited to this.
- the horizontal displacement of the wafer W may be detected by two imaging means.
- various photoelectric sensors, ultrasonic sensors, etc. can be used as the imaging means 152A to 152C.
- the support pins 132A to 132C are mounted apart from the mounting plate 135 formed in a substantially ring shape, so that if the wafer W is displaced, the mounting plate 135 Tilts and the moment of the support plate 136 changes. Therefore, a force S can be detected by attaching a moment sensor to the support plate 136 and detecting the position and displacement of the wafer W based on the change in the moment.
- FIG. 11 is a cross-sectional view showing a schematic configuration of a substrate processing apparatus according to an embodiment of the present invention.
- the substrate processing apparatus 300 includes a process processing unit 310 having a plurality of process processing chambers for performing various processes such as film formation processing and etching processing on the wafer W in a vacuum pressure atmosphere, and the process processing unit 310. And a transfer unit 320 for transferring the wafer W to / from the 310.
- a transfer chamber 330 for taking in and out a plurality of (for example, 25) wafers W accommodated in the cassette container 332 into and out of the substrate processing apparatus 300 is provided.
- three cassette stands 331A to 331C are provided via gate valves 333A to 333C, respectively, and cassette containers 332A to 332C can be set on these cassette stands 331A to 331C, respectively. ing.
- the transfer chamber 330 includes a wafer alignment chamber (orienter) 336 for aligning the wafer W before the process processing, and a removal process for the deposits attached to the wafer W after the process processing.
- a cleaning processing chamber 400 is provided as an example of the processing chamber.
- the pre-alignment processing chamber 336 includes, for example, a mounting table 338 that is rotatably disposed in the processing chamber, and an optical sensor 339 that optically detects the peripheral portion of the wafer W on the mounting table 338.
- the wafer W is rotated and the orientation flat or notch formed on the peripheral edge of the wafer W is detected by the optical sensor 339 to align the wafer W.
- a specific configuration example of the cleaning chamber 400 will be described later.
- a transfer robot 370 configured to be slidable along the longitudinal direction (the arrow direction shown in FIG. 11) is provided.
- the transfer robot 370 is provided with transfer arms 373A and 373B for transferring, for example, a wafer W.
- the transfer arms 373A and 373B are configured so as to be able to bend and extend and move up and down. W comes in and out. Since the transfer robot 370 includes two transfer arms 373A and 373B, the load robot chamber 360M, 360N, the pre-alignment processing chamber 336, the cleaning processing chamber 400, etc. are processed using these arms. Insert and remove the wafer W so that the processed wafer W and the unprocessed wafer W are exchanged.
- the process processing unit 310 is configured in a cluster tool type as shown in FIG. 11, for example. That is, the process processing unit 310 includes a common transfer chamber 350 formed in a polygon (for example, a hexagon), and around the common transfer chamber 350, a plurality of (for example, a predetermined process process is performed on the wafer W). Six) process chambers 340A to 340F are connected via gate valves 344A to 344F, respectively.
- Each process chamber 340A to 340F is provided with a mounting table 342 (342A to 342F) for mounting the wafer W, and a process recipe stored in advance in a storage medium of the control unit 500 or the like. Based on the above, the wafer W on the mounting table 342 is subjected to processes such as film formation and etching.
- the number of process chambers 340 is not limited to the case shown in Fig. 11.
- load lock chambers 360M and 360N for exchanging wafers with the transfer chamber 330 are provided.
- the first and second load lock chambers 360M and 360N temporarily hold the wafer W via the delivery tables 364M and 364N disposed in the chamber, and after adjusting the pressure, the vacuum transfer side common transfer chamber 350 and The wafer W is passed between the transfer chamber 330 on the atmospheric pressure side. Therefore, for airtightness, the load lock chamber 360M, 360N is connected to the common transfer chamber 350 via gate valves 354M, 354N, and is connected to the transfer chamber 330 via gate nore, 362M, 362N.
- the first and second load lock chambers 360M and 360N temporarily hold the wafer W via the delivery tables 364M and 364N disposed in the chamber, and after adjusting the pressure, the vacuum transfer side common transfer chamber 350 and The wafer W is passed between the transfer chamber 330 on the atmospheric pressure side. Therefore, for airtightness, the load lock chamber 360M, 360N is connected to the common transfer chamber 350 via gate
- a transfer robot 380 configured to be slidable along a guide rail 384 provided along the longitudinal direction thereof is provided.
- the transfer robot 380 is provided with transfer arms 383A and 383B for transferring, for example, a wafer W.
- the transfer arms 383A and 383B are configured to be able to bend and extend and move up and down, and the wafer W is loaded into and unloaded from the process processing chambers 340A to 340F and the load lock chambers 360M and 360N. .
- the transfer robot 380 is slid toward the base end side of the common transfer chamber 350, and wafers W are taken in and out of the load lock chambers 360M and 360N and the process chambers 340A and 340F. Slide to the front end of 350, 4 process chambers 3 Wafer W is loaded into and removed from 40B to 340E.
- the transfer robot 380 includes two transfer arms 383A and 383B. By using these transfer arms 383A and 383B, for example, the processed wafer W and the pre-processed wafer W with respect to the process processing chamber 340A-340F and the load lock chamber 360M and 360N are used. Wafer W can be taken in and out as if it were replaced with wafer w.
- the substrate processing apparatus 300 includes the control of the transfer robots 370, 380, the gate valves 333, 344, 354, 362, the pre-alignment processing chamber 336, the cleaning processing chamber 400, etc.
- a control unit 500 for controlling the operation is provided!
- the control unit 500 includes, for example, a CPU that constitutes the control unit main body, a ROM that stores data necessary for processing by the CPU, and a memory area that is used for various data processing performed by the CPU.
- storage means such as a hard disk (HDD) or memory for storing various data and programs for controlling each part by the AM and CPU, a liquid crystal display for displaying operation screens and selection screens, etc.
- Input / output means that can input various data such as input and edit and process / recipe process 'log output' to a specified storage medium, control each part of the substrate processing equipment 300 Various controllers are provided for this purpose.
- a processing chamber to which the substrate transfer apparatus according to the present embodiment is applied will be described.
- process chambers 340A to 340F, a pre-alignment chamber 336, and a cleaning chamber 400 are provided as processing chambers for transferring the wafer W between the transfer arm and the mounting table. Therefore, the substrate transfer device 130 that applies the power to the present embodiment can be applied to all the processing chambers.
- a measurement processing chamber for example, a film thickness measurement processing chamber, a particle measurement processing chamber, etc.
- the substrate transfer device 130 can be applied to the measurement processing chamber.
- a specific configuration example will be described later when the substrate transfer apparatus 130 is applied to the cleaning processing chamber 400 among these processing chambers.
- the substrate processing apparatus 300 is a control unit 5 It operates based on a predetermined program by 00.
- the wafer W unloaded from the cassette containers 332A to 332C by the transfer robot 370 is loaded into the pre-alignment processing chamber 336 for positioning processing.
- the positioned wafer W is unloaded from the pre-alignment processing chamber 336 and loaded into the load lock chamber 360M or 360N.
- the wafer W that has undergone all necessary process processing is in the load lock chamber 360 M or 360 N, the wafer W is unloaded and the unprocessed wafer W is loaded.
- the wafer W loaded into the load lock chamber 360M or 360N is unloaded from the load lock chamber 360M or 360N by the transfer robot 380, and loaded into a predetermined processing chamber of the process processing chambers 340A to 340F.
- Process processing is executed. For example, when the wafer W is loaded into the process chamber and transferred onto the mounting table constituting the lower electrode, for example, a predetermined process gas is introduced from a shower head constituting the upper electrode, and a predetermined process gas is introduced into each of the electrodes. High-frequency power is applied to turn the processing gas into plasma, and the plasma is used to perform predetermined process processing such as etching and film formation on the wafer W. Then, the wafer W that has undergone the process processing is unloaded from the process processing chamber 340 by the transfer robot 380, and if the processing remains! /, It is transferred to the next process processing chamber 340.
- each process processing chamber 340 in each process processing chamber 340, The processed wafer W is transferred to the cleaning processing chamber 400 via the load lock chamber 360M or 360N, and the edge of the wafer W is cleaned in the cleaning processing chamber 400, and then the original force set container 332A It tries to return to ⁇ 332C. Since this cleaning process removes deposits on the edge of the wafer W, when such a wafer W is returned to the cassette container 332A, for example, the deposits do not fall from the wafer W, and other wafers do not fall. The surface of W can be kept clean.
- a configuration example of the cleaning chamber 400 will be described.
- a predetermined amount of light is partially applied to the edge of the wafer W while the wafer W is rotated on the mounting table 112 that is rotatably provided and the wafer W is rotated. It is configured to remove deposits by irradiation. For this reason, it is necessary to accurately place the wafer W on the mounting table 112 so that there is no positional deviation in the horizontal direction. Therefore, an example in which the substrate transfer device 130 is applied to such a cleaning processing chamber 400 will be described. explain.
- the cleaning processing chamber 400 is configured as shown in Fig. 12, for example.
- the cleaning processing chamber 400 includes a mounting table unit 110, a substrate transfer device 130, a substrate position detection unit 150, and a cleaning means 410 in a container 402.
- the cleaning means 410 includes a laser unit 412 and an ozone generator 414.
- a laser light source (not shown) constituting the laser unit 412
- various lasers such as a semiconductor laser, a gas laser, and a solid-state laser can be used.
- the optical axis of the laser unit 412 is adjusted so that the laser beam is applied to the rear surface of the end of the wafer W!
- the ozone generator 414 generates ozone (O 2) as an oxygen-based reactive gas for decomposing the deposit P adhering to the back of the edge of the wafer W,
- Exhaust means (not shown) for sucking and exhausting element (F) is placed at a position facing the ozone generator 414.
- the cleaning process for the wafer W performed in the cleaning process chamber 400 will be described.
- the cleaning chamber 400 includes the substrate transfer device 130 and the substrate position detection unit 150 described above
- the wafer W loaded into the container 402 through the loading / unloading port 404 by the transfer arm 373 of the transfer robot 370 is provided. Can be mounted on the wafer mounting surface of the mounting table 112 without displacement.
- the transfer robot 370 can transfer other wafers W.
- the cleaning process is performed on the back surface of the edge of the wafer W using the cleaning means 410.
- the cleaning means 410 For example, when CF polymer P adheres to the end of wafer W as an adhering material, for example, if a decomposition reaction is caused by irradiating light while contacting oxygen-based reactive gas with CF polymer P Therefore, it is possible to remove this force S.
- the types of light and gas can be used properly as follows.
- the CF polymer P is irradiated with ultraviolet rays, and an oxygen-based reactive gas is present near the surface of the CF polymer P.
- a predetermined temperature e.g, about 200 ° C
- an oxygen-based reactive gas is present near the surface of the CF polymer P.
- O 2 for example
- the mounting table 112 is rotated while the wafer W is mounted, and laser light is emitted from the laser unit 412 toward the back surface of the end of the wafer W. Ozone (O) is discharged from 4. As a result, the deposit P adheres to the back surface of the edge of the wafer W.
- the deposit P can be removed by chemical decomposition. If the attachment area of the deposit P is wider than the spot diameter of the laser beam, it is preferable to configure the laser unit 412 so that the spot position of the laser beam moves in the radial direction of the wafer W, for example. Good. In this way, the deposit P attached to a large area can be completely removed.
- the wafer W that has been subjected to the cleaning process is again lifted in the vertical direction by the support pins 132A to 132C and delivered to the transfer robot 370 that enters from the loading / unloading port 404 of the container 402.
- the transfer robot 370 returns the cleaned wafer W to the original cassette containers 332A to 332C via the transfer chamber 330.
- the deposit P does not fall from the cleaned wafer W, and the surface of another wafer W can be kept clean.
- the wafer W rotates in an eccentric state.
- the cleaning processing chamber 400 that uses laser light to remove the deposit P on the back surface of the edge of the wafer W
- the spot diameter of the laser light may be narrow, so There is a possibility that it cannot be completely removed.
- the wafer W can be positioned with high accuracy (for example, accuracy of several meters or less). Therefore, the cleaning process can be performed accurately.
- the wafer W taken out from the cassette containers 332A to 332C was circulated through the pre-alignment processing chamber 336, the process processing chambers 340A to 340F, and the like and subjected to predetermined processing. Later, it is carried into a post-processing chamber such as the cleaning processing chamber 400 or measurement processing chamber. For this reason, the wafer W loaded into the post-processing chamber is likely to have a large positional shift because the wafer W is repeatedly loaded and unloaded by the transfer arm in multiple processing chambers.
- the substrate transfer apparatus 130 according to the present embodiment even when the wafer W is largely misaligned, the wafer W can be taken out and placed again as before, or placed on the mounting table.
- the present invention is applicable to a substrate delivery apparatus, a substrate processing apparatus, and a substrate delivery method.
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN2007800010976A CN101351878B (zh) | 2006-09-05 | 2007-08-20 | 基板交接装置、基板处理装置、基板交接方法 |
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JP2006239983A JP4799325B2 (ja) | 2006-09-05 | 2006-09-05 | 基板受け渡し装置,基板処理装置,基板受け渡し方法 |
JP2006-239983 | 2006-09-05 |
Publications (1)
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WO2008029608A1 true WO2008029608A1 (fr) | 2008-03-13 |
Family
ID=39157045
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/066087 WO2008029608A1 (fr) | 2006-09-05 | 2007-08-20 | Dispositif de transfert de substrat, dispositif de traitement de substrat, et procédé de transfert de substrat |
Country Status (5)
Country | Link |
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JP (1) | JP4799325B2 (ja) |
KR (1) | KR100941688B1 (ja) |
CN (1) | CN101351878B (ja) |
TW (1) | TWI390662B (ja) |
WO (1) | WO2008029608A1 (ja) |
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- 2007-08-20 WO PCT/JP2007/066087 patent/WO2008029608A1/ja active Application Filing
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ITMO20130088A1 (it) * | 2013-04-05 | 2014-10-06 | Kemet Electronics Italia S R L | Sistema di movimentazione |
WO2014162248A1 (en) * | 2013-04-05 | 2014-10-09 | Manz Italy S.R.L. | Movement system |
CN110832633A (zh) * | 2017-06-30 | 2020-02-21 | 东芝三菱电机产业系统株式会社 | 基板定位装置及基板定位方法 |
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CN112185882A (zh) * | 2019-07-05 | 2021-01-05 | 东京毅力科创株式会社 | 基板处理装置和基板的交接方法 |
CN112185882B (zh) * | 2019-07-05 | 2024-05-03 | 东京毅力科创株式会社 | 基板处理装置和基板的交接方法 |
JP2021086894A (ja) * | 2019-11-27 | 2021-06-03 | 株式会社Screenホールディングス | 基板処理装置 |
WO2021106515A1 (ja) * | 2019-11-27 | 2021-06-03 | 株式会社Screenホールディングス | 基板処理装置 |
TWI795161B (zh) * | 2021-03-24 | 2023-03-01 | 韓商细美事有限公司 | 基板處理方法以及裝置 |
Also Published As
Publication number | Publication date |
---|---|
TWI390662B (zh) | 2013-03-21 |
CN101351878A (zh) | 2009-01-21 |
KR100941688B1 (ko) | 2010-02-12 |
JP2008066367A (ja) | 2008-03-21 |
TW200822274A (en) | 2008-05-16 |
CN101351878B (zh) | 2010-06-09 |
JP4799325B2 (ja) | 2011-10-26 |
KR20080055792A (ko) | 2008-06-19 |
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