WO2013187090A1 - 基板反転装置、および、基板処理装置 - Google Patents
基板反転装置、および、基板処理装置 Download PDFInfo
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- WO2013187090A1 WO2013187090A1 PCT/JP2013/055452 JP2013055452W WO2013187090A1 WO 2013187090 A1 WO2013187090 A1 WO 2013187090A1 JP 2013055452 W JP2013055452 W JP 2013055452W WO 2013187090 A1 WO2013187090 A1 WO 2013187090A1
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- substrate
- unit
- support
- substrates
- sandwiching
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- 0 *CC1CCCC1 Chemical compound *CC1CCCC1 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
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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
- H01L21/67017—Apparatus for fluid treatment
- H01L21/67028—Apparatus for fluid treatment for cleaning followed by drying, rinsing, stripping, blasting or the like
- H01L21/6704—Apparatus for fluid treatment for cleaning followed by drying, rinsing, stripping, blasting or the like for wet cleaning or washing
- H01L21/67046—Apparatus for fluid treatment for cleaning followed by drying, rinsing, stripping, blasting or the like for wet cleaning or washing using mainly scrubbing means, e.g. brushes
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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
- H01L21/67763—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 the wafers being stored in a carrier, involving loading and unloading
- H01L21/67778—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 the wafers being stored in a carrier, involving loading and unloading involving loading and unloading of wafers
- H01L21/67781—Batch transfer of wafers
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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
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9501—Semiconductor wafers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/06—Illumination; Optics
- G01N2201/061—Sources
- G01N2201/06113—Coherent sources; lasers
Definitions
- the present invention relates to a technique for processing a plurality of semiconductor substrates, glass substrates for liquid crystal display devices, glass substrates for plasma displays, glass substrates for photomasks, optical disk substrates and the like (hereinafter simply referred to as “substrates”).
- the substrate processing apparatuses of Patent Documents 1 and 2 have a configuration in which an indexer cell that integrates an unprocessed substrate and a processed substrate and a cleaning processing cell that performs a scrub cleaning process on the substrate are connected via a substrate transfer unit. It has become.
- Each of the indexer cell and the cleaning treatment cell is provided with a dedicated transfer robot for each cell.
- an inversion unit that inverts the front and back of the substrate separately from the plurality of cleaning processing units in the cleaning processing cell. Is provided.
- Patent Document 2 the substrate is sandwiched between two flat plates (movable plate and fixed plate) on which support pins are erected, and the two sheets.
- substrate is disclosed.
- Patent Document 3 discloses a configuration in which the front and back of a substrate are reversed by rotating the chuck together with the substrate held by the chuck while holding the edges of the substrate by a pair of chucks. Yes.
- both edge portions along the radial direction of the substrate (that is, the substrate supported by the lower support pins from the lower surface side) are held by the clamping members. Then, the lower support pin is moved to the side to release the support state of the substrate by the lower support pin. Then, the front and back of the substrate are reversed by rotating the holding member together with the substrate held by the holding member by 180 °.
- the present invention has been made in view of the above problems, and an object thereof is to provide a technique capable of appropriately inverting a plurality of substrates at a time.
- a first aspect is a substrate reversing device for reversing a substrate, which is supported by a support mechanism that supports a plurality of substrates stacked in a horizontal posture with an interval in the vertical direction.
- a pair of holding and reversing mechanisms for holding each of the plurality of substrates and reversing the plurality of substrates at a time, wherein the holding and reversing mechanism holds each of the plurality of substrates from both edge portions.
- Each of the holding member and the pair of holding members are moved between an approach position where a part of the holding member approaches or contacts the side surface of the substrate and a spaced position where the holding member is separated from the side surface.
- a clamping member driving unit and an elastic member that elastically biases the clamping member disposed at the approach position toward a side surface of the substrate, wherein the support mechanism is configured to each of the plurality of substrates.
- On the bottom side A plurality of supporting members to be supported, and each of the plurality of supporting members are moved between a supporting position at which a part of the supporting member is in contact with the lower surface of the substrate and a retracted position in which the supporting member is separated from the lower surface.
- a support member drive unit for moving the support member by moving each of the plurality of support members downward while moving away from the center of the substrate when viewed from above and below. Move from position to the retracted position.
- a 2nd aspect is a board
- a 3rd aspect is a board
- the said detection part is provided with the 1st light projection part and the 1st light reception part,
- the said 1st light projection part and the said 1st light reception part However, when viewed from above and below, they are arranged to face each other across the substrate associated with the detection unit, and are arranged separately above and below the substrate.
- a 4th aspect is a board
- the said detection part is provided with the 2nd light projection part and the 2nd light reception part,
- the two light receiving units are arranged to face each other across the substrate associated with the detection unit when viewed in the vertical direction, and are arranged in the same horizontal plane close to the main surface of the substrate.
- a 5th aspect is a board
- the said detection part is provided with the 3rd light projection part and the 3rd light reception part,
- the said 3rd light projection part and the said 3rd light reception part Are disposed opposite to each other across the substrate associated with the detection unit when viewed in the vertical direction, and are disposed in the same horizontal plane close to the main surface of the substrate, and the second light projection And a straight line connecting the second light receiving part and a straight line connecting the third light projecting part and the third light receiving part are non-parallel.
- a sixth aspect is the substrate reversing device according to any one of the first to fifth aspects, wherein the sandwiching / reversing mechanism is configured such that each of the pair of sandwiching members is either the separation position or the approach position.
- a 7th aspect is a substrate processing apparatus, Comprising: The substrate inversion apparatus which concerns on any one of the 1st to 6th aspect, the surface washing
- An eighth aspect is a substrate processing apparatus according to the seventh aspect, wherein the front surface cleaning unit, the back surface cleaning unit, a processing block in which the first transport robot is arranged, and a second transport robot And an indexer block that delivers an unprocessed substrate to the processing block and receives a processed substrate from the processing block, and the substrate reversing device is provided at a connection portion between the indexer block and the processing block.
- the first transfer robot and the second transfer robot carries a substrate into the substrate reversing device, the substrate reversed by the substrate reversing device is transferred to the other.
- the robot carries out.
- each of the pair of sandwiching members is moved from the separated position to the approach position by the sandwiching member driving unit, and elastically biased toward the side surface of the substrate by the elastic member at the approach position.
- each clamping member is elastically biased with a necessary and sufficient force against the substrate, the substrate can be reliably held without being damaged by the pair of clamping members.
- the support member is moved downward while being away from the center of the substrate when viewed in the vertical direction, so that the support member can be appropriately moved to the retracted position without damaging the substrate. . Therefore, according to the first aspect, a plurality of substrates can be appropriately reversed at a time.
- the plurality of substrates can be safely reversed.
- the first light projecting unit and the first light receiving unit are disposed so as to face each other across the corresponding substrate when viewed from above and below, and are disposed separately above and below the substrate. . Therefore, by monitoring the amount of light received by the first light receiving unit, it is possible to immediately detect when a corresponding substrate presence / absence abnormality has occurred.
- the second light projecting unit and the second light projecting unit disposed in the same horizontal plane close to the main surface of the substrate and opposed to each other across the corresponding substrate when viewed from the vertical direction 2 light receiving parts. Therefore, by monitoring the amount of light received by the second light receiving unit, it is possible to immediately detect when a corresponding substrate posture abnormality has occurred.
- the third light projecting unit and the third light receiving unit are arranged at positions where the straight line connecting them is not parallel to the straight line connecting the second light projecting unit and the second light receiving unit. Is done. Therefore, by monitoring the amount of light received by both the second light receiving unit and the third light receiving unit, it is possible to reliably detect the occurrence of a corresponding substrate posture abnormality.
- the plurality of substrates can be safely reversed.
- the throughput in the substrate processing apparatus can be improved.
- the substrate inverting device when the substrate is transferred between the second transfer robot provided in the indexer block and the first transfer robot provided in the processing block, the front and back of the substrate can be reversed. . That is, in addition to the function of inverting the substrate, the substrate inverting device also functions as a substrate transfer unit between the first transfer robot and the second transfer robot. According to this configuration, the burden on the first transfer robot is reduced, the number of processing steps in the processing cell is reduced, and a reduction in throughput of the substrate processing apparatus is effectively suppressed.
- FIG. 1 is a plan view of a substrate processing apparatus according to the present invention. It is the figure which looked at the substrate processing apparatus from the AA line of FIG. It is the figure which looked at the substrate processing apparatus from the BB line of FIG. It is a top view of an inversion delivery part.
- FIG. 5 is a view of an inversion delivery unit as seen from line CC in FIG. 4.
- FIG. 5 is a diagram of the reverse delivery unit viewed from the line DD in FIG. It is the elements on larger scale which show the principal part of a clamping inversion mechanism. It is a figure for demonstrating operation
- the “front surface” of the substrate is a surface on which a pattern (for example, a circuit pattern) is formed on the main surface of the substrate, and the “back surface” is a surface opposite to the front surface.
- the “upper surface” of the substrate is the surface facing the upper side of the main surface of the substrate, and the “lower surface” is the surface facing the lower side (regardless of whether it is the front surface or the back surface).
- FIG. 1 is a plan view of the substrate processing apparatus 1.
- FIG. 2 is a view of the substrate processing apparatus 1 as seen from the line AA in FIG.
- FIG. 3 is a view of the substrate processing apparatus 1 as seen from the line BB in FIG.
- an XYZ orthogonal coordinate system in which the Z-axis direction is the vertical direction and the XY plane is the horizontal plane is appropriately attached.
- the substrate processing apparatus 1 is a cleaning apparatus that continuously performs scrub cleaning processing on a plurality of substrates W such as semiconductor wafers, and includes two cells (processing blocks) that are an indexer cell 10 and a cleaning processing cell 20 arranged in parallel. It is configured.
- the substrate processing apparatus 1 includes each unit (the reverse delivery unit 30, the placement unit 40, and the reverse unit 50) provided between the indexer cell 10 and the cleaning processing cell 20.
- the substrate processing apparatus 1 includes a control unit 60 that controls each operation mechanism provided in the indexer cell 10 and the cleaning processing cell 20 to execute the cleaning processing of the substrate W.
- the indexer cell 10 passes the substrate W (unprocessed substrate W) received from the outside of the apparatus to the cleaning processing cell 20 and carries the substrate W (processed substrate W) received from the cleaning processing cell 20 out of the apparatus. It is a cell.
- the indexer cell 10 includes a plurality of (four in the present embodiment) carrier stages 11 on which the carriers C are placed, and untransferred substrates W from the carriers C and a transfer that stores the processed substrates W in the carriers C. Loading robot 12.
- a carrier C containing an unprocessed substrate W is carried from the outside of the apparatus by AGV (Automated Guided Vehicle) or the like and placed. Further, the substrate W that has been subjected to the scrub cleaning process in the apparatus is stored again in the carrier C placed on the carrier stage 11.
- the carrier C storing the processed substrate W is carried out of the apparatus by AGV or the like. That is, the carrier stage 11 functions as a substrate integration unit that integrates the unprocessed substrate W and the processed substrate W.
- the carrier C in addition to the FOUP (front opening unified pod) for storing the substrate W in a sealed space, the OC (open opening cassette) for exposing the SMIF (Standard Mechanical Interfacing Face) pod and the stored substrate W to the outside air. ).
- FOUP front opening unified pod
- OC open opening cassette
- the transfer robot 12 includes two transfer arms 121a and 121b, an arm stage 122 on which they are mounted, and a movable base 123.
- the movable table 123 is screwed into a ball screw 124 extending in parallel with the arrangement of the carrier stages 11 (along the Y-axis direction) and is slidable with respect to the two guide rails 125. Therefore, when the ball screw 124 is rotated by a rotation motor (not shown), the entire transfer robot 12 including the movable base 123 moves horizontally along the Y-axis direction.
- the arm stage 122 is mounted on the movable table 123.
- the movable table 123 includes a motor that pivots the arm stage 122 around an axis along the vertical direction (Z-axis direction), and a motor that moves the arm stage 122 up and down along the vertical direction (both not shown). ) Is built-in.
- the transfer arms 121a and 121b are arranged vertically with a predetermined pitch.
- Each of the transfer arms 121a and 121b is formed in a fork shape in plan view.
- Each of the transfer arms 121a and 121b supports the lower surface of one substrate W with a fork-like portion.
- the transfer arms 121a and 121b are independently operated in the horizontal direction (in the turning radius direction of the arm stage 122) by the articulation mechanism being bent and extended by a drive mechanism (not shown) built in the arm stage 122. It is configured to be able to move forward and backward along.
- each of the transfer arms 121a and 121b can perform horizontal movement along the Y-axis direction, vertical movement, swivel movement in a horizontal plane, and advance / retreat movement along the swivel radial direction. Then, the transfer robot 12 moves each of the transfer arms 121a and 121b that support the substrate W with a fork-shaped portion to each part (specifically, the carrier C placed on the carrier stage 11, the reverse delivery part 30, and Each part) of the mounting unit 40 is accessed, and the substrate W is transferred between the parts.
- the cleaning processing cell 20 is a cell that performs scrub cleaning processing on the substrate W, and includes two cleaning processing units 21a and 21b and a transfer robot 22 that delivers the substrate W to each of the cleaning processing units 21a and 21b. Prepare.
- the two cleaning processing units 21a and 21b are arranged to face each other with the transfer robot 22 in between.
- the cleaning processing unit 21b on the ⁇ Y side of the transfer robot 22 has one or more (four in this embodiment) surface cleaning processing units SS in the vertical direction. It is configured by stacking.
- the other cleaning processing unit 21a (that is, the cleaning processing unit 21a on the + Y side of the transfer robot 22) has one or more (four in this embodiment) back surface cleaning processing units SSR stacked in the vertical direction. It is arranged and configured.
- the surface cleaning processing unit SS performs a scrub cleaning process on the surface of the substrate W.
- the surface cleaning processing unit SS is held on, for example, the spin chuck 201 and the spin chuck 201 that hold the substrate W whose surface is directed upward in a horizontal posture and rotate it around an axis along the vertical direction.
- a cleaning brush 202 that performs scrub cleaning in contact with or close to the surface of the substrate W
- a nozzle 203 that discharges a cleaning liquid (for example, pure water) to the surface of the substrate W
- a spin motor 204 that rotationally drives the spin chuck 201
- a cup (not shown) that surrounds the periphery of the substrate W held on the spin chuck 201 is provided.
- the back surface cleaning processing unit SSR performs scrub cleaning processing on the back surface of the substrate W.
- the back surface cleaning processing unit SSR is, for example, held on the spin chuck 211 and the spin chuck 211 that hold the substrate W with the back surface facing upward in a horizontal posture and rotate it around the axis along the vertical direction.
- a cleaning brush 212 that performs scrub cleaning in contact with or close to the back surface of the substrate W
- a nozzle 213 that discharges a cleaning liquid (for example, pure water) to the back surface of the substrate W
- a spin motor 214 that rotationally drives the spin chuck 211
- a cup (not shown) or the like surrounding the periphery of the substrate W held on the spin chuck 211 is provided.
- the spin chuck 201 of the front surface cleaning processing unit SS that performs front surface cleaning may be of a vacuum suction type because the substrate W is held from the back surface side, but the spin of the back surface cleaning processing unit SSR that performs back surface cleaning is not problematic.
- the chuck 211 must be of a type that mechanically grips the edge of the substrate in order to hold it from the surface side of the substrate W.
- the transfer robot 22 includes two transfer arms 221a and 221b, an arm stage 222 on which they are mounted, and a base 223.
- the base 223 is fixedly installed on the frame of the cleaning processing cell 20. Therefore, the entire transfer robot 22 does not move in the horizontal direction.
- the arm stage 222 is mounted on the base 223.
- the base 223 includes a motor that swings and drives the arm stage 222 around an axis along the vertical direction (Z-axis direction) and a motor that moves the arm stage 222 up and down along the vertical direction (both not shown). ) Is built-in.
- transfer arms 221a and 221b are arranged vertically with a predetermined pitch. Each of the transfer arms 221a and 221b is formed in a fork shape in plan view. Each of the transfer arms 221a and 221b supports the lower surface of one substrate W with a fork-like portion.
- the transfer arms 221a and 221b are each independently operated in the horizontal direction (in the turning radius direction of the arm stage 222) by the articulation mechanism being bent and extended by a drive mechanism (not shown) built in the arm stage 222. It is configured to be able to move forward and backward.
- the transfer robot 22 can individually transfer each of the two transfer arms 221a and 221b to each unit (specifically, the cleaning processing units 21a and 21b, the reverse transfer unit 30, the mounting unit 40, And each part of the reversing part 50 is accessed, and the substrate W can be exchanged between these parts.
- another mechanism such as a belt feeding mechanism using a pulley and a timing belt may be employed as the lifting drive mechanism of the transport robot 22.
- ⁇ Reverse delivery unit 30> In the substrate processing apparatus 1, a cleaning processing cell 20 is provided adjacent to the indexer cell 10, and an atmosphere blocking partition 300 is provided between the indexer cell 10 and the cleaning processing cell 20.
- the reverse delivery unit 30 is provided through a part of the partition wall 300. In other words, the reverse delivery unit 30 is provided at a connection portion between the indexer cell 10 and the cleaning treatment cell 20.
- the reversal delivery unit 30 delivers the unprocessed substrate W from the indexer cell 10 to the cleaning cell 20 after inverting the front and back surfaces by 180 °, or from the cleaning cell 20 to the indexer cell 10. It is interposed for passing W after inverting the front and back surfaces by 180 °. That is, the reversal delivery unit 30 has both a function as a reversal unit for reversing the substrate W and a function as a delivery unit for the substrate W between the transfer robot 12 and the transfer robot 22. The configuration of the reverse delivery unit 30 will be described later.
- the mounting unit 40 is provided so as to penetrate a part of the partition wall 300, and is stacked on the upper side of the reverse delivery unit 30. That is, the mounting unit 40 is also provided at the connection portion between the indexer cell 10 and the cleaning processing cell 20. However, there may be a gap between the placing unit 40 and the reverse delivery unit 30.
- the mounting unit 40 is interposed to pass the unprocessed substrate W from the indexer cell 10 to the cleaning processing cell 20 or to pass the processed substrate W from the cleaning processing cell 20 to the indexer cell 10.
- a plurality of (for example, six in this embodiment) a plurality of mounting portions PASS that support one substrate W in a horizontal posture are arranged in a stacked manner.
- the mounting unit 40 can simultaneously support six substrates W in a horizontal posture and stacked in a vertically spaced manner.
- the upper three placement units PASS are used for delivery of the processed substrate W from the cleaning processing cell 20 to the indexer cell 10 ( So-called return mounting portion).
- the lower three placement units PASS are used to deliver the unprocessed substrate W from the indexer cell 10 to the cleaning processing cell 20 (so-called feed placement unit).
- the reversing unit 50 is provided so as to penetrate a part of the partition wall 300 and is laminated on the placement unit 40. That is, the reversing unit 50 is also provided at the connection portion between the indexer cell 10 and the cleaning processing cell 20. However, there may be a gap between the mounting unit 40 and the reversing unit 50.
- the reversing unit 50 is a processing unit that reverses the front surface and the back surface of the substrate W by 180 °.
- the reversing unit 50 has a configuration in which a substrate reversing device 100 described later is accommodated in a box-shaped housing 501.
- only the transfer robot 22 can access the inside of the housing 501. That is, no opening is formed in the wall portion on the indexer cell 10 side in the housing 501, and the transfer arms 221 a and 221 b of the transfer robot 22 are accessed inside the housing 501 only on the wall portion on the cleaning processing cell 20 side. An opening (not shown) is formed.
- the controller 60 controls various operation mechanisms provided in the substrate processing apparatus 1.
- the configuration of the control unit 60 as hardware is the same as that of a general computer. That is, the control unit 60 stores a CPU that performs various arithmetic processes, a ROM that is a read-only memory that stores basic programs, a RAM that is a readable and writable memory that stores various information, control software, data, and the like. It has a magnetic disk.
- the substrate processing apparatus 1 includes the front surface cleaning processing unit SS that performs scrub cleaning processing on the surface of the substrate W, and the back surface cleaning processing unit SSR that performs scrub cleaning processing on the back surface of the substrate W. Accordingly, various types of cleaning processes are performed according to the purpose (for example, a cleaning process for cleaning only the front surface of the substrate W, a cleaning process for cleaning only the back surface of the substrate W, and cleaning both surfaces of the front and back surfaces of the substrate W). Washing treatment, etc.).
- the type of cleaning process to be executed is set by a recipe that describes the transfer procedure of the substrate W (the transfer procedure of the substrate is also referred to as “flow”) and the processing conditions.
- the operation of the substrate processing apparatus 1 will be described by taking as an example a case where a cleaning process for cleaning both surfaces of the substrate W is executed.
- the transfer robot 12 of the indexer cell 10 moves from the carrier C to the transfer arms 121a and 121b. Then, two unprocessed substrates W are taken out, and the two taken out substrates W are transferred to the reverse delivery unit 30.
- the substrate reversing device 100 In the reversal delivery unit 30 into which two unprocessed substrates W are loaded, the substrate reversing device 100 inverts the front and back of the two substrates W so that each substrate W faces upward. And The operation of the substrate reversing apparatus 100 will be described later.
- the transfer robot 22 of the cleaning cell 20 is transferred from the inversion transfer unit 30 by the transfer arms 221a and 221b.
- the two substrates W) whose back surfaces are directed upward are received, and each of the received two substrates W is transported to the back surface cleaning processing unit SSR.
- the cleaning processing unit 21b includes the four back surface cleaning processing units SSR arranged in a stack, and the transfer robot 22 includes the four back surface cleaning processing units SSR. Any two of the back surface cleaning processing units SSR are selected, and the substrate W is transferred one by one to each of the selected two back surface cleaning processing units SSR.
- each back surface cleaning processing unit SSR into which the substrate W has been loaded the back surface cleaning processing of the substrate W is executed. That is, in each back surface cleaning processing unit SSR, the cleaning liquid is supplied from the nozzle 213 to the back surface of the substrate W while the substrate W with the back surface facing upward is held and rotated by the spin chuck 211. In this state, the cleaning brush 212 scans in the horizontal direction in contact with or close to the back surface of the substrate W, so that the back surface of the substrate W is scrubbed.
- the transfer robot 22 uses the transfer arms 221a and 221b to transfer the substrate W after the back surface cleaning processing in order from each of the two back surface cleaning processing units SSR.
- the two substrates W taken out are transported to the reversing unit 50.
- the substrate reversing device 100 reverses the front and back of the two substrates W so that each substrate W faces upward. State.
- the transfer robot 22 uses the transfer arms 221 a and 221 b to turn the two substrates W reversed from the reversing unit 50 (that is, the surface 2 is directed upward). Sheets of substrate W) are received, and each of the received two substrates W is transported to the surface cleaning processing unit SS.
- the cleaning processing unit 21a includes the four surface cleaning processing units SS arranged in a stack, and the transfer robot 22 includes the four surface cleaning processing units SS. Any two of the surface cleaning processing units SS are selected, and the substrate W is transferred one by one to each of the two selected surface cleaning processing units SS.
- each of the two surface cleaning processing units SS into which the substrate W has been loaded the surface cleaning processing of the substrate W is executed. That is, in each surface cleaning processing unit SS, the cleaning liquid is supplied from the nozzle 203 to the surface of the substrate W while the substrate W with the surface facing upward is held and rotated by the spin chuck 201. In this state, the cleaning brush 202 scans in the horizontal direction in contact with or close to the surface of the substrate W, so that the surface of the substrate W is scrubbed.
- the transport robot 22 uses the transport arms 221a and 221b to transfer the substrate W after the surface cleaning processing in order from each of the two surface cleaning processing units SS.
- the two taken out substrates W are taken out and transferred to the placement unit PASS.
- the transfer robot 12 of the indexer cell 10 takes out the processed substrate W by the transfer arms 121a and 121b and stores it in the carrier C.
- the substrate reversing device 100 included in each of the reversal delivery unit 30 and the reversing unit 50 can appropriately reversal two substrates W at a time, as will be apparent later. Thereby, the throughput in the substrate processing apparatus 1 can be improved.
- the substrate processing apparatus 1 when the substrate W is transferred between the transfer robot 12 provided in the indexer cell 10 and the transfer robot 22 provided in the cleaning processing cell 20, the front and back of the substrate W are reversed. Can be made. That is, the substrate reversing apparatus 100 has a function as a transfer unit of the substrate W between the transfer robot 12 and the transfer robot 22 in addition to the function of inverting the substrate W. According to this configuration, for example, the burden on the transfer robot 22 is reduced and the number of processing steps in the cleaning processing cell 20 is reduced as compared with the case where the transfer unit and the reversing unit are provided separately. A decrease in throughput is effectively suppressed.
- FIG. 4 is a plan view of the reverse delivery unit 30.
- FIG. 5 is a view of the reverse delivery unit 30 as seen from the line CC in FIG. 6 is a diagram of the reverse delivery unit 30 as seen from the line DD in FIG.
- the reverse delivery unit 30 is supported by a support mechanism 70 and a support mechanism 70 that support a plurality (two in this embodiment) of substrates W in a horizontal posture and stacked in a vertically spaced manner.
- a sandwiching and reversing mechanism 80 for sandwiching each of the plurality of substrates W and reversing the plurality of substrates W at a time, a detection unit 90 provided for each of the plurality of substrates W, and the like are disposed in the housing 301. It becomes the composition.
- the support mechanism 70, the sandwiching and reversing mechanism 80, and the detection unit 90 constitute a substrate reversing apparatus 100 that reverses a plurality (two in this embodiment) of substrates W at a time.
- Both the transfer robot 12 and the transfer robot 22 can access the inside of the housing 301. That is, an opening 302 for allowing the transfer arms 221a and 221b of the transfer robot 22 to access the inside of the case 301 is formed in the wall portion of the case 301 on the cleaning processing cell 20 side (+ X side). Has been. In addition, an opening 303 for allowing the transfer arms 121 a and 121 b of the transfer robot 12 to access the inside of the housing 301 is formed in the wall portion of the housing 301 on the indexer cell 10 side ( ⁇ X side). Is formed.
- the side (+ X side) on which the opening 302 for accessing the transfer arms 221a and 221b of the transfer robot 22 is formed is referred to as “front side”, and the transfer arms 121a and 121a of the transfer robot 12 are referred to as “front side”.
- the side on which the opening 303 for accessing 121b is formed ( ⁇ X side) is referred to as “rear side”.
- the front-rear direction (X-axis direction) and the direction (Y-axis direction) orthogonal to the up-down direction (Z-axis direction) are referred to as “left-right direction”.
- each of the left and right side wall portions of the housing 301 two oblique shaft portions 71 are provided so as to slidably penetrate the side wall portions.
- the two oblique shaft portions 71 provided on each side wall portion are arranged at intervals in the front-rear direction with the extending directions thereof being parallel to each other.
- the oblique shaft portions 71 provided relatively on the front side are opposed to each other in the left-right direction when viewed from the vertical direction, and the oblique shaft portions 71 provided relatively on the rear side are arranged. Also, they are arranged opposite to each other in the left-right direction when viewed from the up-down direction.
- a support column 72 extending in the vertical direction is disposed on the upper end portion of each oblique shaft portion 71 protruding into the housing 301.
- the lower end portion of each oblique shaft portion 71 protruding outside the housing 301 is connected to the cylinder 73.
- the two oblique shaft portions 71 provided on the same side wall portion are connected to the same cylinder 73 via a connecting rod (not shown). That is, the lower end portions of the two oblique shaft portions 71 are respectively connected to the vicinity of the front end portion and the vicinity of the rear end portion of the connecting rod extending in the front-rear direction, and the cylinder 73 is connected to the connecting rod. ing. According to this configuration, the two oblique shaft portions 71 connected to the cylinder 73 via the connecting rod are moved in synchronization with the driving of the cylinder 73.
- a support member 74 extending in the left-right direction in the horizontal plane is attached near the upper end and the lower end of the support column 72 in a cantilever state.
- the support member 74 is a long plate-like member that extends horizontally from a fixed end attached to the support column 72 to a free end.
- the upper surface of the support member 74 has a stepped shape having an inclined surface in the middle of extension, and a substantially horizontal plane that is relatively lower than the fixed end side is formed on the free end side.
- the horizontal surface on the free end side constitutes a contact surface that contacts the lower surface of the substrate W, and as will become apparent later, each of the contact surfaces of the four support members 74 arranged in the same horizontal surface is the surface of the substrate W.
- the contact surface is not necessarily a horizontal plane, and may be a surface that is slightly inclined so as to become lower toward the tip.
- the inclined surface formed continuously with the contact surface functions as a position regulating surface that regulates the position of the edge of the substrate W. That is, each inclined surface of the four support members 74 arranged in the same horizontal plane regulates the edge position of the substrate W, whereby the position of the substrate W in the horizontal plane is regulated.
- the support members 74 disposed at the upper ends of the four support pillars 72 disposed in the housing 301 are disposed in the same horizontal plane and constitute one support member group. Further, the support members 74 disposed at the lower ends of the four support pillars 72 are also disposed in the same horizontal plane to constitute one support member group.
- One substrate W is supported in a horizontal position at a predetermined position by being supported from the lower surface side by four support members 74 constituting one support member group. That is, one support member group forms a support portion 701 that supports one substrate W in a horizontal posture.
- the two support portions 701 arranged in the vertical direction with a gap therebetween are provided, whereby the two substrates W are spaced in the vertical direction in a horizontal posture. It can be supported in a laminated state.
- a pair of two diagonal shaft portions 71 that are opposed to each other in the left-right direction that is, opposed to each other across the center line of the substrate W supported by the support portion 701) are paired.
- the oblique shaft portion 71 is used.
- Each of the pair of oblique shaft portions 71 is obliquely downward from the upper end portion connected to the support column 72 (that is, the direction toward the bottom while being separated from the other oblique shaft portion 71 disposed opposite to the left and right direction).
- the cylinder 73 slides each diagonal shaft portion 71 along its extending direction. That is, the cylinder 73 slides the oblique shaft portion 71 obliquely downward along the extending direction, and the support member 74 is moved to the support position A1 (that is, the support member 74 is formed on the contact surface of the substrate W).
- the substrate W is moved from the position contacting the lower surface to support the substrate W to the retracted position A2 (that is, the predetermined position where the support member 74 is separated from the lower surface and the side surface of the substrate W).
- the support member 74 at the support position A1 is moved in a diagonally downward direction (in other words, while being away from the center line of the substrate W when viewed from the up and down direction).
- the retracted position A2 is set at a position outside the peripheral edge of the substrate W when viewed from the up-down direction. Such a retracted position A2 is outside the region (reversal region) M through which each substrate W reversed by the sandwiching and reversing mechanism 80 passes. Therefore, it is ensured that the support member 74 arranged at the retracted position A2 does not interfere with the substrate W to be reversed.
- the retracted position A2 is preferably set above the support position of the lower substrate W (the support position of the substrate W supported on the lower side of the substrate W supported by the support member 74).
- the cylinder 73 moves the support member 74 from the retracted position A2 to the support position A1 by sliding the oblique shaft portion 71 obliquely upward along the extending direction. That is, the support member 74 at the retracted position A2 is moved in the reverse direction along the above path, and is moved from the retracted position A2 to the support position A1.
- the direction in which the support member 74 is moved may be any direction that is inclined at an angle larger than 0 with respect to the horizontal direction.
- the specific value of the angle is, for example, the substrate W supported by each support portion 701. It can be defined based on the vertical separation distance between them and the separation distance between the peripheral edge of the substrate W and the position where the support member 74 contacts the substrate W.
- each support member 74 is configured to move in the direction along the Y axis and move away from the center of the substrate W when viewed from the vertical direction. It may be configured to be moved along an axis extending radially from the center of the substrate W and away from the center of the substrate W.
- FIG. 7 is a partially enlarged view showing a main part of the clamping / reversing mechanism 80.
- a single slide shaft portion 81 is provided so as to be slidable through the side wall portion.
- One slide shaft portion 81 provided on each side wall portion is disposed between two oblique shaft portions 71 provided on the side wall portion. Further, the slide shaft portions 81 provided on the left and right side wall portions are opposed to each other in the left-right direction when viewed from the up-down direction.
- Each slide shaft portion 81 extends in the left-right direction in a horizontal plane, and a support column 82 extending in the up-down direction is disposed at an end portion on the side protruding into the housing 301.
- the support column 82 is connected to the slide shaft portion 81 at the center portion in the vertical direction.
- clamping members 83 extending in the left-right direction in a horizontal plane are attached in a cantilever state.
- the clamping member 83 is a member having a tapered surface with a V-shaped cross section into which the edge portion of the substrate W enters.
- the holding members 83 disposed at the upper ends of the two support columns 82 disposed in the housing 301 are disposed in the same horizontal plane.
- the clamping members 83 disposed at the lower ends of the two support pillars 82 are also disposed in the same horizontal plane.
- the pair of clamping members 83 disposed in the same horizontal plane clamps the substrate W from both edge portions.
- the two slide shaft portions 81 are arranged opposite to each other in the housing 301, and each of the two slide shaft portions 81 is on the side where the support pillar 82 is disposed. From the end portion, it extends in the left-right direction in the horizontal plane and reaches the other end portion that protrudes to the outside of the housing 301.
- Each slide shaft portion 81 is in contact with the elastic member 84 at an end portion on the side protruding to the outside of the housing 301.
- the elastic member 84 is, for example, a coil spring, and in a contracted state, one end of the elastic member 84 comes into contact with the end of the slide shaft portion 81 and the other end is a pulley 873 (or later).
- each slide shaft portion 81 is always moved in a direction away from the pulley 873 (or the bottom plate 872) by the elastic member 84, that is, in a direction close to the other slide shaft portion 81 opposed to the left and right. It is energized.
- the pair of sandwiching members 83 that are opposed to each other in the left-right direction within the same horizontal plane are always elastically biased in the direction of approaching each other, and the pair of sandwiching members 83 is the substrate.
- the substrates W are held in a horizontal posture by being opposed to each other with the W interposed therebetween and elastically biasing each clamping member 83 toward the side surface of the substrate W. That is, a single substrate W is sandwiched in a horizontal posture by being sandwiched between a pair of sandwiching members 83 arranged opposite to each other in the left-right direction from both edge portions along the radial direction of the substrate W.
- the “edge portion” of the substrate W here refers to an annular region on the side surface of the substrate W and the upper and lower surfaces of the substrate W and about several millimeters from the periphery.
- the pair of sandwiching members 83 form the sandwiching portion 801 that supports the single substrate W in a horizontal posture, and the two sandwiching members disposed at intervals in the vertical direction.
- the two substrates W can be sandwiched in a horizontal posture and stacked in a vertically spaced manner.
- each of the two sandwiching portions 801 that are spaced apart in the vertical direction is disposed at the same height as each of the two support portions 701, and each sandwiching portion 801 is each support portion 701. The substrate W supported by can be clamped.
- a protruding portion 811 protruding from the outer peripheral surface of the slide shaft portion 81 in a collar shape is formed at the end portion of each slide shaft portion 81 on the side protruding to the outside of the housing 301. At least a part of the tip of the protruding portion 811 is inserted into the groove of the hook-shaped portion 85.
- the hook-shaped portion 85 is a member that opens upward and forms a groove extending in the front-rear direction. The width of the groove is larger than the width of the protruding portion 811. Moreover, the front and rear end portions of the groove are also opened.
- the hook-shaped portion 85 is fixed to the rod of the cylinder 86 via a support portion 851.
- the rod of the cylinder 86 is disposed so as to extend in the left-right direction in the horizontal plane.
- the protruding portion 811 is formed in, for example, a semicircular shape when viewed from the left-right direction, and at least a part of the tip of the protruding portion 811 remains after the slide shaft portion 81 is rotated by 180 ° about the rotation axis L. , It is formed so as to be inserted into the groove of the bowl-shaped portion 85.
- the cylinder 86 reciprocates the bowl-shaped portion 85 within a predetermined movement range along a movement axis extending in the horizontal direction in the horizontal plane.
- the end position on the substrate W side within the movement range of the bowl-shaped portion 85 is referred to as “closed end position C1”, and the other end position is referred to as “open end position C2.”
- the holding member 83 that is elastically biased to the side surface of the substrate W (that is, the holding member at the holding position B1) is separated from the side surface of the substrate W and is separated from the left and right center lines of the substrate W in the horizontal plane.
- the cylinder 86 moves the bowl-shaped portion 85 from the closed side end position C1 to the open side end position C2, so that the clamping member 83 is moved from the clamping position B1 to the separation position B2.
- the slide shaft portion 81 is slid in the direction to approach the substrate W together with the bowl-shaped portion 85. (In FIG. 8, the flow from the bottom to the top). Accordingly, the clamping member 83 at the separation position B2 is moved in a direction approaching the left-right center line of the substrate W (that is, a direction approaching the center of the substrate W) in the horizontal plane.
- the protruding portion 811 is separated from the groove side wall portion of the hook-shaped portion 85 (preferably, the hook-shaped portion 85.
- the clamping member 83 receives the elastic biasing force from the elastic member 84 until halfway. In the state where it is supported by 86, it is brought close to the substrate W, and in the middle, it receives the elastic biasing force from the elastic member 84 and is moved to the final clamping position B1. More specifically, the clamping member 83 receives the driving force of the cylinder 86 and extends from the separation position B2 to the approach position (that is, a predetermined position where the clamping member 83 approaches or contacts the side surface of the substrate W).
- each of the pair of sandwiching members 83 is disposed at the sandwiching position B1, so that the substrate W is sandwiched by the pair of sandwiching members 83 from both edge portions.
- each clamping member 83 is elastically biased with a necessary and sufficient force with respect to the substrate W, so that the substrate W can be securely held by the clamping unit 801 without being damaged.
- the stop position of the holding member is uniquely fixed. Accordingly, when the position and size of the substrate W are slightly deviated from the intended ones, the substrate W is damaged because the holding members are too close to the side surfaces of the substrate W, or each holding member is a substrate. Although the substrate W may be dropped because it is disposed at a position that is too far from the side surface of the W, such a situation is unlikely to occur according to the above configuration.
- the sandwiching and reversing mechanism 80 is provided with an open / close detection unit 800 that detects the position state of the pair of sandwiching members 83.
- the open / close detection unit 800 includes, for example, a pair of optical sensors 810 and 820, and one sensor (closed side sensor) 810 is disposed in the vicinity of the closed end position C1, and the closed end position C1.
- the protruding portion 811 inserted into the groove of the hook-shaped portion 85 disposed in the position is detected.
- the other sensor (open side sensor) 820 is arranged in the vicinity of the open side end position C2 and has a protruding portion 811 inserted into the groove of the hook-shaped part 85 arranged at the open side end position C2. Detect.
- each sensor 810, 820 preferably has a detection range about the groove width of the bowl-shaped portion 85 in the left-right direction.
- the closed side sensor 810 detects the protruding portion 811 (upper stage in FIG. 8). That is, when the closed side sensor 810 detects the protruding portion 811, it can be determined that each clamping member 83 is disposed at the close position and further disposed at the clamping position B ⁇ b> 1 by the elastic member 84. On the other hand, when the hook-shaped portion 85 is moved to the open side end position C2, the open side sensor 820 detects the protruding portion 811 (lower stage in FIG. 8).
- each clamping member 83 is disposed at the separation position B2.
- the open-side sensor 820 detects the protruding portion 811
- the open / close detection unit 800 By detecting whether the pair of sandwiching members 83 sandwich the substrate W by the open / close detection unit 800, the plurality of substrates W can be safely reversed in the substrate reversing device 100.
- Each of the pair of slide shaft portions 81 is provided so as to penetrate each side wall portion of the housing 301 in a state of being inserted into the hollow rotation shaft portion 87. That is, each of the left and right side wall portions of the housing 301 is provided with a single rotating shaft portion 87 that is rotatably penetrated.
- the slide shaft portion 81 slides inside the rotating shaft portion 87. It is inserted as possible.
- the protruding portion 811 is formed at the end portion of the slide shaft portion 81, and the insertion opening 871 through which the protruding portion 811 is inserted is formed in the rotating shaft portion 87.
- the insertion opening 871 is shaped to have a sufficient length in the left-right direction so as not to hinder the movement of the protruding portion 811 in the left-right direction accompanying the slide of the slide shaft portion 81.
- the rotation shaft portion 87 and the slide shaft portion 81 inserted therein are, for example, the end surface of the protruding portion 811 (the periphery of the slide shaft portion 81) on the end surface of the insertion opening 871 (the end surface in the circumferential direction of the rotation shaft portion 87).
- the end surface in the direction) is hooked, so that the slide shaft portion 81 cannot rotate around the axis (center line along the extending direction) inside the rotation shaft portion 87. Therefore, when the rotary shaft portion 87 is rotated around its axis (rotary axis L), the slide shaft portion 81 also rotates around the rotary shaft L together with this.
- each of the pair of rotating shaft portions 87 that are opposed to each other in the left-right direction when viewed from the up-down direction extends in the left-right direction in the horizontal plane, and one end is inside the housing 301 and the other end is the housing. Each protrudes outside 301.
- the pair of rotating shaft portions 87 is connected to the other rotating shaft portion 87 via a pair of auxiliary bars 88 at the end portion on the side protruding into the housing 301.
- the pair of auxiliary bars 88 are arranged separately on the upper side and the lower side of the two substrates W supported by the support mechanism 70, and each auxiliary bar 88 is arranged extending in the left-right direction in the horizontal plane. .
- one rotating shaft portion (+ Y-side rotating shaft portion in the example in the figure) 87a has an end on the side protruding to the outside of the housing 301, and the rotating shaft portion 87a A bottom plate 872 for closing the hollow portion is attached.
- the elastic member 84 is disposed between the slide shaft portion 81 inserted through the hollow portion of the rotation shaft portion 87a and the bottom plate 872 that closes the hollow portion.
- the other rotating shaft portion (rotating shaft portion on the -Y side in the example in the figure) 87b has an end portion on the side protruding to the outside of the housing 301 at the rotating shaft portion 87b.
- a pulley 873 is attached so as to close the hollow portion.
- the elastic member 84 is disposed between the slide shaft portion 81 inserted through the hollow portion of the rotation shaft portion 87b and the pulley 873 that closes the hollow portion.
- the pulley 873 is disposed so that the rotation center thereof coincides with the rotation axis L of the rotation shaft portion 87.
- a motor 89 is disposed near the pulley 873, and a belt 891 that transmits the driving force of the motor 89 to the pulley 873 is wound between the pulley 873 and the motor 89.
- the rotational force is transmitted to the pulley 873 via the belt 891, and the pulley 873 rotates.
- the rotating shaft portion 87b moves its axis (rotating shaft) L. Rotate to center.
- the pair of rotating shaft portions 87a and 87b are connected to each other via the pair of auxiliary bars 88. Therefore, when one rotating shaft portion 87b is rotated around the rotating shaft L, the other rotating shaft portion 87a is also rotated around its axis (rotating shaft) L in synchronization. That is, the rotational driving force of the motor 89 connected to one rotary shaft portion 87b is also transmitted to the other rotary shaft portion 87a.
- each slide shaft portion 81 cannot rotate inside the rotation shaft portions 87a and 87b. Therefore, when the rotary shaft portions 87a and 87b are rotated by 180 ° around the rotary shaft L, each slide shaft portion 81 also rotates by 180 ° around the rotary shaft L. As a result, the support column 82 connected to each slide shaft portion 81 rotates 180 ° around the connection portion with the slide shaft portion 81 (that is, the central portion in the extending direction of the support column 82) in the vertical plane. To do. As a result, the two substrates W sandwiched between the sandwiching members 83 disposed on the support pillars 82 are inverted by 180 °. As described above, in the sandwiching and reversing mechanism 80, the two substrates W sandwiched between the two sandwiching portions 801 that are spaced apart in the vertical direction can be reversed at a time. ing.
- the substrate reversing device 100 includes a detection unit 90 that is provided corresponding to each of the two substrates W supported by the support mechanism 70 and detects an abnormality of the corresponding substrate W.
- the configuration of the detection unit 90 will be described with reference to FIGS. 9 and 10 in addition to FIG.
- FIG. 9 is a schematic diagram for explaining the detection unit 90, and schematically shows a relative positional relationship of the detection unit 90 with respect to the substrate W supported by the support unit 701.
- FIG. 10 is a view of FIG. 9 taken along line EE.
- the detection unit 90 targets one substrate W and detects an abnormality of the target substrate W. That is, one detection unit 90 is provided corresponding to one support unit 701, and each detection unit 90 detects an abnormality of the substrate W to be supported by the corresponding support unit 701. In the following description, the substrate W to be detected by the detection unit 90 is also referred to as “target substrate W”. As described above, in the substrate reversing apparatus 100, since the support mechanism 70 includes the two support portions 701, two detection portions 90 are also provided, but the configurations of the two detection portions 90 are the same as each other. is there.
- the detection unit 90 includes a presence / absence detection unit 91 that detects the presence / absence of the target substrate W, and a posture abnormality detection unit 92 that detects a posture abnormality of the target substrate W.
- the presence / absence detection unit 91 includes a first light projecting unit 911a configured with a light source that emits laser light, for example, and a first light receiving unit 911b configured with a line sensor, for example.
- the first light projecting unit 911a and the first light receiving unit 911b are disposed at predetermined positions on the inner wall of the housing 301, respectively. However, the first light projecting unit 911a and the first light receiving unit 911b are disposed so as to face each other with the target substrate W interposed therebetween, as viewed from above and below, and are disposed separately above and below the target substrate W.
- the first light projecting unit 911a and the first light receiving unit 911b are arranged in a relative positional relationship such that a straight line T1 connecting these units penetrates the target substrate W.
- the first light projecting unit 911a and the first light receiving unit 911b are in a relative position such that the straight line T1 connecting these units penetrates the vicinity of the center of the target substrate W in a state where the target substrate W is normally disposed. It is particularly preferred that they are arranged in a relationship.
- the first light receiving unit 911b detects the light from the first light projecting unit 911a.
- the light from the first light projecting unit 911a is not detected by the first light receiving unit 911b. Accordingly, when the amount of light received by the first light receiving unit 911b exceeds a predetermined value, it can be determined that the target substrate W does not exist.
- the presence / absence abnormality of the target substrate W that is, the target substrate W to be supported by the support unit 701 (or the sandwiching unit 801) If an abnormality that does not actually exist at the intended position, or an abnormality in which there is a target substrate W that should not be supported by the support portion 701 (or the sandwiching portion 801), is generated. It can be detected immediately.
- the posture abnormality detection unit 92 includes two light projecting units (second light projecting unit 921a and third light projecting unit 922a) and two light receiving units (second light receiving unit 921b and third light receiving unit). 922b).
- Each light projection part 921a, 922a is comprised with the light source which radiate
- each of the light receiving units 921b and 922b is configured by a line sensor, for example.
- These portions 921a, 922a, 921b, and 922b are respectively disposed at predetermined positions on the inner wall of the housing 301.
- the second light projecting unit 921a and the second light receiving unit 921b are disposed to face each other with the target substrate W interposed therebetween, and are disposed in the same horizontal plane when viewed from the vertical direction.
- the third light projecting unit 922a and the third light receiving unit 922b are disposed to face each other with the target substrate W interposed therebetween when viewed in the vertical direction, and are disposed in the same horizontal plane.
- both the straight line T2 connecting the second light projecting unit 921a and the second light receiving unit 921b and the straight line T3 connecting the third light projecting unit 922a and the third light receiving unit 922b are supported in a horizontal posture. It extends in parallel with the main surface of the target substrate W.
- the horizontal plane on which the respective parts 921a, 922a, 921b, and 922b are arranged is a surface close to the main surface (that is, a surface separated from the main surface by a minute distance). As the distance between the horizontal plane and the main surface decreases, the slight inclination of the target substrate W can also be detected. Therefore, the separation distance may be defined according to the inclination angle allowed for the target substrate W.
- the horizontal plane on which the second light projecting unit 921a and the second light receiving unit 921b are arranged and the horizontal plane on which the third light projecting unit 922a and the third light receiving unit 922b are arranged can be the same horizontal plane.
- each of these portions 921a, 922a, 921b, and 922b includes a straight line T2 connecting the second light projecting unit 921a and the second light receiving unit 921b, and a straight line T3 connecting the third light projecting unit 922a and the third light receiving unit 922b.
- a straight line T2 connecting the second light projecting unit 921a and the second light receiving unit 921b
- a straight line T3 connecting the third light projecting unit 922a and the third light receiving unit 922b.
- each of these portions 921a, 922a, 921b, and 922b is disposed in a relative positional relationship such that the intersection of the straight line T2 and the straight line T3 is near the center position of the target substrate W.
- each of these portions 921a, 922a, 921b, and 922b connects the support members 74 that are arranged diagonally among the four support members 74 in which the straight line T2 and the straight line T3 constitute the support portion 701. It is also preferable that they are arranged in a relative positional relationship that coincides with (or is close to) a straight line.
- the target substrate W is in a horizontal posture
- the light from the second light projecting unit 921a is detected by the second light receiving unit 921b.
- the target substrate W is tilted from the horizontal posture (except when the target substrate W is tilted by rotating about an axis extending in parallel with the straight line T2).
- the second light receiving unit 921b does not detect light from the second light projecting unit 921a.
- the target substrate W is in a horizontal posture, the light from the third light projecting unit 922a is detected by the third light receiving unit 922b.
- the third light receiving unit 922b does not detect light from the third light projecting unit 922a. Accordingly, when at least one of the second light receiving unit 921b and the third light receiving unit 922b has a light reception amount smaller than a predetermined value, the target substrate W is not supported in a horizontal posture, that is, the target substrate W It can be determined that there is an abnormality in the posture.
- the target substrate W is supported in a horizontal posture by the posture abnormality (that is, the support unit 701 (or the sandwiching unit 801)). This can be reliably detected when an abnormality (in which the target substrate W to be in an inclined posture) has occurred.
- the posture abnormality that is, the support unit 701 (or the sandwiching unit 801)
- FIG. 11 is a schematic diagram for explaining the operation of the substrate reversing apparatus 100.
- the operation of the substrate reversing apparatus 100 is executed by the control unit 60 controlling each unit 70, 80, 90 included in the substrate reversing apparatus 100.
- a control unit that controls each unit 70, 80, 90 included in the substrate reversing apparatus 100 is provided, and the control unit 60 of the substrate processing apparatus 1 performs overall control. It may be configured to.
- the substrate reversing device 100 included in the reversal delivery unit 30 will explain the operation of reversing the substrate W received from the transfer robot 12 and delivering the reversed substrate W to the transfer robot 22. Operation when the substrate reversing device 100 reverses the substrate W received from the transport robot 22 and causes the transfer robot 12 to receive the substrate W after reversal, and the substrate reversing device 100 included in the reversing unit 50 transports the substrate W.
- the operation for inverting the substrate W received from the robot 22 and causing the transfer robot 22 to receive the inverted substrate W again is the same as the operation described below.
- the transfer robot 12 supports the substrate W one by one.
- the two transfer arms 121a and 121b are made to enter the inside of the housing 301 through the opening 303, and the substrate W supported by the upper transfer arm 121a is supported by the upper support portion 701.
- the substrate W supported by the lower transfer arm 121b is supported by the lower support portion 701.
- the transfer robot 12 pulls out the transfer arms 121 a and 121 b from the inside of the casing 301 through the opening 303.
- each detection unit 90 starts monitoring whether there is an abnormality. That is, the presence / absence detection unit 91 starts monitoring the presence / absence abnormality of the target substrate W.
- the posture abnormality detection unit 92 starts monitoring the posture abnormality of the target substrate W.
- the detection unit 90 notifies the control unit 60 of the occurrence of the abnormality. Receiving the notification of the occurrence of the abnormality, the control unit 60 executes a predetermined error process (specifically, for example, a process of stopping the operation of the apparatus and notifying the operator of the occurrence of the abnormality).
- the substrate reversing apparatus 100 is provided with the two detection units 90, the abnormality of each substrate W can be reliably detected. Therefore, the two substrates W can be safely reversed.
- the presence / absence detecting unit 91 confirms the presence of the target substrate W
- the posture abnormality detection unit 92 confirms that the target substrate W is in the horizontal posture
- the cylinder 86 When all the support members 74 are moved from the retracted position A2 to the support position A1, the cylinder 86 subsequently moves the bowl-shaped portion 85 from the open side end position C2 to the close side end position C1. Then, the clamping member 83 is brought close to the substrate W while being supported by the cylinder 86 while receiving the elastic urging force from the elastic member 84 until halfway, and the elastic urging force from the elastic member 84 from the middle. In response, it is moved to the clamping position B1.
- the substrate W By arranging each of the pair of clamping members 83 at the clamping position B1, the substrate W is in a state of being clamped by the pair of clamping members 83 from both edge portions. That is, the substrate W supported by each support portion 701 is supported by the support portion 701 and is also sandwiched by the sandwiching portion 801 (the state shown in the middle stage of FIG. 11).
- each support member 74 is arranged outside the inversion region M of the substrate W, and the two substrates W are stacked in a horizontal posture with a gap in the vertical direction. It will be in the state clamped by the clamping part 801 (state shown by the lower stage of FIG. 11). However, as described above, the cylinder 73 moves each support member 74 from the support position A1 to the retracted position A2 by moving the support member 74 obliquely downward.
- the support member 74 is moved in a direction away from both the side surface and the lower surface of the substrate W at the same time. For example, when the support member is moved away from only the side surface, the support member that is in contact with the lower surface of the substrate W at the support position A1 is moved while being in contact with the substrate W, and the lower surface of the substrate W is damaged. There is a fear. On the other hand, when the support member is moved in a direction away from only the lower surface, the support member collides with the lower substrate W. According to the configuration according to this embodiment, such a situation does not occur. That is, the support member 74 can be appropriately moved to the retracted position A2 without damaging the substrate W by the support member 74.
- the rotation shaft portions 87a and 87b are subsequently rotated by 180 ° around the rotation axis L by driving the motor 89.
- the pair of slide shaft portions 81 is also rotated by 180 ° around the rotation axis L, and the support column 82 connected to each slide shaft portion 81 is 180 ° around the central portion in the extending direction in the vertical plane. Rotate.
- the substrate W sandwiched between the two sandwiching portions 801 is inverted by 180 °. That is, the two substrates W are inverted 180 ° at a time.
- each clamping member 83 is arranged at a position spaced from the substrate W, and the two substrates W are stacked in a horizontal posture with a gap in the vertical direction. It will be in the state supported by 701 (refer the upper stage of Drawing 11).
- the transfer robot 22 causes the two transfer arms 221a and 221b to enter the inside of the housing 301 through the opening 302, and the substrate W supported by each support portion 701 is transferred to each transfer arm 221a. , 221b, and the two transfer arms 221a, 221b supporting the substrate W are extracted from the housing 301 through the opening 302.
- FIG. 12 illustrates a support mechanism 70a according to another aspect.
- illustrations other than a part of the support mechanism 70 a and the substrate W supported by the support mechanism 70 a are omitted, and constituent elements that are not different from the constituent elements described above are denoted by the same reference numerals. Yes.
- the support member 72a provided in the support mechanism 70a according to this modification also has a support member 74 that cantilever in the horizontal direction in a horizontal plane. It is installed at.
- the upper ends of the two support columns 72a arranged in the front-rear direction are connected to the front end and the rear end of the connecting rod 723a extending in the front-rear direction, respectively.
- a support bar 720a extending in the vertical direction is disposed at the center in the extending direction of each connecting bar 723a.
- the support rod 720a is connected at its upper end to a rotating shaft portion 721a extending in the front-rear direction in the horizontal plane, and the rotating shaft portion 721a can be rotated by being driven by a motor 722a. Has been. Therefore, when the motor 722a rotates the rotation shaft portion 721a, the support rod 720a swings about the rotation shaft portion 721a, and the two support columns 72a connected via the connection rod 723a are synchronized, It swings around the rotation shaft portion 721a.
- the motor 722a drives the rotary shaft portion 721a from the state where the support member 74 is in the support position A1 (that is, the position where the support member 74 contacts the lower surface of the substrate W and supports the substrate W). Then, when each support column 72a is swung in a direction in which the free end is separated from the left and right center line of the substrate W, each support member 74 is moved downward while being separated from the left and right center line of the substrate W. The In this way, the support member 74a at the support position A1 can be moved to a predetermined retreat position A20 where it is separated from the lower surface and side surfaces of the substrate W.
- the substrate reversing apparatus 100 is for reversing two substrates W at the same time.
- the substrate reversing apparatus 100 is for reversing three or more substrates W simultaneously. May be.
- the support mechanism 70 four support members 74 are disposed on each support column 72
- the sandwich reversing mechanism 80 four support members 82 are disposed on each support column 82.
- the substrate W can be reversed at the same time.
- the posture abnormality detection unit 92 is configured to provide two pairs of light projecting units and light receiving units, but is configured to provide only one pair of light projecting units and light receiving units. May be.
- the number of placement units PASS included in the placement unit 40 of the substrate processing apparatus 1 is not necessarily six. Further, the layout of the front surface cleaning processing unit SS and the back surface cleaning processing unit SSR and the number of each processing unit mounted in each cleaning processing unit 21a, 21b of the substrate processing apparatus 1 are not limited to those exemplified above. Further, the reversing unit 50 is not necessarily stacked on the placement unit 40. For example, the reversing unit 50 may be disposed in the cleaning processing cell 20.
- the configuration in which the substrate reversing apparatus 100 is mounted on the substrate processing apparatus 1 that scrubs the substrate W is exemplified.
- the substrate reversing apparatus 100 performs various processes on the substrate W. You may mount in the various substrate processing apparatuses to perform.
- the substrate reversing apparatus 100 may be mounted on a coater and developer in which a cell for performing resist coating processing and a cell for performing development processing are arranged in parallel via a substrate delivery unit.
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Abstract
Description
実施形態に係る基板処理装置1の構成について、図1、図2を参照しながら説明する。図1は、基板処理装置1の平面図である。図2は、基板処理装置1を、図1のA-A線から見た図である。図3は、基板処理装置1を、図1のB-B線から見た図である。なお、以下に参照する各図には、Z軸方向を鉛直方向とし、XY平面を水平面とするXYZ直交座標系が適宜付されている。
インデクサセル10は、装置外から受け取った基板W(未処理基板W)を洗浄処理セル20に渡すとともに、洗浄処理セル20から受け取った基板W(処理済み基板W)を装置外に搬出するためのセルである。インデクサセル10は、キャリアCを載置する複数(本実施形態では4個)のキャリアステージ11と、各キャリアCから未処理基板Wを取り出すとともに、各キャリアCに処理済み基板Wを収納する移載ロボット12とを備えている。
洗浄処理セル20は、基板Wにスクラブ洗浄処理を行うセルであり、2個の洗浄処理ユニット21a,21bと、各洗浄処理ユニット21a,21bに対して基板Wの受け渡しを行う搬送ロボット22とを備える。
基板処理装置1においては、インデクサセル10に隣接して洗浄処理セル20が設けられており、インデクサセル10と洗浄処理セル20との間には、雰囲気遮断用の隔壁300が設けられている。反転受渡部30は、この隔壁300の一部を貫通して設けられている。つまり、反転受渡部30は、インデクサセル10と洗浄処理セル20との接続部分に設けられている。
載置ユニット40は、隔壁300の一部を貫通して設けられ、反転受渡部30の上側に積層配置されている。つまり、載置ユニット40も、インデクサセル10と洗浄処理セル20との接続部分に設けられている。ただし、載置ユニット40と反転受渡部30との間には隙間があってもよい。
反転部50は、隔壁300の一部を貫通して設けられ、載置ユニット40の上側に積層配置されている。つまり、反転部50も、インデクサセル10と洗浄処理セル20との接続部分に設けられている。ただし、載置ユニット40と反転部50との間には隙間があってもよい。
制御部60は、基板処理装置1に設けられた種々の動作機構を制御する。制御部60のハードウェアとしての構成は一般的なコンピュータと同様である。すなわち、制御部60は、各種演算処理を行うCPU、基本プログラムを記憶する読み出し専用のメモリであるROM、各種情報を記憶する読み書き自在のメモリであるRAMおよび制御用ソフトウェアやデータなどを記憶しておく磁気ディスクを備えている。
基板処理装置1の動作について、引き続き図1~図3を参照しながら説明する。なお、上述したとおり、基板処理装置1は、基板Wの表面のスクラブ洗浄処理を行う表面洗浄処理部SS、および、基板Wの裏面のスクラブ洗浄処理を行う裏面洗浄処理部SSRを備えており、これによって、目的に応じて種々のパターンの洗浄処理(例えば、基板Wの表面のみを洗浄する洗浄処理、基板Wの裏面のみを洗浄する洗浄処理、基板Wの表面と裏面との両面を洗浄する洗浄処理、等)を行うことができる。どのような洗浄処理を実行するかは、基板Wの搬送手順(基板の搬送手順を「フロー」ともいう)および処理条件を記述したレシピによって、設定される。以下においては、基板Wの両面を洗浄する洗浄処理を実行する場合を例に挙げて、基板処理装置1の動作を説明する。
<3-1.構成>
反転受渡部30の構成について、図4~図6を参照しながら説明する。図4は、反転受渡部30の平面図である。図5は、反転受渡部30を、図4のC-C線から見た図である。図6は、反転受渡部30を、図4のD-D線から見た図である。
筐体301の左右の側壁部のそれぞれには、2本の斜め軸部71が、当該側壁部にスライド可能に貫通して設けられる。各側壁部に設けられた2本の斜め軸部71は、互いの延在方向を平行としつつ前後に間隔をあけて配置される。また、左右の側壁部のそれぞれにおいて、相対的に前側に設けられる斜め軸部71同士は、上下方向から見て、左右方向に対向配置され、相対的に後側に設けられる斜め軸部71同士も、上下方向から見て、左右方向に対向配置される。
挟持反転機構80の構成について、図4~6に加え、図7を参照しながら説明する。図7は、挟持反転機構80の要部を示す部分拡大図である。
基板反転装置100は、支持機構70にて支持される2枚の基板Wのそれぞれに対応して設けられ、対応する基板Wの異常を検知する検知部90を備える。検知部90の構成について、図4に加え、図9、図10を参照しながら説明する。図9は、検知部90を説明するための模式図であり、支持部701に支持されている基板Wに対する検知部90の相対位置関係が模式的に示されている。図10は、図9をE-E線から見た図である。
基板反転装置100の動作について、図4~図10に加え、図11を参照しながら説明する。図11は、基板反転装置100の動作を説明するための模式図である。なお、基板反転装置100の動作は、制御部60が、基板反転装置100が備える各部70,80,90を制御することによって実行される。なお、基板処理装置1の制御部60とは別に、基板反転装置100が備える各部70,80,90を制御する制御部を設け、当該制御部を、基板処理装置1の制御部60が統括制御する構成であってもよい。
上記の実施の形態においては、支持機構70は、シリンダ73が、支持部材74を支持する斜め軸部71を、斜め下方向にスライド移動し、これによって、各支持部材74が支持位置A1から待避位置A2まで移動される構成としていたが、各支持部材74を支持位置A1から待避位置A2まで移動させる態様はこれに限らない。
10 インデクサセル
12 移載ロボット
20 洗浄処理セル
22 搬送ロボット
30 反転受渡部
50 反転部
40 載置ユニット
60 制御部
100 基板反転装置
70,70a 支持機構
80 挟持反転機構
90 検知部
91 有無異常検知部
93 姿勢異常検知部
W 基板
Claims (8)
- 基板を反転させる基板反転装置であって、
複数の基板を、水平姿勢で上下方向に間隔をあけて積層された状態で支持する支持機構と、
前記支持機構にて支持される前記複数の基板のそれぞれを挟持して、前記複数の基板を一度に反転させる挟持反転機構と、
を備え、
前記挟持反転機構が、
前記複数の基板のそれぞれを、両端縁部から挟持する一対の挟持部材と、
前記一対の挟持部材のそれぞれを、当該挟持部材の一部が基板の側面に近接または当接する接近位置と、前記挟持部材が前記側面から離間した離間位置との間で移動させる挟持部材駆動部と、
前記接近位置に配置されている前記挟持部材を、前記基板の側面に向けて弾性付勢する弾性部材と、
を備え、
前記支持機構が、
前記複数の基板のそれぞれを、その下面側から支持する複数の支持部材と、
前記複数の支持部材のそれぞれを、当該支持部材の一部が基板の下面に当接する支持位置と、前記支持部材が前記下面から離間した待避位置との間で移動させる支持部材駆動部と、
を備え、
前記支持部材駆動部が、
前記複数の支持部材のそれぞれを、上下方向から見て前記基板の中心から遠ざけつつ下方に移動させて、当該支持部材を前記支持位置から前記待避位置に移動させる、
基板反転装置。 - 請求項1に記載の基板反転装置であって、
前記支持機構にて支持される前記複数の基板のそれぞれに対応して設けられ、対応する基板の異常を検知する検知部、
を備える、基板反転装置。 - 請求項2に記載の基板反転装置であって、
前記検知部が、
第1投光部および第1受光部、
を備え、
前記第1投光部および前記第1受光部が、
上下方向から見て、当該検知部と対応付けられた基板を挟んで互いに対向配置され、かつ、前記基板の上下に分かれて配置されている、
基板反転装置。 - 請求項2に記載の基板反転装置であって、
前記検知部が、
第2投光部および第2受光部、
を備え、
前記第2投光部および前記第2受光部が、
上下方向から見て、当該検知部と対応付けられた基板を挟んで互いに対向配置され、かつ、前記基板の主面と近接した同一の水平面内に配置されている、
基板反転装置。 - 請求項4に記載の基板反転装置であって、
前記検知部が、
第3投光部および第3受光部、
を備え、
前記第3投光部および前記第3受光部が、
上下方向から見て、当該検知部と対応付けられた基板を挟んで互いに対向配置され、かつ、前記基板の主面と近接した同一の水平面内に配置されており、
前記第2投光部と前記第2受光部とを結ぶ直線と、前記第3投光部と前記第3受光部とを結ぶ直線とが、非平行である、
基板反転装置。 - 請求項1に記載の基板反転装置であって、
前記挟持反転機構が、
前記一対の挟持部材のそれぞれが、前記離間位置と前記接近位置とのいずれにあるかを検知する開閉検知部、
を備える、基板反転装置。 - 基板処理装置であって、
基板を反転させる基板反転装置と、
基板の表面を洗浄する表面洗浄部と、
基板の裏面を洗浄する裏面洗浄部と、
前記表面洗浄部と、前記裏面洗浄部と、前記基板反転装置との間で基板を搬送する第1の搬送ロボットと、
を備え、
前記基板反転装置が、
複数の基板を、水平姿勢で上下方向に間隔をあけて積層された状態で支持する支持機構と、
前記支持機構にて支持される前記複数の基板のそれぞれを挟持して、前記複数の基板を一度に反転させる挟持反転機構と、
を備え、
前記挟持反転機構が、
前記複数の基板のそれぞれを、両端縁部から挟持する一対の挟持部材と、
前記一対の挟持部材のそれぞれを、当該挟持部材の一部が基板の側面に近接または当接する接近位置と、前記挟持部材が前記側面から離間した離間位置との間で移動させる挟持部材駆動部と、
前記接近位置に配置されている前記挟持部材を、前記基板の側面に向けて弾性付勢する弾性部材と、
を備え、
前記支持機構が、
前記複数の基板のそれぞれを、その下面側から支持する複数の支持部材と、
前記複数の支持部材のそれぞれを、当該支持部材の一部が基板の下面に当接する支持位置と、前記支持部材が前記下面から離間した待避位置との間で移動させる支持部材駆動部と、
を備え、
前記支持部材駆動部が、
前記複数の支持部材のそれぞれを、上下方向から見て前記基板の中心から遠ざけつつ下方に移動させて、当該支持部材を前記支持位置から前記待避位置に移動させる、
基板処理装置。 - 請求項7に記載の基板処理装置であって、
前記表面洗浄部、前記裏面洗浄部、および、前記第1の搬送ロボットが配置された処理ブロックと、
第2の搬送ロボットが配置され、前記処理ブロックに未処理基板を渡すとともに前記処理ブロックから処理済基板を受け取るインデクサブロックと、
を備え、
前記基板反転装置が、前記インデクサブロックと前記処理ブロックとの接続部分に設けられ、
前記第1の搬送ロボットと前記第2の搬送ロボットのうちの一方の搬送ロボットが前記基板反転装置に基板を搬入した場合に、前記基板反転装置にて反転された当該基板を、他方の搬送ロボットが搬出する、基板処理装置。
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KR101944147B1 (ko) | 2019-01-30 |
US9324602B2 (en) | 2016-04-26 |
US20150131088A1 (en) | 2015-05-14 |
JP5993625B2 (ja) | 2016-09-14 |
TW201351547A (zh) | 2013-12-16 |
KR20150023367A (ko) | 2015-03-05 |
TW201620069A (zh) | 2016-06-01 |
TWI603420B (zh) | 2017-10-21 |
TWI533393B (zh) | 2016-05-11 |
CN104380456B (zh) | 2016-12-14 |
CN104380456A (zh) | 2015-02-25 |
JP2014003080A (ja) | 2014-01-09 |
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