WO2022186324A1 - 半導体製造装置 - Google Patents
半導体製造装置 Download PDFInfo
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- WO2022186324A1 WO2022186324A1 PCT/JP2022/009084 JP2022009084W WO2022186324A1 WO 2022186324 A1 WO2022186324 A1 WO 2022186324A1 JP 2022009084 W JP2022009084 W JP 2022009084W WO 2022186324 A1 WO2022186324 A1 WO 2022186324A1
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 30
- 239000004065 semiconductor Substances 0.000 title claims abstract description 30
- 239000000758 substrate Substances 0.000 claims abstract description 386
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000005259 measurement Methods 0.000 claims description 53
- 238000001514 detection method Methods 0.000 claims description 11
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000007747 plating Methods 0.000 description 74
- 238000010586 diagram Methods 0.000 description 16
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- 230000002159 abnormal effect Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000012805 post-processing Methods 0.000 description 3
- 238000007781 pre-processing Methods 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 101150062523 bath-39 gene Proteins 0.000 description 2
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- 101100165186 Caenorhabditis elegans bath-34 gene Proteins 0.000 description 1
- 101100493705 Caenorhabditis elegans bath-36 gene Proteins 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
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- 238000005530 etching Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D17/00—Constructional parts, or assemblies thereof, of cells for electrolytic coating
- C25D17/001—Apparatus specially adapted for electrolytic coating of wafers, e.g. semiconductors or solar cells
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D17/00—Constructional parts, or assemblies thereof, of cells for electrolytic coating
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D17/00—Constructional parts, or assemblies thereof, of cells for electrolytic coating
- C25D17/06—Suspending or supporting devices for articles to be coated
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D17/00—Constructional parts, or assemblies thereof, of cells for electrolytic coating
- C25D17/16—Apparatus for electrolytic coating of small objects in bulk
- C25D17/28—Apparatus for electrolytic coating of small objects in bulk with means for moving the objects individually through the apparatus during treatment
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D21/00—Processes for servicing or operating cells for electrolytic coating
- C25D21/08—Rinsing
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D21/00—Processes for servicing or operating cells for electrolytic coating
- C25D21/10—Agitating of electrolytes; Moving of racks
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D21/00—Processes for servicing or operating cells for electrolytic coating
- C25D21/12—Process control or regulation
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D3/00—Electroplating: Baths therefor
- C25D3/02—Electroplating: Baths therefor from solutions
- C25D3/38—Electroplating: Baths therefor from solutions of copper
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D7/00—Electroplating characterised by the article coated
- C25D7/12—Semiconductors
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67207—Apparatus for manufacturing or treating in a plurality of work-stations comprising a chamber adapted to a particular process
- H01L21/6723—Apparatus for manufacturing or treating in a plurality of work-stations comprising a chamber adapted to a particular process comprising at least one plating chamber
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
Definitions
- the present invention relates to semiconductor manufacturing equipment.
- Mode 1 in a semiconductor manufacturing apparatus for processing a rectangular substrate, the first sensor pair for measuring a first length along a first line of the rectangular substrate, A sensor configured to detect the position of one end of the rectangular substrate on the first line, and a sensor configured to detect the position of the other end of the rectangular substrate on the first line. , a first sensor pair, and a second sensor pair for measuring a second length along a second line of the rectangular substrate, wherein the position of one end of the rectangular substrate on the second line is detected.
- the processor calculates the first length based on the positions of one end and the other end of the rectangular substrate on the first line detected by the first sensor pair, and calculates the first length by the second sensor pair calculating the second length based on the detected positions of one end and the other end of the rectangular substrate on the second line; and calculating the rectangular shape based on the calculated first length and second length
- Semiconductor manufacturing equipment is provided that is configured to identify the size or shape of a substrate.
- Mode 2 in the semiconductor manufacturing apparatus of Mode 1, the first sensor pair and the second sensor pair are configured such that the first line and the second line extend in the horizontal direction and the vertical direction of the rectangular substrate, respectively. arranged to correspond to the direction.
- a third sensor for measuring a third length along a third line parallel to the first or second line of the rectangular substrate A pair of sensors configured to detect the position of one end of the rectangular substrate on the third line and a sensor configured to detect the position of the other end of the rectangular substrate on the third line and a third sensor pair, wherein the processor detects the third sensor pair based on the positions of one end and the other end of the rectangular substrate on the third line detected by the third sensor pair. It is further configured to calculate three lengths and identify a deviation of the shape of the rectangular substrate from square or rectangular based on the calculated first or second length and the third length.
- Mode 4 in the semiconductor manufacturing apparatus of Mode 1, the first sensor pair and the second sensor pair are configured such that two diagonal lines of the rectangular substrate are the first line and the second line, respectively. are arranged so that
- Mode 5 in the semiconductor manufacturing apparatus of Mode 4, the processor determines, based on the calculated first length and second length, the shape of the rectangular substrate from a square or a rectangle. It is further configured to identify deviations.
- Mode 6 in the semiconductor manufacturing apparatus of any one of Modes 1 to 3, the two sensors included in each of the sensor pairs each direct a band-shaped measurement light toward the rectangular substrate. and a light-receiving unit that receives a part of the band-shaped measurement light, wherein the part of the band-shaped measurement light is the light of the band-shaped measurement light that is not blocked by the rectangular substrate. and the detection of each position of the rectangular substrate is based on the amount of light received by the light receiving portion of each sensor.
- Mode 7 in the semiconductor manufacturing apparatus of Mode 4 or 5, the two sensors included in each of the sensor pairs are cameras arranged to photograph one of the four corners of the rectangular substrate. wherein the detection of the position by each sensor is detection of the vertex of the rectangular substrate based on edge detection in the image taken by each camera, and the calculation of the first and second lengths is performed by the detection Calculation of the length of the diagonal of the rectangular substrate based on the vertices obtained.
- a substrate holder for holding a rectangular substrate includes a plurality of types of substrate holders corresponding to rectangular substrates of different sizes or shapes. Further comprising a substrate holder accommodation for accommodating substrate holders, the processor is further configured to select a substrate holder from the substrate holder accommodation according to the identified size or shape of the rectangular substrate.
- Mode 9 in the semiconductor manufacturing apparatus of any one of Modes 1 to 8, there is provided a sensor for detecting warpage of the rectangular substrate, wherein a band-shaped measurement light is applied to the rectangular substrate.
- a light-emitting portion that emits light in parallel and a light-receiving portion that receives part of the strip-shaped measurement light, wherein the part of the strip-shaped measurement light is shielded by the rectangular substrate from the strip-shaped measurement light.
- the processor is further configured to identify warpage of the rectangular substrate based on the amount of light received by the light receiving portion of the sensor. be.
- Mode 10 in the semiconductor manufacturing apparatus of any one of Modes 1 to 9, the processor determines that the identified size, shape, or warpage of the rectangular substrate is inappropriate in light of a predetermined standard. It is further configured to, when appropriate, at least one of (i) abort or suspend processing of the rectangular substrate and (ii) issue an alarm.
- FIG. 1 is an overall layout diagram of a plating apparatus according to an embodiment of the present invention
- FIG. FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors
- Fig. 2 shows the configuration of the sensor and its method of operation
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors
- FIG. 1 is an overall layout diagram of a plating apparatus according to an embodiment of the present invention
- FIG. FIG. 2 is
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors;
- FIG. 2 is a diagram showing a plurality of sensors included in the plating apparatus according to the present embodiment and a substrate being measured using these sensors;
- Fig. 3 shows the method of operation of the sensor;
- Fig. 3 shows the method of operation of the sensor;
- 1 is a configuration diagram of an exemplary control system for controlling operations of a plating apparatus according to one embodiment of the present invention;
- FIG. 4 is a flow chart showing the operation of the plating apparatus according to one embodiment of the present invention;
- FIG. 1 is an overall layout diagram of a plating apparatus 100 according to one embodiment of the present invention.
- the plating apparatus 100 is an example of a semiconductor manufacturing apparatus.
- the embodiment of the present invention will be described below with reference to the plating apparatus 100, the present invention is not limited to the plating apparatus, and can be used for semiconductor manufacturing other than the plating apparatus without departing from the gist of the present invention. It can also be applied to equipment (for example, CMP (Chemical Mechanical Polishing) equipment, etc.).
- CMP Chemical Mechanical Polishing
- the plating apparatus 100 includes a load/unload module 110 for loading or unloading a substrate onto or from a substrate holder (not shown), a processing module 120 for processing the substrate, It is roughly divided into a cleaning module 50a.
- the processing module 120 further includes a pre-processing/post-processing module 120A that performs pre-processing and post-processing of the substrate, and a plating processing module 120B that performs plating processing on the substrate.
- the load/unload module 110 has a handling stage 26 , a substrate transfer device 27 and a fixing station 29 .
- the load/unload module 110 has two handling stages, a handling stage 26A for loading a substrate before processing and a handling stage 26B for unloading a substrate after processing. 26.
- the handling stage 26A for loading and the handling stage 26B for unloading have the same configuration, and are arranged with 180° orientations different from each other.
- the handling stage 26 is not limited to the one provided with the handling stages 26A and 26B for loading and unloading, and may be used without distinguishing between the handling stages 26A and 26B for loading and unloading.
- the load/unload module 110 has two fixing stations 29 .
- the two fixing stations 29 have the same mechanism, and the free one (the one not handling substrates) is used.
- One handling stage 26 and one fixing station 29 or three or more fixing stations 29 may be provided depending on the space in the plating apparatus 100 .
- Substrates are transferred from a plurality of cassette tables 25 (three in FIG. 1 as an example) to the handling stage 26 (handling stage 26A for loading) through the robot 24 .
- the cassette table 25 includes a cassette 25a in which substrates are accommodated.
- a cassette is, for example, a hoop.
- the handling stage 26 is configured to adjust (align) the position and orientation of the mounted substrate.
- a substrate transfer device 27 is arranged for transferring the substrate therebetween.
- the substrate transport apparatus 27 is configured to transport substrates between the handling stage 26, the fixing station 29 and the cleaning module 50a.
- a stocker 30 for storing substrate holders is provided near the fixing station 29 .
- the cleaning module 50a has a cleaning device 50 that cleans and dries the plated substrate.
- the substrate transfer device 27 is configured to transfer the plated substrate to the cleaning device 50 and take out the cleaned substrate from the cleaning device 50 .
- the substrate after cleaning is transferred to the handling stage 26 (handling stage 26B for unloading) by the substrate transfer device 27 and returned to the cassette 25a through the robot 24.
- the pre-treatment/post-treatment module 120A has a pre-wet tank 32, a pre-soak tank 33, a pre-rinse tank 34, a blow tank 35, and a rinse tank 36.
- the pre-wet tank 32 the substrate is immersed in pure water.
- the oxide film on the surface of the conductive layer such as the seed layer formed on the surface of the substrate is removed by etching.
- the pre-rinse tank 34 the pre-soaked substrate is washed with a cleaning liquid (pure water or the like) together with the substrate holder.
- a cleaning liquid pure water or the like
- the substrate after plating is washed with a washing liquid together with the substrate holder.
- the configuration of the pretreatment/posttreatment module 120A of the plating apparatus 100 is an example, and the configuration of the pretreatment/posttreatment module 120A of the plating apparatus 100 is not limited, and other configurations can be adopted. .
- the plating processing module 120B is configured, for example, by housing a plurality of plating tanks 39 inside the overflow tank 38 .
- Each plating bath 39 accommodates one substrate therein and is configured to immerse the substrate in the plating solution held therein to apply plating such as copper plating to the surface of the substrate.
- the plating apparatus 100 has a transporter 37 employing, for example, a linear motor system, which is positioned to the side of the pretreatment/posttreatment module 120A and the plating module 120B and transports the substrate holder together with the substrate.
- the transporter 37 is configured to transport substrate holders between the fixing station 29 , the stocker 30 , the pre-wet bath 32 , the pre-soak bath 33 , the pre-rinse bath 34 , the blow bath 35 , the rinse bath 36 and the plating bath 39 . be.
- one substrate is taken out by the robot 24 from the cassette 25a mounted on the cassette table 25, and the substrate is transferred to the handling stage 26 (handling stage 26A for loading).
- the handling stage 26 adjusts the position and orientation of the transported substrate to a predetermined position and orientation.
- the substrate whose position and orientation are adjusted by the handling stage 26 is transported to the fixing station 29 by the substrate transport device 27 .
- the substrate holder stored in the stocker 30 is transported to the fixing station 29 by the transporter 37 and placed horizontally on the fixing station 29 . Then, the substrate conveyed by the substrate conveying device 27 is placed on the substrate holder in this state, and the substrate and the substrate holder are connected.
- the substrate holder holding the substrate is gripped by the transporter 37 and stored in the pre-wet bath 32 .
- the substrate holder holding the substrate processed in the pre-wet bath 32 is transported to the pre-soak bath 33 by the transporter 37, and the oxide film on the substrate is etched in the pre-soak bath 33.
- the substrate holder holding this substrate is transferred to the pre-rinse tank 34, and the surface of the substrate is washed with pure water stored in this pre-rinse tank 34.
- the substrate holder holding the washed substrate is transported from the pre-rinse tank 34 to the plating module 120B by the transporter 37 and stored in the plating tank 39 filled with the plating solution.
- the transporter 37 sequentially repeats the above-described procedure, and sequentially stores the substrate holders holding the substrates in the plating tanks 39 of the plating processing modules 120B.
- each plating tank 39 the surface of the substrate is plated by applying a plating voltage between the anode (not shown) in the plating tank 39 and the substrate.
- the substrate holder holding the plated substrate is gripped by the transporter 37, transported to the rinsing tank 36, and immersed in the pure water contained in the rinsing tank 36 to wash the surface of the substrate with pure water. do.
- the substrate holder is transported to the blow tank 35 by the transporter 37, and water droplets adhering to the substrate holder are removed by blowing air or the like.
- the substrate holder is then transported to fixing station 29 by transporter 37 .
- the substrate after processing is taken out from the substrate holder by the substrate transfer device 27 and transferred to the cleaning device 50 of the cleaning module 50a.
- the cleaning device 50 cleans and dries the plated substrate.
- the dried substrate is transferred to the handling stage 26 (handling stage 26B for unloading) by the substrate transfer device 27 and returned to the cassette 25a through the robot 24.
- the substrate is taken out from the cassette 25a mounted on the cassette table 25 and carried to the fixing station 29 for connection with the substrate holder.
- the plating apparatus 100 according to this embodiment includes a plurality of sensors (not shown in FIG. 1) that measure the size and shape of the substrate prior to connecting the substrate to the substrate holder. The measurement of the substrate in the plating apparatus 100 will be further described below.
- FIG. 2 is a diagram showing a plurality of sensors 200 included in the plating apparatus 100 according to the present embodiment and a substrate 210 being measured using the plurality of sensors 200.
- the plurality of sensors 200 are arranged in the middle of the route along which the substrate 210 taken out from the cassette 25 a is transported to the fixing station 29 in the plating apparatus 100 .
- Substrate 210 is measured for size and shape by a plurality of sensors 200 on its way from cassette 25 a to fixing station 29 .
- the locations where the plurality of sensors 200 are arranged may be arbitrary locations in the middle of this conveying route. For example, multiple sensors 200 may be provided on the handling stage 26 .
- Substrate 210 is measured for size and shape by multiple sensors 200 as it is aligned by handling stage 26 .
- the plating apparatus 100 may include a stage for measuring the substrate 210 in the middle of the transport path from the cassette 25a to the fixing station 29, and a plurality of sensors 200 may be provided on this measuring stage. .
- the substrate 210 is temporarily placed on this measurement stage by the robot 24 or the substrate transfer device 27, and is measured by the plurality of sensors 200 there.
- the substrate 210 handled by the plating apparatus 100 is a rectangular substrate.
- a square substrate refers to a substrate whose surface to be plated by the plating apparatus 100 (or substrate surface to be processed by another type of semiconductor manufacturing apparatus) has a square or rectangular shape.
- the rectangular board 210 may be a printed board or a glass board as a board having such a shape.
- the plating apparatus 100 has a function of determining whether or not the substrate 210 has an appropriately square or rectangular substrate surface. Therefore, hereinafter, when we refer to the "square substrate 210", we mean a substrate whose surface shape is ideally strictly square or rectangular, but not only that, but also whose surface shape is somewhat square or rectangular. It can also mean a substrate that deviates from a rectangle.
- the multiple sensors 200 include four sensors 200A, 200B, 200C, and 200D.
- Sensors 200A and 200C are arranged along a first line (horizontal line in FIG. 2) that crosses two opposing sides of rectangular substrate 210 and is perpendicular to the two sides. 1.
- Sensors 200B and 200D are arranged along a second line (vertical line in FIG. 2) that crosses two other opposite sides of rectangular substrate 210 and is perpendicular to the two sides, forming a second pair of sensors. 200-2.
- the first sensor pair 200-1 measures the length L1 along the first line of the rectangular substrate 210 (that is, the horizontal length of the rectangular substrate 210), and the second sensor pair 200-2 measures the rectangular substrate 210.
- the length L2 that is, the vertical length of the rectangular substrate 210) along the second line of .
- Each sensor 200A, 200B, 200C, and 200D is configured to detect the position of the edge of each side of rectangular substrate 210 .
- the sensor 200A detects the position P A of one edge on the first line of the rectangular substrate 210
- the sensor 200C detects the position P A of the other edge on the first line of the rectangular substrate 210 Detect C. From the positions P A and P C of both edges, the length L1 along the first line of rectangular substrate 210 can be determined.
- the sensor 200B detects the position PB of one edge on the second line of the rectangular substrate 210
- the sensor 200D detects the position PD of the other edge on the second line of the rectangular substrate 210. do.
- the length L2 along the second line of the rectangular substrate 210 can be determined. Detection of the position of the edge of the rectangular substrate 210 by each sensor 200 can be based on, for example, measurement of how much the strip-shaped measurement light 220 (eg, laser light) is blocked by the rectangular substrate 210 .
- the strip-shaped measurement light 220 eg, laser light
- FIG. 3 is a diagram showing the configuration of one sensor 200 (eg, sensor 200A) and its method of operation. This figure shows how the sensor 200A is viewed from the direction of arrow A in FIG. 2, for example.
- the sensor 200 comprises a light emitter 202 and a light receiver 204 .
- the light emitting unit 202 is arranged on one side of the rectangular substrate 210
- the light receiving unit 204 is arranged on the opposite side of the rectangular substrate 210 to the light emitting unit 202 .
- the light emitting unit 202 is configured and arranged to emit a band-shaped measurement light 220 toward the rectangular substrate 210 (for example, in a direction perpendicular to the rectangular substrate 210).
- the measurement light 220 has a width W1 in the direction perpendicular to its traveling direction. A portion of the measurement light 220 in the width direction is blocked by the rectangular substrate 210 , and the rest of the beam passes over the rectangular substrate 210 and travels toward the light receiving section 204 .
- the width W2 of the measurement light 220 traveling toward the light receiving section 204 depends on the position P of the edge of the rectangular substrate 210 (for example, the position P A in FIG. 2).
- the light receiving section 204 is constructed and arranged so as to be able to receive the measurement light 220 having the width W2.
- the square shape A position P of the edge of the substrate 210 can be detected.
- the positions of the edges of the rectangular substrate 210 are detected by the sensors 200A, 200B, 200C, and 200D provided in the plating apparatus 100.
- FIG. Thereby, the lateral length L1 of rectangular substrate 210 is measured based on the edge positions P A and P C at first sensor pair 200-1, and at the second sensor pair 200-2.
- Vertical length L2 of square substrate 210 is measured based on positions PB and PD .
- the plating apparatus 100 can obtain substrate size information (that is, L1 and L2) before connecting the rectangular substrate 210 to the substrate holder.
- FIG. 4 is a diagram showing a plurality of sensors 200 provided in the plating apparatus 100 according to the present embodiment and a substrate 210 being measured using the plurality of sensors 200, showing an example different from FIG.
- the plurality of sensors 200 includes eight sensors 200A, 200B, 200C, 200D, 200E, 200F, 200G, and 200H.
- sensors 200A, 200B, 200C, and 200D constitute a first sensor pair 200-1 and a second sensor pair 200-2 as in the example of FIG.
- the sensors 200E and 200G constitute the third sensor pair 200-3
- the sensors 200F and 200H constitute the fourth sensor pair 200-4.
- a third sensor pair 200-3 (ie, sensors 200E and 200G) is arranged along a third line that is parallel to the first line of the first sensor pair 200-1 and that traverses rectangular substrate 210.
- Sensor pair 200-4 (ie, sensors 200F and 200H) is arranged along a fourth line across rectangular substrate 210, parallel to the second line of second sensor pair 200-2.
- the first sensor pair 200-1 and the second sensor pair 200-2 are, as described above with reference to FIG. Measure the length L2.
- the third sensor pair 200-3 also measures the length L3 along the third line of the rectangular substrate 210, similar to the first sensor pair 200-1
- the fourth sensor pair 200 -4 measures length L4 along the fourth line of rectangular substrate 210, similar to second sensor pair 200-2.
- the horizontal length of rectangular substrate 210 is measured at two points on the first line and the third line (lengths L1 and L3), and the vertical length of rectangular substrate 210 is measured. The length is measured at two locations on the second and fourth lines (lengths L2 and L4).
- the method of measuring the length L3 in the third sensor pair 200-3 and the method of measuring the length L4 in the fourth sensor pair 200-4 are related to the first sensor pair 200-1 and the second sensor pair 200-2. It is the same as the method described above. That is, the sensor 200E detects the position PE of one edge on the third line of the rectangular substrate 210 (see FIG . 3; the same applies hereinafter), and the sensor 200G detects the position of the other edge on the third line of the rectangular substrate 210.
- the length L3 along the third line of the square substrate 210 can be obtained based on the detection of the position PG of .
- the sensor 200F detects the position PF of one edge on the fourth line of the square substrate 210
- the sensor 200H detects the position PH of the other edge on the fourth line of the square substrate 210.
- the length L4 along the fourth line of the rectangular substrate 210 can be obtained.
- FIG. 6 is a diagram showing a plurality of sensors 200 provided in the plating apparatus 100 according to the present embodiment and a substrate 210 being measured using the plurality of sensors 200, and is a different example from FIGS. indicates
- the plurality of sensors 200 includes four sensors 200A, 200B, 200C, and 200D.
- Sensors 200A and 200C are arranged along one diagonal line (first line) of square substrate 210 to form first sensor pair 200-1.
- Sensors 200B and 200D are arranged along the other diagonal line (second line) of rectangular substrate 210 to form a second sensor pair 200-2.
- the first sensor pair 200-1 measures the length L1 along the first line of the rectangular substrate 210 (that is, the length of one diagonal of the rectangular substrate 210), and the second sensor pair 200-2 measures the length of the rectangular substrate. Measure the length L2 along the second line of 210 (ie, the length of the other diagonal of rectangular substrate 210).
- Each sensor 200A, 200B, 200C, and 200D is configured to detect the position of each vertex of rectangular substrate 210 .
- the sensor 200A detects the position P A of one vertex on the first diagonal (first line) of the rectangular substrate 210
- the sensor 200C detects the position of the other vertex on the first diagonal of the rectangular substrate 210.
- Detect the position P C of one vertex The length L1 of the first diagonal line of the rectangular substrate 210 can be obtained from the positions P A and P C of these two vertices.
- the sensor 200B detects the position PB of one vertex on the second diagonal line (second line) of the rectangular substrate 210
- the sensor 200D detects the position PB of the other vertex on the second diagonal line of the rectangular substrate 210.
- Detect the vertex position PD The length L2 of the second diagonal line of the square substrate 210 can be obtained from the positions PB and PD of these two vertices.
- Each sensor 200 may be, for example, a camera arranged near each vertex of the rectangular substrate 210 .
- the detection of the position of each vertex of the rectangular substrate 210 is based on image processing (for example, edge detection) of images taken by cameras (sensors 200) arranged at the four corners of the rectangular substrate 210. can be done.
- the first sensor pair 200-1 measures the length L1 of the first diagonal line of the square substrate 210 based on the detection positions P A and P C of the vertices
- the second sensor In pair 200-2 measures the length L2 of the second diagonal line of rectangular substrate 210 is measured based on detected vertex positions PB and PD.
- the plating apparatus 100 can obtain substrate size information (that is, L1 and L2) before connecting the rectangular substrate 210 to the substrate holder.
- the shape of substrate 210 can be determined to be a parallelogram.
- FIG. 8 is a diagram showing a plurality of sensors 200 provided in the plating apparatus 100 according to the present embodiment and a substrate 210 being measured using the plurality of sensors 200.
- the plurality of sensors 200 includes two sensors 200I and 200J.
- Sensors 200I and 200J each include a light emitter 202 and a light receiver 204 .
- the light emitting portion 202 and the light receiving portion 204 of the sensor 200I are arranged along one diagonal line of the rectangular substrate 210, and the light emitting portion 202 and the light receiving portion 204 of the sensor 200J are arranged along the other diagonal line of the rectangular substrate 210. be.
- FIG. 9 is a diagram showing how one sensor 200 (for example, sensor 200I) operates in the example of FIG.
- FIG. 9 shows how the substrate 210 and sensor 200I are viewed from the direction of arrow A in FIG.
- the light emitting portion 202 of the sensor 200I is arranged at one end of the diagonal line of the rectangular substrate 210
- the light receiving portion 204 of the sensor 200I is arranged at the other end of the diagonal line of the rectangular substrate 210.
- Light emitting unit 202 is configured and arranged to emit strip-shaped measurement light 220 in parallel with rectangular substrate 210 (that is, along the surface of rectangular substrate 210).
- the measurement light 220 has a width W1 in a direction perpendicular to its traveling direction and perpendicular to the surface of the substrate 210 . If the substrate 210 is flat, the measurement light 220 reaches the light receiving section 204 without being blocked by the substrate 210 . Therefore, the light receiving portion 204 receives the measurement light 220 with the width W1.
- FIG. 10 shows the measurement light 220 when the rectangular substrate 210 is warped or undulated. In this case, a portion of the measurement light 220 in the width direction is blocked by the warped or undulated portion of the square substrate 210 , and the rest is received by the light receiving section 204 . Width W2 of measurement light 220 received by light receiving section 204 depends on the magnitude of warp or undulation of square substrate 210 .
- the square shape The presence or absence of warp or waviness in the substrate 210 or its magnitude can be identified.
- warping and waviness of a substrate may exist only along a specific direction of the substrate plane.
- the rectangular substrate 210 may have warpage in the lateral direction of the substrate but may not have warpage in the vertical direction.
- sensor 200I can detect substrate warpage or waviness in one diagonal direction of rectangular substrate 210
- sensor 200J can detect substrate warpage or waviness in the other direction, i.e., rectangular substrate 210. warpage or waviness in the direction of the other diagonal of the can be detected. Therefore, by using the sensors 200I and 200J arranged along these two different directions, it is possible to reliably detect any warpage or undulation that may exist in the substrate 210 without overlooking it.
- the arrangement direction of the sensors 200I and 200J is not limited to the diagonal direction of the rectangular substrate 210 .
- the light-emitting portion 202 and the light-receiving portion 204 of the sensor 200I are arranged along a horizontal line of the rectangular substrate 210 (that is, in the same way as the first sensor pair 200-1 in FIG. 2), and the light emission of the sensor 200J.
- the portion 202 and the light receiving portion 204 may be arranged along a vertical line of the square substrate 210 (ie, like the second sensor pair 200-2 in FIG. 2).
- FIG. 11 is a configuration diagram of an exemplary control system 300 for controlling the operation of the plating apparatus 100 according to one embodiment of the invention.
- the control system 300 includes a control device 310 , an operating computer 320 and a scheduler computer 330 .
- the control device 310, the operation computer 320, and the scheduler computer 330 are connected so as to be able to communicate with each other.
- a part or all of the controller 310 , the operation computer 320 , and the scheduler computer 330 may be incorporated into the plating apparatus 100 as part of the components of the plating apparatus 100 .
- the operations computer 320 and the scheduler computer 330 are shown as separate computers, they may be configured as a single computer.
- the controller 310 is connected to the robot 24, the substrate transfer device 27, and the transporter 37 described with reference to FIG. 1, and the plurality of sensors 200 described with reference to FIGS.
- the control device 310 sends operation instructions to the robot 24 , the substrate transfer device 27 , and the transporter 37 , and also obtains measurement result information for the square substrate 210 from the sensor 200 .
- a PLC Programmable Logic Controller
- the operation computer 320 and scheduler computer 330 can be configured by installing predetermined application software (programs) in a general-purpose computer.
- the control device 310, the operating computer 320, and the scheduler computer 330 each include processors (311, 321, 331) and memories (312, 322, 332). Each memory stores a predetermined program, and each processor reads out and executes the program from the memory to realize each function of the control device 310 , the operation computer 320 , and the scheduler computer 330 .
- FIG. 12 is a flow chart showing the operation of the plating apparatus 100 according to one embodiment of the present invention. The operation of the plating apparatus 100 will be described below with reference to FIGS. 11 and 12.
- FIG. 12 is a flow chart showing the operation of the plating apparatus 100 according to one embodiment of the present invention. The operation of the plating apparatus 100 will be described below with reference to FIGS. 11 and 12.
- FIG. 12 is a flow chart showing the operation of the plating apparatus 100 according to one embodiment of the present invention. The operation of the plating apparatus 100 will be described below with reference to FIGS. 11 and 12.
- FIG. 12 is a flow chart showing the operation of the plating apparatus 100 according to one embodiment of the present invention. The operation of the plating apparatus 100 will be described below with reference to FIGS. 11 and 12.
- FIG. 12 is a flow chart showing the operation of the plating apparatus 100 according to one embodiment of the present invention. The operation of the plating apparatus 100 will be described below with reference to FIGS. 11 and 12.
- FIG. 12 is a flow chart showing
- step S401 the operator of the plating apparatus 100 inputs an operation start instruction of the plating apparatus 100 to the operation computer 320.
- the input of the operation start instruction is, for example, information specifying the cassette 25a containing the rectangular substrate 210, or information specifying details of the plating process to be performed on the substrate 210 (for example, plating type, plating film thickness, plating time, etc.). This can be done by entering
- the scheduler computer 330 creates a timetable based on the operation start instruction.
- the timetable includes a substrate transfer schedule for taking out the square substrate 210 from the cassette 25 a and transferring it to the fixing station 29 and a substrate holder transfer schedule for taking out the substrate holder from the stocker 30 and transferring it to the fixing station 29 .
- the stocker 30 accommodates a plurality of types of substrate holders (a plurality of types of substrate holders each designed for a substrate of a specific size and shape)
- the default substrate holder is used in step S402.
- a timetable is created as a
- step S403 the control device 310 causes the robot 24 and the substrate transfer device 27 to operate according to the timetable.
- the rectangular substrate 210 is taken out from the cassette 25a and transported to the measurement area where the multiple sensors 200 are provided.
- the measurement area may be, for example, the handling stage 26 or a measurement stage provided in the middle of the transport path from the cassette 25 a to the fixing station 29 .
- step S404 the controller 310 instructs each sensor 200 in the measurement area to start measuring the substrate.
- each sensor 200 measures rectangular substrate 210 in step S405, and then transmits measurement result data to control device 310 in step S406.
- FIG. 2 the sensors 200A, 200B, 200C, and 200D respectively detect edge positions P A , P B , P C , and P D of the square substrate 210 (step S405), and to the control device 310 (step S406). Steps S405 and S406 are performed in the same way in the example of sensor 200 shown in other figures.
- step S ⁇ b>407 the control device 310 calculates the size of the rectangular substrate 210 based on the measurement result data obtained from each sensor 200 .
- the horizontal length L1 of the rectangular substrate 210 is calculated from the data of the edge positions P A and P C
- the vertical length L1 is calculated from the data of the edge positions P B and P D.
- L2 is calculated.
- controller 310 also identifies the shape of rectangular substrate 210 (whether it is square, rectangular, or square) as described with respect to the examples of FIGS. Other than that), or warpage or undulation of the rectangular substrate 210 may be detected as described with reference to the example of FIG.
- step S408 the control device 310 determines compatibility between the rectangular substrate 210 and the substrate holders stored in the stocker 30 based on the size, shape, and warp or undulation of the rectangular substrate 210. For example, when a plurality of types of substrate holders exist in the stocker 30, the control device 310 compares the substrate size corresponding to each substrate holder stored in advance with the measured substrate size to obtain the plurality of types of substrate holders.
- a substrate holder suitable for the size of the rectangular substrate 210 is selected from among the above.
- the stocker 30 does not have a substrate holder corresponding to the size of the rectangular substrate 210
- the deviation of the shape of the rectangular substrate 210 from the square or rectangle is equal to or greater than a predetermined threshold value.
- the rectangular substrate 210 may be determined to be an unsuitable (abnormal) substrate.
- the predetermined threshold value for determining that the square substrate 210 is abnormal may be changeable by the operator of the plating apparatus 100 using the operation computer 320, for example.
- the scheduler computer 330 acquires information about compatibility between the rectangular substrate 210 and the substrate holder from the control device 310, and updates the timetable based on this information. For example, the scheduler computer 330 changes the default substrate holder in the timetable created in step S402 to the substrate holder selected by the controller 310 in step S408 (that is, the substrate holder that matches the size of the rectangular substrate 210). replace. Also, if the rectangular substrate 210 is an unsuitable (abnormal) substrate, the scheduler computer 330 rewrites the timetable so that the rectangular substrate 210 is not used (that is, excluded from the processing targets of the plating apparatus 100).
- steps S410 and S411 are performed.
- step S413 is performed.
- step S410 the control device 310 causes the transporter 37 to operate according to the updated timetable. As a result, a substrate holder that matches the size of the rectangular substrate 210 is selected from the stocker 30 and transported to the fixing station 29 . Also, in step S411, the control device 310 causes the substrate transfer device 27 (or both the robot 24 and the substrate transfer device 27) to perform normal processing operations after substrate measurement according to the timetable. Thereby, the rectangular substrate 210 after measurement is transferred from the measurement area to the fixing station 29 . Next, in step S412, the control device 310 operates the substrate transfer device 27 so as to connect the substrate holder transferred to the fixing station 29 and the rectangular substrate 210 (that is, the rectangular substrate 210 is held by the substrate holder). Let
- step S413 the control device 310 causes the robot 24 to perform an abnormality processing operation after substrate measurement.
- the error processing operation includes at least one of the operation of returning the rectangular substrate 210 to the cassette 25a as an unsuitable substrate by the robot 24, and the operation of activating an alarm device provided on the robot 24 or other location to notify an alarm to the operator. After notification of the alarm, the operator may manually return the rectangular substrate 210 to the cassette 25a.
- the size of the rectangular substrate 210 is measured using the plurality of sensors 200, and the substrate holder suitable for the size of the rectangular substrate 210 is selected based on the measurement results. selected.
- the substrate holder suitable for the size of the rectangular substrate 210 is selected based on the measurement results. selected.
Abstract
Description
25 カセットテーブル
25a カセット
26 ハンドリングステージ
27 基板搬送装置
29 フィキシングステーション
30 ストッカ
32 プリウェット槽
33 プリソーク槽
34 プリリンス槽
35 ブロー槽
36 リンス槽
37 トランスポータ
38 オーバーフロー槽
39 めっき槽
50 洗浄装置
50a 洗浄モジュール
100 めっき装置
110 ロード/アンロードモジュール
120 処理モジュール
120A 前処理・後処理モジュール
120B めっき処理モジュール
200(200A~200J) センサ
200-1 第1センサ対
200-2 第2センサ対
200-3 第3センサ対
200-4 第4センサ対
202 発光部
204 受光部
210 基板
220 測定光
300 制御システム
310 制御装置
311 プロセッサ
312 メモリ
320 操作用コンピュータ
321 プロセッサ
322 メモリ
330 スケジューラ用コンピュータ
331 プロセッサ
332 メモリ
Claims (10)
- 角形基板を処理する半導体製造装置であって、
前記角形基板の第1ラインに沿った第1長さを測定するための第1センサ対であって、前記第1ライン上における前記角形基板の一方端の位置を検出するように構成されたセンサと、前記第1ライン上における前記角形基板の他方端の位置を検出するように構成されたセンサとからなる、第1センサ対と、
前記角形基板の第2ラインに沿った第2長さを測定するための第2センサ対であって、前記第2ライン上における前記角形基板の一方端の位置を検出するように構成されたセンサと、前記第2ライン上における前記角形基板の他方端の位置を検出するように構成されたセンサとからなる、第2センサ対と、
1または複数のプロセッサと、
を備え、前記プロセッサは、
前記第1センサ対によって検出された前記第1ライン上における前記角形基板の一方端および他方端の位置に基づいて前記第1長さを算出し、
前記第2センサ対によって検出された前記第2ライン上における前記角形基板の一方端および他方端の位置に基づいて前記第2長さを算出し、
前記算出された第1長さおよび第2長さに基づいて前記角形基板のサイズまたは形状を識別する
ように構成される、半導体製造装置。 - 前記第1センサ対および前記第2センサ対は、前記第1ラインと前記第2ラインがそれぞれ前記角形基板の横方向、縦方向に対応するように配置される、請求項1に記載の半導体製造装置。
- 前記角形基板の前記第1または第2ラインに平行な第3ラインに沿った第3長さを測定するための第3センサ対であって、前記第3ライン上における前記角形基板の一方端の位置を検出するように構成されたセンサと、前記第3ライン上における前記角形基板の他方端の位置を検出するように構成されたセンサとからなる、第3センサ対をさらに備え、
前記プロセッサは、
前記第3センサ対によって検出された前記第3ライン上における前記角形基板の一方端および他方端の位置に基づいて前記第3長さを算出し、
前記算出された第1または第2長さと第3長さとに基づいて、前記角形基板の形状の正方形または長方形からのずれを識別する
ようにさらに構成される、請求項2に記載の半導体製造装置。 - 前記第1センサ対および前記第2センサ対は、前記角形基板の2つの対角線がそれぞれ前記第1ライン、前記第2ラインとなるように配置される、請求項1に記載の半導体製造装置。
- 前記プロセッサは、
前記算出された第1長さおよび第2長さに基づいて、前記角形基板の形状の正方形または長方形からのずれを識別する
ようにさらに構成される、請求項4に記載の半導体製造装置。 - 前記各センサ対がそれぞれ備える2つの前記センサは、それぞれ、帯状の測定光を前記角形基板に向けて出射する発光部と、前記帯状の測定光の一部を受光する受光部であって、前記帯状の測定光の前記一部は、前記帯状の測定光のうち前記角形基板によって遮蔽されなかった光である、受光部とを備え、前記角形基板の前記各位置の検出は、前記各センサの前記受光部に受光された光の量に基づく、請求項1から3のいずれか1項に記載の半導体製造装置。
- 前記各センサ対がそれぞれ備える2つの前記センサは、前記角形基板の四隅の1つを撮影するように配置されたカメラであり、前記各センサによる前記位置の検出は、前記各カメラによって撮影された画像におけるエッジ検出に基づく前記角形基板の頂点の検出であり、前記第1および第2長さの算出は、前記検出された頂点に基づく前記角形基板の対角線の長さの算出である、請求項4または5に記載の半導体製造装置。
- 角形基板を保持するための基板ホルダであって、異なるサイズまたは形状の角形基板に対応した複数種類の基板ホルダを収容する基板ホルダ収容部をさらに備え、
前記プロセッサは、前記角形基板の前記識別されたサイズまたは形状に応じた基板ホルダを前記基板ホルダ収容部から選択するようにさらに構成される、請求項1から7のいずれか1項に記載の半導体製造装置。 - 前記角形基板の反りを検出するためのセンサであって、
帯状の測定光を前記角形基板に対して平行方向に出射する発光部と、
前記帯状の測定光の一部を受光する受光部であって、前記帯状の測定光の前記一部は、前記帯状の測定光のうち前記角形基板によって遮蔽されなかった光である、受光部と、
を備えるセンサをさらに備え、
前記プロセッサは、前記センサの前記受光部に受光された光の量に基づいて前記角形基板の反りを識別するようにさらに構成される、
請求項1から8のいずれか1項に記載の半導体製造装置。 - 前記プロセッサは、前記角形基板の前記識別されたサイズ、形状、または反りが所定の基準に照らして不適切である場合に、(i)当該角形基板の処理を中止または中断する、および(ii)アラームを報知する、のうち少なくとも一方を実施するようにさらに構成される、請求項1から9のいずれか1項に記載の半導体製造装置。
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JPS5919625A (ja) * | 1982-07-22 | 1984-02-01 | Sumitomo Light Metal Ind Ltd | 連続切断ラインの切断形状制御方法 |
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