Vacuum processing apparatus and method of controlling vacuum processing apparatus

The present disclosure reduces deviation in the position and inclination of a stage due to the deformation of a processing container. A vacuum processing apparatus includes a processing container configured to be capable of maintaining an inside thereof in a vacuum atmosphere, a stage provided in the processing container such that a substrate is placed thereon, a support member passing through a hole in the bottom of the processing container to support the stage from the bottom side, a base member engaged with an end portion of the support member located outside the processing container to be movable integrally with the stage, and a plurality of actuators provided in parallel with each other between the bottom of the processing container and the base member and configured to adjust a position and an inclination of the stage by moving the base member relative to the bottom of the processing container.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2020-116868, filed on Jul. 7, 2020, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a vacuum processing apparatus and a method of controlling the vacuum processing apparatus.

BACKGROUND

Patent Document 1 discloses a structure in which an adjustment plate configured to adjust the inclination of a stage on which a substrate is placed is disposed below the bottom of a processing container, and the bottom of the processing container and the adjustment plate are fastened with bolts.

PRIOR ART DOCUMENT

Patent Document

SUMMARY

According to one embodiment of the present disclosure, there is provided a vacuum processing apparatus including: a processing container configured to be capable of maintaining an inside of the processing container in a vacuum atmosphere; a stage provided in the processing container and having a substrate placed on the stage; a support member passing through a hole in a bottom of the processing container to support the stage from a bottom side of the stage; a base member engaged with an end portion of the support member located outside the processing container to be movable integrally with the stage; and a plurality of actuators provided in parallel with each other between the bottom of the processing container and the base member, and configured to adjust a position and an inclination of the stage by moving the base member relative to the bottom of the processing container.

DETAILED DESCRIPTION

Hereinafter, embodiments of a vacuum processing apparatus and a method of controlling the vacuum processing apparatus disclosed herein will be described in detail with reference to the drawings. The vacuum processing apparatus and method of controlling the same disclosed herein are not limited by the following embodiments.

A processing container of a vacuum processing apparatus is deformed due to a pressure difference when the internal pressure thereof is switched from an atmospheric state to a vacuum state. The processing container is also deformed due to a temperature change. When the processing container is deformed, the stress due to the deformation of the processing container is transmitted to the stage, and the position and inclination of the stage may deviate from the desired position and inclination. For example, in the structure in which an adjustment plate is arranged below the bottom of the processing container as in Patent Document 1, the adjustment plate is moved using a bolt to reduce deviation in the inclination of the stage due to the deformation of the processing container. However, it is difficult to reduce or eliminate the deviation in the position of the stage. Therefore, there is a need for a technique for reducing or eliminating the deviation in the position and inclination of a stage due to the deformation of a processing container.

Embodiments

[Configuration of Vacuum Processing System]

FIG.1is a schematic plan view illustrating an exemplary configuration of a vacuum processing system according to an embodiment. A vacuum processing system1includes a carry-in/out port11, a carry-in/out module12, a vacuum transport module13, and a vacuum processing apparatus2. InFIG.1, the X direction will be referred to as a left-right direction, the Y direction will be referred to as a front-rear direction, the Z direction will be referred to as an up-down direction (height direction), and the side having the carry-in/out port11therein will be referred to as a front side in the front-rear direction. The carry-in/out port11is connected to the front side of the carry-in/out module12, and the vacuum transport module13is connected to the rear side of the carry-in/out module12in the front-rear direction.

A carrier C, which is a transport container accommodating substrates to be processed, is placed in the carry-in/out port11. The substrate is a wafer W, which is a circular substrate having a diameter of, for example, 300 mm. The carry-in/out module12is a module configured to perform carry-in/out of a wafer W between the carrier C and the vacuum transport module13. The carry-in/out module12includes a normal-pressure transport chamber121configured to transport a wafer W to and from the carrier C in a normal-pressure atmosphere by a transport mechanism120, and a load-lock chamber122configured to switch the atmosphere in which a wafer W is placed between a normal-pressure atmosphere and a vacuum atmosphere.

The vacuum transport module13has a vacuum transport chamber14in which a vacuum atmosphere is formed. A substrate transport mechanism15is arranged inside the vacuum transport chamber14. The vacuum transport chamber14is formed in, for example, a rectangular shape having long sides in the front-rear direction in a plan view. Among the four side walls of the vacuum transport chamber14, a plurality of (for example, three) vacuum processing apparatuses2are connected to each of the opposite long sides of the rectangle. In addition, among the four side walls of the vacuum transport chamber14, the load-lock chamber122installed in the carry-in/out module12is connected to the short side on the front side. Gate valves G are arranged between the normal-pressure transport chamber121and the load-lock chamber122, between the load-lock chamber122and the vacuum transport module13, and between the vacuum transport module13and each of the vacuum processing apparatuses2, respectively. Each gate valve G opens and closes the carry-in/out port of the wafer W provided in a corresponding one of the modules connected to each other.

The substrate transport mechanism15transports a wafer W between the carry-in/out module12and each of the vacuum processing apparatuses2in a vacuum atmosphere. The substrate transport mechanism15is configured as an articulated arm, and includes a substrate holder16configured to hold a wafer W. Each vacuum processing apparatus2collectively processes a plurality of (e.g., four) wafers W in a vacuum atmosphere using a processing gas. Therefore, the substrate holder16of the substrate transport mechanism15is configured to hold, for example, four wafers W such that the four wafers W are delivered together to the vacuum processing apparatuses2, respectively.

Specifically, the substrate transport mechanism15includes, for example, a base151, a horizontally extending first arm152, a horizontally extending second arm153, and a substrate holder16. The base side of the first arm152is provided on the base151and swivels around a vertical swivel axis on the base151. The base side of the second arm153is provided on the tip of the first arm152, and the second arm153swivels around a vertical swivel axis on the tip of the first arm152. The substrate holder16has a first substrate holder161, a second substrate holder162, and a connecting part163. The first substrate holder161and the second substrate holder162are configured in the shape of two elongated spatulas extending horizontally and parallel to each other. The connecting part163extends horizontally so as to be orthogonal to the direction of extension of the first and second substrate holders161and162, and connects the base ends of the first and second substrate holders161and162to each other. The central portion of the connecting part163in the length direction is provided on the tip of the second arm153and swivels around a vertical swivel axis on the tip of the second arm153. The first substrate holder161and the second substrate holder162will be described later.

The vacuum processing system1has a controller8. The controller8is, for example, a computer including a processor, a storage, an input device, a display device, and the like. The controller8controls each part of the vacuum processing system1. With the controller8, an operator may perform a command input operation or the like using the input device in order to manage the vacuum processing system1. In addition, in the controller8, the operating state of the vacuum processing system1may be visualized and displayed by the display device. In addition, the storage of the controller8stores a control program, recipe data, and the like for use by the processor in controlling various processes executed by the vacuum processing apparatus1. The processor of the controller8executes the control program and controls each part of the vacuum processing system1according to the recipe data, whereby desired substrate processing is executed in the vacuum processing system1.

[Configuration of Vacuum Processing Apparatus]

Next, an example in which the vacuum processing apparatus2is applied to, for example, a film forming apparatus that performs plasma chemical vapor deposition (CVD) processing on, for example, wafers W will be described with reference toFIGS.2to4.FIG.2is an exploded perspective view illustrating an exemplary configuration of a vacuum processing apparatus2according to an embodiment.FIG.3is a plan view schematically illustrating an internal configuration of the vacuum processing apparatus2according to the embodiment.

The six vacuum processing apparatuses2are configured in the same manner as each other, and the vacuum processing apparatuses2are capable of processing wafers W in parallel with each other. Each vacuum processing apparatus2includes a processing container (a vacuum container)20having a rectangular shape in a plan view. The processing container20is configured to maintain the inside thereof in a vacuum atmosphere. The processing container20is configured by providing concave open portions in the top surface of a container body202and covering the open portions with a ceiling member201. The processing container20has, for example, side wall portions203surrounding the periphery thereof. Among the four side wall portions203, the side wall portion203connected to the vacuum transport chamber14includes two carry-in/out ports21formed to be arranged in the front-rear direction (the Y′ direction inFIG.2). The carry-in/out ports21are opened and closed by a gate valve G.

As illustrated inFIGS.2and3, inside the processing container20, a first transport space T1and a second transport space T2extending in the horizontal direction from respective carry-in/out ports21are provided at positions adjacent to each other so as to transport wafers W therein. In addition, an intermediate wall portion3is provided between the first transport space T1and the second transport space T2in the processing container20along the direction of extension of the same (the X′ direction inFIG.2). Two processing spaces S1and S2are arranged in the first transport space T1along the direction of extension of the same, and two processing spaces S3and S4are arranged in the second transport space T2along the direction of extension thereof. Therefore, in the processing container20, a total of four processing spaces S1to S4are arranged in a 2×2 matrix when viewed from the top side. The horizontal direction referred to herein also includes the case in which wafers W are slightly tilted in the extension direction in a range where there is no influence such as contact between devices during a carry-in/out operation of the wafers W due to the influence of tolerance at the time of manufacturing.

FIG.4is a schematic cross-sectional view illustrating an exemplary configuration of a vacuum processing apparatus2according to an embodiment. The cross section ofFIG.4corresponds to the cross section of the vacuum processing apparatus2taken along the line A-A inFIG.3. The four processing spaces S1to S4are configured in the same manner as each other, and are formed between stages22, on each of which a wafer W is placed, and gas supply parts4are arranged so as to face respective ones of the stages22. In other words, in the processing container20, a stage22and a gas supply part4are provided for each of the four processing spaces S1to S4.FIG.4illustrates a processing space S1of the first transport space T1and a processing space S4of the second transport space T2. Hereinafter, the processing space S1will be described as an example.

Each stage22also serves as a lower electrode, is made of, for example, a metal or aluminum nitride (AlN), in which a metal mesh electrode is embedded, and has a flat columnar shape. The stage22is supported by a support member23from the bottom side. The support member23is formed in a cylindrical shape, extends vertically downwards, and penetrates the bottom27of the processing container20. The lower end of the support member23is located outside the processing container20, and is connected to a rotational driving mechanism600. The support member23is rotated by the rotational driving mechanism600. The stage22is configured to be rotatable according to the rotation of the support member23. An adjustment mechanism700is provided at the lower end of the support member23to adjust the position and inclination of the stage22. The stage22is configured to be capable of being raised and lowered between a processing position and a delivery position using the support member23by the adjustment mechanism700. InFIG.4, the stage22located at the processing position is drawn with a solid line, and the stage22located at the delivery position is drawn with a broken line. The processing position is the position when substrate processing (e.g., film forming processing) is executed, and the delivery position is the position at which a wafer W is transported to and from a substrate transport mechanism15. The rotational driving mechanism600and the adjustment mechanism700will be described later.

A heater24is embedded in the stage22. The heater24heats each wafer W placed on the stage22to, for example, about 60 degrees C. to 600 degrees C. In addition, the stage22is connected to a ground potential.

In addition, the stage22is provided with a plurality of (e.g., three) pin through holes26a, and lifter pins26are arranged inside these pin through holes26a,respectively. The pin through holes26aare provided so as to penetrate from the placement surface (top surface) of the stage22to the rear surface (bottom surface) with respect to the placement surface. The lifter pins26are slidably inserted into the pin through holes26a.The upper ends of the lifter pins26are suspended at the placement surface sides of the pin through holes26a.That is, the upper ends of the lifter pins26have a diameter larger than that of the pin through holes26a,and recesses having a diameter and a thickness larger than those of the upper ends of the lifter pins26are formed in the upper ends of the pin through holes26ato be capable of accommodating the upper ends of the lifter pins26, respectively. As a result, the upper ends of the lifter pins26are engaged with the stage22and suspended from the placement surface sides of the pin through holes26a,respectively. In addition, the lower ends of the lifter pins26protrude from the rear surface of the stage22toward the bottom27side of the processing container20.

As illustrated inFIG.4, in the state in which the stage22is raised to the processing position, the upper ends of the lifter pins26are received in the recesses at the placement sides of the pin through holes26a,respectively. From this state, when the stage22is lowered to the delivery position and the lifter pins26are raised by a lifting mechanism (not shown), the upper ends of the lifter pins26protrude from the placement surface of the stage22.

Here, the first and second substrate holders161and162will be described. The first substrate holder161is configured to support wafers W at positions corresponding to respective arrangement positions of the processing spaces S1and S2in the first transport space T1when the first substrate holder161enters the first transport space T1. The positions corresponding to respective arrangement positions of the processing spaces S1and S2in the first transport space T1are the positions set to deliver wafers W to the two stages22provided in the processing spaces S1and S2of the first transport space T1. In addition, the second substrate holder162is configured to support wafers W at positions corresponding to respective arrangement positions of the processing spaces S3and S4in the second transport space T2when the second substrate holder162enters the second transport space T2. The positions corresponding to respective arrangement positions of the processing spaces S3and S4in the second transport space T2are the positions set to deliver wafers W to the two stages22provided in the processing spaces S3and S4of the second transport space T2.

For example, the width of each of the first and second substrate holders161and162is smaller than the diameter of the wafers W, and the rear surfaces of the wafers W are supported at an interval from each other on the tip side and the base end side of each of the first and second substrate holders161and162. The wafers W supported on the tip sides of the first and second substrate holders161and162are supported on the tips of the first and second substrate holders161and162at, for example, the centers thereof.

In this way, by the cooperative action of the substrate transport mechanism15, the lifter pins26, and the stage22, for example, the delivery of four wafers W between the substrate transport mechanism15and each stage22is collectively and concurrently performed.

The gas supply part4is provided above each stage22in the ceiling member201of the processing container20via a guide member34made of an insulating member. The gas supply part4has a function as an upper electrode. The gas supply part4includes a cover42, a shower plate43forming a facing surface provided to face the placement surface of the stage22, and a gas flow chamber44formed between the cover42and the shower plate43. A gas supply pipe51is connected to the cover42, and gas ejection holes45penetrating the shower plate43in the thickness direction are arranged vertically and horizontally in the shower plate43such that gas is ejected toward the stage22in a shower form.

Each gas supply part4is connected to a gas supply system50via a gas supply pipe51. The gas supply system50includes, for example, supply sources of a reaction gas (a film forming gas), a purge gas, or a cleaning gas, which are processing gases, a pipe, a valve V, a flow control part M, and the like.

A radio frequency power supply41is connected to the shower plate43via a matcher40. The shower plate43has a function as an upper electrode facing the stage22. When radio frequency power is applied between the shower plate43, which is the upper electrode, and the stage22, which is the lower electrode, it is possible to plasmatize a gas supplied from the shower plate43to the processing space S1(a reaction gas in this example) through capacitive coupling.

Next, an exhaust path and a confluent exhaust path formed in an intermediate wall portion3will be described. As illustrated inFIGS.3and4, the intermediate wall portion3includes exhaust paths31provided for the four processing spaces S1to S4, respectively, and a confluent exhaust path32at which these exhaust paths31merge. The confluent exhaust path32extends in the up-and-down direction in the intermediate wall portion3. The intermediate wall portion3includes a wall body311provided on the container body202side and an exhaust path forming member312provided on the side of the ceiling member201. The exhaust paths31are provided inside the exhaust path forming member312.

In addition, on the wall surface of the intermediate wall portion3located outside each of the processing spaces S1to S4, an exhaust port33is formed for each of the processing spaces S1to S4. Each exhaust path31is formed in the intermediate wall portion3so as to connect the exhaust port33and the confluent exhaust path32to each other. Each exhaust path31extends, for example, in the horizontal direction in the intermediate wall portion3, and is then bent downwards and extends in the up-and-down direction to be connected to the confluent exhaust path32. For example, the exhaust path31has a circular cross section (seeFIG.3), the downstream end of each exhaust path31is connected to the upstream end of the confluent exhaust path32, and the upstream side of each exhaust path31is open to the outside of each of the processing spaces S1to S4, thereby serving as an exhaust port33.

Around each of the processing spaces S1to S4, a guide member34for exhaust is provided so as to surround each of the processing spaces S1to S4. The guide member34is, for example, an annular body provided so as to surround the area around the stage22at the processing position at an interval spaced apart from the stage22. The guide member34is configured to form therein a flow path35having, for example, a rectangular shape in vertical cross-sectional view and annular shape in a plan view.FIG.3schematically illustrates the processing spaces S1to S4, the guide members34, the exhaust paths31, and the confluent exhaust path32.

As illustrated inFIG.4, each guide member34has, for example, a U shape in the vertical cross section, and is arranged such that the opening portion of the U shape is directed downwards. The guide members34are fitted into respective recesses204formed in the intermediate wall portion3and closer to the side wall portions203of the container body202, and form flow paths35between the intermediate wall portion3and the members constituting the side wall portions203.

The guide members34fitted into the respective recesses204form slit-shaped slit exhaust ports36that are open toward respective processing spaces S1to S4. In this way, a slit exhaust port36is formed in the side peripheral portion of each of the processing spaces S1to S4along the circumferential direction. An exhaust port33is connected to each of the flow paths35, and the processing gas exhausted from the slit exhaust ports36is allowed to flow toward the exhaust port33.

Attention is now to be paid to a set of two processing spaces S1and S2arranged along the extension direction of the first transport space T1and a set of two processing spaces S3and S4arranged along the extension direction of the second transport space T2. As illustrated inFIG.3, the sets of processing spaces S1and S2and spaces S3and S4are arranged rotationally symmetrically by 180 degrees around the confluent exhaust path32when viewed from the side of the top surface.

As a result, the flow paths for a processing gas extending from respective processing spaces S1to S4to the confluent exhaust path32via the slit exhaust ports36, the flow paths35in the guide members34, the exhaust ports33, and the exhaust paths31surround the confluent exhaust path32, and are formed rotationally symmetrically by180degrees around the confluent exhaust path32. Paying attention only to the flow paths, excluding the positional relationships with the first and second transport spaces T1and T2and the intermediate wall portion3, these flow paths may be said to be formed rotationally symmetrically by 90 degrees around the confluence exhaust path32.

The confluent exhaust path32is connected to exhaust pipes61via a confluent exhaust port205formed in the bottom27of the processing container20. Each exhaust pipe61is connected to a vacuum pump62forming a vacuum exhaust mechanism via a valve mechanism7. For example, one vacuum pump62is provided in one processing container20(seeFIG.1), and the exhaust pipes61on the downstream sides of each vacuum pump62merge and are connected to, for example, a factory exhaust system.

The valve mechanism7opens and closes the flow path of the processing gas formed in each exhaust pipe61, and has, for example, a casing71and an opening/closing portion72. A first opening73connected to the exhaust pipe61on the upstream side is formed in the top surface of the casing71, and a second opening74connected to the exhaust pipe61on the downstream side is formed in the side surface of the casing71.

The opening/closing portion72has, for example, an opening/closing valve721formed to have a size that closes the first opening73, and a lifting mechanism722provided outside the casing71so as to raise and lower the opening/closing valve721inside the casing71. The opening/closing valve721is configured to be capable of being raised and lowered between a closing position for closing the first opening73indicated by the one-dot chain line inFIG.4and an opening position retracted downwards from the first and second openings73and74indicated by the solid line inFIG.4. When the opening/closing valve721is located at the closing position, the downstream end of the confluent exhaust port205is closed, and the exhaust in the processing container20is stopped. In addition, when the opening/closing valve721is located at the opening position, the downstream end of the confluent exhaust port205is opened and the inside of the processing container20is exhausted.

Next, a processing gas supply system will be described with reference toFIG.2by taking the case in which two types of reaction gases are used as an example. A gas supply pipe51is connected to each gas supply part4at substantially the center of the top surface thereof. The gas supply pipe51is connected to a first reaction gas supply source541and a purge gas supply source55via a first common gas supply path521by a first gas supply pipe511. In addition, the gas supply pipe51is connected to a second reaction gas supply source542and the purge gas supply source55via a second common gas supply path522by a second gas supply pipe512. InFIG.4, for convenience, the first common gas supply path521and the second common gas supply path522are collectively illustrated as a gas supply path52. In addition, the first reaction gas supply source541and the second reaction gas supply source542are collectively illustrated as a reaction gas supply source54. In addition, the first gas supply pipe511and the second gas supply pipe512are collectively illustrated as a gas supply pipe510. A valve V2and a flow control part M2serve to supply a reaction gas, and the valve V3and the flow control part M3serve to supply a purge gas.

In addition, the gas supply pipe51is connected to a cleaning gas supply source53by a cleaning gas supply path532via a remote plasma unit (RPU)531. The cleaning gas supply path532branches into four systems on the downstream side of the RPU531so as to be connected to each gas supply pipe51. A valve V1and a flow control part M1are provided on the upstream side of the RPU531in the cleaning gas supply path532. In addition, valves V11to V14are provided for respective branched pipes on the downstream side of the RPU531, and the corresponding valves V11to V14are open during cleaning. For convenience, only valves V11and V14are illustrated inFIG.4. Taking the case in which an insulating oxide film (SiO2) is formed through CVD as an example, as the reaction gas, for example, tetraethoxysilane (TEOS) or oxygen (O2) gas is used, and as the purge gas, for example, an inert gas such as nitrogen (N2) gas is used. When TEOS and O2gas are used as the reaction gas, the TEOS is supplied from, for example, the first reaction gas supply source541, and O2gas is supplied from the second reaction gas supply source542. As the cleaning gas, for example, nitrogen trifluoride (NF3) gas is used.

In view of the processing gas distributed from the common gas supply path52, respective processing gas paths leading to the gas supply part4from respective gas supply pipes51are formed such that the conductances thereof are uniform with each other. For example, as illustrated inFIG.2, the downstream side of the first common gas supply path521branches into two systems, and each gas supply path branch further branches into two systems such that first gas supply pipes511are formed in a tournament shape. On the downstream side of the valves V11to V14for cleaning gas, the first gas supply pipes511are connected to the gas supply pipes51, respectively. In addition, the downstream side of the second common gas supply path522branches into two systems, and each gas supply path branch further branches into two systems such that second gas supply pipes512are formed in a tournament shape. On the downstream side of the valves V11to V14for cleaning gas, the second gas supply pipes512are connected to the gas supply pipes51, respectively.

Each first gas supply pipe511is formed such that the length and inner diameter from the upstream end (the end connected to the first common gas supply paths521) to the downstream end (the end connected to the gas supply part4or the gas supply pipe51) are formed to be uniform for all of the first gas supply pipes511. In addition, each second gas supply pipe512is formed such that the length and inner diameter from the upstream end (the end connected to the second common gas supply paths522) to the downstream end are formed to be uniform for all of the second gas supply pipes512. In this way, in view of the processing gas distributed from the first common gas supply path521, respective gas processing paths leading to the confluent exhaust path32via the first gas supply pipes511, the gas supply part4, the processing spaces S1to S4, and the exhaust paths31are formed such that conductances thereof are uniform with each other. In addition, in view of the processing gas distributed from the second common gas supply path522, respective gas processing paths leading to the confluent exhaust path32via the second gas supply pipes512, the gas supply part4, the processing spaces S1to S4, and the exhaust paths31are formed such that conductances thereof are uniform with each other.

The vacuum processing apparatus2is connected to the controller8of the vacuum processing system1. The controller8controls each part of the vacuum processing apparatus2. With the controller8, an operator may perform a command input operation or the like using the input device in order to manage the vacuum processing apparatus2. In addition, in the controller8, the operating state of the vacuum processing apparatus2may be visualized and displayed by the display device. Furthermore, the storage of the controller8stores a control program and recipe data for controlling various processes, which are executed by the vacuum processing apparatus2, by the processor. The processor of the controller8executes the control program and controls each part of the vacuum processing apparatus2according to the recipe data, whereby desired processing is executed in the vacuum processing apparatus2. For example, the controller8controls each part of the vacuum processing apparatus2to execute substrate processing such as etching processing or film forming processing on a substrate carried into the vacuum processing apparatus2.

[Configuration of Rotational Driving Mechanism and Adjustment Mechanism]

FIG.5is a view illustrating an exemplary configuration of a rotational driving mechanism600and an adjustment mechanism700according to an embodiment. A hole27ais formed in the bottom27of the processing container20at a position corresponding to a position for supporting the stage22. A support member23is inserted into the hole27ato support the stage22from the bottom side. The rotational driving mechanism600is connected to the lower end portion23aof the support member23located outside the processing container20.

The rotational driving mechanism600has a rotation shaft610, a motor620, and a vacuum seal630.

The rotation shaft610is connected to the lower end portion23aof the support member23, and is configured to be integrally rotatable with the support member23. A slip ring621is provided at the lower end of the rotation shaft610. The slip ring621has an electrode, and is electrically connected to various wiring lines for supplying power to parts around the stage22. For example, the slip ring621is electrically connected to a wiring line for supplying power to the heater24embedded in the stage22. For example, when an electrostatic chuck configured to electrostatically attract a wafer W is provided on the stage22, the slip ring621is electrically connected to a wiring line of a DC voltage applied to the electrostatic chuck.

The motor620is connected to the rotation shaft610, and rotates the rotation shaft610. When the rotation shaft610rotates, the stage22rotates via the support member23. When the rotation shaft610rotates, the slip ring621also rotates together with the rotation shaft610, but the electrical connection between the slip ring621and various wiring lines for supplying power to the parts around the stage22is maintained.

The vacuum seal630is, for example, a magnetic fluid seal, and is provided around the rotation shaft610so as to allow rotation of the rotation shaft610be maintained while airtightly sealing the rotation shaft610.

In addition, the adjustment mechanism700is engaged with the lower end portion23aof the support member23via the vacuum seal630.

The adjustment mechanism700includes a base member710, a plurality of (e.g., six) actuators720, an absorption mechanism730, and a bellows740.

The base member710is engaged with the lower end portion23aof the support member23located outside the processing container20via the vacuum seal630, and is configured to be integrally movable with the stage22. For example, the base member710has therein a hole711formed to have a diameter larger than that of the lower end portion23aof the support member23. The support member23passes through the hole711, and the lower end portion23ais connected to the rotation shaft610. The vacuum seal630is provided around the rotation shaft610connected to the lower end portion23aof the support member23, and the base member710is fixed to the top surface of the vacuum seal630. As a result, the base member710is connected to the stage22via the vacuum seal630, the rotation shaft610, the support member23, and the like, and is movable integrally with the stage22.

The plurality of actuators720are provided in parallel with each other between the bottom27of the processing container20and the base member710, and relatively move the base member710with respect to the bottom27of the processing container20to adjust the position and inclination of the stage22. The actuators720are expandable and contractible, are rotatably and slidably connected to the base member710via universal joints, respectively, and are rotatably and slidably connected to the bottom27side of the processing container20via universal joints, respectively. The actuators720and the base member710form parallel link mechanisms, each of which is movable in the directions of the X′, Y′, and Z′ axes illustrated inFIG.5, the rotation direction around the X′ axis, the rotation direction around the Y′ axis, and the rotation direction around the Z′ axis. A moving coordinate system of the parallel link mechanism formed by the plurality of actuators720and the base member710is adjusted in advance so as to match the coordinate system of the processing container20. By connecting the bottom27of the processing container and the base member710via the parallel link mechanism, the plurality of actuators720are capable of moving the base member710relative to the bottom27of the processing container20. Thereby, it is possible to adjust the position and inclination of the stage22. For example, the plurality of actuators720adjust the position of the stage22by moving the base member710in a direction orthogonal to the outer wall surface of the bottom27of the processing container20(e.g., the Z′ axis direction inFIG.5). In addition, for example, the plurality of actuators720adjust the position of the stage22by moving the base member710in a direction following the outer wall surface of the bottom27of the processing container20(e.g., the X′ axis direction and the Y′ axis direction inFIG.5). Furthermore, for example, the plurality of actuators720adjust the inclination of the stage22by tilling the base member710in a predetermined direction (e.g., the rotation direction around the X′ axis and the rotation direction around the Y′ axis inFIG.5) relative to the outer wall surface of the bottom27of the processing container20.

It is possible to specify the position and inclination of the stage22adjusted by the plurality of actuators720by detecting the position and inclination of the base member710using various detectors. Examples of the detectors may include a linear encoder, a gyro sensor, a 3-axis acceleration sensor, a laser tracker, and the like.

In the vacuum processing apparatus2, when the pressure inside the processing container20is switched from the atmospheric state to the vacuum state, the processing container20is deformed due to the pressure difference. In addition, the temperature of the processing container20is changed due to the heat transferred thereto during the substrate processing carried out in the processing container20, and the processing container20is also deformed by the temperature change. When the processing container20is deformed, stress due to the deformation of the processing container20is transmitted to the stage22, and the position or inclination of the stage22may change.

Therefore, in the vacuum processing apparatus2according to the present embodiment, the plurality of actuators720are provided between the bottom27of the processing container20and the base member710, which is integrally movable with the stage22. The plurality of actuators720adjust the position or inclination of the stage22by relatively moving the base member710relative to the bottom27. As a result, even when the position or inclination of the stage22changes due to the deformation of the processing container20, it is possible to adjust the position and inclination of the stage22to the original position and inclination. As a result, the vacuum processing apparatus2according to the present embodiment is capable of reducing or eliminating deviation in the position and inclination of the stage22due to the deformation of the processing container20. As a result, it is possible to improve in-plane uniformity in substrate processing such as film-forming processing.

The absorption mechanism730is provided on the bottom27of the processing container20, and absorbs the deformation of the bottom of the processing container20. A hole731is formed in the absorption mechanism730to communicate with the inside of the processing container20through the hole27ain the bottom27of the processing container20. The plurality of actuators720are connected to the absorption mechanism730, rather than being directly connected to the bottom27of the processing container20. As a result, even when the bottom27of the processing container20is deformed, stress due to the deformation of the bottom27of the processing container20is absorbed by the absorption mechanism730and is not transmitted to the plurality of actuators720. Thus, it is possible to suppress degradation in the adjustment accuracy of the position or inclination of the stage22. Details of the absorption mechanism730will be described later.

The bellows740is provided so as to surround the support member23. The upper end of the bellows740is connected to the bottom27of the processing container20through the hole731formed in the absorption mechanism730, and the lower end is connected to the base member. As a result, the bellows740airtightly seals the space between the bottom27of the processing container20and the base member710. The bellows740is configured to be expandable and contractible according to the movement of the base member710. For example, when the base member710moves in a direction orthogonal to the outer wall surface of the bottom27of the processing container20(e.g., the Z′ axis direction inFIG.5), the bellows740expands and contracts in the Z′ axis direction. Further, for example, when the base member710moves in the direction following the outer wall surface of the bottom27of the processing container20(e.g., the X′ axis direction and the Y′ axis direction inFIG.5), the bellows740expands and contracts in the X′ axis direction and the Y′ axis direction. Further, for example, when the base member710moves in a predetermined direction relative to the outer wall surface of the bottom27of the processing container20(e.g., the rotation direction around the X′ axis and the rotation direction around the Y′ axis inFIG.5), the bellows740expands and contracts in the rotation direction around the X′ axis and the rotation direction around the Y′ axis. In the vacuum processing apparatus2, since the bellows740expands and contracts even when the base member710is moved, air is not introduced into the processing container20through the space between the bottom27of the processing container20and the base member710, the hole731, and the hole27a.

Here, an exemplary configuration of the absorption mechanism730will be described with reference toFIG.6.FIG.6is a view illustrating an exemplary configuration of the absorption mechanism730illustrated inFIG.5. The absorption mechanism730includes a plate member732and a rod member733.

The plate member732is formed in a disk shape and arranged below the bottom27of the processing container20. The plate member732is arranged at a distance from the outer wall surface of the bottom27of the processing container20from the viewpoint of blocking the transfer of heat and vibrations from the processing container20.

One end of the rod member733is rotatably and slidably connected to the bottom27of the processing container20, and the other end is rotatably and slidably connected to the plate member732. That is, a recess27bis formed in the outer wall surface of the bottom27of the processing container20, and a spherical bearing27c,which is freely rotatable and slidable, is installed in the recess27b.One end733aof the rod member733is rotatably and slidably connected to the bottom27of the processing container20by being connected to the spherical bearing27c.Meanwhile, a recess732ais formed in the top surface of the plate member732at a position corresponding to the recess27b,and a spherical bearing732b,which is freely rotatable and slidable, is installed in the recess732a.The other end733bof the rod member733is rotatably and slidably connected to the plate member732by being connected to the spherical bearing732b.The rod member733rotates in a direction corresponding to the deformation of the bottom27of the processing container20, thereby suppressing the transfer of the deformation to the plate member732. For example, when the bottom27of the processing container20is deformed in the direction indicated by the arrow inFIG.6, the rod member733is stressed by the deformation of the bottom27but is rotated together with the bottom27in the direction indicated by the arrow inFIG.6, thereby suppressing the transfer of the deformation to the plate member732. The plurality of actuators720is connected to the plate member732. As a result, since the stress due to the deformation of the bottom27of the processing container20is not transmitted to the plurality of actuators720via the plate member732, it is possible to suppress the degradation in the adjustment accuracy of the position or inclination of the stage22.

In addition, rod members733are arranged at a plurality of positions in the circumferential direction of the plate member732. For example, three rod members733are provided at a plurality of positions inside the edge along the circumferential direction of the plate member732at equal intervals. Four or more rod members733may be provided at equal intervals along the circumferential direction of the plate member732.

Specific Example of Flow of Method of Controlling Vacuum Processing Apparatus

Next, a specific example of a flow of a method of controlling the vacuum processing apparatus2according to an embodiment will be described.FIG.7is a flowchart illustrating Example 1 of the flow of a method of controlling the vacuum processing apparatus2according to an embodiment.

The controller8controls the substrate transport mechanism15to transport a wafer W toward the vacuum processing apparatus2(step S101).

The controller8calculates the deviation amount when the wafer W is transported by the substrate transport mechanism15as the correction amount of the position of the wafer W (step S102). The correction amount of the position of the wafer W is calculated by detecting, for example, the deviation amount between the wafer W and the target position of the transport by the substrate transport mechanism15using a position detection sensor provided at an arbitrary position on the transport path of the wafer W. The position detection sensor is provided, for example, in the vacuum transport chamber14in which the substrate transport mechanism15is arranged. In addition, the position detection sensor may be provided in the carry-in/out port21of the vacuum processing apparatus2. The target position is a wafer W placement position on the stage22, for example, a position at which the center of the stage22and the center of the wafer W coincide with each other.

The controller8controls the plurality of actuators720such that the base member710moves from a predetermined reference position by the correction amount calculated in step S102(step S103). The reference position is, for example, a position at which the center of the stage22and the center of the processing container20coincide with each other. As the base member710moves, the stage22also moves from the reference position by the correction amount.

When the substrate transport mechanism15reaches the vacuum processing apparatus2, the controller8controls the substrate transport mechanism15to transport a wafer W to a position above the target position in the processing container20. Then, the controller8causes the wafer W to be delivered between the stage22and the substrate transport mechanism15(step S104). In this step, the center of the stage22and the center of the wafer W coincide with each other. It is possible to implement the delivery of the wafer W in step S104using the method ofFIG.8, to be described later.

The controller8controls a plurality of actuators720such that the base member710moves to the reference position (step S105). When the base member710moves, the stage22also moves to the reference position. At this step, the center of the stage22, the center of the wafer W, and the center of the processing container20coincide with each other.

In this way, in the vacuum processing apparatus2, instead of moving the substrate transport mechanism15by the correction amount, the base member710and the stage22are integrally moved by the correction amount to deliver the wafer W. Therefore, it is possible to reduce the transport load of the substrate transport mechanism15. As a result, it is possible to improve the throughput of the entire vacuum processing system1.

InFIG.7, the processes of steps S103to S105are executed in parallel for each of the four processing spaces S1to S4in the processing container20. As a result, when the substrate transport mechanism15collectively transports four wafers W to the four processing spaces S1to S4in the processing container20, it is possible to realize a collective delivery of the wafers W between the stage22and the substrate transport mechanism15(step S104). As a result, it is possible to further improve the throughput of the entire vacuum processing system1.

FIG.8is a flowchart illustrating Example 2 of the flow of a method of controlling the vacuum processing apparatus2according to an embodiment. The control method illustrated inFIG.8is applied to, for example, the delivery of a wafer Win step S104ofFIG.7. In the initial stage, it is assumed that the stage22is located at the processing position.

The controller8controls the plurality of actuators720such that the base member710moves downwards together with the stage22(that is, the negative direction of the Z′ axis inFIG.5) (step S201). As a result, the stage22starts to be lowered.

The controller8causes the lower ends of the lifter pins26to come into contact with the bottom27of the processing container20as the stage22moves downwards, whereby the upper ends of the lifter pins26protrude from the placement surface of the stage22(Step S202). In this step, the stage22is in the state of being lowered from the processing position to the delivery position.

The controller8controls the plurality of actuators720such that the base member710moves upwards together with the stage22(that is, the positive direction of the Z′ axis inFIG.5) (step S203). As a result, the stage22starts to be raised.

The controller8causes the lower ends of the lifter pins26to be separated from the bottom27of the processing container20when the stage22moves upwards, whereby the upper ends of the lifter pins26are received at the placement surface sides of the pin through holes26a(step S204). In this step, the stage22is in the state of being raised to the processing position.

In this way, in the vacuum processing stage2, it is possible to cause the lifter pin26to protrude and retract by raising and lowering the base member710. Therefore, it is possible to omit a lifter pin driving mechanism for driving the lifter pins26, and it is possible to reduce the number of components in the processing container20. Here, in the processing container20, substrate processing may be performed on a wafer W by generating plasma. In this case, the components in the processing container20are consumed by plasma, and the particles generated from the consumed components may deteriorate processing characteristics of the wafer W. In contrast, in the vacuum processing apparatus2, it is possible to reduce the number of components in the processing container20by omitting the lifter pin driving mechanism. Thus, it is possible to reduce the risk of particle generation. In addition, it is possible to raise and lower the stage22using the adjustment mechanism700, without providing a separate mechanism for raising and lowering the stage22.

FIG.9is a flowchart illustrating Example 3 of the flow of a method of controlling the vacuum processing apparatus2according to an embodiment. In the following description, it is assumed that a film thickness sensor is arranged around the shower plate43. The film thickness sensor is configured to be able to detect the film thickness on a wafer W located within a predetermined detection range in a non-contact manner.

The controller8controls the plurality of actuators720such that the base member710moves until the wafer W placed on the stage22moves into the detection range of the film thickness sensor (step S301). For example, the controller8controls the plurality of actuators720to tilt the base member710until the wafer W placed on the stage22moves into the detection range of the film thickness sensor.

In this way, in the vacuum processing apparatus2, it is possible to move the wafer W placed on the stage22into the detection range of the film thickness sensor. As a result, the vacuum processing apparatus2is capable of detecting the film thickness in real time during the execution of substrate processing even when the film thickness sensor is arranged around the shower plate43facing the stage22.

FIG.10is a flowchart illustrating Example 4 of the flow of a method of controlling the vacuum processing apparatus2according to an embodiment. In the control method illustrated inFIG.10, a distance measurement substrate capable of measuring the distance between the stage22and the shower plate43(hereinafter, appropriately referred to as a “gap”) is used at each of a plurality of positions on the placement surface of the stage22. The distance measurement substrate has a wireless communication function of transmitting a gap measured for each of the plurality of positions in the placement surface of the stage22to the controller8as a measurement result.

The controller8arranges the distance measurement substrate on the stage22(step S401). The controller8instructs the distance measurement substrate to measure the gap. The distance measurement substrate informs the controller8of a gap measured at each of the plurality of positions in the circumferential direction of the stage22as a measurement result.

Based on the result of measurement by the distance measurement substrate, the controller8controls the plurality of actuators720such that the base member710moves to a position at which distances (i.e., gaps) at a plurality of positions in the placement surface of the stage22fall within a predetermined range (step S402).

As described above, in the vacuum processing apparatus2, it is possible to make the gaps uniform at a plurality of positions in the placement surface of the stage22without opening the processing container20. As a result, the vacuum processing apparatus2is capable of improving the in-plane uniformity of substrate processing on the wafer W while maintaining the vacuum state of the processing container20.

FIG.11is a flowchart illustrating Example 5 of the flow of a method of controlling the vacuum processing apparatus2according to an embodiment.

The controller8acquires measurement data indicating the position and the inclination of the stage22relative to the state of the wafer W that satisfy a predetermined condition and are measured for each substrate process executed in the processing container20(step S501). For example, the controller8reads measurement data from the storage of the controller8and acquires the measurement data. The state of the wafer W is, for example, a numerical value representing the quality of a film formed on the wafer W through substrate processing. When the measurement data is stored in another device, the controller8may acquire the measurement data from the other device via a network. In addition, the controller8may generate and acquire measurement data through machine learning based on the position and inclination of the stage22relative to the state of the wafer W for each substrate process.

The controller8executes the substrate processing in the processing container20(step S502).

The controller8determines whether the time for switching the substrate processing being executed has arrived (step S503). When the time of switching has not arrived yet (step S503: No), the controller8continues the substrate processing currently being executed.

Meanwhile, when the switching time has arrived (step S503: Yes), the controller8determines whether the execution of all the substrate processing has been completed (step S404). When the execution of all substrate processing has not been completed (step S504: No), the controller8controls the plurality of actuators720based on the measurement data acquired in step S501(step S505). That is, the controller8refers to the measurement data and obtains the position and inclination of the stage22corresponding to the next substrate process to be performed at a switching destination. Then, the controller8controls the plurality of actuators720to move the base member710such that the position and inclination of the stage22become the obtained position and inclination. After moving the base member710, the controller8returns the processing to step S502, and executes the next substrate process at the switching destination in the processing container20.

Meanwhile, when execution of all of the substrate processing is completed (step S504: Yes), the controller8terminates the processing.

In this way, the vacuum processing apparatus2is capable of dynamically adjusting the position and inclination of the stage22for each substrate process. As a result, the vacuum processing apparatus2is capable of obtaining an optimum processing result for each substrate process when the substrate processing is continuously and sequentially executed.

Effect of Embodiment

As described above, the vacuum processing apparatus2according to the embodiment includes a processing container20, a stage22, a support member23, a base member710, and a plurality of actuators720. The processing container20is configured to be capable of maintaining the inside thereof in a vacuum atmosphere. The stage22is provided in the processing container20such that a wafer W (substrate) is placed thereon. The support member23penetrates the hole in the bottom27of the processing container20and supports the stage22from the bottom side thereof. The base member710is configured to be integrally movable with the stage22by being engaged with the end portion of the support member23located outside the processing container20. The plurality of actuators720are provided parallel each other between the bottom27of the processing container20and the base member710, and move the base member710relative to the bottom27of the processing container20to adjust the position and inclination of the stage22. As a result, the vacuum processing apparatus2is capable of reducing or eliminating deviation in the position and inclination of the stage22due to the deformation of the processing container20.

In addition, the plurality of actuators720and the base member710form parallel link mechanisms, each of which is capable of moving the base member710in the directions of a plurality of axes and the rotation directions around respective axes. The plurality of actuators720and the base member710connect the bottom27of the processing container20and the base member710via the parallel link mechanisms. As a result, the vacuum processing apparatus2is capable of reducing or eliminating deviation in the position and inclination of the stage22by moving the base member710relative to the bottom27of the processing container20using the operation of the parallel link mechanisms.

In addition, the plurality of actuators720adjust the position of the stage22by moving the base member710in a direction orthogonal to the outer wall surface of the bottom27of the processing container20. As a result, the vacuum processing apparatus2is capable of reducing or eliminating deviation in the position of the stage22in a direction orthogonal to the outer wall surface of the bottom27of the processing container20.

In addition, the plurality of actuators720adjust the position of the stage22by moving the base member710in a direction following the outer wall surface of the bottom27of the processing container20. As a result, the vacuum processing apparatus2is capable of reducing or eliminating deviation in the position of the stage22in a direction following the outer wall surface of the bottom27of the processing container20.

In addition, the plurality of actuators720adjust the inclination of the stage22by tilting the base member710relative to the outer wall surface of the bottom27of the processing container20. As a result, the vacuum processing apparatus2is capable of reducing or eliminating deviation in the inclination of the stage22relative to the bottom27of the processing container20.

In addition, the vacuum processing apparatus2further includes an expandable and contractible bellows740(an expandable and contractible member) provided around the support member23to airtightly seal the space between the bottom27of the processing container20and the base member710and to be expandable and contractible according to the movement of the base member710. As a result, the vacuum processing apparatus2is capable of preventing the inflow of air into the processing container20even when the base member710is moved.

Further, the vacuum processing apparatus2further includes an absorption mechanism730configured to absorb the deformation of the bottom27of the processing container20. The plurality of actuators are connected to the absorption mechanism730. As a result, stress due to the deformation of the bottom27of the processing container20is absorbed by the absorption mechanism730and is not transmitted to the plurality of actuators720. Thus, the vacuum processing apparatus2is capable of suppressing degradation in the accuracy of adjustment of the position and inclination of the stage22.

In addition, the absorption mechanism730includes a plate member732and a rod member733. One end of the rod member733is rotatably and slidably connected to the bottom27of the processing container20, and the other end is rotatably and slidably connected to the plate member732. The rod member733rotates in a direction corresponding to the deformation of the bottom27of the processing container20, thereby suppressing the transfer of deformation to the plate member732. The plurality of actuators720are connected to the plate member732. As a result, stress due to the deformation of the bottom27of the processing container20is absorbed by the plate member732and is not transmitted to the plurality of actuators720. Thus, the vacuum processing apparatus2is capable of suppressing degradation in the accuracy of adjustment of the position and inclination of the stage22.

In addition, the plate member732is arranged at a distance from the outer wall surface of the bottom27of the processing container20. As a result, the vacuum processing apparatus2is capable of blocking the transfer of heat and vibrations from the processing container20to the plate member732.

In addition, a method of controlling the vacuum processing apparatus2according to the embodiment includes a step of calculating a deviation amount when a wafer W (a substrate) is transported by the substrate transport mechanism15(a transport mechanism) as a correction amount of the position of the wafer W, a step of controlling a plurality of actuators720such that the base member710moves from a predetermined reference position by the correction amount, a step of delivering the wafer W between the stage22moved together with the base member710and the substrate transport mechanism15, and a step of controlling the plurality of actuators720such that the base member710moves to a reference position after the wafer W is delivered. As a result, the vacuum processing apparatus2is capable of improving the throughput of the entire vacuum processing system1.

In addition, pin through holes26aare formed in the stage22to penetrate the placement surface of the stage22and the rear surface with respect to the placement surface. The vacuum processing apparatus2further includes lifter pins26slidably inserted into respective pin through holes26asuch that the upper end of each of the lifter pins is suspended from the placement surface side of the stage22of the corresponding one of the pin through holes26aand the lower end thereof protrudes from the rear surface of the stage22to the side of the bottom27of the processing container20. A method of controlling the vacuum processing apparatus2according to the embodiment may include a step of controlling the plurality of actuators720such that the base member710moves downwards together with the stage22, a step of causing the upper end of each of the lifter pins26to protrude from the placement surface of the stage22by causing the lower end of each of the lifter pins26to come into contact with the bottom27of the processing container20as the stage22moves downwards, a step of controlling the plurality of actuators such that the base member710moves upwards together with the stage22, and a step of separating the lower end of each of the lifter pins26from the bottom27of the processing container20when the stage22moves upwards so as to cause the upper ends of the lifter pins26to be received in respective pin through holes26aat the placement surface side of the stage22. As a result, in the vacuum processing apparatus2, it is possible to reduce the number of components in the processing container20by omitting the lifter pin driving mechanism. Thus, it is possible to reduce the risk of particle generation.

In addition, the vacuum processing apparatus2further includes a shower plate43(an upper electrode) arranged in the processing container20to face the above-mentioned stage22in the processing container20, and a film thickness sensor arranged around the shower plate43to be capable of detecting the film thickness of a wafer W located within a predetermined detection range in a non-contact manner. A method of controlling the vacuum processing apparatus2according to an embodiment may include a step of controlling the plurality of actuators720such that the base member710moves until the wafer W mounted on the stage22moves into the detection range of the film thickness sensor. As a result, the vacuum processing apparatus2is capable of detecting the film thickness in real time during the execution of substrate processing even when the film thickness sensor is arranged around the shower plate43facing the stage22.

In addition, a method of controlling the vacuum processing apparatus2according to an embodiment includes a step of arranging a distance measurement substrate capable of measuring the distance between the stage22and the shower plate43(an upper electrode) at each of a plurality of positions in the placement surface of the stage22and a step of controlling the plurality of actuators720such that the base member710moves to a position at which the distances at the plurality of positions in the placement surface of the stage22fall within a predetermined range based on the result of measurement by the distance measurement substrate. As a result, the vacuum processing apparatus2is capable of improving the in-plane uniformity of substrate processing on the wafer W while maintaining the vacuum state in the processing container20.

In addition, a method of controlling the vacuum processing apparatus2according to an embodiment includes a step of acquiring measurement data indicating the position and inclination of the stage22with respect to the state of a wafer W (a substrate) satisfying a predetermined condition measured for each substrate process executed in the processing container20, a step of sequentially executing the substrate processing in the processing container20, and a step of controlling the plurality of actuators720based on the measurement data whenever the time for switching the substrate processing arrives. As a result, the vacuum processing apparatus2is capable of obtaining an optimum processing result for each substrate process when the substrate processing is continuously and sequentially executed.

Although embodiments have been described above, it should be considered that the embodiments disclosed herein are illustrative and are not restrictive in all respects. In addition, the embodiments described above may be omitted, replaced, or modified in various forms without departing from the scope and spirit of the claims.

For example, in the embodiments described above, an example in which the vacuum processing apparatus2is an apparatus that performs plasma CVD processing as substrate processing has been described, but the technique disclosed herein may be applied to any apparatus that performs other substrate processing, such as plasma etching.

In addition, in the embodiments described above, an example in which the plurality of actuators720are rotatably and slidably connected to the base member710via respective universal joints and are rotatably and slidably connected to the bottom27side of the processing container20(i.e., the absorption mechanism730inFIG.5) via respective universal joints has been described as an example. However, the technique disclosed herein is not limited thereto. The absorption mechanism730may be omitted, and one end of each of the actuators720may be rotatably and slidably connected to the bottom27of the processing container20via a universal joint. In addition, the base member710may be omitted, and the other end of the actuator720may be rotatably and slidably connected to a portion of the vacuum seal630via a universal joint. In this case, the vacuum seal630functions as a base member.

According to the present disclosure, it is possible to reduce or eliminate deviation in the position and inclination of a stage due to the deformation of a processing container.