Patent Publication Number: US-11031235-B2

Title: Substrate processing apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation of U.S. patent application Ser. No. 15/422,858, filed Feb. 2, 2017, which claims priority to Japanese Patent Application No. 2016-030153, filed Feb. 19, 2016, the contents of all of which are incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a substrate processing apparatus and a substrate processing method. Examples of substrates to be processed include semiconductor wafers, substrates for liquid crystal display devices, substrates for plasma displays, substrates for FEDs (field emission displays), substrates for optical disks, substrates for magnetic disks, substrates for magneto-optical disks, and substrates for photomasks, ceramic substrates, substrates for solar cells. 
     2. Description of Related Art 
     US2013/0152971 A1 discloses a rotating type substrate holding/rotating device that includes a rotary table rotatable around a rotational axis aligned with a vertical direction, a rotation driving unit that rotates the rotary table around the rotational axis, and a plurality (for example, four) of holding pins disposed on the rotary table and horizontally positioning a substrate across a prescribed interval from a front surface of the rotary table. 
     The plurality of holding pins include fixed pins that are immovable with respect to the rotary table and movable pins that are movable with respect to the rotary table. Each movable pin has a contacting portion arranged to be rotatable around a rotational axis coaxial to a central axis of the movable pin and arranged to contact a peripheral end edge of the substrate. By rotation of the contacting portion, the contacting portion is displaced between an open position that is far apart from the rotational axis and a hold position that has approached the rotational axis. A pin driving magnet is coupled to a rotating shaft of the contacting portion. 
     Switching between opening and closing of the movable pins is performed using an elevated/lowered magnet disposed below the rotary table (magnet switching type). A magnet elevating/lowering unit is coupled to the elevated/lowered magnet. When the elevated/lowered magnet is at a prescribed lower position, the elevated/lowered magnet does not face the pin driving magnets and an external force, which urges the movable pins to the hold position, does not act on the movable pins. Therefore, when the elevated/lowered magnet is at the lower position, the movable pins are held at the open position. On the other hand, when the elevated/lowered magnet is at a prescribed upper position, the movable pins are held at the hold position by a magnetic attractive force between the elevated/lowered magnet and the pin driving magnets. 
     SUMMARY OF THE INVENTION 
     The substrate holding/rotating device is installed in a single substrate processing type apparatus that processes substrates one at a time and a processing liquid (cleaning chemical liquid) is supplied from a processing liquid nozzle to an upper surface of a substrate being rotated by the holding/rotating device. The processing liquid supplied to the upper surface of the substrate receives a centrifugal force due to rotation of the substrate and flows toward a peripheral edge portion of the substrate. The entirety of the upper surface of substrate and a peripheral end surface of the substrate is thereby liquid-processed. Also, depending on the type of substrate processing, a peripheral edge portion of a lower surface of the substrate may also be desired to be liquid-processed. 
     However, in the arrangement of US2013/0152971 A1, the substrate is being supported by the plurality of (e.g., four) holding pins while being in contact with the holding pins from beginning to end during the liquid treatment, and therefore there is a possibility that the processing liquid will not flow around at a plurality of contact positions of the holding pins in the peripheral end surface of the substrate, and the remainder after processing will be generated at the peripheral edge of the substrate (i.e., the peripheral end surface of the substrate and the peripheral edge of the lower surface of the substrate). 
     The inventors of the present invention are considering that, when a substrate is subjected to rotation processing (liquid processing), contact-support positions in the peripheral edge of the substrate are displaced in the circumferential direction while the peripheral edge of the substrate is being in contact with holding pins and is being supported by the holding pins. 
     Therefore, it is an object of the present invention to provide a substrate processing apparatus and a substrate processing method that are capable of displacing contact-support positions in the peripheral edge of a substrate in the circumferential direction while the peripheral edge of the substrate is being in contact with holding pins and is being supported by the holding pins when the substrate is subjected to rotation processing and, as a result, capable of excellently processing the peripheral edge of the substrate without the remainder after processing. 
     The present invention provides a substrate processing apparatus that includes a rotary table, and a substrate rotation holding device that is disposed to rotate around a rotational axis along a vertical direction together with the rotary table and that includes a plurality of support pins to support a substrate horizontally, and wherein the support pin including a movable pin that has a support portion disposed movably between a contact position at which the support pin comes into contact with a peripheral edge of the substrate and an open position that is more distant from the rotational axis than the contact position, further includes a driving magnet that is disposed correspondingly to the movable pin and that has a predetermined polar direction with respect to a radial direction of the rotary table, a pressing magnet that has a magnetic pole that gives an attractive magnetic force or a repulsive magnetic force between the driving magnet and the pressing magnet and that presses the support portion against the peripheral edge of the substrate by urging the support portion toward the contact position by means of the attractive magnetic force or the repulsive magnetic force, and a pressing-force changing unit that changes a magnitude of a pressing force against the peripheral edge of the substrate pressed by the support portion while keeping the magnitude higher than zero in response to rotation of the rotary table. 
     According to this arrangement, the support portion of the movable pin is pressed against the peripheral edge of the substrate with a predetermined pressing force by means of a magnetic force generated between the driving magnet and the pressing magnet corresponding to this driving magnet. As a result, the substrate is gripped in the horizontal direction by means of the plurality of support pins. The substrate is rotated around the rotational axis by rotating the support pin and the rotary table around the rotational axis in this state, and a centrifugal force generated by the rotation acts on the peripheral edge of the substrate. 
     Additionally, the magnitude of a pressing force against the peripheral edge of the substrate applied by the movable pin is changed while being kept higher than zero in response to rotation of the rotary table. As a result, the substrate being in a rotational state becomes eccentric. This eccentric direction of the substrate changes in accordance with the rotational angle position of the substrate being in a rotational state. 
     As thus described, the substrate becomes eccentric in a state of being rotated, and the eccentric direction changes in accordance with the rotational angle position of the substrate being in a rotational state, and the operation of a centrifugal force acting on the peripheral edge of the substrate enables the substrate supported by the plurality of support pins to turn relatively and slightly in a circumferential direction opposite to the rotational direction of the substrate with respect to the rotary table. The amount of relative turning of the substrate is increased by allowing the rotary table to rotate continuously. As a result, it is possible to displace the contact-support position in the peripheral edge of the substrate supported by the support pin in the circumferential direction while allowing the plurality of support pins to come into contact with and support the peripheral edge of the substrate when the substrate is undergoing rotation processing. Therefore, it is possible to provide a substrate processing apparatus that is capable of excellently processing the peripheral edge of the substrate without the remainder after processing. 
     In the present preferred embodiment, the pressing-force changing unit includes a magnetic-force generating magnet that is a magnet differing from the pressing magnet and that has a magnetic pole that gives an attractive magnetic force or a repulsive magnetic force to urge the support portion toward the open position between the driving magnet and the magnetic-force generating magnet, a magnet drive unit that drives the magnetic-force generating magnet, a rotating/driving unit that relatively rotates the rotary table and the magnetic-force generating magnet around the rotational axis, and a pressing-force changing control unit that changes the magnitude of the pressing force applied by the support portion while controlling the magnet drive unit and the rotating/driving unit and while keeping the magnitude higher than zero, and the pressing-force changing control unit performs a magnetic-force generation-position placing step of placing the magnetic-force generating magnet at a first position at which an attractive magnetic force or a repulsive magnetic force having a smaller magnitude than an attractive magnetic force or a repulsive magnetic force generated between the driving magnet and the pressing magnet is generated between the driving magnet and the magnetic-force generating magnet, and a rotation step of relatively rotating the rotary table and the magnetic-force generating magnet around the rotational axis in a state in which the magnetic-force generating magnet is placed at the first position. 
     According to this arrangement, the substrate processing apparatus includes a magnetic-force generating magnet that has a magnetic pole that gives an attractive magnetic force or a repulsive magnetic force to urge the support portion toward the open position. The magnetic-force generating magnet is placed at a first position at which an attractive magnetic force or a repulsive magnetic force having a smaller magnitude than an attractive magnetic force or a repulsive magnetic force generated between the driving magnet and the pressing magnet is generated between the driving magnet and the magnetic-force generating magnet. Furthermore, the rotary table and the magnetic-force generating magnet are relatively rotated around the rotational axis in a state in which the magnetic-force generating magnet is placed at the first position. The substrate is also rotated around the rotational axis in response to the rotation of the rotary table around the rotational axis. 
     In this case, the distance between the driving magnet and the magnetic-force generating magnet changes in accordance with the rotational angle position of the substrate, i.e., the magnitude of a magnetic force (attractive magnetic force or repulsive magnetic force) that is given from the magnetic-force generating magnet and that acts on the driving magnet also changes in accordance with the rotational angle position of the substrate. This makes it possible to change a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the magnetic-force generating magnet in response to rotation of the substrate. 
     Moreover, in a state in which the magnetic-force generating magnet is placed at the first position, the magnitude of a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the magnetic-force generating magnet is smaller than that of a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the pressing magnet. Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate applied by the support portion of the movable pin while keeping its magnitude higher than zero in response to rotation of the rotary table. 
     The magnetic-force generating magnet may include a first magnetic-force generating magnet and a second magnetic-force generating magnet both of which have mutually different polar directions with respect to the radial direction of the rotary table, and the first magnetic-force generating magnet and the second magnetic-force generating magnet may be alternately disposed in a circumferential direction. 
     According to this arrangement, the first magnetic-force generating magnet and the second magnetic-force generating magnet are alternately disposed in the circumferential direction, and therefore the magnetic pole of a magnetic field given to the driving magnet changes in response to rotation of the rotary table (the magnetic field is nonuniform). In this case, it is possible to abruptly change a magnetic force generated between each driving magnet and the magnetic-force generating magnet (the first magnetic-force generating magnet or the second magnetic-force generating magnet) in accordance with the rotational angle position of the substrate. Therefore, it is possible to largely change a magnetic force generated between each driving magnet and the magnetic-force generating magnet in response to rotation of the substrate, and it is possible to accelerate the turning of the substrate. This makes it possible to even more effectively displace the contact-support positions in the peripheral edge of the substrate supported by the support pins in the circumferential direction. 
     The magnetic-force generating magnet may include a plurality of magnetic-force generating magnets that have mutually identical polar directions with respect to the radial direction of the rotary table, and the plurality of magnetic-force generating magnets may be spaced out in a circumferential direction. 
     According to this arrangement, the plurality of magnetic-force generating magnets are spaced out in the circumferential direction, and therefore the magnitude of a magnetic field given to the driving magnet changes in response to rotation of the rotary table (the magnetic field is nonuniform). In this case, it is possible to abruptly change a magnetic force generated between each driving magnet and the magnetic-force generating magnet in accordance with the rotational angle position of the substrate. Therefore, it is possible to largely change a magnetic force generated between each driving magnet and the magnetic-force generating magnet in response to rotation of the substrate, and it is possible to accelerate the turning of the substrate. This makes it possible to even more effectively displace the contact-support positions in the peripheral edge of the substrate supported by the support pins in the circumferential direction. 
     The magnet drive unit may include a magnet moving unit that moves the magnetic-force generating magnet between the first position and a second position at which a magnetic field is not generated between the driving magnet and the magnetic-force generating magnet. 
     According to this arrangement, the magnet moving unit allows the magnetic-force generating magnet to be moved between the first position and the second position, and, as a result, it is possible to make a transition between a state in which the contact-support position in the peripheral edge of the substrate deviates and a state in which the contact-support position in the peripheral edge of the substrate does not deviate during rotation processing. The amount of displacement in the circumferential direction of the substrate is proportional to the length of time during which the magnetic-force generating magnet is placed at the first position, and therefore the magnetic-force generating magnet is moved from the first position to the second position in a state in which a predetermined period of time has elapsed after placing the magnetic-force generating magnet at the first position, and, as a result, it is possible to control the amount of displacement in the circumferential direction of the substrate so as to be set at a desired amount. 
     The substrate processing apparatus may further include a processing liquid supply unit that supplies a processing liquid to an upper surface of the substrate. In this case, the pressing-force changing control unit may perform a processing-liquid supply step of controlling and allowing the processing liquid supply unit to supply a processing liquid to the upper surface of the substrate in parallel to the rotation step. 
     According to this arrangement, a processing liquid is supplied to the upper surface of the substrate in parallel to rotation of the rotary table with respect to the magnetic-force generating magnet. A load that acts on the substrate is increased by the supply of the processing liquid to the upper surface of the substrate. When the substrate is in a rotational state, the increase of the load acts on the substrate that is in contact with and that is supported by the plurality of support pins as rotational resistance that obstructs the turning of the substrate. Therefore, it is possible to more effectively displace the contact-support position in the peripheral edge of the substrate in the circumferential direction. 
     The present invention provides a substrate processing method that is executed in a substrate processing apparatus, the substrate processing apparatus including a rotary table, a substrate rotation holding device that is disposed to rotate around a rotational axis along a vertical direction together with the rotary table and that includes a plurality of support pins to support a substrate horizontally, the support pin including a movable pin that has a support portion disposed movably between a contact position at which the support pin comes into contact with a peripheral edge of the substrate and an open position that is more distant from the rotational axis than the contact position, and a driving magnet that is disposed correspondingly to the movable pin and that has a predetermined polar direction with respect to a radial direction of the rotary table, the substrate processing method including a pressing-force changing step of changing a magnitude of a pressing force against the peripheral edge of the substrate pressed by the support portion while keeping the magnitude higher than zero in response to rotation of the rotary table. 
     According to this method, the support portion of the movable pin is pressed against the peripheral edge of the substrate with a predetermined pressing force by means of a magnetic force generated between the driving magnet and the pressing magnet corresponding to this driving magnet. As a result, the substrate is gripped in the horizontal direction by means of the plurality of support pins. The substrate is rotated around the rotational axis by rotating the support pin and the rotary table around the rotational axis in this state, and a centrifugal force generated by the rotation acts on the peripheral edge of the substrate. 
     Additionally, the magnitude of a pressing force against the peripheral edge of the substrate applied by the movable pin is changed while being kept higher than zero in response to rotation of the rotary table. As a result, the substrate being in a rotational state becomes eccentric. This eccentric direction of the substrate changes in accordance with the rotational angle position of the substrate being in a rotational state. 
     As thus described, the substrate becomes eccentric in a state of being rotated, and the eccentric direction changes in accordance with the rotational angle position of the substrate being in a rotational state, and the operation of a centrifugal force acting on the peripheral edge of the substrate enables the substrate supported by the plurality of support pins to turn relatively and slightly in a circumferential direction opposite to the rotational direction of the substrate with respect to the rotary table. The amount of relative turning of the substrate is increased by allowing the rotary table to rotate continuously. As a result, it is possible to displace the contact-support position in the peripheral edge of the substrate supported by the support pin in the circumferential direction while allowing the plurality of support pins to come into contact with and support the peripheral edge of the substrate when the substrate is undergoing rotation processing. Therefore, it is possible to provide a substrate processing method that is capable of excellently processing the peripheral edge of the substrate without the remainder after processing. 
     In the substrate processing method of the present invention, the pressing-force changing step may include a magnetic-force generation-position placing step of placing a magnetic-force generating magnet that is a magnet differing from the pressing magnet and that has a magnetic pole that gives an attractive magnetic force or a repulsive magnetic force to urge the support portion toward the open position between the driving magnet and the magnetic-force generating magnet at a first position at which an attractive magnetic force or a repulsive magnetic force having a smaller magnitude than an attractive magnetic force or a repulsive magnetic force generated between the driving magnet and the pressing magnet is generated between the driving magnet and the magnetic-force generating magnet, and a rotation step of relatively rotating the rotary table and the magnetic-force generating magnet around the rotational axis in a state in which the magnetic-force generating magnet is placed at the first position. 
     According to this method, a magnetic-force generating magnet that has a magnetic pole that gives an attractive magnetic force or a repulsive magnetic force to urge the support portion toward the open position is placed at a first position at which an attractive magnetic force or a repulsive magnetic force having a smaller magnitude than an attractive magnetic force or a repulsive magnetic force generated between the driving magnet and the pressing magnet is generated between the driving magnet and the magnetic-force generating magnet. Furthermore, the rotary table and the magnetic-force generating magnet are relatively rotated around the rotational axis in a state in which the magnetic-force generating magnet is placed at the first position. The substrate is also rotated around the rotational axis in response to the rotation of the rotary table around the rotational axis. 
     In this case, the distance between the driving magnet and the magnetic-force generating magnet changes in accordance with the rotational angle position of the substrate, i.e., the magnitude of a magnetic force (attractive magnetic force or repulsive magnetic force) that is given from the magnetic-force generating magnet and that acts on the driving magnet also changes in accordance with the rotational angle position of the substrate. This makes it possible to change a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the magnetic-force generating magnet in response to rotation of the substrate. 
     Moreover, in a state in which the magnetic-force generating magnet is placed at the first position, the magnitude of a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the magnetic-force generating magnet is smaller than that of a magnetic force (attractive magnetic force or repulsive magnetic force) generated between the driving magnet and the pressing magnet. Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate applied by the support portion of the movable pin while keeping its magnitude higher than zero in response to rotation of the rotary table. 
     The substrate processing method may further include a magnet moving step of moving the magnetic-force generating magnet between the first position and a second position at which a magnetic field is not generated between the driving magnet and the magnetic-force generating magnet. 
     According to this method, the magnet moving unit allows the magnetic-force generating magnet to be moved between the first position and the second position, and, as a result, it is possible to make a transition between a state in which the contact-support position in the peripheral edge of the substrate deviates and a state in which the contact-support position in the peripheral edge of the substrate does not deviate during rotation processing. The amount of displacement in the circumferential direction of the substrate is proportional to the length of time during which the magnetic-force generating magnet is placed at the first position, and therefore the magnetic-force generating magnet is moved from the first position to the second position in a state in which a predetermined period of time has elapsed after placing the magnetic-force generating magnet at the first position, and, as a result, it is possible to control the amount of displacement in the circumferential direction of the substrate so as to be set at a desired amount. 
     The substrate processing method may further include a processing-liquid supply step of allowing a processing liquid supply unit to supply a processing liquid to the upper surface of the substrate in parallel to the rotation step. 
     According to this method, a processing liquid is supplied to the upper surface of the substrate in parallel to rotation of the rotary table with respect to the magnetic-force generating magnet. A load that acts on the substrate is increased by the supply of the processing liquid to the upper surface of the substrate. When the substrate is in a rotational state, the increase of the load acts on the substrate that is in contact with and that is supported by the plurality of support pins as rotational resistance that obstructs the turning of the substrate. Therefore, it is possible to more effectively displace the contact-support position in the peripheral edge of the substrate in the circumferential direction. 
     The aforementioned or other objects, features, and effects of the present invention will be clarified by the following description of preferred embodiments with reference to the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustrative plan view for describing a layout of an interior of a substrate processing apparatus according to a first preferred embodiment of the present invention. 
         FIG. 2  is an illustrative sectional view for describing an arrangement example of a processing unit included in the substrate processing apparatus. 
         FIG. 3  is a plan view for describing a more specific arrangement of a spin chuck included in the substrate processing apparatus. 
         FIG. 4  is a bottom view of the arrangement of  FIG. 3 . 
         FIG. 5  is a sectional view taken along section line V-V of  FIG. 3 . 
         FIG. 6  is an enlarged sectional view showing a portion of the arrangement of  FIG. 5  in enlarged manner. 
         FIG. 7  is an enlarged sectional view of the arrangement in a vicinity of a movable pin included in the spin chuck. 
         FIG. 8  is a schematic view showing an open state of a movable pin included in a first movable pin group. 
         FIG. 9  is a schematic view showing a closed state of the movable pin included in the first movable pin group. 
         FIG. 10  is a schematic view showing a state of the movable pin included in the first movable pin group resulting from the up-and-down movement of the first magnetic-force generating magnet. 
         FIG. 11  is a schematic view showing an open state of a movable pin included in a second movable pin group. 
         FIG. 12  is a schematic view showing a closed state of the movable pin included in the second movable pin group. 
         FIG. 13  is a schematic view showing a state of the movable pin included in the second movable pin group resulting from the up-and-down movement of the second magnetic-force generating magnet. 
         FIGS. 14A and 14B  are schematic views showing a state of a substrate when the first and second magnetic-force generating magnets are each disposed at the upper position and when the rotary table is rotated. 
         FIGS. 15A and 15B  are schematic views showing a state of the substrate subsequent to  FIGS. 14A and 14B . 
         FIGS. 16A and 16B  are schematic views showing a state of the substrate subsequent to  FIGS. 15A and 15B . 
         FIGS. 17A and 17B  are schematic views showing a state of the substrate subsequent to  FIGS. 16A and 16B . 
         FIGS. 18A and 18B  are schematic views showing a state of the substrate subsequent to  FIGS. 17A and 17B . 
         FIG. 19  is a block diagram to describe an electrical configuration of a main part of the substrate processing apparatus. 
         FIG. 20  is a flowchart to describe one example of processing-liquid processing performed by the processing unit. 
         FIG. 21  is a time chart to describe the processing-liquid processing. 
         FIGS. 22A to 22H  are pictorial views to describe a processing example of the processing-liquid processing. 
         FIG. 23  is a pictorial cross-sectional view to describe an arrangement example of a processing unit included in a substrate processing apparatus according to a second preferred embodiment of the present invention. 
         FIG. 24  is a plan view to describe a more concrete arrangement of a spin chuck included in the processing unit. 
         FIG. 25  is a view showing a positional relationship between the first and second driving permanent magnets and the first and second magnetic-force generating magnets when the rotary table is rotated in the spin chuck. 
     
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       FIG. 1  is an illustrative plan view for describing a layout of an interior of a substrate processing apparatus  1  according to a first preferred embodiment of the present invention. 
     The substrate processing apparatus  1  is a single substrate processing type apparatus that processes disk-shaped substrates W such as semiconductor wafers, one at a time by a processing liquid or a processing gas. The substrate processing apparatus  1  includes load ports LP that hold a plurality of carriers C, a turnover unit TU that performs up/down turnover of the orientation of the substrate W, and a plurality of processing units  2  that process the substrates W. The load ports LP and the processing units  2  are disposed across an interval in a horizontal direction. The turnover unit TU is disposed on a transfer path of the substrates W that are transferred between the load ports LP and the processing units  2 . 
     As shown in  FIG. 1 , the substrate processing apparatus  1  further includes an indexer robot IR disposed between the load ports LP and the turnover unit TU, a center robot CR disposed between the turnover unit TU and the processing units  2 , and a controller (pressing-force changing unit)  3  controlling operations of devices and opening/closing of valves included in the substrate processing apparatus  1 . The indexer robot IR transfers a plurality of substrates W one by one from the carriers C held by the load ports LP to the turnover unit TU and transfers a plurality of substrates W one by one from the turnover unit TU to the carriers C held by the load ports LP. Similarly, the center robot CR transfers a plurality of substrates W one by one from the turnover unit TU to the processing units  2  and transfers a plurality of substrates W one by one from the processing units  2  to the turnover unit TU. The center robot CR further transfers substrates W among a plurality of processing units  2 . 
     The indexer robot IR includes a hand H 1  that holds a substrate W horizontally. The indexer robot IR moves the hand H 1  horizontally. Further, the indexer robot IR elevates and lowers the hand H 1  and rotates the hand H 1  around a vertical axis. Similarly, the center robot CR includes a hand H 2  that holds a substrate W horizontally. The center robot CR moves the hand H 2  horizontally. Further, the center robot CR elevates and lowers the hand H 2  and rotates the hand H 2  around a vertical axis. 
     A substrate W is housed in a carrier C in a state where a front surface Wa of the substrate W that is a device forming surface is faced upward (upward facing orientation). The controller  3  makes the substrate W be transferred by the indexer robot IR in the state where the front surface Wa (see  FIG. 2 , etc.) is faced upward from the carrier C to the turnover unit TU. The controller  3  then makes the substrate W be turned over by the turnover unit TU. A rear surface Wb (see  FIG. 2 , etc.) of the substrate W is thereby faced upward. Thereafter, the controller  3  makes the substrate W be transferred by the center robot CR in the state where the rear surface Wb is faced upward from the turnover unit TU to a processing unit  2 . The controller  3  then makes the rear surface Wb of the substrate W be processed by the processing unit  2 . 
     After the rear surface Wb of the substrate W has been processed, the controller  3  makes the substrate W be transferred by the center robot CR in the state where the rear surface Wb is faced upward from the processing unit  2  to the turnover unit TU. The controller  3  then makes the substrate W be turned over by the turnover unit TU. The front surface Wa of the substrate W is thereby faced upward. Thereafter, the controller  3  makes the substrate W be transferred by the indexer robot IR in the state where the front surface Wa is faced upward from the turnover unit TU to a carrier C. The processed substrate W is thereby housed in the carrier C. The controller  3  makes the indexer robot IR, etc., execute this series of operations repeatedly to make a plurality of substrates W be processed one by one. 
       FIG. 2  is an illustrative sectional view for describing an arrangement example of a processing unit  2  included in the substrate processing apparatus  1 .  FIG. 3  is a plan view for describing a more specific arrangement of a spin chuck  5  included in the substrate processing apparatus  1 .  FIG. 4  is a bottom view of the arrangement of  FIG. 3 .  FIG. 5  is a sectional view taken along section line V-V of  FIG. 3 .  FIG. 6  is an enlarged sectional view showing a portion of the arrangement of  FIG. 5  in enlarged manner.  FIG. 7  is an enlarged sectional view of the arrangement in a vicinity of a movable pin  110  included in the spin chuck  5 . 
     As shown in  FIG. 2 , each processing unit  2  includes a box-shaped processing chamber  4  having an internal space, a spin chuck  5  holding a single substrate W in a horizontal orientation inside the processing chamber  4  and rotating the substrate W around a vertical rotational axis A 1  passing through a center of the substrate W, a chemical liquid supplying unit (processing liquid supplying unit)  7  arranged to supply a chemical liquid (processing liquid) toward an upper surface (rear surface Wb) of the substrate W held by the spin chuck  5 , a water supplying unit (processing liquid supplying unit)  8  arranged to supply water as a rinse liquid (processing liquid) to the upper surface of the substrate W held by the spin chuck  5 , a protective gas supplying unit  12  arranged to supply an inert gas as a protective gas to a lower surface (front surface Wa) of the substrate W held by the spin chuck  5 , and a cylindrical processing cup (not shown) surrounding the spin chuck  5 . 
     As shown in  FIG. 2 , the processing chamber  4  includes a box-shaped partition wall (not shown), an FFU (fan filter unit, not shown) as a blower unit delivering clean air from an upper portion of the partition wall into an interior of the partition wall (corresponding to an interior of the processing chamber  4 ), and an exhaust device (not shown) expelling gas inside the processing chamber  4  from a lower portion of the partition wall. A down flow (downward flow) is formed inside the processing chamber  4  by the FFU and the exhaust device. 
     As shown in  FIG. 2 , the spin chuck  5  includes a rotary table  107  rotatable around a rotational axis A 1  aligned with a vertical direction. A rotational shaft  108  is coupled via a boss  109  to a lower surface of a rotation center of the rotary table  107 . The rotational shaft  108  is a hollow shaft, extends along the vertical direction, and is arranged to receive a driving force from a rotation driving unit  103  to rotate around the rotational axis A 1 . The rotation driving unit  103  may, for example, be an electric motor having the rotational shaft  108  as a drive shaft. 
     As shown in  FIG. 2 , the spin chuck  5  further includes a plurality (six, in the present preferred embodiment) of movable pins  110  that are provided across substantially equal intervals along a circumferential direction at a peripheral edge portion of an upper surface of the rotary table  107 . The respective movable pins  110  are arranged to hold the substrate W horizontally at an upper substrate holding height across a fixed interval from the rotary table  107  that has a substantially horizontal upper surface. That is, the holding pins included in the spin chuck  5  are all movable pins  110 . The rotary table  107  is formed to a disk shape along a horizontal plane and is coupled to the boss  109  coupled to the rotational shaft  108 . 
     As shown in  FIG. 3 , the respective movable pins  110  are disposed at equal intervals along the circumferential direction at the peripheral edge portion of the upper surface of the rotary table  107 . With the six movable pins  110 , each set of three movable pins  110  that are not mutually adjacent is configured as a single group with which magnetic pole directions of corresponding driving permanent magnets  156 A or  156 B are the same. In other words, the six movable pins  110  include three movable pins  110  included in a first movable pin group  111  and three movable pins  110  included in a second movable pin group  112 . The magnetic pole direction of each of the first driving permanent magnets  156 A, corresponding to the three movable pins  110  included in the first movable pin group  111 , and the magnetic pole direction of each of the second driving permanent magnets  156 B, corresponding to the three movable pins  110  included in the second movable pin group  112 , differ mutually with respect to a direction orthogonal to a rotational axis A 3 . The movable pins  110  included in the first movable pin group  111  and the movable pins  110  included in the second movable pin group  112  are disposed alternately with respect to the circumferential direction of the rotary table  107 . In regard to the first movable pin group  111 , the three movable pins  110  are disposed at equal intervals (120° intervals). Also, in regard to the second movable pin group  112 , the three movable pins  110  are disposed at equal intervals (120° intervals). 
     Each movable pin  110  includes a lower shaft portion  151 , coupled to the rotary table  107 , and an upper shaft portion (support portion)  152 , formed integral to an upper end of the lower shaft portion  151 , and the lower shaft portion  151  and the upper shaft portion  152  are respectively formed to circular columnar shapes. The upper shaft portion  152  is arranged to be eccentric from a central axis of the lower shaft portion  151 . A front surface connecting between the upper end of the lower shaft portion  151  and a lower end of the upper shaft portion  152  forms a tapered surface  153  descending from the upper shaft portion  152  to a peripheral surface of the lower shaft portion  151 . 
     As shown in  FIG. 7 , each movable pin  110  is coupled to the rotary table  107  so that the lower shaft portion  151  is rotatable around the rotational axis A 3  coaxial to a central axis thereof. More specifically, a support shaft  155 , supported via a bearing  154  with respect to the rotary table  107 , is provided at a lower end portion of the lower shaft portion  151 . A magnet holding member  157 , holding a driving permanent magnet (first or second driving magnet)  156 A or  156 B, is coupled to a lower end of the support shaft  155 . The driving permanent magnet  156 A or  156 B is, for example, disposed with the magnetic pole direction directed in a direction orthogonal to the rotational axis A 3  of the movable pin  110 . The first driving permanent magnets  156 A are driving permanent magnets corresponding to the movable pins  110  included in the first movable pin group  111 . The second driving permanent magnets  156 B are driving permanent magnets corresponding to the movable pins  110  included in the second movable pin group  112 . The first driving permanent magnets  156 A and the second driving permanent magnets  156 B are arranged to have mutually oppositely directed but equal magnetic pole directions with respect to the direction orthogonal to the rotational axis A 3  (direction orthogonal to an axis aligned with the rotational axis) in a state where an external force is not applied to the movable pins  110  corresponding to the driving permanent magnets  156 A and  156 B. The first driving permanent magnets  156 A and the second driving permanent magnets  156 B are disposed alternately with respect to the circumferential direction of the rotary table  107 . 
     One of the features of the present preferred embodiment resides in that a first magnetic-force generating magnet  125  and a second magnetic-force generating magnet  126  are provided below the rotary table  107 . 
     As shown in  FIG. 2 , the polar direction of the first magnetic-force generating magnet  125  and the polar direction of the second magnetic-force generating magnet  126  are both followed in the up-down direction, and yet are opposite in direction to each other. If the upper surface of the first magnetic-force generating magnet  125  is, for example, the N pole, the upper surface of the second magnetic-force generating magnet  126  is the S pole that is opposite in polarity thereto. 
     In the present preferred embodiment, three first magnetic-force generating magnets  125  and three second magnetic-force generating magnets  126  are provided (which are identical in number with the movable pins  110  included in the movable pin groups  111  and  112 ). The three first driving permanent magnets  156 A and the three second driving permanent magnets  156 B are alternately disposed with respect to the circumferential direction of the rotary table  107  in a plan view. 
     The three first magnetic-force generating magnets  125  form a circular arc that centers on the rotational axis A 1 , and are spaced out at mutually common height positions and in the circumferential direction of the rotary table  107 . The three first magnetic-force generating magnets  125  have mutually identical specifications, and the length (angle) in the circumferential direction of each of the first magnetic-force generating magnets  125  is about 60°. The three first magnetic-force generating magnets  125  are evenly spaced out in the circumferential direction on the circumference that is coaxial with the rotational axis A 1 . Each of the first magnetic-force generating magnets  125  is disposed along a plane (horizontal plane) perpendicular to the rotational axis A 1 . 
     The three second magnetic-force generating magnets  126  form a circular arc that centers on the rotational axis A 1 , and are spaced out at mutually common height positions and in the circumferential direction of the rotary table  107 . The three second magnetic-force generating magnets  126  have mutually identical specifications, and the length (angle) in the circumferential direction of each of the second magnetic-force generating magnets  126  is about 60°. The three second magnetic-force generating magnets  126  are evenly spaced out in the circumferential direction on the circumference that is coaxial with the rotational axis A 1 . Each of the second magnetic-force generating magnets  126  is disposed along a plane (horizontal plane) perpendicular to the rotational axis A 1 . 
     A first up-and-down unit (magnet moving unit)  127  that raises and lowers the plurality of first magnetic-force generating magnets  125  and the plurality of second magnetic-force generating magnets  126  together is joined to the first magnetic-force generating magnet  125  and to the second magnetic-force generating magnet  126 . The first up-and-down unit  127  is arranged to include, for example, a cylinder disposed so as to be extensible and contractible in the up-down direction, and is supported by this cylinder. The first up-and-down unit  127  may be arranged to use an electric motor. 
     The first magnetic-force generating magnet  125  is a magnet that generates an attractive magnetic force or a repulsive magnetic force (in the present preferred embodiment, an attractive magnetic force is mentioned as an example of “an attractive magnetic force or a repulsive magnetic force.” Therefore, “an attractive magnetic force or a repulsive magnetic force” will be hereinafter described as “an attractive magnetic force.”) between the first driving permanent magnet  156 A and the first magnetic-force generating magnet  125  and that urges the upper shaft portion  152  of the movable pin  110  included in the first movable pin group  111  to an open position by the attractive magnetic force. In a state in which the first magnetic-force generating magnet  125  is disposed at an upper position (a first position, which is shown by the solid line in  FIG. 10 ) slightly lower than the first driving permanent magnet  156 A, a slight attractive magnetic force acts between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A when the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A coincide with each other with respect to their rotational directions. 
     On the other hand, in a state in which the first magnetic-force generating magnet  125  is disposed at a lower position (a second position, which is shown by the broken line in  FIG. 13 ) lower than the upper position, a magnetic force is not generated between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A when the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A coincide with each other with respect to their rotational directions. 
     The second magnetic-force generating magnet  126  is a magnet that generates an attractive magnetic force or a repulsive magnetic force (in the present preferred embodiment, an attractive magnetic force is mentioned as an example of “an attractive magnetic force or a repulsive magnetic force.” Therefore, “an attractive magnetic force or a repulsive magnetic force” will be hereinafter described as “an attractive magnetic force.”) between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  and that urges the upper shaft portion  152  of the movable pin  110  included in the second movable pin group  112  to an open position by the attractive magnetic force. In a state in which the second magnetic-force generating magnet  126  is disposed at an upper position (a first position, which is shown by the solid line in  FIG. 10 ) slightly lower than the second driving permanent magnet  156 B, a slight attractive magnetic force acts between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B when the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B coincide with each other with respect to their rotational directions. 
     On the other hand, in a state in which the second magnetic-force generating magnet  126  is disposed at a lower position (a second position, which is shown by the broken line in  FIG. 13 ) lower than the upper position, a magnetic force is not generated between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B when the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B coincide with each other with respect to their rotational directions. 
     In the present preferred embodiment, the first magnetic-force generating magnet  125 , the second magnetic-force generating magnet  126 , the first up-and-down unit  127 , the rotating/driving unit  103 , and the controller  3  are included in the pressing-force changing unit. 
     As shown in  FIG. 2 , the spin chuck  5  further includes a protective disk  115  disposed between the upper surface of the rotary table  107  and the height of substrate holding by the movable pins  110 . The protective disk  115  is coupled to the rotary table  107  in a manner enabling up/down movement, and is capable of moving between a lower position close to the upper surface of the rotary table  107  and an approach position approaching, across a minute interval, the lower surface of the substrate W held higher than the lower position by the movable pins  110 . The protective disk  115  is a disk-shaped member having a size of slightly larger diameter than the substrate W and has notches  116  formed therein to avoid the movable pins  110  at positions corresponding to the movable pins  110 . 
     The rotational shaft  108  is a hollow shaft and has an inert gas supply pipe  170  inserted through its interior. An inert gas supply passage  172 , guiding an inert gas, as an example of a protective gas, from an inert gas supply source, is coupled to a lower end of the inert gas supply pipe  170 . An inert gas, such as CDA (clean dry air) or nitrogen gas, etc., can be cited as an example of the inert gas guided by the inert gas supply passage  172 . An inert gas valve  173  and an inert gas flow control valve  174  are interposed in the middle of the inert gas supply passage  172 . The inert gas valve  173  opens and closes the inert gas supply passage  172 . By opening the inert gas valve  173 , the inert gas is delivered into the inert gas supply pipe  170 . The inert gas is supplied to a space between the protective disk  115  and the lower surface of the substrate W by the arrangement to be described below. The protective gas supplying unit  12  is thus arranged from the inert gas supply pipe  170 , the inert gas supply passage  172 , the inert gas valve  173 , etc. 
     The protective disk  115  is a substantially disk-shaped member having a size approximately equal to that of the substrate W. At a peripheral edge portion of the protective disk  115 , the notches  116  are formed at positions corresponding to the movable pins  110  so as to border the movable pins  110  while securing fixed intervals from outer peripheral surfaces of the movable pins  110 . A circular opening, corresponding to the boss  109 , is formed in a central region of the protective disk  115 . 
     As shown in  FIG. 3  and  FIG. 5 , guide shafts  117 , extending in the vertical direction parallel to the rotational axis A 1 , are coupled to a lower surface of the protective disk  115  at positions further away from the rotational axis A 1  than the boss  109 . In the present preferred embodiment, the guide shafts  117  are disposed at three locations at equal intervals in a circumferential direction of the protective disk  115 . More specifically, as viewed from the rotational axis A 1 , the three guide shafts  117  are respectively disposed at angular positions corresponding to every other movable pin  110 . The guide shafts  117  are coupled to linear bearings  118  provided at corresponding locations of the rotary table  107  and are capable of moving in the vertical direction, that is, the direction parallel to the rotational axis A 1 , while being guided by the linear bearings  118 . The guide shafts  117  and the linear bearings  118  thus constitute guiding units  119  that guide the protective disk  115  along the up/down direction parallel to the rotational axis A 1 . 
     The guide shafts  117  penetrate through the linear bearings  118  and include outwardly projecting flanges  120  at lower ends thereof. By contacting of the flanges  120  with the lower ends of the linear bearings  118 , upward movement of the guide shafts  117 , that is, upward movement of the protective disk  115  is restricted. That is, the flanges  120  are restricting members that restrict the upward movement of the protective disk  115 . 
     Magnet holding members  161  that hold the first levitating magnets  160  are fixed to the lower surface of the protective disk  115  at positions further outward and further away from the rotational axis A 1  than the guide shafts  117  and further inward and closer to the rotational axis A 1  than the movable pins  110 . In the present preferred embodiment, the first levitating magnets  160  are held in the magnet holding members  161  with magnetic pole directions being directed in the up/down direction. For example, the first levitating magnets  160  may be fixed to the magnet holding members  161  so as to have the S poles at the lower sides and have the N poles at the upper sides. In the present preferred embodiment, the magnet holding members  161  are provided at six locations at equal intervals in the circumferential direction. More specifically, as viewed from the rotational axis A 1 , each magnet holding member  161  is disposed at an angular position corresponding to being between (in the middle in the present preferred embodiment) mutually adjacent movable pins  110 . Further, the three guide shafts  117  are respectively disposed in every other angular region (at a central position of every other angular region in the present preferred embodiment) among six angular regions that are divided (divided equally in the present preferred embodiment) by the six magnet holding members  161  as viewed from the rotational axis A 1 . 
     As shown in  FIG. 4 , penetrating holes  162  are formed at six locations of the rotary table  107  corresponding to the six magnet holding members  161 . The respective penetrating holes  162  are formed to enable the corresponding magnet holding members  161  to be respectively inserted through in the vertical direction parallel to the rotational axis A 1 . When the protective disk  115  is at the lower position, the magnet holding members  161  are inserted through the penetrating holes  162  and project lower than the lower surface of the rotary table  107  and the first levitating magnets  160  are positioned lower than the lower surface of the rotary table  107 . 
     A second levitating magnet  129  arranged to levitate the protective disk  115  is provided below the rotary table  107 . The second levitating magnet  129  is formed to a circular annular shape coaxial to the rotational axis A 1  and is disposed along a plane (horizontal plane) orthogonal to the rotational axis A 1 . The second levitating magnet  129  is disposed at a position closer to the rotational axis A 1  than the first and second opening permanent magnets  125  and  127 . That is, it is positioned further to an inner diameter side than the first and second opening permanent magnets  125  and  127  in plan view. Also, the second levitating magnet  129  is disposed at a position lower than the first levitating magnets  160 . In the present preferred embodiment, a magnetic pole direction of the second levitating magnet  129  is aligned with a horizontal direction, that is, a rotation radial direction of the rotary table  107 . When the first levitating magnets  160  have the S poles at the lower surfaces, the second levitating magnet  129  is arranged to have the same magnetic pole, that is, the S pole in a ring shape at the inner side in the rotation radial direction. 
     A third elevating/lowering unit (third relative movement unit)  130  that elevates and lowers the second levitating magnet  129  is coupled to the second levitating magnet  129 . The third elevating/lowering unit  130  is of an arrangement that includes, for example, a cylinder arranged to be capable of extending and contracting in the up/down direction and is supported by the cylinder. Also, the third elevating/lowering unit  130  may be arranged using an electric motor. 
     When the second levitating magnet  129  is at an upper position (see  FIG. 22B ), a repulsive magnetic force acts between the second levitating magnet  129  and the first levitating magnets  160 , and the first levitating magnets  160  receive an upward external force. The protective disk  115  thereby receives an upward force from the magnet holding portions  161  holding the first levitating magnets  160  and is held at the approach position approaching the lower surface of the substrate W. 
     In the state where the second levitating magnet  129  is disposed at a lower position (see  FIG. 19A ) separated downward from the upper position, the repulsive magnetic force between the second levitating magnet  129  and the first levitating magnets  160  is small and therefore the protective disk  115  is maintained by its own weight at the lower position close to the upper surface of the rotary table  107 . 
     Therefore when the second levitating magnet  129  is at the lower position, the protective disk  115  is at the lower position close to the upper surface of the rotary table  107  and the movable pins  110  are held at the open position. In this state, the center robot CR that carries in and carries out the substrate W with respect to the spin chuck  5  can make its hand H 2  enter into the space between the protective disk  115  and the lower surface of the substrate W. 
     As shown in enlarged manner in  FIG. 6 , the boss  109  coupled to the upper end of the rotational shaft  108  holds a bearing unit  175  arranged to support an upper end portion of the inert gas supply pipe  170 . The bearing unit  175  includes a spacer  177 , fitted and fixed in a recess  176  formed in the boss  109 , a bearing  178  disposed between the spacer  177  and the inert gas supply pipe  170 , and a magnetic fluid bearing  179  provided similarly but higher than the bearing  178  between the spacer  177  and the inert gas supply pipe  170 . 
     As shown in  FIG. 5 , the boss  109  integrally has a flange  181  projecting outward along a horizontal plane and the rotary table  107  is coupled to the flange  181 . Further, the spacer  177  is fixed to the flange  181  so as to sandwich an inner peripheral edge portion of the rotary table  107 , and a cover  184  is coupled to the spacer  177 . The cover  184  is formed substantially to a disk shape, has, at its center, an opening arranged to expose an upper end of the inert gas supply pipe  170 , and has formed, in its upper surface, a recess  185  with the opening as a bottom surface. The recess  185  has a horizontal bottom surface and an inclined surface  183  of inverted conical surface shape that rises obliquely upward toward the exterior from a peripheral edge of the bottom surface. A flow straightening member  186  is coupled to the bottom surface of the recess  185 . The flow straightening member  186  has a plurality (for example, four) of leg portions  187 , disposed discretely around the rotational axis A 1  at intervals along the circumferential direction, and has a bottom surface  188  disposed, by the leg portions  187  at an interval from the bottom surface of the recess  185 . An inclined surface  189  constituted of an inverted conical surface is formed that rises obliquely upward toward the exterior from a peripheral edge of portion the bottom surface  188 . 
     As shown in  FIG. 5  and  FIG. 6 , a flange  184   a  is formed outwardly at an upper surface outer peripheral edge of the cover  184 . The flange  184   a  is arranged to match a step portion  115   a  formed at an inner peripheral edge of the protective disk  115 . That is, when the protective disk  115  is at the approach position approaching the lower surface of the substrate W, the flange  184   a  and the step portion  115   a  are merged and an upper surface of the cover  184  and an upper surface of the protective disk  115  are positioned within the same plane to form a flat inert gas flow passage. 
     By such an arrangement, the inert gas flowing out from the upper end of the inert gas supply pipe  170  exits into a space defined by the bottom surface  188  of the flow straightening member  186  inside the recess  185  of the cover  184 . The inert gas further blows out in radial directions away from the rotational axis A 1  via a radial flow passage  182  defined by the inclined surface  183  of the recess  185  and the inclined surface  189  of the flow straightening member  186 . The inert gas forms a gas stream of inert gas in the space between the protective disk  115  and the lower surface of the substrate W held by the movable pins  110  and blows outward in rotation radial directions of the substrate W from the space. 
     As shown in  FIG. 5 , a peripheral edge portion of the upper surface of the protective disk  115  and a peripheral end of the protective disk  115  are covered by a circular annular cover  191  of circular annular shape. The circular annular cover  191  includes a circular annular plate portion  192  protruding in horizontal directions and outward in radial directions from a peripheral edge portion of its upper surface, and a circular cylindrical portion  193  extending downward from a peripheral end of the circular annular plate portion  192 . An outer periphery of the circular annular plate portion  192  is disposed further outward than a peripheral end of the rotary table  107 . The circular annular plate portion  192  and the circular cylindrical portion  193  are formed integrally using, for example, a resin material having chemical resistance. Notches  194 , arranged to avoid the movable pins  110 , are formed at positions of an inner periphery of the circular annular plate portion  192  corresponding to the movable pins  110 . The notches  194  are formed so as to border the movable pins  110  with fixed intervals being secured from the outer peripheral surfaces of the movable pins  110 . The circular annular plate portion  192  and the circular cylindrical portion  193  are formed integrally using, for example, a resin material having chemical resistance. 
     The circular annular plate portion  192  of the circular annular cover  191  has, on its upper surface, a constricting portion that constricts the flow passage of the inert gas at a peripheral edge portion of the substrate W held by the movable pins  110 . By the constricting portion, a flow speed of the inert gas flow blowing outward from the space between the circular annular cover  191  and the lower surface of the substrate W is made high, thereby enabling reliable avoidance or suppression of entry of the processing liquid (chemical liquid or rinse liquid) on the upper surface of the substrate W further inward than a peripheral edge portion of the lower surface of the substrate W. 
     Opening/closing switching permanent magnets  121  and  122  the number of which is identical with the number of the movable pins  110  (in the present preferred embodiment, six) are buried in the cylindrical portion  193 . The plurality of opening/closing switching permanent magnets  121  and  122  are spaced out in the circumferential direction. Each of the opening/closing switching permanent magnets  121  and  122  is formed in a rod shape, and is buried in the cylindrical portion  193  in a state of extending in the up-down direction. The opening/closing switching permanent magnet includes a first opening/closing switching permanent magnet (pressing magnet)  121  and a second opening/closing switching permanent magnet (pressing magnet)  122  that is reversed in polarity with the first opening/closing switching permanent magnet  121  in the up-down direction. The first opening/closing switching permanent magnet  121  is a permanent magnet to drive the movable pin  110  included in the first movable pin group  111 , and the second opening/closing switching permanent magnet  122  is a permanent magnet to drive the movable pin  110  included in the second movable pin group  112 . In other words, the plurality of opening/closing switching permanent magnets  121  and  122  are evenly spaced out. The first opening/closing switching permanent magnet  121  and the second opening/closing switching permanent magnet  122  are alternately disposed in the circumferential direction. In the present preferred embodiment, the first opening/closing switching permanent magnet  121  has an N-pole portion  123  showing N polarity on its upper end side, and has an S-pole portion  124  showing S polarity on its lower end side. 
       FIG. 8  is a schematic view showing an open state of the movable pin  110  included in the first movable pin group  111 .  FIG. 9  is a schematic view showing a closed state of the movable pin  110  included in the first movable pin group  111 .  FIG. 10  is a schematic view showing a state of the movable pin  110  included in the first movable pin group  111  resulting from the up-and-down movement of the first magnetic-force generating magnet  125 . In  FIG. 10 , a state in which the first magnetic-force generating magnet  125  is at the upper position is shown by the solid line, and a state in which the first magnetic-force generating magnet  125  is at the lower position is shown by the broken line. 
       FIG. 11  is a schematic view showing an open state of the movable pin  110  included in the second movable pin group  112 .  FIG. 12  is a schematic view showing a closed state of the movable pin  110  included in the second movable pin group  112 .  FIG. 13  is a schematic view showing a state of the movable pin  110  included in the second movable pin group  112  resulting from the up-and-down movement of the second magnetic-force generating magnet  126 . In  FIG. 13 , a state in which the second magnetic-force generating magnet  126  is at the upper position is shown by the solid line, and a state in which the second magnetic-force generating magnet  126  is at the lower position is shown by the broken line. 
     As shown in  FIG. 8  and  FIG. 9 , the first opening/closing switching permanent magnet  121  is disposed so that the N-pole portion  123  on the upper end side approaches the first driving permanent magnet  156 A when the protective disk  115  is at the approach position and so that the S-pole portion  124  on the lower end side approaches the first driving permanent magnet  156 A when the protective disk  115  is at the lower position. 
     As shown in  FIG. 11  and  FIG. 12 , the second opening/closing switching permanent magnet  122  is disposed so that the S-pole portion  124  on the upper end side approaches the second driving permanent magnet  156 B when the protective disk  115  is at the approach position and so that the N-pole portion  123  on the lower end side approaches the second driving permanent magnet  156 B when the protective disk  115  is at the lower position. 
     In the first preferred embodiment, the protective disk  115  is held at the approach position at which the protective disk  115  has approached the lower surface of the substrate W by means of the operation of a repulsive magnetic force generated between the second disk-floating magnet  129  and the first disk-floating magnet  160  when the second disk-floating magnet  129  is at the upper position (see FIG.  9  and  FIG. 12 ) as described above. On the other hand, when the second disk-floating magnet  129  is at the lower position (see  FIG. 8  and  FIG. 11 ) downwardly apart from the upper position, the repulsive magnetic force between the second disk-floating magnet  129  and the first disk-floating magnet  160  is small, and therefore the protective disk  115  is held at the lower position closer to the upper surface of the rotary table  107  because of its own weight. 
     When the protective disk  115  is at the lower position, the N-pole portion  123  on the upper end side of the first opening/closing switching permanent magnet  121  approaches the first driving permanent magnet  156 A as shown in  FIG. 8 . In this state, only a magnetic force given from the N-pole portion  123  of the first opening/closing switching permanent magnet  121  acts on the first driving permanent magnet  156 A, and a magnetic force given from the S-pole portion  124  thereof does not act on the first driving permanent magnet  156 A. Therefore, the first driving permanent magnet  156 A is disposed to assume a posture in which the N pole is pointed inwardly in the radial direction of the rotary table  107  and in which the S pole is pointed outwardly in the radial direction of the rotary table  107  by receiving the magnetic force from the first opening/closing switching permanent magnet  121  as shown in  FIG. 8 . In this state, the upper shaft portion  152  of the movable pin  110  included in the first movable pin group  111  is placed at the open position far away from the rotational axis A 1  (see  FIG. 2 ). 
     Additionally, in this state (in which the protective disk  115  is at the lower position), the S-pole portion  124  on the upper end side of the second opening/closing switching permanent magnet  122  approaches the second driving permanent magnet  156 B as shown in  FIG. 11 . In this state, only a magnetic force given from the S-pole portion  124  of the second opening/closing switching permanent magnet  122  acts on the second driving permanent magnet  156 B, and a magnetic force given from the N-pole portion  123  thereof does not act on the second driving permanent magnet  156 B. Therefore, the second driving permanent magnet  156 B is disposed to assume a posture in which the S pole is pointed inwardly in the radial direction of the rotary table  107  and in which the N pole is pointed outwardly in the radial direction of the rotary table  107  by receiving the magnetic force from the second opening/closing switching permanent magnet  122  as shown in  FIG. 11 . In this state, the upper shaft portion  152  of the movable pin  110  included in the second movable pin group  112  is placed at the open position far away from the rotational axis A 1  (see  FIG. 2 ). 
     The second disk-floating magnet  129  (see  FIG. 2 ) is raised from the state shown in  FIG. 8  and  FIG. 11 , and the protective disk  115  is floated. The first and second opening/closing switching permanent magnets  121  and  122  are also raised correspondingly with the floating of the protective disk  115 . 
     In a state in which the protective disk  115  is placed at the approach position, the S-pole portion  124  on the lower end side of the first opening/closing switching permanent magnet  121  approaches the first driving permanent magnet  156 A as shown in  FIG. 9 . In this state, only a magnetic force given from the S-pole portion  124  of the first opening/closing switching permanent magnet  121  acts on the first driving permanent magnet  156 A, and a magnetic force given from the N-pole portion  123  thereof does not act on the first driving permanent magnet  156 A. Therefore, the first driving permanent magnet  156 A assumes a posture in which the S pole is pointed inwardly in the radial direction of the rotary table  107  and in which the N pole is pointed outwardly in the radial direction of the rotary table  107  by receiving the magnetic force from the first opening/closing switching permanent magnet  121  as shown in  FIG. 9 . In this state, the upper shaft portion  152  of the movable pin  110  included in the first movable pin group  111  moves to the contact position closer to the rotational axis A 1  than the open position. As a result, the movable pin  110  included in the first movable pin group  111  is urged toward the contact position. 
     In this state, when the first magnetic-force generating magnet  125  is placed at the upper position (first position) as shown by the solid line in  FIG. 10 , a slight magnetic force (e.g., attractive magnetic force) acts between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A in a state in which the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A coincide with each other with respect to their rotational directions. As described above, the magnetic force (e.g., attractive magnetic force) generated between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A is capable of urging the upper shaft portion  152  of the movable pin  110  included in the first movable pin group  111  toward the open position. In this magnetic force (e.g., attractive magnetic force), the magnitude (magnetic flux density) of a magnetic field between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A is, for example, about several tens of milliteslas (mT), and is remarkably smaller than the magnitude (magnetic flux density: about several hundred milliteslas (mT)) of a magnetic field between the first driving permanent magnet  156 A and the S-pole portion  124  of the first opening/closing switching permanent magnet  121 . 
     On the other hand, when the first magnetic-force generating magnet  125  is placed at the lower position as shown by the broken line in  FIG. 10 , a magnetic force is not generated between the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A even when the first magnetic-force generating magnet  125  and the first driving permanent magnet  156 A coincide with each other with respect to their rotational directions. 
     Additionally, in this state (in which the protective disk  115  is placed at the approach position), the N-pole portion  123  on the lower end side of the second opening/closing switching permanent magnet  122  approaches the second driving permanent magnet  156 B as shown in  FIG. 12 . In this state, only a magnetic force given from the N-pole portion  123  of the second opening/closing switching permanent magnet  122  acts on the second driving permanent magnet  156 B, and a magnetic force given from the S-pole portion  124  thereof does not act on the second driving permanent magnet  156 B. Therefore, the second driving permanent magnet  156 B assumes a posture in which the N pole is pointed inwardly in the radial direction of the rotary table  107  and in which the S pole is pointed outwardly in the radial direction of the rotary table  107  by receiving the magnetic force from the second opening/closing switching permanent magnet  122  as shown in  FIG. 12 . In this state, the upper shaft portion  152  of the movable pin  110  included in the second movable pin group  112  moves to the contact position closer to the rotational axis A 1  than the open position. As a result, the movable pin  110  included in the second movable pin group  112  is urged toward the contact position. 
     In this state, when the second magnetic-force generating magnet  126  is placed at the upper position (first position) as shown by the solid line in  FIG. 13 , a slight magnetic force (e.g., attractive magnetic force) acts between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B in a state in which the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B coincide with each other with respect to their rotational directions. As described above, the magnetic force (in the present preferred embodiment, attractive magnetic force) generated between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B is capable of urging the upper shaft portion  152  of the movable pin  110  included in the second movable pin group  112  toward the open position. In this magnetic force (e.g., attractive magnetic force), the magnitude (magnetic flux density) of a magnetic field between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B is, for example, about several tens of milliteslas (mT), and is remarkably smaller than the magnitude (magnetic flux density: about several hundred milliteslas (mT)) of a magnetic field between the second driving permanent magnet  156 B and the N-pole portion  123  of the second opening/closing switching permanent magnet  122 . 
     On the other hand, when the second magnetic-force generating magnet  126  is placed at the lower position as shown by the broken line in  FIG. 13 , a magnetic force is not generated between the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B even when the second magnetic-force generating magnet  126  and the second driving permanent magnet  156 B coincide with each other with respect to their rotational directions. 
     As shown in  FIG. 2 , the chemical liquid supplying unit  7  includes a chemical liquid nozzle  6  that discharges the FOM (chemical liquid) toward the upper surface of the substrate W, a nozzle arm  21 , at a tip portion of which is mounted the chemical nozzle  6 , and a nozzle moving unit  22  that moves the nozzle arm  21  to move the chemical liquid nozzle  6 . 
     The chemical liquid nozzle  6  is, for example, a straight nozzle that discharges the chemical liquid in a continuous flow state and is mounted to the nozzle arm  21 , for example, in a perpendicular orientation of discharging the chemical liquid in a direction perpendicular to the upper surface of the substrate W. The nozzle arm  21  extends in a horizontal direction and is arranged to be pivotable around a prescribed swinging axis (not shown) extending in the vertical direction at a periphery of the spin chuck  5 . 
     The chemical liquid supplying unit  7  includes a chemical liquid piping  14  that guides the chemical liquid to the chemical liquid nozzle  6  and a chemical liquid valve  15  that opens and closes the chemical liquid piping  14 . When the chemical liquid valve  15  is opened, the chemical liquid from a chemical liquid supply source is supplied to the chemical liquid nozzle  6  from the chemical liquid piping  14 . The chemical liquid is thereby discharged from the chemical liquid nozzle  6 . 
     The chemical liquid to be supplied to the chemical liquid piping  14  is a liquid including at least one among, for example, sulfuric acid, acetic acid, nitric acid, hydrochloric acid, hydrofluoric acid, aqueous ammonia, hydrogen peroxide water, organic acid (e.g., citric acid, oxalic acid), organic alkali (e.g., TMAH: tetramethylammonium hydroxide), organic solvent (e.g., IPA: isopropyl alcohol), surfactant, and corrosion inhibitor. 
     The nozzle moving unit  22  turns the nozzle arm  21  around the swinging axis to move the chemical liquid nozzle  6  horizontally along a locus passing through an upper surface central portion of the substrate W in plan view. The nozzle moving unit  22  moves the chemical liquid nozzle  6  horizontally between a processing position, at which the chemical liquid discharged from the chemical liquid nozzle  6  lands on the upper surface of the substrate W, and a home position, at which the chemical liquid nozzle  6  is set at a periphery of the spin chuck  5  in plan view. Further, the nozzle moving unit  22  moves the chemical liquid nozzle  6  horizontally between a central position, at which the chemical liquid discharged from the chemical liquid nozzle  6  lands on the upper surface central portion of the substrate W, and a peripheral edge portion, at which the chemical liquid discharged from the chemical liquid nozzle  6  lands on an upper surface peripheral edge portion of the substrate W. The central position and the peripheral edge position are both processing positions. 
     The chemical liquid nozzle  6  may be a fixed nozzle that is disposed fixedly with its discharge port directed toward a prescribed position (for example, the central portion) of the upper surface of the substrate W. 
     As shown in  FIG. 2 , the water supplying unit  8  includes a water nozzle  41 . The water nozzle  41  is, for example, a straight nozzle that discharges liquid in a continuous flow state and is disposed fixedly above the spin chuck  5  with its discharge port directed toward the central portion of the upper surface of the substrate W. A water piping  42 , to which water from a water supply source is supplied, is connected to the water nozzle  41 . A water valve  43 , arranged to switch between supplying and stopping the supplying of water from the water nozzle  41 , is interposed at an intermediate portion of the water piping  42 . When the water valve  43  is opened, the continuous flow of water supplied from the water piping  42  to the water nozzle  41  is discharged from the discharge port set at a lower end of the water nozzle  41 . Also, when the water valve  43  is closed, the supplying of water from the water piping  42  to the water nozzle  41  is stopped. The water is, for example, deionized water (DIW). The water is not restricted to DIW and may be any of carbonated water, electrolyzed ion water, hydrogen water, ozone water, and aqueous hydrochloric acid solution of dilute concentration (for example of approximately 10 ppm to 100 ppm). 
     The water nozzle  41  does not need to be disposed fixedly with respect to the spin chuck  5  and, for example, a form of a so-called scan nozzle, which is mounted on an arm swingable within a horizontal plane above the spin chuck  5  and with which a landing position of water on the upper surface of the substrate W is scanned by the swinging of the arm, may be adopted instead. 
     With reference to  FIG. 7 , the movable pin  110  has the upper shaft portion  152  at a position that is eccentric with respect to the rotational axis A 2  as described above. In other words, the central axis B of the upper shaft portion  152  deviates from the rotational axis A 2 . Therefore, the upper shaft portion  152  is displaced by the rotation of the lower shaft portion  151  between an open position (at which the central axis B is placed) distant from the rotational axis A 1  (see  FIG. 8  and  FIG. 11  described later) and a contact position (at which the central axis B is placed) close to the rotational axis A 1  (see  FIG. 9  and  FIG. 12  described later). The upper shaft portion  152  of the movable pin  110  is urged toward the open position by means of an elastic pressing force of an elastic pressing member such as a spring (not shown). A predetermined gap with the peripheral end surface of the substrate W is formed in a state in which the movable pin  110  is placed at the open position. 
       FIGS. 14A, 15A, 16A, 17A, and 18A  are views showing a positional relationship between the first and second driving permanent magnets  156 A,  156 B and the first and second magnetic-force generating magnets  125 , 126  when the first and second magnetic-force generating magnets  125  and  126  are each disposed at the upper position and when the rotary table  107  is rotated.  FIGS. 14B, 15B, 16B, 17B, and 18B  are views showing the movement of the substrate W with respect to the rotary table  107  when the first and second magnetic-force generating magnets  125  and  126  are each disposed at the upper position and when the rotary table  107  is rotated. 
     A group of  FIGS. 14A and 14B , a group of  FIGS. 15A and 15B , a group of  FIGS. 16A and 16B , a group of  FIGS. 17A and 17B , and a group of  FIGS. 18A and 18B  have mutually common rotational direction positions, respectively. Additionally, in  FIGS. 14A to 18B , alphabetical letters are respectively assigned to the rears of reference signs “ 110 ” correspondingly to each movable pin in order to discriminate the six movable pins  110  from each other. In this respect, the same applies to  FIG. 25 . A state in which the rotational phase of the rotary table  107  has proceeded from the state of  FIGS. 14A and 14B  by about 30° in the rotational direction Dr 1  is shown in  FIGS. 15A and 15B . A state in which the rotational phase of the rotary table  107  has further proceeded from the state of  FIGS. 15A and 15B  by about 30° in the rotational direction Dr 1  is shown in  FIGS. 16A and 16B . A state in which the rotational phase of the rotary table  107  has further proceeded from the state of  FIGS. 16A and 16B  by about 30° in the rotational direction Dr 1  is shown in  FIGS. 17A and 17B . A state in which the rotational phase of the rotary table  107  has further proceeded from the state of  FIGS. 17A and 17B  by about 30° in the rotational direction Dr 1  is shown in  FIGS. 18A and 18B . 
     In a state in which the first magnetic-force generating magnet  125  is placed at the upper position, a magnetic force (e.g., attractive magnetic force) directed to urge the upper shaft portion  152  of the movable pin  110  included in the first movable pin group  111  toward the open position is generated between the first driving permanent magnet  156 A and the first magnetic-force generating magnet  125  so as to have a smaller magnitude than a magnetic force (e.g., attractive magnetic force) generated between the first driving permanent magnet  156 A and the first opening/closing switching permanent magnet  121 . 
     In a state in which the second magnetic-force generating magnet  126  is placed at the upper position, a magnetic force (e.g., attractive magnetic force) directed to urge the upper shaft portion  152  of the movable pin  110  included in the second movable pin group  112  toward the open position is generated between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  so as to have a smaller magnitude than a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second opening/closing switching permanent magnet  122 . 
     During rotation processing (a chemical liquid supply step (S 6 ) and a rinse step (S 7 )) described later, in a state in which the substrate W is gripped by the plurality of support pins (movable pins  110 ) (i.e., in a state in which the upper shaft portion  152  of the movable pin  110  is at the contact position and is pressing the peripheral edge of the substrate W), the rotating/driving unit  103  rotates the rotary table  107  at a speed of the liquid processing speed (e.g., about 500 rpm) in the rotational direction Dr 1 . As a result, the substrate W is rotated around the rotational axis A 1 , and a centrifugal force generated by the rotation acts on the peripheral edge of the substrate W. 
     In rotation processing (the chemical liquid supply step (S 6 ) and the rinse step (S 7 )), the distance between the first driving permanent magnet  156 A and the first magnetic-force generating magnet  125  changes in accordance with the rotational angle position of the substrate W. In other words, the magnitude of a magnetic force in an opposite direction that acts on each of the first driving permanent magnets  156 A changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each of the first the driving permanent magnets  156 A and the first magnetic-force generating magnet  125  in response to rotation of the substrate W. The magnitude of a magnetic force (e.g., attractive magnetic force) generated between the first driving permanent magnet  156 A and the first magnetic-force generating magnet  125  is smaller than that of a magnetic force (e.g., attractive magnetic force) generated between the first driving permanent magnet  156 A and the first opening/closing switching permanent magnet  121 . Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate W applied by the upper shaft portion  152  of the movable pin  110  while keeping its magnitude higher than zero in response to rotation of the rotary table  107 . 
     Additionally, in rotation processing (the chemical liquid supply step (S 6 ) and the rinse step (S 7 )), the distance between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  changes in accordance with the rotational angle position of the substrate W. In other words, the magnitude of a magnetic force in an opposite direction that acts on each of the second driving permanent magnets  156 B changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each of the second driving permanent magnets  156 B and the second magnetic-force generating magnet  126  in response to rotation of the substrate W. The magnitude of a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  is smaller than that of a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second opening/closing switching permanent magnet  122 . Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate W applied by the upper shaft portion  152  of the movable pin  110  while keeping its magnitude higher than zero in response to rotation of the rotary table  107 . 
     In other words, in rotation processing (the chemical liquid supply step (S 6 ) and the rinse step (S 7 )), it is possible to change a pressing force applied from the upper shaft portion  152  of each movable pin  110  while allowing a centrifugal force to act on the peripheral edge of the substrate W. As a result, the substrate W being in a rotational state becomes eccentric. Accordingly, as shown in  FIGS. 14B, 15B, 16B, 17B, and 18B , the eccentric direction DE of the substrate W changes in accordance with the rotational angle position of the substrate W being in a rotational state. 
     Additionally, in rotation processing (the chemical liquid supply step (S 6 ) and the rinse step (S 7 )), a processing liquid (chemical liquid or water) is supplied to the upper surface of the substrate W in parallel to rotation of the rotary table  107  with respect to the magnetic-force generating magnet as described later. A load that acts on the substrate W is increased by the supply of the processing liquid (chemical liquid or water) to the upper surface of the substrate W. When the substrate W is in a rotational state, the increase of the load acts on the substrate W that is in contact with and that is supported by the plurality of support pins (movable pins  110 ) as rotational resistance that obstructs the turning of the substrate W. A centrifugal force generated by the rotation of the substrate W also acts on the peripheral edge of the substrate W. These make it possible to increase the rotational amount of the substrate W with respect to the rotary table  107 . Therefore, it is possible to more effectively displace the contact-support position in the peripheral edge of the substrate W in the circumferential direction. 
     Therefore, in rotation processing (the chemical liquid supply step (S 6 ) and the rinse step (S 7 )), the substrate W being in a rotational state becomes eccentric, and the eccentric direction DE of the substrate W changes in accordance with the rotational angle position of the substrate W being in a rotational state, and a force that obstructs the turning of the substrate W acts on the substrate W. Therefore, the substrate W being in a rotational state relatively turns in a turning direction Dr 2  having a circumferential direction opposite to the rotational direction Dr 1  with respect to the rotary table  107  and the support pin (movable pin  110 ). As a result, in the chemical liquid supply step (S 6 ), it is possible to displace the contact-support position in the peripheral edge of the substrate W supported by the support pin (movable pin  110 ) in the circumferential direction (rotational direction Dr 2 ) while allowing the plurality of support pins (movable pins  110 ) to come into contact with and support the peripheral edge of the substrate W. 
     Additionally, the first magnetic-force generating magnet  125  and the second magnetic-force generating magnet  126  are alternately disposed in the circumferential direction, and therefore the magnetic pole of a magnetic field given to the first and second driving permanent magnets  156 A and  156 B changes in response to rotation of the rotary table  107  (the magnetic field is nonuniform). In this case, it is possible to abruptly change a magnetic force generated between the first and second driving permanent magnets  156 A,  156 B and the first and second magnetic-force generating magnets  125 , 126  in accordance with the rotational angle position of the substrate W. Therefore, it is possible to largely change a magnetic force generated between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  in response to rotation of the substrate W, and it is possible to accelerate the turning of the substrate W in the turning direction Dr 2 . 
       FIG. 19  is a block diagram to describe an electric configuration of a main part of the substrate processing apparatus  1 . 
     The controller  3  is formed of, for example, a microcomputer. The controller  3  has an arithmetic unit, such as a CPU, a read-only memory device, a storage portion, such as a hard disk drive, and an input-output unit. A program that is executed by the arithmetic unit is stored in a storage unit. 
     The controller  3  controls operations of the rotating/driving unit  103 , the nozzle moving unit  22 , the first and second up-and-down units  127 ,  130 , etc. The controller further controls an open-close operation and similar operations of the chemical liquid valve  15 , the water valve  43 , the inert gas valve  173 , the inert gas flow control valve  174 , etc. 
       FIG. 20  is a flowchart to describe one example of processing-liquid processing performed by the processing unit  2 .  FIG. 21  is a time chart to describe the processing-liquid processing.  FIGS. 22A to 22H  are pictorial views to describe a processing example of the processing-liquid processing. 
     The processing-liquid processing will be described with reference to  FIG. 1 ,  FIG. 2  to  FIG. 13 , and  FIG. 19  to  FIG. 21 . Reference is appropriately made to  FIG. 22A  to  FIG. 22H . 
     A substrate to be processed by the processing unit  2  is a substrate W (which might be hereinafter referred to as a “not-yet-washed substrate” in some cases) that has been processed, for example, by a preprocessing device, such as an annealer or a film formation device. A circular silicon substrate can be mentioned as one example of the substrate W. The processing unit  2  washes, for example, a rear surface Wb (one principal plane; a device non-forming surface) that is on the opposite side to a front surface Wa (one other principal plane; a device forming surface) in the substrate W. 
     A carrier C in which a not-yet-washed substrate W is contained is conveyed from a preprocessing device to the substrate processing apparatus  1 , and is placed at a load port LP. The substrate W is contained in the carrier C in a state in which the front surface Wa of the substrate W is directed upwardly. The controller  3  allows the indexer robot IR to convey the substrate W from the carrier C to the reversing unit TU in a state in which the front surface Wa is directed upwardly. Thereafter, the controller  3  allows the reversing unit TU to reverse the substrate W that has been conveyed thereto (S 1 : substrate reversal). As a result, the rear surface Wb of the substrate W is directed upwardly. Thereafter, the controller  3  allows the hand H 2  of the center robot CR to take the substrate W out of the reversing unit TU and to carry the substrate W into the processing unit  2  in a state in which the rear surface Wb is directed upwardly (step S 2 ). 
     In a state in which the substrate W has not yet been carried thereinto, the chemical liquid nozzle  6  is withdrawn to the home position that is set beside the spin chuck  5 . Additionally, the first and second magnetic-force generating magnets  125  and  126  are each disposed at the lower position. 
     In a state in which the substrate W has not yet been carried thereinto, the second disk-floating magnet  129  is placed at the lower position, and therefore the second disk-floating magnet  129  is largely away from the rotary table  107  downwardly, and therefore a repulsive magnetic force that acts between the second disk-floating magnet  129  and the first disk-floating magnet  160  is small. Therefore, the protective disk  115  is placed at the lower position closer to the upper surface of the rotary table  107 . Therefore, a sufficient space that can be entered by the hand H 2  of the center robot CR is secured between a substrate holding height determined by the movable pin  110  and the upper surface of the protective disk  115 . 
     Additionally, the protective disk  115  is placed at the lower position, and therefore the N-pole portion  123  on the upper end side of the first opening/closing switching permanent magnet  121  approaches the first driving permanent magnet  156 A, and the S-pole portion  124  on the upper end side of the second opening/closing switching permanent magnet  122  approaches the second driving permanent magnet  156 B. In this state, any of three movable pins  110  included in the first movable pin group  111  and any of three movable pins  110  included in the second movable pin group  112  are placed at the open position, i.e., all of six movable pins  110  are placed at the open position. 
     The hand H 2  of the center robot CR conveys the substrate W to a space above the spin chuck  5  in a state of holding the substrate W at a position higher than the upper end of the movable pin  110 . Thereafter, as shown in  FIG. 22A , the hand H 2  of the center robot CR descends toward the upper surface of the rotary table  107 . As a result, the substrate W is delivered to the six movable pins  110  present at the open position. Thereafter, the hand H 2  of the center robot CR recedes toward the side of the spin chuck  5  through a space between the movable pins  110 . 
     As shown in  FIG. 22B , the controller  3  allows the second up-and-down unit  130  to raise the second disk-floating magnet  129  toward the upper position while controlling the second up-and-down unit  130 . The distance between these disk-floating magnets  129  and  160  becomes smaller, and, accordingly, a repulsive magnetic force that acts between these magnets becomes larger. The protective disk  115  floats from the upper surface of the rotary table  107  toward the substrate W by means of the repulsive magnetic force (step S 3 ). Thereafter, when the first magnetic-force generating magnet  125  reaches the upper position, the protective disk  115  reaches the approach position that is close to the substrate W with a slight interval between the protective disk  115  and the front surface Wa (lower surface) of the substrate W, and the flange  120  formed at the lower end of the guide shaft  117  comes into contact with the linear bearing  118 . As a result, the protective disk  115  is held at the approach position. 
     In response to the rise of the protective disk  115  from the lower position to the approach position, the N-pole portion  123  on the upper end side of the first opening/closing switching permanent magnet  121  recedes from the first driving permanent magnet  156 A, and, instead, the S-pole portion  124  on the lower end side of the first opening/closing switching permanent magnet  121  approaches the first driving permanent magnet  156 A. Additionally, in response to the rise of the protective disk  115  from the lower position to the approach position, the S-pole portion  124  on the upper end side of the second opening/closing switching permanent magnet  122  recedes from the second driving permanent magnet  156 B, and, instead, the N-pole portion  123  on the lower end side of the second opening/closing switching permanent magnet  122  approaches the second driving permanent magnet  156 B. As a result, all of the movable pins  110  are driven from the open position to the contact position, and are held at the contact position. As a result, the substrate W is gripped by the six movable pins  110 , and the substrate W is held by the spin chuck  5  in a state in which its front surface Wa is directed downwardly and in which its rear surface Wb is directed upwardly. 
     Thereafter, as shown in  FIG. 22B , the controller  3  opens the inert gas valve  173 , and starts to supply an inert gas (step S 4 ). The inert gas supplied as above is discharged from the upper end of the inert gas supply pipe  170 , and is spouted in a radial manner centering on the rotational axis A 1  toward a narrow space between the protective disk  115  placed at the approach position and the front surface Wa (lower surface) of the substrate W by means of operations of the rectifying member  186  etc. 
     Thereafter, the controller  3  controls the rotating/driving unit  103  to start to rotate the rotary table  107  (rotation step), and hence allows the rotating/driving unit  103  to rotate the substrate W around the rotational axis A 1  as shown in  FIG. 22C  (step S 5 ). The rotation speed of the substrate W is raised to a predetermined liquid processing speed (e.g., 500 rpm within the range of 300 to 1500 rpm), and is kept at that liquid processing speed. 
     After the rotation speed of the substrate W reaches the liquid processing speed, the controller  3  performs a chemical liquid supply step (processing-liquid supply step; rotation processing; Step S 6 ) of supplying a chemical liquid to the upper surface of the substrate W (rear surface Wb of the substrate W) as shown in  FIG. 22C . In the chemical liquid supply step (S 6 ), the controller  3  controls and allows the nozzle moving unit  22  to move the chemical liquid nozzle  6  from the home position to the central position. As a result, the chemical liquid nozzle  6  is placed above a central part of the substrate W. After the chemical liquid nozzle  6  is placed above the substrate W, the controller  3  allows the chemical liquid valve  15  to be opened, and, as a result, a chemical liquid is discharged from the discharge port of the chemical liquid nozzle  6 , and lands on a central part of the rear surface Wb of the substrate W. The chemical liquid supplied to the central part of the rear surface Wb of the substrate W receives a centrifugal force generated by the rotation of the substrate W, and spreads radially toward the peripheral edge on the rear surface Wb of the substrate W. Therefore, it is possible to spread the chemical liquid on the whole area of the rear surface Wb of the substrate W. Thus, the rear surface Wb of the substrate W is processed by use of the chemical liquid. 
     In the chemical liquid supply step (T 6 ) and the rinse step (T 7 ) described later, an inert gas discharged from the upper end of the inert gas supply pipe  170  is spouted in a radial manner centering on the rotational axis A 1  toward a narrow space between the protective disk  115  placed at the approach position and the front surface Wa of the substrate W (lower surface) by means of operations of the rectifying member  186  etc. This inert gas is further accelerated by a narrowing portion (orifice) provided at the peripheral edge of the annular plate portion  192  of the annular cover  191  disposed at the peripheral edge of the protective disk  115 , and forms a high-speed spouting airflow beside the substrate W. In the present preferred embodiment, an inert gas is supplied to the front surface Wa (lower surface) of the substrate W while using the protective disk  115 , and, as a result, without completely preventing a processing liquid (chemical liquid or rinse liquid) from flowing around the front surface Wa (lower surface) of the substrate W, the chemical liquid is allowed to daringly flow only around a peripheral edge area of the front surface Wa (lower surface) of the substrate W (a fairly small range of, for example, about 1.0 mm from the peripheral end of the substrate W) so that the peripheral edge area of the front surface Wa undergoes chemical-liquid processing. Additionally, the amount of its flow-around is controlled with excellent accuracy by controlling the supply flow rate of the processing liquid to the upper surface of the substrate W, the supply flow rate of the inert gas to the lower surface of the substrate W, the rotation speed of the substrate W, etc. 
     Additionally, in the chemical liquid supply step (S 6 ), the first and second magnetic-force generating magnets  125  and  126  are each placed at the upper position during a predetermined period of time in order to slide the substrate W in the circumferential direction. 
     In detail, when a predetermined period of time elapses from the start of the discharge of a chemical liquid, the controller  3  controls and allows the first up-and-down unit  127  to raise the first magnetic-force generating magnet  125  and the second magnetic-force generating magnet  126  each of which has been placed at the lower position till then toward the upper position as shown in  FIG. 22D , and, after these magnets rise and reach the upper positions, respectively, these magnets remain to be each placed at the upper position (magnetic-force generation-position placing step). As a result, a state is reached in which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively (shown by the solid line in  FIG. 10  and  FIG. 13 ). 
     In the chemical liquid supply step (S 6 ), the substrate W is rotated in a state in which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively (rotation step). As a result, the magnitude of a magnetic force (e.g., attractive magnetic force) given from the magnetic-force generating magnets  125  and  126  each of which is placed at the upper position changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  in response to rotation of the substrate W. As a result of a change in the pressing force in each movable pin  110 , the substrate W being in a rotational state becomes eccentric. This eccentric direction DE of the substrate W (see  FIG. 14B  etc.) changes in accordance with the rotational angle position of the substrate W being in a rotational state. 
     Additionally, in the chemical liquid supply step (S 6 ), a chemical liquid is supplied to the upper surface of the substrate W in parallel to rotation of the rotary table  107  with respect to the magnetic-force generating magnet, i.e., in parallel to rotation of the substrate W with respect to the first and second magnetic-force generating magnets  125  and  126 . A load imposed onto the substrate W is increased by allowing the chemical liquid to be supplied to the upper surface of the substrate W under predetermined pressure. The increase of the load acts on the substrate W that is in contact with and that is supported by the plurality of support pins (movable pins  110 ) as rotational resistance that obstructs the turning of the substrate W. A centrifugal force generated by the rotation of the substrate W also acts on the peripheral edge of the substrate W. 
     As a result, in the chemical liquid supply step (S 6 ), the substrate W being in a rotational state relatively turns in the turning direction Dr 2  having a circumferential direction opposite to the rotational direction Dr 1  with respect to the rotary table  107  and the support pin (movable pin  110 ). As a result, in the chemical liquid supply step (S 6 ), it is possible to displace the contact-support position in the peripheral edge of the substrate W supported by the support pin (movable pin  110 ) in the circumferential direction (rotational direction Dr 2 ) while allowing the plurality of support pins (movable pins  110 ) to come into contact with and support the peripheral edge of the substrate W. 
     When a predetermined period of time (e.g., about 40 seconds) elapses after placing each of the first and second magnetic-force generating magnets  125  and  126  at the upper position, the controller  3  controls and allows the first up-and-down unit  127  to lower the first and second magnetic-force generating magnets  125  and  126  toward the lower position and to keep each magnet at this lower position as shown in  FIG. 22C . In this processing example, the first and second magnetic-force generating magnets  125  and  126  are each placed at the upper position for about 40 seconds, and, as a result, the substrate W deviates (turns) by about 30° with respect to each movable pin  110  in a direction opposite to the rotational direction Dr 1 . Therefore, in the chemical liquid supply step (S 6 ), there is no part in the peripheral edge area of the substrate W where a chemical liquid does not flow around, and it is possible to treat the whole of the peripheral edge area of the substrate W with a chemical liquid. 
     When a predetermined period of time elapses from the start of the discharge of the chemical liquid, the chemical liquid supply step (S 6 ) is ended. In detail, the controller  3  closes the chemical liquid valve  15 , and stops to discharge a chemical liquid from the chemical liquid nozzle  6 . The controller  3  also moves the chemical liquid nozzle  6  from the central position to the home position. Thus, the chemical liquid nozzle  6  is withdrawn from above the substrate W. 
     Although the operation of placing each of the first and second magnetic-force generating magnets  125  and  126  at the upper position is performed once in the chemical liquid supply step (S 6 ) as described above, this operation of placing each of the first and second magnetic-force generating magnets  125  and  126  thereat may be performed a plurality of times in the chemical liquid supply step (S 6 ). 
     Following the end of the chemical liquid supply step (S 6 ), water, which is a rinse liquid, starts to be supplied to the rear surface Wb of the substrate W (S 7 ; Rinse step: Processing-liquid supply step: Rotation processing). 
     In detail, the controller  3  opens and allows the water valve  43  to discharge water from the water nozzle  41  toward the central part of the rear surface Wb of the substrate Was shown in  FIG. 22E . Water discharged from the water nozzle  41  lands on the central part of the rear surface Wb of the substrate W covered with the chemical liquid. The water that has landed on the central part of the rear surface Wb of the substrate W receives a centrifugal force generated by the rotation of the substrate W, and flows toward the peripheral edge of the substrate W on the rear surface Wb of the substrate W, and spreads to the whole area of the rear surface Wb of the substrate W. Therefore, the chemical liquid present on the substrate W is outwardly swept away by the water, and is discharged from the substrate W to its surroundings. As a result, the chemical liquid that has adhered to the rear surface Wb of the substrate W is replaced by the water. 
     Additionally, in the rinse step (S 7 ), the first and second magnetic-force generating magnets  125  and  126  are each placed at the upper position during a predetermined period of time in order to slide the substrate W in the circumferential direction. 
     In detail, when a predetermined period of time elapses from the start of the discharge of water, the controller  3  controls and allows the first up-and-down unit  127  to raise the first magnetic-force generating magnet  125  and the second magnetic-force generating magnet  126  each of which has been placed at the lower position till then toward the upper position as shown in  FIG. 22F , and, after these magnets rise and reach the upper positions, respectively, these magnets remain to be each placed at the upper position (magnetic-force generation-position placing step). As a result, a state is reached in which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively (shown by the solid line in  FIG. 10  and  FIG. 13 ). 
     In the rinse step (S 7 ), the substrate W is rotated in a state in which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively (rotation step). As a result, the magnitude of a magnetic force (e.g., attractive magnetic force) given from the magnetic-force generating magnets  125  and  126  each of which is placed at the upper position changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  in response to rotation of the substrate W. As a result of a change in the pressing force in each movable pin  110 , the substrate W being in a rotational state becomes eccentric. This eccentric direction DE of the substrate W (see  FIG. 14B  etc.) changes in accordance with the rotational angle position of the substrate W being in a rotational state. 
     Additionally, in the rinse step (S 7 ), water is supplied to the upper surface of the substrate W in parallel to rotation of the rotary table  107  with respect to the magnetic-force generating magnet, i.e., in parallel to rotation of the substrate W with respect to the first and second magnetic-force generating magnets  125  and  126 . A load imposed onto the substrate W is increased by allowing the water to be supplied to the upper surface of the substrate W under predetermined pressure. The increase of the load acts on the substrate W that is in contact with and that is supported by the plurality of support pins (movable pins  110 ) as rotational resistance that obstructs the turning of the substrate W. A centrifugal force generated by the rotation of the substrate W also acts on the peripheral edge of the substrate W. 
     As a result, in the rinse step (S 7 ), the substrate W being in a rotational state relatively turns in the turning direction Dr 2  having a circumferential direction opposite to the rotational direction Dr 1  with respect to the rotary table  107  and the support pin (movable pin  110 ). As a result, in the rinse step (S 7 ), it is possible to displace the contact-support position in the peripheral edge of the substrate W supported by the support pin (movable pin  110 ) in the circumferential direction (rotational direction Dr 2 ) while allowing the plurality of support pins (movable pins  110 ) to come into contact with and support the peripheral edge of the substrate W. 
     When a predetermined period of time (e.g., about 40 seconds) elapses after placing each of the first and second magnetic-force generating magnets  125  and  126  at the upper position, the controller  3  controls and allows the first up-and-down unit  127  to lower the first and second magnetic-force generating magnets  125  and  126  toward the lower position and to keep each magnet at this lower position as shown in  FIG. 22D . The first and second magnetic-force generating magnets  125  and  126  are each placed at the upper position for about 40 seconds, and, as a result, the substrate W deviates (turns) by about 30° with respect to each movable pin  110  in a direction (circumferential direction) opposite to the rotational direction Dr 1 . Therefore, in the rinse step (S 7 ), there is no part in the peripheral edge area of the substrate W where water does not flow around, and it is possible to rinse the whole of the peripheral edge area of the substrate W. 
     When a predetermined period of time elapses from the start of the discharge of water, the rinse step (S 7 ) is ended. In detail, the controller  3  closes the water valve  43 , and stops to discharge water from the water nozzle  41 . 
     Although the operation of placing each of the first and second magnetic-force generating magnets  125  and  126  at the upper position is performed once in the rinse step (S 7 ) as described above, this operation of placing each of the first and second magnetic-force generating magnets  125  and  126  thereat may be performed a plurality of times in the rinse step (S 7 ). 
     After the end of the rinse step (S 7 ), a spin dry step (step T 10 ) of drying the substrate W is then performed. In detail, the controller  3  controls and allows the rotating/driving unit  17  to accelerate the substrate W to a dry rotation speed (e.g., several thousand rpm) larger than the rotation speed in the chemical liquid supply step (S 6 ) and in the rinse step (S 7 ) and to rotate the substrate W at the dry rotation speed as shown in  FIG. 22G . As a result, a large centrifugal force is applied to a liquid present on the substrate W, so that the liquid adhering to the substrate W is shaken off from the substrate W toward its surroundings. The liquid is removed from the substrate W in this way, and the substrate W is dried. In this processing example, the spin dry step (S 8 ) is performed while the protective disk  115  is being placed at the approach position. 
     Thereafter, when a predetermined period of time elapses after the substrate W starts to be rotated at a high speed, the controller  3  controls and allows the rotating/driving unit  17  to stop the rotation of the substrate W by means of the spin chuck  5  (step S 9 ). 
     Thereafter, the controller  3  controls and allows the second up-and-down unit  130  to lower the second disk-floating magnet  129  toward the lower position. As a result, the distance between the second disk-floating magnet  129  and the first disk-floating magnet  160  becomes larger, and the magnetic repulsive force therebetween becomes smaller. Accordingly, the protective disk  115  descends toward the upper surface of the rotary table  107  (step S 10 ). Therefore, a space that can be entered by the hand H 2  of the center robot CR is secured between the upper surface of the protective disk  115  and the front surface Wa (lower surface) of the substrate W. 
     Additionally, in response to the descent of the protective disk  115  from the approach position to the lower position, the S-pole portion  124  on the lower end side of the first opening/closing switching permanent magnet  121  recedes from the first driving permanent magnet  156 A, and, instead, the N-pole portion  123  on the upper end side of the first opening/closing switching permanent magnet  121  approaches the first driving permanent magnet  156 A. Additionally, in response to the descent of the protective disk  115  from the approach position to the lower position, the N-pole portion  123  on the upper end side of the second opening/closing switching permanent magnet  122  recedes from the second driving permanent magnet  156 B, and, instead, the S-pole portion  124  on the upper end side of the second opening/closing switching permanent magnet  122  approaches the second driving permanent magnet  156 B. As a result, all of the movable pins  110  are driven from the contact position to the open position, and are held at the open position. As a result, the substrate W is released from the state of being gripped. 
     Thereafter, the substrate W is carried out from the inside of the processing chamber  4  (see  FIG. 22H . step S 11 ), and the substrate W carried out therefrom is reversed by the reversing unit TU (step S 12 ). Thereafter, the substrate W that has been washed is contained in the carrier C in a state in which its front surface Wa is directed upwardly, and is conveyed from the substrate processing apparatus  1  toward a postprocessing device such as an exposure device. 
     As thus described, according to the present preferred embodiment, the upper shaft portion  152  of each movable pin  110  is pressed against the peripheral edge of the substrate W with a predetermined pressing force by means of a magnetic force (e.g., attractive magnetic force) generated between the first and second driving permanent magnets  156 A,  156 B and the first and second opening/closing switching permanent magnets  121 ,  122 , and, as a result, the substrate W is gripped in the horizontal direction by means of the plurality of support pins (movable pins  110 ). In the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), the substrate W is rotated around the rotational axis A 1  by rotating the support pin (movable pin  110 ) and the rotary table  107  around the rotational axis A 1  in a state in which the substrate W is gripped by the plurality of support pins (movable pins  110 ), and a centrifugal force generated by the rotation acts on the peripheral edge of the substrate W. 
     Additionally, the substrate processing apparatus  1  is provided with the first magnetic-force generating magnet  125  that has a magnetic pole that applies a magnetic force (e.g., attractive magnetic force) urging the upper shaft portion  152  of a corresponding movable pin  110  toward the open position between the first driving permanent magnet  156 A and the first magnetic-force generating magnet  125 . The substrate processing apparatus  1  is further provided with the second magnetic-force generating magnet  126  that has a magnetic pole that applies a magnetic force (e.g., attractive magnetic force) urging the upper shaft portion  152  of a corresponding movable pin  110  toward the open position between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126 . In the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), the controller  3  places each of the first and second magnetic-force generating magnets  125  and  126  at the upper position at which the magnitude of a magnetic force (e.g., attractive magnetic force) generated between the first and second driving permanent magnets  156 A,  156 B and the first and second magnetic-force generating magnets  125 ,  126  is smaller than that of a magnetic force (e.g., attractive magnetic force) generated between the first and second driving permanent magnet  156 A,  156 B and the first and second opening/closing switching permanent magnets  121 ,  122 . In this state, the rotary table  107  is relatively rotated around the rotational axis A 1 . The substrate W is also rotated around the rotational axis A 1  in response to the rotation of the rotary table  107  around the rotational axis A 1 . Therefore, the distance between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  changes in accordance with the rotational angle position of the substrate W, i.e., the magnitude of a magnetic force (e.g., attractive magnetic force) that is given from the magnetic-force generating magnets  125  and  126  and that acts on each driving permanent magnet  156 A or  156 B also changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  in response to rotation of the substrate W. 
     Still additionally, in a state in which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively, the magnitude of a magnetic force (e.g., attractive magnetic force) generated between the driving permanent magnets  156 A,  156 B and the magnetic-force generating magnets  125 ,  126  is smaller than that of a magnetic force (e.g., attractive magnetic force) generated between the driving permanent magnets  156 A,  156 B and the opening/closing switching permanent magnets  121 ,  122 . Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate W applied by the upper shaft portion  152  of the movable pin  110  while keeping its magnitude higher than zero in response to rotation of the rotary table  107 . 
     In other words, in the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), it is possible to change a pressing force generated in each movable pin  110  while allowing a centrifugal force to act on the peripheral edge of the substrate W. As a result of the change of the pressing force in each movable pin  110 , the substrate W being in a rotational state becomes eccentric. Accordingly, the eccentric direction DE of the substrate W changes in accordance with the rotational angle position of the substrate W being in a rotational state. 
     Additionally, in the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), a processing liquid (chemical liquid or water) is supplied to the upper surface of the substrate W in parallel to rotation of the rotary table  107  with respect to the magnetic-force generating magnet, i.e., in parallel to rotation of the substrate W with respect to the first and second magnetic-force generating magnets  125  and  126 . A load imposed onto the substrate W is increased by allowing the processing liquid (chemical liquid or water) to be supplied to the upper surface of the substrate W under predetermined pressure. In a state in which the substrate W is being rotated, the increase of the load acts on the substrate W that is in contact with and that is supported by the plurality of support pins (movable pins  110 ) as rotational resistance that obstructs the rotation and movement of the substrate W. A centrifugal force generated by the rotation of the substrate W also acts on the peripheral edge of the substrate W. 
     Accordingly, the substrate W becomes eccentric in a state in which the substrate W is being rotated, and this eccentric direction changes in accordance with the rotational angle position of the substrate being in a rotational state. In addition to this, when the substrate W being in a rotational state is eccentric, a force that obstructs the rotation and movement of the substrate W that is in contact with and that is supported by the plurality of support pins (movable pins  110 ) acts on the substrate W. Therefore, the substrate W being in a rotational state relatively turns in the turning direction Dr 2  that is a circumferential direction opposite to the rotational direction Dr 1  with respect to the rotary table  107  and the support pin (movable pin  110 ). As a result, in the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), it is possible to displace the contact-support position in the peripheral edge of the substrate W supported by the support pin (movable pin  110 ) in the circumferential direction while allowing the plurality of support pins (movable pins  110 ) to come into contact with and support the peripheral edge of the substrate W. The contact-support position is displaced while performing the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), and therefore, in the peripheral edge area of the substrate W, there is no part where a processing liquid (chemical liquid or water) does not flow around. Therefore, it is possible to provide a substrate processing apparatus  1  that is capable of excellently processing the peripheral edge of the substrate W without the remainder after processing. 
     Additionally, in the present preferred embodiment, the first magnetic-force generating magnet  125  and the second magnetic-force generating magnet  126  are alternately disposed in the circumferential direction, and therefore the magnetic pole of a magnetic field given to the first and second driving permanent magnets  156 A and  156 B changes in response to rotation of the rotary table  107  (the magnetic field is nonuniform). In this case, it is possible to abruptly change a magnetic force generated between the first and second driving permanent magnets  156 A,  156 B and the first and second magnetic-force generating magnets  125 ,  126  in accordance with the rotational angle position of the substrate W. Therefore, it is possible to largely change a magnetic force generated between each driving permanent magnet  156 A or  156 B and the magnetic-force generating magnets  125 ,  126  in response to rotation of the substrate W, and it is possible to accelerate the turning of the substrate W in the turning direction Dr 2 . This makes it possible to even more effectively displace the contact-support positions in the peripheral edge of the substrate W supported by the support pins (movable pins  110 ) in the circumferential direction. 
     Additionally, in the chemical liquid supply step (S 6 ) and the rinse step (S 7 ), the first and second magnetic-force generating magnets  125  and  126  are moved between the upper position (first position) and the lower position (the second position), and, as a result, it is possible to make a transition between a state in which the contact-support position in the peripheral edge of the substrate W deviates and a state in which the contact-support position in the peripheral edge of the substrate W does not deviate. The amount of displacement in the circumferential direction of the substrate W is proportional to the length of time during which the first and second magnetic-force generating magnets  125  and  126  are placed at the upper positions, respectively, and therefore the first and second magnetic-force generating magnets  125  and  126  are each moved from the upper position to the lower position in a state in which a predetermined period of time has elapsed after placing each of the first and second magnetic-force generating magnets  125  and  126  at the upper position, and, as a result, it is possible to control the amount of displacement in the circumferential direction of the substrate W so as to be set at a desired amount. 
       FIG. 23  is a pictorial cross-sectional view to describe an arrangement example of a processing unit  202  included in a substrate processing apparatus according to a second preferred embodiment of the present invention.  FIG. 24  is a plan view to describe a more concrete arrangement of a spin chuck  205  included in the processing unit  202 .  FIG. 25  is a view showing a positional relationship between the first and second driving permanent magnets  156 A,  156 B and the first and second magnetic-force generating magnets  125 ,  126  when the rotary table  107  is rotated in the spin chuck  205 . 
     In the preferred embodiment shown in  FIGS. 23 to 25 , the same reference sign as in  FIGS. 1 to 22B  is given to an element corresponding to each element of the preferred embodiment shown in  FIGS. 1 to 22B , and a description of this element is omitted. 
     A main respect in which the spin chuck  205  according to this preferred embodiment differs from the spin chuck  5  according to the aforementioned preferred embodiment is that the magnetic-force generating magnets are formed of not the plurality of first and second magnetic-force generating magnets  125  and  126  but only a plurality of magnetic-force generating magnets  126 . In other words, an arrangement of magnetic-force generating magnets according to the second preferred embodiment is formed by eliminating the first magnetic-force generating magnets  125  from the arrangement of the magnetic-force generating magnets according to the first preferred embodiment. 
     In still other words, magnetic-force generating magnets according to the second preferred embodiment include a plurality of magnetic-force generating magnets  126  that have mutually-common polar directions in the radial direction. Additionally, these magnetic-force generating magnets  126  are spaced out in the circumferential direction. The first up-and-down unit  127  is joined to the plurality of magnetic-force generating magnets  226 . The first up-and-down unit  127  raises and lowers the plurality of magnetic-force generating magnets  126  together. 
     The spin chuck  205  of the second preferred embodiment also differs from that of the first preferred embodiment in that the six movable pins  110  spaced out at the peripheral edge of the upper surface of the rotary table  107  are all equal to each other in the polar direction of a corresponding driving magnet with respect to the radial direction. In addition to this, only one kind of opening/closing switching permanent magnet (e.g., second opening/closing switching permanent magnet  122 ) is also employed as an opening/closing switching permanent magnet (pressing magnet) that is disposed so as to correspond to each movable pin  110  and that is used to perform the switching of the upper shaft portion  152  of the movable pin  110  between the open position and the holding position. 
     As described in the first preferred embodiment, in a state in which the second magnetic-force generating magnet  126  is placed at the upper position, a magnetic force (e.g., attractive magnetic force) directed to urge the upper shaft portion  152  (see  FIG. 13 ) of the movable pin  110  toward the open position is generated between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  so as to have a smaller magnitude than a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second opening/closing switching permanent magnet  122  when the second magnetic-force generating magnet  126  coincides with the second driving permanent magnet  156 B with respect to their rotational directions. 
     In the rotation processing (chemical liquid supply step (S 6  of  FIG. 20 ) and the rinse step (S 7  of  FIG. 20 )), in a state in which the substrate W is gripped by the plurality of support pins (movable pins  110 ) (i.e., in a state in which the upper shaft portion  152  of the movable pin  110  is at the contact position and is pressing the peripheral edge of the substrate W), the rotating/driving unit  103  rotates the rotary table  107  at a speed of the liquid processing speed (e.g., about 500 rpm) in the rotational direction Dr 1 . As a result, the substrate W is rotated around the rotational axis A 1 , and a centrifugal force generated by the rotation acts on the peripheral edge of the substrate W. 
     In the rotation processing (chemical liquid supply step (S 6  of  FIG. 20 ) and the rinse step (S 7  of  FIG. 20 )), the distance between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  changes in accordance with the rotational angle position of the substrate W. In other words, the magnitude of a magnetic force in an opposite direction that acts on each of the second driving permanent magnets  156 B changes in accordance with the rotational angle position of the substrate W. This makes it possible to change a magnetic force (e.g., attractive magnetic force) generated between each of the second driving permanent magnets  156 B and the second magnetic-force generating magnet  126  in response to rotation of the substrate W. The magnitude of a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  is smaller than that of a magnetic force (e.g., attractive magnetic force) generated between the second driving permanent magnet  156 B and the second opening/closing switching permanent magnet  122 . Therefore, it is possible to change the magnitude of a pressing force against the peripheral edge of the substrate W applied by the upper shaft portion  152  of the movable pin  110  while keeping its magnitude higher than zero in response to rotation of the rotary table  107 . 
     In other words, in the rotation processing (the chemical liquid supply step (S 6  of  FIG. 20 ) and the rinse step (S 7  of  FIG. 20 )), it is possible to change a pressing force applied from the upper shaft portion  152  of each movable pin  110  while allowing a centrifugal force to act on the peripheral edge of the substrate W. As a result, the substrate W being in a rotational state becomes eccentric. Additionally, in the same way as in the first preferred embodiment, the eccentric direction DE (see  FIG. 14B  etc.) of the substrate W changes in accordance with the rotational angle position of the substrate W being in a rotational state. 
     Therefore, also in the second preferred embodiment, the operation and effect equivalent to the operation and effect described in the first preferred embodiment are fulfilled. 
     Additionally, in the second preferred embodiment, the plurality of second magnetic-force generating magnets  126  are spaced out in the circumferential direction, and therefore the magnetic pole of a magnetic field given to the second driving permanent magnet  156 B changes in response to rotation of the rotary table  107  (the magnetic field is nonuniform). In this case, it is possible to abruptly change a magnetic force (e.g., attractive magnetic force) generated between each second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  in accordance with the rotational angle position of the substrate W. Therefore, it is possible to largely change a magnetic force (e.g., attractive magnetic force) generated between each second driving permanent magnet  156 B and the second magnetic-force generating magnet  126  in response to rotation of the substrate W, and it is possible to accelerate the turning of the substrate W. This makes it possible to even more effectively displace the contact-support positions in the peripheral edge of the substrate W supported by the support pins (movable pins  110 ) in the circumferential direction. 
     Although the two preferred embodiments of the present invention have been described as above, the present invention can be embodied in other modes. 
     For example, although each of the upper positions (first positions) of the first and second magnetic-force generating magnets  125  and  126  is placed slightly below the first and second driving permanent magnets  156 A and  156 B in the first and second preferred embodiments as described above, each of the upper positions (first positions) of the first and second magnetic-force generating magnets  125  and  126  may be placed laterally with respect to the first and second driving permanent magnets  156 A and  156 B. In this case, the kind of the magnetic-force generating magnets  125 ,  126  or the distance (distance in an approach state) between the magnetic-force generating magnets  125 ,  126  and the driving permanent magnets  156 A,  156 B is appropriately set (selected) so that the magnitude of a magnetic force generated between the magnetic-force generating magnets  125 ,  126  and the driving permanent magnets  156 A,  156 B becomes smaller than that of a magnetic force generated between the opening/closing switching permanent magnets  121 ,  122  and the driving permanent magnets  156 A,  156 B when the magnetic-force generating magnets  125 ,  126 , and the driving permanent magnets  156 A,  156 B coincide with each other with respect to their rotational directions. 
     Additionally, in the first preferred embodiment, the up-and-down unit that raises and lowers the plurality of first magnetic-force generating magnets  125  together and the up-and-down unit that raises and lowers the plurality of second magnetic-force generating magnets  126  together may be used as mutually different units, respectively. Still additionally, in the first and second preferred embodiments, the plurality of first magnetic-force generating magnets  125  may be raised and lowered by individual up-and-down units, respectively, and the plurality of second magnetic-force generating magnets  126  may be raised and lowered by individual up-and-down units, respectively. 
     Additionally, although the first up-and-down unit  127  is used as an example of a magnet moving unit in the first and second preferred embodiments as described above, the magnet moving unit may move magnetic-force generating magnets (the first magnetic-force generating magnet  125  and/or the second magnetic-force generating magnet  126 ) in a direction (e.g., horizontal direction) other than the vertical direction. 
     Additionally, although the first magnetic-force generating magnet  125  and/or the second magnetic-force generating magnet  126  are/is held in a stationary state in the first and second preferred embodiments as an example as described above, the magnetic-force generating magnets  125 ,  126  may be disposed movably with respect to the rotary table  107 . However, the substrate W supported by the support pin and the magnetic-force generating magnets  125  and  126  are required to be relatively rotated in response to rotation of the rotary table  107 . 
     Additionally, although the first disk-floating magnet  160  includes a plurality of magnets spaced out in the circumferential direction in the annular shape coaxial with the rotational axis A 1  in the first and second preferred embodiments as described above, the first disk-floating magnet  160  may have an annular shape coaxial with the rotational axis A 1 . 
     Additionally, although the pressing magnet (opening/closing switching permanent magnets  121  and  122 ) that presses the upper shaft portion  152  (support portion) against the contact position is provided so as to be raised and lowered in response to the movement of the protective disk  115  in the first and second preferred embodiment as an example as described above, the pressing magnet may be attached to the rotary table  107 , or may be held so as to be raised and lowered (moved) by members other than the protective disk  115 . 
     Additionally, although the first magnetic-force generating magnets  125  and the second magnetic-force generating magnets  126  are each three in number in the first preferred embodiment as described above, it is only necessary for the number to be one or more. 
     Likewise, in the second preferred embodiment, the number of the magnetic-force generating magnets (second magnetic-force generating magnets  126 ) is not limited to three, and it is only necessary for the number to be one or more. Additionally, in the second preferred embodiment, the first magnetic-force generating magnet  125 , instead of the second magnetic-force generating magnet  126 , may be employed as a magnetic-force generating magnet. 
     Additionally, although the number of the support pins is six as described above, this is an example, and it is only necessary for the number to be three or more without being limited to six. 
     Additionally, although all support pins are formed of the movable pins  110  in the present invention as described above, part of the support pins may be formed of fixed pins each of which has an upper shaft portion  152  that is immovable. 
     Additionally, although a surface to be processed is a rear surface (device non-forming surface) Wb of a substrate W as described above, a front surface (device forming surface) Wa of the substrate W may be a to-be-processed surface. In this case, it is also possible to eliminate the reversing unit TU. 
     Additionally, the series of processing-liquid processing steps may be performed to remove metals or remove impurities buried in a film without being limited to the removal of foreign substances. Additionally, the series of processing-liquid processing steps may be to perform etching, not washing. 
     Additionally, although a to-be-processed surface is an upper surface of a substrate W as described above, the to-be-processed surface may be a lower surface of the substrate W. In this case, although a processing liquid is supplied to the lower surface of the substrate W, the processing liquid is allowed to flow around from the lower surface of the substrate W to the upper surface of the substrate W at a substrate support position in the peripheral edge of the substrate W, and, as a result, it is possible to excellently process the peripheral edge of the substrate W without the remainder after processing by use of the processing liquid. 
     The present invention can also be embodied in parallel to rotation processing in which a processing liquid is not supplied to an upper surface of a substrate W. Even if the processing liquid is not supplied to the upper surface of the substrate W, the substrate W itself will function as rotational resistance in rotation processing if the own weight of the substrate W supported by support pins is sufficiently heavy. 
     Additionally, although the substrate processing apparatus  1  is an apparatus that processes a disk-shaped semiconductor substrate as described above, the substrate processing apparatus  1  may be an apparatus that processes a polygonal substrate, such as a glass substrate for liquid crystal display devices. 
     Although the preferred embodiments of the present invention have been described in detail, these embodiments are merely concrete examples used to clarify the technical contents of the present invention, and the present invention should not be understood by being limited to these concrete examples, and the scope of the present invention is limited solely by the appended claims.