Patent Publication Number: US-2021193494-A1

Title: Substrate processing apparatus and substrate processing method

Description:
TECHNICAL FIELD 
     This application relates to a substrate processing apparatus and a substrate processing method. This application claims priority from Japanese Patent Application No. 2019-230480 filed on Dec. 20, 2019. The entire disclosure including the descriptions, the claims, the drawings, and the abstract in Japanese Patent Application No. 2019-230480 is herein incorporated by reference. 
     BACKGROUND ART 
     There is a Chemical Mechanical Polishing (CMP) apparatus as one kind of a substrate processing apparatus used for a semiconductor processing process. The CMP apparatus can be roughly classified into “a face-up type (a system in which a polished surface of a substrate facing upward)” and “a face-down type (a system in which a polished surface of a substrate facing downward)” depending on a direction that the polished surface of the substrate faces. 
     PTL 1 (Japanese Unexamined Patent Application Publication No. 2003-229388) discloses a face-up type CMP apparatus that brings a polishing pad having a diameter smaller than that of a substrate in contact with the substrate and swings the polishing pad while rotating the polishing pad to polish the substrate. PTL 1 discloses that this CMP apparatus includes supporting members at a peripheral area of the substrate, and the supporting members support a part of the polishing pad protruding from the substrate when the polishing pad is swung to outside the substrate and are movable in a radial direction of the substrate. 
     CITATION LIST 
     Patent Literature 
     PTL 1: Japanese Unexamined Patent Application Publication No. 2003-229388 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, the technique described in PTL 1 has a room for improvement in uniformly polishing a polished surface of the substrate regardless of a tolerance of a diameter of the substrate. That is, although a process target of a substrate processing apparatus is a substrate having a predetermined size determined by a standard, actually, the tolerance (variation) is present in the diameter of the substrate. 
     In contrast to this, in the movement of the supporting member in PTL 1, the supporting member is moved to a position far from the substrate so as not to be a hindrance during loading of the substrate and moved to a position close to the substrate when the loading ends. Accordingly, the technique described in PTL 1 does not consider the tolerance of the diameter of the substrate, and therefore, when the tolerance is present in the diameter of the substrate, disposing the supporting member at an appropriate position is difficult. This possibly results in a loss of uniformity in polishing of the polished surface of the substrate. 
     Therefore, one object of this application is to improve uniformity in polishing of a polished surface of a substrate regardless of a tolerance of a diameter of the substrate. 
     Solution to Problem 
     There is disclosed a substrate processing apparatus according to one embodiment that includes a table, a pad holder, a swing mechanism, a supporting member, a measuring instrument, and a driving mechanism. The table supports a substrate. The pad holder holds a polishing pad. The polishing pad polishes the substrate supported to the table. The swing mechanism swings the pad holder. The supporting member supports the polishing pad swung to outside the table by the swing mechanism. The measuring instrument is configured to measure a diameter of the substrate. The driving mechanism adjusts a position of the supporting member with respect to the substrate supported to the table according to the diameter of the substrate measured by the measuring instrument. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a perspective view schematically illustrating an overall configuration of a substrate processing apparatus according to one embodiment; 
         FIG. 2  is a plan view schematically illustrating an overall configuration of the substrate processing apparatus according to the one embodiment; 
         FIG. 3  is a perspective view schematically illustrating a multi-axis arm according to the one embodiment; 
         FIG. 4  is a perspective view schematically illustrating a table and a supporting member according to the one embodiment; 
         FIG. 5  is a perspective view schematically illustrating the table and the supporting member according to one embodiment; 
         FIG. 6  is a side view schematically illustrating the table and the supporting members according to the one embodiment; 
         FIG. 7  is a plan view schematically illustrating centering mechanisms according to the one embodiment; 
         FIG. 8  is a plan view schematically illustrating centering mechanisms according to one embodiment; 
         FIG. 9  is a side view schematically illustrating a measuring instrument according to one embodiment; 
         FIG. 10  is a flowchart depicting a substrate processing method according to one embodiment; and 
         FIG. 11  is a flowchart for describing details of a measuring step. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     The following describes embodiments of a substrate processing apparatus according to the present invention with reference to the attached drawings. In the attached drawings, identical or similar reference numerals are attached to identical or similar components, and overlapping description regarding the identical or similar components may be omitted in the description of the respective embodiments. Features illustrated in the respective embodiments are applicable to other embodiments in so far as they are consistent with one another. 
       FIG. 1  is a perspective view schematically illustrating an overall configuration of the substrate processing apparatus according to one embodiment.  FIG. 2  is a plan view schematically illustrating an overall configuration of the substrate processing apparatus according to the one embodiment. A substrate processing apparatus  1000  illustrated in  FIG. 1  and  FIG. 2  includes a table  100 , a multi-axis arm  200 , supporting members  300 A,  300 B, measuring instrument  400  (centering mechanisms  400 A,  400 B,  400 C), a dresser  500 , an end point detector  600 , and cleaning nozzles  700 A,  700 B. 
     &lt;Table&gt; 
     The table  100  is a member to support a substrate WF as a process target. In one embodiment, the table  100  includes a support surface  100   a  that supports the substrate WF and is rotatable by a driving mechanism, such as a motor (not illustrated). The support surface  100   a  has a plurality of holes  102 , and the table  100  is configured to perform vacuum suction on the substrate WF via the holes  102 . 
     &lt;Multi-Axis Arm&gt; 
       FIG. 3  is a perspective view schematically illustrating the multi-axis arm according to the one embodiment. As illustrated in  FIG. 2  and  FIG. 3 , the multi-axis arm  200  is a member that holds a plurality of processing tools for various processes on the substrate WF supported to the table  100  and is disposed adjacent to the table  100 . The multi-axis arm  200  of this embodiment holds a large-diameter polishing pad  222  to polish the substrate WF, a cleaning tool  232  to clean the substrate WF, a small-diameter polishing pad  242  for finish polishing of the substrate WF, and an imaging member (camera)  252  to measure a diameter of the substrate WF. 
     Specifically, the multi-axis arm  200  includes a swing shaft  210  extending in a direction perpendicular to the substrate WF (height direction), a rotation drive mechanism  212 , such as the motor, that rotatably drives the swing shaft  210 , a first arm  220 , a second arm  230 , a third arm  240 , and a fourth arm  250  supported to the swing shaft  210  and radially arranged around swing shaft  210 . To the first arm  220 , a pad holder  226  is mounted via a rotation shaft  224 , which extends in the height direction, and the large-diameter polishing pad  222  is held to the pad holder  226 . To the second arm  230 , a cleaning tool holder  236  is mounted via a rotation shaft  234 , which extends in the height direction, and the cleaning tool  232  is held to the cleaning tool holder  236 . To the third arm  240 , a pad holder  246  is mounted via a rotation shaft  244 , which extends in the height direction, and the small-diameter polishing pad  242  is held to the pad holder  246 . To the fourth arm  250 , the imaging member  252  is held. 
     The first arm  220  further holds nozzles  228  in addition to the polishing pad  222 . The nozzles  228  are disposed on both sides in the swinging direction of the polishing pad  222  between which the polishing pad  222  is interposed to discharge a polishing liquid or cleaning water to the substrate WF. The second arm  230  further holds atomizers  238  in addition to the cleaning tool  232 . The atomizers  238  are disposed on both sides in the swinging direction of the cleaning tool  232  between which the cleaning tool  232  is interposed to discharge a liquid, such as pure water, to the substrate WF. The third arm  240  further holds nozzles  248  in addition to the polishing pad  242 . The nozzles  248  are disposed on both sides in the swinging direction of the polishing pad  242  between which the polishing pad  242  is interposed to discharge a polishing liquid or cleaning water to the substrate WF. 
     As illustrated in  FIG. 2 , in this embodiment, the first arm  220 , the second arm  230 , the third arm  240 , and the fourth arm  250  radially extend around the swing shaft  210  while being displaced counterclockwise by 90 degrees in plan view. Rotatably driving the swing shaft  210  by the rotation drive mechanism  212  allows moving any of the large-diameter polishing pad  222 , the cleaning tool  232 , the small-diameter polishing pad  242 , and the imaging member  252  on the substrate WF. Rotatably driving the swing shaft  210  by the rotation drive mechanism  212  allows moving the polishing pad  222  or the polishing pad  242  on the dresser  500 . The rotation drive mechanism  212  has a function of a swing mechanism that rotatably drives the swing shaft  210  clockwise and counterclockwise in alternation to swing the first arm  220 , the second arm  230 , the third arm  240 , and the fourth arm  250 . Specifically, the rotation drive mechanism  212  rotatably drives the swing shaft  210  clockwise and counterclockwise in alternation with the polishing pad  222 , the cleaning tool  232 , or the polishing pad  242  positioned on the substrate WF to allow the polishing pad  222 , the cleaning tool  232 , or the polishing pad  242  to swing with respect to the substrate WF. Although this embodiment describes an example in which the polishing pad  222 , the cleaning tool  232 , or the polishing pad  242  is turned and swung in the radial direction of the substrate WF, that is, moved in a reciprocating manner along an arc by the rotation drive mechanism  212 , the configuration is not limited to this. For example, the swing mechanism can have a configuration that linearly swings the polishing pad  222 , the cleaning tool  232 , or the polishing pad  242  in the radial direction of the substrate, that is, moves it in a reciprocating manner along a straight line. 
     The multi-axis arm  200  includes the rotation drive mechanism, such as the motor (not illustrated) to rotate the rotation shafts  224 ,  234 ,  244 . This allows the polishing pad  222 , the cleaning tool  232 , and the polishing pad  242  to rotate with the rotation shafts  224 ,  234 ,  244  as axes. For example, when the polishing pad  222  is on the substrate WF, the substrate processing apparatus  1000  rotates the table  100  and rotates the polishing pad  222 , and swings the polishing pad  222  while pushing the polishing pad  222  to the substrate WF to polish the substrate WF. 
     &lt;Supporting Members&gt; 
     As illustrated in  FIG. 1  and  FIG. 2 , the substrate processing apparatus  1000  includes a first supporting member  300 A disposed on a swing path of the polishing pad  222  outside the table  100  and a second supporting member  300 B disposed on a swing path of the polishing pad  222  on a side opposite to the first supporting member  300 A between which the table  100  is interposed. The first supporting member  300 A and the second supporting member  300 B are linearly symmetrical between which the substrate WF is interposed. In view of this, the following will collectively describe the first supporting member  300 A and the second supporting member  300 B as the supporting members  300 . Although the following will give a description on the function of the supporting members  300  when the large-diameter polishing pad  222  is swung with respect to the substrate WF as an example, the same applies to the cleaning tool  232  or the small-diameter polishing pad  242 . 
     The supporting members  300  are members to support the polishing pad  222  swung to outside the table  100  by the rotation of the swing shaft  210 . That is, the substrate processing apparatus  1000  is configured to swing (overhang) the polishing pad  222  until the polishing pad  222  projects to the outside of the substrate WF in polishing the substrate WF to uniformly polish a polished surface of the substrate WF. Here, when the polishing pad  222  is overhung, due to various factors, such as an inclination of the pad holder  226 , a pressure of the polishing pad  222  concentrates on the periphery of the substrate WF, possibly failing to uniformly polish the polished surface of the substrate WF. Therefore, the substrate processing apparatus  1000  of this embodiment includes the supporting members  300  to support the polishing pad  222  overhung to the outside of the substrate WF on both sides of the table  100 . 
       FIG. 4  and  FIG. 5  are perspective views schematically illustrating a table and a supporting member according to the one embodiment.  FIG. 6  is a side view schematically illustrating the table and the supporting members according to the one embodiment. As illustrated in  FIG. 6 , the supporting members  300  (which are the first supporting member  300 A and the second supporting member  300 B) include support surfaces  301   a ,  301   b  that can support an entire polishing surface  222   a  of the polishing pad  222  in contact with the substrate WF, respectively. That is, the support surfaces  301   a ,  301   b  each have an area larger than an area of the polishing surface  222   a  of the polishing pad  222 , and therefore even when the polishing pad  222  is overhung up to completely outside the substrate WF, the support surfaces  301   a ,  301   b  support the entire polishing surface  222   a . Thus, in this embodiment, when the polishing pad  222  swings on the substrate WF, the entire polishing surface  222   a  is in contact with the substrate WF while being supported, and when the polishing pad  222  swings up to the outside of the table  100  as well, the entire polishing surface  222   a  is supported to the supporting members  300 . Accordingly, the polishing pad  222  does not protrude from the polished surface of the substrate WF or the regions of the support surfaces  301   a ,  301   b  during swinging. As illustrated in  FIG. 4  to  FIG. 6 , the substrate processing apparatus  1000  includes a driving mechanism  310  to adjust heights of the supporting members  300 . The driving mechanisms  310  can be configured by various known mechanisms, such as a motor and a ball screw, and can adjust the supporting members  300  so as to be desired heights. The substrate processing apparatus  1000  includes a driving mechanism  320  to adjust positions of the supporting members  300  in the horizontal direction, that is, positions of the supporting members  300  with respect to the substrate WF supported to the table  100 . The driving mechanism  320  can be configured by various mechanisms, such as a motor and a ball screw. 
     The driving mechanism  320  can adjust the positions of the supporting members  300  in the horizontal direction according to the diameter of the substrate WF obtained by a method described later. That is, to uniformly polish the polished surface of the substrate WF, absence of a gap between the substrate WF and the supporting members  300  is preferred. However, while the substrate WF rotates in association with the rotation of the table  100  during the polishing process of the substrate WF, the supporting members  300  do not rotate, and therefore the supporting members  300  cannot contact the outer peripheral portion of the substrate WF. Therefore, the supporting members  300  are preferably disposed at positions close to the outer peripheral portion of the substrate WF as much as possible within a range not in contact with the outer peripheral portion of the substrate WF. Here, although the process target of the substrate processing apparatus  1000  is the substrate WF having a predetermined size determined by the standard, actually, the tolerance (variation) is present in the diameter of the substrate WF. The variation in the diameter of the substrate WF differentiates optimal disposed positions of the supporting members  300 . In contrast to this, according to this embodiment, the positions of the supporting members  300  in the horizontal direction can be adjusted according to the actual diameter of the substrate WF, and therefore the supporting members  300  can be disposed at the positions close to the outer peripheral portion of the substrate WF. Consequently, according to this embodiment, the pressure concentration of the polishing pad  222  on the periphery of the substrate WF can be suppressed. Thus, even when the tolerance is present in the diameter of the substrate WF, the uniformity in the polishing of the polished surface of the substrate WF can be improved. 
     &lt;Centering Mechanisms and Measuring Instrument&gt; 
     As illustrated in  FIG. 1  and  FIG. 2 , the substrate processing apparatus  1000  includes the measuring instrument  400  to measure the diameter of the substrate WF. In this embodiment, the measuring instrument  400  includes at least the three centering mechanisms  400 A,  400 B,  400 C to push the substrate WF supported to the table  100  in the center direction of the table  100  for positioning. The centering mechanisms  400 A,  400 B,  400 C are disposed around the table  100  at appropriate intervals. The measuring instrument  400  calculates the diameter of the substrate WF based on the positioning result of the substrate WF by the centering mechanisms  400 A,  400 B,  400 C. 
     This point will be described in detail using  FIG. 7 .  FIG. 7  is a plan view schematically illustrating the centering mechanisms according to the one embodiment. As illustrated in  FIG. 7 , the centering mechanisms  400 A,  400 B,  400 C each include a shaft  410 , which is disposed around the table  100  and extends in the height direction and a centering member  420  mounted to the shaft  410  at a height position same as that of the substrate WF. The shaft  410  is movable in a direction of approaching or a direction of away from the table  100  by the driving mechanism, such as the motor (not illustrated). 
     The measuring instrument  400  calculates the diameter of the substrate WF based on movement amounts of the shafts  410  when the substrate WF is positioned. That is, when the substrate WF is installed to the table  100 , the respective centering mechanisms  400 A,  400 B,  400 C move the shafts  410  in the direction of approaching the substrate WF at the same timing. Then, the centering member closest to the substrate WF among the three centering members  420  pushes the substrate WF in the center direction of the table  100 . Afterwards, the remaining centering members  420  also sequentially push the substrate WF in the center direction of the table  100 , and as a result, the substrate WF is pushed in the center direction of the table  100  from the three directions. When the three centering members  420  equally push the substrate WF, the substrate WF is centered to the center position of the table  100  to be positioned. 
     The measuring instrument  400  includes a reference table to make the movement amounts of the shafts  410  correspond to the diameter of the substrate WF. That is, although the substrate WF has the predetermined size determined by the standard, actually, the tolerance (variation) is present in the diameter of the substrate WF. Therefore, the measuring instrument  400  preliminarily generates the reference table of a correspondence relationship between the movement amounts of the shafts  410  and the diameter of the substrate WF based on, for example, the movement amounts of the shafts  410  when the centering members  420  push the table  100  whose diameter is already known, and stores the reference table. The measuring instrument  400  derives the diameter corresponding to the movement amount of the shaft  410  when the substrate WF is positioned based on the stored reference table, thus ensuring calculating the diameter of the substrate W. 
     Next, modifications of the centering mechanisms  400 A,  400 B,  400 C will be described.  FIG. 8  is a plan view schematically illustrating centering mechanisms according to one embodiment. As illustrated in  FIG. 8 , the centering mechanisms  400 A,  400 B,  400 C each include a rotation shaft  430  extending in the height direction and a centering member  440  mounted to the rotation shaft  430 . The rotation shaft  430  is rotatable by the rotation drive mechanism, such as the motor (not illustrated). The centering member  440  is a rod-shaped member mounted to the rotation shaft  430  at a height position same as that of the substrate WF and extends to both sides of the rotation shaft  430 . The centering member  440  includes a first contact portion  440   a  that is in contact with the substrate WF when the rotation shaft  430  rotates in a first direction (for example, the clockwise direction) and a second contact portion  440   b  that is in contact with the substrate WF when the rotation shaft  430  rotates in a second direction (for example, the anticlockwise direction) opposite to the first direction. 
     The measuring instrument  400  calculates the diameter of the substrate WF based on rotation angles of the centering members  440  in the first direction or rotation angles of the centering members  440  in the second direction. That is, when the substrate WF is installed to the table  100 , the respective centering mechanisms  400 A,  400 B,  400 C rotate the rotation shafts  430  in the first direction at the same timing to push the substrate WF at the first contact portions  440   a . Then, the first contact portion  440   a  of the centering member closest to the substrate WF among the three centering members  440  pushes the substrate WF in the center direction of the table  100 . Afterwards, the first contact portions  440   a  of the remaining centering members  440  also sequentially push the substrate WF in the center direction of the table  100 , and as a result, the substrate WF is pushed in the center direction of the table  100  from the three directions. When the first contact portions  440   a  of the three centering members  440  equally push the substrate WF, the substrate WF is centered to the center position of the table  100  to be positioned. Hereinafter, the positioning of the substrate WF by rotating the rotation shafts  430  in the first direction will be referred to as “first positioning.” 
     Here, as illustrated in  FIG. 8 , a notch (cutout) NC is provided in the outer peripheral portion of the substrate WF. When any of the first contact portions  440   a  of the three centering members  440  pushes the notch NC, the positioning of the substrate WF is displaced from the center of the table  100  and the diameter of the substrate WF is not correctly calculated. Therefore, in this embodiment, after the first positioning is performed, the rotation shafts  430  are rotated in the second direction and the substrate WF is pushed with the second contact portions  440   b  to center the substrate WF at the center position of the table  100 , thus ensuring the positioning. Hereinafter, the positioning of the substrate WF by rotating the rotation shafts  430  in the second direction will be referred to as “second positioning.” 
     When any of the second contact portions  440   b  pushes the notch NC in the substrate WF in the second positioning, the positioning of the substrate WF is displaced. Accordingly, performing the first positioning again allows centering the substrate WF at the center position of the table  100 . This is because anyone of the first contact portion  440   a  and the second contact portion  440   b  possibly pushes the notch NC, but there is no possibility that both push the notch NC. According to this embodiment, even when the notch NC is present in the outer peripheral portion of the substrate WF, the substrate WF can be reliably positioned at the center position of the table  100 . 
     The measuring instrument  400  has the reference table to make the rotation angles in the first direction and the rotation angles in the second direction of the rotation shafts  430  correspond to the diameter of the substrate WF. That is, although the substrate WF has the predetermined size determined by the standard, actually, the tolerance (variation) is present in the diameter of the substrate WF. Therefore, the measuring instrument  400  preliminarily creates the reference table of the correspondence relation between the rotation angles of the rotation shafts  430  and the diameter of the substrate WF based on, for example, the rotation angles in the first direction and the rotation angles in the second direction of the rotation shafts  430  when the first contact portions  440   a  and the second contact portions  440   b  push the table  100  whose diameter is already-known, and stores the reference table. The measuring instrument  400  derives a diameter corresponding to the rotation angles in the first direction and the rotation angles in the second direction of the rotation shafts  430  when the substrate WF is positioned based on the stored reference table, thus ensuring calculating the diameter of the substrate WF. 
     Specifically, the measuring instrument  400  calculates the diameter (first diameter) of the substrate WF based on the reference table of the rotation angles in the first direction of the rotation shafts  430  when the first positioning is performed. Afterwards, the measuring instrument  400  calculates the diameter (second diameter) of the substrate WF based on the reference table of the rotation angles in the second direction of the rotation shafts  430  when the second positioning is performed. The measuring instrument  400  compares the first diameter and the second diameter. In a case where both are equal, it is considered that the notch NC in the substrate WF is not pushed whichever one of the first positioning and the second positioning is performed, and therefore the measuring instrument  400  outputs any of the first diameter or the second diameter as the diameter of the substrate WF. Meanwhile, in a case where the second diameter is greater than the first diameter, it is considered that the notch NC in the substrate WF is pushed when the first positioning is performed, and therefore the measuring instrument  400  outputs the second diameter as the diameter of the substrate WF. Meanwhile, when the first diameter is greater than the second diameter, it is considered that the notch NC in the substrate WF is pushed when the second positioning is performed, the measuring instrument  400  performs the first positioning again and outputs the first diameter as the diameter of the substrate WF. Thus, the measuring instrument  400  can calculate the diameter of the substrate WF using the rotation angles when the notch NC is not pushed among the rotation angles in the first direction and the rotation angles in the second direction of the rotation shafts  430 . 
     The above-described embodiments describe the example in which the measuring instrument  400  includes the centering mechanisms  400 A,  400 B,  400 C, but the configuration is not limited to this. The measuring instrument  400  may include the above-described imaging member (camera)  252 .  FIG. 9  is a side view schematically illustrating a measuring instrument according to one embodiment. As illustrated in  FIG. 2  and  FIG. 9 , the imaging member  252  is disposed at a position where an image of the outer peripheral portion of the substrate WF can be obtained. The imaging member  252  can obtain the image of the outer peripheral portion of the substrate WF and calculate the diameter of the substrate WF from a curvature of the outer peripheral portion of the substrate WF in the obtained image. 
     &lt;Dresser&gt; 
     As illustrated in  FIG. 1  and  FIG. 2 , the dresser  500  is disposed on turning passages of the polishing pads  222 ,  242  by the rotation of the swing shaft  210 . Diamond particles or the like are firmly electrodeposited on the surface of the dresser  500 . The dresser  500  is a member to dress the polishing pads  222 ,  242 . The dresser  500  is rotated by the rotation drive mechanism, such as the motor (not illustrated). Pure water can be supplied to the surface of the dresser  500  from a nozzle (not illustrated). The substrate processing apparatus  1000  rotates the dresser  500  while supplying pure water from the nozzle to the dresser  500 , rotates the polishing pads  222 ,  242 , and swings the polishing pads  222 ,  242  with respect to the dresser  500  while pushing the polishing pads  222 ,  242  to the dresser  500 . Thus, the dresser  500  scrapes off the polishing pads  222 ,  242  to dress polishing surfaces of the polishing pads  222 ,  242 . 
     &lt;End Point Detector&gt; 
     As illustrated in  FIG. 1  and  FIG. 2 , the end point detector  600  is disposed adjacent to the table  100 . The end point detector  600  can be configured by various sensors, such as an eddy current sensor or an optical sensor. The end point detector  600  is mounted to a swing arm  620 , and the swing arm  620  is mounted to a rotation shaft  610  extending in the height direction. The rotation shaft  610  is rotatable by the rotation drive mechanism, such as the motor (not illustrated). The end point detector  600  can swing from the center to the outer periphery of the substrate WF during the polishing of the substrate WF by the rotation of the rotation shaft  610 , thus ensuring detecting an ending point of the polishing of the substrate WF. 
     &lt;Cleaning Nozzle&gt; 
     As illustrated in  FIG. 1  and  FIG. 2 , cleaning nozzles  700 A,  700 B are disposed adjacent to the table  100 . The cleaning nozzle  700 A supplies a cleaning liquid, such as pure water, to a clearance between the table  100  and the supporting member  300 A. This allows washing away polishing scraping or the like that has entered between the table  100  and the supporting member  300 A. The cleaning nozzle  700 B supplies a cleaning liquid, such as pure water, to a clearance between the table  100  and the supporting member  300 B. This allows washing away polishing scraping or the like that has entered between the table  100  and the supporting member  300 B. 
     &lt;Flowchart&gt; 
     Next, a procedure for a substrate processing method including the adjustment of the horizontal positions of the supporting members  300  according to this embodiment.  FIG. 10  is a flowchart depicting the substrate processing method according to one embodiment. As illustrated in  FIG. 10 , the substrate processing method first installs the substrate WF to the table  100  (installing step  110 ). Subsequently, the substrate processing method measures the diameter of the substrate WF (measuring step  120 ). Details of the measuring step  120  will be described later. 
     Subsequently, the substrate processing method adjusts the positions of the supporting members  300  with respect to the substrate WF installed to the table  100  according to the diameter of the substrate WF measured by the measuring step  120  (adjusting step  130 ). Specifically, the adjusting step  130  disposes the supporting members  300  at the closest positions within a range not in contact with the outer peripheral portion of the substrate WF based on the diameter of the substrate WF measured by the measuring step  120 . 
     Subsequently, the substrate processing method pushes the polishing pad  222  to the substrate WF while rotating the polishing pad  222  to swing the polishing pad  222  (swinging step  140 ). According to this embodiment, the positions of the supporting members  300  in the horizontal direction can be adjusted according to the measured actual diameter of the substrate WF, and therefore the supporting members  300  can be disposed at the positions close to the outer peripheral portion of the substrate WF. As a result, according to this embodiment, even when the tolerance is present in the diameter of the substrate WF, the uniformity in the polishing of the polished surface of the substrate WF can be improved. 
       FIG. 11  is a flowchart for describing the details of the measuring step. As illustrated in  FIG. 11 , in the measuring step  120 , the substrate processing method positions the substrate WF using the centering mechanisms  400 A,  400 B,  400 C (positioning step  122 ). The positioning of the substrate WF using the centering mechanisms  400 A,  400 B,  400 C may be positioning of the substrate WF using the centering members  420  as described above or may be positioning of the substrate WF using the centering members  440 . Subsequently, the substrate processing method performs vacuum suction on the substrate WF to the support surface  100   a  of the table  100  via the plurality of holes  102  in a state where the positioning of the substrate WF in the positioning step  122  is completed to surely fix the substrate WF (vacuum suction step  123 ). Note that the vacuum suction step  123  is performed immediately after the positioning step  122  in this embodiment, but the order is not limited to this, and the vacuum suction step  123  can be performed until before the polishing of the substrate WF in the swinging step  140 . 
     Subsequently, the substrate processing method calculates the diameter of the substrate WF based on the positioning result of the substrate WF in the positioning step  122  (calculating step  124 ). Specifically, as described above, the calculating step  124  may calculate the diameter of the substrate WF based on the positioning result when the positioning is performed on the substrate WF using the centering members  420  or may calculate the diameter of the substrate WF based on the positioning result when the positioning is performed on the substrate WF using the centering members  440 . While this embodiment describes the example of calculating the diameter of the substrate WF based on the positioning result of the substrate WF, but the method is not limited to this. The diameter of the substrate WF may be calculated using the imaging member (camera)  252  or the diameter of the substrate WF may be measured before the installation of the table  100  by another method. 
     In the foregoing, several embodiments of the present invention have been described above in order to facilitate understanding of the present invention without limiting the present invention. The present invention can be changed or improved without departing from the gist thereof, and of course, the equivalents of the present invention are included in the present invention. It is possible to arbitrarily combine or omit respective components described in the claims and specification in a range in which at least a part of the above described problems can be solved, or a range in which at least a part of the effects can be exhibited. 
     This application discloses a substrate processing apparatus as one embodiment that includes a table, a pad holder, a swing mechanism, a supporting member, a measuring instrument, and a driving mechanism. The table supports a substrate. The pad holder holds a polishing pad. The polishing pad polishes the substrate supported to the table. The swing mechanism swings the pad holder. The supporting member supports the polishing pad swung to outside the table by the swing mechanism. The measuring instrument is configured to measure a diameter of the substrate. The driving mechanism adjusts a position of the supporting member with respect to the substrate supported to the table according to the diameter of the substrate measured by the measuring instrument. 
     This application further discloses the following substrate processing apparatus as one embodiment. The supporting member includes a first supporting member and a second supporting member. The first supporting member is disposed on a swing path of the polishing pad outside the table. The second supporting member is disposed on a swing path of the polishing pad on a side opposite to the first supporting member between which the table is interposed. 
     This application further discloses the following substrate processing apparatus as one embodiment. The first supporting member and the second supporting member each have a support surface. The support surfaces are configured to support an entire polishing surface of the polishing pad in contact with the substrate. 
     This application further discloses the following substrate processing apparatus as one embodiment. The measuring instrument includes an imaging member. The imaging member is configured to obtain an image of an outer peripheral portion of the substrate supported to the table. The measuring instrument is configured to calculate the diameter of the substrate based on the image obtained by the imaging member. 
     This application further discloses the following substrate processing apparatus as one embodiment. The measuring instrument includes at least three centering mechanisms. The at least three centering mechanisms push the substrate supported to the table in a center direction of the table for positioning. The measuring instrument is configured to calculate the diameter of the substrate based on a positioning result of the substrate with the centering mechanisms. 
     This application further discloses the following substrate processing apparatus as one embodiment. The at least three centering mechanisms each include a shaft and a centering member. The shafts are disposed around the table and movable in a direction of approaching the table and a direction of away from the table. The centering members are mounted to the shafts. The measuring instrument is configured to calculate the diameter of the substrate based on movement amounts of the shafts when the substrate is positioned. 
     This application further discloses the following substrate processing apparatus as one embodiment. The at least three centering mechanisms each include a rotation shaft and a centering member. The rotation shafts are disposed around the table. The centering members are mounted to the rotation shafts. The centering member includes a first contact portions and a second contact portion. The first contact portions contact the substrate when the rotation shafts rotate in a first direction. The second contact portions contact the substrate when the rotation shafts rotate in a second direction opposite to the first direction. 
     This application further discloses the following substrate processing apparatus as one embodiment. The measuring instrument is configured to calculate the diameter of the substrate based on rotation angles in the first direction of the rotation shafts or rotation angles in the second direction of the rotation shafts when the substrate is positioned. 
     This application further discloses the following substrate processing apparatus as one embodiment. The swing mechanism includes an arm, a swing shaft, and a rotation drive mechanism. The arm holds the pad holder. The swing shaft supports the arm. The rotation drive mechanism rotatably drives the swing shaft. The arm includes a first arm, a second arm, a third arm, and a fourth arm. The first arm holds the polishing pad. The second arm holds a cleaning tool. The third arm holds a polishing pad different from the polishing pad in diameter. The fourth arm holds the imaging member. The first, the second, the third, and the fourth arms are each radially arranged around the swing shaft. 
     This application further discloses the following substrate processing apparatus as one embodiment. The second arm further holds atomizers disposed on both sides of the cleaning tool together with the cleaning tool. 
     This application further discloses a substrate processing method as one embodiment that includes an installing step of installing a substrate to a table; a measuring step of measuring a diameter of the substrate; a swinging step of swinging a polishing pad that polishes the substrate installed to the table; and an adjusting step of adjusting a position of a supporting member that supports the polishing pad swung to outside the table by the swinging step with respect to the substrate installed to the table according to the diameter of the substrate measured by the measuring step. 
     This application further discloses the following method as one embodiment. The measuring step includes: a positioning step of pushing the substrate installed to the table in a center direction of the table using at least three centering mechanisms disposed around the table to position the substrate; and a calculating step of calculating the diameter of the substrate based on a positioning result of the substrate in the positioning step. 
     REFERENCE SIGNS LIST 
     
         
         
           
               100  . . . table 
               200  . . . multi-axis arm 
               210  . . . swing shaft 
               212  . . . rotation drive mechanism 
               220  . . . first arm 
               222  . . . polishing pad 
               222   a  . . . polishing surface 
               226  . . . pad holder 
               230  . . . second arm 
               232  . . . cleaning tool 
               238  . . . atomizer 
               240  . . . third arm 
               242  . . . polishing pad 
               246  . . . pad holder 
               250  . . . fourth arm 
               252  . . . imaging member (camera) 
               300  . . . supporting member 
               300 A . . . first supporting member 
               300 B . . . second supporting member 
               301   a  . . . support surface 
               301   b  . . . support surface 
               320  . . . driving mechanism 
               400  . . . measuring instrument 
               400 A,  400 B,  400 C . . . centering mechanism 
               410  . . . shaft 
               420  . . . centering member 
               430  . . . rotation shaft 
               440  . . . centering member 
               440   a  . . . first contact portion 
               440   b  . . . second contact portion 
               1000  . . . substrate processing apparatus 
             WF . . . substrate