Patent Publication Number: US-2012034570-A1

Title: Substrate processing apparatus and method of manufacturing semiconductor device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of Japanese Patent Application No. 2010-175345 filed on Aug. 4, 2010, and No. 2011-130994 filed on Jun. 13, 2011, the disclosures of which are incorporated herein by reference. 
     FIELD OF THE INVENTION 
     The present invention relates to a substrate processing apparatus capable of effectively transferring a plurality of substrates when the plurality of substrates are continuously processed, and a method of manufacturing a semiconductor device. 
     DESCRIPTION OF THE RELATED ART 
     For example, in a substrate processing apparatus such as a semiconductor manufacturing apparatus configured to perform a predetermined treatment on a semiconductor substrate, a plurality of process chambers are installed, and a substrate is subjected to film-forming treatment or heat treatment in each process chamber. Also, a substrate is transferred between the process chambers under a vacuum state, that is, a negative pressure, using a transfer robot. 
     PRIOR-ART DOCUMENT 
     Patent Document 
     
         
         1. Japanese Patent Laid-open Publication No.: 2010-153453 
       
    
     SUMMARY OF THE INVENTION 
     In a process of manufacturing a semiconductor device executed in the substrate processing apparatus, many processes of processing a substrate at a high temperature are performed in a process chamber, and a transfer robot installed in the transfer chamber and configured to transfer the substrate receives thermal radiation from the processed substrate. Heat transfer between objects spaced apart under a negative pressure is predominantly performed by the thermal radiation. Therefore, as thermal absorptivity (corresponding to thermal emissivity) in surfaces of the objects is increased, a radiant heat is easily absorbed. An arm installed at the transfer robot to support the substrate is made of a material such as, for example, aluminum (Al), and is used after a surface of the arm is subjected to alumite treatment (anodic oxidation treatment of aluminum). A surface of the alumite is known to have a thermal absorptivity of approximately 0.7 to 0.9, and the transfer robot treated with the alumite is highly apt to absorb heat. Also, since the arm of the transfer robot is installed under a vacuum (negative-pressure) environment, and heat may not be easily radiated because the arm does not come into contact with other devices. Therefore, the absorbed heat is accumulated in the arm. 
     Also, as throughput required for the substrate processing apparatus is increased every year, a cycle of introducing the transfer robot into the process chamber in which a high-temperature substrate placing stage is installed, or a cycle of transferring a high-temperature substrate, is shortened. Accordingly, since a quantity of heat applied to the transfer robot is increased, the arm of the transfer robot is increased in temperature. Under an environment in which a pressure in the transfer chamber is 100 Pa, when 50 substrates heated to 700° C. are transferred per hour using the alumite-treated transfer robot, a temperature of the arm of the transfer robot may be increased to 120° C. or higher. As a result, it can be seen that drive parts configured to operate the transfer robot may be degraded, thereby deteriorating reliability or lifespan of the transfer robot. Also, it can be seen that, since the transfer robot is rapidly cooled while the substrate is transferred from the high-temperature process chamber to the low-temperature transfer chamber, parts constituting the transfer robot may be easily degraded. 
     The present invention is designed in consideration of such conventional circumstances, and an object of the present invention is to enhance a resistance of the transfer robot to environments such as high temperature, and suppress an increase in temperature of the transfer robot by manufacturing the transfer robot having a structure which may not easily absorb heat. 
     According to one embodiment of the present invention, there is provided a substrate processing apparatus including: a transfer chamber having a substrate transferred thereinto under a negative pressure; a process chamber connected to the transfer chamber and configured to heat the substrate; a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber; and a cooling unit configured to cool an inner wall of the transfer chamber. 
     According to another embodiment of the present invention, there is provided a method of manufacturing a semiconductor device, including: (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer chamber having a substrate transferred thereinto under a negative pressure; (b) heating the substrate in the process chamber; and (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, wherein, at least in step (c), the substrate is unloaded while an inner wall of the transfer chamber is cooled by a cooling unit. 
     A substrate processing apparatus and a method of manufacturing a semiconductor device according the present invention can suppress an increase in temperature of a transfer robot and improve manufacturing throughput of a substrate processing apparatus. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a longitudinal cross-sectional view illustrating a configuration example of a substrate processing apparatus according to one embodiment of the present invention. 
         FIG. 2  is a vertical cross-sectional view illustrating a configuration example of the substrate processing apparatus according to one embodiment of the present invention. 
         FIG. 3  is a diagram illustrating a configuration example of a process chamber and surroundings of the process chamber according to one embodiment of the present invention. 
         FIG. 4  is a diagram illustrating a configuration example of a vacuum transfer robot according to one embodiment of the present invention. 
         FIG. 5  is a diagram illustrating measurement results of each part of a vacuum transfer robot according to a first example of the present invention. 
         FIG. 6  is a diagram illustrating dependence of a mean temperature of each part of a vacuum transfer robot according to a second example of the present invention on a number of substrates processed per hour. 
         FIG. 7  is a diagram illustrating dependence of a mean temperature of each part of a vacuum transfer robot according to a third example of the present invention on a number of substrates processed per hour. 
         FIG. 8  is a diagram illustrating a configuration example of a refrigerant channel provided with a vacuum transfer chamber according to one embodiment of the present invention. Here,  FIG. 8(   a ) is a longitudinal cross-sectional view of the vacuum transfer chamber, and  FIG. 8(   b ) is a vertical cross-sectional view of the vacuum transfer chamber. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     (1) Configuration of Substrate Processing Apparatus 
     An overall configuration of the substrate processing apparatus according to one embodiment of the present invention will be described with reference to  FIGS. 1 ,  2  and  8 .  FIG. 1  is a longitudinal cross-sectional view illustrating a configuration example of a substrate processing apparatus according to this embodiment.  FIG. 2  is a vertical cross-sectional view illustrating a configuration example of the substrate processing apparatus according to this embodiment.  FIG. 8  is a diagram illustrating a configuration example of a refrigerant channel provided with a vacuum transfer chamber according to this embodiment. Here,  FIG. 8(   a ) is a longitudinal cross-sectional view of the vacuum transfer chamber, and  FIG. 8(   b ) is a vertical cross-sectional view of the vacuum transfer chamber. 
     In  FIGS. 1 and 2 , in the substrate processing apparatus according to the present invention, a pod formed as a front opening unified pod (FOUP) is used as a carrier configured to transfer a substrate  200  such as a silicon (Si) substrate. A plurality of unprocessed or processed substrates  200  are configured to be stored respectively in a pod  100  in a horizontal posture. Also, in the following description, all front, rear, left and right sides are represented such that an X 1  direction represents a right side, an X 2  direction represents a left side, a Y 1  direction represents a front side, and a Y 2  direction represents a rear side. 
     (Vacuum Transfer Chamber) 
     As shown in  FIGS. 1 and 2 , the substrate processing apparatus includes a vacuum transfer chamber  103  (a transfer module) serving as a transfer chamber becoming a transfer space into which a substrate  200  is transferred under a negative pressure. A casing  101  constituting the vacuum transfer chamber  103  is formed in a hexagonal shape when viewed from a plane, and preparatory chambers  122  and  123  and process chambers  201   a  through  201   d  to be described later are connected to hexagonal sides via gate valves  160 ,  165  and  161   a  through  161   d , respectively. A vacuum transfer robot  112  serving as a transfer robot configured to carry (transfer) the substrate  200  under a negative pressure is installed at a substantially central portion of the vacuum transfer chamber  103  using a flange  115  as a base. 
     As shown in  FIG. 8(   b ), the casing  101  is formed in a box shape with its lower end closed and its upper end covered with a vacuum transfer chamber lid  101   r  via an O-ring  101   t  serving as an encapsulation member (a vacuum seal), and configured in a structure which can endure a pressure (negative pressure) less than an atmospheric pressure such as a vacuum condition. Also, walls such as side surfaces surrounding the vacuum transfer chamber  103  or top and bottom surfaces are, for example, made of aluminum. A surface of an inner wall of the vacuum transfer chamber  103  is, for example, subjected to anodic oxidation treatment of aluminum, known as alumite treatment. An aluminum-anodized film is formed, and the surface of the inner wall having a concavo-convex shape has a thermal absorptivity (corresponding to thermal emissivity) of, for example, 0.7 to 0.99, and serves as a heat-absorbing surface which may easily absorb heat. 
     Here, the thermal absorptivity indicates a value in which an energy content radiated from a surface of an object having a predetermined temperature is expressed at a ratio when an energy content radiated from a surface of a black body at the same temperature is set to 1.0. An object that may easily absorb heat may easily emit heat. According to Kirchhoff&#39;s law, the thermal absorptivity is identical to the thermal emissivity. In this application, a surface having high thermal absorptivity, that is, a surface that may easily absorb and emit heat, is referred to as a heat-absorbing surface or a heat-emitting surface, and a surface having low thermal absorptivity, that is, a surface that may not easily absorb heat but easily reflect the heat, is referred to as a heat-reflecting surface. 
     As described above, since substantially an entire wall of the vacuum transfer chamber  103  is, for example, made of an aluminum material, the vacuum transfer chamber  103  has an increased area to form an aluminum-anodized film. Therefore, the aluminum-anodized film may be, for example, formed over substantially an entire surface of the inner wall. Since the aluminum-anodized film has a surface formed in a concavo-convex shape therein, a vacuum suction efficiency may be lowered, or gas discharge (degassing) may occur in a chemical vapor deposition (CVD) process using an organic source, but resistance to a corrosive gas may, for example, be increased. Therefore, the aluminum-anodized film is preferably used in an etching process using the corrosive gas, and in also used substrate processing processes such as oxidation, nitridation, and acid nitridation. 
     Also, a refrigerant channel  101   f  through which a refrigerant such as cooling water flows is, for example, formed in the wall of the vacuum transfer chamber  103 , and configured to be able to cool the inner wall of the vacuum transfer chamber  103 . As shown in  FIG. 8(   a ), the refrigerant channel  101   f  is installed in a bottom wall of the vacuum transfer chamber  103  to surround the base flange  115  of the vacuum transfer robot  112 . At least one channel port  101   m  through which a refrigerant such as cooling water is injected or discharged is installed at an outer bottom wall of the vacuum transfer chamber  103 . The channel port  101   m  is covered with a channel cover  101   c  via an O-ring  101   b  serving as an encapsulation member (a refrigerant seal). Also, when cooling water is used as the refrigerant, an inner wall of the refrigerant channel  101   f  is preferably treated with alumite so as to suppress corrosion, for example, electrochemical corrosion, of an inside of the refrigerant channel  101   f.    
     Also, a chiller unit (not shown) and the like are connected to the refrigerant channel  101   f  to control a temperature of a liquid and circulate the cooling water. Therefore, the inner wall of the vacuum transfer chamber  103  may be cooled while the cooling water is circulated in the chiller unit in a state where the cooling water is maintained at a substantially constant temperature. 
     In general, a cooling unit according to this embodiment includes the refrigerant channel  101   f , the channel port  101   m , the channel cover  101   c , the O-ring  101   b  and the chiller unit. 
     As described above, as high throughput of the substrate processing apparatus is made, the heat-treated substrate  200  may be transferred into the vacuum transfer chamber  103  in a state where the heat-treated substrate  200  is maintained at a high temperature. Even in this circumstance, the inner wall of the vacuum transfer chamber  103  treated with alumite and having high thermal absorptivity absorbs radiant heat from the substrate  200 , so that the radiant heat received by the vacuum transfer robot  112  may be lowered. 
     Also, since the absorbed heat may be, for example, removed by circulating cooling water in the refrigerant channel  101   f , an increase in temperature of the inner wall of the vacuum transfer chamber  103  may be suppressed. Since substantially an entire wall of the vacuum transfer chamber  103  is, for example, made of an aluminum material having high thermal conductivity, the vacuum transfer chamber  103  has high cooling efficiency. Accordingly, when the inner wall of the vacuum transfer chamber  103  is in a high-temperature state, heat may be prevented from being inversely emitted to the substrate  200  or the vacuum transfer robot  112 . Also, when the inner wall of the vacuum transfer chamber  103  is excessively increased in temperature, the alumite may be peeled off due to a difference in thermal expansion between the alumite and a parent aluminum material. Such peeling of the alumite may be suppressed by cooling the inner wall of the vacuum transfer chamber  103 . 
     In addition, arms  303  and  304  (see  FIG. 4 ) having the vacuum transfer robot  112 , as will be described later, vertically operate with respect to a bottom surface of the vacuum transfer chamber  103 . In this case, since the refrigerant channel  101   f  is installed at least at the bottom surface of the vacuum transfer chamber  103 , an influence of the radiant heat on the arms  303  and  304  may be effectively lowered. 
     The vacuum transfer robot  112  installed in the vacuum transfer chamber  103  is configured to move up and down while maintaining airtightness of the vacuum transfer chamber  103  using an elevator  116  and the flange  115 , as shown in  FIG. 2 . A detailed configuration of the vacuum transfer robot  112  will be described below. 
     (Preparatory Chamber) 
     The preparatory chamber  122  (a load lock module) for loading and the preparatory chamber  123  (a load lock module) for unloading are coupled to two sidewalls, which are positioned in front of the six sidewalls of the casing  101 , via the gate valves  160  and  165 , respectively, and configured in a structure which can endure a negative pressure. 
     Further, the substrate placing stage  150  for loading is installed in the preparatory chamber  122 , and the substrate placing stage  151  for unloading is installed in the preparatory chamber  123 . 
     (Atmospheric Transfer Chamber/IO Stage) 
     An atmospheric transfer chamber  121  (a front end module) is coupled to front sides of the preparatory chamber  122  and the preparatory chamber  123  via gate valves  128  and  129 . The atmospheric transfer chamber  121  is used under a substantially atmospheric pressure. 
     An atmospheric transfer robot  124  configured to carry the substrate  200  is installed in the atmospheric transfer chamber  121 . As shown in  FIG. 2 , the atmospheric transfer robot  124  is configured to move up and down by means of an elevator  126  installed at the atmospheric transfer chamber  121 , and also configured to reciprocate in a horizontal direction by means of a linear actuator  132 . 
     As shown in  FIG. 2 , a cleaning unit  118  configured to supply clean air is installed above the atmospheric transfer chamber  121 . As shown in  FIG. 1 , a device  106  (hereinafter referred to as a “pre-aligner”) configured to adjust a notch or orientation flat formed as the substrate  200  is also installed at a left side of the atmospheric transfer chamber  121 . 
     As shown in  FIGS. 1 and 2 , a substrate loading/unloading port  134  configured to load and unload the substrate  200  with respect to the atmospheric transfer chamber  121 , and a pod opener  108  are installed in front of the casing  125  of the atmospheric transfer chamber  121 . An  10  stage  105  (a load port) is installed opposite to the pod opener  108  with respect to the substrate loading/unloading port  134 , that is, installed outside the casing  125 . 
     The pod opener  108  includes a closure  142  capable of opening/closing a cap  100   a  of the pod  100  and simultaneously closing the substrate loading/unloading port  134 , and a drive mechanism  109  configured to drive the closure  142 . The pod opener  108  opens/closes the cap  100   a  of the pod  100  placed on the IO stage  105 , and charges/discharges the substrate  200  with respect to the pod  100  by opening and closing a substrate entrance. The pod  100  is supplied and discharged with respect to the IO stage  105  by means of an in-process transfer device (RGV, not shown). 
     (Process Chamber) 
     As shown in  FIG. 1 , a second process chamber  201   b  (a process module) and a third process chamber  201   c  (a process module), both of which are configured to perform a desired treatment on the substrate  200 , are adjacent and coupled to two sidewalls, which are positioned at a central rear side (back side) of the six sidewalls of the casing  101 , via gate valves  161   b  and  161   c , respectively. Both the second process chamber  201   b  and the third process chamber  201   c  are composed of cold-wall process containers  203   b  and  203   c.    
     A first process chamber  201   a  (a process module) and a fourth process chamber  201   d  (a process module) are coupled to the other two opposite sidewalls among the six sidewalls of the casing  101  via gate valves  161   a  and  161   d , respectively. Both the first process chamber  201   a  and the fourth process chamber  201   d  are also composed of cold-wall process containers  203   a  and  203   d . The respective process chambers  201   a  through  201   d  will be described in detail below. 
     (Control Unit) 
     As shown in  FIGS. 1 and 2 , a controller  281  serving as a control unit is, for example, electrically connected to the vacuum transfer robot  112  through a signal line A, to the atmospheric transfer robot  124  through a signal line B, to the gate valves  160 ,  161   a ,  161   b ,  161   c ,  161   d ,  165 ,  128  and  129  through a signal line C, to the pod opener  108  through a signal line D, to the pre-aligner  106  through a signal line E, and to the cleaning unit  118  through a signal line F, so that the controller  281  controls operations of these parts constituting the substrate processing apparatus. 
     (2) Configuration of Process Chamber 
     Next, a configuration and operation of the process chamber  201   a  according to one embodiment of the present invention will be described with reference to  FIG. 3 . 
       FIG. 3  is a cross-sectional view of an MMT device including a process chamber  201   a  among process chambers  201   a  through  201   d , each of which has the same configuration. The MMT device is configured to process the substrate  200  such as, for example, a silicon substrate using a modified magnetron typed plasma source from which high-density plasma is generated by means of an electric field and a magnetic field. Hereinafter, a configuration example of the process chamber  201   a  and surroundings thereof will be described, but the other process chambers  201   b  through  201   d  may have the same configuration. 
     The MMT device includes a process furnace  202  configured to plasma-process the substrate  200 . Also, the process furnace  202  includes a process container  203   a  constituting the process chamber  201   a , a susceptor  217 , a gate valve  161   a , a shower head  236 , a gas exhaust port  235 , a first electrode  215  serving as a cylindrical electrode, an upper magnet  216   a , a lower magnet  216   b  and a controller  281 . 
     (Process Chamber) 
     The process container  203   a  constituting the process chamber  201   a  includes a dome-like upper container  210  serving as a first container and a bowl-shaped lower container  211  serving as a second container. Then, the process chamber  201   a  is formed by covering the lower container  211  with the upper container  210 . The upper container  210  is, for example, made of a non-metallic material such as aluminum oxide (Al 2 O 3 ) or quartz (SiO 2 ), and the lower container  211  is, for example, made of aluminum (Al). 
     The gate valve  161   a  serving as an opening/closing valve is installed at a sidewall of the lower container  211 . When the gate valve  161   a  is kept open, the substrate  200  may be loaded into the process chamber  201   a  using the above-described vacuum transfer robot  112 , or the substrate  200  may be unloaded from the process chamber  201   a . An inside of the process chamber  201   a  may be airtightly closed by closing the gate valve  161   a.    
     (Substrate Support) 
     The susceptor  217  serving as a substrate placing stage configured to support the substrate  200  is arranged at a lower center of an inside of the process chamber  201   a . The susceptor  217  is, for example, made of a non-metallic material such as aluminum nitride (AlN), ceramic or quartz to reduce metal contamination in a film formed on the substrate  200 . 
     A resistance heater  217   b  serving as a heating mechanism may be integrally buried in the susceptor  217  to heat the substrate  200 . When electric power is supplied to the resistance heater  217   b , a surface of the substrate  200 , for example, is at room temperature or higher, and may be preferably heated to approximately 200° C. to 700° C., or approximately 750° C. 
     The susceptor  217  is electrically insulated from the lower container  211 . An inside of the susceptor  217  is equipped with a second electrode  217   c  serving as an electrode configured to change impedance. The second electrode  217   c  is earthed via an impedance variable mechanism  274 . The impedance variable mechanism  274  includes a coil or a variable condenser. Electric potential of the substrate  200  may be controlled via the second electrode  217   c  and the susceptor  217  by controlling a pattern number of the coil or a capacity value of the variable condenser. 
     A susceptor elevating mechanism  268  configured to elevate the susceptor  217  is installed at the susceptor  217 . A through-hole  217   a  is installed at the susceptor  217 . At least three substrate elevation pins  266  configured to elevate the substrate  200  are installed at a bottom surface of the above-described lower container  211 . Then, the through-hole  217   a  and the substrate elevation pins  266  are arranged so that the substrate elevation pin  266  can pass through the through-hole  217   a  with no contact with the susceptor  217  when the susceptor  217  moves down by the susceptor elevating mechanism  268 . 
     In general, a substrate support according to this embodiment is composed of the susceptor  217  and the resistance heater  217   b.    
     (Lamp Heating Device) 
     A light-transmissible window  278  is disposed at an upper surface of the process container  203   a . A lamp heating device  280  (a lamp heater) serving as a substrate heater which is a light source that emits infrared light is installed outside the process container  203   a  corresponding to the light-transmissible window  278 . The lamp heating device  280  is configured to be able to heat the substrate  200  to a temperature greater than 700° C. In the case of the above-described resistance heater  217   b  whose upper limit temperature is, for example, set to approximately 700° C., the lamp heating device  280  is used as an auxiliary heater when the substrate  200  is heat-treated at a temperature greater than 700° C. 
     (Gas Supply Unit) 
     The shower head  236  configured to supply a process gas such as a reactive gas into the process chamber  201   a  is installed above the process chamber  201   a . The shower head  236  includes a cap-shaped lid  233 , a gas introduction port  234 , a buffer chamber  237 , an opening  238 , a shielding plate  240  (a shower plate) and a gas discharge port  239 . 
     A downstream end of the gas supply pipe  232  configured to supply the process gas into the buffer chamber  237  is connected to the gas introduction port  234  via an O-ring  213   b  serving as an encapsulation member and a valve  243   a  serving as an opening/closing valve. The buffer chamber  237  functions as a dispersion space configured to disperse a gas introduced through the gas introduction port  234 . 
     A downstream end of a nitrogen gas supply pipe  232   a  configured to supply nitrogen (N 2 ) gas as a nitrogen atom-containing gas, a downstream end of a hydrogen gas supply pipe  232   b  configured to supply hydrogen (H 2 ) gas as a hydrogen atom-containing gas, and a downstream end of a rare gas supply pipe  232   c  configured to supply a rare gas as a dilute gas such as, for example, helium (He) gas or argon (Ar) gas are connected to an upstream side of the gas supply pipe  232  so that the nitrogen gas supply pipe  232   a , the hydrogen gas supply pipe  232   b  and the rare gas supply pipe  232   c  can join the gas supply pipe  232 . 
     A nitrogen gas cylinder  250   a , a mass flow controller  251   a  serving as a flow rate control device and a valve  252   a  serving as an opening/closing valve are connected to the nitrogen gas supply pipe  232   a  in a sequential order from an upstream side thereof. A hydrogen gas cylinder  250   b , a mass flow controller  251   b  serving as a flow rate control device and a valve  252   b  serving as an opening/closing valve are connected to the hydrogen gas supply pipe  232   b  in a sequential order from an upstream side thereof. A rare gas cylinder  250   c , a mass flow controller  251   c  serving as a flow rate control device and a valve  252   c  serving as an opening/closing valve are connected to the rare gas supply pipe  232   c  in a sequential order from an upstream side thereof. 
     The gas supply pipe  232 , the nitrogen gas supply pipe  232   a , the hydrogen gas supply pipe  232   b  and the rare gas supply pipe  232   c  are, for example, made of a non-metallic material such as quartz or aluminum oxide and a metal material such as stainless steel (SUS). A flow rate is controlled by the mass flow controllers  251   a  through  251   c  by opening/closing the valves  252   a  through  252   c  installed in each gas supply pipe, and thus the gas supply pipes are configured to be able to freely supply N 2  gas, H 2  gas and a rare gas into the process chamber  201   a  via the buffer chamber  237 . 
     In general, a gas supply unit according to this embodiment includes the gas supply pipe  232 , the nitrogen gas supply pipe  232   a , the hydrogen gas supply pipe  232   b , the rare gas supply pipe  232   c , the nitrogen gas cylinder  250   a , the hydrogen gas cylinder  250   b , the rare gas cylinder  250   c , the mass flow controllers  251   a  through  251   c  and the valves  252   a  through  252   c.    
     Here, an example where a gas cylinder for N 2  gas, H 2  gas or a rare gas is provided has been described, but the present invention is not limited to such an embodiment. An oxygen (O 2 ) gas cylinder may be installed instead of the nitrogen gas cylinder  250   a  and the hydrogen gas cylinder  250   b . Also, when a ratio of nitrogen in a reactive gas supplied into the process chamber  201   a  is high, an ammonia (NH 3 ) gas cylinder may be further installed, and NH 3  gas may be added to N 2  gas. 
     (Gas Exhaust Unit) 
     The gas exhaust port  235  configured to exhaust a reactive gas from the process chamber  201   a  is installed at a lower portion of a sidewall of the lower container  211 . An upstream end of a gas exhaust pipe  231  configured to exhaust a gas is connected to the gas exhaust port  235 . An automatic pressure controller (APC)  242  serving as a pressure aligner, a valve  243   b  serving as an opening/closing valve and a vacuum pump  246  serving as an exhaust device are installed at the gas exhaust pipe  231  in a sequential order from an upstream side thereof. An inside of the process chamber  201   a  may be exhausted by operating the vacuum pump  246  and opening the valve  243   b . Also, a pressure valve in the process chamber  201   a  may be adjusted by adjusting an opening angle of the APC  242 . 
     In general, a gas exhaust unit according to this embodiment includes the gas exhaust port  235 , the gas exhaust pipe  231 , the APC  242 , the valve  243   b  and the vacuum pump  246 . 
     (Plasma Generating Unit) 
     The first electrode  215  is installed at a circumference of the process container  203   a  (the upper container  210 ) to surround a plasma generating region  224  in the process chamber  201   a . The first electrode  215  is formed in a tube-like shape, for example, a cylindrical shape. The first electrode  215  is connected to a high-frequency power source  273  configured to generate high-frequency power via an aligner  272  configured to perform alignment of impedance. The first electrode  215  functions as a discharge mechanism configured to excite a gas supplied into the process chamber  201   a  so as to generate plasma. 
     An upper magnet  216   a  and a lower magnet  216   b  are installed at upper/lower end portions of an outer surface of the first electrode  215 , respectively. Each of the upper magnet  216   a  and the lower magnet  216   b  is configured as a permanent magnet formed in a tube-like shape, for example, a ring-like shape. 
     Each of the upper magnet  216   a  and the lower magnet  216   b  has magnetic poles formed respectively at both ends (that is, inner and outer circumferential ends of a magnet) thereof in a radial direction of the process chamber  201   a . The upper magnet  216   a  and the lower magnet  216   b  are arranged so that the magnetic poles of the upper magnet  216   a  and the lower magnet  216   b  can be formed in an opposite direction. That is, the inner circumferential portions of the upper magnet  216   a  and the lower magnet  216   b  have different magnetic poles. Accordingly, magnetic lines are formed along an inner surface of the first electrode  215  in a cylindrical axial direction. 
     When a magnetic field is formed using the upper magnet  216   a  and the lower magnet  216   b , and an electric field is also formed by introducing a mixed gas of, for example, N 2  gas and H 2  gas into the process chamber  201   a  and supplying high-frequency power to the first electrode  215 , magnetron discharge plasma is generated in the process chamber  201   a . In this case, since emitted electrons are circulated by the above-described electromagnetic field, a plasma ionization rate may be improved and high-density plasma having a long lifespan may be generated. 
     In general, a plasma generating unit according to this embodiment includes the first electrode  215 , the aligner  272 , the high-frequency power source  273 , the upper magnet  216   a  and the lower magnet  216   b.    
     In addition, a metallic shielding plate  223  configured to effectively shield an electromagnetic field is installed around the first electrode  215 , the upper magnet  216   a  and the lower magnet  216   b  so that the electromagnetic field which is formed by the first electrode  215 , the upper magnet  216   a  and the lower magnet  216   b  can adversely affect outer environments or other devices such as a process furnace. 
     (Control Unit) 
     Further, the controller  281  serving as a control unit is electrically connected to the APC  242 , the valve  243   b  and the vacuum pump  246  through a signal line G, to the susceptor elevating mechanism  268  through a signal line H, to the gate valve  161   a  through a signal line I, to the aligner  272  and the high-frequency power source  273  through a signal line J, to the mass flow controllers  251   a  through  251   c  and the valves  252   a  through  252   c  through a signal line K, and to the resistance heater  217   b  buried in the susceptor  217  and the impedance variable mechanism  274  through a signal line (not shown), so that the controller  281  controls these parts, respectively. 
     (3) Configuration of Vacuum Transfer Robot 
     Next, a configuration and operation of the vacuum transfer robot  112  according to one embodiment of the present invention will be described with reference to  FIGS. 1 ,  2  and  4 .  FIG. 4  is a diagram illustrating a configuration example of the vacuum transfer robot  112  according to this embodiment. 
     As shown in  FIG. 4 , the vacuum transfer robot  112  includes a pair of arms  303  and  304  configured to temporarily hold (support) and transfer the substrate  200 . The arm  303  is composed of an end effector fixing arm  303   a , an arm joint  303   b , an end effector side arm  303   c  and a flange side arm  303   d . The arm  304  is composed of an end effector fixing arm  304   a , an arm joint  304   b , an end effector side arm  304   c  and a flange side arm  304   d.    
     Ceramic end effectors  301  and  302  configured to support the substrate  200  in a horizontal posture are installed at front ends of the arms  303  and  304 , respectively. Also, each of the arms  303  and  304  may be configured to horizontally move in horizontal directions (X 1  and X 2  directions in the drawings), rotationally move in a Y direction in the drawings, and vertically move in a Z direction in the drawings. 
     The arms  303  and  304  are, for example, made of aluminum. At least some surfaces of the arms  303  and  304  are, for example, subjected to electropolishing, so that the surfaces of the arms  303  and  304  have a thermal absorptivity (corresponding to thermal emissivity) of, for example, 0.01 to 0.1. When the thermal absorptivity is set to 0.01 to 0.1, the surfaces of the arms  303  and  304  are formed as a heat-reflecting surface which easily reflects heat so that the arms  303  and  304  cannot easily absorb heat (electromagnetic waves). 
     Therefore, temperatures of the arms  303  and  304  are not easily increased. This is explained from the following equation. As shown in the following equation, the higher thermal emissivity (thermal absorptivity) of a side receiving thermal radiation (here, the arms  303  and  304 ) is, the lower a capacity of heat emitted to a side emitting heat from an object (here, the substrate  200 ) is. 
         q=σ/{ 1/ε 2   +A   2   /A   1 ·(1/ε 1 −1)}· A   2 ( T   2   4   −T   1   4 )
 
     q: Capacity of Emitted Heat, σ: Stefan-Boltzmann&#39;s Constant 
     A1: Surface Area of Arm, T1: Temperature of Arm, E1: Thermal Emissivity of Arm 
     A2: Surface Area of Substrate, T2: Temperature of Substrate, E2: Thermal Emissivity of Substrate 
     The electro-polished heat-reflecting surface may, for example, include at least one or both of the upper surfaces of the arms  303  and  304  configured to support the substrate  200  and the surfaces of the arms  303  and  304  that are easily susceptible to thermal radiation from an inside of each of the process chambers  201   a  through  201   d . The surfaces that are easily susceptible to thermal radiation from an inside of each of the process chambers  201   a  through  201   d  refer to surfaces disposed in positions where the arms  303  and  304  are directed toward a side of each of the process chambers  201   a  through  201   d , for example, where the inside of each of the process chambers  201   a  through  201   d  can be viewed from openings of the gate valves  161   a  through  161   d . Also, surfaces of the end effector fixing arms  303   a  and  304   a  and the arm joints  303   b  and  304   b  may be heat-reflecting surfaces, and substantially the entire surfaces of the arms  303  and  304  may be heat-reflecting surfaces. 
     When a surface that is susceptible to thermal radiation from the substrate  200  or the inside of each of the process chambers  201   a  through  201   d  is formed as the heat-reflecting surface as described above, an increase in temperature of the arms  303  and  304  may be effectively suppressed. Also, when the surface of the inner wall of the vacuum transfer chamber  103  is, for example, formed as the alumite-treated heat-absorbing surface, and the surfaces of the arms  303  and  304  are, for example, formed as the electro-polished heat-reflecting surface, as described above, the thermal absorptivity of the surfaces of the arms  303  and  304  may be relatively lowered, compared to the thermal absorptivity of the surface of the inner wall of the vacuum transfer chamber  103 . Therefore, radiant heat from the substrate  200  may be absorbed into the inner wall of the vacuum transfer chamber  103  rather than the arms  303  and  304 . As a result, an increase in temperature of the arms  303  and  304  may be further effectively suppressed. 
     As such, when the increase in temperature of the arms  303  and  304  is suppressed, the arms  303  and  304  expand to suppress deviation of a transfer position and generation of transfer errors. Also, a motor, a magnetic seal, grease and a timing belt installed around the arms  303  and  304  may be protected, and degradation of lifespan and reliability of the vacuum transfer robot  112  may be suppressed. 
     Also, the vacuum transfer robot  112  is fixed in the vacuum transfer chamber  103  by means of the flange  115 . The flange  115  is, for example, formed of aluminum. A flange surface  115   a  is, for example, subjected to electropolishing, and thermal absorptivity of the flange surface  115   a  is in a range of 0.01 to 0.1. When the thermal absorptivity of the flange surface  115   a  is set to 0.01 to 0.1, the flange surface  115   a  is formed as a heat-reflecting surface which cannot easily absorb heat (electromagnetic waves) but easily reflects the heat. Therefore, a temperature of the flange  115  is not easily increased. When an increase in temperature of the flange  115  is suppressed, a motor, a magnetic seal, grease and a timing belt installed around the arms  303  and  304  may be protected, and degradation of lifespan and reliability of the vacuum transfer robot  112  may be suppressed. 
     In addition, the arm  303  installed in the vacuum transfer robot  112  may be used as an exclusive arm configured to transfer only the non-processed substrate  200 , and the arm  304  may be used as an exclusive arm configured to transfer only the processed substrate  200 . When the arms  303  and  304  are used as the exclusive arms, respectively, attachment of particulates to the non-processed substrate  200  may be suppressed even when the particulates are formed from the processed substrate  200 . Also, even when the particulates are formed from the processed substrate  200 , the attachment of the particulates to the processed substrate  200  may be suppressed. That is, contamination from the processed substrate  200  to the non-processed substrate  200  and contamination from the non-processed substrate  200  to the processed substrate  200  may be suppressed. That is, the present invention is not limited to the above-described embodiment, and any one of the arms  303  and  304  which may transfer the non-processed substrate  200  and the processed substrate  200  may also be used as non-exclusive arms. 
     As described above, when the arms  303  and  304  are used as the exclusive arms, respectively, only a surface of the arm  304  configured to transfer the heated processed substrate  200  may be electro-polished. 
     (4) Substrate Processing Process 
     Hereinafter, as one process of the method of manufacturing a semiconductor device, a process of processing the substrate  200 , particularly a heating process using plasma, will be described with reference to  FIGS. 1 through 3  using the substrate processing apparatus having the above-described configuration. Also, in the following description, operations of respective parts constituting the substrate processing apparatus are controlled by the controller  281 . 
     (Transfer Process from Side of Atmospheric Transfer Chamber) 
     For example, the 25 non-processed substrates  200  are transferred to the substrate processing apparatus configured to perform a heating process by means of an in-process transfer device in a state where the non-processed substrates  200  are accommodated in the pod  100 . As shown in  FIGS. 1 and 2 , the transferred pod  100  is received from the in-process transfer device, and placed on the TO stage  105 . The cap  100   a  of the pod  100  is separated by the pod opener  108 , and a substrate entrance of the pod  100  is opened. 
     When the pod  100  is opened by the pod opener  108 , the atmospheric transfer robot  124  installed at the atmospheric transfer chamber  121  picks up the substrate  200  from the pod  100 , loads the substrate  200  into the preparatory chamber  122 , and carries the substrate  200  onto the substrate placing stage  150 . During this carrying operation, a gate valve  160  of the preparatory chamber  122  disposed in a side of the vacuum transfer chamber  103  is closed, and a negative pressure in the vacuum transfer chamber  103  is maintained. 
     When carrying a predetermined number of the substrates  200  (for example, 25 substrates  200 ) accommodated in the pod  100  to the substrate placing stage  150  is completed, the gate valve  128  is closed, and an inside of the preparatory chamber  122  is exhausted at a negative pressure by means of an exhaust device (not shown). 
     When the inside of the preparatory chamber  122  reaches a previously set pressure value, the gate valve  160  is opened, and the preparatory chamber  122  communicates with the vacuum transfer chamber  103 . 
     Subsequently, by using the functions of the above-described horizontal movement, rotary movement and vertical movement, the vacuum transfer robot  112  loads the substrate  200  from the inside of the preparatory chamber  122  to an inside of the vacuum transfer chamber  103 . More particularly, the substrate  200  is picked up from the substrate placing stage  150  in the preparatory chamber  122  and loaded into the vacuum transfer chamber  103 , for example, by means of the arm  303  configured to transfer the non-processed substrate  200  among the arms  303  and  304  provided in the vacuum transfer robot  112 . After the substrate  200  is loaded into the vacuum transfer chamber  103  and the gate valve  160  is closed, for example, the gate valve  161   a  is opened, and the first process chamber  201   a  communicates with the vacuum transfer chamber  103 . 
     Hereinafter, operations of loading the substrate  200  into the first process chamber  201   a , processing the substrate  200  (including heat treatment), and unloading the substrate  200  from an inside of the first process chamber  201   a  will be described with reference to  FIG. 3  in which the process chamber  201   a  is provided. 
     (Loading Process) 
     First, the vacuum transfer robot  112  loads the substrate  200  from an inside of the vacuum transfer chamber  103  into the first process chamber  201   a , and carries the substrate  200  on the susceptor  217  in the first process chamber  201   a . More particularly, first, the susceptor  217  moves down, and a front end of the substrate elevation pin  266  protrudes through the through-hole  217   a  of the susceptor  217  up to a predetermined height from a surface of the susceptor  217 . In this circumstance, the gate valve  161   a  installed in the lower container  211  is opened, as described above. Next, the substrate  200  supported by the arm  303  is placed in the front end of the substrate elevation pin  266  by means of the arm  303  of the vacuum transfer robot  112 . Thereafter, the arm  303  is retrieved from the process chamber  201   a . Then, the gate valve  161   a  is closed, and the susceptor  217  is elevated by the susceptor elevating mechanism  268 . As a result, the substrate  200  is placed on a surface of the susceptor  217 . The substrate  200  placed on the susceptor  217  is elevated to a position where the substrate  200  is further processed. 
     After the gate valve  161   a  is closed as described above, substrate processing (including desired heat treatment) in the first process chamber  201   a  is performed according to the following sequential order. 
     (Heating/Pressure Adjusting Process) 
     The resistance heater  217   b  buried in the susceptor  217  is pre-heated. The substrate  200  is, for example, heated from room temperature to a substrate processing temperature of approximately 700° C. using the resistance heater  217   b . A pressure in the process chamber  201   a  is, for example, maintained in a range of 0.1 Pa to 300 Pa using the vacuum pump  246  and the APC valve  242 . 
     In addition, in the process furnace  202  having the above-described configuration, a temperature of the substrate  200  which may be heated by the resistance heater  217   b  buried in the susceptor  217  as described above is at most 700° C. Therefore, substrate processing requiring a processing temperature greater than 700° C. may not be performed using only the resistance heater  217   b.    
     For this purpose, in order to enable the substrate processing requiring the processing temperature greater than 700° C., as described above, a lamp heating device  280  (a lamp heater) serving as a substrate heater that is a light source configured to emit infrared light is further provided in addition to the resistance heater  217   b . In the heating/pressure adjusting process, such a lamp heating device  280  is used as an auxiliary heater to heat the substrate  200  to a substrate processing temperature greater than 700° C., when necessary. 
     (Heating Process) 
     After the substrate  200  is heated to the substrate processing temperature, the following substrate processing (including desired heat treatment) is performed while the substrate  200  is maintained at a predetermined temperature. That is, a process gas is supplied in a shower shape from the gas introduction port  234  toward a surface (a process surface) of the substrate  200  arranged in the process chamber  201   a  via the opening  238  of the shower plate  240 , depending on a desired process such as oxidation, nitridation, film formation or etching. At the same time, high-frequency power is supplied from the high-frequency power source  273  to the first electrode  215  via the aligner  272 . The supplied electric power is, for example, in a range of 100 W to 1000 W, for example, 800 W. Also, the impedance variable mechanism  274  is previously set to a desired impedance value. 
     A magnetron discharge is generated by magnetic fields of the tube-like upper/lower magnets  216   a  and  216   b , and electric charges are captured in an upper space of the substrate  200  to generate high-density plasma at the plasma generating region  224 . Due to the presence of the high-density plasma, an oxide or nitride film or a thin film is formed on the surface of the substrate  200  placed on the susceptor  217 , or plasma processing such as etching is performed. 
     Also, the controller  281  controls a power ON/OFF state of the high-frequency power source  273 , adjustment of the aligner  272 , opening/closing of the valves  252   a  through  252   c  and  243   a , flow rates of the mass flow controllers  251   a  through  251   c , a valve opening angle of the APC valve  242 , opening/closing of the valve  243   b , drive and stop of the vacuum pump  246 , an elevating operation of the susceptor elevating mechanism  268 , opening/closing of the gate valve  161   a , and an ON/OFF state of the high-frequency power source configured to supply electric power such as high frequency to the resistance heater  217   b  buried in the susceptor  217 . 
     (Unloading Process) 
     When cooling of the substrate  200  by a transfer means is not finished, that is, while the substrate  200  is maintained at a temperature relatively close to the substrate processing temperature, the substrate  200  processed in the first process chamber  201   a  is transferred out of the first process chamber  201   a  through a reverse operation of loading the substrate  200 . That is, when the substrate processing of the substrate  200  is completed, the gate valve  161   a  is opened. Also, the susceptor  217  is lowered to a position where the substrate  200  is transferred, and the substrate  200  may be elevated by allowing the front end of the substrate elevation pin  266  to protrude from the through-hole  217   a  of the susceptor  217 . The processed substrate  200  is, for example, unloaded into the vacuum transfer chamber  103  by means of the arm  304  provided in the vacuum transfer robot  112  to transfer the processed substrate  200 . After the unloading process, the gate valve  161   a  is closed. 
     In addition, in at least the unloading process, the chiller unit connected to the refrigerant channel  101   f  of the vacuum transfer chamber  103  is operated to transfer the substrate  200  while temperature-controlled cooling water is circulated in the refrigerant channel  101   f . Therefore, a cooling effect of the inner wall of the vacuum transfer chamber  103  may be enhanced, and an increase in temperature of the inner wall or the arms  303  and  304  may be suppressed. The cooling process using the refrigerant channel  101   f  continues to be performed until the unloading process is completed starting from the loading process, or until all the substrates  200  are transferred to the pod  100  after the pod  100  is placed on the IO stage  105  of the substrate processing apparatus, as will be described later. 
     The above-described operations of loading the substrate  200  into the first process chamber  201   a , processing the substrate  200  (including heat treatment), and unloading the substrate  200  from an inside of the first process chamber  201   a  are completed. 
     The vacuum transfer robot  112  transfers the processed substrate  200  unloaded from the first process chamber  201   a  into the preparatory chamber  123 . After the substrate  200  is carried on the substrate placing stage  151  in the preparatory chamber  123 , the preparatory chamber  123  is closed by the gate valve  165 . 
     A predetermined number of the substrates  200  (for example, 25 substrates  200 ) loaded into the preparatory chamber  122  are sequentially processed by repeating the above-described operations. 
     After the heat treatment in the process chamber  201   a  is performed, the thermal absorptivity of the surfaces of the arms  303  and  304  of the vacuum transfer robot  112  is in a range of 0.01 to 0.1 even when the high-temperature substrate  200  is transferred into the vacuum transfer chamber  103 . Therefore, an increase in temperature of the vacuum transfer robot  112  may be suppressed, and thus a motor, a magnetic seal, grease and a timing belt installed at the vacuum transfer robot  112  may be protected, and degradation of lifespan and reliability of the vacuum transfer robot  112  may be suppressed. 
     In addition, the surface of the inner wall of the vacuum transfer chamber  103  is treated with alumite so that the surface of the inner wall has a thermal absorptivity of 0.7 to 0.99, and has a structure which may be cooled using the refrigerant channel  101   f . Therefore, the inner wall of the vacuum transfer chamber  103  may easily absorb a radiant heat from the substrate  200 . Accordingly, the radiant heat which is not absorbed but reflected from the vacuum transfer robot  112  is absorbed into the inner wall of the vacuum transfer chamber  103 , and thus the radiant heat cannot easily return to the vacuum transfer robot  112 . 
     When the plurality of substrates  200  are continuously processed, the loading process and the unloading process with respect to the same process chamber (for example, the process chamber  201   a ) may also be performed at substantially the same time. That is, when the gate valve  161   a  is kept open, the processed substrate  200  in the process chamber  201   a  is picked up, for example, using the arm  304 , and the arm  303  configured to support the non-processed substrate  200  is then introduced into the process chamber  201   a  to carry the non-processed substrate  200 . Thereafter, the gate valve  161   a  is closed. As such, manufacturing throughput of the substrate processing apparatus may be improved by adjusting transfer timing for the process chamber  201   a  of each of the arms  303  and  304 . 
     (Transfer Process to Side of Atmospheric Transfer Chamber) 
     When the substrate processing of all the substrates  200  loaded into the preparatory chamber  122  is completed, all the processed substrates  200  are accommodated in the preparatory chamber  123 , and when the preparatory chamber  123  is closed by the gate valve  165 , the inside of the preparatory chamber  123  returns to a substantially atmospheric pressure through the supply of an inert gas. When the inside of the preparatory chamber  123  returns to the substantially atmospheric pressure, the gate valve  129  is opened, and the cap  100   a  of the empty pod  100  placed on the IO stage  105  is opened by the pod opener  108 . 
     Next, the atmospheric transfer robot  124  of the atmospheric transfer chamber  121  picks up the substrate  200  from the substrate placing stage  151  in the preparatory chamber  123 , unloads the substrate  200  into the atmospheric transfer chamber  121 , and accommodates the substrate  200  into the pod  100  through the substrate loading/unloading port  134  of the atmospheric transfer chamber  121 . For example, when the accommodation of the 25 processed substrates  200  into the pod  100  is completed, the cap  100   a  of the pod  100  is closed by the pod opener  108 . The closed pod  100  is transferred from the IO stage  105  for the next process using the in-process transfer device. 
     The above-described operations have been described as one case where the first process chamber  201   a  is used. However, even when the second process chamber  201   b , the third process chamber  201   c  and the fourth process chamber  201   d  are used, the following operations are performed. Also, in the above-described substrate processing apparatus, the preparatory chamber  122  is used for loading of the substrates  200 , and the preparatory chamber  123  is used for unloading of the substrates  200 , but the preparatory chamber  123  may be used for loading of the substrates  200 , and the preparatory chamber  122  may be used for unloading of the substrates  200 . 
     Also, the same or different processes may be performed in the first process chamber  201   a , the second process chamber  201   b , the third process chamber  201   c  and the fourth process chamber  201   d . When the different processes are performed in the first process chamber  201   a , the second process chamber  201   b , the third process chamber  201   c  and the fourth process chamber  201   d , for example, the substrate  200  may be processed in the first process chamber  201   a , and another processing may then be performed in the second process chamber  201   b . After the substrate  200  is processed in the first process chamber  201   a , another processing of the substrate  200  may also be performed in the second process chamber  201   b , and additional processes may then be performed in the third process chamber  201   c  or the fourth process chamber  201   d.    
     (5) Effects According to this Embodiment 
     According to this embodiment, one or more effects as described later are obtained. 
     (a) According to this embodiment, the substrate processing apparatus includes a vacuum transfer chamber  103  having a substrate  200  transferred thereinto under a negative pressure, a process chamber  201   a  connected to the vacuum transfer chamber  103  and configured to heat the substrate  200 , a vacuum transfer robot  112  installed in the vacuum transfer chamber  103  and configured to transfer the substrate  200  into and out of the process chamber  201   a , and a refrigerant channel  101   f  installed in a wall of the vacuum transfer chamber  103  and configured to cool an inner wall of the vacuum transfer chamber  103 . Therefore, after the heating of the substrate  200 , a radiant heat transferred from the substrate  200  to the inner wall of the vacuum transfer chamber  103  may be emitted, and an increase in temperature of the inner wall may be suppressed, thereby suppressing thermal radiation from the inner wall to the vacuum transfer robot  112 . Therefore, thermal absorption of each part of the vacuum transfer robot  112  may be lowered, a number of substrates processed per unit time may be increased, thereby improving manufacturing throughput of the substrate processing apparatus. 
     (b) Particularly, when the refrigerant channel  101   f  is configured to cool a bottom surface of the vacuum transfer chamber  103  which is at least opposite to the lower surfaces of the arms  303  and  304 , an influence of radiant heat to be transferred from the bottom surface of the vacuum transfer chamber  103  to the arms  303  and  304  operating immediately above the bottom surface may be reduced. 
     (c) According to this embodiment, the surface of the inner wall of the vacuum transfer chamber  103  comprises a heat-absorbing surface having an aluminum-anodized film thereon. Also, the heat-absorbing surface of the vacuum transfer chamber  103  has a thermal absorptivity of 0.7 to 0.99. Therefore, a radiant heat from the heated substrate  200  may be easily absorbed by the inner wall of the vacuum transfer chamber  103 . Accordingly, thermal absorption of the vacuum transfer robot  112  may be lowered, and an increase in temperature of the vacuum transfer robot  112  may be suppressed. 
     (d) In addition, according to this embodiment, the vacuum transfer robot  112  includes the arms  303  and  304  configured to support the substrate  200 , and at least a portion of the surfaces of the arms  303  and  304  comprises electro-polished heat-reflecting surfaces. Also, the heat-reflecting surfaces of the arms  303  and  304  have a thermal absorptivity of 0.01 to 0.1. Therefore, since the radiant heat from the substrate  200  is not easily transmitted to the arms  303  and  304 , an increase in temperatures of the arms  303  and  304  may be suppressed. 
     (e) Particularly, when the surfaces of the arms  303  and  304  which are heat-reflecting surfaces are formed as the upper surfaces of the arms  303  and  304  configured to support the substrate  200  and surfaces receiving thermal radiation from an inside of the process chamber  201 , reflection of heat on a surface which is easily susceptible to thermal radiation may be improved, and an increase in temperatures of the arms  303  and  304  by the radiant heat may be suppressed. 
     (f) Also, according to this embodiment, a surface of the inner wall of the vacuum transfer chamber  103  is a heat-absorbing surface having an aluminum-anodized film thereon, and at least parts of the surfaces of the arms  303  and  304  are electro-polished heat-reflecting surfaces. Therefore, thermal absorption of the surfaces of the arms  303  and  304  may be relatively reduced with respect to the inner wall of the vacuum transfer chamber  103 , and an increase in temperatures of the arms  303  and  304  may be suppressed. 
     Other Embodiments of the Present Invention 
     Although the embodiments of present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention. 
     For example, in the above-described embodiments, it is assumed that the refrigerant channel  101   f  is installed in a wall of the bottom surface of the vacuum transfer chamber  103 , but the refrigerant channel may be installed in a wall of a side surface or an upper surface, or installed in the vacuum transfer chamber lid  101   r . In addition to the cooling water, various liquids such as an organic solvent or various gases such as dry air and an inert gas may be used as the refrigerant. 
     Also, in the above-described embodiments, it is assumed that the cooling unit provided with the vacuum transfer chamber  103  is composed of the refrigerant channel  101   f , but the cooling unit may have different configurations in addition to or in substitution of the refrigerant channel  101   f . For example, the cooling unit may be a heat exchanger installed at an outer wall of the vacuum transfer chamber. For example, a block-shaped member, a heat sink or a heat pipe, which has a refrigerant channel formed therein, may be used as the heat exchanger. The block-shaped member may be installed in the vacuum transfer chamber. In addition, the cooling unit may be an air blower configured to blow a gas such as dry air to the outer wall of the vacuum transfer chamber from an outside. 
     Also, in the above-described embodiments, the use of the substrate processing apparatus in which the inner wall of the vacuum transfer chamber  103  is treated with alumite has been described, but the present invention is not limited to such embodiments. The vacuum transfer chamber may be formed of a material having strength substantially identical to or higher than that of aluminum, for example, stainless steel (SUS). Also, when the inner wall is surface-treated, the inner wall may be treated so that the inner wall has a thermal emissivity of 0.7 to 0.99. 
     In addition, the present invention is not limited to one example of the vacuum transfer chamber  103  according to the above-described embodiment, and, for example, a surface having a heat-absorbing coating formed therein may be used as the heat-absorbing surface, wherein the heat-absorbing coating surface is composed of a composite or a stacked film made of one or at least two compounds selected from quartz (SiO 2 ), aluminum nitride (AlN) or aluminum oxide (Al 2 O 3 ). Also, the heat-absorbing surface may be a surface in which a black quartz or black ceramic cover is formed or a black quartz film or a black ceramic film is formed. Also, different materials may be combined according to a region of the inner wall of the vacuum transfer chamber. 
     Also, in the above-described embodiments, the use of the substrate processing apparatus in which the vacuum transfer robot  112  and the flange surface  115   a  are electro-polished has been described, but an arm and a flange of the vacuum transfer robot may be formed of a material having strength substantially identical to or higher than that of aluminum, for example, stainless steel (SUS). Also, when the arm or the flange is surface-treated, the arm or the flange may be treated, for example, mechanically polished, so that the arm or the flange has a thermal emissivity of 0.01 to 0.1. 
     Also, the present invention is not limited to an example of the arms  303  and  304  according to the above-described embodiment. In addition to or in substitution of the electropolishing or mechanical polishing, for example, a surface having a heat-reflecting coating formed therein may be used as a heat-reflecting surface, wherein the heat-reflecting coating surface is composed of one film made of gold (Au), silver (Ag), platinum (Pt), titanium (Ti), copper (Cu), aluminum (Al) or rhodium (Rh), or a compound thin film made of at least two elements. Also, a surface having a heat-reflecting coating formed therein may be used as a heat-reflecting surface, wherein the heat-reflecting coating is formed by stacking a SiO 2  thin film with one film made of Au, Ag, Pt, Ti, Cu, Al or Rh, or a compound thin film made of at least two elements. When the metal film is formed on a polished surface, a minute concavo-convex surface of the arm is filled up. Therefore, a flatter surface may be realized, and heat may be more easily reflected. 
     In addition, the present invention is not limited to an example of the arms  303  and  304  according to the above-described embodiment, and when the arms are made of a material such as aluminum, a surface of an aluminum solid material (aluminum solid) itself, that is, a metal-exposed surface itself, may be used as a heat-reflecting surface without performing a process such as polishing. Also, the different material may be combined according to a region of the arm. Also, when a reflective plate is installed on the entire arm, or particularly, a region that is easily susceptible to thermal radiation, a surface of the reflective plate may be considered to be used as a heat-reflecting surface, or a refrigerant channel may be installed in the arm. However, when the heat-reflecting surface is formed using the material or surface treatment of the arm, as described above, simplicity and lightness of a structure may be promoted. 
     Also, in the above-described embodiments, at least parts of the surfaces of the arms  303  and  304  are formed as the heat-reflecting surfaces. In this case, a surface that may easily receive radiant heat from the substrate  200 , for example, an upper surface of the arm, may be used as a heat-reflecting surface, and a surface that may not easily receive radiant heat from the substrate  200 , for example, a lower surface of the arm, may be used as a heat-emitting surface that is easily susceptible to thermal radiation. For example, a surface having an aluminum-anodized film thereon may be used as the heat-emitting surface, that is, a surface having the same configuration of the heat-absorbing surface of the vacuum transfer chamber  103  may be used. Therefore, heat may be reflected on the upper surface of the arm that may easily receive heat from the substrate  200 , and even when heat is applied to the arm, the heat may be emitted from the heat-emitting surface formed on the lower surface of the arm, thereby suppressing an increase in temperature. 
     Also, when a distance between the lower surfaces of the arms  303  and  304  and the bottom surface of the vacuum transfer chamber  103  is shorter than a distance between the upper surfaces of the arms  303  and  304  and the ceiling surface of the vacuum transfer chamber  103 , a collision rate between gas molecules close to the vacuum transfer chamber  103  and gas molecules on the lower surfaces of the arms  303  and  304  may be improved, and an efficiency of thermal radiation from the lower surfaces of the arms  303  and  304  may be improved. Also, an efficiency of heat transfer to the bottom surface of the vacuum transfer chamber  103  may be improved, and an increase in temperatures of the arms  303  and  304  may be suppressed. 
     Also, in the above-described embodiments, it is described that both sides of each of the arms  303  and  304  have a suitable configuration to suppress an increase in temperature of the heat-reflecting surface, but only the arm configured to transfer the processed substrate  200  may have this configuration, and the substrate  200  may be supported and transferred by the arm having such a configuration even in the unloading process. 
     Further, the configurations and specific shapes of the vacuum transfer chamber  103  having a cooling unit, the vacuum transfer chamber  103  having a heat-absorbing surface formed at the inner wall thereof, and the vacuum transfer robot  112  having a heat-reflecting surface formed at the surfaces of the arms  303  and  304  may be used alone or in combinations thereof. In any case, the substrate processing process has effects as described above. Therefore, even when the inner wall of the vacuum transfer chamber is electro-polished in a state where the inner wall is exposed to the aluminum solid as known in the art, or when the arm having a heat-reflecting surface which is exposed to the aluminum solid is used, a predetermined effect to suppress an increase in temperature may be achieved. 
     When at least one of the configurations is used, the number of substrates processed per hour, that is, throughput, may at least meet a specification of 50 sheets/h during the transfer of the substrate  200  having a temperature of 500° C. or higher. Also, a stricter specification, for example, throughput during the transfer of the substrate  200  having a temperature of 700° C. or higher, may meet a specification of 100 sheets/h. 
     (1) First Example 
     An operation of carrying the substrate, which has been processed and heated at 700° C. in the process chamber having the same configuration as the process chambers  201   a  through  201   d , into the preparatory chamber for unloading using one arm (an arm configured to transfer a processed substrate) of the vacuum transfer robot under an environment where a pressure in the vacuum transfer chamber was 100 Pa was performed 25 times using the same sequential order and techniques as in the above-described substrate processing process. 
     In this case, for a configuration of the first example in which the surface of the arm was electro-polished and the surface of the inner wall of the vacuum transfer chamber was treated with alumite, and a configuration of a conventional device, that is, a configuration of Comparative Example in which the surface of the arm was treated with alumite and the surface of the inner wall of the vacuum transfer chamber was exposed to aluminum solid, a temperature of each part of the vacuum transfer robot was measured by a thermo label. These temperature measurement results are shown in  FIG. 5 . 
     Referring to  FIG. 5 , it can be seen that the measured temperatures were low when the vacuum transfer robot according to this embodiment was used in all temperature measurement places. In particular, the measured temperature was reduced by 10° C. or higher in the places corresponding to the arm joint  304   b , the end effector side arm  304   c  and the flange side arm  304   d  in the above-described embodiment, and also reduced by 5° C. in the place corresponding to the flange surface  115   a . Therefore, it can be seen that thermal absorption of each part of the vacuum transfer robot may be lowered. 
     (2) Second Example 
     For the second example having the same configuration as the first example, and this Comparative Example having the same configuration as said Comparative Example, a temperature of each part of the vacuum transfer robot when an operation number per hour was set to 25 and 37 was measured using the same sequential order and techniques as the first example. Like the above-described embodiment, the transferred substrate was heated at 700° C., and a pressure in the vacuum transfer chamber was set to 100 Pa. Therefore, it was realized that a mean temperature of each part of the vacuum transfer robot was dependent on the number of transfers per hour, as shown in  FIG. 6 . 
     In  FIG. 6 , a horizontal axis represents a number of operations per hour, or a number of substrates processed (sheet(s)/h), and a vertical axis represents a mean temperature (° C.) of each part of the vacuum transfer robot. In the drawings, the mean temperature of each part of the vacuum transfer robot according to Comparative Example is represented by a dashed line. In the drawings, a numerical value in an operation number (number of substrates processed) exceeding measured points is also obtained by extrapolating a numerical value expected from the measured data. 
     Referring to  FIG. 6 , a temperature obtained when 50 substrates were transferred was expected to exceed an operation limit temperature of 120° C. in the vacuum transfer robot of Comparative Example. In this regard, it can be seen that the temperature of the vacuum transfer robot of this embodiment was approximately 66° C., and a thermal absorption of the vacuum transfer robot was reduced in this embodiment. Also, in the configuration of this embodiment, although the substrates were processed after the number of transfers was increased to 100 sheets/h, a temperature of the vacuum transfer robot was 94° C., thereby processing  100  substrates per hour. Therefore, a number of substrates processed per hour may be increased. 
     (3) Third Example 
     Each part of the vacuum transfer robot when a number of operations per hour was changed to a maximum of 75 based on the same sequential order and technique as in the second example was measured for temperature. The transferred substrate was heated at 700° C., and a pressure in the vacuum transfer chamber was adjusted to 100 Pa. In this case, the surface of the arm was electro-polished in the third example, a configuration where a surface of the inner wall of the vacuum transfer chamber was exposed to aluminum solid was used as a first configuration, and a configuration where a surface of the inner wall of the vacuum transfer chamber was treated with alumite was used as a second configuration. This Comparative Example had the same configuration as said Comparative Example. 
     Therefore, in each configuration, it was realized that a temperature in a predetermined place where the vacuum transfer robot was provided was dependent on the number of substrates processed per hour, as shown in  FIG. 7 . In the drawings, a symbol “▪” represents the results obtained by measuring a temperature of a place corresponding to the end effector side arm  304   c  of the above-described embodiment in the configuration of Comparative Example. Also, a symbol “” represents the results obtained by measuring a temperature of a place corresponding to the arm joint  304   b  of the above-described embodiment in the first configuration of the third example. Also, a symbol “▴” represents the results obtained by measuring a temperature of a place corresponding to the arm joint  304   b  of the above-described embodiment in the second configuration of the third example. A symbol “♦” represents the results obtained by measuring a temperature of a place corresponding to the end effector side arm  304   c  of the above-described embodiment in the second configuration of the third example. 
     As shown in  FIG. 7 , the data of this embodiment based on the measured value has a lower value than the data of the second example based on the above-described extrapolation value. Also, according to a first configuration of this embodiment, it can be seen that, since the inner wall of the vacuum transfer chamber is conventionally made of aluminum solid, a temperature of the arm may be lowered by electropolishing a surface of the arm. In this case, when a number of substrates processed per hour is 50 sheets, the arm of this embodiment has a lower temperature than the arm of Comparative Example by approximately 40° C. to 50° C. Also, a temperature of the arm may be lowered by approximately 10° C. by treating the inner wall of the vacuum transfer chamber with alumite 
     In this embodiment, after a specification value of an arm limit temperature is set to 100° C. or lower, it was analyzed from the graph of  FIG. 7  whether or not a specification value of desired throughput (number of substrates processed) met 100 sheets/h. As a result, in the case of the measured value when the number was 75 sheets/h, and an extrapolation value when the number was 100 sheets/h, a temperature of each part of the arm was lower than 100° C., and met the specification value in any configuration of the third example. 
     Preferred Embodiment of the Present Invention 
     Hereinafter, preferred embodiments of the present invention will be additionally stated. 
     [Supplementary Note 1] 
     One embodiment of the present invention provides a substrate processing apparatus, including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber; and 
     a cooling unit configured to cool an inner wall of the transfer chamber. 
     [Supplementary Note 2] 
     The substrate processing apparatus according to Supplementary Note 1, wherein the cooling unit preferably includes a refrigerant channel installed in a wall of the transfer chamber. 
     [Supplementary Note 3] 
     The substrate processing apparatus according to any one of Supplementary Notes 1 and 2, wherein the cooling unit also preferably includes at least one of a heat exchanger installed at an outer wall of the transfer chamber, and an air blower configured to blow a gas to the outer wall of the transfer chamber from an outside. 
     [Supplementary Note 4] 
     The substrate processing apparatus according to any one of Supplementary Notes 1 through 3, wherein a surface of the inner wall of the transfer chamber is also preferably a heat-absorbing surface having an aluminum-anodized film thereon, 
     the transfer robot includes an arm configured to support the substrate, and 
     at least a portion of a surface of the arm is an electro-polished heat-reflecting surface. 
     [Supplementary Note 5] 
     The substrate processing apparatus according to Supplementary Note 4, wherein the cooling unit is also preferably configured to cool a bottom surface of the transfer chamber substantially opposite to a lower surface of the arm. 
     [Supplementary Note 6] 
     Another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; and 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber, 
     wherein a surface of an inner wall of the transfer chamber is a heat-absorbing surface. 
     [Supplementary Note 7] 
     The substrate processing apparatus according to Supplementary Note 6, wherein the heat-absorbing surface of the transfer chamber has at least one of an aluminum-anodized film, a black quartz film and a black ceramic film formed therein. 
     [Supplementary Note 8] 
     The substrate processing apparatus according to any one of Supplementary Notes 6 and 7, wherein the heat-absorbing surface of the transfer chamber also preferably has a thermal absorptivity of 0.7 to 0.99 when thermal absorptivity of a black body is set to 1.0. 
     [Supplementary Note 9] 
     Still another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; and 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber, 
     wherein the transfer robot includes an arm configured to support the substrate, and 
     at least a portion of a surface of the arm is a heat-reflecting surface. 
     [Supplementary Note 10] 
     The substrate processing apparatus according to Supplementary Note 9, wherein the heat-reflecting surface of the arm is also preferably at least one of an electro-polished or mechanically polished surface, a metal-exposed surface of the arm made generally of a metal, and a surface of a reflective plate installed at the arm. 
     [Supplementary Note 11] 
     The substrate processing apparatus according to any one of Supplementary Notes 9 and 10, wherein the heat-reflecting surface of the arm also preferably has a thermal absorptivity of 0.01 to 0.1 when thermal absorptivity of a black body is set to 1.0. 
     [Supplementary Note 12] 
     The substrate processing apparatus according to any one of Supplementary Notes 9 through 11, wherein at least one of an upper surface of the arm configured to support the substrate and a surface receiving thermal radiation from an inside of the process chamber is also preferably the heat-reflecting surface. 
     [Supplementary Note 13] 
     The substrate processing apparatus according to any one of Supplementary Notes 9 through 12, wherein the upper surface of the arm is also preferably the heat-reflecting surface, and a lower surface of the arm is a heat-emitting surface. 
     [Supplementary Note 14] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; and 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber, 
     wherein the transfer robot has an arm configured to support the substrate, and 
     at least a portion of a surface of the arm has a lower thermal absorptivity than a surface of an inner wall of the transfer chamber. 
     [Supplementary Note 15] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber; and 
     a cooling unit configured to cool an inner wall of the transfer chamber, wherein a surface of the inner wall of the transfer chamber is a heat-absorbing surface. 
     [Supplementary Note 16] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber; and 
     a cooling unit configured to cool an inner wall of the transfer chamber, 
     wherein the transfer robot includes an arm configured to support the substrate, and 
     at least a portion of a surface of the arm is a heat-reflecting surface. 
     [Supplementary Note 17] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber having a substrate transferred thereinto under a negative pressure; 
     a process chamber connected to the transfer chamber and configured to heat the substrate; 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate into and out of the process chamber; and 
     a cooling unit configured to cool an inner wall of the transfer chamber, 
     wherein the transfer robot includes an arm configured to support the substrate, and 
     at least a portion of a surface of the arm has a lower thermal absorptivity than a surface of an inner wall of the transfer chamber. 
     [Supplementary Note 18] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is unloaded while an inner wall of the transfer chamber is cooled by a cooling unit. 
     [Supplementary Note 19] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is transferred in the transfer chamber in which a surface of an inner wall is a heat-absorbing surface. 
     [Supplementary Note 20] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer robot including at least one arm configured to support the substrate, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is supported and transferred by the arm whose surface has at least a part formed therein as a heat-reflecting surface. 
     [Supplementary Note 21] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer robot including at least one arm configured to support the substrate, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is supported and transferred by the arm whose surface has at least a part formed therein to have a lower thermal absorptivity than a surface of an inner wall of the transfer chamber. 
     [Supplementary Note 22] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer chamber having a substrate transferred thereinto under a negative pressure and 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is transferred in the transfer chamber in which a surface of an inner wall is a heat-absorbing surface while the inner wall of the transfer chamber is cooled by a cooling unit. 
     [Supplementary Note 23] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer robot including at least one arm configured to support the substrate, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is supported and transferred by the arm whose surface has at least a part formed therein as a heat-reflecting surface while an inner wall of the transfer chamber is cooled by a cooling unit. 
     [Supplementary Note 24] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     (a) loading a substrate from a transfer chamber into a process chamber connected to the transfer chamber using a transfer robot installed in the transfer chamber, the transfer robot including at least one arm configured to support the substrate, the transfer chamber having a substrate transferred thereinto under a negative pressure; 
     (b) heating the substrate in the process chamber; and 
     (c) unloading the substrate from the process chamber into the transfer chamber using the transfer robot, 
     wherein, at least in step (c), the substrate is supported and transferred by the arm whose surface has at least a part formed therein to have lower thermal absorptivity than a surface of an inner wall of the transfer chamber while the inner wall of the transfer chamber is cooled by a cooling unit. 
     [Supplementary Note 25] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber serving as a substrate transfer space; 
     at least one transfer robot installed in the transfer chamber and configured to transfer the substrate; and 
     a plurality of process chambers connected to the transfer chamber and configured to process the substrate, 
     wherein an inner wall of the transfer chamber and an arm of the transfer robot are surface-treated so that a surface of the inner wall of the transfer chamber has a higher thermal emissivity than a surface of the arm of the transfer robot. 
     [Supplementary Note 26] 
     Yet another embodiment of the present invention provides a substrate processing apparatus including: 
     a transfer chamber serving as a substrate transfer space; 
     a transfer robot installed in the transfer chamber and configured to transfer the substrate; and 
     at least one process chamber connected to the transfer chamber and configured to process the substrate, 
     wherein an inner wall of the transfer chamber and an arm of the transfer robot are surface-treated such that a surface of the inner wall of the transfer chamber has a thermal emissivity of 0.7 to 0.99, and a surface of the arm of the transfer robot has a thermal emissivity of 0.01 to 0.1. 
     [Supplementary Note 27] 
     Preferably, the surface treatment applied to the surface of the inner wall of the transfer chamber is oxidation. 
     [Supplementary Note 28] 
     Also, preferably, the surface treatment applied to the surface of the transfer chamber is anodic oxidation treatment of aluminum. 
     [Supplementary Note 29] 
     Also, preferably, an oxide thin film is stacked on the arm of the transfer robot. 
     [Supplementary Note 30] 
     Also, preferably, the surface treatment applied to the surface of the arm of the transfer robot is electropolishing. 
     [Supplementary Note 31] 
     Also, preferably, the arm of the transfer robot is made of stainless steel (SUS). 
     [Supplementary Note 32] 
     Also, preferably, the surface of the arm of the transfer robot made of the SUS is subjected to the electropolishing. 
     [Supplementary Note 33] 
     Also, preferably, a heat-reflecting coating film composed of one film made of gold (Au), silver (Ag), platinum (Pt), titanium (Ti), copper (Cu), aluminum (Al) and rhodium (Rh), or a compound film made of at least two elements is formed on the surface of the arm of the transfer robot. 
     [Supplementary Note 34] 
     Also, preferably, a heat-reflecting coating film obtained by stacking a SiO 2  thin film with a thin film made of one of Au, Ag, Pt, Ti, Cu, Al and Rh or a compound film made of at least two elements is formed on the surface of the arm of the transfer robot. 
     [Supplementary Note 35] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device in a substrate processing apparatus characterized in that an inner wall of a transfer chamber and an arm of a transfer robot are surface-treated so that a surface of the inner wall of the transfer chamber has a higher thermal emissivity than a surface of the arm of the transfer robot, the method including: 
     transferring, at the transfer robot, a substrate to a heatable substrate support installed in at least one process chamber connected to the transfer chamber; 
     heating the substrate in the process chamber; and controlling, at a control unit, the transfer robot and the substrate support. 
     [Supplementary Note 36] 
     Yet another embodiment of the present invention provides a method of manufacturing a semiconductor device, including: 
     transferring a substrate to a heatable substrate support from an inside of a transfer chamber which is surface-treated so that an inner wall of the transfer chamber serving as a substrate transfer space has a thermal emissivity of 0.7 to 0.99 using a transfer robot which is installed in the transfer chamber and whose arm is surface-treated so that a surface of the arm can have a thermal emissivity of 0.01 to 0.1; processing the substrate in at least one process chamber connected to the transfer chamber; and controlling, at a control unit, the transfer robot and the substrate support.