Patent Publication Number: US-11664267-B2

Title: Substrate support assembly and substrate processing device including the same

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Patent Application No. 62/872,551, filed on Jul. 10, 2019, the disclosure of which is incorporated herein in its entirety by reference. 
    
    
     BACKGROUND 
     1. Field 
     One or more embodiments relate to a substrate support assembly and a substrate processing device including the same, and more particularly, to a substrate support assembly capable of forming uniform distances between a substrate and a gas supplier, and a substrate processing device including the substrate support assembly. 
     2. Description of the Related Art 
     The size of a semiconductor device is continuously reduced, and accordingly, the importance of precise control of processes that are processed (e.g., deposited) on a substrate is increasing. The substrate processing processes may include, if necessary, steps for maintaining the inside of a reactor of a substrate processing device under vacuum pressure and/or high temperature. An upper surface of a chamber including a plurality of reactors therein may be deformed in a direction toward the inside of the chamber depending on the state (vacuum pressure and/or high temperature) inside the reactor in the substrate processing processes. In addition, the gas supplier coupled to the upper surface of the chamber may also be tilted in the direction toward the inside of the chamber in a deformation direction of the upper surface of the chamber. Thus, distances between a substrate of a reactor and a gas supplier are not uniform in a reaction space of the reactor, and the process uniformity of a substrate processing process may be deteriorated. 
     SUMMARY 
     One or more embodiments include a substrate support assembly capable of forming uniform distances between a substrate and a gas supplier to improve the process uniformity of a substrate processing process, and a substrate processing device including the substrate support assembly. 
     Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments. 
     According to one or more embodiments, a substrate support assembly arranged in a chamber includes: a support plate including a first surface on which a substrate is seated; a driver configured to tilt the support plate such that the first surface is inclined with respect to a reference surface by a lower inclination angle; and a controller configured to control the driver, wherein the controller is configured to control the driver such that the lower inclination angle is adjusted based on an upper inclination angle caused by the tilting of a gas supplier coupled to an upper surface of the chamber with respect to the reference surface. 
     In an embodiment, the reference surface may be a bottom surface of the chamber. 
     In an embodiment, the controller may determine whether a difference value between the lower inclination angle and the upper inclination angle is not within a predefined error range. 
     In an embodiment, the controller may communicate with at least one of a lower angle sensor configured to measure the lower inclination angle and an upper angle sensor configured to measure the upper inclination angle. 
     In an embodiment, the driver may include: a motor; a link unit connected to the motor and configured to be driven in a vertical direction; a tilting plate connected to the link unit; and a connecting arm extending from the tilting plate and coupled to the support plate. 
     In an embodiment, the link unit may include: a first link connected to the motor and configured to be driven in a vertical direction; and a second link connecting the first link and the tilting plate and configured to be tilted with respect to a central axis of the first link, wherein the first link and the second link are joint-coupled. 
     In an embodiment, the first link and the second link may be coupled to each other by at least one of ball joint coupling and universal joint coupling. 
     In an embodiment, the link unit may be plural, and each of the link units may be disposed to be equally symmetric with respect to a center of the tilting plate. 
     In an embodiment, the controller may individually control the motors respectively coupled to the link units. 
     According to one or more embodiments, a substrate processing device includes: a chamber; a substrate support assembly configured to support a substrate in the chamber; a gas supplier coupled to an upper surface of the chamber and configured to define a reaction space of a reactor together with the substrate support assembly and to supply gas to the reaction space, wherein substrate support assembly includes: a support plate including a first surface on which the substrate is seated; a driver configured to tilt the support plate such that the first surface is inclined with respect to a reference surface by a lower inclination angle; and a controller configured to control the driver, wherein the controller is configured to control the driver such that the lower inclination angle is adjusted based on an upper inclination angle formed by inclining the gas supplier with respect to the reference surface. 
     In an embodiment, the controller may control the driver such that the lower inclination angle and the upper inclination angle are equal to each other. 
     In an embodiment, the substrate processing device may further include: a lower angle sensor configured to measure the lower inclination angle, and the controller may communicate with the lower angle sensor. 
     In an embodiment, the substrate processing device may further include: an upper angle sensor configured to measure the upper inclination angle, and the controller may communicate with the upper angle sensor. 
     In an embodiment, the substrate processing device may further include: a lower angle sensor configured to measure the lower inclination angle; and an upper angle sensor configured to measure the upper inclination angle, and the controller may determine whether a difference value between the lower inclination angle measured by the lower angle sensor and the upper inclination angle measured by the upper angle sensor is not within a predefined error range. 
     In an embodiment, the driver may include: a motor; a link unit connected to the motor and configured to be driven in a vertical direction; a tilting plate connected to the link unit; and a connecting arm extending from the tilting plate and coupled to the support plate. 
     In an embodiment, the link unit may include: a first link connected to the motor and configured to be driven in a vertical direction; and a second link connecting the first link and the tilting plate and configured to be tilted with respect to a central axis of the first link, wherein the first link and the second link are joint-coupled. 
     In an embodiment, the first link and the second link may be coupled to each other by at least one of ball joint coupling and universal joint coupling. 
     In an embodiment, the link unit may be plural, and each of the link units may be disposed to be equally symmetric with respect to a center of the tilting plate. 
     In an embodiment, the controller may individually control the motors respectively coupled to the link units. 
     In an embodiment, the driver may further include a fixing plate provided with a hole, wherein the fixing plate is between the tilting plate and the motor, and the link unit is connected to the tilting plate through the hole. 
     A substrate support assembly and a substrate processing device including the same according to the disclosure may form uniform distances between a substrate and a gas supplier such that the process uniformity of a substrate processing process in various environment conditions of the substrate processing process may be improved. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which: 
         FIG.  1    is an internal cross-sectional view of a conventional substrate processing device; 
         FIG.  2    is a cross-sectional view of a substrate support assembly and a substrate processing device including the same according to an embodiment; 
         FIG.  3    is a cross-sectional view of a substrate processing device according to an embodiment; 
         FIG.  4    is a side view of a driver according to an embodiment; 
         FIG.  5    is a plan view of a fixing plate according to an embodiment; 
         FIG.  6    is a plan view of a tilting plate according to an embodiment; 
         FIG.  7    is a cross-sectional view of area A of the driver of  FIG.  4   ; and 
         FIG.  8    is a flowchart illustrating a method of driving a substrate support assembly according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. In this regard, the present embodiments may have different forms and should not be construed as being limited to the descriptions set forth herein. Accordingly, the embodiments are merely described below, by referring to the figures, to explain aspects of the present description. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list. 
     Hereinafter, one or more embodiments will be described more fully with reference to the accompanying drawings. 
     In this regard, the present embodiments may have different forms and should not be construed as being limited to the descriptions set forth herein. Rather, these embodiments are provided so that the disclosure will be thorough and complete, and will fully convey the scope of the disclosure to one of ordinary skill in the art. 
     The terminology used herein is for the purpose of describing particular embodiments and is not intended to limit the disclosure. As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “includes”, “comprises” and/or “including”, “comprising” used herein specify the presence of stated features, integers, steps, operations, members, components, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, members, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. 
     It will be understood that, although the terms first, second, etc. may be used herein to describe various members, components, regions, layers, and/or sections, these members, components, regions, layers, and/or sections should not be limited by these terms. These terms do not denote any order, quantity, or importance, but rather are only used to distinguish one component, region, layer, and/or section from another component, region, layer, and/or section. Thus, a first member, component, region, layer, or section discussed below could be termed a second member, component, region, layer, or section without departing from the teachings of embodiments. 
     Hereinafter, embodiments of the disclosure will be described with reference to the accompanying drawings. In the drawings, variations from the illustrated shapes may be expected as a result of, for example, manufacturing techniques and/or tolerances. Thus, the embodiments of the disclosure should not be construed as being limited to the particular shapes of regions illustrated herein but may include deviations in shapes that result, for example, from manufacturing processes. 
       FIG.  1    is an internal cross-sectional view of a conventional substrate processing device  100 . The substrate processing device  100  may be a device provided for processing a substrate S. For example, the substrate processing device  100  may be a device for performing deposition on a semiconductor substrate or a display substrate, and may be a device for performing etching on the substrate S and/or a material film on the substrate S. 
     Referring to  FIG.  1   , the conventional substrate processing device  100  may include a chamber  10 , a substrate supporter  11 , and a gas supplier  12 . The chamber  10  may include a bottom surface  10   a , an inner surface  10   b , and an upper surface  10   c  that define an inner space of the chamber. 
     The substrate supporter  11  may be configured to support the substrate S within the chamber  10 . The substrate support  11  may be below the gas supplier  12 . 
     The gas supplier  12  may be configured to supply gases for processing the substrate S onto the substrate S. The gas supplier  12  may be above the substrate supporter  11  and may be fixedly coupled to the upper surface  10   c  of the chamber  10 . 
     The substrate supporter  11  and the gas supplier  12 , which constitute a reactor, may be mutually coupled to define a reaction space R of the reactor. The reaction space R of the reactor may be a space in which the substrate S is processed in a substrate processing process. 
     The substrate processing device  100  may form various environment conditions in the reaction space R of the reactor for processing the substrate S, if necessary. For example, the substrate processing device  100  may bring the inside of the reaction space R into a vacuum pressure state for processing the substrate S. In addition, the substrate processing device  100  may bring the inside of the reaction space R into a high-temperature state for processing the substrate S. When the inside of the reaction space R of the substrate processing device  100  is in the state of vacuum pressure and/or high temperature, the upper surface  10   c  of the chamber  10  may be deformed and tilted toward the inside of the chamber. Accordingly, the gas supplier  12  fixedly coupled to the upper surface  10   c  may also be tilted toward the inside of the chamber. 
     Referring to  FIG.  1   , as the upper surface  10   c  of the chamber  10  is tilted, the upper surface  10   c  and the bottom surface  10   a  may form an upper inclination angle a. For example, the upper inclination angle a may be an angle formed by the inclination of the upper surface  10   c  of the chamber  10  from the bottom surface  10   a  of the chamber  10 . Furthermore, the gas supplier  12  coupled to the upper surface  10   c  may also be inclined from the bottom surface  10   a  to form the upper inclination angle a. As the upper inclination angle a is formed, distances between the substrate S and the gas supplier  12  may be different from region to region of the substrate S. For example, a first distance d 1  between the first region P 1  of the substrate S and the gas supplier  12  may be greater than a second distance d 2  between a second region P 2  different from the first region P 1  of the substrate S and the gas supplier  12 . As the first distance d 1  and the second distance d 2  are different from each other, the process uniformity of a substrate processing process may be deteriorated. 
       FIG.  2    is a cross-sectional view of a substrate support assembly  250  and a substrate processing device  200  including the substrate support assembly  250  according to an embodiment. As shown in  FIG.  2   , the substrate processing device  200  may include a plurality of substrate support assemblies  250 . 
     Referring to  FIG.  2   , the substrate processing device  200  may include a chamber  20 , a gas supplier  21 , and the substrate support assembly  250 . In an embodiment, the chamber  20  may form an inner space in which the substrate support assembly  250  and the gas supplier  21  are located. In addition, the chamber  20  may include a bottom surface  20   a , an inner surface  20   b , and an upper surface  20   c  that define the inner space. 
     In an embodiment, the gas supplier  21  may be configured to supply gases for processing the substrate S onto the substrate S. For example, the gas supplier  21  may be configured to supply various types of process gases for a deposition process onto the substrate S. The gas supplier  21  may be above the substrate support assembly  250  and may be fixed to the chamber  20 . In more detail, the gas supplier  21  may be fixed to the upper surface  20   c  of the chamber  20  through a fixing member (not shown). Furthermore, the gas supplier  21  may include a shower head having a plurality of gas injection holes on a spray surface facing the substrate S and configured to supply gases for processing the substrate S onto the substrate S. 
     In an embodiment, the substrate support assembly  250  of the disclosure may include a support plate  201 , a driver  202 , and a controller  203 . The substrate support assembly  250  may be configured to support the substrate S within the chamber  20 . Furthermore, the driver  202  of the substrate support assembly  250  may drive the support plate  201  configured to support the substrate S to form the uniform distances between the substrate S and the gas supplier  21 . 
     In an embodiment, the gas supplier  21  and the substrate support assembly  250  in a substrate processing process are mutually coupled to define the reaction space R of the reactor, which is the space in which the substrate S is processed. Depending on the types of substrate processing processes, the inside of the reaction space R may be formed in various pressure distributions and temperature distributions. 
     In an embodiment, the support plate  201  may be configured such that the substrate S is seated. In more detail, the support plate  201  may include a first surface  201   a  facing the gas supplier  21  and the substrate S to be processed may be seated on the first surface  201   a.    
     Further, the support plate  201  may be tilted by the driver  202 , which will be described later below. For example, an angle formed between the first surface  201   a  of the support plate  201  and a reference surface may be adjusted by the driver  202 . For example, the reference surface may be the bottom surface  20   a  of the chamber  20 , but is not limited thereto. The reference surface may include any one of surfaces formed by components of the substrate processing device  200 , which is not substantially deformed in various environment conditions of the substrate processing process. When the support plate  201  is tilted from the bottom surface  20   a  of the chamber  20  by the driver  202 , the first surface  201   a  of the support plate  201  and the bottom surface  20   a  of the chamber  20  may form a lower inclination angle b. 
     Further, the support plate  201  may serve as an electrode. For example, RF power may be applied to the reaction space R of the reactor through the support plate  201 , so that a plasma may be formed in the reaction space R. 
     In an embodiment, the driver  202  may be configured to drive the support plate  201 . In more detail, the driver  202  may drive the support plate  201  such that the first surface  201   a  of the support plate  201  is inclined with respect to the reference surface. For example, the driver  202  may drive the support plate  201  such that the lower inclination angle b between the first surface  201   a  of the support plate  201  and the bottom surface  20   a  of the chamber  20  is adjusted based on different substrate processing process environment conditions. 
     In an embodiment, the controller  203  may be configured to control the driver  202 . The upper surface  20   c  of the chamber  20  may be inclined from the bottom surface  20   a  when the inside of the reaction space R is formed in the state of vacuum pressure and/or high temperature. The gas supplier  21  coupled to the upper surface  20   c  may also be inclined from the bottom surface  20   a  and the gas supplier  21  and the bottom surface  20   a  of the chamber  20  may form the upper inclination angle a. Here, the controller  203  may be configured to control the driver  202  such that the lower inclination angle b may be adjusted based on the upper inclination angle a 
     In an embodiment, the controller  203  may control the driver  202  such that the upper inclination angle a is substantially equal to the lower inclination angle b. For example, the controller  203  may control the driver  202  such that the support plate  201  may be inclined with respect to the bottom surface  20   a  of the chamber  20  until the first surface  201   a  of the support plate  201  and the gas supplier  21  coupled to the upper surface  20   c  of the chamber  20  are parallel (that is, until the distances between the first surface  201   a  and the gas supplier  21  become uniform). 
     In an embodiment, the controller  203  may determine whether a difference between the upper inclination angle a and the lower inclination angle b is not within a predefined error range. The error range may be determined from a processor of the substrate processing process to be a certain range, and the error range may be changed as needed. When the difference value between the lower inclination angle b and the upper inclination angle a, which is controlled through the driver  202 , is not within a predefined error range, the controller  203  may control the driver  202  again such that the difference value may be within the error range. 
     In an embodiment, the controller  203  adjusts the lower inclination angle b formed by the support plate  201  based on the upper inclination angle a so that distances between the substrate S seated on the first surface  201   a  of the support plate  201  and the gas supplier  21  coupled to the upper surface  20   c  of the chamber  20  may be made uniform. For example, the first distance d 1  between the first region P 1  of the substrate S and the gas supplier  21  may be formed to be substantially equal to the second distance d 2  between the second region P 2  of the substrate S and the gas supplier  21 . Thus, process uniformity of the substrate processing process may be improved. 
       FIG.  3    is a cross-sectional view of a substrate processing device  300  according to an embodiment. 
     In an embodiment, the substrate processing device  300  of the disclosure may include a chamber  30 , a gas supplier  31 , a substrate support assembly  350 , an upper angle sensor  32 , and a lower angle sensor  33 . The technical idea of the chamber  30 , the gas supplier  31 , and the substrate support assembly  350  of  FIG.  3    may include the technical idea of the chamber  20 , the gas supplier  21 , and the substrate support assembly  250  described with reference to  FIG.  2   , and thus the detailed description will be omitted. 
     Furthermore, the substrate support assembly  350  may include a support plate  301 , a driver  302 , and a controller  303 . The technical idea of the support plate  301 , the driver  302 , and the controller  303  of  FIG.  3    may include the technical idea of the support plate  201 , the driver  202 , and the controller  203  described with reference to  FIG.  2   , and thus the detailed description will be omitted. 
     In an embodiment, the upper angle sensor  32  of the substrate processing device  300  may be configured to measure the upper inclination angle a. For example, the upper inclination angle a measured by the upper angle sensor  32  may include at least one of an angle formed by the inclination of an upper surface  30   c  of the chamber  30  from a reference surface, an angle formed by the inclination of the gas supplier  31  from the reference surface, and an angle formed by the inclination of a shower head in the gas supplier  31  from the reference surface. The reference surface may include, but is not limited to, a bottom surface  30   a  of the chamber  30 , and may include any one of surfaces formed by components of the substrate processing device  300 , which is not substantially deformed in various environment conditions of the substrate processing process. 
     In an embodiment, the upper angle sensor  32  may communicate with the controller  303 . In more detail, the upper angle sensor  32  may communicate with the controller  303  and transmit the measured upper inclination angle a to the controller  303  in real time. 
     In an embodiment, the lower angle sensor  33  of the substrate processing device  300  may be configured to measure the lower inclination angle b. For example, the lower inclination angle b measured by the lower angle sensor  33  may include at least one of an angle formed by the inclination of a first surface  301   a  of the support plate  301  from a reference surface and an angle formed by the inclination of the substrate S on the first surface  301   a  from the reference surface. The reference surface may include, but is not limited to, a bottom surface  30   a  of the chamber  30 , and may include any one of surfaces formed by components of the substrate processing device  300 , which is not substantially deformed in various environment conditions of the substrate processing process. 
     In an embodiment, the lower angle sensor  33  may communicate with the controller  303 . In more detail, the lower angle sensor  33  may communicate with the controller  303  and transmit the measured lower inclination angle b to the controller  303  in real time. 
     In an embodiment, the controller  303  may control the driver  302  based on the upper inclination angle a received from the upper angle sensor  32 . In more detail, the controller  303  may control the driver  302  such that the support plate  301  may be inclined from a reference surface based on the upper inclination angle a to form the lower inclination angle b. 
     In an embodiment, the controller  303  may control the driver  302  to incline the support plate  301  from a reference surface until the lower inclination angle b formed by the support plate  301  is substantially equal to the upper inclination angle a measured by the upper angle sensor  32 . The first surface  301   a  of the support plate  301  and the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  may be mutually parallel when the lower inclination angle b is substantially equal to the upper inclination angle a. Therefore, distances between the substrate S seated on the first surface  301   a  of the support plate  301  and the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  may be made uniform. 
     In an embodiment, the lower angle sensor  33  may transmit the lower inclination angle b formed by the support plate  301  to the controller  303  after the support plate  301  is inclined from a reference surface by the driver  302 . 
     In an embodiment, the controller  303  may determine whether a difference value between the lower inclination angle b measured by the lower angle sensor  33  and the upper inclination angle a measured by the upper angle sensor  32  is not within a predefined error range. The error range may be determined from a processor of the substrate processing process to a certain value, and the error range may be changed as needed. 
     In more detail, when the controller  303  determines that the difference value between the lower inclination angle b and the upper inclination angle a is not within the predefined error range, the controller  303  may drive the support plate  301  by secondarily controlling the driver  302 . Furthermore, the lower angle sensor  33  may measure the lower inclination angle b secondarily formed by the support plate  301  and may transmit the measured lower inclination angle b to the controller  303 . The controller  303  may determine whether a difference value between the measured second lower inclination angle b and the upper inclination angle a is not within the error range. When the difference value between the second lower inclination angle b and the upper inclination angle a is within the error range, the controller  303  may stop the control of the driver  302 . In an embodiment, when the difference value between the second lower inclination angle b and the upper inclination angle a is not within the error range, the controller  303  may control the driver  302  to drive the support plate  301  again. 
     In an embodiment, the first surface  301   a  of the support plate  301  may be set to be parallel to the bottom surface  30   a  of the chamber  30  (i.e., the lower inclination angle b is substantially close to 0 degrees) before the substrate processing process proceeds. The gas supplier  31  coupled to the upper surface  30   c  may be parallel to the bottom surface  30   a  of the chamber  30  in a substrate processing process in a case where the upper surface  30   c  of the chamber  30  is not inclined toward an inner space of the chamber  30 . In other words, the upper inclination angle a formed by the gas supplier  31  and bottom surface  30   a  may be substantially 0 degrees. Here, the controller  303  may be configured not to drive the driver  302 . 
       FIG.  4    is a side view of the driver  302  according to an embodiment.  FIG.  5    is a plan view of a fixing plate  43  of the driver  302  and  FIG.  6    is a plan view of a tilting plate  44  of the driver  302 . 
     In an embodiment, the driver  302  of the disclosure may include a motor  41 , a link unit  42 , a fixing plate  43 , a tilting plate  44 , and a connecting arm  45 . As described above with reference to  FIG.  3   , the driver  302  may drive the support plate  301  such that the first surface  301   a  of the support plate  301  is inclined from a reference surface to form the lower inclination angle b. 
     In an embodiment, the motor  41  may be a power source configured to receive electric power and generate driving force. The driving force of the motor  41  may be transmitted to the link unit  42  to be described later below and used to drive the tilting plate  44 . The driver  302  may include a plurality of motors  41 . 
     In an embodiment, the link unit  42  is mechanically connected to the motor  41  and may be configured to be driven in a vertical direction by the driving force of the motor  41 . Furthermore, the link unit  42  may be connected to the tilting plate  44  and may transmit the driving force of the motor  41  to the tilting plate  44 . The link unit  42  may include a first link  71  (of  FIG.  7   ) connected to the motor  41  and a second link  72  (of  FIG.  7   ) connected to the tilting plate  44 . The technical idea of the first link  71  and the second link  72  will be described in more detail with reference to  FIG.  7   . 
     In an embodiment, the link unit  42  may be between the motor  41  and the tilting plate  44 . One area of the link unit  42  may be connected to the motor  41  and another area of the link unit  42  may be connected to the tilting plate  44 . 
     In an embodiment, the link unit  42  may be plural. In more detail, the link units  42  may be formed in a number corresponding to the number of motors  41 . For example, when there are three motors  41 , three link units  42  may be provided. 
     Furthermore, The link unit  42  may be connected to a lower surface  44   b  of the tilting plate  44  such that the link unit  42  is equally symmetric with respect to a center of the tilting plate  44 . For example, when the tilting plate  44  is triangular as shown in  FIG.  6    and the link units  42  are three, the link units  42  may be connected to the lower surface  44   b  of the tilting plate  44  at an interval of 120 degrees from a center of the tilting plate  44 . 
     In an embodiment, when there are a plurality of link units  42 , the controller  303  may individually control the motors  41  respectively coupled to the link units  42 . As the link unit  42  and the motor  41  are plural and the controller  303  individually controls the motors  41 , the lower inclination angle b formed by the support plate  301  and the bottom surface  30   a  of the chamber  30  may be precisely adjusted. 
     Referring to  FIGS.  4  and  5   , the fixing plate  43  may include an upper surface  43   a  facing the tilting plate  44  and a lower surface  43   b  facing the upper surface  43   a . The fixing plate  43  may be between the tilting plate  44  and the motor  41 . The fixing plate  43  may be in the shape of a triangular plate as shown in  FIG.  5   . However, the disclosure is not limited thereto, and the fixing plate  43  may have various shapes. 
     In an embodiment, the fixing plate  43  may include a first hole h 1  penetrating a central portion and a second hole h 2  penetrating an edge portion. For example, the first hole h 1  may be provided at the central portion of the fixing plate  43 , and a plurality of second holes h 2  may be symmetrically disposed with respect to the center of the fixing plate  43  and may be provided to surround the first hole h 1 . The second holes h 2  may be provided near a vertex of the fixing plate  43  so as to be symmetrical with respect to the center of the fixing plate  43  when the fixing plate  43  is in the shape of a triangular plate. 
     In an embodiment, the first hole h 1  of the fixing plate  43  may provide a space in which devices and wires coupled to a lower portion of the connecting arm  45  may be positioned through the fixing plate  43 . For example, a connecting arm driver (not shown) configured to drive the connecting arm  45  and wires electrically connected to the connecting arm driver may be positioned through the first hole h 1  of the fixing plate  43 . 
     In an embodiment, the second hole h 2  of the fixing plate  43  may form a space in which the link unit  42  may be positioned through the fixing plate  43 . The second hole h 2  of the fixing plate  43  may be formed to have a size that does not interfere with driving of the link unit  42 . For example, when the link unit  42  is driven in a vertical direction in a space formed by the second hole h 2  and/or to be inclined from a central axis c (of  FIG.  7   ), the driving of the link unit  42  may not be interfered by the fixing plate  43 . 
     Referring to  FIGS.  4  and  6   , the tilting plate  44  may include an upper surface  44   a  facing the support plate  301  and the lower surface  44   b  facing the upper surface  44   a . The tilting plate  44  may be on the fixing plate  43 . 
     In an embodiment, the tilting plate  44  may be in the shape of a triangular plate as shown in  FIG.  6   . However, the disclosure is not limited thereto, and the tilting plate  44  may have various shapes. Furthermore, the tilting plate  44  may have substantially the same shape as the shape of the fixing plate  43 . For example, when the fixing plate  43  is in the shape of a triangular plate, the tilting plate  44  may also be in the shape of a triangular plate. 
     In an embodiment, the tilting plate  44  may include a fixing hole h 3  penetrating the central portion. The fixing hole h 3  may be provided at the central portion of the tilting plate  44  and may provide a space in which the connecting arm  45  to be described later below is inserted and fixed. 
     In an embodiment, the tilting plate  44  may be connected to the link unit  42 . In more detail, the lower surface  44   b  of the tilting plate  44  may be connected to the second link  72  (of  FIG.  7   ). For example, the tilting plate  44  may be driven integrally with the second link  72 . In an embodiment, when the second link  72  is raised or lowered, the tilting plate  44  may be raised or lowered. Furthermore, when the second link  72  is tilted with respect to the central axis c of (of  FIG.  7   ) of the first link  71 , the tilting plate  44  coupled to the second link  72  may also be inclined with respect to the central axis c. 
     In an embodiment, the connecting arm  45  may be configured to connect the tilting plate  44  and the support plate  301 . In more detail, the connecting arm  45  may be columnar and configured to connect the tilting plate  44  and the support plate  301  between the tilting plate  44  and the support plate  301 . The lower portion of the connecting arm  45  may be coupled to the tilting plate  44  and the upper portion of the connecting arm  45  may be coupled to the support plate  301 . 
       FIG.  7    is a cross-sectional view of area A of the driver of  FIG.  4   . 
     Referring to  FIG.  7   , the link unit  42  may include the first link  71  and the second link  72 . For example, the link unit  42  may include a plurality of first links  71  and a plurality of second links  72  coupled to the first links  71 , respectively. 
     In an embodiment, the first link  71  may be connected to the motor  41  and may be driven in a vertical direction by the driving force of the motor  41 . A height formed by the first link  71  driven by the motor  41  in the vertical direction may be controlled by the controller  303 . 
     In an embodiment, the second link  72  may be configured to connect the first link  71  and the tilting plate  44 . In more detail, the second link  72  may be connected to the tilting plate  44  at an upper portion thereof. For example, the second link  72  may be fixedly coupled to the tilting plate  44  to be integrated. 
     In an embodiment, the second link  72  may be joint-coupled to the first link  71  at a lower portion thereof. In more detail, the joint coupling may be joint coupling in which the second link  72  may be driven up and down as the first link  71  is driven up and down, may be rotated with respect to the central axis c of the first link  71 , and may be inclined from the central axis c of the first link  71  to form the lower inclination angle b. 
     As shown in  FIG.  7   , the first link  71  and the second link  72  may be ball-joint-coupled. However, the disclosure is not limited thereto. The joint coupling of the first link  71  and the second link  72  may include at least one of various kinds of joint couplings in which the second link  72  may be driven up and down as the first link  71  is driven up and down, may be rotated with respect to the central axis c of the first link  71 , and may be inclined from the central axis c of the first link  71  to form the lower inclination angle b. For example, the joint coupling of the first link  71  and the second link  72  may include at least one of ball joint coupling and universal joint coupling. 
     In an embodiment, as shown in  FIG.  3   , when the upper surface  30   c  of the chamber  30  is inclined to form the upper inclination angle a with the bottom surface  30   a  in the substrate processing process, the controller  303  may control the amount of moving up or down of each of the first links  71  based on the upper inclination angle a. When the first links  71  form different heights, the tilting plate  44  connected to the second links  72  may be inclined from the central axis c to form the lower inclination angle b. The method of joint-coupling the first link  71  and the second link  72  described above may facilitate formation of the lower inclination angle b of the tilting plate  44 . 
     In an embodiment, the controller  303  may control the amount of moving up or down of each of the first links  71  based on the upper inclination angle a such that the substrate S seated on the first surface  301   a  of the support plate  301  and the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  may be parallel. In other words, the controller  303  may control the amount of moving up or down of each of the first links  71  based on the upper inclination angle a such that distances between the substrate S seated on the first surface  301   a  of the support plate  301  and the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  may become uniform. 
     In an embodiment, as described above, the link unit  42  may be positioned through the second hole h 2  of the fixing plate  43  and the second hole h 2  may be formed to have a size that does not interfere with the driving of the link unit  42 . For example, when the second link  72  is inclined from the central axis c of the first link  71 , the second link  72  may not contact the fixing plate  43 . 
       FIG.  8    is a flowchart illustrating a method (S 1000 ) of driving a substrate support assembly according to an embodiment. The method (S 1000 ) of driving the substrate support assembly  350  of the disclosure may be a method of driving the substrate support assembly  350  of the substrate processing device  300  such that distances between the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  and the substrate S on the support plate  301  are uniform. 
     Referring to  FIG.  8    together with  FIG.  3   , the method (S 1000 ) of driving the substrate support assembly  350  may include operation S 100  of measuring the upper inclination angle a, operation S 200  of transmitting the measured upper inclination angle a to the controller  303 , operation S 300  of controlling the driver  302  such that the lower inclination angle b is formed based on the upper inclination angle a, operation S 400  of measuring the lower inclination angle b, operation S 500  of transmitting the measured lower inclination angle b to the controller  303 , and operation S 600  of determining whether the difference value between the upper inclination angle a and the lower inclination angle b is not within a predefined error range. 
     The operation S 100  of measuring the upper inclination angle a of the disclosure may include measuring the upper inclination angle a through the upper angle sensor  32 . As described above, the upper inclination angle a may include at least one of an angle formed by the inclination of the upper surface  30   c  of the chamber  30  from a reference surface, an angle formed by the inclination of the gas supplier  31  from the reference surface, and an angle formed by the inclination of a shower head formed in the gas supplier  31  from the reference surface. The reference surface may include, for example, the bottom surface  30   a  of the chamber  30 . 
     In an embodiment, the operation S 100  of measuring the upper inclination angle a may include, when the upper inclination angle a is changed in real time as a substrate processing process proceeds, measuring the changed upper inclination angle a in real time. 
     The operation S 200  of transmitting the measured upper inclination angle a to the controller  303  of the disclosure may include transmitting the upper inclination angle a measured through the upper angle sensor  32  to the controller  303  in real time. The upper angle sensor  32  may transmit the upper inclination angle a measured by a wired communication method or a wireless communication method to the controller  303 . 
     In an embodiment, the operation S 200  of transmitting the measured upper inclination angle a to the controller  303  may include, when the upper inclination angle a is changed in real time as the substrate processing process proceeds, transmitting the changed upper inclination angle a in real time. 
     The operation S 300  of controlling the driver  302  such that the lower inclination angle b is formed based on the upper inclination angle a may include controlling the driver  302  such that the lower inclination angle b formed by the first surface  301   a  of the support plate  301  and the bottom surface  30   a  of the chamber  30  is adjusted based on the upper inclination angle a. 
     In an embodiment, the controller  303  may control the driver  302  such that the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  and the first surface  301   a  of the support plate  301  are mutually parallel (e.g., such that the upper inclination angle a is substantially equal to the lower inclination angle b). In other words, the controller  303  may control the driver  302  such that distances between the substrate S seated on the first surface  301   a  of the support plate  301  and the gas supplier  31  coupled to the upper surface  30   c  of the chamber  30  may become uniform. Accordingly, the first distance d 1  between the first region P 1  of the substrate S and the gas supplier  12  may be formed to be substantially equal to the second distance d 2  between the second region P 2  different from the first region P 1  of the substrate S and the gas supplier  31 , which may improve process uniformity of the substrate processing process. The configuration of the driver  302  and the operation of the above-described components are substantially the same as the technical ideas described with reference to  FIGS.  2  to  7   , and therefore, a detailed description thereof will be omitted. 
     The operation S 400  of measuring the lower inclination angle b of the disclosure may include measuring the lower inclination angle b through the lower angle sensor  33 . As described above, the lower inclination angle b may include at least one of the angle formed by the inclination of the first surface  301   a  of the support plate  301  from the reference surface and the angle formed by the inclination of the substrate S on the first surface  301   a  from the reference surface. The reference surface may include, for example, the bottom surface  30   a  of the chamber  30 . 
     In an embodiment, the operation S 400  of measuring the lower inclination angle b may include, when the lower inclination angle b is changed in real time as the substrate processing process proceeds, measuring the changed lower inclination angle b in real time. 
     The operation S 500  of transmitting the measured lower inclination angle b to the controller  303  of the disclosure may include transmitting the lower inclination angle b measured through the lower angle sensor  33  to the controller  303  in real time. The lower angle sensor  33  may transmit the lower inclination angle b measured by a wired communication method or a wireless communication method to the controller  303 . 
     In an embodiment, the operation S 500  of transmitting the measured lower inclination angle b to the controller  303  may include, when the lower inclination angle b is changed in real time as the substrate processing process proceeds, transmitting the changed lower inclination angle b in real time. 
     The operation S 600  of determining whether the difference value between the upper inclination angle a and the lower inclination angle b is not within a predefined error range of the disclosure may include determining whether the difference value between the upper inclination angle a measured by the upper angle sensor  32  and the lower inclination angle b measured by the lower angle sensor  33  is not within a predefined error range. The error range may be determined from a processor of the substrate processing process to a certain value, and the error range may be changed as needed. 
     In an embodiment, when the difference value between the upper inclination angle a and the lower inclination angle b is within the predefined error range, the driving of the substrate support assembly  350  may be terminated. 
     In an embodiment, when the difference value between the upper inclination angle a and the lower inclination angle b is not within the predefined error range, the operation S 300  of controlling the driver  302  to form the lower inclination angle b based on the upper inclination angle a may be performed again. When the lower inclination angle b is changed again by the driver  302 , the operation S 400  of measuring the lower inclination angle b, the operation S 500  of transmitting the measured lower inclination angle b to the controller  303 , and the operation S 600  of determining whether the difference value between the upper inclination angle a and the lower inclination angle b is not within a predefined error range may proceed again. 
     Since the method (S 1000 ) of driving the substrate support assembly  350  of the disclosure may change the lower inclination angle b formed by the support plate  301  in real time based on the upper inclination angle a, the distances between the substrate S on the support plate  301  and the gas supplier  31  may become uniform. Accordingly, the method (S 1000 ) of driving the substrate support assembly  350  of the disclosure may improve the process uniformity of the substrate processing process. 
     It is to be understood that the shape of each portion of the accompanying drawings is illustrative for a clear understanding of the present disclosure. It should be noted that the portions may be modified into various shapes other than the shapes shown. 
     It should be understood that the embodiments described herein should be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects within each embodiment should typically be considered as available for other similar features or aspects in other embodiments. While one or more embodiments have been described with reference to the figures, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the following claims.