Patent Publication Number: US-2012027542-A1

Title: Vacuum processor

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to a vacuum processor that transfers a substrate-shaped sample of a semiconductor wafer to a processing chamber of a vacuum vessel inside and arranges the sample to process it using plasma formed in the processing chamber, and more particularly, to a vacuum processor including a transferring means with a plurality of arms in a transfer vessel to which a plurality of vacuum vessels are connected and in which a sample is transferred in the vacuum inside. 
     In the above-described apparatus, in particular, in an apparatus for processing a processing object in a depressurized apparatus, an improvement in processing efficiency of a substrate to be processed is demanded along with miniaturization and precision of processing. For this reason, in recent years, a multi-chamber apparatus in which a plurality of processing chambers are connected to one apparatus and included is developed and efficiency of productivity per installation area of a clean room is improved. 
     In the above-described apparatus including a plurality of processing chambers or chambers and performing a processing, each processing chamber or chamber is connected to a transfer chamber in which an internal gas or its pressure is adjusted so as to be depressurized and a robot arm for transferring a substrate is included. As the above-described example of a conventional technique, there is known a technique disclosed in JP-A-2007-511104. 
     In the above-described configuration of a conventional technique, a size of the entire vacuum processor is determined based on a size and arrangement of a vacuum transfer chamber and a vacuum chamber. A size of the vacuum transfer chamber is determined based on the number of connections of adjacent transfer chambers or processing chambers, a turning radius of a transfer robot in the inside, and a wafer size. Further, a size of the vacuum chamber is determined based on a wafer size, exhaust efficiency, and an arrangement of a device class necessary for a wafer processing. An arrangement of the vacuum transfer chamber and the vacuum chamber is determined based on the number of processing chambers necessary for production and a maintenance property. 
     SUMMARY OF THE INVENTION 
     In the above-described conventional technique, adequate consideration is lacking about the following points. 
     Specifically, as to an arrangement of units configuring a vacuum processor, a processing chamber for processing a wafer to be processed and a vacuum transfer chamber for a vacuum transfer are not arranged such that efficiency of productivity is optimized, and the amount of production per installation area is not optimized. 
     In the above-described conventional technique, a processing capacity of a wafer per installation area of the vacuum processor is impaired. 
     In view of the foregoing, it is an object of the present invention to provide a semiconductor manufacturing equipment with high productivity per installation area. 
     To accomplish the above-described objects, according to one aspect of the present invention, there is provided a vacuum processor. This vacuum processor includes: an atmospheric transfer vessel in which cassette tables on which cassettes having stored therein wafers to be processed are mounted are arranged at the front surface side and the wafer is transferred under an atmospheric pressure inside; at least one lock chamber that is connected to the atmospheric transfer vessel on the back surface side of this atmospheric transfer vessel, arranged in parallel, and can adjust an internal pressure so as to store the wafer between an atmosphere pressure and a depressurized pressure; a first robot that transfers the wafer; a first transfer vessel that is connected to the lock chamber on the backward side of the lock chamber and has the first robot in the inside depressurized to the predetermined degree of vacuum; a second robot that transfers the wafer; a second transfer vessel that is arranged at the backward side of this first transfer chamber, connected to the first transfer chamber, and has the second robot in the inside depressurized to the degree of vacuum; a storage section in which the wafer is transferred between the first and second robots; a repeating vessel that connects the first transfer vessel and the second transfer vessel, arranged, and has the storage section in the inside airtightly sealed at the opposite side of the lock chamber across the first transfer vessel between the first transfer vessel and the second transfer vessel; and a processing vessel that is connected, on an almost perpendicular side, to the repeating vessel around the second transfer vessel and in which the wafer is processed at an internal processing chamber, wherein the first robot has two arms that are arranged so as to be rotated around axes in which each end is arranged within the first transfer vessel, have wafer holding sections at points, and expanded and contracted in both the directions across the axes to thereby move the wafer holding sections; and wherein the second robot has two arms that are arranged so as to be rotated around axes in which each end is arranged within the second transfer vessel, have wafer holding sections at points, and expanded and contracted in the same direction around the axes to thereby move the wafer holding sections. 
     According to another aspect of the present invention, the wafer holding sections of the two arms of the first or second robot are arranged at different positions in the vertical direction. 
     According to yet another aspect of the present invention, the first robot holds a wafer on each of two wafer holding sections and takes in or out the wafer in parallel to the repeating chamber and the lock chamber. 
     According to yet another aspect of the present invention, the second robot holding a not-yet processed wafer in the wafer holding section of any one of the arms expands and contracts the other arm, receives a previously-processed wafer within the processing chamber on the wafer holding section, and then expands and contracts the one arm, and transfers the not-yet processed wafer into the processing chamber to thereby exchange the not-yet processed wafer and the previously-processed wafer. 
     According to yet another aspect of the present invention, the vacuum processor further includes a plurality of valves that release or airtightly block a path arranged between the processing vessel and the second transfer vessel, and between the first and second transfer vessels, and communicated between these vessels, wherein operations are adjusted such that these valves exclusively release the processing vessel inside. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and other features, objects and advantages of the present invention will become more apparent from the following description when taken in conjunction with the accompanying drawings wherein: 
         FIG. 1  is a top view illustrating an outline of a configuration of the entire vacuum processor according to an embodiment of the present invention; 
         FIGS. 2A and 2B  are schematic views illustrating in an enlarged state a configuration of a first vacuum transfer chamber and its environment of the vacuum processor illustrated in  FIG. 1  according to the present embodiment; and 
         FIGS. 3A and 3B  are schematic views illustrating in an enlarged state a configuration of a second vacuum transfer chamber and its environment of the vacuum processor illustrated in  FIG. 1  according to the present embodiment. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Hereinafter, preferred embodiments of a vacuum processor according to the present invention will be described in detail with reference to the accompanying drawings of the embodiments. 
     Embodiment 
     Hereinafter, preferred embodiments of the present invention will be described with reference to  FIGS. 1 to 3B .  FIG. 1  is a top view illustrating an outline of a configuration of the entire vacuum processor according to the embodiment of the present invention. 
     The vacuum processor  100  including a vacuum chamber illustrated in  FIG. 1  according to the embodiment of the present invention is roughly divided into an atmospheric air side block  101  and a vacuum side block  102 . The atmospheric air side block  101  is a portion for transferring a semiconductor wafer as a member to be processed and determining a storage position under an atmospheric pressure. On the other hand, the vacuum side block  102  is a block for transferring substrate-shaped samples such as wafers under a pressure depressurized from an atmospheric pressure and performing processing in the predetermined vacuum chamber. 
     Further, between the atmospheric air side block  101  and the above-described vacuum side block  102  for performing a transfer and processing, the vacuum processor  100  includes a portion that moves up and down a pressure between an atmospheric pressure and a vacuum pressure in a state of holding a sample inside. The vacuum processor  100  according to the present embodiment has a configuration in which a neck of a transfer time at each portion is eliminated in a state where the transfer time of the vacuum side block  102  is long as compared with that of atmospheric air side block  101 . 
     The atmospheric air side block  101  includes an almost rectangular parallelepiped-shaped chassis  106  having an atmospheric transfer robot  110  inside. Further, the atmospheric air side block  101  includes a plurality of cassette tables  107  fixed to a front surface side of this chassis  106  and having mounted thereon cassettes in which samples as a member to be processed for processing or cleaning are stored. 
     The vacuum side block  102  includes one or a plurality of lock chambers  105  that are arranged between the atmospheric air side block  101  and a first vacuum transfer chamber  104  that has a space in which a sample is transferred at the inside depressurized within a vacuum vessel, and that exchanges a pressure between an atmospheric pressure and a vacuum pressure in a state where a sample for exchanging between the atmospheric air side and the vacuum side is included inside. The first vacuum transfer chamber  104  includes a rectangular parallelepiped in which a planar shape viewed from above is rectangular or an end shape of a level regarded as the rectangular parallelepiped, and the vacuum processing vessel including a vacuum chamber  103  for processing samples is connected to a plurality of sidewalls equal to each side of the rectangle so as to be attachable and detachable. 
     According to the present embodiment, one vacuum processing vessel is connected to one sidewall of the vacuum transfer vessels configuring the first vacuum transfer chamber  104 . Further, the vacuum side block  102  includes a vacuum transfer intermediate chamber  112  that is arranged at another side between a second vacuum transfer chamber  111  and the first vacuum transfer chamber  104 , and in which a sample transferred through these portions is temporarily stored and held and then exchanged from one side to the other side. Also, the vacuum transfer intermediate chamber  112  is arranged in the vacuum vessel and the inside thereof is adjusted to pressures of the same degree of vacuum as those of the first and second vacuum transfer chambers  104  and  111 . 
     Further, to one side end of the vacuum transfer intermediate chamber  112 , the first vacuum transfer chamber  104  is connected and both of internal portions thereof are connected via a path so as to be communicated with each other. To the other end opposing to this path, the second vacuum transfer chamber  111  is connected so that both of internal parts can be communicated with each other. Also, a vacuum vessel including the second vacuum transfer chamber  111  has a rectangular parallelepiped shape in which a planar shape is rectangular similarly to a case of the first vacuum transfer chamber  110 . Further, the vacuum side block  102  has a configuration in which the vacuum processing vessel including the vacuum chamber  103  can be connected to each of three sidewalls except the sidewall to which the vacuum transfer intermediate chamber  112  is connected so as to be attachable and detachable. According to the present embodiment, two vacuum processing vessels are connected to sidewalls equal to two sides. 
     As described above, the number of the vacuum chambers  103  connected to the first vacuum transfer chamber  104  is smaller than that of the vacuum chambers  103  connected to the second vacuum transfer chamber  111 . This vacuum side block  102  is a block configured by a plurality of vacuum vessels capable of depressurizing the entire vacuum vessel and maintaining a pressure with the high degree of vacuum. 
     Each internal portion of the first vacuum transfer chamber  104  and the second vacuum transfer chamber  111  is connected and communicated with the transfer chamber. The first vacuum transfer chamber  104  has a separate-drive vacuum transfer robot  108  that transfers a sample under the depressurized vacuum between the lock chamber  105 , the vacuum chamber  103 , and the second vacuum transfer intermediate chamber  112 . On the other side, the second vacuum transfer chamber  111  has a connecting type vacuum transfer robot  109  that transfers a sample between the vacuum chamber  103  and the vacuum transfer intermediate chamber  112  and is arranged at the center of the second vacuum transfer chamber  111 . 
     In the first vacuum transfer chamber  104 , the separate-drive vacuum transfer robot  108  takes in or out a sample, in a state where the sample is mounted on its arms, between a sample stage arranged in the vacuum chamber  103  and any one of the lock chamber  105  and the vacuum transfer intermediate chamber  112 . Similarly, in the second vacuum transfer chamber  111 , the connecting type vacuum transfer robot  109  takes in or out a sample, in a state where the sample is mounted on its arms, between a sample stage arranged in the vacuum chamber  103  and the vacuum transfer intermediate chamber  112 . A path communicated via a valve  120  capable of airtightly blocking and releasing chambers is provided between the first vacuum transfer chamber  104  and any one of the vacuum chamber  103 , the lock chamber  105 , and the vacuum transfer intermediate chamber  112 , and between the second vacuum transfer chamber  111  and any one of the vacuum chamber  103  and the vacuum transfer intermediate chamber  112 , respectively. This path is opened and closed using the valve  120 . 
     Next, there will be described an outline of a transfer process of a sample at the time of processing the sample by using the above-described configured vacuum processor. A processing is started by receiving a command from a control device (not illustrated) that is connected to a predetermined portion of the vacuum processor  100  using somewhat communication method and adjusts an operation of vacuum processor  100 , or receiving a command from a control device of a manufacturing line on which the vacuum processor  100  is provided with regard to substrate-shaped samples such as a plurality of semiconductor wafers stored in a cassette mounted on any one of the cassette tables  107 . The atmospheric transfer robot  110  receiving a command from the control device takes out the sample previously specified by the command from the cassette and transfers it through an atmospheric air transfer chamber as a space for the transfer in the chassis  106  to thereby take it in the lock chamber  105 . 
     The lock chamber  105  in which a sample is transferred and stored is blocked and sealed by the valve  120  and depressurized up to a predetermined pressure in a state where the transferred sample is stored. Subsequently, the valve  120  on the side opposite to the first vacuum transfer chamber  104  is released, and the lock chamber  105  and a transfer chamber of the first vacuum transfer chamber  104  are communicated with each other. The separate-drive vacuum transfer robot  108  expands its arm into the lock chamber  105  and transfers the sample of the lock chamber  105  to the first vacuum transfer chamber  104  side. Further, the separate-drive vacuum transfer robot  108  takes the sample mounted on its arm in any one of the predetermined vacuum chamber  103  and the vacuum transfer intermediate chamber  112  at the time of taking out it from the cassette. 
     According to the present embodiment, a plurality of valves  120  that release and block the communication between the first and second vacuum transfer chambers  104  and  111  and the chambers connected thereto are exclusively opened and closed. Specifically, as for the sample transferred to the vacuum transfer intermediate chamber  112 , the valve  120  that is opened and closed between the vacuum transfer intermediate chamber  112  and the first vacuum transfer chamber  104  is closed and the vacuum transfer intermediate chamber  112  is sealed with the valve  120 . Subsequently, the valve  120  that is opened and closed between the vacuum transfer intermediate chamber  112  and the second vacuum transfer chamber  111  is opened, and the connecting type vacuum transfer robot  109  included in the second vacuum transfer chamber expands its arms and transfers the sample to the second vacuum transfer chamber  111 . The connecting type vacuum transfer robot  109  transfers the sample mounted on its arm to any one of the predetermined vacuum chambers  103  at the time of taking out it from the cassette. 
     After the sample is transferred to any one of the vacuum chambers  103 , the valve  120  that is opened and closed between this vacuum chamber  103  and the vacuum transfer chamber  104  is closed and the vacuum chamber  103  is sealed with the valve  120 . Then, a processing gas is introduced into the processing chamber and vacuum is formed in the processing chamber to thereby process the sample. 
     When detecting that processing of the sample is completed, there is released the valve  120  that is opened and closed between the above-described processing chamber and a transfer chamber of the first vacuum transfer chamber  104  connected thereto or that of the second vacuum transfer chamber  111  connected thereto. Then, the separate-drive vacuum transfer robot  108  or the connecting type vacuum transfer robot  109  takes the previously-processed sample out the lock chamber  105  opposite to a case where the sample is taken in the processing chamber. When the sample is transferred to the lock chamber  105 , the valve  120  that opens and closes a path for communicating this lock chamber  105  and the transfer chamber of the vacuum transfer chamber  104  is closed and the transfer chamber of the vacuum transfer chamber  104  is sealed with the valve  120  and a pressure within the lock chamber  105  rises up to an atmosphere pressure. 
     Subsequently, the valve  120  that airtightly seals and blocks between the lock chamber  105  and the inside of the chassis  106  is released, and the inside of the lock chamber  105  and that of the chassis  106  are communicated with each other. The atmospheric transfer robot  110  transfers the sample to the original cassette from the lock chamber  105  and returns it to the original position of the cassette. 
       FIGS. 2A and 2B  are schematic views illustrating in an enlarged state a configuration of the first vacuum transfer chamber and its environment of the vacuum processor illustrated in  FIG. 1  according to the present embodiment. As illustrated in  FIGS. 2A and 2B , the separate-drive vacuum transfer robot  108  has a first arm  201  and second arm  202  for transferring a sample. 
     The separate-drive vacuum transfer robot  108  according to the present embodiment has a configuration in which a planar system having a vertical (direction orthogonal to a paper face of the figure) pivot axis of the entire robot has a circular pedestal and ends of two arms are connected to the pedestal rotating around the pivot axis arranged at the center of this circle at a position offset to each predetermined distance in the radius direction from the pivot axis of the robot. This connection is performed so as to be rotated around the vertical (direction orthogonal to a paper face of the figure) axis. Further, as for respective arms, a first arm, a second arm, and a third arm holding a sample are connected to the axis of the end by three hinges, and further are configured so that expansion and contraction in the rotation direction, in the vertical direction, and in the horizontal direction around the vertical axis of the arm end can be operated independently. 
     Further, when holding the sample or transferring the sample, the separate-drive vacuum transfer robot  108  can rotate each arm around a plurality of hinges and fold it such that each arm or the held sample is prevented from interfering with a sidewall of the first vacuum transfer chamber  104 , another arm, or the sample held by the another arm included in the separate-drive vacuum transfer robot  108  itself 
     The separate-drive vacuum transfer robot  108  according to the present embodiment is a transfer apparatus having the above-described configuration, and is configured to have a restriction in the expansion and contraction direction of the arms in the first vacuum transfer chamber. The separate-drive vacuum transfer robot  108  rotates each arm independently around the axis of its hinges and expands and contracts each arm to thereby transfer the sample only in the direction from the center of the pedestal to its end. This permits the separate-drive vacuum transfer robot  108  to expand and contract each arm in parallel and transfer the sample with regard to the lock chamber  105  and vacuum transfer intermediate chamber  112  that are connected and arranged outside the opposite sidewalls of the vacuum vessel configuring the first vacuum transfer chamber  104 . 
     While holding the sample, the separate-drive vacuum transfer robot  108  turns around the pivot axis so as to fold each of the first arm  201  and the second arm  202 , and approximate a sample-holding section arranged at its point to the pivot axis of the entire robot, and then minimize a project area at the time of folding these arms. This configuration of the separate-drive vacuum transfer robot  108  prevents an enlargement of a distance between the pivot axis or axis of the hinge of each arm end and a sample mounting place of the communicated vacuum chamber  103 , lock chamber  105 , and vacuum transfer intermediate chamber  112  in which a project area (an occupied area) viewed from an upper surface of the first vacuum transfer chamber  104  and capacity are reduced. Further, the configuration prevents the transfer time between the opposite portions and improves the processing or operation efficiency. 
     The above-described configuration permits a project area during the turning of the separate-drive vacuum transfer robot  108  to be minimized, a project area of the first vacuum transfer chamber  104  to be also reduced, and taking in and taking out of the sample to be controlled independently. Further, when accessing a transfer destination positioning in parallel in the opposite direction, productivity per installation area can be increased. 
       FIG. 2A  illustrates a state where the separate-drive vacuum transfer robot  108  of the vacuum transfer chamber  104  contracts the first arm  201  and the second arm  202 , and a state of transferring the sample. 
     On the other hand,  FIG. 2B  illustrates a state where the separate-drive vacuum transfer robot  108  expands the first arm  201  in a state where the sample is mounted on the sample-holding section of the point and transfers the sample into the vacuum transfer intermediate chamber  112  as well as expands the second arm  202  and transfers the sample into the first lock chamber  105 . As described above, when expanding and contracting the first arm  201  and the second arm  202  in parallel, the first vacuum transfer robot  108  can transfer the sample in parallel with regard to two portions to which the communication is performed at positions opposite to the first vacuum transfer chamber  104  across the first vacuum transfer chamber  104 . 
       FIGS. 3A and 3B  are schematic views illustrating in an enlarged state a configuration of the second vacuum transfer chamber and its environment of the vacuum processor illustrated in  FIG. 1  according to the present embodiment. As illustrated in  FIGS. 3A and 3B , the connecting type vacuum transfer robot  109  arranged in the second vacuum transfer chamber  111  has a first arm  203  and second arm  204  for transferring the sample, and can expand and contract them with regard to specific chambers that are connected to the second vacuum transfer chamber  111 . 
     In the same manner as in the separate-drive vacuum transfer robot  108 , the connecting type vacuum transfer robot  109  according to the present embodiment has a disk-shaped pedestal that is arranged at the center of the second vacuum transfer chamber  111  and turns around the vertical (direction orthogonal to a paper face of the figure) central axis. Further, on the pedestal, the vertical axis of the hinge being the common pivot axis to the ends of the first arm  203  and second arm  204  expanded and contracted horizontally is arranged at a position offset by a predetermined distance from the pivot axis of the entire robot arranged at the center of the pedestal. This configuration permits the connecting type vacuum transfer robot  109  to turn and expand and contract two arms in parallel with regard to the same portion. 
     Further, the sample holding section is arranged at the point of each arm, and also each arm has a first, second, and third beam-shaped members connected from the end using three hinges (the sample holding section is connected to a member of the point side). Further, the connecting type vacuum transfer robot  109  can expand and contract each arm independently in the vertical direction and in the horizontal direction. At the time of holding the sample or transferring the sample, the connecting type vacuum transfer robot  109  can fold the arms such that one of the respective arms or the held sample is prevented from interfering with a sidewall of the second vacuum transfer chamber  111  arranged inside by the connecting type vacuum transfer robot  109 , the other arm, or the sample held by the other arm. 
     While holding the sample, the above-described connecting type vacuum transfer robot  109  turns around the pivot axis in a state where the first and second arms  203  and  204  are folded and the sample is approximated to the pivot axis so as to minimize the project area below. The connecting type vacuum transfer robot  109  illustrated in  FIGS. 1 and 3  according to the present embodiment folds each arm so as to expand the hinges for connecting the first and second members toward the outside of the chamber with regard to the pivot axis or the end axis. However, the connecting type vacuum transfer robot  109  may fold the arm so as to retract a second hinge in the direction opposite to the direction in which each arm is expanded. 
     The above-described configuration permits a turning project area of the connecting type vacuum transfer robot  109  to be minimized, a project area of the second vacuum transfer chamber  111  to be also reduced, and productivity per installation area to be increased. 
     Further,  FIG. 3A  illustrates a state where the connecting type vacuum transfer robot  109  contracts each arm and transfers the sample into the second vacuum transfer chamber  111 .  FIG. 3B  illustrates a state where the connecting type vacuum transfer robot  109  contracts the first arm  203  and takes the previously-processed sample out from the vacuum chamber  103 , and then, expands the second arm  204  and takes the not-yet processed sample into the vacuum chamber  103 . As described above, the connecting type vacuum transfer robot  109  according to the present embodiment can operate two arms and transfer the sample to the same portion. For example, the connecting type vacuum transfer robot  109  can exchange the previously-processed sample and the not-yet processed sample with regard to the vacuum chamber  103  or the vacuum transfer intermediate chamber  112  by continuously performing the above-described operations. 
     There will be described in detail below operations at the time of transferring a sample by using the separate-drive vacuum transfer robot  108  and the connecting type vacuum transfer robot  109 . According to the present embodiment, the above-described robots move a sample from one transfer site to another transfer site. Suppose that the one transfer site is a transfer site A and the another transfer site is a transfer site B. At these transfer sites, normally, a sample-holding section for mounting and holding the sample is arranged, respectively. For example, when the transfer site A is the vacuum chamber  103 , a sample stage that is arranged inside and that mounts and holds the sample corresponds to the sample-holding section. 
     A sample A is held and gets ready for the transfer in the transfer site A, and similarly a sample B gets ready for the transfer in the other transfer site B. There will be described a case where one sample stage is provided in the transfer sites A and B, respectively, and only a sheet of sample is taken in. Suppose that neither of two arms of the robot for the transfer hold the sample and one is an arm A and another is an arm B. The separate-drive vacuum transfer robot  108 , an operation starts an operation from a state where the arm A faces to the direction accessible to the transfer site A. The connecting type vacuum transfer robot  109  starts an operation from a state where the arms A and B face to the direction accessible to the transfer site A. As to the number of operation steps, taking in, taking out, and turning of 90 degrees are assumed to be counted as one step. 
     In the configuration of the separate-drive vacuum transfer robot  108 , a description will be made of the operation step of the sample transfer in the case where two transfer sites are connected to and communicated with opposite sidewalls of the transfer chamber. First, the separate-drive vacuum transfer robot  108  expands the arm A to the transfer site A and receives the sample A at the transfer site A to thereby take the sample out of here. At the same time or after an arbitrary time difference of the operation start of the arm A, the separate-drive vacuum transfer robot  108  expands the arm B to the transfer site B and similarly, takes out the received sample B. Next, the separate-drive vacuum transfer robot  108  folds each arm A and arm B, and turns at 180 degrees around the pivot axis in a state where the sample or the sample holding section of an arm point is most approximated to the pivot axis and a shape in which the project area below is minimized is maintained. Further, the separate-drive vacuum transfer robot  108  expands each arm A and arm B to the transfer sites A and B again after the turning, and takes the sample A in the transfer site B to thereby transfer it to the internal sample stage. In a similar fashion, the separate-drive vacuum transfer robot  108  transfers the sample B to the transfer site A. In the above-described operation, the number of the operation steps is four. 
     On the other hand, there will be described an outline of the operation step in the case where the separate-drive vacuum transfer robot  108  transfers a sample to two transfer sites positioned at right angles to each other. In this case, the separate-drive vacuum transfer robot  108  first expands the arm A to the transfer site A and takes out the sample A. The separate-drive vacuum transfer robot  108  folds the arm A holding the sample A and most approximates the sample or the sample holding section to the pivot axis, and then, turns at 90 degrees around the pivot axis up to a position in which the arm B is accessible to the transfer site B. The separate-drive vacuum transfer robot  108  turns up to a position in which the arm B is expandable to the transfer site B by the shortest distance, and then, expands the arm B and receives the sample B after penetration to the transfer site B to thereby take it out from the transfer site B. 
     After folding the arm B holding the sample B, the separate-drive vacuum transfer robot  108  turns at 180 degrees around the pivot axis up to a position in which the arm A is expandable to the transfer site B by the shortest distance, and then expands the arm A and takes the sample A in the transfer site B. After folding the arm A, the separate-drive vacuum transfer robot  108  turns at 90 degrees around the pivot axis up to a position in which the arm B is expandable to the transfer site A by the shortest distance. When completing the turning, the separate-drive vacuum transfer robot  108  expands the arm B and takes the sample B in the transfer site A again. As described above, as compared with the transfer in the opposite direction, the number of the operation steps is increased to eight in the transfer in the perpendicular direction. 
     There will be described an outline of operations for the sample transfer in the case where the transfer sites of two samples are positioned in the direction opposite to each other in the connecting type vacuum transfer robot  109 . The connecting type vacuum transfer robot  109  expands one arm A to the transfer site A and takes out the sample A in two arms included therein. After folding the arm A with the sample A, the connecting type vacuum transfer robot  109  turns at 180 degrees up to a position in which the arm B is expandable to the transfer site B by the shortest distance. When turning up to a position in which the arm B is expandable to the transfer site B, the connecting type vacuum transfer robot  109  expands the arm B to the transfer site B and receives the sample B by the arm B. Then, along with this contraction of the arm B, the connecting type vacuum transfer robot  109  takes the sample B out from the transfer site B. 
     After folding the arm B with the sample B, the connecting type vacuum transfer robot  109  expands the arm A to the transfer site B and takes the sample A in the transfer site B. After transferring the sample A to the sample stage and folding the arm A, the connecting type vacuum transfer robot  109  turns at 180 degrees up to a position in which the arm B is expandable to the transfer site A. When turning up to a position in which the arm B is expandable to the transfer site A, the connecting type vacuum transfer robot  109  expands the arm B to the transfer site A and takes the sample A in the transfer site A to thereby transfer it to the sample stage. In this case, the number of the operation steps is eight. 
     Next, there will be described an outline of operations for the transfer in the case where the connecting type vacuum transfer robot  109  transfers a sample to transfer sites positioned at right angles to each other. The connecting type vacuum transfer robot  109  expands the arm A to the transfer site A, and receives and takes the sample A out from the transfer site A. After folding the arm A with the sample A, the connecting type vacuum transfer robot  109  turns at 90 degrees up to a position in which the arm B is expandable to the transfer site B. When turning up to a position in which the arm B is expandable to the transfer site B, the connecting type vacuum transfer robot  109  expands the arm B to the transfer site B and receives and takes the sample B out from the transfer site B. 
     After folding the arm B with the sample B, the connecting type vacuum transfer robot  109  expands the arm A to the transfer site B and takes in the sample A to thereby transfer it to the sample stage. After folding the arm A, the connecting type vacuum transfer robot  109  turns at 90 degrees up to a position in which the arm B is expandable to the transfer site A. When turning at 90 degrees up to a position in which the arm B is expandable to the transfer site A, the connecting type vacuum transfer robot  109  expands the arm B to the transfer site A and takes in the sample A to thereby transfer it. In this case, the number of the operation steps is six. 
     According to the present embodiment illustrated in  FIG. 1 , the separate-drive vacuum transfer robot  108  is arranged at the center of the first vacuum transfer chamber  104 . As illustrated in  FIG. 2 , the separate-drive vacuum transfer robot  108  transfers the not-yet processed sample or the previously-processed sample between the lock chamber  105  and vacuum transfer intermediate chamber  112  arranged at opposite positions. One vacuum chamber  103  is arranged with facing the first vacuum transfer chamber  104 , and the separate-drive vacuum transfer robot  108  transfers the not-yet processed sample or the previously-processed sample even between the lock chamber  105  and this vacuum chamber  103 . In the above-described arrangement, the vacuum processor according to the present embodiment transfers the sample by using the above-described separate-drive vacuum transfer robot  108  arranged at the first vacuum transfer chamber  104  to which one or a plurality of transfer paths are connected in the opposite direction. As a result, efficiency of operations is improved and that of processings is improved. 
     Further, according to the present embodiment, as illustrated in  FIGS. 3A and 3B , the connecting type vacuum transfer robot  109  is arranged in the second vacuum transfer chamber  111  to which two opposite vacuum chambers  103  are connected. The connecting type vacuum transfer robot  109  transfers the not-yet processed sample or the previously-processed sample in the perpendicular direction of figures between the vacuum transfer intermediate chamber  112  at a lower part of figures and the two vacuum chambers  103 . As described above, according to the present embodiment, as compared with the separate-drive vacuum transfer robot  108 , the connecting type vacuum transfer robot  109  can reduce the number of the operation steps required for the transfer in the perpendicular direction and transfer the sample by using the connecting type vacuum transfer robot  109  in the second vacuum transfer chamber  111  to which one or a plurality of transfer paths are connected only in the perpendicular direction. As a result, efficiency of operations is improved and that of processings is improved. 
     There will be described an outline of operations of the above-described vacuum processor according to the present embodiment including the separate-drive vacuum transfer robot  108  and the connecting type vacuum transfer robot  109 . In  FIG. 1 , in the steady state, the separate-drive vacuum transfer robot  108  of the first vacuum transfer chamber  104  transfers the not-yet processed sample from the lock chamber  105  to the predetermined first vacuum transfer chamber  104 . Further, the separate-drive vacuum transfer robot  108  transfers the sample processed in the vacuum chamber  103  to the lock chamber  105 . To the above-described lock chamber  105  as a transfer source of the not-yet processed sample and as a transfer destination of the previously-processed sample, the vacuum transfer intermediate chamber  112  is connected in the opposite direction and the vacuum chamber  103  is connected in the perpendicular direction. In other words, the vacuum transfer robot included in the first vacuum transfer chamber  104  performs the transfer in the perpendicular direction and that in the opposite direction. The separate-drive vacuum transfer robot  108  transfers the sample to the transfer path in the opposite direction. 
     In  FIG. 1 , in the steady state, the connecting type vacuum transfer robot  109  of the second vacuum transfer chamber  111  transfers the not-yet processed sample from the vacuum lock chamber  105  through the vacuum transfer intermediate chamber  112  connected to the second vacuum transfer chamber  111  to the vacuum chamber  103  connected to the second vacuum transfer chamber  111 . Further, when transferring the previously-processed sample from the vacuum chamber  103  connected to the second vacuum transfer chamber  111  to the lock chamber  105 , the connecting type vacuum transfer robot  109  transfers it to the lock chamber  105  through the vacuum transfer intermediate chamber  112 . To the above-described vacuum transfer intermediate chamber as a transfer source of the not-yet processed sample and as a transfer destination of the previously-processed sample, the vacuum chambers  103  are connected at two places in the perpendicular direction. In short, the connecting type vacuum transfer robot  109  included in the second vacuum transfer chamber  111  performs only the transfer in the perpendicular direction. 
     The proposed vacuum processor according to the present embodiment can provide a semiconductor manufacturing equipment with high productivity per installation area. 
     It should be further understood by those skilled in the art that although the foregoing description has been made on embodiments of the invention, the invention is not limited thereto and various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.