Patent Publication Number: US-11651990-B2

Title: Substrate processing apparatus and driving method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2019-0080129, filed on Jul. 3, 2019, the disclosure of which is incorporated by reference herein in its entirety. 
     BACKGROUND 
     1. Field 
     The present disclosure relates to a substrate processing apparatus capable of preventing and/or suppressing breakage of a lift pin and a driving method thereof. 
     2. Description of Related Art 
     As a lift plate of a substrate processing apparatus rises, a plurality of lift pins rise. As a result, the lift pins push up the substrate (e.g., a wafer) disposed on a chuck. The lift plate may be raised or lowered while the lift pins are inclined. In this case, the lift pins may be pinched in the pin holes of the chuck, thereby causing the lift pins to be damaged and/or broken. In addition, the lift plate may be raised or lowered while the lift plate is inclined. In this case, the lift pins may be pinched in the pin holes and damage to the lift pins may occur. In addition, foreign matter or particles may be present at the bottom of the lift plate. When foreign matter or particles come into contact with the bottom surface of the lift pin(s), the lift pin(s) may tilt. As a result, the lift pin(s) may be caught in the pin holes, and the lift pins may be damaged and/or broken. 
     SUMMARY 
     Aspects of the present disclosure are related to a substrate processing apparatus. The substrate processing apparatus may include a chuck including a plurality of pin holes and a plurality of lift pins positioned to rise and fall through the plurality of pin holes. The substrate processing apparatus may include a lift plate configured to raise and lower the lift pins. The plurality of lift pins may include a lift pin having a rod shape configured to move up and down in a pin hole of the plurality of pin holes, a flexure coupled to a lower portion of the lift pin, a weight body positioned underneath the lift plate, and a weight string connecting the flexure and the weight body. The lift plate may include a string hole through which the weight string passes through. 
     Additional aspects of the present disclosures are related to a substrate processing apparatus. The substrate processing apparatus may include a chamber and a chuck disposed in the chamber. The chuck may include a plurality of pin holes. The substrate processing apparatus may include a plurality of lift pins positioned to rise and fall through the plurality of pin holes, and a lift plate configured to raise and lower the plurality of lift pins. The plurality of lift pins may include: a lift pin having a rod shape, the lift pin being configured to move up and down within a pin hole of the plurality of pin holes, and a flexure coupled to a lower portion of the lift pin. 
     Additional aspects of the present disclosures are related to a substrate processing apparatus. The substrate processing apparatus may include a chamber and a chuck disposed in the chamber. The chuck may include a plurality of pin holes. The substrate processing apparatus may include a plurality of lift pins positioned to rise and fall through the plurality of pin holes, and a lift plate configured to raise and lower the plurality of lift pins. The plurality of lift pins may include: a lift pin having a rod shape, the lift pin being configured to move up and down within a pin hole of the plurality of pin holes, a weight block coupled to a lower portion of the lift pin, a weight body positioned beneath the lift plate, and a weight string connecting the weight block and the weight body. The lift plate may include a string hole through which the weight string is configured to pass through. 
     According to embodiments according to the present disclosure, when the lift plate pushes up the lift pin unit, the lift pin may be vertically aligned in the pin hole while the flexure is deformed in the X and Y axis directions. When the lift plate is raised and lowered, it is possible to prevent and/or suppress the lift pins from breaking. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features will become apparent to those of skill in the art by describing in detail exemplary embodiments with reference to the attached drawings in which: 
         FIG.  1    is a substrate processing apparatus according to an exemplary embodiment of the present disclosure, and illustrates a lift up state in which a lift pin unit is raised. 
         FIG.  2    is a substrate processing apparatus according to an embodiment of the present disclosure, and illustrates a lift down state in which a lift pin unit is lowered. 
         FIG.  3 A  is a diagram illustrating a lift pin unit and a lift plate according to one embodiment of the present disclosure. 
         FIG.  3 B  is a view illustrating a lift pin unit and a lift plate according to one embodiment of the present disclosure. 
         FIG.  4 A  is a view illustrating a lift pin unit and a lift plate according to an embodiment of the present disclosure. 
         FIG.  4 B  is a view illustrating a lift pin unit and a lift plate according to one embodiment of the present disclosure. 
         FIG.  5    is a view illustrating an example of the flexure. 
         FIG.  6    is a view illustrating an example of a flexure. 
         FIG.  7    is a view illustrating a lift pin unit and a lift plate according to an exemplary embodiment of the present disclosure. 
         FIG.  8    is a view illustrating a lift pin unit and a lift plate according to an exemplary embodiment of the present disclosure. 
         FIG.  9    is a view illustrates a lift pin unit and a lift plate according to an exemplary embodiment of the present disclosure. 
         FIGS.  10  to  12    are views illustrating a method of driving a substrate processing apparatus according to an embodiment of the present disclosure. 
         FIG.  13    is a view illustrating a flow chart for a method of manufacturing a semiconductor device. 
     
    
    
     DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, semiconductor packages according to example embodiments of the inventive concept will be described with reference to the accompanying drawings. 
       FIG.  1    is a substrate processing apparatus  10  according to an exemplary embodiment of the present disclosure, and illustrates a lift up state in which a lift pin unit  200  is raised.  FIG.  2    is a substrate processing apparatus  10  according to an embodiment of the present disclosure, and illustrates a lift down state in which a lift pin unit  200  is lowered. 
     Referring to  FIGS.  1  and  2   , a substrate processing apparatus  10  according to an embodiment of the present disclosure is an apparatus for processing a substrate  20  (e.g., a wafer) to manufacture a semiconductor device. The substrate processing apparatus  10  may include a chamber  110 , a chuck  120 , a chamber window  130 , a plurality of lift pin units  200 , and a lift plate  140 , a driving unit  150 , and a chamber support plate  160 . 
     The substrate  20  may be seated on the chuck  120 . The chamber window  130  may be formed on one side of the chamber  110 . The chamber window  130  may include a transparent window for visually confirming a progress state of the process from the outside. The plurality of lift pin units  200  may support a lower portion of the substrate  20  and move up and down. The lift plate  140  may raise or lower the plurality of lift pin units  200 . The driving unit  150  may drive the lift plate  140  up and down. The chamber support plate  160  may support the chamber  110 . 
     A space for disposing the substrate  20 , the lift pin unit  200 , and the lift plate  140  may be provided in the chamber  110 . The chamber  110  may be a physical vapor deposition (PVD) chamber or a chemical vapor deposition (CVD) chamber, for example. 
     The substrate  20  may be loaded into the chamber  110 . The chuck  120  may have a flat upper surface on which the substrate  20  loaded into the chamber  110  is seated. The chuck  120  may fix the substrate  20  using a vacuum or electrostatic method. The chuck  120  may include a heater therein (not illustrated). The substrate  20  mounted on the chuck  120  may be heated to a predetermined temperature by the heater. In addition, the chuck  120  may further include a cooler (not illustrated). The substrate  20  heated during the manufacturing process may be cooled by the cooler. 
     A plurality of pin holes  122  may be formed in the chuck  120 . The plurality of pin holes  122  may be formed to penetrate the chuck  120  in a vertical direction. A plurality of lift pins  210  (see  FIG.  3 A- 9   ) may be inserted into the plurality of pin holes  122 , respectively. The plurality of lift pins  210  may support the substrate  20 . The plurality of pin holes  122  may be uniformly spaced apart from each other at a predetermined interval. The plurality of lift pins  210  may move up and down through the plurality of pin holes  122 . For example, each lift pin  210  may be configured to move up and down in a corresponding pin hole  122 . 
     In the process of manufacturing a semiconductor device, various manufacturing processes such as deposition, coating, developing, etching, and cleaning may be repeatedly performed on the substrate  20 . In order to proceed with manufacturing processes such as deposition, coating, developing, etching, and cleaning, the substrate  20  may be loaded into the chamber  110 . When the individual manufacturing process is completed, the substrate  20  may be unloaded to the outside of the chamber  110 . 
     When loading the substrate  20  into the chamber  110 , the plurality of lift pin units  200  may be raised and lowered by using the lift plate  140 . For example, the lift plate may be configured to and/or positioned to raise and lower the plurality of lift pin units. The substrate  20  may move up and down by raising and lowering the plurality of lift pin units  200 . 
     When unloading the substrate  20  to the outside of the chamber  110 , the plurality of lift pin units  200  may be raised and lowered by using the lift plate  140 . The substrate  20  may be moved up and down by raising and lowering the plurality of lift pin units  200 . 
       FIG.  3 A  is a diagram illustrating a lift pin unit  200  and a lift plate  140  according to one embodiment of the present disclosure. 
     Referring to  FIGS.  1 ,  2 , and  3 A , the lift pin unit  200  may include a lift pin  210  and a flexure  220 . The lift pin  210  may include a tip portion  212  and a metal plate  214 . The tip portion  212  may be disposed above the lift pin  210 . The metal plate  214  may be disposed below the lift pin  210 . 
     The substrate  20  may be loaded into the chamber  110  using a robotic arm (not illustrated). The lift pin unit  200  may be moved up as the lift plate  140  rises. 
     The substrate  20  may be positioned on the tip portion  212  of the lift pin  210  of the lift pin unit  200 . In order to proceed with the manufacturing process, the lift plate  140  may be moved down, and thus the lift pin unit  200  may be lowered. 
     When the lift pin unit  200  descends, the substrate  20  may be seated on the chuck  120 . When the manufacturing process is completed, the lift plate  140  may rise to raise the lift pin unit  200 . As the lift pin unit  200  rises, the lift pin  210  may rise, and the substrate  20  seated on the chuck  120  may rise. When the substrate  20  is raised, the robotic arm may unload the substrate  20  to the outside of the chamber  110 . 
     An upper side  124  of the plurality of pin holes  122  may include a funnel-shaped recess. When the lift plate  140  is lowered, the tip portion  212  of the lift pin  210  may be inserted into the concave portion having a funnel-shaped recess. 
     If the lift pin  210  is inclined with respect to the vertical direction, the lift pin  210  may not be caught in the pin hole  122  as a result of the funnel-shaped recess of the upper side  124 . To this end, an edge portion of the upper side  124  of the plurality of pin holes  122  may be formed to be inclined or rounded. Since the edge portion of the upper side  124  may be inclined or rounded, the lift pin  210  may not be caught in the pin hole  122  even when the lift pin  210  is inclined. 
     Also, the lower side  126  of the pin hole  122  may include a funnel-shaped recess. The corner portion of the lower side  126  of the pin hole  122  may also be inclined or formed in a round shape. If the lift pin  210  is inclined with respect to the vertical direction, the lift pin  210  may be prevented from being caught in the corners of the upper side  124  and the lower side  126  of the pin hole  122 . 
     The lift pin  210  of the lift pin unit  200  may have a rod shape and may include a low friction ceramic or engineered plastic (e.g., vespel, peek). The lift pin  210  may have a smaller diameter than the pin hole  122 . For example, each lift pin  210  may correspond to a larger diameter pin hole  122 . 
     The lift pin  210  may be inserted into the pin hole  122  to move up and down. The tip portion  212  of the lift pin  210  may have an inverted triangle, an inverted cone, or an inverted trapezoidal longitudinal section. The tip portion  212  may have a diameter smaller than the diameter of the upper side  124  (upper portion) of the pin hole  122 . 
     Also, the tip portion  212  may have a diameter larger than the diameter of the central portion of the pin hole  122 . Therefore, even if the lift plate  140  descends fully to the end, the tip portion  212  of the lift pin  210  may extend over the lower portion of the upper side  124 . Therefore, the lift pins  210  do not fall out of the pin holes  122  when the lift plate  140  descends fully to a lift down state (see  FIG.  2   ). 
     When the lift plate  140  is completely lowered, the tip portion  212  of the lift pin  210  may extend over the lower portion of the upper side  124  of the pin hole  122 . When the tip portion  212  spans the lower portion of the upper side  124  of the pin hole  122 , it may be vertically aligned by the weight of the lift pin  210 . 
     The flexure  220  of the lift pin unit  200  may be bonded or fastened to the lower portion of the lift pin  210 . The metal plate  214  may be formed of a metal having magnetic properties (for example, iron, nickel, cobalt, etc.) and may be disposed below the lift pin  210 . The metal plate  214  may be disposed below the lift pin  210 , i.e., the metal plate  214  may be disposed at or coupled to a bottom portion of the lift pin  210 . A magnet  222  may be disposed on the flexure  220 , e.g., an electrically magnetized metal or a permanent magnet  222  may be disposed at or coupled to a top portion of the flexure  220 . 
     The metal plate  214  disposed under the lift pin  210  may be attracted to the magnetism of the magnet  222  disposed above the flexure  220 . Accordingly, the lift pin  210  and the flexure  220  may be magnetically coupled at a junction of the metal plate  214  and magnet  222 . Also, the lift pin  210  and the flexure  220  may be fastened through screws. 
     When the lift plate  140  is raised, the flexure  220  may be easily deformed (or bent) in the X-axis and Y-axis directions so that the lift pins  210  may be vertically aligned. That is, when the lift plate  140  is raised, the flexure  220  may first be bent before the lift pin  210  is tilted. As the flexure  220  is bent, the lift pin  210  may also be raised in a vertical direction. Also, the flexure  220  may be bent even when the lift pin  210  is inclined at a predetermined angle, e.g., a predetermined angle within acceptable tolerance. Accordingly, the lift pins  210  may be raised in the vertical direction. 
     As an example, the flexure  220  may be formed in a serpentine shape by bending a plate structure made of a flexible material several times. Since the flexure  220  may be formed in a serpentine shape, when pressure is applied, the flexure  220  can be easily deformed in the X-axis and Y-axis directions (can be bent). 
     When the lift plate  140  pushes up the lift pin unit  200 , the lift pin  210  may be pinched in the pin hole  122 . In this case, the flexure  220  may be vertically raised while also being deformed (bent) in the X and Y axis directions. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
     The driving unit  150  may control the rising and falling of the lift plate  140 . The driving unit  150  may be a conventional driver (mechanical actuator) such as a drive motor, a linear actuator, a micro linear actuator, a track actuator, a rod actuator, a voice coil motor, a linear motor, and/or a hydraulic system. Additionally, driving unit  150  may include a controller configured to send a signal that activates the driving unit  150 , e.g., mechanical actuator to raise and lower the lift plate  140 . The term “controller” is meant to be used in its broadest sense to include one or more controllers, computers and/or microprocessors, and/or other computer hardware, and/or software, and/or computer implemented algorithms that may be associated with the driving unit  150  and that may cooperate in controlling various functions and operations of lift plate  140 . The lift plate  140  may be raised and lowered by the control of the driving unit  150 . As the lift plate  140  is raised and lowered, the lift pin unit  200  may be raised and lowered. 
     The plurality of lift pin units  200  may be raised and lowered by the one lift plate  140 . Alternatively, the plurality of lift pin units  200  may be raised and lowered by a plurality of lift plates  140 . 
     A slide stopper  142  may be formed on an upper surface of the lift plate  140  to prevent the flexure  220  from sliding beyond a predetermined range. For example, the slide stopper  142  may prevent the flexure  220  from sliding too far that the lift pin  210  is not in vertical alignment with the pin hole  122 . That is to say that the slide stopper  142  may be configured to prevent the lift pin  210  from becoming vertically misaligned by only allowing the flexure  220  to slide and/or deform by a predetermined amount. In this way, the slide stopper  142  is configured to maintain the lift pin  210  in vertical alignment with the pin hole  122  by retaining the flexure  220  within a predetermined range. The slide stopper  142  may be formed to surround side surfaces of the flexure  220 . For example, the slide stopper  142  may have a ring like shape with a circular interior void space having an interior diameter. In this example embodiment, the interior diameter of the slide stopper  142  may be the same as the diameter of the pin hole  122  or about the same as the diameter of the pin hole  122 . The diameter of the slide stopper  142  is not limited thereto, and may be larger than the diameter of the pin hole  122 . Space may be provided inside the slide stopper  142  so that the flexure  220  can be inserted, e.g., a circular interior void space. When the lift plate  140  is raised and lowered, the flexure  220  may be located inside the slide stopper  142 . 
     When the flexure  220  is deformed by an external pressure, the slide stopper  142  may limit the sliding of the flexure  220 . That is, the flexure  220  may be prevented from sliding out beyond a predetermined range by the slide stopper  142 . The slide stopper  142  may limit the sliding range of the flexure  220  so as not to deviate from the diameter of the pin hole  122 . The slide stopper  142  may be configured to limit the flexure  220  from horizontal movement so that the lift pin  210  does not deviate outside of a center axis in the vertical direction of the pin hole  122  and thus the lift pin  210  remains vertically aligned. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
       FIG.  3 B  is a view illustrating a lift pin unit  200 - 1  and a lift plate  140 - 1  according to one embodiment of the present disclosure. 
     Referring to  FIG.  3 B , the substrate processing apparatus  10 - 1  may include a chuck  120 , a plurality of lift pin units  200 - 1 , and a lift plate  140 - 1 . 
     The lift pin unit  200 - 1  may include a lift pin  210 , a flexure  220 - 1 , and a weight body  230 . The weight body  230  may be suspended from the flexure  220 - 1  by a weight string  232 . 
     A slide stopper  142  may be formed on an upper surface of the lift plate  140 - 1  to prevent the flexure  220 - 1  from sliding beyond a predetermined range. 
     A plurality of string holes  144  may be formed in the lift plate  140 - 1 . The string holes  144  may be formed at positions corresponding to the plurality of lift pin units  200 - 1 . The weight string  232  may connect the flexure  220 - 1  and the weight body  230 . The first side of the weight string  232  may be connected to the lower portion of the flexure  220 - 1 . The second side of the weight string  232  may be connected to the weight body  230 . Accordingly, the weight body  230  may be suspended from the flexure  220 - 1  by the weight string  232  which passes through a corresponding string hole  144 . 
     A plurality of weight strings  232  may pass through the lift plate  140 - 1  through a plurality of corresponding string holes  144 . The weight body  230  may be located below the lift plate  140 - 1 . The weight body  230  may be formed of a material having a specific gravity higher than that of the lift pin  210 . The weight of the weight body  230  is added to the weights of the lift pins  210  and the flexure  220 - 1  so that the lift pins  210  may be vertically aligned. 
     When the lift plate  140 - 1  is raised and lowered, the lift pins  210  may be vertically aligned by the weight body  230 . Even if the lift plate  140 - 1  is inclined, the lift pins  210  may be vertically aligned by the weight body  230 . The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . In addition, the flexure  220 - 1  may be deformed to the X-axis and the Y-axis by the pressure applied when the lift plate  140 - 1  rises. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage. 
       FIG.  4 A  is a view illustrating a lift pin unit  200 - 2  and a lift plate  140 - 2  according to an embodiment of the present disclosure. 
     Referring to  FIG.  4 A , the substrate processing apparatus  10 - 2  may include a chuck  120 , a plurality of lift pin units  200 - 2 , and a lift plate  140 - 2 . 
     The lift pin unit  200 - 2  may include a lift pin  210  and a flexure  220 - 2 . 
     The flexure  220 - 2  may be bonded, coupled or fastened to the lower portion of the lift pin  210 . A metal plate  214  formed of a metal having magnetic properties (for example, iron, nickel, cobalt, etc.) may be disposed below the lift pin  210 . The metal plate  214  disposed under the lift pin  210  may be attracted by the magnetism of the magnet  222  disposed above the flexure  220 - 2 . Accordingly, the lift pin  210  and the flexure  220 - 2  may be magnetically coupled. 
     A guide part  224  may be formed on the upper side of the flexure  220 - 2  to guide the coupling of the lift pin  210  and the flexure  220 - 2 . The guide part  224  may protrude vertically from the top edge of the flexure  220 - 2  so that the lift pin  210  can be inserted. For example, the guide part  224  may protrude vertically toward the lift pin unit  200 - 2  and have an inclination and/or sloping sidewalls. In this way, the guide part  224  is configured to maintain the lift pin  210  in vertical alignment with the pin hole  122 . The metal plate  214  of the lift pin  210  and the magnet  222  of the flexure  220 - 2  may be vertically aligned by the guide part  224 . 
     When the lift plate  140  is raised, the flexure  220 - 2  may be easily deformed in the X and Y axis directions so that the lift pin  210  may be vertically aligned. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
       FIG.  4 B  is a view illustrating a lift pin unit  200 - 3  and a lift plate  140 - 3  according to one embodiment of the present disclosure. 
     Referring to  FIG.  4 B , the substrate processing apparatus  10 - 3  may include a chuck  120 , a plurality of lift pin units  200 - 3 , and a lift plate  140 - 3 . 
     The lift pin unit  200 - 3  may include a lift pin  210 , a flexure  220 - 3 , and a weight body  230 . 
     A guide part  224  may be formed on the upper side of the flexure  220 - 3  to guide the coupling of the lift pin  210  and the flexure  220 - 3 . The guide part  224  may protrude from the upper edge of the flexure  220 - 3  so that the lift pin  210  can be inserted. The metal plate  214  of the lift pin  210  and the magnet  222  of the flexure  220  may be vertically aligned by the guide part  224 . 
     A slide stopper  142  may be formed on an upper surface of the lift plate  140 - 3  to prevent the flexure  220 - 3  from sliding beyond a predetermined range. 
     A plurality of string holes  144  may be formed in the lift plate  140 - 3 . Each of the string holes  144  may be formed at positions corresponding to a respective lift pin units  200 - 3 . A weight string  232  may connect the flexure  220 - 3  and the weight body  230 . The first side of the weight string  232  may be connected to the lower portion of the flexure  220 - 3 . The second side of the weight string  232  may be connected to the weight body  230 . 
     Each weight string  232  may pass through the lift plate  140 - 3  through a corresponding string hole  144 . The weight of the weight body  230  is added to the weights of the lift pins  210  and the flexure  220 - 3  so that the lift pins  210  may be vertically aligned. 
     Even if the lift plate  140 - 3  is inclined, the lift pins  210  may be vertically aligned by gravity acting on the weight body  230 , thereby preventing and/or suppressing damage to the lift pins  210 . In addition, the flexure  220 - 3  may be deformed to the X and Y axes by the pressure applied when the lift plate  140 - 3  is raised. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
       FIG.  5    is a view illustrating an example of the flexure  220 - 4 . 
     Referring to  FIGS.  1  and  5   , the lift pin unit  200 - 4  may include a lift pin  210  and a flexure  220 - 4 . 
     Flexure  220 - 4  may be a spring-type flexure, for example flexure  220 - 4  may comprise a spring structure. The spring-type flexure  220 - 4  may be bonded, coupled, or fastened to the lower portion of the lift pin  210 . A metal plate may be disposed below the lift pins  210 , and a magnet may be disposed above the flexure  220 - 4  to magnetically couple the lift pins  210  and the flexure  220 - 4  to each other. Additionally, the lift pin  210  and the flexure  220 - 4  may be fastened to each other by using a screw, for example. 
     When the lift plate  140  is raised, the flexure  220 - 4  may be easily deformed in the X-axis and Y-axis directions due to the elasticity of the spring-type flexure  220 - 4  so that the lift pins  210  can be vertically aligned. The flexure  220 - 4  may be an elastomeric material, for example. The lift pins  210  may be vertically aligned in the pin holes  122  (see  FIGS.  1  and  3 A ) to prevent breakage of the lift pins  210 . 
       FIG.  6    is a view illustrating an example of a flexure  220 - 5 . 
     Referring to  FIGS.  1  and  6   , the lift pin unit  200 - 5  may include a lift pin  210  and a flexure  220 - 5 . 
     The flexure  220 - 5  may include a plurality of cutout parts  220 - 5   a  configured to allow flexure  220 - 5  to be easily deformed horizontally in the X and Y axis directions. Additionally, grooves may be formed on the bottom surface  220 - 5   b  of the flexure  220 - 5  to prevent the lift pins  210  from being inclined by particles such as dust or other foreign objects. For example, the bottom surface  220 - 5   b  may contact the lift plate  140  at the grooves and any particles may fit between the grooves. Additionally, the grooves may comprise a plurality of raised outdents and a plurality of recessed indents or a cross hatch pattern. 
     Portions of the circumference of the cylindrical structure of the flexure  220 - 5  may be cut (recessed) in the X-axis, Y-axis, and oblique directions thereof to form a plurality of cutout parts  220 - 5   a . When pressure is applied to the flexure  220  by lifting the lift plate  140 , the plurality of cutout parts  220 - 5   a  formed in the flexure  220  extending in the X and Y axis directions, can be easily deformed. For example, the cutout parts  220 - 5   a  may be configured as recessed grooves that are configured to enable the flexure  220 - 5  to deform in the X and Y axis directions and/or the X and Y axis directions obliquely due to flexural force applied to the flexure  220 - 5 . The lift pin  210  may be vertically aligned in the pin hole  122  (refer to  FIGS.  1  and  3 A ) as the flexure  220 - 5  is deformed in the X and Y axis directions. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
       FIG.  7    is a view illustrating a lift pin unit  200 - 6  and a lift plate  140 - 6  according to an exemplary embodiment of the present disclosure. 
     Referring to  FIG.  7   , the substrate processing apparatus  10 - 6  may include a chuck  120 , a plurality of lift pin units  200 - 6 , and a lift plate  140 - 6 . 
     The lift pin unit  200 - 6  may include a lift pin  210  and a flexure  220 - 6 . 
     The flexure  220 - 6  may be bonded, coupled, or fastened to the lower portion of the lift pin  210 . A metal plate  214  (first metal plate) formed of a metal having magnetic properties (for example, iron, nickel, cobalt, etc.) may be disposed below the lift pin  210 . The metal plate  214  disposed under the lift pin  210  may be attracted by the magnetism of the magnet  222  disposed above the flexure  220 - 6 . Accordingly, the lift pin  210  and the flexure  220 - 6  may be magnetically coupled. 
     When the lift plate  140 - 6  is raised, the flexure  220 - 6  may be easily deformed in the X-axis and Y-axis directions so that the lift pins  210  are vertically aligned. For example, the exemplary embodiment illustrated in  FIG.  7    may include a flexure  220 - 6  having a serpentine shape with recessed portions that are configured to enable the flexure  220 - 6  to deform in the X and Y axis directions and/or the X and Y axis directions obliquely due to flexural force applied to the flexure  220 - 5 . The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
     A slide stopper  142  may be formed on an upper surface of the lift plate  140 - 6 . The slide stopper  142  may prevent the flexure  220 - 6  from sliding beyond a predetermined range. 
     In order to vertically align the lift pins  210 , a metal plate  226  (second metal plate) may be formed under the flexure  220 - 6 . The magnet  146  may be formed on an upper surface of the lift plate  140 - 6  and may be a permanent magnet, for example. Here, the magnet  146  of the lift plate  140 - 6  may be disposed at a location between the slide stopper  142  that corresponds to the pin hole  122 . For example, magnet  146  may be disposed in a recessed portion of the lift plate  140 - 6  between the slide stopper  142  such that the uppermost surface of the magnet  146  is at the same level as an uppermost surface of the lift plate  140 - 6 . 
     When the lift plate  140 - 6  is raised and lowered, the metal plate  226  disposed below the flexure  220 - 6  may be attracted by the magnetism of the magnet  146  disposed on the upper surface of the lift plate  140 - 6 . Accordingly, the magnet  146  and the metal plate  226  may be coupled by magnetic force. For example, when the lift plate  140 - 6  is lowered to a lift down state the coupling between the metal plate  226  and magnet  146  may be broken (not in direct contact) and when the lift plate  140 - 6  is raised to a lift up state the coupling between the metal plate  226  and magnet  146  may be joined (in direct contact). See, for example,  FIGS.  1  and  2   . The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
       FIG.  8    is a view illustrating a lift pin unit  2007 - 7  and a lift plate  140 - 7  according to an exemplary embodiment of the present disclosure. 
     Referring to  FIG.  8   , the substrate processing apparatus  10 - 7  may include a chuck  120 , a plurality of lift pin units  200 - 7 , and a lift plate  140 - 7 . 
     The lift pin unit  200 - 7  may include a lift pin  210  and a flexure  220 - 7 . 
     The metal plate  214  disposed under the lift pin  210  may be attracted by the magnetism of the magnet  222  disposed above the flexure  220 - 7 . Accordingly, the lift pin  210  and the flexure  220 - 7  may be magnetically coupled. 
     A guide part  224  may be formed on the upper side of the flexure  220 - 7  to guide the coupling of the lift pin  210  and the flexure  220 - 7 . The metal plate  214  of the lift pin  210  and the magnet  222  of the flexure  220 - 7  may be vertically aligned by the guide part  224 . 
     When the lift plate  140 - 7  is raised, the flexure  220 - 7  may be easily deformed in the X and Y axis directions so that the lift pins  210  may be vertically aligned. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
     A stopper groove  148  having a predetermined depth may be formed on an upper surface of the lift plate  140 - 7 . The stopper groove  148  may have inclined sides and a substantially flat lower surface. The stopper groove  148  may be formed to correspond to the pin hole  122  in location and/or size. When the lift plate  140 - 7  rises, a lower portion of the flexure  220 - 7  may be inserted into the stopper groove  148 . A lower portion of the flexure  220 - 7  may be inserted into the stopper groove  148 , so that the flexure  220 - 2  may be prevented from sliding beyond a predetermined range due to an upward pressure. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage. 
       FIG.  9    illustrates a lift pin unit  200 - 8  and a lift plate  140 - 8  according to an exemplary embodiment of the present disclosure. 
     Referring to  FIG.  9   , the substrate processing apparatus  10 - 8  may include a chuck  120 , a plurality of lift pin units  200 - 8 , and a lift plate  140 - 8 . 
     The plurality of lift pin units  200 - 8  may include a lift pin  210 , a weight block  240 , a weight body  230 , and a weight string  232 . 
     The weight block  240  and the weight body  230  may be connected by the weight string  232 . The weight block  240  may be positioned above the lift plate  140 - 8 , and the weight body  230  may be located below the lift plate  140 - 8 . 
     A metal plate  214  formed of a metal having magnetic properties (for example, iron, nickel, cobalt, etc.) may be disposed below the lift pin  210 . The metal plate  214  may be coupled or bonded to the lower portion of the lift pin  210 . A magnet  242  may be formed on the weight block  240 . 
     The metal plate  214  disposed under the lift pin  210  may be attracted by the magnetism of the magnet  242  disposed on the weight block  240 . Accordingly, the lift pin  210  and the weight block  240  may be coupled by magnetic force. Additionally, and/or alternatively, the lift pin  210  and the weight block  240  may be fastened to each other through a screw or adhesive, for example. 
     A slide stopper  142  corresponding to the pin hole  122  may be formed on an upper surface of the lift plate  140 - 8 . The slide stopper  142  may be formed to have the same diameter as the diameter of the pin hole  122 . Additionally, and/or alternatively, the slide stopper  142  may be formed to have a diameter (or width) larger than the diameter of the pin hole  122 . When the lift plate  140 - 8  is raised and lowered, the weight block  240  may be located inside the slide stopper  142 . The weight body  230  may be vertically aligned with respect to the pin hole  122  by the slide stopper  142 . 
     A plurality of string holes  144  may be formed in the lift plate  140 - 8 . The plurality of string holes  144  may be formed at positions corresponding to the positions of the plurality of lift pin units  200 - 8 . The weight string  232  may connect the weight block  240  and the weight body  230 . The first side of the weight string  232  may be connected to the lower portion of the weight block  240 . The second side of the weight string  232  may be connected to the weight body  230 . The weight string  232  connecting the weight block  240  and the weight body  230  through the plurality of string holes  144  may pass through the lift plate  140 - 8 . The lift pin  210  may be vertically aligned by the weight of the lift pin  210  and the weight of the weight body  230 . 
     When the lift plate  140 - 8  is raised and lowered, the lift pins  210  may be vertically aligned by the weight body  230 . Even if the lift plate  140 - 8  is inclined, the lift pins  210  may be vertically aligned by the weight body  230 , thereby preventing and/or suppressing damage to the lift pins  210 . 
       FIGS.  10  to  12    are views illustrating a method of operating a substrate processing apparatus according to an embodiment of the present disclosure. 
     Referring to  FIGS.  1 ,  2 ,  3 A, and  10   , when the process is completed in the chamber  110 , the substrate  20  may be unloaded. At this time, the lift plate  140  is raised, and the lift pin  210  is raised. As the lift pin  210  rises, the substrate  20  rises. When the substrate  20  rises, the substrate  20  is unloaded out of the chamber  110  using a robotic arm. After the substrate  20  is unloaded, the lift plate  140  descends, and the lift pin  210  descends. 
     In order to proceed with the manufacturing process, the substrate  20  may be loaded into the chamber  110 . At this time, the lift plate  140  is raised, and the lift pin  210  is raised. The substrate  20  may be disposed on the lift pin  210  that is raised by using the robotic arm. Thereafter, the lift plate  140  is lowered, and the lift pin  210  is lowered. As the lift pin  210  descends, the substrate  20  may be seated on the chuck  120 . 
     When unloading and loading the substrate  20 , the lift plate  140  may be raised from the lowest point (e.g., about 3.5 mm above the bottom interior surface of the chamber) to the highest point (e.g., about 20 mm above the bottom interior surface of the chamber). Additionally, the lift plate  140  may be lowered from the highest point to the lowest point. In this case, a first time (for example, about 53 seconds) is required for unloading and loading the substrate  20 , a lower than optimal manufacturing efficiency. 
     Referring to  FIGS.  1 ,  2 ,  3 A, and  11   , unloading and loading time of the substrate  20  can be reduced and a manufacturing efficiency can be optimized. 
     When unloading the substrate  20 , the lift plate  140  may be raised to the highest point. Thereafter, the substrate  20  may be unloaded to the outside of the chamber  110  using the robotic arm. After the substrate  20  is unloaded, the lift plate  140  may descend. In this case, the lift plate  140  may be lowered to an intermediate point (e.g., 11 mm above the bottom interior surface of the chamber) without descending to the lowest point. Here, the intermediate point may be a height at which the substrate  20  may be seated on the chuck  120 . 
     When the substrate  20  is loaded, the lift plate  140  may rise from the intermediate point to the highest point. The substrate  20  may be disposed on the lift pin  210  that is raised by using the robotic arm. Thereafter, the lift plate  140  may descend to the lowest point. As the lift pin  210  descends, the substrate  20  may be seated on the chuck  120 . 
     As such, when the lift plate  140  is positioned at the intermediate point during the unloading and loading of the substrate  20 , a second time (for example, 46 seconds) for unloading and loading the substrate  20  passes, which can increase manufacturing efficiency. Here, when the lift plate  140  is stopped at the intermediate point, the lift pin  210  may be tilted and pinched in the pin hole  122 . 
     Even when the lift plate  140  is raised in a state in which the lift pin  210  is pinched inside the pin hole  122 , the flexure  220  may be bent to straighten the lift pin  210  in the vertical direction. As the flexure  220  is deformed in the X-axis and Y-axis directions, the lift pins  210  are vertically aligned in the pin holes  122 , thereby preventing and/or suppressing breakage of the lift pins  210 . 
     Referring to  FIGS.  1 ,  2 ,  3 A, and  12   , unloading and loading time of the substrate  20  may be reduced, and breakage of the lift pin  210  may be prevented and/or suppressed. 
     When the substrate  20  is unloaded, the lift plate  140  may rise to the highest point, and the substrate  20  may be unloaded to the outside of the chamber  110  by using the robotic arm. After the lift plate  140  rises to the highest point, the lift plate  140  may descend. In this case, the lift plate  140  may be lowered to the intermediate point (e.g., 11 mm above the bottom interior surface of the chamber) without descending to the lowest point. 
     When loading the substrate  20 , the lift plate  140  positioned at the intermediate point may further be lowered by a predetermined distance (for example, 1 to 2 mm additional lowering). After the lift plate  140  is further lowered by the predetermined distance, the lift plate  140  may rise to the highest point. That is, when the substrate  20  is loaded, the driving of the lift plate  140  may occur. Here, the lift plate  140  may descend to a first point (e.g., 9 to 10 mm) lower than the intermediate point. Thereafter, the lift plate  140  may rise to the highest point. 
     The lift plate  140  may rise to the highest point to position the lift pin  210  at the highest point. Thereafter, the substrate  20  may be disposed on the lift pin  210  that is raised using the robotic arm. Thereafter, the lift plate  140  may descend to the lowest point (e.g., 3.5 mm above the bottom interior surface of the chamber). As the lift pin  210  descends, the substrate  20  may be seated on the chuck  120 . 
     As such, when the substrate  20  is loaded, the lift plate  140  may be additionally lowered by about 1 to 2 mm from the intermediate point where the previous substrate was unloaded from. In this case, a third time (for example, 48 seconds) passes to unload and load the substrate  20 , thereby increasing manufacturing efficiency. 
     When the lift plate  140  is stopped at the intermediate point, the lift pin  210  may be inclined and the lift pin  210  may be pinched in the pin hole  122 . In this case, when the lift plate  140  is further lowered by about 1 to 2 mm from the intermediate point, the lift pin  210  may be vertically aligned while descending. Thereafter, the lift plate  140  may be raised from the first point (9 to 10 mm above the bottom interior surface of the chamber) to the highest point. When the lift plate  140  is raised and lowered, the lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage of the lift pins  210 . 
     In addition, when the lift pin  210  is inclined in the pin hole  122 , the flexure  220  may be deformed in the X-axis and Y-axis directions. The lift pins  210  may be vertically aligned in the pin holes  122  to prevent breakage. 
       FIG.  13    illustrates a flow chart for a method of manufacturing a semiconductor device. At step  1301 , a substrate processing apparatus may be provided. The substrate processing apparatus may be the same as or similar to the substrate processing apparatus of  FIGS.  1  and  2   , and may include aspects of the lift pin units  200 , lift pins  210 , lift plate  140 , etc. of  FIGS.  3 A- 9   . At step  1303 , a first substrate  20  may be loaded into a chamber of the substrate processing apparatus. 
     When loading the first substrate  20 , the lift plate  140  may be raised from a low point (e.g., about 3.5 mm above the bottom interior surface of the chamber) to a high point (e.g., about 20 mm above the bottom interior surface of the chamber). A robotic arm may insert the first substrate  20  into the chamber when the lift plate  140  is at the high point. At step  1305 , the first substrate  20  may be seated on the chuck  120  of the substrate  20  processing apparatus. The first substrate  20  may be seated on the chuck  120  by lowering the lift plate  140  from the high point to an intermediate point (e.g., 11 mm above the bottom interior surface of the chamber) without descending to the lowest point. At step  1307 , the first substrate  20  may be lowered to the lowest point. Thereafter, at step  1309 , the first substrate  20  may be unloaded at the high point. At step  1311 , the robotic arm may insert a second substrate  20  into the chamber when the lift plate  140  is at the high point. Those with skill in the art will readily understand that additional undisclosed manufacturing steps that are known in the art may be performed on the substrate. 
     Throughout the method of manufacturing a semiconductor device, the vertical alignment of the lift pins  210  is maintained with the vertical alignment of the corresponding lift pin holes  122 . For example, when the lift plate  140  is raised and lowered, the plurality of lift pins  210  may contact the substrate  20 . The plurality of lift pins  120  may each be vertically aligned in a respective pin hole  122  to prevent breakage of the lift pins  210 . In addition, if the lift pin  210  is inclined in the pin hole  122 , the flexure  220  may be deformed in the X-axis and Y-axis directions. This deformation may enable the lift pins  210  to be vertically aligned in the pin holes  122  to prevent and/or suppress breakage. 
     While the embodiments of the inventive concept have been described with reference to the accompanying drawings, it should be understood by those skilled in the art that various modifications may be made without departing from the scope of the inventive concept and without changing essential features thereof. Therefore, the above-described embodiments should be considered in a descriptive sense only and not for purposes of limitation. 
     Ordinal numbers such as “first,” “second,” “third,” etc. may be used simply as labels of certain elements, steps, etc., to distinguish such elements, steps, etc. from one another. Terms that are not described using “first,” “second,” etc., in the specification, may still be referred to as “first” or “second” in a claim. In addition, a term that is referenced with a particular ordinal number (e.g., “first” in a particular claim) may be described elsewhere with a different ordinal number (e.g., “second” in the specification or another claim).