Patent Publication Number: US-2023163003-A1

Title: Substrate processing apparatus and process control method thereof

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     The present application claims priority to Korean Patent Application No. 10-2021-0160418, filed Nov. 19, 2021, the entire contents of which is incorporated herein for all purposes by this reference. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present disclosure relates to a substrate processing apparatus and a process control method thereof and, more particularly, to a process control technology for substrate processing apparatus, which enables determining the process status of each of a plurality of process chambers provided in the substrate processing apparatus, to store a substrate to be processed after being put into each process chamber in a storage provided in a transfer chamber, and to transfer the substrate stored in the storage to the corresponding process chamber according to the process progress of the corresponding process chamber. 
     Description of the Related Art 
     In recent years, with the miniaturization and high integration of semiconductor devices, high precision and complexity of processes, and a larger wafer diameter are required. From the viewpoint of improving productivity (throughput) accompanying the increase in complex processes or single-wafer typeization, a multi-chamber type substrate processing apparatus having a plurality of chambers to enable performing semiconductor device manufacturing processes in batch is attracting attention. 
     The multi-chamber type substrate processing apparatus includes a plurality of process chambers and at least one transfer chamber disposed between the respective process chambers to transfer a substrate to the process chamber. The substrate processing apparatus is divided into a cluster platform type and an inline platform type according to the arrangement of process chambers and transfer chambers. 
     When processing is performed using a multi-chamber type substrate processing apparatus, due to the complexity of the complex processes, the proportion of time required to transport substrates between chambers of the total manufacturing time of semiconductor devices is gradually increasing. 
     In this background, in order to improve substrate productivity, research on layouts of semiconductor manufacturing facilities that can reduce unnecessary transport and enable continuous processing is being actively conducted. 
     SUMMARY OF THE PRESENT DISCLOSURE 
     Accordingly, the present disclosure has been made keeping in mind the above problems occurring in the related art, and the present disclosure is intended to provide a substrate processing method that improves productivity by reducing the time required for substrate transfer in a multi-chamber substrate processing apparatus. 
     In particular, an objective of the present disclosure is to solve the problem of inefficiency that it takes a considerable amount of time to transfer substrates as a substrate to be processed is waiting in a load lock chamber while all of the plurality of chambers are in the process state, and when any one chamber finishes processing, the substrate is transferred to a transfer chamber and a transfer robot transfers the substrate to the corresponding chamber. 
     Moreover, an objective of the present disclosure is to solve the problem that, since the number of substrates that the transfer robot in the transfer chamber can transfer at a time and the number of substrates that can be transferred to the load lock chamber are limited, a delay occurs in substrate transfer with increasing number of process chambers, which limits process chamber extension. 
     The objectives of the present disclosure are not limited to the above, and other objectives and advantages of the present disclosure not mentioned may be understood by the following description. 
     In order to achieve the above objective, according to an embodiment of the present disclosure, a process control method of a substrate processing apparatus includes monitoring a process status of each process chamber of a plurality of process chambers, determining a shift-to-idle process chamber to be shifted from a process state to an idle state among the plurality of process chambers, storing a first to-be-processed substrate in a storage, associated with the shift-to-idle process chamber, among a plurality of storages provided in a transfer chamber, and transferring the first to-be-processed substrate stored in the storage to the shift-to-idle process chamber in accordance with a shift to the idle state of the shift-to-idle process chamber. 
     According to an embodiment of the present disclosure, the substrate processing apparatus may include: a plurality of process chambers configured to perform processing processes on a substrate; a transfer chamber provided with a storage disposed between the plurality of process chambers to temporarily store a to-be-processed substrate, and a transfer robot that transfers the substrate to the storage; and a control module configured to determine a process status for each of the plurality of process chambers and to manage storing and withdrawal of the to-be-processed substrate in/from the storage in correspondence with each of the process chambers. 
     According to an embodiment of the present disclosure, a process control method of a substrate processing apparatus may include: monitoring a process status to determine the process status for each of a plurality of process chambers, and to determine a shift-to-idle time for each of the plurality of process chambers by considering whether a to-be-processed substrate is stored in a storage provided in a transfer chamber in correspondence with each of the process chambers; determining an expected shift to determine a first shift-to-idle process chamber to be shifted to an idle state among the plurality of process chambers; storing a substrate to identify a storage corresponding to the shift-to-idle process chamber among the plurality of storages provided in the transfer chamber, and to transfer and store a to-be-processed substrate to the storage corresponding to the shift-to-idle process chamber; scheduling of substrate supply to establish a substrate supply plan for the shift-to-idle process chamber; and transferring a substrate to confirm the substrate supply plan for the shift-to-idle process chamber in accordance with a shift to the idle state of the shift-to-idle process chamber, and to transfer the to-be-processed substrate stored in the storage to the shift-to-idle process chamber. 
     According to the present disclosure, it is possible to improve productivity by reducing the time required for substrate transfer in a multi-chamber substrate processing apparatus. 
     In particular, according to the present disclosure, the time required to supply substrates can be significantly reduced since a substrate to be processed is stored in a storage adjacent to a corresponding process chamber in advance while all chambers are in the process state, and when the corresponding process chamber is shifted to the idle state, the substrate to be processed is immediately taken out of the storage and supplied to the corresponding process chamber. 
     Furthermore, in case of adding a process chamber to the substrate processing apparatus, by additionally disposing a storage corresponding thereto, it is possible to add process chambers without constraints related to a transfer robot of a transfer chamber. 
     The effects of the present disclosure are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from this specification and accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other objectives, features, and other advantages of the present disclosure will be more clearly understood from the following detailed description when taken in conjunction with the accompanying drawings, in which: 
         FIG.  1    is a view illustrating an embodiment of a substrate processing apparatus according to the present disclosure; 
         FIG.  2    is a block diagram of an example of a control module of the substrate processing apparatus according to the present disclosure; 
         FIGS.  3 ,  4 A, and  4 B  are views illustrating an example of a storage provided in a transfer chamber in the substrate processing apparatus according to the present disclosure; 
         FIG.  5    is a view illustrating another example of the storage provided in the transfer chamber in the substrate processing apparatus according to the present disclosure; 
         FIG.  6    is a flowchart illustrating an example of a process control method of the substrate processing apparatus according to the present disclosure; 
         FIG.  7    is a flowchart illustrating an example of a process of storing a to-be-processed substrate in the storage in the process control method of the substrate processing apparatus according to the present disclosure; 
         FIGS.  8 A to  8 C  are views illustrating an example of storing to-be-processed substrates in storages in the substrate processing apparatus according to the present disclosure; 
         FIG.  9    is a flowchart illustrating an example of a process of withdrawing a substrate stored in a storage and transferring it to a process chamber in the process control method of the substrate processing apparatus according to the present disclosure; and 
         FIGS.  10 A and  10 B  are views illustrating an example of withdrawing the substrates stored in the storages and transferring them to process chambers in the substrate processing apparatus according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE PRESENT DISCLOSURE 
     Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. However, the present disclosure is not limited by the embodiments. 
     In order to explain the present disclosure, the operational advantages of the present disclosure, and the objectives achieved by the practice of the present disclosure, the embodiments of the present disclosure are exemplified below and will be described with reference to them. 
     First, the terms used in this application are only used to describe specific embodiments, and are not intended to limit the present disclosure, and a singular expression may include a plural expression unless the context clearly indicates otherwise. In addition, it should be understood that in the present disclosure, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and do not preclude the possibility of addition or existence of one or more other features or numbers, steps, operations, components, parts, or combinations thereof. 
     In describing the present disclosure, when it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description thereof will be omitted. 
     A substrate processing apparatus of the present disclosure may include an index module  110 , a load lock chamber module  120 , and a process module  130 . 
     The index module  110  may include a load port  111  and an index frame  115 . The load port  111  may be disposed in front of the index frame  115 , and a plurality of load ports may be arranged in a line. A carrier on which a plurality of substrates are mounted may be seated on the load port  111  during processing. The index frame  115  is interposed between the load port  111  and a load lock chamber  121 , and may include a transfer robot for transferring substrates therein and transfer the substrates between the carrier and the load lock chamber  121 . The index frame  115  may be provided as an equipment front end module (EFEM). 
     The load lock chamber  121  is positioned between the index module  110  and a transfer chamber  140  of the process module  130 , and may be provided in a plurality or a multi-layer structure according to circumstances. 
     The load lock chamber  121  may maintain the process environment of the transfer chamber  140  and the process chamber  131  since the inner space  125  of the load lock chamber  121  is maintained in the same manner as the process environment. 
     The process module  130  may include the transfer chamber  140  and the plurality of process chambers  131 . The process chambers  131  may be provided in a plurality of multi-chamber type. 
     The process chamber  131  may be disposed on each side of the transfer chamber  140  to receive substrates from the transfer chamber  140  to perform processes, and provide the processed substrates back to the transfer chamber  140 . 
     The transfer chamber  140  may be positioned between the plurality of process chambers  131 , and although in the present embodiment, the transfer chamber  140  and the process chamber  131  are described in an inline form, but the present disclosure is not limited thereto and the present disclosure may be applied to a cluster form. 
     The transfer chamber  140  is provided between the plurality of process chambers  131  to transfer a to-be-processed substrate to each process chamber  131  or to withdraw a processed substrate from each process chamber  131 . 
     In the present embodiment, it is described that one transfer chamber  140  is provided, but depending on circumstances, a plurality of transfer chambers  140  may be arranged in series. 
     A transfer robot  141  and a storage  210  may be provided in the transfer chamber  140 . 
     The transfer robot  141  may transfer and provide substrates to the plurality of process chambers  131  arranged in an inline form. 
     When one transfer robot  141  is provided in the transfer chamber  140 , the transfer robot  141  moves on a moving frame  145  and transfers the substrates to each of the process chambers  131  provided on both sides of the transfer chamber  140 . 
     A to-be-processed substrate may be stored in the storage  210  provided in the transfer chamber  140 . 
     A plurality of storages  210  may be disposed in the transfer chamber  140  to correspond to each of the plurality of process chambers  131 , or may be disposed in the transfer chamber  140  to correspond to several process chambers  131 . For example, one storage  210  may be disposed between the two process chambers  131 . 
     The storage  210  may be disposed near a door  135  of the corresponding process chamber  131 , and when the corresponding process chamber  131  is operating, the storage  210  may temporarily store a to-be-processed substrate. 
     A control module  250  may determine a process status for each of the plurality of process chambers  131 , control the transfer robot  141  to store the to-be-processed substrate in the storage  210  in accordance with the process chamber  131  that is operating, and control the transfer robot  141  to take out the to-be-processed substrate stored in the storage  210  and transfer it to the corresponding process chamber  131  when the corresponding process chamber  131  shifts to an idle state. 
     Regarding the control module  250 , it will be described in more detail with reference to the configuration diagram of an embodiment of the control module of the substrate processing apparatus according to the present disclosure shown in  FIG.  2   . 
     The control module  250  may include a process status monitoring unit  251 , a storage status monitoring unit  253 , a substrate supply scheduling unit  255 , and a transfer robot controller  257 . 
     The process status monitoring unit  251  may determine the process status of each of the plurality of process chambers  131 . For example, the process status monitoring unit  251  may determine the process status while monitoring the process conditions of each process chamber  131  in real time, such as whether the process chamber  131  is in a process state in which a process is being carried out according to a related process recipe or in an idle state in which no process is being carried out, the remaining time until the end of the process treatment, and when to shift to an idle state. 
     The storage status monitoring unit  253  may determine whether a to-be-processed substrate is being stored in the storage  210  corresponding to the process chamber  131 . The storage status monitoring unit  253  may determine and manage the storage status of the to-be-processed substrates in the plurality of storages  210  to correspond to each of the plurality of process chambers  131 . 
     The substrate supply scheduling unit  255  may allocate a to-be-processed substrate to the process chamber  131  on the basis of the process status grasped by the process status monitoring unit  251 . 
     When there is a spare process chamber in the idle state, the substrate supply scheduling unit  255  may allocate a to-be-processed substrate to the corresponding process chamber and transfer the substrate to the corresponding process chamber. When all process chambers are in the process state without any spare process chambers in idle state, the substrate supply scheduling unit  255  may store the to-be-processed substrate in the storage  210 . 
     A to-be-processed substrate may be stored in the storage  210  to correspond to each process chamber  131  on the basis of the process status of each process chamber  131  grasped by the process status monitoring unit  251 . 
     The substrate supply scheduling unit  255  may withdraw a to-be-processed substrate from the storage  210  and provide it to the corresponding process chamber  131  on the basis of the process status of each process chamber  131  grasped by the process status monitoring unit  251 . 
     The substrate supply scheduling unit  255  may select the storage  210  to store the to-be-processed substrate on the basis of the process status of each of the plurality of process chambers  131  and the storage status of the to-be-processed substrates stored in the plurality of storages  210 . 
     Furthermore, the substrate supply scheduling unit  255  may establish a substrate supply plan for each process chamber  131  by comprehensively considering the process status information of the process status monitoring unit  251  and the storage status information of the storage status monitoring unit  253 . 
     Due to the control module  250 , when the process chamber  131  is in the process state, the substrate to be processed next may be stored in the storage  210  near the process chamber  131  in advance, and when the corresponding process chamber  131  shifts to the idle state, the to-be-processed substrate may be immediately withdrawn from the storage  210  and supplied to the corresponding process chamber  131 . 
     In the present disclosure, substrate supply delay time may be reduced by placing storages for temporary storing of to-be-processed substrates in the transfer chamber. The storages disposed in the transfer chamber will be looked at through embodiments. 
       FIGS.  3 ,  4 A, and  4 B  are views illustrating an example of a storage provided in a transfer chamber in the substrate processing apparatus according to the present disclosure. 
     The storage  210  may be disposed in the transfer chamber to correspond to each process chamber  131 . One storage  210  may be disposed to correspond to one process chamber  131 , or one storage  210  may be disposed to correspond to two or several process chambers  131 . 
     The storage  210  may be disposed on a side wall near the door  135  of the corresponding process chamber  131 . 
     The storage  210  may have an end mounted on the side wall near the door  135  of the process chamber  131 , include an upper support  211  and a lower support  213  protruding outward from the sidewall, and be provided with a substrate storage space  215  between the upper support  211  and the lower support  213 . 
     The upper support  211  and the lower support  213  may be variously deformed to correspond to the size of the stored substrate and the shape of the transfer robot  141 . 
     For example, the transfer robot  141  may include an articulated robot arm  143  and a substrate support  142  as an end effector on which a substrate is seated on the end of the robot arm  143 , and the upper support  211  and the lower support  213  may be modified in consideration of the shape of the substrate support  142  and the robot arm  143 . Middle portions of the upper support  211  and the lower support  213  may have a shape recessed inward so that the substrate may be stably seated on the substrate storage space  215  in a state in which the substrate support  142  is partially inserted or not inserted into the substrate storage space  215 . 
     The storage  210  may be disposed on a nearby sidewall on the same height as the door  135  of the process chamber  131 . For example, the storage  210  may be disposed at a position that does not interfere with substrate transfer. 
     For example, as shown in  FIG.  4 A , the storage  210  may be disposed on a nearby sidewall at a position higher than the door  135  of the process chamber  131 , or as shown in  FIG.  4 B , the storage  210  may be disposed on a nearby sidewall at a position lower than the door  135  of the process chamber  131 . 
     The storage  220  may be deformed into various shapes and positions in which the substrate is stably seated and stored while the transfer robot  141  is not disturbed in the process of transferring the substrate. 
     A plurality of substrates may be stored in one storage. In this regard,  FIG.  5    shows another example of the storage provided in the transfer chamber in the substrate processing apparatus according to the present disclosure. 
     The storage  240  may include an intermediate support  243  interposed between the upper support  241  and the lower support  245 . A space between the upper support  241  and the lower support  245  may be partitioned by the intermediate support  243  to provide a plurality of substrate storage spaces  247  and  249 . 
     The number of substrate storage spaces that can store substrates may be changed by changing the separation distance between the upper support  241  and the lower support  245  and the number of intermediate supports  243  disposed therebetween. 
     As described above, as the storage  240  may store a plurality of substrates, the substrate to be processed in the corresponding process chamber  131  may be stored in plurality in sequential order. 
     In addition, the present disclosure proposes a process control method applied to the substrate processing apparatus according to the present disclosure as described above. Hereinafter, the process control method of the substrate processing apparatus according to the present disclosure will be described. Since the process control method according to the present disclosure is implemented in the above-described substrate processing apparatus according to the present disclosure, the embodiment of the substrate processing apparatus according to the present disclosure will be referred to together. 
       FIG.  6    is a flowchart illustrating an example of a process control method of the substrate processing apparatus according to the present disclosure. 
     The control module  250  may determine (S 110 ) the process status of each of the process chambers  131  while monitoring the process status of the plurality of process chambers  131 . 
     For example, the control module  250  may determine the process status while monitoring the process conditions of each process chamber  131  in real time, such as whether each process chamber  131  is in the process state or in an idle state, the remaining time until the end of the process treatment, and when to shift to an idle state. 
     When the to-be-processed substrate is provided, the control module  250  may determine (S 120 ) whether there is a spare process chamber in the idle state on the basis of the process status, and when there is a spare process chamber in the idle state, may allocate (S 130 ) a to-be-processed substrate to the corresponding process chamber, and may control the transfer robot  141  of the transfer chamber  140  to transfer (S 135 ) the to-be-processed substrate to the corresponding process chamber. 
     When the plurality of process chambers  131  are all in the process state, the control module  250  may identify the process chamber to be shifted to the idle state by determining (S 140 ) the process status of each process chamber. 
     Then, the control module  250  may transfer and store (S 150 ) a to-be-processed substrate to the storage  210  provided in the transfer chamber  140  to correspond to the process chamber. 
     Afterwards, while continuously monitoring (S 160 ) the process status of the process chamber, the control module  250  may identify (S 170 ) a shift to the idle state of the process chamber corresponding to the to-be-processed substrate stored in the storage  210 . 
     When the corresponding process chamber shifts to the idle state, the control module  250  may withdraw (S 180 ) the to-be-processed substrate stored in the storage  210  and transfer (S 190 ) it to the corresponding process chamber. 
     As such, in the present disclosure, the substrate supply delay may be minimized by temporarily storing the to-be-processed substrate near the process chamber and supplying the stored substrate immediately when the process chamber shifts to the idle state. 
     The process control method of the substrate processing apparatus according to the present disclosure will be described in more detail by dividing a substrate storage process and a substrate supply process. 
     Regarding the substrate storage process,  FIG.  7    is a flowchart illustrating an example of a process of storing a to-be-processed substrate in the storage in the process control method of the substrate processing apparatus according to the present disclosure. 
     The control module  250  may determine (S 210 ) a shift-to-idle time for each process chamber while collecting the process status of each of the plurality of process chambers. 
     For example, the control module  250  may determine a shift-to-idle process chamber to be shifted to the idle state first among the plurality of process chambers. 
     In addition, the control module  250  may determine (S 220 ) whether there is a to-be-processed substrate stored in the storage  210  corresponding to each process chamber. 
     The control module  250  may determine the shift-to-idle time for the plurality of process chambers in consideration of whether the to-be-processed substrate is stored in the storage  210 . 
     The control module  250  may select (S 230 ) the shift-to-idle process chamber to be shifted to the idle state first in consideration of whether the to-be-processed substrate is stored. 
     When the shift-to-idle process chamber is selected, the control module  250  may determine (S 240 ) a storage  210  corresponding to the selected process chamber, and allocate (S 250 ) a to-be-processed substrate to that storage  210 . 
     As the storage  210  is allocated, the control module  250  may control the transfer robot  141  of the transfer chamber  140  and transfer (S 260 ) and store (S 270 ) the to-be-processed substrate to that storage  210 . 
     When a to-be-processed substrate is allocated and stored in all of the plurality of process chambers, or a process chamber that shifts to the idle state before a process chamber to which a to-be-processed substrate is not allocated is identified even when a to-be-processed substrate is already allocated, the control module  250  may store a plurality of to-be-processed substrates in a sequential order in the storage  210  according to the order in which the substrates are to be processed in correspondence with the corresponding process chamber. 
     In addition, the control module  250  may store the to-be-processed substrate in the storage  210  in correspondence with the corresponding process chamber, and then establish (S 280 ) a substrate supply plan for the corresponding process chamber. 
     For example, the control module  250  may schedule the supply of the substrate to the process chamber by comprehensively considering, for each process chamber, the time remaining until the end of the process currently being performed, the existence and number of allocated to-be-processed substrates, the sequential order of to-be-processed substrates, and the estimated time required to process to-be-processed substrates, etc. In an embodiment, the control module  250  may change the established substrate supply plan by identifying the real-time process status of the process chamber. 
       FIGS.  8 A to  8 C  are views illustrating an example of storing to-be-processed substrates in storages in the substrate processing apparatus according to the present disclosure. 
     As shown in  8 A, when all of the process chambers  131   a  to  131   f  are in the process state, the to-be-processed substrate waits in the load lock chamber  121  and is transferred as one of the process chambers  131   a  to  131   f  shifts to the idle stat. In this case, as the transfer robot  141  repeatedly moves in the transfer chamber  140  for each of the process chambers  131   a  to  131   f , the delay time for supplying the substrate increases. 
     Therefore, in the present disclosure, the process chamber shifts to the idle state is identified by considering the process status of the process chambers  131   a  to  131   f  and a to-be-processed substrate w 1  stored in the storage  210   d  together. 
     When the process chamber  131   b  to be shifted to the idle state first is identified, the transfer robot  141  moves a to-be-processed substrate w 2  to the storage  210   a  corresponding to the process chamber  131   b  as shown in  8 B to store the to-be-processed substrate w 2  in the storage  210   a  in correspondence with the process chamber  131   b  as shown in  8 C. 
     Next, regarding the substrate supply process,  FIG.  9    is a flowchart illustrating an example of a process of withdrawing a substrate stored in a storage and transferring it to a process chamber in the process control method of the substrate processing apparatus according to the present disclosure. 
     The control module  250  may determine (S 310 ) the process status of each process chamber by monitoring the process status of a plurality of process chambers in real time. When the substrate supply plan for each process chamber is established, the control module  250  may determine the process status of the process chamber on the basis of the established substrate supply plan. 
     When a process chamber that is shifted to the idle state among the plurality of process chambers is identified (S 320 ), the control module  250  may determine (S 330 ) whether there is a to-be-processed substrate stored in the storage  210  in correspondence with the process chamber. 
     When there is no to-be-processed substrate stored in correspondence with the process chamber, the control module  250  may establish a substrate supply plan for the corresponding process chamber by registering (S 340 ) the corresponding process chamber as a spare process chamber in the idle state. 
     When there is a to-be-processed substrate corresponding to the shift-to-idle process chamber, the control module  250  may identify the storage  210  corresponding to that shift-to-idle process chamber and withdraw (S 350 ) the to-be-processed substrate stored in the storage  210  by controlling the transfer robot  141  of the transfer chamber  140  before transferring S 360  it to the corresponding shift-to-idle process chamber. 
       FIGS.  10 A and  10 B  are views illustrating an example of withdrawing the substrates stored in the storages and transferring them to process chambers in the substrate processing apparatus according to the present disclosure. 
     As shown in  FIG.  10 A , with respect to the process chamber  131   f  shifted to the idle state among the plurality of process chambers  131   a  to  131   f , it is determined whether the to-be-processed substrate is stored in the storage  210   d , and the to-be-processed substrate w 1  is taken out from the storage  210   d  by the transfer robot  141 . 
     Then, as shown in  FIG.  10 B , the to-be-processed substrate w 1  is transferred to the shift-to-idle process chamber  131   f  by the transfer robot  141 . 
     As such, in the present disclosure, delay time due to substrate transfer can be significantly reduced since a to-be-processed substrate can be temporarily stored in a storage disposed near the process chamber in correspondence with a process chamber, and when the process chamber is shifted to the idle state, the to-be-processed substrate can be transferred to the corresponding process chamber immediately. 
     The above description is merely illustrative of the technical idea of the present disclosure, and various modifications and variations may be made by those skilled in the art to which the present disclosure pertains without departing from the essential characteristics of the present disclosure. Therefore, the embodiments described in the present disclosure are not intended to limit the technical spirit of the present disclosure, but to explain, and the technical spirit of the present disclosure is not limited by these embodiments. The protection scope of the present disclosure should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present disclosure.