Patent Publication Number: US-2023163009-A1

Title: Substrate treating apparatus and substrate treating method using the same

Description:
This application claims the benefit of Korean Patent Application No. 10-2021-0162028, filed on Nov. 23, 2021, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Field 
     The present disclosure relates to a substrate treating apparatus and a substrate treating method using the same. 
     2. Description of the Related Art 
     In order to manufacture a semiconductor device, a substrate is treated through various processes such as photolithography, etching, ashing, ion implantation, thin film deposition, and cleaning to form a desired pattern on the substrate. 
     In order to perform the above process, the substrate should be transferred to each process chamber. Specifically, a transfer robot capable of transferring the substrate transfers the substrate to each chamber. In this case, the transfer robot should be aligned to precisely move the substrate to a desired position. Controlling and aligning the robot hand with the naked eye can be time consuming. 
     SUMMARY 
     The technical object of the present disclosure is to provide a substrate treating apparatus with improved efficiency and productivity. 
     Another technical object of the present disclosure is to provide a substrate treating method with improved efficiency and productivity. 
     The objects of the present disclosure are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description. 
     A substrate treating apparatus according to an aspect of the present disclosure for achieving the above technical object comprises a process chamber having a treating space therein, a transfer robot comprising a robot hand for loading and unloading a substrate into and out of the treating space and gripping the substrate, and a teaching buffer for aligning the robot hand, wherein the teaching buffer comprises a teaching plate for providing a reference point, and at least one camera looking at the teaching plate, wherein the camera captures the reference point of the teaching plate, wherein the transfer robot aligns the robot hand with the reference point using the camera. 
     In some embodiments, the robot hand comprises an alignment mark disposed at a distal end of the robot hand, and the teaching buffer compares the alignment mark with the reference point to align the robot hand 
     In some embodiments, the alignment mark is aligned with a center point of the substrate. 
     In some embodiments, the reference point is captured at a first position, and the robot hand is aligned in the first position. 
     In some embodiments, a height between the teaching plate and the camera is the same as a height between the robot hand and the camera. 
     In some embodiments, the camera comprises a prism method. 
     In some embodiments, the camera comprises a first camera and a second camera spaced apart from each other. 
     In some embodiments, the reference point comprises a first reference point and a second reference point spaced apart from each other, and the first camera captures the first reference point, and the second camera captures the second reference point. 
     In some embodiments, the robot hand comprises a first hand and a second hand spaced apart from each other, and the first hand is aligned with the first reference point and the second hand is aligned with the second reference point. 
     A substrate treating apparatus according to another aspect of the present disclosure for achieving the above technical object comprises a process chamber having a treating space therein, a transfer robot comprising a robot hand for loading and unloading a substrate into and out of the treating space and gripping the substrate, and a teaching buffer for aligning the first hand and second hand, wherein the teaching buffer comprises a teaching plate for providing a first reference point and a second reference point, a first camera for capturing the first reference point and a second camera for capturing the second reference point, wherein the transfer robot aligns the first hand using the first reference point and aligns the second hand using the second reference point. 
     In some embodiments, the first hand comprises a first alignment mark disposed at a distal end of the first hand, and the first hand is aligned by comparing the first alignment mark with the first reference point. 
     In some embodiments, a height between the first camera and the first reference point is the same as a height between the first hand and the first camera, and a height between the second camera and the second reference point is the same as a height between the second camera and the second hand. 
     In some embodiments, a first vertical position, at which the first and second reference points are captured, and a second vertical position, at which the first and second hands are aligned, are the same as each other. 
     In some embodiments, the camera comprises a prism method. 
     A substrate treating method according to an aspect of the present disclosure for achieving the above technical object comprises loading a teaching plate comprising a reference point into a teaching buffer, capturing the reference point using a camera disposed in an upper portion of the teaching plate, loading a robot hand comprising an alignment mark into the teaching buffer, and aligning the robot hand by comparing the reference point and the alignment mark, wherein the robot hand grips a substrate to load and unload the substrate into and out of a process chamber. 
     In some embodiments, the alignment mark is aligned with a center point of the substrate. 
     In some embodiments, a position, at which the teaching plate is loaded, and a position, at which the robot hand is loaded, are the same as each other. 
     In some embodiments, the camera comprises a first camera and a second camera spaced apart from each other, the reference point comprises a first reference point and a second reference point spaced apart from each other, and the first camera captures the first reference point, and the second camera captures the second reference point. 
     In some embodiments, the robot hand comprises a first hand and a second hand spaced apart from each other, and the first hand is aligned with the first reference point and the second hand is aligned with the second reference point. 
     In some embodiments, the camera comprises a prism method. 
     The details of other embodiments are included in the detailed description and drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which: 
         FIG.  1    is a plan view schematically illustrating a substrate treating apparatus according to some embodiments of the present disclosure; 
         FIG.  2    is an exemplary diagram for describing the teaching buffer of  FIG.  1   ; 
         FIG.  3    is an exemplary plan view for describing the teaching plate of  FIG.  2   ; 
         FIG.  4    is an exemplary view for describing the work robot of  FIG.  1   ; 
         FIG.  5    is an exemplary flowchart for describing a method for treating a substrate according to some embodiments; 
         FIG.  6    is a diagram for describing step S 100  of  FIG.  5   ; 
         FIGS.  7  and  8    are diagrams for describing step S 200  of  FIG.  5   ; 
         FIG.  9    is a diagram for describing step S 300  of  FIG.  5   ; 
         FIG.  10    is a diagram for describing step S 400  of  FIG.  5   ; and 
         FIGS.  11  and  12    are diagrams for describing step S 500  of  FIG.  5   . 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of the present disclosure and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments described below, but may be implemented in various different forms, and these embodiments are provided only for making the description of the present disclosure complete and fully informing those skilled in the art to which the present disclosure pertains on the scope of the present disclosure, and the present disclosure is only defined by the scope of the claims. Like reference numerals refer to like elements throughout. 
     When an element or layer is referred as being located “on” another element or layer, it includes not only being located directly on the other element or layer, but also with intervening other layers or elements. On the other hand, when an element is referred as being “directly on” or “immediately on,” it indicates that no intervening element or layer is interposed. 
     Spatially relative terms “below,” “beneath,” “lower,” “above,” and “upper” can be used to easily describe a correlation between an element or components and other elements or components. The spatially relative terms should be understood as terms including different orientations of the device during use or operation in addition to the orientation shown in the drawings. For example, when an element shown in the figures is turned over, an element described as “below” or “beneath” another element may be placed “above” the other element. Accordingly, the exemplary term “below” may include both directions below and above. The device may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation. 
     Although first, second, etc. are used to describe various elements, components, and/or sections, it should be understood that these elements, components, and/or sections are not limited by these terms. These terms are only used to distinguish one element, component, or section from another element, component, or section. Accordingly, the first element, the first component, or the first section mentioned below may be the second element, the second component, or the second section within the technical spirit of the present disclosure. 
     The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present disclosure. In the present disclosure, the singular also includes the plural, unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” refers to that components, steps, operations and/or elements mentioned does not exclude the presence or addition of one or more other components, steps, operations and/or elements. 
     Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular. 
     Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numbers, regardless of reference numerals in drawings, and an overlapped description therewith will be omitted. 
     Hereinafter, a substrate treating apparatus according to some embodiments of the present disclosure will be described with reference to  FIGS.  1  to  4   . 
       FIG.  1    is a plan view schematically illustrating a substrate treating apparatus according to some embodiments of the present disclosure. 
     Referring to  FIG.  1   , a substrate treating apparatus according to some embodiments includes an equipment front end module  10  and a process module  20 . The equipment front end module  10  may be disposed at one side of the process module  20 . For example, the equipment front end module  10  may be disposed in front of the process module  20 . The equipment front end module  10  may include a plurality of load ports  100  and an index module  200 . The process module  20  may include a load lock chamber  300 , a process chamber  400 , a transfer chamber  500 , a transfer robot  600 , and a teaching buffer  700 . 
     The index module  200  is disposed between the load port  100  and the process module  20 . The index module  200  transfers the substrate W between the load port  100  and the process module  20 . Each load port  100  provides a space, in which the container (FOUP), in which the substrate W is stored, is placed. The index module  200  may include an index robot  210 . The index robot  210  may unload and transfer the substrate W before processing from the container (FOUP) placed on the load port  100  to the process module  20 . Also, the index robot  210  may load the processed substrate W from the process module  20  into the container (FOUP). 
     The process module  20  may include a transfer chamber  500 , a plurality of load lock chambers  300 , and a plurality of process chambers  400 . The transfer chamber  500  may have a polygonal shape in a plan view. A load lock chamber  300  and a process chamber  400  may be disposed at each corner of the transfer chamber  500 . The load lock chamber  300  may be disposed at a position closest to the equipment front end module  10  among the corners of the transfer chamber  500 . 
     For example, the transfer chamber  500  may have a hexagonal shape in a plan view. The transfer chamber  500  may have six corners. Four process chambers  400  and two load lock chambers  300  may be disposed at each corner. However, the technical spirit of the present disclosure is not limited thereto. Of course, the shape of the transfer chamber  500  and the number of the process chambers  400  and the load lock chambers  300  disposed adjacent to the transfer chamber  500  may be changed. 
     The transfer robot  600  may be disposed inside the transfer chamber  500 . The transfer robot  600  transfers the substrate W between the load lock chamber  300  and the process chamber  400 . The transfer robot  600  may include a robot arm  610  and a robot hand  620 . The robot hand  620  may grip the substrate W. The robot arm  610  can move in the x-axis, y-axis, and z-axis. In some embodiments, the transfer robot  600  may align the robot hand  620  using the camera  720  of the teaching buffer  700 . 
     The load lock chamber  300  provides a space for temporarily storing the substrate W loaded into or unloaded out of the process module  20 . The inside of the load lock chamber  300  may be convertible to vacuum and atmospheric pressure. Accordingly, the inside of the transfer chamber  500  and the process chamber  400  may be maintained in a vacuum, and the inside of the equipment front end module  10  may be maintained at atmospheric pressure. A first gate valve  310  is installed between the load lock chamber  300  and the equipment front end module  10 . A second gate valve  330  is installed between the load lock chamber  300  and the transfer chamber  500 . Any one of the first gate valve  310  and the second gate valve  330  may be open so that a vacuum inside the transfer chamber  500  and the process chamber  400  is maintained. 
     The process chamber  400  performs a process of treating the substrate W. The process chamber  400  may include a treating space therein. For example, the process chamber  400  may perform at least one of an etching process, a photo process, and a developing process, but is not limited thereto. 
     In some embodiments, the substrate treating apparatus may further include a control module  1000 . The control module  1000  may control the transfer chamber  500 , the load lock chamber  300 , the process chamber  400 , the transfer robot  600 , and the teaching buffer  700 . Also, the control module  1000  may control the transfer robot  600  to transfer the substrate W. The control module  1000  may control aligning the transfer robot  600  using the teaching buffer  700 , but is not limited thereto. 
     The teaching buffer  700  may be disposed outside the transfer chamber  500  or may be disposed inside the transfer chamber  500 . The teaching buffer  700  may be used to automatically align the robot hand  620  of the transfer robot  600 . A detailed description of the teaching buffer  700  will be described with reference to  FIG.  2   . 
       FIG.  2    is an exemplary diagram for describing the teaching buffer of  FIG.  1   .  FIG.  3    is an exemplary plan view for describing the teaching plate of  FIG.  2   . 
     Referring to  FIGS.  2  and  3   , the teaching buffer  700  may include a buffer body  710 , a camera  720 , and a teaching plate  730 . 
     The camera  720  may be disposed on the buffer body  710 . The camera  720  may look at the teaching plate  730 . The camera  720  may capture the reference point  735  of the teaching plate  730 . The camera  720  may include a prism method, but is not limited thereto. 
     In some embodiments, at least one or more cameras  720  may be included. The camera  720  may include, for example, a first camera  720   a  and a second camera  720   b . The first camera  720   a  and the second camera  720   b  may be spaced apart from each other. The first camera  720   a  and the second camera  720   b  may capture the first reference point  735   a  and the second reference point  735   b , respectively. The camera  720  may generate an image by capturing the reference point  735  of the teaching plate  730 . The camera  720  may generate reference coordinates by capturing the reference point  735 . 
     The teaching plate  730  may be disposed inside the buffer body  710 . The teaching plate  730  may be loaded into the buffer body  710  and unloaded (see reference numeral  740 ). For example, when the camera  720  captures the teaching plate  730 , the teaching plate  730  may be loaded into the buffer body  710 . When the camera  720  aligns the robot hand ( 620  in  FIG.  1   ), the teaching plate  730  may be unloaded from the buffer body  710 . 
     The teaching plate  730  may include a plate  731  and a reference point  735 . The reference point  735  may be located on the plate  731 . The reference point  735  may be a reference point used when aligning the robot hand ( 620  of  FIG.  1   ). The reference point  735  may include at least one or more. For example, the reference point  735  may include a first reference point  735   a  and a second reference point  735   b . However, the technical spirit of the present disclosure is not limited thereto. 
     In some embodiments, the first reference point  735   a  may be used to align the first hand ( 620   a  in  FIG.  4   ). The second reference point  735   b  may be used to align the second hand ( 620   b  in  FIG.  4   ). The first reference point  735   a  may correspond to the first alignment mark ( 625   a  of  FIG.  4   ). The second reference point  735   b  may correspond to the second alignment mark ( 625   b  of  FIG.  4   ). 
       FIG.  4    is an exemplary view for describing the work robot of  FIG.  1   . The transfer robot  600  will be described in more detail with reference to  FIG.  4   . 
     Referring to  FIG.  4   , the transfer robot  600  includes a robot arm  610  and a robot hand  620 . The robot hand  620  may be a part that grips the substrate (W in  FIG.  1   ). The robot arm  610  may be an arm that moves the robot hand  620  and the substrate W. 
     The robot hand  620  may include, for example, a first hand  620   a  and a second hand  620   b . The first hand  620   a  and the second hand  620   b  may be spaced apart from each other. Each of the robot hands  620  includes an alignment mark  625 . The alignment mark  625  may be a mark used to align the robot hand  620 . For example, the camera of the teaching buffer ( 720  in  FIG.  2   ) captures the reference point ( 735  in  FIG.  3   ) of the teaching plate, and compares the captured reference point with the alignment mark  625  to align the robot hand  620 . The alignment method of the robot hand  620  will be described later in detail with reference to  FIGS.  5  to  12   . 
     The alignment mark  625  includes a first alignment mark  625   a  and a second alignment mark  625   b . A first alignment mark  625   a  is formed on the first hand  620   a . A second alignment mark  625   b  is formed on the second hand  620   b . The first alignment mark  625   a  may be used to align the first hand  620   a . The second alignment mark  625   b  may be used to align the second hand  620   b . However, the technical spirit of the present disclosure is not limited thereto. 
     In some embodiments, the alignment mark  625  may be aligned with a center point of the substrate, but is not limited thereto. In some embodiments, alignment marks  625  are shown as having a cross shape, but are not limited thereto. 
     Hereinafter, a method of operating a substrate treating apparatus and a substrate treating method according to some exemplary embodiments will be described. 
       FIG.  5    is an exemplary flowchart for describing a method for treating a substrate according to some embodiments. 
     Referring to  FIG.  5   , the substrate treating method according to some embodiments includes loading a teaching plate into a teaching buffer (S 100 ), capturing a reference point using a camera (S 200 ), unloading the teaching plate (S 300 ), loading the robot hand into the teaching buffer (S 400 ), and aligning the robot hand (S 500 ). Each step will be described with reference to  FIGS.  6  to  12   . 
       FIG.  6    is a diagram for describing step S 100  of  FIG.  5   . 
     Referring to  FIGS.  5  and  6   , the teaching plate  730  may be loaded into the buffer body  710  (see reference numeral  740   a ). The teaching plate  730  may be loaded to a position overlapping the camera  720  in the vertical direction. The teaching plate  730  may be loaded at the first vertical position P1. 
       FIGS.  7  and  8    are diagrams for describing step S 200  of  FIG.  5   . 
     Referring to  FIGS.  5  and  7   , the teaching plate  730  may be loaded at a position overlapping the camera  720  in the vertical direction. The reference point  735  of the teaching plate  730  may vertically overlap the camera  720 . For example, the first camera  720   a  may vertically overlap the first reference point  735   a , and the second camera  720   b  may vertically overlap the second reference point  735   b.    
     The teaching plate  730  may be loaded in the first vertical position P1. A vertical height between the camera  720  and the teaching plate  730  may be a first height H1. A vertical height between the first camera  720   a  and the first reference point  735   a  may be the first height H1. The vertical height between the second camera  720   b  and the second reference point  735   b  may be the first height H1. 
     Subsequently, referring to  FIGS.  5  and  8   , the camera  720  may capture the reference point  735  of the teaching plate  730  (S 200 ). 
     The camera  720  may generate an image  7351  by capturing the reference point  735 . For example, the first camera  720   a  may generate a first image  735 I 1  by capturing the first reference point  735   a . The second camera  720   b  may generate a second image  735 I 2  by capturing the second reference point  735   b.    
     The camera  720  may generate reference coordinates by capturing the reference point  735 . For example, the first camera  720   a  may generate first reference coordinates by capturing the first reference point  735   a . The second camera  720   b  may generate second reference coordinates by capturing the second reference point  735   b . For example, the first reference coordinates may be (0,0). The second reference coordinates may be (1,0). 
       FIG.  9    is a diagram for describing step S 300  of  FIG.  5   . 
     Referring to  FIGS.  5  and  9   , the teaching plate  730  may be unloaded from the buffer body  710  (S 300 ). The teaching plate  730  may be unloaded in a direction opposite to the loaded direction (see reference numeral  740   b ). However, the technical spirit of the present disclosure is not limited thereto. 
       FIG.  10    is a diagram for describing step S 400  of  FIG.  5   . 
     Referring to  FIGS.  5  and  10   , the robot hand  620  may be loaded into the teaching buffer  700  (S 400 ). 
     The robot hand  620  may be loaded at the first vertical position P1 (see reference numeral  601 ). The vertical position, at which the robot hand  620  is loaded into the teaching buffer  700 , may be the same as the vertical position, at which the teaching plate  730  is loaded into the buffer body  710 . That is, a position for forming reference coordinates by capturing the reference point  735  and a position for aligning the robot hand  620  may be the same. Due to this, the robot hand  620  can be more accurately aligned. 
       FIGS.  11  and  12    are diagrams for describing step S 500  of  FIG.  5   . 
     Referring to  FIGS.  5 ,  11  and  12   , the robot hand  620  may be aligned (S 500 ). 
     “Aligned” may mean that the coordinates of the reference point  735  of the teaching plate  730  coincide with the coordinates of the alignment mark  625  of the robot hand  620 . For example, if the coordinates of the reference point  735  of the teaching plate  730  are (0,0), the robot hand  620  can be considered as being aligned when the coordinates of the alignment marks  625  of the robot hand  620  are (0,0). 
     Specifically, the robot hand  620  may be aligned using the camera  720 . For example, the first camera  720   a  may align the first hand  620   a  by comparing the first reference point  735   a  with the first alignment mark  625   a . The second camera  720   b  may align the second hand  620   b  by comparing the second reference point  735   b  with the second alignment mark  625   b.    
     In some embodiments, the vertical height between the camera  720  and the robot hand  620  may be the second height H2. The second height H2 may be the same as the first height H1. That is, as the first height H1 when the camera  720  captures the reference point  735  and the second height H2 when the camera  720  aligns the robot hand  620  are the same, it is possible to align the robot hand  620  more precisely. 
     In  FIG.  12   , the reference point  735  and the robot hand  620  are not aligned. The first hand  620   a  may be aligned by comparing the first reference point  735   a  with the first alignment mark  625   a . The second hand  620   b  may be aligned by comparing the second reference point  735   b  with the second alignment mark  625   b . The robot hand  620  may be aligned by aligning the first hand  620   a  and the second hand  620   b . In this case, if the robot hand  620  is rotated counterclockwise, the robot hand  620  may be aligned. However, the technical spirit of the present disclosure is not limited thereto. Of course, the robot hand  620  may be aligned by moving in the x-direction or the y-direction. 
     Using the substrate treating apparatus according to some embodiments, the robot hand  620  may be aligned using an automated process. Due to this, it is possible to align the robot hand  620  more efficiently and accurately. 
     Although embodiments of the present disclosure have been described with reference to the above and the accompanying drawings, those skilled in the art, to which the present disclosure pertains, can understand that the present disclosure may be practiced in other specific forms without changing its technical spirit or essential features. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting.