Patent Publication Number: US-2021164098-A1

Title: Rotation driving mechanism and rotation driving method, and substrate processing apparatus and substrate processing method using same

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application is based on and claims priority to Japanese Patent Application No. 2019-215580 filed on Nov. 28, 2019, the entire contents of which are hereby incorporated herein by reference. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present disclosure relates to a rotation driving mechanism and a rotation driving method, and a substrate processing apparatus and a substrate processing method using the same. 
     2. Description of the Related Art 
     Conventionally, as disclosed in Japanese Laid-Open Patent Application Publication No. 2016-96220, a film deposition apparatus has been known in which a substrate is placed on a substrate receiving region of a turntable in a vacuum chamber; the turntable is rotated and the substrate receiving region is rotated; the substrate sequentially passes through a plurality of processing gas supply regions disposed along a rotational direction of the turntable; and different processing gases are sequentially supplied to the substrate, thereby performing ALD (Atomic Layer Deposition). 
     Such a film deposition apparatus includes a first gear that is rotatable along the rotational direction of the turntable and is disposed on the other side of the turntable for rotating the substrate receiving region, and a second gear that is formed of planetary gears that are engaged with the first gear and rotate the substrate receiving region so that the substrate rotates by rotating the first gear, and a rotation drive unit that rotates the first gear to adjust the rotational speed of the substrate. Such a configuration can reduce the number of rotation drive units provided to rotate the substrate. 
     SUMMARY OF THE INVENTION 
     Some embodiment of the present disclosure is intended to provide a rotation driving mechanism and a rotation driving method, and a substrate processing apparatus and a substrate processing method using the above capable of reducing particles. 
     In order to achieve the above-described object, there is provided a rotation driving mechanism that includes a turntable configured to rotate about a first axis, and a rotating plate disposed along a circumferential direction of the turntable and configured to rotate about a second axis independently of a rotation of the turntable. A driving plate is coaxially disposed with the first axis of the turntable and is rotatable differently in rotational direction and rotational speed from the rotation of the turntable. A trajectory plate is fixed to the driving plate and disposed in the vicinity of the second axis of the rotating plate. The trajectory plate includes a rolling trajectory groove in a surface. The trajectory groove has a curved shape in a plan view. A horizontal rotating member is coupled to and fixed to the rotating plate and engaged with the rolling trajectory groove. The horizontal rotating member is configured to rotate the rotating plate by moving and rolling through the rolling trajectory groove. 
     Additional objects and advantages of the embodiments are set forth in part in the description which follows, and in part will become obvious from the description, or may be learned by practice of the disclosure. The objects and advantages of the disclosure will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the disclosure as claimed. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a cross-sectional view of a film deposition apparatus according to an embodiment of the present disclosure; 
         FIG. 2  is a plan view of a turntable and a chamber body of the deposition apparatus according to the present embodiment; 
         FIGS. 3A and 3B  are cross-sectional views taken along a circumferential direction of a separation region of a film deposition apparatus according to the present embodiment; 
         FIGS. 4A and 4B  are diagrams illustrating an example of a configuration of a turntable and a rotating plate of a rotating mechanism according to the present embodiment; 
         FIGS. 5A and 5B  are cross-sectional views of a rotating mechanism according to the present embodiment; 
         FIGS. 6A and 6B  are views illustrating a cross-sectional structure of an entire turntable and a central axis of a rotating mechanism according to the present embodiment; 
         FIG. 7  is a diagram illustrating an example of a coupling structure of a rotating mechanism according to the present embodiment; 
         FIGS. 8A and 8B  are views for explaining an example of a driving method of a rotating mechanism according to the present embodiment; 
         FIGS. 9A to 9H  are diagrams illustrating an example of a driving method for allowing reverse rotation of a rotating mechanism according to the present embodiment; and 
         FIGS. 10A to 10H  are diagrams illustrating an example of a driving method in which a horizontal rotating member of a rotating mechanism according to the present embodiment is not inverted. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Hereinafter, embodiments for carrying out the present disclosure will be described with reference to the drawings. 
       FIG. 1  is a cross-sectional view of a film deposition apparatus according to an embodiment of the present disclosure. As illustrated, the film deposition apparatus includes a vacuum chamber  1  having a flat cylindrical shape and a turntable  2  disposed within the vacuum chamber  1 . The vacuum chamber  1  includes a chamber body  12  and a ceiling plate  11  removable from the chamber body  12 . The ceiling plate  11  is disposed on the chamber body  12  via a seal member  13 , such as an O-ring, to be able to evacuate the vacuum chamber  1 . The ceiling plate  11  is lifted by a drive mechanism (not illustrated) when being removed from the vacuum chamber  1 . 
     The bottom portion  14  of the chamber body  12  includes a raised portion  14   a  that is raised in two stages in an annular shape near the center and a cover member  71  having a flat cylindrical shape. The space surrounded by the raised portion  14   a,  the cover member  71 , and the turntable  2  disposed at predetermined intervals above the raised portion  14   a  is used as a heater housing portion and the heater unit  7  is housed therein. 
     The turntable  2  is made of quartz in this embodiment and is formed into a disc shape. The turntable  2  has a circular opening in the center and is held between the top and bottom by a cylindrical core portion  21  around the opening. The core portion  21  is secured to the upper end of a vertically extending first rotating shaft  22 . The first rotating shaft  22  passes through the bottom surface portion  14  of the chamber body  12 , and a lower end thereof is mounted to the first driving portion  23   a  that in this example rotates the first rotating shaft  22   a  about the vertical axis in a clockwise direction. With this configuration, the turntable  2  can rotate about the center that is an axis. 
     Further, a second rotating shaft  22   b  is disposed to surround the first rotating shaft  22   a . The second rotating shaft  22   b  is a rotating shaft for rotating the driving plate  80 . The second rotating shaft  22   b  is disposed coaxially with the first rotating shaft  22   a.  However, the second rotating shaft  22   b  can rotate the driving plate  80  that is a different rotating object from that of the first rotating shaft  22   a  at a different rotating speed in a different rotational direction from those of the first rotating shaft  22   a.  That is, although the second rotating shaft  22   b  is co-axial with the first rotating shaft  22   a,  the second rotating shaft  22   a  can rotate independently of the first rotating shaft  22   a.  The driving plate  80  is a rotation transmission member for rotating the rotating plate  24  that is a substrate receiving region, and is rotated by the second rotating shaft  22   b.    
     The first and second rotating shafts  22   a  and  22   b  and the first and second driving portions  23   a  and  23   b  are housed in a cylindrical case body  20  having an opening at the top surface. The case body  20  is hermetically attached to the underside of the bottom portion  14  of the vacuum chamber  1  via a flange portion  20   a  on the upper surface thereof, thereby isolating the internal atmosphere of the case body  20  from the external atmosphere. 
       FIG. 2  is a plan view illustrating a turntable and a chamber body of the film deposition apparatus according to the present embodiment. Referring to  FIG. 2 , a plurality of (five, illustrated in the example) rotating plates  24  is disposed on the upper surface of the turntable  2 . A circular recess  24   a  for holding a wafer W is formed on the upper surface of the rotating plate  24 . That is, the circular recess  24   a  functions as a substrate receiving region. Only a single wafer W is illustrated in  FIG. 2 . The rotating plate  24  is equally spaced in the turntable  2 . 
       FIGS. 3A and 3B  are cross-sectional views taken along a circumferential direction of the separation region of the film deposition apparatus according to the present embodiment.  FIG. 3A  is a projected cross-sectional view along an arc extending from the first reaction gas nozzle  31  to the second reaction gas nozzle  32  illustrated in  FIG. 2 . As illustrated in  FIG. 3A , the recess  24   a  has a diameter that is slightly larger than the diameter of the wafer W, for example, 4 mm larger and a depth that is equal to the thickness of the wafer W. Accordingly, when the wafer W is placed on the recess  24   a,  the surface of the wafer W is at the same height as the surface of the region other than the recess  24   a  of the turntable  2 . If there is a relatively large step difference between the wafer W and its region, turbulence in the gas flow is generated due to the step difference, and the uniformity of the film thickness on the wafer W is affected. Thus, the two surfaces are at the same height. The “same height” means that the difference in height is about 5 mm or less, but the difference should be as close to zero as possible to the extent permitted by the machining accuracy. Three through holes (not illustrated) are formed at the bottom of the recess  24   a  through which the three up and down pins (not illustrated) move up and down. A lift pin supports the back of the wafer W and raises and lowers the wafer W. 
     The recess  24   a  is a housing region of the wafer W in which the wafer is positioned and the wafer W is prevented from being ejected by the centrifugal force generated by the rotation of the turntable  2 . However, the housing region of the wafer W may not be limited to the recess  24   a,  but may be implemented by a guide member positioned at predetermined angular intervals on the turntable  2  to hold the ends of the wafer W. 
     Referring to  FIG. 2 , a first reaction gas nozzle  31 , a second reaction gas nozzle  32 , and separate gas nozzles  41  and  42  are disposed above the turntable  2 , which extends radially at predetermined angular intervals. This arrangement allows the recess  24   a  to pass under the nozzles  31 ,  32 ,  41  and  42 . In the illustrated example, a second reaction gas nozzle  32 , a separating gas nozzle  41 , a first reaction gas nozzle  31 , and a separating gas nozzle  42  are arranged clockwise in this order. These gas nozzles  31 ,  32 ,  41  and  42  penetrate the circumferential wall of the chamber body  12  and are supported by attaching the end portions, which are gas introduction ports  31   a ,  32   a,    41   a  and  42   a,  to the circumferential wall. The gas nozzles  31 ,  32 ,  41 , and  42  are introduced into the chamber  1  from the circumferential wall of the chamber  1  in the illustrated example, but may be introduced from a protruding part  5  (described below). In this case, an L-shaped conduit may be disposed that opens to the outer peripheral surface of the protruding part  5  and the outer surface of the top plate  11 , gas nozzles  31  ( 32 ,  41 ,  42 ) may be connected to one opening of the L-shaped conduit in the chamber  1 , and gas introduction ports  31   a  ( 32   a,    41   a,    42   a ) may be connected to the other opening of the L-shaped conduit outside the chamber  1 . 
     Although not illustrated, the reaction gas nozzle  31  is connected to a gas source of the first reaction gas, bistalbutylamonosilane (BTBAS), via the gas introduction port  31   a,  and the reaction gas nozzle  32  is connected to a gas source of the second reaction gas that is ozone (O 3 ), via the gas introduction port  32 . 
     The reaction gas nozzles  31  and  32  have discharge holes  33  for discharging the reaction gas downwardly spaced in the length direction of the nozzle. In this embodiment, the discharge holes  33  have an aperture of about 0.5 mm and are arranged about 10 mm apart along the length of the reaction gas nozzles  31  and  32 . The reaction gas nozzles  31  and  32  are a first reaction gas supply part and a second reaction gas supply part, respectively. The lower region of the reaction gas nozzle  31  is also the first processing region P 1  for adsorbing BTBAS gas to the wafer, and the lower region of the reaction gas nozzle  32  is the second processing region P 2  for adsorbing O 3  gas to the wafer. 
     On the other hand, the separation gas nozzles  41  and  42  are connected to a gas source (not illustrated) of nitrogen gas (N 2 ). The separation gas nozzles  41  and  42  include discharge holes  40  for discharging the separation gas at the lower side. The discharge holes  40  are arranged at predetermined intervals in the longitudinal direction. In this embodiment, the discharge holes  40  have an aperture of about 0.5 mm and are arranged about 10 mm apart along the length of the separation gas nozzles  41  and  42 . 
     The separation gas nozzles  41  and  42  are disposed in the separation region D configured to separate the first and second processing regions P 1  and P 2 . In each separation region D, a convex portion  4  is disposed on the top plate  11  of the vacuum chamber  1 , as illustrated in  FIGS. 2, 3A and 3B . The convex portion  4  has a fan-shaped top shape, the top of which is located at the center of the chamber  1 , and the arc of which is located along the vicinity of the inner peripheral wall of the chamber body  12 . The convex portion  4  also includes a groove  43  extending radially so that the convex portion  4  is bisected. The separation gas nozzle  41  ( 42 ) is housed in the groove  43 . The distance between the central axis of the separation gas nozzle  41  ( 42 ) and one side of the fan-shaped convex portion  4  is approximately equal to the distance between the central axis of the separation gas nozzle  41  ( 42 ) and the other side of the fan-shaped convex portion  4 . In this embodiment, the groove  43  is formed so as to equally divide the convex portion  4 . However, in another embodiment, for example, the groove  43  may be formed so as to widen the upstream side of the turntable  2  in the rotation direction in the convex portion  4 . 
     According to the above configuration, as illustrated in  FIG. 3A , the separation gas nozzle  41  ( 42 ) has a flat, low ceiling surface  44  (first ceiling surface) on both sides and a high ceiling surface  45  (second ceiling surface) on both sides of the low ceiling surface  44 . The convex portion  4  (the ceiling surface  44 ) forms a narrow space to prevent the first and second reaction gases from entering between the convex portion  4  and the turntable  2  and from mixing. 
     Referring to  FIG. 3B , O 3  gas flowing from the reaction gas nozzle  32  toward the convex portion  4  along the direction of rotation of the turntable  2  is prevented from entering the space, and BTBAS gas flowing from the reaction gas nozzle  31  toward the convex portion  4  along the direction of rotation of the turntable  2  is prevented from entering the space. “Preventing the gas from entering” means that N 2  gas, which is the separation gas discharged from the separation gas nozzle  41 , diffuses between the first ceiling surface  44  and the surface of the turntable  2  and blows into the space below the second ceiling surface  45  adjacent to the first ceiling surface  44  in this example, thereby preventing the gas from entering the lower ceiling space of the second ceiling surface  45 . The term “the gas is unable to enter” does not mean that the gas cannot enter at all from the lower side space of the second ceiling surface  45  into the lower side space of the convex portion  4 , but means that even if a part of the reaction gas enters, the reaction gas cannot further go toward the separation gas nozzle  41  and thus cannot be mixed together. That is, as long as such action is obtained, the separation region D separates the first processing region P 1  from the second processing region P 2 . In addition, the gas adsorbed on the wafer can naturally pass through the separation region D. Therefore, prevention of a gas entry means a gas in the vapor phase. 
     Referring to  FIGS. 1 and 2 , the lower surface of the top plate  11  includes an annular protruding part  5  disposed such that the inner periphery faces the outer periphery of the core portion  21 . The protruding part  5  faces the turntable  2  in an area outside the core portion  21 . Further, the protruding part  5  is integrally formed with the convex part  4  and forms a plane between the lower surface of the convex portion  4  and the lower surface of the protruding part  5 . That is, the height from the turntable  2  on the lower surface of the protruding part  5  is equal to the height of the lower surface (the ceiling surface  44 ) of the convex portion  4 . This height is hereafter denoted by height h. The protruding part  5  and the convex portions  4  may not necessarily be integral and may be separate.  FIG. 2  illustrates the internal configuration of the chamber  1  in which the top plate  11  is removed while the convex portion  4  remains in the chamber  1 . 
     In this embodiment, the separation region D is formed by forming a groove  43  in the fan-shaped plate to be a convex portion  4  and placing the separation gas nozzle  41  ( 42 ) in the groove  43 . However, the two fan plates may be screwed onto the lower surface of the top plate  11  so that the two fan plates are positioned on both sides of the separation gas nozzle  41  ( 42 ). 
     The lower surface of the convex portion  4 , that is, the height h measured from the surface of the ceiling surface  44 , of the turntable  2  ( FIG. 3A ) may be, for example, about 0.5 mm to about 10 mm, and is preferably about 4 mm. The rotational speed of the turntable  2  is set to, for example, 1 rpm to 500 rpm. In order to secure the separation function of the separation region D, the size of the convex portion  4  and the height h between the lower surface of the convex portion  4  (the first ceiling surface  44 ) and the surface of the turntable  2  may be set through experiments, for example, depending on the pressure in the processing chamber  1  and the rotational speed of the turntable  2 . As the separation gas, in this embodiment, N 2  gas is used, but as long as the separation gas does not affect the formation of the silicon oxide film, an inert gas such as He or Ar gas or hydrogen gas may be used. 
     Referring to  FIG. 1  again, the chamber body  12  has a depression in an inner peripheral portion of the chamber body  12  facing an outer peripheral surface of the turntable  2 . Hereafter, this indentation is referred to as an exhaust region  6 . Below the exhaust region  6  is an exhaust port  61  (see  FIG. 2  for other exhaust ports  62 ), to which a vacuum pump  64  is connected via an exhaust line  63 , which may also be used for other exhaust ports  62 . The exhaust pipe  63  is disposed with a pressure regulator  65 . A plurality of pressure regulators  65  may be disposed to the corresponding exhaust ports  61 ,  62 . 
     Referring to  FIG. 2  again, the exhaust port  61  is disposed between the first reaction gas nozzle  31  and the convex portion  4 , which is positioned downstream in the clockwise rotation direction of the turntable  2  with respect to the first reaction gas nozzle  31  viewed from above. With this arrangement, the exhaust port  61  is substantially capable of evacuating the BTBAS gas from the first reaction gas nozzle  31 . Meanwhile, the exhaust port  62  is disposed between the second reaction gas nozzle  32  and the convex section  4  that is positioned downstream of the turntable  2  in the clockwise rotation direction with respect to the second reaction gas nozzle  32  viewed from above. With this arrangement, the exhaust port  62  is substantially capable of exhausting O 3  gas exclusively from the second reaction gas nozzle  32 . Accordingly, the exhaust ports  61 ,  62  configured in this manner can assist in the separation region D preventing the mixture of BTBAS and O 3  gases. 
     As illustrated in  FIG. 1 , the space between the turntable  2  and the bottom portion  14  of the chamber body  12  includes an annular heater unit  7  as a heating unit, thereby heating the wafer W on the turntable  2  through the turntable  2  to a temperature determined by a process recipe. The cover member  71  surrounds the heater unit  7  near the outer circumference of the turntable  2  below the turntable  2 , and the space where the heater unit  7  is placed is partitioned from the area outside the heater unit  7 . The cover member  71  has a flange portion  71   a  at an upper end, and the flange portion  71   a  is disposed so as to maintain a slight gap between the lower surface of the turntable  2  and the flange portion in order to prevent a gas from flowing into the cover member  71 . 
     Referring to  FIG. 1  again, the bottom portion  14  has a raised portion  14   a  inside the annular heater unit  7 . The upper surface of the raised portion  14   a  is in close proximity to the turntable  2  and the raised portion  14   a  and to the core portion  21 , leaving a slight gap between the upper surface of the raised portion and the turntable  2  and between the upper surface of the raised portion  14   a  and the back surface of the core portion  21 . The bottom portion  14  also has a central hole through which the rotating shaft  22  passes. The inner diameter of the central hole is slightly larger than the diameter of the rotating shaft  22 , leaving a clearance communicating with the case  20  through the flange portion  20   a.  A purge gas supply line  72  is connected to the top of the flange portion  20   a.  A plurality of purge gas supply lines  73  are connected to the region below the heater unit  7  at predetermined angular intervals to purge the region where the heater unit  7  is housed. 
     This arrangement allows N 2  purge gas to flow from the purge gas supply line  72  into the heater space through a gap between the central aperture of the rotating shaft  22  and the bottom portion  14 , a gap between the core  21  and the raised portion  14   a  of the bottom portion  14 , and a gap between the raised portion  14   a  of the bottom portion  14  and the back surface of the turntable  2 . N 2  gas flows from the purge gas supply line  73  to the space under the heater unit  7 . N 2  purge gas flows into the exhaust port  61  through a gap between the flange portion  71   a  of the cover member  71  and the back surface of the turntable  2 . N 2  purge gas acts as a separation gas that prevents the first (second) reaction gas from flowing through the space below the turntable  2  and mixing with the second (first) reaction gas. 
     A separation gas supply line  51  is connected to the center of the top plate  11  of the chamber  1  to supply N 2  gas, which is the separation gas, to the space between the top plate  11  and the core portion  21 . The separation gas supplied to a space  52  flows along the surface of the turntable  2  through a narrow clearance  50  between the protruding part  5  and the turntable  2  and reaches the exhaust region  6 . Because a space  53  and the clearance  50  are filled with the separation gas, the reaction gas (BTBAS, O 3 ) does not go through the center of the turntable  2 . That is, the film deposition apparatus according to the present embodiment includes the center region C, which is defined by the rotation center portion of the turntable  2  and the chamber  1  in order to separate the first processing region P 1  and the second processing region P 2 , and is configured with a discharge port that discharges the separation gas toward the upper surface of the turntable  2 . In the example illustrated in the drawings, the discharge port corresponds to the narrow clearance  50  between the protruding part  5  and the turntable  2 . 
     A purge gas supply line  72  is connected to the flange portion  20   a  through which a purge gas (N 2  gas) is supplied to the inside of the flange portion  20   a  and the case body  20 . The purge gas flows through the gap between the rotating shaft  22  and the raised portion  14   a  of the bottom portion  14 , the gap between the core portion  21  and the raised portion  14   a,  and the gap between the raised portion  14   a  and the turntable  2  to the heater housing portion in which the heater unit  7  is housed. Meanwhile, a plurality of purge gas supply lines  73  penetrating the bottom portion  14  of the chamber body  12  are connected at predetermined angular intervals to the heater housing through which a purge gas (such as N 2  gas) is supplied from a predetermined gas supply source (not illustrated). The purge gas is supplied from the purge gas supply tube  72  connected to the flange portion  20   a  and reaches the heater housing portion (N 2  gas or the like), and the purge gas is discharged from the gap between the cover member  71  and the turntable  2  to the exhaust region  6 , and is discharged from the exhaust port  61  ( 62 ) to the exhaust device  64 . At the upper end of the cover member  71 , a flange portion  71   a  extending along the back surface of the turntable  2  in the outside direction of the cover member  71  is disposed. Accordingly, the flow of gas from the exhaust region  6  to the heater housing portion is prevented. Such a configuration prevents the first reaction gas from mixing with the second reaction gas through the space around the core portion  21  or the rotating shaft  22  or through the heater housing portion. 
     Further, as illustrated in  FIG. 2 , a transfer port  15  is formed on the side wall of the chamber body  12 . A wafer W is conveyed into or out of the vacuum chamber  1  by external transfer arm  10  through the transfer port  15 . The transfer port  15  includes a gate valve (not illustrated), which opens and closes the transfer port  15 . When the recess  24   a,  which is the wafer receiving region of the turntable  2 , is aligned with the transfer port  15  and the gate valve is opened, the wafer W is transported into the vacuum chamber  1  by the transfer arm  10  and placed in the recess  24   a  from the transfer arm  10 . A lifting pin (not illustrated) is disposed for lowering the wafer W from the transfer arm  10  to the recess  24   a  and lifting the wafer from the recess  24   a.  The lifting pin is raised and lowered through a through hole formed in the recess  24   a  of the turntable  2  by a lifting mechanism (not illustrated). 
     The film deposition apparatus according to this embodiment includes a controller  100  for controlling the operation of the entire apparatus. The controller  100  includes a process controller  100   a  made of a computer, a user interface section  100   b,  and a memory device  100   c.  The user interface section  100   b  includes a display for displaying the operation status of the film deposition apparatus, a keyboard or a touch panel (not illustrated) for allowing an operator of the film deposition apparatus to select a process recipe, and for allowing a process administrator to change parameters of the process recipe. 
     The memory device  100   c  stores control programs, process recipes, and parameters in various processes that cause the process controller  100   a  to perform various processes. These programs also include a group of steps for performing the operations described below. These control programs and process recipes are read and executed by the process controller  100   a  according to instructions from the user interface unit  100   b . These programs are stored in the computer-readable storage medium  100   d  and may be installed in the memory device  100   c  through an input/output device (not illustrated) corresponding thereto. The computer-readable storage medium  100   d  may be a hard disk, CD, CD-R/RW, DVD-R/RW, flexible disk, semiconductor memory, or the like. The program may also be downloaded to the memory device  100   c  via a communication line. 
     In a film deposition apparatus having such a configuration, a wafer W can be mounted on a concave portion  24   a  of a turntable  2 , and a turntable  2  can be rotated while supplying processing gas from the reaction gas nozzles  31  and  32  and separating gas from the separating gas nozzles  41  and  42 , thereby depositing a film on the wafer W. That is, the silicon oxide film may be deposited on the wafer W by an ALD process, for example, by supplying a silicon-containing gas from the reaction gas nozzle  31  and an oxidizing gas from the reaction gas nozzle  32 . 
     Here, for example, when the rotational speed of the turntable  2  is set to ω, because the rotational speed v of the turntable  2  is v=rω (r is the distance from the center in the radial direction), it is conceivable that the movement speed differs between the position of the outer peripheral side inside the recess  24   a  and the position close to the rotation axis  22   a  inside the recess  24   a,  and that the film thickness may differ between the positions. 
     In order to reduce the speed difference in the positions of the turntable  2  in the radial direction in the recess  24   a,  in the deposition apparatus according to the present exemplary embodiment, the rotating plate  24  is rotated and the wafer W in the recess  24   a  is rotated while depositing the film. 
     Mechanisms for rotating the rolling plate  24  can be also damaged by thermal stresses, such as by the use of gears to produce particles, increase transfer friction, or the like. Therefore, in the deposition apparatus according to the present exemplary embodiment, a rotation mechanism using rolling contact is mounted. 
       FIGS. 4A and 4B  are diagrams illustrating an example configuration of a turntable  2  and a rotating plate  24  of the rotating mechanism according to the present embodiment.  FIG. 4A  is a diagram illustrating the entire rotating plate  24 , and  FIG. 4B  is a diagram illustrating an enlarged rotating axis  24   b  of the rotating plate  24 . 
     As illustrated in  FIG. 4A , the rotating plate  24  is disposed on the turntable  2  along a circumferential direction. The upper surface of the rotating plate  24  has a recess  24   a  and functions as a substrate receiving region as described above. 
     The rotating plate  24  may be constructed of a variety of materials depending on the application. For example, when a SiN film is deposited, a material having an expansion coefficient close to the SiN film may be used. For example, when a SiN film is formed by plasma CVD (Chemical Vapor Deposition), the thermal expansion coefficient is 2.8. In this case, for example, because the coefficient of thermal expansion of AlN is 4.6 and is relatively close to the coefficient of thermal expansion of a SiN film, the rotating plate  24  may be configured using AlN. Similarly, in the case of depositing the SiO 2  film, quartz, which is the same as a SiO 2  film in composition, may be used. 
     The rotating plate  24  has a rotating shaft  24   b.  The rotating shaft  24   b  is disposed so as to extend downwardly from the lower surface at the center of the rotating plate  24 . A bearing  83  is disposed around the rotating shaft  24   b.  That is, the rotating shaft  24   b  has a vertical length so as to be received by the bearing  83 . The bearing  83  is disposed to surround the periphery of the rotating shaft  24   b  in a horizontal direction to support rotation of the rotating shaft  24   b  in a horizontal direction (the rotating shaft is in the vertical direction). 
     A driving plate  80  extending from the second rotating shaft  22   b  is disposed below the rotating plate  24 . The driving plate  80  is a plate for driving to rotate the rotating plate  24  and is a transmission medium for transmitting the rotation driving force of the second rotating shaft  22   b  to the rotating plate  24 . The driving plate  80  has a disc-like shape, is coupled to and fixed to the second rotating shaft  22   b,  and rotates with the second rotating shaft  22   b.    
     The driving plate  80  is preferably made of the same material as the turntable  2  in order to prevent deformation due to thermal expansion and rattling caused by the deformation. For example, the driving plate  80  is made of quartz. 
     As illustrated in  FIGS. 4A and 4B , a trajectory plate  81  is part of a rotation driving mechanism disposed overlapping the rotating shaft  24   b.  As illustrated in  FIG. 4B , the surface of the trajectory plate  81  includes a rolling trajectory groove  81   a.    
     A horizontal rotating member  82  fixed to the rotating axis  24   b  of the rotating plate  24  fits into the rolling trajectory groove  81   a  of the trajectory plate  81 . The horizontal rotating member  82  is a member capable of rolling and moving through the rolling trajectory groove  81   a.    
     For example, the horizontal rotating member  82  may be comprised of a bearing. Smoothly horizontal rotation allows rolling and movement of the trajectory plate  81  along the rolling trajectory groove  81   a.    
     The trajectory plate  81  is preferably made of alumina (Al 2 O 3 ), for example, because it requires some strength and is preferably made of a material that is unlikely to produce particles. 
     The horizontal rotating member  82  may be, for example, a bearing made of Si 3 N 4 . 
     The rolling trajectory groove  81   a  of the trajectory plate  81  has an S shape in which a sine curve is lengthened. When the trajectory plate  81  is moved relative to the rotation of the turntable  2 , the horizontal rotating member  82  rolls and moves inside the trajectory groove  81   a.  Because the rolling movement is the rotational movement of the horizontal rotating member  82 , the rotating shaft  24   b  fixed to the horizontal rotating member  82  rotates. 
       FIGS. 5A and 5B  are cross-sectional views of the rotating plate  24  of the rotating mechanism according to the present embodiment.  FIG. 5A  is an enlarged cross-sectional view of the whole of the rotating plate  24 , and  FIG. 5B  is an enlarged cross-sectional view near the rotating shaft  24   b  of the rotating plate  24 . 
     As illustrated in  FIG. 5A , the driving plate  80  extends from the center of the turntable  2  to the center of the rotating plate  24 , and the trajectory plate  81  is fixed to the driving plate  80  so as to cover the lower part of the rotating axis  24   b  of the rotating plate  24 . That is, the trajectory plate  81  makes the same movement as the driving plate  80 . 
     Under the rotating plate  24 , the rotating shaft  24   b  extends downward from the lower surface of the rotating plate  24 , and a bearing  83  supports the circumference of the rotating shaft  24   b.    
     A projecting shaft  24   c  extends further downward from the lower surface of the rotating shaft  24   b,  and a horizontal rotating member  82  configured as a bearing is disposed around the projecting shaft  24   c  to support the projecting shaft  24   c.  The horizontal rotating member  82  is disposed in the rolling trajectory groove  81   a  disposed on the trajectory plate  81  and rotates horizontally to roll and move within the rolling trajectory groove  81 . At this time, the projecting shaft  24   c  extending from the rotating shaft  24   b  rotates; the rotating shaft  81   b  rotates; and the rotating plate  24  rotates. 
     Such a rolling movement reduces the frictional force and significantly reduces the generation of particles and transfer frictional forces as compared to a rotary drive using a gear. 
     The trajectory plate  81  may be detachably configured to test the optimum groove shape of the rolling trajectory groove  81   a  depending on the rotational speed and the process. 
     Further, the rotating plate  24  may be a material that absorbs radiant heat from the heater  7  and may be configured to reduce a decrease in film thickness due to a temperature gradient of the wafer edge. 
       FIGS. 6A and 6B  are diagrams illustrating a cross-sectional structure of an entire turntable and a central axis.  FIG. 6A  is an enlarged view illustrating the vicinity of the central axis of the turntable. 
     As illustrated in  FIG. 6A , the second rotating shaft  22   b  is disposed to cover the periphery of the first rotating shaft  22   a.  The first rotating shaft  22   a  and the second rotating shaft  22   b  are coaxially and independently configured to control the rotation. 
     The first rotating shaft  22   a  forms the central axis of the turntable  2 , while the second rotating shaft  22   b  forms the central axis of the driving plate  80 . In rotation, the drive plate  80  is rotated, and the rotation of the driving plate  80  is converted to the movement of the rolling trajectory groove  81   a  of the trajectory plate  81 , and the rotation of the projecting shaft  24   c  engaging with the rolling trajectory groove  81   a  is converted to rotate the rotating shaft  24   b.    
     As illustrated in  FIG. 6B , the second rotating shaft  22   b  is connected and fixed to the driving plate  80  extending in the outer circumferential direction and is configured to rotate the driving plate  80 . 
       FIG. 7  is a diagram illustrating an exemplary coupling structure of the rotating plate  24 . As illustrated in  FIG. 7 , the projecting shaft  24   c  projects downwardly from the lower surface of the rotating plate  24 . As such, the projecting shaft  24   c  extends downwardly from the lower surface of the rotating plate  24  rather than the lower surface of the rotating shaft  24   b.  Even in this case, because the projecting shaft  24   c  is near the rotating shaft  24   b,  the rotating shaft  24   b  can be rotated. 
     Note herein that the rotation is not a single rotation, but a rotation such as a single oscillation that rolls clockwise and counterclockwise and repeats periodically in the rolling trajectory groove  81   a.  Because the rolling trajectory groove  81   a  is an S shape having an extended sine curve, the driving plate  80  performs an action of rolling and moving the horizontal rotating member  82  along the shape. 
     Details of the operation will be described below. 
       FIGS. 8A and 8B  are diagrams for explaining an example of a driving method of a rotating mechanism.  FIG. 8A  is a diagram for explaining an operation of the entire rotating plate, and  FIG. 8B  is a diagram for explaining an operation near a rotating shaft. 
     As illustrated in  FIG. 8A , when the driving plate  80  is moved forward, the horizontal rotating member  82  is reversed in the rolling trajectory groove  81   a.  Thus, the rotation direction is opposite to the driving plate  80 . 
     Also, as illustrated in  FIG. 8B , the trajectory plate  81  is disposed to cover the rotating center  24   d.  As the horizontal rotating member  82  rolls and moves along the trajectory groove  81   a,  the rotating shaft  24   c  rotates. The rotating plate  24  rotates as the horizontal rotating member  82  moves back and forth between the ends of the rolling trajectory groove  81   a  forming a sine curve. If the driving plate  80  is slightly slower than the turntable  2 , the driving plate  80  moves backward, and if the driving plate  80  is slightly faster than the turntable  2 , the driving plate  80  moves forward. 
       FIGS. 9A to 9H  are diagrams illustrating an example of a driving method that allows the rotation direction to be reversed. In  FIGS. 9A to 9H , a linear arrow indicates the force acting on the contact surface of the rolling trajectory groove  81   a,  a thick curved arrow indicates the direction of rotation of the driving plate  80 , and a thin curved arrow indicates the direction of rolling of the horizontal rotating member  82 . 
       FIGS. 9A to 9B  illustrate the movement of the driving plate  80  back and forward relative to the horizontal rotating member  82 . At this time, the contact points between the horizontal rotating member  82  and the rolling trajectory groove  81   a  are on the upper side of both  FIGS. 9 a  and 9 b   , and the rotation is the same as the rotation in a counterclockwise direction. 
     In  FIG. 9C , the same movement is continued, but in  FIG. 9D , because the left wall is lost, the horizontal rotating member  82  moves to the right wall. This inverts the direction of rotation. This is because there is a gap between the horizontal rotating member  82  and the rolling trajectory groove  81   a,  and the rolling trajectory groove  81   a  has a shape of a sine curve and the direction of contact is changed. Because the direction of rotation is in contact with the wall and the horizontal rotating member  82  is in the direction of rotation by receiving a force due to the movement of the wall, when the rolling trajectory groove  81   c  is retracted, the right side of the horizontal rotating member  82  is subject to a force that rotates clockwise. Therefore, the direction of rotation is reversed in a clockwise direction. 
     In  FIG. 9E , the drive plate  80  remains clockwise. The horizontal rotating member  82  is in contact with the right wall. A similar state is maintained in  FIG. 9F . A similar condition is maintained in  FIG. 9G , where the right side wall disappears and is thrown out to the left. 
     In  FIG. 9H , the horizontal rotating member  82  contacts the left wall of the rolling trajectory groove  81   a.  This also inverts the direction of rotation and rotates the driving plate  80  counterclockwise. 
     Thus, when the driving plate  50  is simply moved by relative displacement and the horizontal rotating member  82  is moved without restriction, an inversion of the rotation occurs. 
       FIGS. 10A to 10H  are diagrams illustrating an example of a driving method in which the horizontal rotating member  82  is not inverted. 
     In  FIGS. 10A to 10C , the horizontal rotating member  82  contacts the left side wall of the rolling trajectory groove  81   a  to maintain a counterclockwise rotational state. 
     In  FIG. 10D , when the drive plate  80  is retracted as is, an inversion occurs as described in  FIGS. 9A to 9H . However, the driving plate  80  is inverted while the left wall of  FIG. 10C  is no longer constrained, and the driving plate  80  is relatively moved forward. Thus, the horizontal rotating member  82  contacts the right wall, but in turn the right wall advances and the horizontal rotating member  82  converts to a retracted rolling motion, and thus the rotating direction is maintained in a counterclockwise direction. 
     In  FIGS. 10E to 10G , the state of  FIG. 10D  is maintained, and the horizontal rotating member  82  contacts the right wall and maintains a counterclockwise rotation. 
     In  FIG. 10G , the right-side wall is no longer constrained. Here again, as illustrated in  FIG. 10H , the direction of movement of the driving plate  80  is reversed in the backward direction. Thus, the horizontal rotating member  82  contacts the left-side wall, but in turn the left-side wall retracts and the horizontal rotating member  82  moves forward, thereby maintaining the counterclockwise rotation. 
     As described above, when the rotation direction of the driving plate  80  is reversed at the timing when the right and left walls are no longer constrained, the horizontal rotating member  82  can maintain the rotation direction of the horizontal rotating member  82  because the rotation direction received from the wall is reversed even when the walls of the contacting rolling trajectory groove  81   c  are switched laterally. 
     Generally, when the rotation mechanism according to the present embodiment is applied to substrate processing such as film deposition, the direction of the rotation is preferably made unidirectional in order to accurately control the operating conditions and assure the uniformity of quality. 
     Therefore, when the substrate processing apparatus is configured by applying the rotating mechanism according to the present embodiment to substrate processing such as film deposition, a driving method in which the rotation method is made unidirectional may be used. 
     Such a driving method may be performed by the controller  100 . 
     [Film Deposition Method] 
     Next, a film deposition method using a rotating mechanism and a film deposition apparatus according to the present embodiment will be described. 
     First, the turntable  2  is rotated so that the recesses  24  are aligned with the transfer port  15  to open the gate valve (not shown). Second, the transfer arm  10  conveys a wafer W into the chamber  1  through the transfer port  15 . The wafer W is received by lift pins  16  and lowered to the recess  24  by lift pins  16  driven by lifting mechanism (not illustrated) after the transfer arm  10  is withdrawn from the chamber  1 . The above-described sequence of operations is repeated five times, and five wafers W are mounted on the turntable  2 . The vacuum pump  64  then evacuates the interior of the vacuum chamber  1  to a preset pressure. The turntable  2  starts to rotate clockwise as seen from above. At this time, the driving plate  80  starts to rotate, and the wafer W rotates. 
     Then, the power supply to the heater unit  7  is started, and the wafer W to be placed on the recess  24  of the turntable  2  is heated from the back surface of the turntable  2 . After the confirmation that the temperature of the wafer W is stable at a predetermined set temperature, a first reaction gas (BTBAS) is supplied to the first processing region through the first reaction gas nozzle  31 , and a second reaction gas (O 3 ) is supplied to the second processing region P 2  through the second reaction gas nozzle  32 . In addition, a separation gas (N 2 ) is supplied from the separation gas nozzles  41  and  42 , and flows the space between the ceiling surface  44  and the top surface of the turntable  2  in both directions in the rotation direction of the turntable  2 . 
     As the wafer W passes through the first processing region P 1  below the first reaction gas nozzle  31 , BTBAS molecules adsorb on the surface of the wafer W, and as the wafer W passes through the second processing region P 2  below the second reaction gas nozzle  32 , O 3  molecules adsorb on the surface of the wafer W, and O 3  oxidizes BTBAS molecules. Therefore, when the wafer W passes through both processing regions P 1  and P 2  once due to the rotation of the turntable  2 , a single molecular layer of silicon oxide is formed on the surface of the wafer W. The wafer W then alternately passes through the processing regions P 1  and P 2  multiple times, and a silicon oxide film having a predetermined thickness is deposited on the surface of the wafer W. After a silicon oxide film having a predetermined thickness is deposited, the supply of BTBAS gas and ozone gas is stopped, and the rotation of the turntable  2  is stopped. Then, the wafer W is sequentially transported from the chamber  1  by the transfer arm  10  by the operation reverse to the transfer operation. 
     Because the turntable  2  rotates (revolves) while rotating the wafer W (mechanically, the rotating plate  24  and the recess  24   a ), the difference in speed between the inner and outer peripheral portions is eliminated, thereby allowing uniform film deposition. 
     According to the present disclosure, the embodiments provide a rotation driving mechanism and a rotation driving method that can inhibit the generation of particles and reduce the transmission friction, as well as a substrate processing apparatus and a substrate processing method using the same. 
     Although an example in which the rotation mechanism is applied to the film deposition apparatus and the film deposition method has been described in this embodiment, the embodiments are applicable to all of the substrate processing apparatus of the turntable type, and the embodiments are also applicable to an etching apparatus, other types of film deposition apparatus, other substrate processing apparatus, and a processing method using them. 
     The rotating mechanism and the method according to the present embodiment are not limited to substrate processing, but are also applicable to various types of apparatuses and methods that require rotation and revolution. In addition, the present disclosure is not limited to a configuration in which a target to be processed is mounted on a rotating plate. When an object is accommodated below the rotating plate, a rotating mechanism may be disposed on the upper side of the rotating plate. 
     All examples recited herein are intended for pedagogical purposes to aid the reader in understanding the disclosure and the concepts contributed by the inventor to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions, nor does the organization of such examples in the specification relate to a showing of the superiority or inferiority of the disclosure. Although the embodiments of the present disclosure have been described in detail, it should be understood that various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the disclosure.