Patent ID: 12191188

DETAILED DESCRIPTION

Hereinafter, embodiments of a transfer device, a transfer system, and an end effector will be described in detail with reference to the accompanying drawings. Further, the following embodiments are not intended to limit the transfer device, the transfer system, and the end effector of the present disclosure.

In the case of transferring a wafer or a consumable part, the wafer or the consumable part is placed on an end effector such that the center of gravity thereof is located at a predetermined position on an end effector disposed at a front end of a robot arm. When the consumable part is a ring-shaped component, e.g., an edge ring or the like, and is bigger than the wafer, if the consumable part is placed too close to the front end side of the end effector, the consumable part may fall from the end effector by the movement of the end effector. Therefore, it is necessary to prevent the position of the consumable part from being placed too close to the front ends of the end effector. Accordingly, the consumable part is placed on the end effector such that the center of gravity of the consumable part is away from the front ends of the end effector.

On the other hand, in the case of transferring a wafer which is smaller than the consumable part, if the wafer is placed on the end effector such that the center of gravity of the wafer coincides with the center of gravity of the consumable part at the time of transferring the consumable part, the front ends of the end effector will protrude from under the wafer. If the portion of the end effector protruding from under the wafer is large, the end effector will become obstructive at the time of transferring the wafer into an apparatus that has no space for accommodating the consumable part, which makes it difficult to load the wafer to a predetermined position in the apparatus.

In order to load the wafer into the predetermined position in the apparatus without being obstructed by the end effector, one may consider increasing the space in the apparatus that has no space for accommodating the consumable part. In such case, however, the footprint of the apparatus will increase and, thus, the footprint of the entire system will also increase.

Accordingly, the present disclosure provides a technique capable of reducing the footprint of the entire system including the transfer device.

First Embodiment

(Configuration of Processing System1)

FIG.1is a top view showing an example of a configuration of a processing system1according to an embodiment. InFIG.1, some of the internal components of the apparatus are illustrated transparently for the sake of convenience. The processing system1comprises an apparatus main body10and a controller100for controlling the apparatus main body10.

The apparatus main body10includes a vacuum transfer module11, a plurality of processing modules12, a plurality of ashing modules13, a plurality of load-lock modules14, and an atmospheric transfer module15. The plurality of processing modules12are connected to two opposing sidewalls of the vacuum transfer module11through gate valves G1. The processing module12is an example of a processing apparatus. In the example ofFIG.1, eight processing modules12are connected to the vacuum transfer module11. However, the number of the processing modules12connected to the vacuum transfer module11may be seven or less, or nine or more. Each of the processing modules12is an example of a first wafer processing module.

Each of the processing modules12performs processing such as etching, film formation, or the like on a wafer W to be processed.FIG.2is a schematic cross-sectional view showing an example of the processing module12. The processing modules12include a chamber120, a radio frequency (RF) power supply unit123, a gas supply unit124, and an exhaust system125.

An opening is formed on a sidewall of the chamber120, and is opened and closed by the gate valve G1. The chamber120includes a supporting unit121and an upper shower head assembly122. The supporting unit121is disposed in a lower region of a processing space120S in the chamber120. The upper shower head assembly122is disposed above the supporting unit121, and may function as a part of a ceiling plate of the chamber120.

The supporting unit121is configured to support the wafer W in the processing space120S. In the present embodiment, the supporting unit121includes an edge ring ER, an electrostatic chuck121a, and a lower electrode121b. The electrostatic chuck121ais disposed on the lower electrode121b, and is configured to support the wafer W on an upper surface thereof. In the present embodiment, the shape of the electrostatic chuck121ais circular. The electrostatic chuck121ais an example of a consumable part. The edge ring ER is formed in an annular shape and is disposed on an upper peripheral surface of the lower electrode121b. The edge ring ER is disposed to surround the electrostatic chuck121aand the wafer W on the upper peripheral surfaces of the lower electrode121b. In the present embodiment, the shape of the edge ring ER is circular. The edge ring ER is an example of the consumable part and an example of an annular shape part.

The upper shower head assembly122is configured to supply one or more types of gases from the gas supply unit124into the processing space120S. A cover member122dis detachably provided on a lower surface of the upper shower head assembly122. In the present embodiment, the shape of the cover member122dis circular. The cover member122dis an example of the consumable part. In the present embodiment, the upper shower head assembly122includes a gas inlet122aand a gas diffusion space122b. A plurality of gas outlets122care formed at the upper shower head assembly122, and the gas diffusion space122band the processing space120S are in fluidic communication with each other through the plurality of gas outlets122. In the present embodiment, the upper shower head assembly122is configured to supply one or more gases from the gas inlet122ainto the processing space120S through the gas diffusion space122band the gas outlets122c.

The gas supply unit124includes a gas source124aand a flow rate controller124b. The gas source124ais a source of a processing gas such as an etching gas, a film forming gas, or the like. The flow rate controller124bmay include, e.g., a mass flow controller or a pressure-controlled flow controller. Further, the gas supply unit124may include one or more flow rate modulation devices for modulating the gas flow of one or more processing gases or causing it to pulsate.

The RF power supply unit123is configured to supply one or more RF powers, for example, to one or more electrodes such as the lower electrode121bor the upper shower head assembly122, or both the lower electrode121band the upper shower head assembly122. In the present embodiment, the RF power supply unit123includes two RF generator123aand123band two matching units123cand123d. In the present embodiment, the RF power supply unit123is configured to supply a first RF power from the RF generator123ato the lower electrode121bthrough the matching unit123c. An RF spectrum includes a part of an electromagnetic spectrum ranging from 3 Hz to 3000 GHz. In an electronic material process such as a semiconductor process, the frequency of the RF spectrum used for plasma generation is preferably within a range of 100 kHz to 3 GHz, and more preferably within a range of 200 kHz to 150 MHz. For example, the frequency of the first RF power may be within a range of 27 MHz to 100 MHz.

Further, the RF power supply unit123of the present embodiment is configured to supply a second RF power from the RF generator123bto the lower electrode121bthrough the matching unit123d. For example, the frequency of the second RF power may be within a range of 400 kHz to 13.56 MHz. Alternatively, the RF power supply unit123may have a direct current (DC) pulse generator, instead of the RF generator123b.

Although it is not illustrated, other embodiments of the present disclosure may be considered. For example, in the RF power supply unit123of an alternative embodiment, one RF generator may be configured to supply the first RF power to the lower electrode121band another RF generator may be configured to supply the second RF power to the lower electrode121b. Further, still another RF generator may be configured to supply a third RF power to the upper electrode showerhead assembly122. In another alternative embodiment, a DC voltage may be applied to the upper electrode showerhead assembly122. In various embodiments, amplitudes of one or more RF powers (i.e., first RF power, second RF power, and the like) may pulsate or be modulated. The amplitude modulation may include causing the RF signal amplitude to pulsate between ON and OFF states or between multiple different ON states. Further, the phase matching of the RF powers may be controlled, and the phase matching of the amplitude modulation of multiple RF powers may be synchronized or asynchronous.

The exhaust system125is connected to, for example, an exhaust port120edisposed at a bottom portion of the chamber120. The exhaust system125may include a vacuum pump, such as a pressure valve, a turbo molecular pump, a roughing vacuum pump, or a combination thereof.

Referring back toFIG.1, the plurality of ashing modules13are connected to one of the two remaining sidewalls of the vacuum transfer module11through gate valves G2. Each of ashing modules13is an example of a second wafer processing module. The ashing module13removes a mask remaining on the wafer W that has been processed by the processing module12by ashing. As shown inFIG.3, for example, a stage130on which the wafer W is to be placed is disposed in the ashing module13. A position P0indicates the center of gravity of the stage130. In the case of loading the wafer W into the ashing module13, the wafer W is placed on the stage130such that the center of gravity of the wafer W coincides with the position P0of the stage130. Although two ashing modules13are connected to the vacuum transfer module11in the example ofFIG.1, the number of ashing modules13connected to the vacuum transfer module11may be one, or may be three or more.

The load-lock modules14are connected to the other one of the two remaining sidewalls of the vacuum transfer module11through gate valves G3. In the example ofFIG.1, two load-lock module14are connected to the vacuum transfer module11. However, the number of load-lock modules14connected to the vacuum transfer unit11may be one, or may be three or more. Further, at least one of the two load-lock modules14can accommodate the wafer W and the edge ring ER.

A transfer robot20ais disposed in the vacuum transfer module11. The transfer robot20ahas an end effector21aand an arm22a. The wafer W and the edge ring ER are placed on the end effector21a. The arm22amoves the end Effector21a. The transfer robot20amoves in the vacuum transfer module11along a guide rail110disposed in the vacuum transfer module11, and transfers the wafer W between the processing module12, the ashing module13, and the load-lock module14. Further, the transfer robot20amay be fixed to a predetermined position in the vacuum transfer module11so that it does not move in the vacuum transfer module11. The transfer robot20ais an example of the transfer device and a vacuum transfer robot. A pressure in the vacuum transfer module11is maintained at a pressure lower than the atmospheric pressure.

For each of the load-lock modules14, the vacuum transfer module11is connected to one of its sidewalls through the gate valves G3, and an atmospheric transfer module15is connected to another one of its sidewalls through gate valves G4. When the wafer W is loaded into the load-lock module14from the atmospheric transfer module15through the gate valve G4, the gate valve G4is closed and the pressure in the load-lock module14is reduced from the atmospheric pressure to a predetermined pressure. Then, the gate valve G3is opened, and the wafer W is unloaded from the load-lock module14to the vacuum transfer module11by the transfer robot20a.

Further, in a state where the pressure in the load-lock module14is maintained at a pressure lower than the atmospheric pressure, the wafer W is loaded from the vacuum transfer module11into the load-lock module14through the gate valve G3by the transfer robot20aand, then, the gate valve G3is closed. Then, the pressure in the load-lock module14is increased to the atmospheric pressure. Next, the gate valve G4is opened, and the wafer W is unloaded from the load-lock module14to the atmospheric transfer module15. The same procedure is carried out in the case of the loading and unloading of the edge ring ER.

On the sidewall of the atmospheric transfer module15opposite to the sidewall where the gate valves G4are disposed, are disposed a plurality of load ports16. A container such as a front opening unified pod (FOUP) capable of accommodating a plurality of wafers W is connected to each of the load ports16. The atmospheric transfer module15may be provided with an aligner module for changing the orientation of the wafer W. Further, a container capable of accommodating an edge ring ER is connected to one of the load ports16.

A transfer robot20bis disposed in the atmospheric transfer module15, which has an end effector21band an arm22b. The transfer robot20bis an example of an atmospheric transfer robot, and the end effector21bincluded in the transfer robot20bis an example of an additional end effector. The pressure in the atmosphere transfer module15is the atmospheric pressure. The transfer robot20bin the atmospheric transfer module15moves in the atmospheric transfer module15along a guide rail150and transfers the wafer W and the edge ring ER between the load-lock module14and a container connected to the load port16. The transfer robot20bmay be fixed to a predetermined position in the atmospheric transfer module15such that it does not move in the atmospheric transfer module15. A fan filter unit (FFU) or the like is disposed at an upper portion of the atmospheric transfer module15so as to supply air into the atmospheric transfer module15after removing particles and the like therefrom to generate downflow in the atmospheric transfer module15. In the present embodiment, the pressure in the atmospheric transfer module15is maintained in an atmospheric environment. However, in another embodiment, the pressure in the atmospheric transfer module15may be controlled to a positive pressure, such that intrusion of particles and the like from the outside into the atmospheric transfer module16can be suppressed.

The controller100includes a memory, a processor, and an input/output interface. A program or data such as a recipe or the like is stored in the memory. The memory is, e.g., a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), a solid state drive (SSD), or the like. The processor controls individual components of the apparatus main body10through the input/output interface based on the data such as the recipe stored in the memory by executing the program read out from the memory. The processor is a central processing unit (CPU), a digital signal processor (DSP), or the like.

(Specific Description of End Effector21)

FIG.4is a top view showing an example of the end effector21aaccording to the first embodiment. AlthoughFIG.4illustrates the end effector21aincluded in the transfer robot20a, the end effector21bincluded in the transfer robot20bhas the same configuration. The end effector21aincludes a main body210having an upper surface, a plurality of first holders211ato211cdisposed on the upper surface of the main body210, and a plurality of second holders212ato212cdisposed on the upper surface of the main body210. Each of the first holders211ato211cis formed of an elastic member such as rubber and holds the edge ring ER. Each of the second holders212ato212cis formed of an elastic member such as rubber and holds the wafer W. Each of the plurality of first holders211ato211cis an example of a consumable part support pad. Each of the plurality of second holders212ato212cis an example of a wafer support pad.

The main body210has a region R1, a region R2, and a region R3. The regions R1and R2overlap each other when viewed from the direction D shown inFIG.4. The first holder211aand the second holder212aare disposed in the region R1, the first holder211band the second holder212bare disposed in the region R2, and the first holder211cand the second holder212care disposed in the region R3. The region R1is an example of a first front end region, the region R2is an example of a second front end region, and the region R3is an example of a rear end region. The distance d is an example of the first direction. The first holder211ais an example of a first consumable part support pad, the first holder211bis an example of a second consumable part support pad, and the first holder211cis an example of a third consumable part support pad. Further, the second holder212ais an example of a first wafer support pad, the second holder212bis an example of a second wafer support pad, and the second holder212cis an example of a third wafer support pad.

Further, in the case of the transfer robot20bdisposed in the atmospheric transfer module15, each of the first holders211ato211cand the second holders212ato212cmay be vacuum pads that attract and hold the members by sucking air.

FIG.5is a side view showing the example of the end effector21aaccording to the first embodiment. AlthoughFIG.5illustrates the end effector21aincluded in the transfer robot20a, the end effector21bincluded in the transfer robot20bhas the same configuration. The height of the first holders211ato211cfrom the upper surface of the main body210is h2, and the height of the second holders212ato212cfrom the upper surface of the main body210is h1. In the present embodiment, h1is higher than h2. h1is an example of the first height, and h2is an example of the second height.

When the edge ring ER is transferred, reaction by-products (so-called deposits) may be adhered to the transferred edge ring ER. Therefore, when the edge ring ER to which the deposits are adhered is transferred, the deposits adhered to the edge ring ER may fall onto the first holders211ato211c, the end effector21a, or the like as particles.

When the wafer W is held by the first holders211ato211cin a state where the particles are attached to the first holders211ato211cor the like, the wafer W may be contaminated with particles that have fallen to the first holders211ato211c. In the present embodiment, however, the wafer W is not held by the first holders211ato211cthat hold the edge ring ER, the contamination of the wafer W can be suppressed.

Further, when the height h1of the second holders212ato212cis lower than or equal to the height h2of the first holders211ato211c, the particles that have fallen from the edge ring ER to the first holders211ato211cor the end effector21amay be re-adhered to the wafer W during the transfer of the wafer W. In the present embodiment, however, the height h1of the second holders212ato212cfor holding the wafer W is higher than the height h2of the first holders211ato211cfor holding the edge ring ER, so that the re-adhesion of the particles that have fallen on the first holders211ato211cor the end effector21ato the wafer W can be suppressed.

FIG.6is a top view showing an example of a positional relationship between the wafer W and the edge ring ER when they are placed on the end effector21ain the vacuum transfer module11. When the edge ring ER is placed on the end effector21a, the position of the edge ring ER is, for example, the circle C1inFIG.6. The position P1indicates the center of gravity of the circle C1. In other words, the edge ring ER is placed on the end effector21asuch that the center of gravity of the edge ring ER is located at the position P1. The position P1is an example of a first position.

When the wafer W is placed on the end effector21a, the position of the wafer W is, for example, the circle C2inFIG.6. The position P2indicates the center of gravity of the circle C2. In other words, the wafer W is placed on the end effector21asuch that the center of gravity of the wafer W is located at the position P2. The position P2is an example of a second position. Further, as illustrated inFIG.6, the dimension in which a part of the wafer W protrudes from the front end of the end effector21ais the same as the dimension in which a part of the edge ring ER protrudes from the front end of the end effector21a.

In the present embodiment, the distance d1from the front ends of the end effector21ato the position P1is longer than the distance d2from the front ends of the end effector21ato the position P2. In other words, when the edge ring ER is transferred, the edge ring ER is placed on the end effector21asuch that the center of gravity of the edge ring ER coincides with the position P1. Further, when the wafer W is transferred, the wafer W is placed on the end effector21asuch that the center of gravity of the wafer W coincides with the position P2between the position P1and the front ends of the end effector21a.

Further, when the wafer W is transferred, the wafer W is placed on the end effector21aas shown inFIGS.7and8, for example.FIG.7is a top view showing the example of the end effector21aat the time of transferring the wafer W in the first embodiment.FIG.8is a side view showing the example of the end effector21aat the time of transferring the wafer W in the first embodiment. As shown inFIG.7, for example, the width of the end effector21ais smaller than the shape of the wafer W. Further, when the wafer W is transferred, the wafer W is placed on the end effector21asuch that the edge portion of the wafer W in the width direction of the end effector21ais located outside the area of the end effector21a. In the example ofFIG.7, the wafer W is placed on the end effector21asuch that the edge portion of the wafer W protrudes from the area of the end effector21aby the distance d3in the width direction of the end effector21a.

When the wafer W is transferred, the wafer W is placed on the end effector21asuch that the edge portion of the wafer W in the length direction perpendicular to the width direction of the end effector21ais located outside the area of the end effector21a. In other words, the wafer W is placed on the end effector21asuch that a part of the wafer W protrudes from the front ends of the end effector21a. In the example ofFIG.7, the wafer W is placed on the end effector21asuch that the edge portion of the wafer W is away from the front ends of the end effector21aby the distance d4in the length direction (for example, vertical direction inFIG.7) perpendicular to the width direction of the end effector21a.

In this specification, a case is considered as a comparative example where the wafer W is placed on the end effector21asuch that the center of gravity of the wafer W coincides with the position P1which is the same as the position of the center of gravity of the edge ring ER placed on the end effector21a. In this case, as shown inFIG.9, for example, since the front ends210eof the end effector21aget in contact with a sidewall of the ashing module13, it is difficult to load the wafer W into the ashing module13such that the center of gravity of the wafer W coincides with the center position P0of the stage130. The front ends210eof the end effector21awill be obstructive in a container accommodating the wafer W only, such as the load-lock module14or the like, as well as in the ashing modules13, thereby blocking the wafer W from being loaded to a predetermined position in the container. In addition, when the wafer W is loaded to the FOUP by the end effector21bof the transfer robot20b, since the front ends210eof the end effector21bwill be obstructive, it is difficult to load the wafer W into a predetermined position in the FOUP.

In the present embodiment, however, the wafer W is placed on the end effector21asuch that the center of gravity of the wafer W is located at the position P2between the position P1and the front ends of the end effector21a, not at the position P1which is the position of the center of gravity of the edge ring ER at the time of transferring the edge ring ER. Accordingly, as shown inFIG.10, for example, the wafer W can be loaded into the ashing module13such that the center of gravity of the wafer W coincides with the center position P0of the stage130. The wafer W can be loaded into a predetermined position in a container accommodating the wafer W only, such as the load-lock module14or the like, as well as in the ashing module13. In addition, in the present embodiment, when the wafer W is loaded to the FOUP by the end effector21bof the transfer robot20b, it is possible to load the wafer W into a predetermined position in the FOUP.

When the edge ring ER is transferred, the edge ring ER is placed on the end effector21aas shown inFIGS.11and12, for example.FIG.11is a top view showing the example of the end effector21aat the time of transferring the edge ring ER in the first embodiment.FIG.12is a side view showing the example of the end effector21aat the time of transferring the edges ring ER in the first embodiment. AlthoughFIGS.11and12illustrates the end effector21aincluded in the transfer robot20a, the end effector21bincluded in the transfer robot20bhas the same configuration. For example, as shown inFIGS.11and12, when the edge ring ER is placed on the end effector21a, a part of the edge ring ER protrudes from the front ends of the end effector21a. In the present embodiment, since the edge ring ER is an annular member, it is difficult to place the edge ring ER on the front end side of the end effector21a. Therefore, in the present embodiment, the edge ring ER is placed on the end effector21asuch that the center of gravity of the edge ring ER is located at the position P1far from the front ends of the end effector21a, not at the position P2which is the position of the center of gravity of the wafer W at the time of transferring the wafer W. Accordingly, the end effector21acan transfer the edge ring ER in a stable manner.

(Transfer Method)

FIG.13is a flowchart showing an example of a transfer method according to the first embodiment. The processing illustrated in the flowchart ofFIG.13may be performed by controlling the individual components of the apparatus main body10under the control of the controller100. Hereinafter, the operation of the transfer robot20ain the vacuum transfer module11will be described as an example, but the same applies to the operation of the transfer robot20bin the atmospheric transfer module15.

First, the controller100determines whether or not to transfer the edge ring ER (S10). When the edge ring ER is transferred (S10: Yes), the controller100places the edge ring ER on the end effector21asuch that the center of gravity of the edge ring ER coincides with the position P1(S11). For example, the controller100controls the arm22aof the transfer robot20ato place the edge ring ER on the end effector21asuch that the center of gravity of the edge ring ER coincides with the position P1. Step S11is an example of process a). Then, the controller100carries out the processing shown in step S14.

On the other hand, when the edge ring ER is not transferred (S10: No), the controller100determines whether or not to transfer the wafer W (S12). When the wafer W is not transferred (S12: No), the controller100performs the processing shown in step S14.

On the other hand, when the wafer W is transferred (S12: Yes), the controller100places the wafer W on the end effector21asuch that the center of gravity of the wafer W coincides with the position P2(S13). For example, the controller100controls the arm22aof the transfer robot20ato place the wafer W on the end effector21asuch that the center of gravity of the wafer W coincides with the position P2. Step S13is an example of process b).

Then, the controller100determines whether or not the processing of a predetermined number of wafers W is completed (S14). If the processing of the predetermined number of wafers W is not completed (S14: No), the processing shown in step S10is executed again. On the other hand, when the processing of the predetermined number of wafers W is completed (S14: Yes), the transfer method shown in the flowchart is terminated.

In the above-described embodiment, the case where the wafer W and the edge ring ER are placed on the end effector21ahas been mainly described, but the disclosed technique is not limited to this, and the wafer W and the edge ring ER are also placed in the end effector21b.FIG.14is a top view showing an example of a positional relationship between the wafer W and the edge ring ER when they are placed on the end effector21bin the atmospheric transfer module15. When the edge ring ER is placed on the end effector21b, the position of the edge ring ER is, for example, the circle C3inFIG.14. The center of gravity of the circle C3is the position P3. In other words, when the edge ring ER is placed on the end effector21b, the edge ring ER is placed on the end effector21bsuch that the center of gravity of the edge ring ER is at the position P3. The position P3is an example of a third position.

When the wafer W is placed on the end effector21b, the position of the wafer W is, for example, the circle C4inFIG.14. The center of gravity of the circle C4is the position P4. In other words, when the wafer W is placed on the end effector21b, the wafer W is placed on the end effector21bsuch that the center of gravity of the wafer W is at the position P4. The position P4is an example of a fourth position.

Further, the distance d5from the front ends of the end effector21bto the position P3is longer than the distance d6from the front ends of the end effector21bto the position P4. In other words, when the edge ring ER is transferred, the edge ring ER is placed on the end effector21bsuch that the center of gravity of the edge ring ER coincides with the position P3. Further, when the wafer W is transferred, the wafer W is placed on the end effector21bsuch that the center of gravity of the wafer W coincides with the position P4between the position P3and the front ends of the end effector21b.

As described above, the transfer robot20of the present embodiment transfers the wafer W and the edge ring ER which is an example of a consumable part having a circular shape. The transfer robot20includes the end effector21, the arm22, and the controller100. The edge ring ER can be disposed in the processing module12, and the outer diameter of the edge ring ER is larger than the outer diameter of the wafer W. The end effector21is configured to place the wafer W and the edge ring ER thereon. The arm22is configured to move the end effector21. In the case of transferring the edge ring ER, the controller100controls the arm22to place the edge ring ER on the end effector21such that the center of gravity of the edge ring ER coincides with the position P1. Further, in the case of transferring the wafer W, the controller100controls the arm22to place the wafer W on the end effector21such that the center of gravity of the wafer W coincides with the position P2between the position P1and the front ends of the end effector21. Thus, it is possible to transfer the wafer W to the ashing module13or the like having no space for accommodating the edge ring ER, so that the ashing module13or the like can be scaled down. Accordingly, the footprint of the entire processing system1can be decreased.

In the above-described embodiment, the width of the end effector21is smaller than the shape of the wafer W. Further, in the case of transferring the wafer W, the wafer W is placed on the end effector21such that a part of the wafer W protrudes from the front ends of the end effector21. Accordingly, the end effector21can load the wafer W into the ashing module13or the like having no space for accommodating the edge ring ER.

Further, in the above-described embodiment, when the edge ring ER is transferred, the edge ring ER is placed on the end effector21such that a part of the edge ring ER protrudes from the front ends of the end effector21. As a result, the depth of the processing module12into which the edge ring ER is loaded can be reduced.

Further, in the above-described embodiment, the dimension in which a part of the wafer W protrudes from the front ends of the end effector21is the same as the dimension in which a part of the edge ring ER protrudes from the front ends of the end effector21.

In the above-described embodiment, the edge ring ER which is an example of a consumable part is an annular member. The end effector21includes the main body210having an upper surface, and the plurality of first holders211ato211cand the plurality of second holders212ato212cdisposed on the upper surface of the main body210. The height h1of the second holders212ato212cfrom the upper surface of the main body210is higher than the height h2of the first holders211ato211cfrom the upper surface of the main body210. Accordingly, it is possible to suppress the re-adhesion of the particles adhered to the first holders211ato211cor the end effector21to the wafer W.

The processing system1in the above-described embodiment includes the vacuum transfer module11, at least one processing module12, at least one ashing module13, and the transfer robot20a. The processing module12and the ashing module13are connected to the vacuum transfer module11. The transfer robot20ais disposed in the vacuum transfer module11and transfers the wafer W and the edge ring ER, which is an example of a consumable part having a circular shape, in a vacuum atmosphere. The edge ring ER can be disposed in at least one processing module12. The outer diameter of the edge ring ER is larger than the outer diameter of the wafer W. The transfer robot20aincludes the end effector21aconfigured to place the wafer W and the edge ring ER thereon. The end effector21ais configured to place the edge ring ER on the end effector21asuch that the center of gravity of the edge ring ER coincides with the position P1. Further, the end effector21ais configured to place the wafer W on the end effector21asuch that the center of gravity of the wafer W coincides with the position P2between the position P1and the front ends210eof the end effector21a. Accordingly, it is possible to load the wafer W into the ashing module13or the like having no space for accommodating the edge ring ER, and also possible to scale down the ashing modules13or the like. Hence, the footprint of the entire processing system1can be reduced.

Further, in the above-described embodiment, the edge ring ER is an annular part. The end effector21aincludes the main body210, and the first holders211ato211cand the second holders212ato212c. The main body210has the upper surface having the region R1, the region R2, and the region R3. The region R1and the region R2overlap each other when viewed from the distance d. The second holder212ais disposed in the region R1, the second holder212bis disposed in the region R2, and the second holder212cis disposed in the region R3. The height of the second holders212ato212cis h1. The first holder211ais disposed between the second holder212aand the front ends210eof the end effector21ain the region R1, the first holder211bis disposed between the second holder212band the front ends210eof the end effector21ain the region R2, the first holder211cis disposed between the second holder212cand a rear end of the end effector21ain the region R3. The height of the first holders211ato211cis h2, which is lower than h1. Accordingly, it is possible to suppress the re-adhesion of the particles adhered to the first holders211ato211cor the end effector21ato the wafer W.

Further, the processing system1in the above-described embodiment further includes at least one load-lock module14, the atmospheric transfer module15, and the transfer robot20b. The load-lock module14is connected to the vacuum transfer module11, and the atmospheric transfer module15is connected to the load-lock module14. The transfer robot20bis disposed in the atmospheric transfer module15and transfers the wafer W and the edge ring ER, which is an example of a consumable part, in an atmospheric pressure atmosphere. The transfer robot20bincludes the end effector21bconfigured to place the wafer W and the edge ring ER thereon. The end effector21bis configured to place the edge ring ER on the end effector21bsuch that the center of gravity of the edge ring ER coincides with the position P3. Further, the end effector21bis configured to place the wafer W on the end effector21bsuch that the center of gravity of the wafer W coincides with the position P4between the position P3and the front ends of the end effector21b. As a result, the wafer W can be loaded into a container such as a FOUP that has no space for accommodating the edge ring ER.

Further, the end effector21ain the above-described embodiment places the wafer W and the edge ring ER which is an example of a consumable part having a circular shape thereon. The outer diameter of the edge ring ER is larger than the outer diameter of the wafer W. The end effector21aincludes the main body210, and the first holders211ato211cand the second holders212ato212c. The main body210has the upper surface having the region R1, the region R2, and the region R3. The region R1and the region R2overlap each other when viewed from the distance d. The second holder212ais disposed in the region R1, the second holder212bis disposed in the region R2, and the second holder212cis disposed in the region R3. The height of the second holders212ato212cis h1. The first holder211ais disposed between the second holder212aand the front ends210eof the end effector21ain the region R1, the first holder211bis disposed between the second holder212band the front ends210eof the end effector21ain the region R2, and the first holder211cis disposed between the second holder212cand the rear end of the end effector21ain the region R3. The height h1of the second holders212ato212cand the height h2of the first holders211ato211care different heights. When the edge ring ER is transferred, the end effector21ais configured to place the edge ring ER on the end effector21asuch that the center of gravity of the edge ring ER coincides with the position P1. Further, when the wafer W is transferred, the end effector21ais configured to place the wafer W on the end effector21asuch that the center of gravity of the wafer W coincides with the position P2between the position P1and the front ends210eof the end effector21a. Accordingly, it is possible to suppress the re-adhesion of the particles adhered to the first holders211ato211cor the end effector21ato the wafer W.

Further, in the above-described embodiment, the edge ring ER is an annular part, and the height h1of the second holders212ato212cis higher than the height h2of the first holders211ato211c. Accordingly, it is possible to suppress the re-adhesion of the particles adhered to the first holders211ato211cor the end effector21ato the wafer W.

Second Embodiment

The transfer robot20aand the transfer robot20bin the first embodiment separately transfer the wafer W and the edge ring ER, which is an example of a consumable part. On the other hand, the transfer robot20aand the transfer robot20bof the present embodiment can simultaneously transfer the wafer W and the edge ring ER. Hereinafter, the points different from those of the first embodiment will be mainly described.

FIG.15is a side view showing another example of the end effector21aaccording to a second embodiment. InFIG.15, the end effector21aincluded in the transfer robot20ais illustrated, but the end effector21bincluded in the transfer robot20bhas the same configuration. In the present embodiment, the height h1of the second holders212ato212cfrom the upper surface of the main body210is lower than the height h2of the first holders211ato211cfrom the upper surface of the main body210, for example, as shown inFIG.15. As a result, as shown inFIG.16, for example, it is possible to place simultaneously a non-annular (non-hollow) consumable part, such as the cover member122dand the electrostatic chuck121aof the chamber120, and the wafer W on the end effector21awithout interfering each other. In the end effector21aof the present embodiment, it is also possible to simultaneously transfer an annular consumable part such as the edge ring ER and the wafer W.

In the end effector21aof the present embodiment, for example, as shown inFIG.17, the first holder211aand the first holder211bthat support the consumable part are disposed outside the circle C2indicating the position of the wafer W. As a result, the end effector21acan simultaneously place the wafer W and the consumable part thereon without the first holders211aand211band the wafer W interfering with each other.

(Others)

Note that the technique disclosed in the present disclosure is not limited to the above-described embodiment, and many modifications can be made within the scope of the gist thereof.

For example, in each of the above-described embodiments, the shape of the consumable part is circular, but the disclosed technique is not limited to this, and the shape of the consumable part may be a shape other than a circle, such as a rectangular shape, a polygonal shape, and a shape whose part is an arc.

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the disclosures. Indeed, the embodiments described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the disclosures. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosures.