Liquid processing apparatus, liquid processing method, and storage medium
Disclosed is a liquid processing apparatus including: a plurality of substrate placement regions; a nozzle that supplies a processing liquid to a substrate from each processing position; a nozzle placement region provided behind a row of the substrate placement regions; an arm that detachably holds the nozzle at one end side; a driving unit that horizontally pivots the arm around a pivot axis; and a controller that outputs a control signal to convey the nozzle from the nozzle placement region to a standby position corresponding to a processing position of a conveyance destination, cause the nozzle to stand by at the standby position, and then, convey the nozzle to the processing position. The standby position is outside the substrate placement regions and is located between the processing position and the nozzle placement region when viewed in a front-and-rear direction.
1. A liquid processing apparatus comprising:
a plurality of substrate holders arranged in a left-and-right direction and defining a plurality of substrate placement regions when viewed from above;
a nozzle that supplies a processing liquid via a pipe to a substrate at a processing position within each of the substrate placement regions to process the substrate;
a stationary nozzle placing portion which is provided behind the substrate holders and on which the nozzle is placed, the nozzle placing portion and pipe defining a nozzle placement region when viewed from above;
an arm that detachably holds the nozzle;
a driver that horizontally pivots the arm around a pivot axis positioned behind the stationary nozzle placing portion and moves the pivot axis in the left-and-right direction; and
a controller that outputs a control signal to convey the nozzle held by the arm from the nozzle placement region to a standby position, cause the nozzle to stand by at the standby position, and then, directly convey the nozzle to the processing position,
wherein the standby position is outside the substrate placement regions and the nozzle placement region, the standby position is located between the processing position and the nozzle placement region when viewed from above.
2. The liquid processing apparatus of claim 1 , wherein the nozzle is connected with a pipe that supplies the processing liquid to the nozzle, and
the pipe is provided to extend along the left-and-right direction from the nozzle positioned in the nozzle placement region such that deformation of the pipe is suppressed when the nozzle is positioned in the nozzle placement region rather than the processing position.
3. The liquid processing apparatus of claim 1 , wherein a plurality of nozzles are provided and selectively held by the arm.
4. The liquid processing apparatus of claim 1 , wherein the controller outputs a control signal to cause the nozzle held by the arm to stand by at a rear side standby position set behind the standby position before the nozzle is conveyed to the standby position.
5. The liquid processing apparatus of claim 4 , wherein a time during which the nozzle is positioned at the rear side standby position is longer than a time during which the nozzle is positioned at the standby position.
6. The liquid processing apparatus of claim 1 , wherein, when the nozzle is conveyed to the processing position within each of the substrate placement regions, the arm is pivoted in the same direction to convey the nozzle.
7. A liquid processing method comprising:
conveying a nozzle connected to a pipe from a nozzle placement region defined by a stationary nozzle placing portion and the pipe when viewed from above, to a standby position;
causing the nozzle to stand by at the standby position; and
conveying the nozzle directly to a processing position within a plurality of substrate placement regions after standing by at the standby position,
wherein the nozzle placement region is located behind the substrate placement regions, and
wherein the standby position is outside the substrate placement regions and the nozzle placement region, the standby position is located between the processing position and the nozzle placement region when viewed from above.
8. A non-transitory computer-readable storage medium that stores a computer program for use in a substrate processing apparatus for performing a liquid processing on a substrate,
wherein the computer program, when executed, causes a computer to execute a liquid processing method comprising:
conveying a nozzle connected to a pipe from a nozzle placement region defined by a stationary nozzle placing portion and the pipe when viewed from above, to a standby position;
causing the nozzle to stand by at the standby position; and
conveying the nozzle directly to a processing position within a plurality of substrate placement regions after standing by at the standby position,
wherein the nozzle placement region is located behind the substrate placement regions, and
wherein the standby position is outside the substrate placement regions and the nozzle placement region, the standby position being located between the processing position and the nozzle placement region when viewed from above.
9. The liquid processing method of claim 7 , further comprising:
causing the nozzle to stand by at a rear side standby position set behind the standby position before the nozzle is conveyed to the standby position.
10. The liquid processing method of claim 9 , wherein a time during which the nozzle is positioned at the rear side standby position is longer than a time during which the nozzle is positioned at the standby position.