Substrate processing apparatus, substrate processing method and storage medium
Provided is a substrate processing apparatus which can efficiently transfer substrates using a conveying mechanism including a plurality of substrate holding members. The substrate processing apparatus transfers a processed substrate to an intermediate conveying unit using a transport mechanism when the processed substrate returns to a substrate receiving unit. When a conveying mechanism withdraws the processed substrate from the intermediate conveying unit and transfers the processed substrate to the substrate receiving unit, a control unit determines whether both of a first substrate processed first among a plurality of substrates withdrawn from the substrate receiving unit as a set and a succeeding substrate processed later than the first substrate should be transferred together after waiting until the succeeding substrate is transferred to the intermediate conveying unit or to transfer the first substrate without waiting for the succeeding substrate, when the first substrate is transferred to the intermediate conveying unit.
1. A substrate processing apparatus comprising:
a disposition table where a carrier configured to receive a plurality of substrates is disposed;
a plurality of processing chambers each configured to process a substrate withdrawn from the carrier;
a shelf configured to dispose the plurality of substrates temporarily between the disposition table and the plurality of processing chambers;
a transport mechanism configured to transfer the substrates between each of the processing chambers and the shelf one by one;
a conveying mechanism including a plurality of substrate holding arms and configured to transfer the substrates between the carrier and the shelf, the plurality of substrate holding arms being configured to move either independently or simultaneously; and
a controller including a CPU and programmed with a non-transitory computer readable storage medium to control an overall operation of the substrate processing apparatus,
wherein, among a plurality of substrates withdrawn from the carrier as a first set by the conveying mechanism, when a first substrate of the first set processed first in one of the plurality of processing chambers is transferred from the one of the plurality of processing chambers to the shelf by the transport mechanism, and then a second substrate of the first set processed successively to the first substrate of the first set in one of the plurality of processing chambers is transferred to the shelf by the transport mechanism, the controller is programmed to:
establish a predetermined transport time required by the conveying mechanism to transfer the first substrate of the first set from the shelf to the carrier and then to withdraw a first substrate and a second substrate of a second set from the carrier and dispose the first substrate and second substrate of the second set in the shelf;
after establishing the predetermined transport time, store the predetermined transport time in the non-transitory computer readable storage medium;
after storing the predetermined transport time, calculate a standby time that would elapse from when the first substrate of the first set arrives at the shelf from the one of the plurality of processing chambers after being processed until the second substrate of the first set finishes being processed and arrives at the shelf from one of the plurality of processing chambers, and
compare the standby time with the predetermined transport time stored in the non-transitory computer readable storage medium,
wherein if the controller determines that the standby time is shorter than the predetermined transport time, the controller waits for the second substrate of the first set to finish being processed and arrive at the shelf, and then transfers the first substrate of the first set and the second substrate of the first set processed successively to the first substrate of the first set in one of the plurality of processing chambers together from the shelf to the carrier by the conveying mechanism;
wherein if the controller determines that the standby time is longer than the transport time, the controller transfers the first substrate of the first set from the shelf to the carrier by the conveying mechanism without waiting for the second substrate of the first set processed successively to the first substrate to be transferred from one of the plurality of processing chambers to the shelf; and
wherein the controller controls the plurality of substrate holding arms such that the plurality of substrate holding arms are moved either independently or simultaneously based on a determination as to whether the first substrate of the first set is transferred together with the second substrate of the first set processed successively to the first substrate of the first set or the first substrate of the first set is transferred first without waiting for the second substrate of the first set processed successively to the first substrate of the first set to be transferred from one of the plurality of processing chambers to the shelf.
2. The substrate processing apparatus of claim 1 , wherein the processing chambers include a first group of upper processing chambers and a second group of lower processing chambers which are vertically stacked on each other,
the shelf includes a first shelf communicated with the first group of processing chambers and a second shelf communicated with the second group of processing chambers, and
the conveying mechanism is configured to transfer a substrate between the first shelf and the second shelf, and transfer a substrate between the second shelf and the carrier.
3. The substrate processing apparatus of claim 1 , wherein each of the processing chambers is a single-type liquid processing chamber configured to perform a liquid processing on the plurality of substrates one by one and includes a substrate holder which is rotatable and configured to hold a substrate horizontally, and a nozzle unit configured to supply a processing liquid to a rotating substrate.
4. The substrate processing apparatus of claim 1 , wherein the controller is programmed such that after the first substrate of the first set is transferred from the shelf to the carrier by the conveying mechanism, the controller controls the conveying mechanism to withdraw two unprocessed substrates from the carrier and transfer the two unprocessed substrates to the shelf.