KR20170032932A - Apparatus and method for treating substrate - Google Patents

Abstract

The present invention relates to a substrate processing apparatus. A substrate processing apparatus according to an embodiment of the present invention includes a facility front end module, a process chamber disposed adjacent to the facility front end module, the facility front end module including: a load port in which a container accommodating a substrate is placed; And a frame provided with a transport robot, wherein the process chamber includes a support unit in which a substrate is placed, and the transport robot transports the substrate between the container and the support unit.

Description

[0001] APPARATUS AND METHOD FOR TREATING SUBSTRATE [0002]

The present invention relates to an apparatus and a method for processing a substrate.

A semiconductor is generally manufactured by sequentially performing a series of unit processes for film formation, pattern formation, metal wiring formation, and the like on a substrate.

Fig. 1 is a plan view schematically showing a general substrate processing apparatus 1. Fig. 1, the unit processes generally proceed within the process chamber 2, and the substrate processing apparatus 1 includes a load port 3, a facility front end 2, Module (4, EFEM) and a transfer chamber (6) provided with a buffer (5) therein. The load port 3 supports the container 7 in which the substrate is housed and the equipment front end module 4 includes a transfer robot 8 for transferring the substrate between the load port 3 and the buffer 5. The buffer 5 waits before the substrate having undergone the substrate processing is transferred to the load port 3 or before the substrate provided in the substrate processing is transferred to the processing chamber 2 and the transfer robot 6 in the transfer chamber 6 Transfers the substrate between the buffer 5 and the process chamber 2.

The buffer 5 is provided so that the substrate can wait in the transfer chamber 6 so that the substrate can be taken in and out of the process chamber 2 without delay. A separate transfer chamber 6 provided with a transfer robot 9 for transferring the substrate between the buffer 5 and the process chamber 2 in addition to the facility front end module 4 is provided by the provision of the buffer 5, The footprint of the vehicle is increased. The process in the process chamber 2 is delayed while the processed substrate is transported from the process chamber 2 to the buffer 5 and the substrate is transported from the buffer 5 to the process chamber 2 before the process process There is a problem.

The present invention is intended to provide an apparatus and method in which a separate transfer chamber other than the facility front end module may not be required.

The present invention also provides an apparatus and a method for reducing the footprint of a substrate processing apparatus.

In addition, the present invention is intended to provide an apparatus and a method that can shorten the time for carrying out a process completed substrate from the process chamber and bringing the substrate into the process chamber.

It is another object of the present invention to provide an apparatus and a method for increasing the throughput of a substrate.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and the problems not mentioned can be clearly understood by those skilled in the art from the description and the accompanying drawings will be.

The present invention provides a substrate processing apparatus. A substrate processing apparatus according to an embodiment of the present invention includes a facility front end module; A process chamber adjacent to the facility front end module, the facility front end module comprising: a load port in which a container containing the substrate is placed; And a frame provided with a transport robot, wherein the process chamber includes a support unit in which a substrate is placed, and the transport robot transports the substrate between the container and the support unit.

The transfer robot includes: a first arm for supporting a substrate in a first mode; And a second arm supporting the substrate in a second mode different from the first mode.

The carrying robot further includes a driving member for independently driving the first arm and the second arm.

The transport robot is configured such that the first arm supports the substrate during transport of the substrate from the container to the support unit and the second arm controls the drive member to support the substrate during transport of the substrate from the support unit to the container And a controller.

The first arm and the second arm are arranged vertically to each other.

The process chambers are provided in a plurality, and can perform processes different from each other with respect to the substrates.

The load port is disposed on one side of the frame, and the process chamber is disposed on a side other than the one side of the frame.

The process chamber may be provided in an atmospheric pressure chamber.

The first arm is provided as a type of edge grip, and the second arm is provided as a vacuum grip type.

The second arm is disposed below the first arm.

The first arm is a hand on which the substrate is placed; And a support shaft for supporting the hand, wherein the hand is provided to extend horizontally from an end of the support shaft, and protrudes upward from one end far from the support shaft of the hand, A projection arranged along the circumferential direction of the substrate placed on the substrate; And a push member positioned at one end adjacent to the support shaft of the hand and pushing the substrate in a direction in which the projection is located.

The support unit further includes a guide member for positively positioning the substrate when the substrate is mounted.

The present invention also provides a substrate processing method. A substrate processing method according to an embodiment of the present invention is a substrate processing method for processing a substrate by using the substrate processing apparatus. The substrate processing method includes the steps of: An atmospheric stage in which it is carried out from the container and waits in a supported state; A step of carrying out a chamber in which the substrate on which the second arm has been processed is taken out of the process chamber; A chamber bring-in step in which the first arm brings the substrate, which is waiting in the atmospheric step, into the process chamber and starts the process in the process chamber; And thereafter, bringing the substrate into which the second arm has been processed, into the container.

The waiting step, the chamber expelling step, the chamber bring-in step, and the container taking-in step are successively repeated.

Wherein the substrate before the transfer robot is processed is taken out of the container to the process chamber and the process is started in the process chamber, before the transferring step, the chamber transferring step, the chamber transferring step and the container transferring step, ; ≪ / RTI >

Wherein when the substrate before being processed in the vessel in the atmospheric step and before being processed is a final one of substrates before being processed housed in the vessel, after the vessel carrying-in step, the carrying robot transfers the processed substrate to the processing chamber And bringing the container into the container.

Further, a substrate processing method according to an embodiment of the present invention is a method in which a substrate is transferred from a container placed in a facility front end module to a support unit inside a process chamber using a first arm, The first arm and the second arm support the substrate in a manner different from each other.

The first arm supports the substrate in an edge gripping manner, and the second arm supports the substrate in a vacuum gripping manner.

The apparatus and method according to an embodiment of the present invention may not require a separate transfer chamber other than the facility front end module.

Further, the apparatus and method according to an embodiment of the present invention can reduce the footprint of the substrate processing apparatus.

Further, the apparatus and method according to an embodiment of the present invention can shorten the time for carrying out the processed substrate from the process chamber and bringing the substrate into the process chamber before processing.

In addition, an apparatus and a method according to an embodiment of the present invention are intended to provide an apparatus and a method that can increase processing efficiency of a substrate.

1 is a plan view schematically showing a general substrate processing apparatus.
2 is a cross-sectional view schematically showing a substrate processing apparatus according to an embodiment of the present invention.
3 is a perspective view showing the carrying robot of Fig.
Fig. 4 is a perspective view showing a part of the first arm of Fig. 3;
Fig. 5 is a perspective view showing a part of the second arm of Fig. 3;
Fig. 6 is a schematic cross-sectional view of the support unit of Fig. 2;
7 is a flowchart showing a substrate processing method of the present invention.
8 to 17 are views for explaining the substrate processing method of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art. Thus, the shape of the elements in the figures has been exaggerated to emphasize a clearer description.

In this embodiment, a substrate processing apparatus having a cluster type structure will be described as an example. However, the technical spirit of the present invention is not limited thereto, and the features of the present invention are applicable to various structures of apparatuses.

In this embodiment, as a substrate, a wafer for semiconductor chip fabrication is taken as an example. However, the substrate processed by the substrate processing apparatus of the present invention is not limited to a wafer. For example, the substrate may be of various types having a plate shape such as a glass substrate.

2 is a plan view schematically showing a substrate processing apparatus according to an embodiment of the present invention. Referring to FIG. 2, the substrate processing apparatus 100 has an equipment front end module 1000 and a process chamber 2000.

The facility front end module 1000 transports the wafer between the container 1100 in which the wafers are received and the process chamber 2000. The facility front end module 1000 has a load port 1200 and a frame 1400. [

The load port 1200 may be provided in plurality. The container 1100 for receiving the wafer W is transferred to the load port 1130 by means of transport means (not shown) such as overhead transfer, overhead conveyor, or automatic guided vehicle. (1200). The container 1100 may be a hermetically sealed container such as a front open unified pod.

The frame 1400 is positioned adjacent the load port 1200 and the process chamber 2000. For example, frame 1400 has a generally polygonal shape when viewed from the top. On the side of the frame 1400, a load port 1200 and a process chamber 2000 are located. The load port 1200 may be disposed on one side of the frame 1400 and the process chamber 2000 may be disposed on a side other than the one side where the load port 1200 of the frame 1200 is disposed.

A transfer robot 1600 for transferring the wafer W is provided between the container 1100 placed in the load port 1200 and the support unit 2300 on which the wafer in the process chamber 2000 is placed. In the frame 1400, a door opener (not shown) for automatically opening and closing the door of the container 1100 may be provided. The frame 1400 may also be provided with a fan filter unit (not shown) that supplies clean air into the frame 1400 so that clean air flows from the top to the bottom of the frame 1400.

3 is a perspective view showing the carrying robot 1600 of Fig. 2 and 3, the carrying robot 1600 includes a first arm 1610, a second arm 1620, a driving member 1630, and a controller 1640. The first arm 1610 and the second arm 1620 are arranged vertically to each other. The second arm 1620 may be disposed below the first arm 1610. Alternatively, the second arm 1620 may be disposed above the first arm 1610. The first arm 1610 and the second arm 1620 may be provided in plurality, respectively. For example, the first arm 1610 and the second arm 1620 may be provided in the same number as the support unit 2300 provided in the process chamber 2000.

4 is a perspective view showing a part of the first arm 1610 of FIG. Referring to FIG. 4, the first arm 1610 supports the wafer W in a first manner. The first scheme may be an edge grip scheme. For example, the first arm 1610 is provided with an edge grip type that supports the wafer W in a method of edge grip. According to one embodiment, the first arm 1610 of the edge grip type includes a hand 1611 and a support shaft 1612.

In the hand 1611, the wafer W is placed when the transfer robot 1600 transfers the wafer W. The hand 1611 is provided so as to extend in the horizontal direction from the end of the support shaft 1612. The hand 1611 includes a projection 1611a and a push member 1611b.

The projection 1611a is provided so as to protrude upward at one end far from the support shaft 1612 of the hand 1611. [ The projections 1611a are arranged such that a plurality of the projections 1611a surround the wafer W placed on the hand 1611. [

The push member 1611b is located at one end adjacent to the support shaft 1612 of the hand 1611. [ The wafer W is placed between the projection 1611a on the hand 1611 and the push member 1611b and the push member 1611b moves the wafer W placed on the hand 1611 in the direction in which the projection 1611a is located . Thereby, the wafer W is fixed and positioned on the hand 1611 by the projection 1611a and the push member 1611b. Therefore, when the wafer is taken out from the container 1100 by using the first arm 1610 of the edge grip type, the container 1100 is provided with a separate guide member for positioning the wafer W on the hand 1611 Not required.

Referring back to Fig. 3, the support shaft 1612 connects the driving member 1630 and the hand 1611, and supports the hand 1611. A driver (not shown) for driving the push member 1611b may be provided inside the support shaft 1612.

5 is a perspective view showing a part of the second arm 1620 of FIG. Referring to FIG. 5, the second arm 1620 supports the wafer in a second manner different from the first mode. The second scheme may be a vacuum grip scheme. For example, the second arm 1620 is provided as a vacuum grip type that supports the wafer in a vacuum gripping manner. According to one embodiment, the second arm 1620 of the vacuum grip type includes a hand 1621 and a support shaft 1622. In the hand 1621, the wafer is placed during wafer transfer. The hand 1621 is provided to extend horizontally from the end of the support shaft 1622. [ A vacuum hole 1621a is formed on the upper surface of the end of the hand 1621. The second arm 1620 sucks the wafer placed on the hand 1621 to the hand 1621 by forming vacuum pressure by suction through the vacuum hole 1621a. The vacuum grip type second arm 1620 does not perform the function of positioning the wafer placed on the hand 1621 of the hand 1621 in a structured manner. Therefore, when the wafer is taken out of the process chamber 2000 using the second arm 1620 of the vacuum grip type, the support unit 2300 is provided with a separate guide member (2310 of FIG. 6) for positively positioning the wafer on the hand ) Is required. Other features such as the configuration of the second arm 1620 and the like are provided similarly to the first arm 1610. [

Generally, since the edge grip type arm includes a structure for driving and controlling the push member and the like, much wiring is required as compared with the vacuum grip type arm. Thus, as described above, the first arm 1610 is provided as an edge grip type, and the second arm 1620 is provided as a vacuum grip type, thereby simplifying the structure of wiring and the like inside the apparatus. Alternatively, the first arm 1610 and the second arm 1620 may have the same type of hand. For example, both the first arm 1610 and the second arm 1620 may be provided with an edge grip type. In this case, no separate guide member is required for the support unit 2300.

Referring again to FIGS. 2 and 3, the driving member 1630 drives the first arm 1610 and the second arm 1620. The driving member 1630 drives the first arm 1610 and the second arm 1620 independently of each other. For example, the driving member 1630 includes arms connected to each other by a plurality of joints. Each joint is provided with a motor that rotates the arms about their respective joints.

The controller 1640 controls the first arm 1610 to support the wafer at the time of wafer transfer from the container 1100 to the support unit 2300 in the process chamber 2000 while the second arm 1620 supports the wafer at the support unit 2300. [ And controls the driving member 1630 to support the wafer at the time of wafer transfer from the container 1100 to the container 1100.

The arm supporting the wafer during transportation from the vessel 1100 to the support unit 2300 and the arm supporting the wafer during transportation from the support unit 2300 to the vessel 1100 are respectively connected to the first arm 1610, And the second arm 1620, so that the first arm 1610 can stand by while holding the wafer before it is processed while the wafer is being processed and taken out of the process chamber 2000. Accordingly, the process chamber 2000 can be disposed directly adjacent to the facility front end module 1000 without requiring a separate transfer chamber provided with a buffer on which the wafer is waiting.

The process chamber 2000 performs a predetermined process on the wafer W in an atmospheric pressure state. For example, process chamber 2000 may be a chamber that performs processes such as atmospheric chemical vapor deposition. The process chamber 2000 is provided adjacent to the facility front end module 1000. One or a plurality of process chambers 2000 are disposed on one side surface other than the one side surface where the load port 1200 of the frame 1200 is disposed. When a plurality of process chambers 2000 are provided, each of the process chambers 2000 can perform the same process with respect to the wafer W. [ Optionally, when a plurality of process chambers 2000 are provided, the process chambers 200 may perform processes different from each other. For example, the process chambers 2000 may sequentially perform a series of processes on the wafer W. The process chamber 2000 includes a housing 2200 and a support unit 2300. The housing 2000 provides a space in which a process is performed. An entrance 2220 through which the wafer W enters and exits is formed in an area of the outer wall of the housing 2000 facing the facility front end module 1000. The doorway 2220 can be opened and closed by a door 2240. The entrance 2220 is provided with a width at which the two wafers W can be simultaneously inserted and removed. The entrance 2220 is provided in the same number as the support unit 2300 in the housing 2000 and each entrance 2220 is provided with a width in which one wafer W can be taken in and out.

Figure 6 is a schematic cross-sectional view of the support unit 2300 of Figure 2. 2 and 6, a support unit 2300 is provided in the interior of the process chamber 200, that is, in the housing 2000, and the wafer W is placed in the process. The support unit 2300 may be provided with a structure for fixing the wafer W by mechanical clamping or may be provided with a structure for fixing the wafer W by electrostatic force. In the housing 2000, two support units 2300 are provided. The two support units 2300 are arranged laterally to each other. The number of support units 2300 provided in the housing 2000 can be further increased. Alternatively, the housing 2000 may be provided with one support unit 2300.

The support unit 2300 may include a guide member 2310. The guide member 2310 corrects the position of the wafer W when the wafer W is placed on the support unit 2300. According to one embodiment, the guide member 2310 is provided so as to protrude from the upper portion of the support unit 2300 in a cylindrical shape surrounding an area where the wafer W of the support unit 2300 is seated. The inner surface of the support unit 2300 is provided so as to be inclined outward toward the upper side.

The support unit 2300 may include a lift pin 2320. The lift pin 2320 receives the wafer W from the first arm 1610 at a position higher than the upper end of the guide member 2310 and descends to seat the wafer W on the support unit 2300. The lift pins 2320 are lifted to transfer the wafer W to the second arm 1620 at a position higher than the upper end of the guide member 2310.

The wafer W is positively positioned on the support unit 2300 along the inner surface of the guide member 2310 when the lift pin 2320 is taken down from the first arm 1610 and the wafer W is taken. Thus, it is positively positioned on the hand 1621 of the second arm 1620 of the vacuum grip type to prevent the wafer from colliding with the components in the apparatus during transfer due to out of position.

Hereinafter, for convenience of explanation, a method of processing a substrate according to an embodiment of the present invention will be described using the above-described substrate processing apparatus. The substrate processing method of the present invention uses a first arm 1610 to transport a wafer from a container 1100 placed in the facility front end module 1000 to a support unit 2300 inside the process chamber 2000, The wafer is transferred from the supporting unit 2300 to the container 1100 by using the arm 1620. [ In this case, the first arm 1610 and the second arm 1620 support the wafer in different ways. For example, the first arm 1610 supports the wafer in the above-described edge gripping manner, and the second arm 1620 supports the wafer in the above-described vacuum gripping manner.

7 is a flowchart showing a substrate processing method of the present invention. 8 to 18 are views for explaining the substrate processing method of the present invention. 2, 3 and 7, according to an embodiment, the substrate processing method includes a start step S10, a waiting step S20, a chamber take-out step S30, a chamber carry-in step S40, Step S50 and end step S60.

The start step S10 is performed before the standby step S20, the chamber take-out step S30, the chamber bring-in step S40, and the container carry-in step S50. FIGS. 8 to 10 are views sequentially showing a state in which the wafer is transported in the start step S10. 8 to 10, in the start step S10, the wafer W1 before the transfer robot 1600 is processed is taken out of the container 1100 and brought into the process chamber 2000. [ At this time, when a plurality of process chambers 2000 or a plurality of support units 2300 are provided, the wafer W1 is placed on the wafer W1 before the wafer W1 is processed in all the support units 2300 of all the process chambers 2000, Lt; / RTI > Thereafter, in the start step S10, the process starts in the process chamber 2000.

11 and 12 are views sequentially showing the wafer being transported in the waiting step S20. 11, in the waiting step S20, the first arm 1610 removes the wafer W2 from the container 1100 before being processed while the wafer W1 is being processed in the processing chamber 2000. [ 12, in the waiting step S20, while the wafer W1 is being processed in the process chamber 2000, the first arm 1610 holds the wafer W2 before being processed, do.

Figs. 13 and 14 are views sequentially showing the wafer being transported in the chamber take-off step S30. Referring to FIGS. 13 and 14, in the chamber take-off step S30, the second arm 1620 takes out the processed wafer W1 from the process chamber 2000. In this case, the first arm 1610 stands by holding the wafer W2 before being processed. The chamber take-off step S30 is performed after the waiting step S20.

15 is a view showing a state in which the wafer is carried in the chamber bring-in step (S40). Referring to FIG. 15, in the bringing-in step S40, the first arm 1610 brings the wafer W2 that is waiting at the waiting step S20 into the processing chamber 2000. The process starts in the process chamber 2000 in which the wafer W2 is loaded. The chamber bring-in step S40 is performed after the chamber take-out step S30. In this case, the second arm 1620 stands by holding the wafer W1 carried out in the chamber take-off step S30.

16 is a view showing a state in which the wafer is transported in the container loading step (S50). Referring to FIG. 16, in the container carrying-in step (S50), the second arm 1620 carries the processed wafer W1 into the container 1100. The container loading step (S50) is performed after the chamber loading step (S40).

The waiting step S20, the chamber take-off step S30, the chamber bring-in step S40, and the vessel carry-in step S50 are successively repeated. When a plurality of process chambers 2000 are provided, the chamber take-out step S30 and the chamber take-in step S40 are performed in accordance with the order in which the process among the process chambers 2000 is completed.

17 is a view showing a state in which the wafer is carried in the ending step S60. 17, when the unprocessed wafer (W2 in FIG. 11) taken out of the container 1100 in the waiting step S20 is the last one of the unprocessed wafers housed in the container 1100, After the step S50, the ending step S60 is performed. In the ending step S60, the transfer robot 1600 takes out the processed wafer W3 from the process chamber 2000 and transfers it to the container 1100. [ At this time, if a plurality of process chambers 2000 or a plurality of support units 2300 are provided, a finishing step S60 is performed on the wafer on which all the supporting units 2300 of the process chambers 2000 have been processed .

As described above, an apparatus and method according to embodiments of the present invention includes an arm that transfers a wafer from a vessel 1100 to a process chamber 2000, and an arm that transfers a wafer from the process chamber 2000 to the vessel 1100 By providing it separately, no separate transfer chamber is provided which is provided with a buffer for waiting the wafer. Thus, the process chamber 2000 may be disposed adjacent to the facility front end module 1000 to reduce the footprint of the device. Further, since the wafer before being processed by the first arm 1610 can wait at a position adjacent to the processing chamber 2000, the transferring distance of the wafer is reduced, and the time during which the wafer is transferred from the processing chamber 2000 is minimized. Therefore, the processing efficiency of the wafer can be increased.

100: substrate processing apparatus 1000: facility front end module
1100: container 1200: load port
1400: Frame 1600: Transfer robot
1610: first arm 1620: second arm
1630: driving member 1640:
2000: process chamber 2300: support unit
2310: Guide member

Claims (19)

A facility front end module;
A process chamber disposed adjacent the facility front end module,
The facility front end module comprises:
A load port in which a container containing the substrate is placed;
A frame provided with a transport robot,
Wherein the process chamber includes a support unit in which a substrate lies,
Wherein the transfer robot conveys the substrate between the container and the support unit. The method according to claim 1,
The conveying robot includes:
A first arm for supporting the substrate in a first manner; And
And a second arm for supporting the substrate in a second mode different from the first mode. 3. The method of claim 2,
Wherein the transfer robot further comprises a driving member for independently driving the first arm and the second arm. The method of claim 3,
The conveying robot includes:
And the controller controls the driving member to support the substrate when the substrate is transferred from the container to the supporting unit and the second arm to support the substrate when the substrate is transferred from the supporting unit to the container . 3. The method of claim 2,
Wherein the first arm and the second arm are arranged vertically to each other. 6. The method according to any one of claims 1 to 5,
Wherein the plurality of process chambers are provided. The method according to claim 6,
Wherein each of the processing chambers performs a process different from each other with respect to the substrate. The method according to claim 6,
The load port being disposed on one side of the frame,
Wherein the process chamber is disposed on a side surface other than the one side surface of the frame. 6. The method according to any one of claims 1 to 5,
Wherein the process chamber is an atmospheric pressure chamber. 6. The method according to any one of claims 1 to 5,
The first arm is provided as a type of edge grip,
Wherein the second arm is provided in a vacuum grip type. 11. The method of claim 10,
Wherein the second arm is disposed below the first arm. 11. The method of claim 10,
The first arm
A hand on which the substrate lies; And
And a support shaft for supporting the hand,
The hand comprises:
A support shaft extending in the horizontal direction from an end of the support shaft,
Protrusions protruding upward from one end far from the support shaft of the hand and arranged along the circumferential direction of the substrate on which a plurality of the hands are placed; And
And a push member located at one end adjacent to the support shaft of the hand and pushing the substrate in a direction in which the projection is located. 11. The method of claim 10,
Wherein the support unit further comprises a guide member for positively positioning the substrate upon seating the substrate. A substrate processing method for processing a substrate by using the substrate processing apparatus of claim 2,
A waiting step of holding the substrate before the first arm is processed while the substrate is being processed in the processing chamber while holding the substrate in a supported state;
A step of carrying out a chamber in which the substrate on which the second arm has been processed is taken out of the process chamber;
A chamber bring-in step in which the first arm brings the substrate, which is waiting in the atmospheric step, into the process chamber and starts the process in the process chamber; And
And then bringing the substrate into which the second arm has been processed, into the vessel. 15. The method of claim 14,
Wherein the atmospheric step, the chamber take-out step, the chamber take-in step, and the vessel take-in step are successively repeated. 15. The method of claim 14,
Wherein the substrate before the transfer robot is processed is taken out of the container to the process chamber and the process is started in the process chamber, before the transferring step, the chamber transferring step, the chamber transferring step and the container transferring step, ≪ / RTI > 16. The method according to claim 14 or 15,
When the substrate before being processed out of the vessel in the atmospheric step is the final one of the substrates before being processed housed in the vessel,
And a finalizing step of bringing the processed substrate from the process chamber into the container after the carrying-in step is performed by the carrying robot. Transporting the substrate from the container placed in the facility front end module to the support unit inside the process chamber using the first arm and transporting the substrate from the support unit to the container using the second arm,
Wherein the first arm and the second arm support the substrate in a manner different from each other. 19. The method of claim 18,
The first arm supports the substrate in an edge gripping manner,
Wherein the second arm supports the substrate in a vacuum gripping manner.

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