Conveying device and expansion amount calculation method

Abstract

In the present invention, an articulated arm is configured so that a plurality of arms are connected by rotatable joints, and by rotating the joints, the articulated arm can be extended and contracted. A detection unit detects the angle of rotation of the joints of the articulated arm, for different postures the number of which is at least the number of arms of the articulated arm. A calculation unit calculates the expansion amount of each of the plurality of arms on the basis of the angle of rotation of the joints at each of the postures detected by the detection unit.

Description

[Technical field]

[0001] The present disclosure relates to a conveying device and an expansion amount calculation method. [Background technology]

[0002] Patent Document 1 discloses a technique for determining the thermal expansion of an arm of a transport device when automatically centering a substrate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2018-523307 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure provides a technique for determining the amount of expansion of each arm. [Means for solving the problem]

[0005] A transport device according to one aspect of the present disclosure includes a multi-joint arm, a detection unit, and a calculation unit. The multi-joint arm has multiple arms connected by rotatable joints, and can be extended or retracted by rotating the joints. The detection unit detects rotation angles of the joints of the multi-joint arm in different positions equal to or greater than the number of arms of the multi-joint arm. The calculation unit calculates the amount of expansion of each of the multiple arms based on the rotation angles of the joints in each position detected by the detection unit. Effect of the Invention

[0006] According to the present disclosure, the amount of expansion of each arm can be determined. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a system configuration diagram showing an example of a processing system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of a robot arm according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing an example of a cross section of a load lock chamber and a vacuum transfer chamber according to the embodiment. [Figure 4] FIG. 4 is a diagram for explaining an example of a method for identifying the center position of a substrate according to an embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of detecting the rotation angle of a joint when the robot arm according to the embodiment has different arm postures. [Figure 6] FIG. 6 is a diagram illustrating an example of the rotation angles of the joints of the robot arm according to the embodiment. [Figure 7] FIG. 7 is a diagram illustrating a change in the rotation angle due to expansion of the arm of the robot arm according to the embodiment. [Figure 8] FIG. 8 is a system configuration diagram showing another example of the processing system according to the embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of the rotation angles of the joints of the robot arm according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of the rotation angles of the joints of the robot arm according to the embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of a control flow of the expansion amount calculation method according to the embodiment. [Figure 12] FIG. 12 is a diagram showing another example of the shape of the fork according to the embodiment. [Figure 13] FIG. 13 is a diagram showing another example of the shape of the fork according to the embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of the configuration of the arm at the tip of the robot arm according to the embodiment. [Figure 15] FIG. 15 is a diagram showing another example of the processing system main body according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the conveying device and the expansion amount calculation method disclosed in the present application will be described in detail with reference to the drawings. Note that the conveying device and the expansion amount calculation method disclosed in the present application are not limited to the embodiment.

[0009] There is known a transport device such as an articulated arm for transporting a substrate such as a semiconductor wafer (hereinafter referred to as "wafer"). The articulated arm has multiple arms connected by rotatable joints, and supports and transports the substrate by the arms.

[0010] However, due to the influence of heat, an error may occur in the transfer position of the articulated arm. For example, when the articulated arm transfers a substrate to a process chamber where high-temperature substrate processing is performed, each arm may expand due to the influence of heat, and an error may occur in the transfer position of the articulated arm.

[0011] Therefore, in order to suppress errors in the transfer position, a technology for determining the amount of expansion of each arm is expected. Note that Patent Document 1 determines the thermal expansion of the entire multi-joint arm, but does not determine the amount of expansion of each arm.

[0012] (Embodiment) [Configuration of Processing System 1] An embodiment will be described. In the following, a processing system 1 including the function of the transfer device of the present disclosure will be described. FIG. 1 is a system configuration diagram showing an example of the processing system 1 according to the embodiment. In FIG. 1, the internal components are illustrated in a transparent manner for convenience. The processing system 1 performs substrate processing of a substrate such as a wafer. The processing system 1 includes a processing system body 10 and a control device 100 that controls the processing system body 10. The processing system body 10 includes a vacuum transfer chamber 11, a plurality of process chambers 13, a plurality of load lock chambers 14, and a loader module 15, as shown in FIG. 1, for example. The processing system 1 is an example of the transfer device of the present disclosure.

[0013] A plurality of process chambers 13 and a plurality of load lock chambers 14 are connected to the vacuum transfer chamber 11. In this embodiment, four process chambers 13 are connected to the vacuum transfer chamber 11. Two load lock chambers 14 are connected to the vacuum transfer chamber 11. Three or less process chambers 13 may be connected to the vacuum transfer chamber 11, or five or more process chambers 13 may be connected to the vacuum transfer chamber 11. In addition to the plurality of process chambers 13, another vacuum transfer chamber 11 to which a plurality of process chambers 13 are connected may be further connected to the vacuum transfer chamber 11. One load lock chamber 14 may be connected to the vacuum transfer chamber 11, or three or more load lock chambers 14 may be connected to the vacuum transfer chamber 11.

[0014] The process chamber 13 performs processes such as etching and film formation on the substrate in a low pressure environment. The process chamber 13 and the vacuum transfer chamber 11 are separated by a gate valve 131 that can be opened and closed. The process chamber 13 is an example of a chamber in the present disclosure. Each process chamber 13 may be a module that performs the same process in a manufacturing process, or may be a module that performs different processes.

[0015] Each load lock chamber 14 has a gate valve 140 and a gate valve 141, and switches the internal pressure from a pressure of a predetermined vacuum degree to atmospheric pressure or from atmospheric pressure to a pressure of a predetermined vacuum degree. The load lock chamber 14 and the vacuum transfer chamber 11 are partitioned by the gate valve 140 so as to be able to open and close. In addition, the load lock chamber 14 and the loader module 15 are partitioned by the gate valve 141 so as to be able to open and close.

[0016] A plurality of sensors 20 are provided in the vacuum transfer chamber 11. A robot arm 12 is also disposed in the vacuum transfer chamber 11. In this embodiment, the robot arm 12 has three joints that can be driven independently. Note that the robot arm 12 may have four or more joints that can be driven independently.

[0017] A predetermined degree of vacuum is maintained inside the vacuum transfer chamber 11. The robot arm 12 takes out an unprocessed substrate from inside the load lock chamber 14, which has been depressurized to a predetermined degree of vacuum, and transfers it to a mounting table 130 in one of the process chambers 13. The robot arm 12 also takes out a processed substrate from the process chamber 13 and transfers it into another process chamber 13 or the load lock chamber 14.

[0018] Each sensor 20 is disposed near the connection between the vacuum transfer chamber 11 and the load lock chamber 14. In this embodiment, two sensors 20a, 20b are disposed for each load lock chamber 14 at a position where the substrate W passes near the connection between the vacuum transfer chamber 11 and the load lock chamber 14. This allows the sensors 20a, 20b to quickly obtain sensing information regarding the substrate W when the substrate is removed from the load lock chamber 14 by the robot arm 12. In this embodiment, two sensors 20 are provided for each load lock chamber 14. Note that three or more sensors 20 may be provided for each load lock chamber 14.

[0019] FIG. 2 is a diagram showing an example of the configuration of a robot arm 12 according to an embodiment. The robot arm 12 is configured as a multi-joint arm in which a plurality of arms 30 are connected by rotatable joints 31 and can be extended or retracted by rotating the joints 31. For example, in the robot arm 12 shown in FIG. 2, the arms 30a to 30c are provided with joints 31a to 31c, the arms 30a and 30b are rotatably connected by the joint 31b, and the arms 30b and 30c are rotatably connected by the joint 31c. A drive mechanism for rotating the joint 31 is provided in each joint 31, and the drive mechanism rotates the arm 30 in the horizontal direction. For example, a servo motor, a reducer, or the like is provided in each joint 31 as a drive mechanism. Each joint 31 is rotated by transmitting the driving force of the servo motor via a reducer, thereby rotating each arm 30 in the horizontal direction. The robot arm 12 is configured to be able to detect the rotation angle of each joint 31. For example, encoders are provided on the rotation shafts of the servo motors of the joints 31a to 31c, and the rotation angles of the joints 31a to 31c can be detected based on feedback signals from the encoders of the joints 31a to 31c.

[0020] The arm 30c at the tip is provided with a Y-shaped fork 32 whose tip side is branched into two support parts 32a. The fork 32 is made of a material with low thermal expansion, such as ceramic. The robot arm 12 is made extendable and retractable in the horizontal direction by rotating the arm 30 at a joint 31, and supports the substrate W with the fork 32 to transport the substrate W. The robot arm 12 is shaped so that the position of the extended or retracted position can be detected by the sensor 20. For example, the robot arm 12 shown in FIG. 2 is provided with three rectangular projections 33 protruding in the horizontal direction on one support part 32a of the fork 32.

[0021] 3 is a diagram showing an example of a cross section of the load lock chamber 14 and the vacuum transfer chamber 11 according to the embodiment. The sensor 20 has a light source 21a and a light receiving sensor 21b. The light source 21a and the light receiving sensor 21b are provided outside the vacuum transfer chamber 11, at the upper and lower parts of the vacuum transfer chamber 11, respectively. Note that in this embodiment, the light source 21a is provided at the upper part of the vacuum transfer chamber 11 and the light receiving sensor 21b is provided at the lower part of the vacuum transfer chamber 11, but the light source 21a may be provided at the lower part of the vacuum transfer chamber 11 and the light receiving sensor 21b may be provided at the upper part of the vacuum transfer chamber 11.

[0022] The light source 21a irradiates light into the vacuum transfer chamber 11 through a window 11a provided in the upper wall of the vacuum transfer chamber 11. The light source 21a irradiates, for example, laser light into the vacuum transfer chamber 11. The light receiving sensor 21b receives the light irradiated from the light source 21a through a window 11b provided in the lower wall of the vacuum transfer chamber 11. The windows 11a and 11b are made of a material that can transmit light, such as quartz. The light receiving sensor 21b outputs information indicating whether the light irradiated from the light source 21a has been blocked to the control device 100 as sensing information. The area irradiated with light from the light source 21a is an example of a sensing area.

[0023] Returning to FIG. 1, a loader module 15 is connected to the load lock chamber 14. A robot arm 150 is provided in the loader module 15. The loader module 15 is provided with a plurality of load ports 16 to which containers (e.g., FOUP: Front Opening Unified Pod) capable of accommodating a plurality of unprocessed or processed substrates W are connected. The robot arm 150 takes out the unprocessed substrate W from the container connected to the load port 16 and transports it into the load lock chamber 14. The robot arm 150 also takes out the processed substrate W from the load lock chamber 14 whose internal pressure has been returned to atmospheric pressure and transports it into the container connected to the load port 16. The loader module 15 may be provided with an alignment unit that adjusts the orientation of the substrate W taken out of the container connected to the load port 16.

[0024] The operation of the processing system 1 configured as above is generally controlled by a control device 100 (control unit). The control device 100 is, for example, a computer, and controls each unit of the processing system 1. The operation of the processing system 1 is generally controlled by the control device 100.

[0025] The control device 100 includes a controller 101 that controls each part of the processing system 1 , a user interface 102 , and a storage unit 103 .

[0026] The user interface 102 is composed of a keyboard through which the process manager inputs commands to manage the processing system 1, a display that visualizes and displays the operating status of the processing system 1, and the like.

[0027] The storage unit 103 stores a control program (software) for implementing various processes executed by the processing system 1 under the control of the controller 101, and a recipe in which processing condition data and the like are stored. The storage unit 103 also stores parameters related to the apparatus and process for performing substrate processing. The control program, recipe, and parameters may be stored in a computer-readable computer recording medium (for example, a hard disk, an optical disk such as a DVD, a flexible disk, a semiconductor memory, and the like). The control program, recipe, and parameters may also be stored in another apparatus and read out and used online, for example, via a dedicated line.

[0028] The controller 101 has a CPU and an internal memory for storing programs and data, reads out a control program stored in the storage unit 103, and executes the processing of the read out control program. The controller 101 functions as various processing units as the control program runs. For example, the controller 101 has the functions of a detection unit 110 and a calculation unit 111, which will be described later. Note that, in this embodiment, the controller 101 functions as various processing units, but is not limited to this. For example, the functions of the detection unit 110 and the calculation unit 111 may be distributed among a plurality of controllers.

[0029] [How to identify the center position of the board] Next, a method for identifying the center position of the substrate W will be described. FIG. 4 is a diagram for explaining an example of a method for identifying the center position of the substrate W according to the embodiment. When the substrate W is taken out of the load lock chamber 14 by the robot arm 12, the sensors 20a and 20b output sensing information to the control device 100. When the substrate W on the fork 32 at the tip of the robot arm 12 passes through the sensing area, the light irradiated from the light source 21a is blocked at the line segments AB and CD on the substrate W, as shown by the solid lines in FIG. 4, for example. Based on the sensing information output from the sensors 20a and 20b and the position information of the fork 32, the control device 100 identifies the center of a circle passing through at least three points among points A to D as the center position O of the substrate W. The position information of the fork 32 is identified based on, for example, the length of each arm 30 of the robot arm 12, the angle of each joint 31, and the like. The angle of each joint 31 is detected based on a feedback signal from the encoder of the joints 31a to 31c. In the example of FIG. 4, the center position O of the substrate W is offset from the reference position O' of the fork 32.

[0030] Depending on the position or orientation of the substrate W relative to the fork 32, the notch N of the substrate W may pass through the sensing region or the light may be blocked by the fork 32 when the substrate W moves. In this case, the center position of a circle passing through all of the points A to D may differ from the center position O of the substrate W, or a circle passing through all of the points A to D may not exist. Therefore, when the center positions of the circles calculated in two or more of the four combinations of three points excluding each of the points A to D are less than a predetermined distance apart, it is preferable to specify the center position as the center position O of the substrate W. The notch N formed on the substrate W is an example of a marker indicating the reference direction of the substrate W. The marker indicating the reference direction of the substrate W may be an orientation flat formed on the substrate W.

[0031] [How to calculate arm expansion amount] Next, a method for calculating the expansion amount of each arm 30 of the robot arm 12 will be described. The processing system 1 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of arms of the robot arm 12.

[0032] FIG. 5 is a diagram for explaining an example of detecting the rotation angle of the joint 31 when the arm 30 of the robot arm 12 according to the embodiment is in a different posture. For example, the control device 100 moves the robot arm 12 so that the protrusion 33 provided on the fork 32 passes the arrangement position of the sensor 20a. When the robot arm 12 is moved so that the protrusion 33 passes the arrangement position of the sensor 20a, the rotation angle of the joint 31 of the robot arm 12 changes so that the whole robot arm 12 extends, and therefore the posture of each arm 30 changes. The sensor 20a outputs sensing information to the control device 100. The robot arm 12 outputs a feedback signal of the encoder of each joint 31 to the control device 100. When the protrusion 33 provided on the fork 32 passes the sensing area, for example, as shown by the solid line in FIG. 5, the light irradiated from the light source 21a is blocked at the line segment EF, line segment GH, and line segment IJ of each protrusion 33.

[0033] The detection unit 110 detects the rotation angle of each joint 31 based on a feedback signal from an encoder of each joint 31 of the robot arm 12. The feedback signal of the encoder of each joint 31 may be input to a control unit that controls the robot arm 12, and the control unit may specify the angle of each joint 31. The detection unit 110 may detect the rotation angle of each joint 31 by acquiring the rotation angle of each joint 31 from the control unit of the robot arm 12.

[0034] The detection unit 110 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of arms 30 of the robot arm 12. In this embodiment, the detection unit 110 detects the rotation angles of each joint 31 in different postures based on sensing information output from the sensor 20a and information on the rotation angle of each joint of the robot arm 12. For example, the detection unit 110 detects the rotation angles of the joints 31a to 31c at points E, G, and I where each protrusion 33 blocks the light irradiated from the light source 21a.

[0035] 6 is a diagram showing an example of the rotation angle of the joint 31 of the robot arm 12 according to the embodiment. The detection unit 110 determines an axis 60 passing through a reference point in a horizontal plane, with the position at which the robot arm 12 is fixed being taken as the reference point, and detects the rotation angle of each joint 31 from the axis 60. The direction of the axis 60 may be determined in advance when the processing system 1 is designed, etc.

[0036] When the rotation angle of each joint 31 is not based on the axis 60, the detection unit 110 corrects the rotation angle of each joint 31 to a rotation angle based on the axis 60. For example, when the rotation angle of the joint 31a is a rotation angle φ1 based on another axis 61, the rotation angle θ1 of the joint 31a is corrected as shown in the following formula (1).

[0037] θ1 = φ1 + α (1) Where: θ1 is the rotation angle of the arm 30a with respect to the axis 60. φ1 is the rotation angle of the arm 30a with the axis 61 as the reference. α is the angular difference between axis 60 and axis 61 with axis 60 as the reference.

[0038] Furthermore, for example, when the rotation angle of the joint 31b is a rotation angle φ2 with respect to the arm 30a based on the direction of the arm 30a, the rotation angle θ2 of the joint 31b is corrected as shown in the following formula (2).

[0039] θ2 = φ2+θ1 = φ2+φ1+α ···(2) Where: θ2 is the rotation angle of arm 30b with respect to axis 60. φ2 is the rotation angle of arm 30b based on the direction of arm 30a.

[0040] Furthermore, for example, when the rotation angle of the joint 31c is a rotation angle φ3 with respect to the arm 30b based on the direction of the arm 30b, the rotation angle θ3 of the joint 31c is corrected as shown in the following formula (3).

[0041] θ3 = φ3+θ2 = φ3+φ2+φ1+α ···(3) Where: θ3 is the rotation angle of the arm 30c with respect to the axis 60. φ3 is the rotation angle of arm 30c based on the direction of arm 30b.

[0042] The detection unit 110 detects the rotation angles θ1 to θ3 of the joints 31 for points E, G, and I where the protrusions 33 block the light emitted from the light source 21a.

[0043] When each arm 30 of the robot arm 12 is in an expanded state, the rotation angles θ1 to θ3 change. The control device 100 moves the robot arm 12 so that the protrusion 33 provided on the fork 32 passes the arrangement position of the sensor 20a. When the robot arm 12 is moved so that the protrusion 33 passes the arrangement position of the sensor 20a, the rotation angle of the joint 31 of the robot arm 12 changes so that the entire robot arm 12 extends, and the posture of each arm 30 changes. The sensor 20a outputs sensing information to the control device 100. The robot arm 12 outputs a feedback signal of the encoder of each joint 31 to the control device 100. When the protrusion 33 provided on the fork 32 passes the sensing area, the light irradiated from the light source 21a is blocked by the line segments EF, GH, and IJ of each protrusion 33, as shown by the solid lines in FIG. 5, for example.

[0044] Here, in the robot arm 12 according to the present embodiment, the fork 32 formed of a material with low thermal expansion is provided on the arm 30c. FIG. 14 is a diagram showing an example of the configuration of the arm 30c at the tip of the robot arm 12 according to the embodiment. FIG. 14 shows the arm 30c at the tip of the robot arm 12. The arm 30c at the tip is provided with a fork 32 at the tip side. FIG. 14 shows the distance LFE from the connection part between the arm 30c and the fork 32 to the position of point E, the distance LFG from the connection part to the position of point G, the distance LFI from the connection part to the position of point I, and the length L3 of the arm 30c. The fork 32 is formed of a material with low thermal expansion. Therefore, in the arm 30c, even if a temperature change occurs, the distances LFE, LFG, and LFI of the fork 32 part hardly change, and the length L3 of the arm 30c mainly changes.

[0045] Fig. 7 is a diagram for explaining a change in the rotation angle due to expansion of the arm 30 of the robot arm 12 according to the embodiment. Fig. 7 shows the change in the rotation angle at point E where each protrusion 33 blocks the light irradiated from the light source 21a, with the axis 60 as the X-axis and the direction perpendicular to the axis 60 in the horizontal plane as the Y-axis. Fig. 7 shows the robot arm 12 in an unexpanded state where the arm 30 is not expanded, as shown by a solid line, and the robot arm 12 in an expanded state where the arm 30 is expanded, as shown by a dashed line.

[0046] The distance Y of the robot arm 12 in the Y-axis direction can be calculated from the length of each arm 30 and the rotation angle of each joint 31. For example, the lengths of the arms 30a to 30c of the robot arm 12 when the arm 30 is in an unexpanded state are denoted as L1 to L3. Also, as shown by the solid lines in Fig. 7, the rotation angles θ1E to θ3E of the joints 31 at point E where each protrusion 33 blocks the light irradiated from the light source 21a when the arm 30 is in an unexpanded state are denoted as θ1E to θ3E. In this case, the distance YE of point E in the Y-axis direction can be expressed by the following formula (4).

[0047] YE = L1·sinθ1E+L2·sinθ2E +(L3+LFE)·sinθ3E···(4) Where: YE is the distance of point E in the Y-axis direction. L1 to L3 are the lengths of the arms 30a to 30c in the unexpanded state. LFE is the distance from the connection point of the fork 32 with the arm 30c to the position of point E. θ1E to θ3E are the rotation angles of the joints 31a to 31c at point E in the unexpanded state.

[0048] The lengths L1 to L3 of the arms 30a to 30c of the robot arm 12 in an unexpanded state are, for example, the lengths of the arms 30a to 30c described in the specifications of the robot arm 12, or the lengths of the arms 30a to 30c at room temperature.

[0049] On the other hand, the amount of expansion of each arm 30a-30c of the robot arm 12 in the length direction when the arm 30 is in the expanded state is defined as ΔL1-ΔL3. Also, as shown by the dashed line in FIG. 7, the rotation angles θ1′E-θ3′E of each joint 31 at point E where each protrusion 33 blocks the light irradiated from the light source 21a when the arm 30 is in the expanded state are defined as. In this case, the distance YE of point E in the Y-axis direction can be expressed as the following formula (5). Note that the fork 32 is made of a material with low thermal expansion, and is assumed not to change in length due to thermal expansion. The amount of expansion of the fork 32 may be included in the amount of expansion ΔL3 of the arm 30c in the length direction. Also, the distance LFE of the fork 32 part may be omitted from formulas (4) and (5) as it is assumed to be included in the arm 30c.

[0050] YE = (L1+ΔL1)·sinθ1´E+(L2+ΔL2)·sinθ2´E +(L3+ΔL3+LFE)·sinθ3´E ···(5) Where: ΔL1 to ΔL3 are the amounts of expansion of the lengths of the arms 30a to 30c. θ1′E to θ3′E are the rotation angles of the joints 31a to 31c at point E in the expanded state.

[0051] The distance YE of point E in the Y-axis direction, the lengths L1-L3 of the arm 30 in an unexpanded state, and the distance LFE of the fork 32 portion are determined from actual measurements of the processing system 1 and design data of the processing system 1. Note that the distance YE may be calculated from the lengths L1-L3 of the arm 30 in an unexpanded state and the rotation angles θ1-θ3 of the joint 31 according to formula (4).

[0052] The detection unit 110 detects the rotation angles θ1 to θ3 of each joint 31 at points E, G, and I where each protrusion 33 blocks the light emitted from the light source 21a. Here, when each arm 30 of the robot arm 12 is expanded, the rotation angles θ1 to θ3 detected by the detection unit 110 are rotation angles θ1' to θ3'. For example, at point E, as shown in FIG. 7, when the arm 30 of the robot arm 12 is in an unexpanded state, the detection unit 110 detects the rotation angles θ1E to θ3E. On the other hand, when each arm 30 of the robot arm 12 is expanded, the detection unit 110 detects the rotation angles θ1'E to θ3'E. Also, at point G, when the arm 30 of the robot arm 12 is in an unexpanded state, the detection unit 110 detects the rotation angles θ1G to θ3G. On the other hand, when each arm 30 of the robot arm 12 is expanded, the detection unit 110 detects the rotation angles θ1'G to θ3'G. Furthermore, at point I, when the arms 30 of the robot arm 12 are in an unexpanded state, the detection unit 110 detects rotation angles θ1I to θ3I. On the other hand, when the arms 30 of the robot arm 12 are expanded, the detection unit 110 detects rotation angles θ1'I to θ3'I.

[0053] In equation (5), the distance YE and the lengths L1 to L3 of the arm 30 are determined from actual measurements of the processing system 1 and design data of the processing system 1. Furthermore, the rotation angles θ1'E to θ3'E are determined by detection by the detection unit 110. Therefore, in equation (5), the unknown quantities are the expansion amounts ΔL1 to ΔL3 of the arm 30.

[0054] From the rotation angles θ1′-θ3′ of the joint 31 at points E, G, and I, three equations (5) are obtained for the distance YE of point E in the Y-axis direction, the distance YG of point G in the Y-axis direction, and the distance YI of point I in the Y-axis direction. For example, the distance YG of point G in the Y-axis direction is obtained by replacing the distance LFE in equation (5) with the distance LFG from the connection part of the fork 32 with the arm 30c to the position of point G, and by replacing the rotation angles θ1′E-θ3′E with the rotation angles θ1′G-θ3′G. The distance YI of point I in the Y-axis direction is obtained by replacing the distance LFE in equation (5) with the distance LFI from the connection part of the fork 32 with the arm 30c to the position of point I, and by replacing the rotation angles θ1′I-θ3′I with the rotation angles θ1′G-θ3′G. The distances YG, YI, LFG, and LFI are determined from actual measurements of the processing system 1 and design data of the processing system 1. The distances LFE, LFG, and LFI may be omitted from equation (5) since they are included in the arm 30c. Since the unknowns in equation (5) are the three expansion amounts ΔL1 to ΔL3, the expansion amounts ΔL1 to ΔL3 can be calculated by solving the three equations (5) with the expansion amounts ΔL1 to ΔL3 as unknown constants.

[0055] Equation (5) has been explained using the relationship at point E as an example, but equation (5) is a relational equation that shows the relationship between the distance Y (YE) that the robot arm 12 has expanded or contracted, the lengths L1 to L3 of each arm 30 in the unexpanded state, the rotation angles θ1' to θ3' (θ1'E to θ3'E) of the joints 31, and the expansion amounts ΔL1 to ΔL3 of the lengths of the arms 30.

[0056] The calculation unit 111 applies, for each posture, the distance Y by which the robot arm 12 expands or contracts and the rotation angles θ1' to θ3' of the joint 31 detected by the detection unit 110 to equation (5). Then, the calculation unit 111 calculates the expansion amounts ΔL1 to ΔL3 by solving equation (5) for each posture as unconstant values.

[0057] In this manner, according to this embodiment, the expansion amounts ΔL1 to ΔL3 of the arms 30 can be obtained.

[0058] When the robot arm 12 transports the substrate W, the control device 100 corrects the transport position of the robot arm 12 based on the expansion amount of the arm 30 calculated by the calculation unit 111. For example, the control device 100 corrects the rotation angles of the joints 31a to 31c by assuming that the lengths of the arms 30a to 30c have increased by the expansion amounts ΔL1 to ΔL3. This makes it possible to suppress errors in the transport position of the robot arm 12 to a small value even if the arm 30 expands due to the influence of heat.

[0059] The calculation unit 111 may calculate the expansion amount of the arm 30 as follows. For example, the three equations (5) for the three postures can be converted into three equations with the expansion amounts ΔL1 to ΔL3 as solutions by converting the equations. The converted three equations become relational equations for calculating the expansion amounts ΔL1 to ΔL3 of the arm 30 from the distance Y (YE, YG, YI) by which the robot arm 12 expands or contracts in each posture, the length L1 to L3 of each arm 30 in an unexpanded state, and the rotation angles θ1' to θ3' of the joint 31 in each posture. The calculation unit 111 is set in advance with such relational equations for calculating the expansion amounts ΔL1 to ΔL3 of the arm 30. For example, the calculation unit 111 is programmed with the relational equations. The calculation unit 111 applies the rotation angles θ1' to θ3' of the joint 31 in each posture detected by the detection unit 110 to the set relational equations to calculate the expansion amounts ΔL1 to ΔL3 of each of the multiple arms 30. In this case as well, the expansion amounts ΔL1 to ΔL3 of the arms 30 can be obtained.

[0060] In the above embodiment, the expansion amounts ΔL1 to ΔL3 of the arm 30 are calculated from the rotation angles θ1′ to θ3′ of the joint 31 in the same three positions as the arm 30 of the robot arm 12. However, the rotation angles θ1′ to θ3′ of the joint 31 in four or more positions may be detected. For example, four or more protrusions 33 may be provided on one support portion 32a of the fork 32, and the rotation angles θ1′ to θ3′ of the joint 31 in four or more positions where the protrusions 33 pass through the arrangement position of the sensor 20a may be detected. In addition, the rotation angles θ1′ to θ3′ of the joint 31 in four or more positions where the protrusions 33 pass through may be detected at the positions of two sensors 20a and 20b arranged near the connection portion between the vacuum transfer chamber 11 and the load lock chamber 14.

[0061] When the calculation unit 111 detects the rotation angles θ1' to θ3' of the joint 31 in four or more postures, the calculation unit 111 calculates the expansion amount of the arm 30 from the rotation angles θ1' to θ3' of the joint 31 in the three postures for each combination of three postures for the four or more postures. Then, the calculation unit 111 calculates the average value of the expansion amounts for each arm 30 as the expansion amounts ΔL1 to ΔL3 of the arm 30. By calculating the expansion amount of the arm 30 in this manner, the accuracy of the expansion amounts ΔL1 to ΔL3 can be improved.

[0062] In the above-described embodiment, a case has been described as an example in which a single sensor 20 is used to detect a plurality of postures of the robot arm 12. However, a plurality of sensors 20 may be used to detect a plurality of postures of the robot arm 12. For example, the sensors 20 may be disposed at different positions equal to or greater than the number of arms 30 of the robot arm 12, and the detection unit 110 may detect the rotation angles θ1' to θ3' of the joint 31 in each posture in which the tip of one support portion 32a of the fork 32 is detected by each sensor 20.

[0063] The position of the sensor 20 is not limited to the vicinity of the connection between the vacuum transfer chamber 11 and the load lock chamber 14. The sensor 20 may be located anywhere within the range of the robot arm 12 and as long as the change in the position due to the influence of heat or the like is small. For example, the sensor 20 may be located anywhere within the vacuum transfer chamber 11.

[0064] Incidentally, when substrate processing is performed at high temperatures, the process chamber 13 may thermally expand in the horizontal direction. Therefore, the technology of the present disclosure may be used to detect the amount of expansion of the process chamber 13. FIG. 8 is a system configuration diagram showing another example of a processing system according to an embodiment. In FIG. 8, the same components as those in FIG. 1 are denoted by the same reference numerals, and duplicated explanations will be omitted. In the processing system 1 shown in FIG. 8, a sensor 22 similar to the sensor 20 is provided in the process chamber 13.

[0065] The detection unit 110 detects the rotation angle of the joint 31 when the sensor 22 provided in the process chamber 13 detects the robot arm 12. For example, when detecting the expansion amount of the process chamber 13, the control device 100 moves the robot arm 12 so that the protrusion 33 provided on the fork 32 passes the position where the sensor 22 provided in the process chamber 13 is arranged. The detection unit 110 detects the rotation angle of the joint 31 when the protrusion 33 of the robot arm 12 is detected. For example, the detection unit 110 detects the rotation angle of the joints 31a to 31c when the first protrusion 33 (for example, point E) is detected.

[0066] FIG. 9 is a diagram showing an example of the rotation angle of the joint 31 of the robot arm 12 according to the embodiment. FIG. 9 is a diagram showing the rotation angle of each joint 31 when the process chamber 13 is in a non-expanded state. In FIG. 9, the robot arm 12 when the arm 30 is in a non-expanded state is shown typically by a solid line, and the robot arm 12 when the arm 30 is in an expanded state is shown typically by a broken line. The rotation angles of each joint 31 of the robot arm 12 when the arm 30 is in a non-expanded state are θ01 to θ03, and the lengths of each arm 30 in the non-expanded state are L1 to L3. In addition, the expansion amounts in the length direction of each arm 30 of the robot arm 12 when the arm 30 is in an expanded state are ΔL1 to ΔL3, and the rotation angles of each joint 31 of the robot arm 12 are θ01' to θ03'. In this case, the distance P0 of the detection position of the sensor 22 in the Y-axis direction can be expressed as the following formula (6).

[0067] P0 = L1·sinθ01+L2·sinθ02+(L3+LFE)·sinθ03 = (L1+ΔL1)·sinθ01´+(L2+ΔL2)·sinθ02´ +(L3+ΔL3+LFE)·sinθ03´ ···(6)

[0068] FIG. 10 is a diagram showing an example of the rotation angle of the joint 31 of the robot arm 12 according to the embodiment. FIG. 10 is a diagram showing the rotation angle of each joint 31 when the process chamber 13 is in an expanded state. In FIG. 10, the robot arm 12 when the arm 30 is in an unexpanded state is shown by a solid line, and the robot arm 12 when the arm 30 is in an expanded state is shown by a broken line. The rotation angles of each joint 31 of the robot arm 12 when the arm 30 is in an unexpanded state are θ11 to θ13. In addition, the expansion amounts of the arms 30 of the robot arm 12 in the length direction when the arm 30 is in an expanded state are ΔL1 to ΔL3, and the rotation angles of each joint 31 of the robot arm 12 are θ11' to θ13'. In this case, the distance P1 of the detection position of the sensor 22 with respect to the Y-axis direction can be expressed as the following formula (7).

[0069] P1 = L1·sinθ11+L2·sinθ12+(L3+LFE)·sinθ13 = (L1+ΔL1)·sinθ11´+(L2+ΔL2)·sinθ12´ +(L3+ΔL3+LFE)·sinθ13´ ···(7)

[0070] In this case, the expansion amount (P1-P0) of the process chamber 13 can be expressed as the following equation (8) from equations (6) and (7). P1-P0=L1·sinθ11+L2·sinθ12 +(L3+LFE)·sinθ13-{L1·sinθ01 +L2·sinθ02+(L3+LFE)·sinθ03} =(L1+ΔL1)·sinθ11´+(L2+ΔL2)·sinθ12´ +(L3+ΔL3+LFE)·sinθ13´ -{(L1+ΔL1)·sinθ01´+(L2+ΔL2)·sinθ02´ +(L3+ΔL3+LFE)·sinθ03´} ···(8)

[0071] A distance P0 of the detection position of the sensor 22 in the Y-axis direction is determined from actual measurements of the processing system 1 and design data of the processing system 1. Note that the distance P0 may be calculated from the lengths L1 to L3 of the arm 30 in an unexpanded state and the rotation angles θ01 to θ03 of the joint 31 according to formula (6).

[0072] In this embodiment, it is possible to calculate the expansion amounts ΔL1 to ΔL3 of the arms 30. When the distance P0 is determined, the expansion amount (P1-P0) of the process chamber 13 can be calculated by finding the distance P1 of the detection position of the sensor 22 in the Y-axis direction using equation (7).

[0073] The calculation unit 111 calculates the expansion amount of the process chamber 13 based on the lengths L1 to L3 of each arm 30 in the unexpanded state, the calculated expansion amounts ΔL1 to ΔL3 of each of the multiple arms 30, and the rotation angles θ11' to θ13' of the joint 31 detected by the detection unit 110. For example, the calculation unit 111 uses the formula (7) to calculate the distance P1 from the lengths L1 to L3 of each arm 30 in the unexpanded state, the calculated expansion amounts ΔL1 to ΔL3 of each of the multiple arms 30, and the rotation angles θ11' to θ13' of the joint 31 detected by the detection unit 110. Then, the calculation unit 111 calculates the expansion amount (P1-P0) of the process chamber 13 by subtracting the distance P1 from the distance P0.

[0074] In this manner, according to this embodiment, even if the arm 30 expands, the amount of expansion of the process chamber 13 can be calculated.

[0075] [Expansion calculation method] Next, a description will be given of an example of a control flow of an expansion amount calculation method in which the processing system 1 calculates the expansion amount of the arm 30 of the robot arm 12. Fig. 11 is a diagram illustrating an example of a control flow of the expansion amount calculation method according to the embodiment.

[0076] The detection unit 110 detects the rotation angle of the joint 31 in different postures equal to or greater than the number of arms 30 of the robot arm 12 (S10). For example, the control device 100 moves the robot arm 12 so that the protrusion 33 provided on the fork 32 passes through the arrangement position of the sensor 20a. The detection unit 110 detects the rotation angle of the joint 31 at points E, G, and I where the sensor 20a detects each of the protrusions 33.

[0077] The calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture (S11), and ends the process. For example, the calculation unit 111 applies the distance Y by which the robot arm 12 expands or contracts and the rotation angles θ1' to θ3' of the joint 31 detected by the detection unit 110 to equation (5) for each posture. Then, the calculation unit 111 calculates the expansion amounts ΔL1 to ΔL3 by solving equation (5) for each posture with the expansion amounts ΔL1 to ΔL3 being unconstant.

[0078] As described above, the processing system 1 according to this embodiment includes a robot arm 12 (multi-joint arm), a detection unit 110, and a calculation unit 111. The robot arm 12 has a plurality of arms 30 connected by rotatable joints 31, and can be extended or contracted by rotating the joints 31. The detection unit 110 detects the rotation angles of the joints 31 of the robot arm 12 in different postures equal to or greater than the number of the arms 30 of the robot arm 12. The calculation unit 111 calculates the amount of expansion of each of the plurality of arms 30 based on the rotation angles of the joints 31 in each posture detected by the detection unit 110. In this way, the processing system 1 according to this embodiment can obtain the amount of expansion of each arm 30.

[0079] Furthermore, the calculation unit 111 calculates the expansion amount of each of the multiple arms 30 from the length (L1 to L3) of each arm 30 in an unexpanded state where the multiple arms 30 are not expanded, the distance Y by which the robot arm 12 expands or contracts in each posture in the unexpanded state, and the rotation angle (θ1' to θ3') of the joint 31 in each posture detected by the detection unit 110. In this way, the processing system 1 according to this embodiment can calculate the expansion amount of each arm 30.

[0080] The calculation unit 111 also applies the distance by which the robot arm 12 has expanded or contracted and the rotation angle of the joint 31 detected by the detection unit 110 to a relational equation (equation (5)) showing the relationship between the distance Y by which the robot arm 12 has expanded or contracted, the length (L1 to L3) of each arm 30 in an unexpanded state, the rotation angle (θ1' to θ3') of the joint 31, and the expansion amount (ΔL1 to ΔL3) of the multiple arms 30 for each posture, and calculates the expansion amount of each of the multiple arms 30 by solving the relational equation for each posture as an unconstant value. In this way, the processing system 1 according to this embodiment can calculate the expansion amount of each arm 30.

[0081] The calculation unit 111 also calculates the expansion amount of each of the multiple arms 30 by applying the rotation angle of the joint 31 in each posture detected by the detection unit 110 to a relational expression that calculates the expansion amount of each of the multiple arms 30 from the distance the robot arm 12 has expanded or contracted in each posture, the length of each arm 30 in an unexpanded state, and the rotation angle of the joint 31 in each posture. In this case as well, the processing system 1 according to this embodiment can calculate the expansion amount of each arm 30.

[0082] In addition, the different postures are postures in which the robot arm 12 expands or contracts to different distances. As a result, the rotation angle of the joint 31 changes in each posture, so the processing system 1 according to this embodiment can accurately calculate the expansion amount of each arm 30 from the rotation angle of the joint 31 in each posture.

[0083] Although the embodiments have been described above, the disclosed embodiments should be considered to be illustrative and not restrictive in all respects. Indeed, the above-described embodiments may be embodied in various forms. Furthermore, the above-described embodiments may be omitted, substituted, or modified in various forms without departing from the scope and spirit of the claims.

[0084] For example, in the above embodiment, the sensor 20 and the sensor 22 have the light source 21a and the light receiving sensor 21b, and the arrival of the robot arm 12 is detected by the interruption of light from the light source 21a. However, the present invention is not limited to this. The sensor 20 and the sensor 22 may use any method as long as they can detect the arrival of the robot arm 12.

[0085] In the above embodiment, as shown in Fig. 2, three rectangular projections 33 projecting horizontally are provided on one support portion 32a of the fork 32 to enable the position to be detected by the sensor 20, but the present invention is not limited to this. The fork 32 may have any shape as long as the extended / contracted position can be detected by the sensor 20. For example, the fork 32 may have projections 33 provided on each of the two support portions 32a. The projections 33 may also be provided symmetrically on the fork 32.

[0086] FIG. 12 is a diagram showing another example of the shape of the fork 32 according to the embodiment. The fork 32 is provided with two Y-shaped support parts 32a branched at the tip side. The two support parts 32a of the fork 32 are provided with protrusions 33 protruding horizontally outward near the ends connected to the arm 30c. The two protrusions 33 provided on the two support parts 32a are partially symmetrical in shape. For example, the two protrusions 33 provided on the two support parts 32a are formed in a symmetrical shape at the tip side of the fork 32. The two protrusions 33 are formed so that the tip side of the fork 32 is formed at a right angle to the tip side of the fork 32, and the end side of the fork 32 is formed obliquely so that the width gradually narrows relative to the end side. In addition, of the two protrusions 33, the protrusion 33 on one side is formed to the end side beyond the protrusion 33 on the other side. In FIG. 12, the substrate W placed on the fork 32 is shown by a dotted line. In addition, in FIG. 12, the positions where the substrate W passes through the sensing areas of the sensors 20a and 20b when the robot arm 12 takes out the substrate W from the load lock chamber 14 are indicated by dotted lines. When the substrate W passes through the sensing area, four points A to D are detected by the sensors 20a and 20b. The control device 100 specifies the center of a circle that passes through at least three points A to D as the center position O of the substrate W. Furthermore, when the protrusion 33 of the fork 32 passes through the sensing area, four points E to H are detected by the sensors 20a and 20b. The calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture. For example, the expansion amount of each arm 30 is calculated from the average distance Y when the points E and F are detected, the distance Y when the point G is detected, and the rotation angle of each joint 31 at the distance Y when the point H is detected. In this way, the processing system 1 according to this embodiment can obtain the expansion amount of each arm 30. Furthermore, when the robot arm 12 takes out the substrate W from the load lock chamber 14, the center position O of the substrate W and the amount of expansion of each arm 30 can be calculated simultaneously, and the transfer position to the mounting table can be corrected.

[0087] FIG. 13 is a diagram showing another example of the shape of the fork 32 according to the embodiment. The fork 32 is provided with two Y-shaped support parts 32a branched at the tip side. The two support parts 32a of the fork 32 are formed symmetrically. The fork 32 has slits 34 formed symmetrically near the branch part where the two support parts 32a branch. The fork 32 has protrusions 33 protruding horizontally toward the tip side at the tip of the two support parts 32a. The fork 32 also has protrusions 33 extending from the support parts 32a to the end side at the branch part of the two support parts 32a. In FIG. 13, the substrate W placed on the fork 32 is shown by a dotted line. The fork 32 is formed larger than the substrate W, and the protrusions 33 at the tip side of the two support parts 32a are exposed through the substrate W placed thereon. The sensors 20a and 20b are placed at an interval corresponding to the interval between the two support parts 32a. Further, sensors 23a and 23b having the same configuration as the sensors 20a and 20b are arranged outside the sensors 20a and 20b. In FIG. 13, the substrate W arranged on the fork 32 is shown by a dotted line. In FIG. 13, the position where the substrate W passes through the sensing areas of the sensors 20a, 20b, 23a, and 23b when the robot arm 12 takes out the substrate W from the load lock chamber 14 is shown by a dotted line. The substrate W passes through the sensing areas of the sensors 23a and 23b. When the substrate W passes through the sensing areas, four points A to D are detected by the sensors 23a and 23b. The control device 100 specifies the center of a circle that passes through at least three points A to D as the center position O of the substrate W. The tip, slit 34, and end of the fork 32 pass through the sensing areas of the sensors 20a and 20b. When the tip, slit 34, and end of the fork 32 pass through the sensing area, six points E to J are detected by the sensors 20a and 20b. The calculation unit 111 calculates the expansion amount of each arm 30 based on the rotation angle of the joint 31 in each detected posture. For example, the expansion amount of each arm 30 is calculated from the rotation angle of each joint 31 at the average distance Y when points E and F are detected, the average distance Y when points G and H are detected, and the average distance Y when points I and J are detected. In this way, the processing system 1 according to this embodiment can obtain the expansion amount of each arm 30.The central position O of the substrate W and the amount of expansion of each arm 30 can be calculated simultaneously, and the transfer position to the mounting table can be corrected.

[0088] In the above embodiment, the substrate W is a semiconductor wafer, but the present invention is not limited to this. The substrate W may be any substrate, such as a glass substrate.

[0089] In the above embodiment, the sensor 20 (sensors 20a, 20b) is provided near the connection between the vacuum transfer chamber 11 and the load lock chamber 14, and the rotation angle of each joint of the robot arm 12 when each protrusion 33 provided on the fork 32 passes the arrangement position of the sensor 20 is detected, but the present invention is not limited to this. FIG. 15 is a diagram showing another example of the processing system main body 10 according to the embodiment. In FIG. 15, the same parts as those in FIG. 1 are given the same reference numerals, and duplicated explanations are omitted. The processing system main body 10 shown in FIG. 15 is provided with sensors 24 (sensors 24a, 24b) similar to the sensor 20 (sensors 20a, 20b) near the connection between the vacuum transfer chamber 11 and each process chamber 13. When the robot arm 12 loads and unloads the substrate W into and from each process chamber 13, each protrusion 33 provided on the fork 32 passes the arrangement position of the sensors 24a, 24b. The control device 100 may detect the rotation angle of each joint of the robot arm 12 when each protrusion 33 on the fork 32 passes through the position where the sensor 20 is positioned, and calculate the amount of expansion of each of the multiple arms 30 based on the detected rotation angle of each joint. [Explanation of symbols]

[0090] 1 Processing System 11 Vacuum transfer chamber 12 Robot Arm 13 Process chamber 14 Load lock chamber 15 Loader Module 20 Sensors 30, 30a~30c Arm 31, 31a-31c joints 32 Fork 32a Support part 33 Protrusion 100 Control device 101 Process Controller 102 User Interface 103 Storage section 110 Detection unit 111 Calculation section W substrate

Claims

1. A multi-joint arm in which a plurality of arms are connected by rotatable joints and can be extended or contracted by rotating the joints; a detection unit that detects rotation angles of the joints of the multi-joint arm in different postures equal to or greater than the number of arms of the multi-joint arm; a calculation unit that calculates an expansion amount of each of the plurality of arms based on a rotation angle of the joint in each posture detected by the detection unit; having the detection unit detects a rotation angle of the articulated arm when the articulated arm is detected by a sensor provided in a chamber in which a substrate is processed; The calculation unit calculates the expansion amount of the chamber based on the length of each arm in an uninflated state, the calculated expansion amount of each of the plurality of arms, and the rotation angle of the joint detected by the detection unit. Conveying device.

2. The calculation unit calculates an expansion amount of each of the multiple arms from a length of each arm in an unexpanded state in which the multiple arms are not expanded, a distance by which the multi-joint arm expands or contracts in each of the postures in the unexpanded state, and a rotation angle of the joint in each of the postures detected by the detection unit. The conveying device according to claim 1 .

3. The calculation unit calculates the expansion amounts of the multiple arms by applying, for each posture, the distance by which the multiple joint arm has expanded or contracted and the rotation angle of the joint detected by the detection unit to a relational equation showing the relationship between the distance by which the multiple joint arm has expanded or contracted, the length of each arm in the unexpanded state, the rotation angle of the joint, and the expansion amounts of the multiple arms, and solving the relational equation for each posture with the expansion amounts of the multiple arms as unconstants. The conveying device according to claim 2 .

4. The calculation unit calculates an expansion amount of each of the plurality of arms by applying the rotation angle of the joint in each posture detected by the detection unit to a relational expression that calculates an expansion amount of each of the plurality of arms from a distance by which the multi-joint arm is expanded or contracted in each of the postures, a length of each arm in the unexpanded state, and a rotation angle of the joint in each of the postures. The conveying device according to claim 2 .

5. The different postures are postures in which the articulated arm is extended or contracted to different distances. A conveying device according to any one of claims 1 to 4.

6. The present invention further includes a transport control unit that corrects a transport position of the multi-joint arm based on the expansion amount of the arm calculated by the calculation unit. A conveying device according to any one of claims 1 to 5.

7. a step of detecting rotation angles of the joints of a multi-joint arm in different postures equal to or greater than the number of arms of the multi-joint arm, the multi-joint arm having a plurality of arms connected by rotatable joints and capable of extending or contracting by rotating the joints; calculating an expansion amount of each of the plurality of arms based on a rotation angle of the joint in each detected posture; having The detecting step detects a rotation angle of the articulated arm when the articulated arm is detected by a sensor provided in a chamber in which a substrate is processed; The calculation step calculates the expansion amount of the chamber based on the length of each arm in an uninflated state, the calculated expansion amount of each of the arms, and the detected rotation angle of the joint. How to calculate the amount of expansion.

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