Semiconductor device manufacturing device and manufacturing method
A semiconductor device manufacturing device ( 10 ) includes a stage ( 12 ), an installing head ( 14 ) that has a chip holding surface ( 26 ) and disposes a chip ( 100 ) on a substrate ( 110 ), a measuring mechanism ( 16 ) that measures a tilt angle of the chip ( 100 ) loaded on an installing surface ( 112 ) of the substrate ( 110 ) by the installing head ( 14 ) with respect to the installing surface ( 112 ) as a detection tilt angle Sd, a holding surface adjusting mechanism ( 18 ) that changes a holding surface tilt angle Sb which is a tilt angle of the chip holding surface ( 26 ) with respect to a loading surface ( 21 ), and a controller ( 20 ) that calculates a correction amount C of the holding surface tilt angle Sb based on the detection tilt angle Sd and changes the holding surface tilt angle Sb by the holding surface adjusting mechanism ( 18 ) according to the calculated correction amount C.
1 . A semiconductor device manufacturing device comprising:
a stage that has a loading surface on which a substrate is loaded;
an installing head that has a chip holding surface for holding a chip and disposes the chip on the substrate loaded on the stage;
a measuring mechanism that measures a tilt angle of the chip loaded on an installing surface of the substrate by the installing head with respect to the installing surface as a detection tilt angle;
a holding surface adjusting mechanism that changes a holding surface tilt angle which is a tilt angle of the chip holding surface with respect to the loading surface; and
a controller that calculates a correction amount of the holding surface tilt angle on a basis of the detection tilt angle and changes the holding surface tilt angle by the holding surface adjusting mechanism according to the correction amount calculated, wherein the controller stores a plurality of detection tilt angles measured in the past; and
wherein the controller obtains a basic tilt angle by removing an influence of correction of the holding surface tilt angle from each of the plurality of detection tilt angles and changes a calculation policy of the correction amount according to a change tendency of the basic tilt angle between the substrates.
2 . The semiconductor device manufacturing device according to claim 1 , wherein, in a case in which a variation of the basic tilt angle between the substrates is equal to or less than a specified allowable value, the controller calculates a value to cancel the detection tilt angle obtained for a nearest substrate as the correction amount.
3 . The semiconductor device manufacturing device according to claim 2 , wherein, in a case in which the basic tilt angle changes between the substrates with a predetermined regularity, the controller estimates a basic tilt angle of a next substrate according to the regularity and calculates a value to cancel the basic tilt angle as the correction amount.
4 . The semiconductor device manufacturing device according to claim 2 , wherein, in a case in which the basic tilt angle changes randomly between the substrates, the controller estimates a representative value of a plurality of the basic tilt angles obtained for a plurality of the substrates as a basic tilt angle of a next substrate and calculates a value to cancel the basic tilt angle as the correction amount.
5 . The semiconductor device manufacturing device according to claim 2 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller treats a representative value of a plurality of the detection tilt angles obtained for the plurality of chips as the detection tilt angle of the one substrate.
6 . The semiconductor device manufacturing device according to claim 2 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller generates a map in which a correspondence between a position of each chip in the substrate and the detection tilt angle of each chip is recorded and calculates the correction amount for each chip position on a basis of the map.
7 . The semiconductor device manufacturing device according to claim 1 , wherein, in a case in which the basic tilt angle changes between the substrates with a predetermined regularity, the controller estimates a basic tilt angle of a next substrate according to the regularity and calculates a value to cancel the basic tilt angle as the correction amount.
8 . The semiconductor device manufacturing device according to claim 7 , wherein, in a case in which the basic tilt angle changes randomly between the substrates, the controller estimates a representative value of a plurality of the basic tilt angles obtained for a plurality of the substrates as a basic tilt angle of a next substrate and calculates a value to cancel the basic tilt angle as the correction amount.
9 . The semiconductor device manufacturing device according to claim 7 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller treats a representative value of a plurality of the detection tilt angles obtained for the plurality of chips as the detection tilt angle of the one substrate.
10 . The semiconductor device manufacturing device according to claim 7 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller generates a map in which a correspondence between a position of each chip in the substrate and the detection tilt angle of each chip is recorded and calculates the correction amount for each chip position on a basis of the map.
11 . The semiconductor device manufacturing device according to claim 1 , wherein, in a case in which the basic tilt angle changes randomly between the substrates, the controller estimates a representative value of a plurality of the basic tilt angles obtained for a plurality of the substrates as a basic tilt angle of a next substrate and calculates a value to cancel the basic tilt angle as the correction amount.
12 . The semiconductor device manufacturing device according to claim 11 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller treats a representative value of a plurality of the detection tilt angles obtained for the plurality of chips as the detection tilt angle of the one substrate.
13 . The semiconductor device manufacturing device according to claim 11 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller generates a map in which a correspondence between a position of each chip in the substrate and the detection tilt angle of each chip is recorded and calculates the correction amount for each chip position on a basis of the map.
14 . The semiconductor device manufacturing device according to claim 1 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller treats a representative value of a plurality of the detection tilt angles obtained for the plurality of chips as the detection tilt angle of the one substrate.
15 . The semiconductor device manufacturing device according to claim 1 , wherein, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller generates a map in which a correspondence between a position of each chip in the substrate and the detection tilt angle of each chip is recorded and calculates the correction amount for each chip position on a basis of the map.
16 . The semiconductor device manufacturing device according to claim 1 ,
wherein the installing head has an installing tool that includes the chip holding surface and a spherical air bearing that holds the installing tool,
wherein the spherical air bearing is capable of switching between a free state in which the installing tool is held with its swinging allowed and a locked state in which the installing tool is held with its swinging hindered, and
wherein the holding surface adjusting mechanism has a tilt plate with which the chip holding surface is brought into contact, and
a plurality of support columns that supports the tilt plate and advances and retreats independently of each other to arbitrarily change an angle of the tilt plate.
17 . A semiconductor device manufacturing method comprising:
a bonding step of holding a chip with a chip holding surface of an installing tool and moving the installing tool to load the chip on an installing surface of a substrate loaded on a loading surface of a stage;
a measurement step of measuring a tilt angle between an upper surface of the chip loaded on the installing surface and the installing surface as a detection tilt angle;
a correction amount calculation step of calculating a correction amount of a holding surface tilt angle, which is a tilt angle of the chip holding surface with respect to the stage, on a basis of the detection tilt angle; and
a correction step of changing the holding surface tilt angle according to the correction amount by a holding surface adjusting mechanism that changes the holding surface tilt angle, wherein a controller stores a plurality of detection tilt angles measured in the past, and the controller obtains a basic tilt angle by removing an influence of correction of the holding surface tilt angle from each of the plurality of detection tilt angles and changes a calculation policy of the correction amount according to a change tendency of the basic tilt angle between the substrates.