JP5487698B2 - Superposition apparatus for superposing a plurality of substrates, and method for manufacturing semiconductor device - Google Patents

Description

  The present invention relates to an overlaying apparatus for overlaying a plurality of substrates, and a method for manufacturing a semiconductor device.

  One technique for improving the effective mounting density of semiconductor devices is a three-dimensional structure in which a plurality of semiconductor chips are stacked. In particular, a semiconductor chip manufactured by a procedure of laminating a plurality of wafers in the state of a wafer as a semiconductor substrate and joining them into individual pieces has recently attracted attention because of its high productivity. When two wafers are overlapped, alignment is performed while measuring the alignment marks of each other with a microscope (see, for example, Patent Document 1).

JP 2005-251972 A

  In recent years when the diameter of the wafer tends to increase, it has become difficult to perform high-speed alignment with submicron accuracy on the entire surface of the wafers that are overlapped. In particular, there is a demand for an overlay apparatus that can move the other wafer with respect to one wafer accurately and at high speed in accordance with an alignment command. Another problem is how to superimpose the other wafer on one wafer accurately and at high speed.

  In order to solve the above-mentioned problem, in the first aspect of the present invention, there is provided a superposition device for superposing a plurality of substrates, a first stage for holding one substrate, a substrate for holding another substrate, A second stage that superimposes another substrate on one substrate held on the first stage by approaching one stage, and a position measurement unit that measures the position of the second stage using the first stage as a positioning reference With.

  In order to solve the above-described problem, in the second aspect of the present invention, a semiconductor device manufacturing method using an overlaying apparatus for superposing a plurality of substrates, the first stage holding one substrate, A step of placing one substrate, a second stage that holds the other substrate, and superimposes the other substrate on the one substrate held on the first stage by being close to the first stage; And a step of measuring the position of the second stage by a position measuring unit that measures the position of the second stage, using the first stage as a positioning reference.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

It is sectional drawing which shows a superposition apparatus roughly. It is a top view which shows a superposition apparatus roughly. It is explanatory drawing which shows the vicinity of an upper table roughly. It is a perspective view which shows a coarse movement stage part. It is a schematic sectional drawing in alignment with BB of FIG. It is a perspective view which shows a self-weight canceller. It is a schematic sectional drawing in alignment with CC of FIG. FIG. 6 is a cross-sectional view taken along the line BB in FIG. 2 and is a partial detail view seen from the opposite direction to FIG. 5. FIG. 3 is a partial detailed cross-sectional view along the line AA in FIG. 2. It is a top view which shows a fine movement stage part roughly. It is a schematic sectional drawing which shows the other structure of a superimposition apparatus. It is a perspective view which shows a mode that the 1st board | substrate holder was looked down from upper direction. It is a perspective view which shows a mode that the 1st board | substrate holder was looked up from the downward direction. It is a control flow figure of a superposition device.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  FIG. 1 is a cross-sectional view schematically showing a superposition apparatus 10 according to the present embodiment. As an overall configuration of the superimposing apparatus 10, first, on a coarse motion base member 13 installed on a floor 15 via a vibration isolation member 16, a coarse motion stage portion 14, and a lower table above the coarse motion stage portion 14. A fine movement stage unit 18 including 35 is provided. Further, in the recess 19 provided in the coarse motion base member 13, the upper table 24 is positioned above the lower table 35 and opposed to the lower table 35 in the body 21 installed via the vibration isolation member 20. Is provided. Therefore, the vibration isolation member 20 functions as a vibration isolator, and prevents the upper table 24 from vibrating.

  The coarse movement base member 13 is provided with an X-drive unit 33 and a Y-drive unit 34 on the upper surface thereof, and the XY-stage member 32 is driven in the xy directions. Therefore, the XY-stage member 32 can be moved to a predetermined position in the xy direction by an instruction from a control unit (not shown). The X-drive unit 33, the Y-drive unit 34, and the XY-stage member 32 constitute the coarse movement stage unit 14. The vertical direction of the apparatus is the z-axis direction, and the plane orthogonal to the z-axis direction is the xy plane.

  The Y-drive unit 34 includes a pair of Y-linear motors 53 that apply a moving force along the Y-axis direction to the XY-stage member 32 and the X-drive unit 33, and the XY-stage member 32 and the X-drive unit 33. And a Y-guide member 56 for guiding the movement of. That is, the XY-stage member 32 and the X-drive unit 33 move integrally in the y-axis direction. The magnets 54 of the pair of Y-linear motors 53 are fixed to a pair of edges 13b facing each other in the x-axis direction of the coarse motion base member 13 so as to extend along the y-axis direction and be parallel to each other. Yes. The coils 55 of the pair of Y-linear motors 53 are provided on the connecting members 50 and 51 and engage with the magnets 54 in a non-contact state.

  The Y-guide member 56 is fixed to the coarse motion base member 13 so as to extend along the y-axis direction between the pair of magnets 54. An engaging portion 57 provided on one connecting member 50 is engaged with the Y-guide member 56 through an air bearing 58 in a non-contact state. When each Y-linear motor 53 is driven, the engaging portion 57 is guided by the Y-guide member 56, whereby the XY-stage member 32 and the X-driving portion 33 move along the y-axis direction.

  The connecting members 50 and 51 are members for connecting and integrating the two X-guide members 46 constituting the X-driving unit 33 with each other at their respective ends. Air pads 52 are provided on the bottom surfaces of the connecting members 50 and 51, respectively. Thereby, the connection members 50 and 51 are installed at intervals without contacting the upper surface 13a of the coarse motion base member 13, respectively.

  The body 21 includes a fine movement base member 17, an upper plate member 22 disposed in parallel therewith, and a column member 23 that supports the upper plate member 22 on the fine movement base member 17, and these are integrated with high rigidity. It functions as a frame. The upper table 24 fixed to the upper plate member 22 holds the first substrate 11 that is a wafer on the lower surface thereof. A specific configuration near the upper table 24 will be described later.

  The column member 23 is provided with an X-interferometer 29 at a predetermined position with respect to the lower surface of the upper table 24. Specifically, on the surface of the column member 23 processed so as to be parallel to the yz plane, two locations separated in the y-axis direction and two locations separated in the z-axis direction with respect to each other Four X-interferometers 29 are installed at a total of four locations. From the outputs of these four interferometers, the position of the lower table 35 in the x-axis direction, the rotation direction around the y-axis, and the rotation amount around the z-axis can be measured. The X-interferometer 29 constitutes a position measurement unit that measures the position of the lower table 35.

  The fine movement stage unit 18 is supported by a self-weight canceller 36 that penetrates the XY-stage member 32. The self-weight canceller 36 is installed on the fine movement base member 17 of the body 21. Then, the second substrate 12 which is a wafer is held on the upper surface of the lower table 35 of the fine movement stage unit 18. A specific configuration in the vicinity of fine movement stage 18 will be described later. Note that the first substrate 11 and the second substrate 12 to be overlaid have semiconductor elements formed on the respective surfaces to be overlaid, and are joined after being overlaid so that a three-dimensional electric circuit is obtained. Realize the configuration. The first substrate 11 and the second substrate 12 may be a single wafer, or may be a wafer in which one or both are already laminated.

  FIG. 2 is a top view schematically showing the superimposing apparatus 10. FIG. 2 shows a state in which the upper plate member 22 and the column member 23 and the structures installed on them are removed from the body 21.

  The X-drive unit 33 guides the movement of the XY-stage member 32 by a pair of X-linear motors 43 that apply a moving force along the x-axis direction to the XY-stage member 32 and the X-linear motors 43. A pair of X-guide members 46.

  The magnets 44 of the pair of X-linear motors 43 are arranged on the coarse movement base member 13 so as to straddle the fine movement base member 17 disposed in the recess 19 of the coarse movement base member 13 in the x-axis direction and to be parallel to each other. It arrange | positions at the upper surface 13a. The coil 45 of the X-linear motor 43 is attached to the XY-stage member 32 and engages with each magnet 44 in a non-contact state. The pair of X-guide members 46 are disposed on the upper surface 13a of the coarse motion base member 13 so as to extend along the x-axis direction and be parallel to each other between the pair of magnets 44. .

  The connecting members 50 and 51 that connect the two X-guide members 46 and the two magnets 44 are installed on the upper surface 13 a of the coarse motion base member 13 via the air pad 52. Therefore, the magnet 44 and the X-guide member 46 are in a floating relationship on the coarse movement base member 13 and the fine movement base member 17, respectively.

  As described above, the X-interferometer 29 for measuring the position and the like of the lower table 35 in the x-axis direction is installed on the column member 23. Similarly, the position and the like of the lower table 35 in the y-axis direction are measured. The Y-interferometer 30 is also installed at a predetermined position on the column member 23. Specifically, on the surface of the pillar member 23 processed so as to be parallel to the xz plane, two locations separated in the x-axis direction and two locations spaced in the z-axis direction with respect to each other Four Y-interferometers 30 are installed for a total of four locations. From the outputs of these four interferometers, the distance of the lower table 35 in the y-axis direction, the rotation direction around the x-axis, and the rotation amount around the z-axis can be measured. The Y-interferometer 30 constitutes a position measurement unit that measures the position of the lower table 35. Therefore, the position measuring unit composed of the X-interferometer 29 and the Y-interferometer 30 includes the lower table 35 in the x-axis direction, the y-axis direction, the rotation direction around the x-axis, the rotation direction around the y-axis, and the z-axis. The position can be measured with respect to 5 degrees of freedom in the surrounding rotation direction.

  An X-moving mirror 74 and a Y-moving mirror 75 are attached to the corresponding lower table 35. The X-moving mirror 74 is a mirror for reflecting light from the X-interferometer 29, and the Y-moving mirror 75 is a mirror for reflecting light from the Y-interferometer 30. The mirror surface of the X-moving mirror 74 is a plane parallel to the yz plane, and the mirror surface of the Y-moving mirror 75 is a plane parallel to the xz plane.

  If the position measuring unit is configured in this way, the position of the lower table 35 can be grasped relatively accurately with reference to the upper table 24. When the second substrate 12 is superimposed on the first substrate 11 while being aligned, position measurement on the second substrate 12 side using the first substrate 11 side as a positioning reference is important. Satisfies such a relative relationship. In particular, since the body 21 has an integral frame structure with high rigidity, it is preferable to install the position measuring unit on the surface of the frame structure that faces the side surface of the lower table 35. In the present embodiment, the position measurement unit is configured using an interferometer. However, the position measurement unit is not limited thereto, and a position sensor or a distance sensor that realizes the same function, such as a laser length meter and a microsensor, is used. Also good.

  FIG. 3 is an explanatory diagram schematically showing the vicinity of the upper table 24. As described above, the upper table 24 is fixed to the upper plate member 22. On the lower surface 24 a of the upper table 24, a first substrate holder 25 that holds the first substrate 11 is placed. Specifically, a plurality of suction ports connected to the exhaust device are provided on the lower surface 24a, whereby the first substrate holder 25 is vacuum-sucked to realize the placement. The lower surface 24a serves as a reference surface in the alignment control described later.

  The first substrate 11 is attracted to the first substrate holder 25 by electrostatic force. The ESC terminal 27 is provided on the upper plate member 22, and when the first substrate holder 25 is placed on the upper table 24, the ESC terminal 27 and the terminal of the first substrate holder 25 are in contact with each other. ing. Then, after the first substrate holder 25 is placed on the upper table 24, electric power for generating an electrostatic force is supplied to the first substrate holder 25 via the ESC terminal 27.

  A plurality of load cells 26 for detecting loads acting on the first substrate 11 and the first substrate holder 25 are provided between the upper table 24 and the upper plate member 22. Moreover, the upper microscope 28 for observing the 2nd board | substrate 12 hold | maintained at the fine movement stage part 18 at the time of alignment is provided. A specific alignment operation will be described later.

  FIG. 4 is a perspective view of the coarse movement stage portion when the respective structures are specifically assembled. The same number is attached | subjected to the same structure and an example of the specific shape is shown.

  As shown in the drawing, the XY-stage member 32 is made of a plate-like member. A through hole 37 for allowing the self-weight canceller 36 to pass therethrough is formed at the center.

  FIG. 5 is a partial schematic cross-sectional view along BB in FIG. Specifically, it is a diagram schematically showing a cross section of the structure around the XY-stage member 32, the self-weight canceller 36, and the lower table 35 disposed above the fine movement base member 17.

  One X-guide member 46 of the pair of X-guide members 46 supports the XY-stage member 32 via an air pad 47 provided on the XY-stage member 32. An engaging portion 48 provided on the XY-stage member 32 is engaged with the other X-guide member 46 through an air bearing 49 in a non-contact state. When each X-linear motor 43 is driven, the engaging portion 48 is guided by the other X-guide member 46, whereby the XY-stage member 32 moves on the fine movement base member 17 along the x-axis direction.

  A plurality of air pads 38 for supporting the self-weight canceller 36 from the side thereof in a non-contact manner are provided on the inner peripheral portion of the through hole 37. Since each air pad 38 can cope with a slight inclination, even if the self-weight canceller 36 is inclined, it can be supported following the inclination within the allowable range.

  The self-weight canceller 36 is placed on the fine movement base member 17 via a plurality of air pads 70. As described above, the self-weight canceller 36 is supported on the XY-stage member 32 via the plurality of air pads 38. Then, when the XY-stage member 32 is driven on the xy plane by the X-drive unit 33 and the Y-drive unit 34, the self-weight canceller 36 follows the xy-stage member 17 and floats on the fine movement base member 17. Will move in the direction.

  The self-weight canceller 36 includes a cylinder 59, a piston 61, and a spherical seat 63. The cylinder 59 is made of a cylindrical member having a rectangular cross section, and has a pressure chamber 60 inside. The control unit controls the pressure adjusting device connected to the pressure chamber 60 to control the pressure in the pressure chamber 60 so as to balance the weight of the lower table 35 and the structure attached thereto. The air pad 38 supports the cylinder 59 in a non-contact manner. Therefore, the cylinder 59 is penetrated so as to open upward with respect to the through hole 37 of the XY-stage member 32. An arm member 89 is attached to the upper end of the cylinder 59, and a Z-interferometer 67 for detecting the position of the lower table 35 with respect to the self-weight canceller 36 is installed at the tip of the arm member.

  The piston 61 is inserted into the cylinder 59 through the air bearing 62 in a non-contact state, and can move along the z-axis direction according to the pressure in the pressure chamber 60. The upper part of the piston 61 is formed in a flat plate shape, and a spherical seat 63 is placed on the upper surface 61a via an air bearing 66. The spherical seat 63 is a pedestal that comes into contact with the spherical member 64 that is integrally attached to the lower surface 35 b of the lower table 35. The convex spherical surface 77 is a surface of the spherical member 64 that faces the concave spherical surface 65 of the spherical seat 63 via the air bearing 78. The piston 61 supports the spherical seat 63 and the spherical seat 63 supports the spherical member 64 in the z-axis direction in a non-contact state by interposing the air bearing 66 and the air bearing 78. Further, the lower table 35 can be tilted by guiding the spherical member 64 along the concave spherical surface 65 of the spherical seat 63.

  The lower table 35 is made of a plate member and is disposed above the XY-stage member 32. As described above, the second substrate holder 41 that holds the second substrate 12 is placed on the upper surface 35 a of the lower table 35. A plurality of suction ports connected to the exhaust device are provided on the upper surface 35a, whereby the second substrate holder 41 is vacuum-sucked to realize placement. The second substrate 12 is attracted to the second substrate holder 41 by electrostatic force. The ESC terminal 73 is provided on the lower table 35, and when the second substrate holder 41 is placed on the lower table 35, the ESC terminal 73 and the terminal of the second substrate holder 41 are in contact with each other. Yes. After the second substrate holder 41 is placed on the lower table 35, electric power for generating an electrostatic force is supplied to the second substrate holder 41 via the ESC terminal 73.

  The lower table 35 is formed with insertion holes 71 through which the plurality of push-up pins 42 are inserted. A plurality of insertion holes 72 are also formed in the second substrate holder 41 so as to correspond to a part of these insertion holes 71. With this configuration, the push-up pin 42 is extended so as to pass through the insertion hole 72 and the insertion hole 71 corresponding to the insertion hole 72 to lift the second substrate 12, and the second substrate holder 41 can be detached. Further, if the insertion hole 71 not corresponding to the insertion hole 72 is extended so as to pass the push-up pin 42, the second substrate holder 41 can be lifted and detached from the lower table 35. The plurality of push-up pins 42 have their main bodies fixed on the XY-stage member 32, and the extension and storage of the pins are controlled by commands from the control unit.

  The XY-stage member 32 includes an XY-eddy current sensor 39 that measures a relative distance between the lower table 35 and the XY-stage member 32 along the x-axis and y-axis directions, and a relative position along the z-axis direction. A Z-eddy current sensor 40 for measuring the distance is provided. These form a measurement unit that detects relative positions of the XY-stage member 32 and the lower table 35 that are driven together on the xy plane by the X-drive unit 33 and the Y-drive unit 34.

  Between the XY-stage member 32 and the lower table 35, three Z-VCMs 86 as voice coil motors as actuators are installed so that a driving force acts in the z-axis direction. Magnets 87 of the respective Z-VCMs 86 are fixed to the lower table 35, and coils 88 that engage with the magnets 87 are fixed to the XY-stage member 32, respectively. The control unit individually controls these three Z-VCMs 86, whereby the lower table 35 can be translated in the z-axis direction or rotated about the x-axis and the y-axis. Specific operations will be described later.

  In the lower table 35, an AF sensor 79 and a lower microscope 76 are installed around the mounting surface of the second substrate holder 41. The AF sensor 79 is a sensor that detects the relative inclination of the upper table 24 and the lower table 35. The lower microscope 76 is a microscope for observing the first substrate 11 held on the upper table 24 during alignment.

  FIG. 6 is a perspective view of the self-weight canceller 36 when each structure is specifically assembled. The same number is attached | subjected to the same structure as the self-weight canceller 36 shown in FIG. 5, and an example of the specific shape is shown. A difference from the self-weight canceller 36 shown in FIG. 5 is that a leg member 68 is provided between the cylinder 59 and the air pad 70. The leg member 68 extends from the lower part of the cylinder 59 toward the fine movement base member 17.

  FIG. 7 is a schematic cross-sectional view taken along the line CC of FIG. By passing screws through the illustrated screw holes, the cylinder 59 and the leg member 68, the top plate portion having the upper surface 61a of the piston 61 and the piston portion, the lower table 35 and the spherical member 64 are integrated. Air bearings 62, 66, and 78 are provided between the cylinder 59 and the piston 61, between the piston 61 and the spherical seat 63, and between the spherical seat 63 and the spherical member 64, respectively, and are not in contact with each other. It is kept.

  8 is a cross-sectional view taken along the line BB in FIG. 2, and is a partial detail view seen from the opposite direction to FIG. Between the XY-stage member 32 and the lower table 35, two Y-VCMs 83 serving as voice coil motors as actuators are installed so that a driving force acts in the y-axis direction. The magnets 84 of the respective Y-VCMs 83 are fixed to the lower table 35, and the coils 85 that engage with the magnets 84 are fixed to the XY-stage member 32, respectively. When the control unit individually controls these two Y-VCMs 83, the lower table 35 can be translated in the y-axis direction or rotated around the z-axis.

  FIG. 9 is a partial detailed cross-sectional view along the line AA of FIG. Between the XY-stage member 32 and the lower table 35, one X-VCM 80, which is a voice coil motor as an actuator, is installed so that a driving force acts in the x-axis direction. The magnets 81 of the respective X-VCMs 80 are fixed to the lower table 35, and the coils 82 that engage with the magnets 81 are fixed to the XY-stage member 32, respectively. As the control unit controls the X-VCM 80, the lower table 35 can be translated in the x-axis direction.

  When the driving force of the X-VCM 80 and Y-VCM 83 is applied to move the lower table 35 in the x-axis direction, the y-axis direction, or the rotation direction around the z-axis, the lower table 35 is moved through the spherical member 64 and the air bearing 78. The spherical seat 63 moves on the upper surface 61a of the piston 61 in the xy plane by the force received in this manner. At this time, since the air bearing 66 is formed between the spherical seat 63 and the piston 61, the lower table 35 is guided on the upper surface 61a of the piston 61 in the x-axis direction and the y-axis direction.

  Further, when the driving force of the Z-VCM 86 is applied to move the lower table 35 in the rotational direction around the x axis or the rotational direction around the y axis, the spherical member 64 is provided with the concave spherical surface of the spherical seat 63 via the air bearing 78. 65, so that the lower table 35 tilts about the x axis or the y axis. Furthermore, when the lower table 35 is moved in the z-axis direction by applying the driving force of the Z-VCM 86, the piston 61 of the self-weight canceller 36 moves in the z-axis direction according to the movement amount of the Z-VCM 86. The lower table 35 and the weight of the structure integrally attached thereto are supported. Therefore, the lower table 35 can be moved in the z-axis direction even if the driving force of the Z-VCM 86 is not so large. An air pad 70 for forming an air bearing 69 is provided between the lower surface of the leg member 68 of the self-weight canceller 36 and the fine movement base member 17. When the control unit rotates and tilts the lower table 35 around the x-axis or the y-axis, the rotation axis passes through the center of gravity of the surface of the second substrate 12 that faces the first substrate 11. Drive the Z-VCM86.

  FIG. 10 is a top view schematically showing the fine movement stage portion. In particular, here, the arrangement and operation of actuators that drive the lower table 35 will be described.

  As described above, a structure such as the lower microscope 76 is attached to the lower table 35. Further, although the mass of the lower table 35 and the structure attached to the lower table 35 is supported by the self-weight canceller 36, it is spatially isolated from other structures by the action of the air bearings 66 and 78. Can be seen as a unit. At this time, the center of gravity of the unit comprising the lower table 35 and the entire structure attached to the lower table 35 is defined as the center of gravity G. One X-VCM 80 is installed so that the driving force acts in the x-axis direction, two Y-VCMs 83 are installed so that the driving force acts in the y-axis direction, and Z-VCM 86 is Three are provided so that a driving force acts in the z-axis direction. As a specific installation position, the X-VCM 80 is installed so that the driving force in the x-axis direction passes through the center of gravity G. The Y-VCM 83 is installed so that no moment is generated around the z-axis when the same driving force is output in the y-axis direction. For example, if it is assumed that there is no mass distribution bias in the unit, the units may be installed so that the respective driving forces are output in two linear directions parallel to the y axis passing through the center of gravity G and symmetric. The Z-VCM 86 is installed so that no moment is generated around the x-axis or the y-axis when the same driving force is output in the z-axis direction. For example, if it is assumed that the unit has no mass distribution bias, each driving force is output in three linear directions that pass through the apex of an equilateral triangle parallel to the z axis and centered on the center of gravity G on the xy plane. Can be installed as required. The control unit drives the X-VCM 80 and the Y-VCM 83 so as to pass through the center of gravity G when the lower table 35 is rotated around the z axis.

  As described above, according to the present embodiment, each actuator directly applies the driving force to the lower table 35, whereby the three degrees of freedom of translation in the x-axis direction, the y-axis direction, and the z-axis direction, and x The lower table 35 can be driven with a total of 6 degrees of freedom of rotation around the axis, around the y axis and around the z axis. The control unit independently drives each actuator to control the posture of the lower table 35 with six degrees of freedom, and the position of the mounted second second substrate 12 is a stationary reference plane. The lower surface 24a of the upper table 24 is controlled. In particular, by directly applying the driving force of the actuator to the lower table 35, it is possible to improve the responsiveness that is the time taken to reach the target position in response to the driving force output instruction. As a result, the alignment apparatus that aligns the substrates on the submicron order while moving the lower table 35 with respect to the upper table 24a reduces the time required for alignment and improves the alignment accuracy. In the present embodiment, it has been described that each independently driven actuator is a single actuator, but two or more actuators may function as a single actuator. In this case, since the output can be shared by two or more actuators, an actuator having only a small output with respect to the required output can be used. The control unit controls these two or more actuators so as to function as one actuator.

  Installing the actuator as described above with respect to the center of gravity G of the unit is preferable not only for driving the lower table 35 with a small driving force but also from the viewpoint of responsiveness. However, the installation of the actuator is not limited to this position, and the number of actuators is not limited to this. It only needs to be installed so that the control unit can control the posture of the lower table 35 with the above-described degree of freedom. In that sense, care should be taken that actuators that output a driving force in the z-axis direction are not arranged in a straight line. In this embodiment, the voice coil motor is used as the actuator, but the present invention is not limited to this. Any actuator that can directly apply a driving force to the lower table 35 may be used. For example, even if the driving output is a rotational force, such as a rotary motor, an actuator that directly applies the driving force to the lower table 35 by incorporating a conversion unit that converts it into a linear output may be realized. Note that a linear actuator such as a voice coil motor that directly outputs a driving force in a linear direction is preferable because it has excellent responsiveness and controllability to the lower table 35.

  Note that the drive amounts of the X-drive unit 33 and the Y-drive unit 34 in the x-axis direction and the y-axis direction are larger than the drive amounts of the X-VCM 80 and the Y-VCM 83 in the x-axis direction and the y-axis direction. Therefore, when the XY plane member 32 is moved largely in the xy plane, it is preferable to move the XY-stage member 32 integrally with the lower table 35 by the X-drive unit 33 and the Y-drive unit 34. It is preferable to move only the lower table 35 by the VCM 80 and the Y-VCM 83.

  FIG. 11 is a schematic cross-sectional view showing another configuration of the overlaying apparatus. Specifically, the positions of the cylinder 59 and the piston 61 of the self-weight canceller 36 are reversed in the above-described superimposing apparatus. That is, the cylinder 59 passes through the through hole 37 of the XY-stage member 32 so as to open downward. The same structure is given the same number.

  The spherical seat 63 is supported on the upper surface 59 b of the cylinder 59 through the air bearing 66 in a non-contact state. The piston 61 is inserted into the cylinder 59 via the air bearing 62 from the lower side in a non-contact state. An arm member 91 that extends through a through-hole 90 formed in the XY-stage member 32 is attached to the lower end portion 61 b of the piston 61. A Z-interferometer 67 is installed at the tip of the arm member 91. Further, since the air bearing 66 is formed between the spherical seat 63 and the cylinder 59, when the lower table 35 moves in the x-axis direction and the y-axis direction by driving the X-VCM 80 and the Y-VCM 83, Due to the force received from the table 35 via the spherical member 64 and the air bearing 78, the spherical seat 63 moves on the upper surface 59b of the cylinder 59 within the xy plane. Accordingly, the lower table 35 is guided on the upper surface 59b of the cylinder 59 in the x-axis direction and the y-axis direction.

  FIG. 12 is a perspective view showing a state in which the second substrate holder 41 is looked down from above. In the figure, the second substrate 12 is held on the upper surface of the second substrate holder 41. FIG. 13 is a perspective view showing a state where the same second substrate holder 41 is looked up from below.

  The second substrate holder 41 has a holder body 110, an adsorber 111, and a voltage application terminal 113, and has a disk shape whose diameter is slightly larger than that of the second substrate 12 as a whole. The holder body 110 is integrally formed of a highly rigid material such as ceramic or metal. The adsorber 111 is formed of an electromagnet, and a plurality of adsorbers 111 are arranged on the outer surface of the first substrate 11 held on the outer surface of the first substrate 11. In the case of the figure, a total of six adsorbers 111 are arranged every 120 degrees with two as one set. The voltage application terminal 113 is embedded in the back surface of the surface that holds the first substrate 11.

  The holder main body 110 is in contact with the second substrate 12 to be held with a high flatness in the region where the second substrate 12 is held on the surface thereof. In addition, the holder body 110 has a plurality of positioning holes 112 that are formed so as to penetrate the holder body 110 on the front and back sides outside the region where the held second substrate 12 is sucked. Furthermore, the holder main body 110 has a plurality of insertion holes 72 formed through the holder main body 110 on the front and back sides inside the region for adsorbing the held second substrate 12. The push-up pin 42 is inserted into the insertion hole 72, and the second substrate 12 is removed from the second substrate holder 41.

  The positioning hole 112 is fitted to a positioning pin or the like to give positioning to the second substrate holder 41. The adsorber 111 is disposed in a depressed region formed in the holder main body 110 so that the upper surface is located in a plane substantially the same as the plane that holds the second substrate 12. The voltage application terminal 113 is embedded in the holder main body 110 on the back surface with respect to the front surface holding the second substrate 12. By applying a voltage via the voltage application terminal 113, a potential difference is generated between the second substrate holder 41 and the second substrate 12, and the second substrate 12 is attracted to the second substrate holder 41. To do. When the second substrate holder 41 is placed on the lower table 35, the voltage application terminal 113 is in contact with the ESC terminal 73 and is supplied with power.

  The first substrate holder 25 has substantially the same configuration as the second substrate holder 41. When the first substrate holder 25 is placed on the upper table 24, the voltage application terminal 113 is in contact with the ESC terminal 27 and receives power.

  FIG. 14 is a control flow diagram for explaining the alignment process in the superposition apparatus 10. Each step receives an output from each sensor or a control unit controls each driving unit.

  In step S <b> 101, the first substrate holder 25 is placed on the upper table 24 and the second substrate holder 41 is placed on the lower table 35. The first substrate 11 is placed on the first substrate holder 25 and electrostatically adsorbed in the pre-aligner device before being carried into the stacking apparatus 10. Therefore, the first substrate 11 and the first substrate holder 25 are integrated at the stage of being carried into the overlapping apparatus 10. The pre-aligner apparatus further detects a plurality of alignment marks provided on the first substrate 11 when the first substrate 11 is placed on the first substrate holder 25, and this information is connected to the control unit. Stored in the storage unit. Similarly, the second substrate 12 is also integrated with the second substrate holder 41 in the pre-aligner apparatus. At the same time, when the second substrate 12 is placed on the second substrate holder 41, a plurality of alignment marks provided on the second substrate 12 are detected, and this information is stored in the memory connected to the control unit. Store in the department.

  The integrated first substrate 11 and first substrate holder 25, and second substrate 12 and second substrate holder 41 are carried into the stacking apparatus 10, respectively. Carrying into the superposition apparatus 10 is performed by a robot arm. A power supply terminal that supplies power to the substrate holder when the substrate holder is held is provided in the hand unit that holds the substrate holder, which is the tip of the robot arm. Thereby, the substrate holder can maintain the electrostatic attraction force, and the substrate can be fixed until it is placed on the upper table 24 or the lower table 35.

  In step S102, the relative positions of the XY-stage member 32 and the lower table 35 are detected using the XY-eddy current sensor 39 and the Z-eddy current sensor 40. Information on the detected relative position is stored in a storage unit connected to the control unit. Thereby, even if the XY-stage member 32 is coarsely moved by the X-drive unit 33 and the Y-drive unit 34, the position of the lower table 35 can be calculated according to the amount of movement. At this time, the inclination of the upper table 24 relative to the lower table 35 is also detected using the AF sensor 79.

  In step S103, a target position of the lower table 35 with respect to the lower surface 24a of the upper table 24, which is a reference surface, and a drive path to the target position are determined based on each position information stored in the storage unit. As for the target position, for example, when the plurality of alignment marks on the first substrate 11 and the plurality of alignment marks on the second substrate 12 are overlapped, the amount of positional deviation is statistically minimized. It is calculated and determined by using the determined global alignment method or the like. Regarding the drive path, fine adjustment by the X-VCM 80, Y-VCM 83, and Z-VCM 86 is performed after the movement in the xy direction by the X-drive unit 33 and the Y-drive unit 34 and the movement in the z direction by the self-weight canceller 36. Is determined by a combination of driving for.

  When the target position and the drive path are determined in step S103, the X-drive unit 33 and the Y-drive unit 34 move in the xy direction and the Z-VCM 86 moves in the z direction. The lower table 35 is moved until. In step S104, the X-interferometer 29 and the Y-interferometer 30 detect the accurate positions of the lower table 35 in the x-axis direction and the y-axis direction. Then, fine adjustment is performed by the X-VCM 80 and the Y-VCM 83 in step S105 while calculating the difference between the target position and the current position.

  In step S106, the Z-interferometer 67 detects the exact position of the lower table 35 in the z-axis direction. Then, while calculating the difference between the target position and the current position, the lower table 35 is gradually advanced toward the upper table 24 by the Z-VCM 86 in step S107. At this time, the control unit adjusts the pressure in the pressure chamber 60 of the self-weight canceller 36 according to the amount of movement by driving the Z-VCM 86 so that the self-weight canceller 36 includes the lower table 35. Control to support the unit's own weight.

  In step S108, the output of the load cell 26 is monitored, and the time point when the lower table 35 approaches the upper table 24 and the second substrate 12 first contacts the first substrate 11 is detected. While detection by the load cell 26 is not performed, step S104 to step S107 are repeated.

  In step S109, the inclination of the lower table 35 is detected. A plurality of load cells 26 are provided between the upper table 24 and the upper plate member 22, and the contact state of the second substrate 12 with respect to the first substrate 11 can be detected as a pressure distribution. When the lower table 35 is tilted, the second substrate 12 comes into point contact with the first substrate 11, so that the load concentrates on a specific region. The load cell 26 detects this and detects the inclination of the lower table.

  If it is determined in step S109 that the lower table 35 has an inclination, the process proceeds to step S110, and the inclination of the lower table 35 is corrected by the Z-VCM 86 using the output of the load cell 26. When the correction of the inclination is completed, the process proceeds to step S109 again.

  If it is determined in step S109 that there is no tilt, it is determined that the first substrate 11 and the second substrate 12 are in contact with each other, and the process proceeds to step S111, where the adsorber 111 of the first substrate holder 25, The adsorber 111 of the second substrate holder 41 is operated to clamp the two substrate holders together. That is, the first substrate holder 25 and the second substrate holder 41 sandwich the first substrate 11 and the second substrate 12 that are accurately aligned to create a state in which they are integrally fixed.

  In step S112, the first substrate holder 25 and the second substrate holder are integrated by coordinating the detaching operation of the first substrate holder 25 and the lowering operation of the lower table 35 in the z-axis direction by the self-weight canceller 36. 41, the first substrate 11 and the second substrate 12 are placed on the lower table 35. Then, the push-up pins 42 are operated so that they are lifted from the lower table 35 and are carried out of the superposition apparatus 10 by the robot arm. As described above, a series of positioning steps is completed.

  As described above, in the above embodiment, the lower table 35 is driven by six actuators and controlled with six degrees of freedom, ie, three degrees of freedom of translation and three degrees of freedom of rotation. However, for example, even if only the rotational drive around the z axis is provided on the upper table 24 side and the lower table 35 is controlled with five degrees of freedom, sufficient responsiveness required for superposition can be obtained.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Overlay apparatus, 11 1st board | substrate, 12 2nd board | substrate, 13 coarse movement base member, 13a upper surface, 13b edge part, 14 coarse movement stage part, 15 floor, 16 vibration isolation member, 17 fine movement base member, 18 Fine movement stage portion, 19 concave portion, 20 vibration isolation member, 21 body, 22 upper plate member, 23 column member, 24 upper table, 24a lower surface, 25 first substrate holder, 26 load cell, 27 ESC terminal, 28 upper microscope, 29 X-interferometer, 30 Y-interferometer, 32 XY-stage member, 33 X-drive unit, 34 Y-drive unit, 35 lower table, 35a upper surface, 35b lower surface, 36 self-weight canceller, 37 through-hole, 38 air pad, 39 XY-eddy current sensor, 40 Z-eddy current sensor, 41 2nd substrate holder, 42 push-up pin, 43 X-re Near motor, 44 magnet, 45 coil, 46 X-guide member, 47 air pad, 48 engaging part, 49 air bearing, 50, 51 connecting member, 52 air pad, 53 Y-linear motor, 54 magnet, 55 coil, 56 Y- Guide member, 57 engaging portion, 58 air bearing, 59 cylinder, 59b upper surface, 60 pressure chamber, 61 piston, 61a upper surface, 61b lower end portion, 62 air bearing, 63 spherical seat, 64 spherical member, 65 concave spherical surface, 66 air Bearing, 67 Z-interferometer, 68 Leg member, 68a Bottom surface, 69 Air bearing, 70 Air pad, 71 Insertion hole, 72 Insertion hole, 73 ESC terminal, 74 X-moving mirror, 75 Y-moving mirror, 76 Lower microscope, 77 Convex spherical surface, 78 Air bearing, 79 AF sensor, 0 X-VCM, 81 Magnet, 82 Coil, 83 Y-VCM, 84 Magnet, 85 Coil, 86 Z-VCM, 87 Magnet, 88 Coil, 89 Arm Member, 90 Through Hole, 91 Arm Member, 110 Holder Body, 111 Adsorber, 112 Positioning hole, 113 Voltage application terminal

Claims (18)

A first table holding a first substrate;
A second table holding a second substrate and moving relative to the first table to align the first substrate and the second substrate;
A first supply terminal provided on at least one of the first table and the second table for supplying electric power to a substrate holder that holds at least one of the first substrate and the second substrate by electrostatic force;
A robot arm for transporting the substrate holder to either the first table or the second table;
A second supply terminal provided on the robot arm for supplying electric power to the substrate holder ;
A vibration isolator for preventing vibration of the second table from being transmitted to the first table ,
When the substrate holder is transported by the robot arm, the superimposing apparatus supplies power from the second supply terminal to the substrate holder until the supply of power from the first supply terminal to the substrate holder is started. .   The superimposing apparatus according to claim 1, wherein the substrate holder is supplied with electric power from the first supply terminal while being placed on either the first table or the second table.   The first supply terminal provided on the first table supplies electric power to the substrate holder holding the first substrate, and the first supply terminal provided on the second table is provided on the second substrate. The overlay apparatus according to claim 1, wherein electric power is supplied to the substrate holder that holds the substrate.   4. The overlap according to claim 3, wherein the substrate holder that holds the first substrate and the substrate holder that holds the second substrate are clamped to each other in a state where the first substrate and the second substrate are in contact with each other. Alignment device.   The overlay apparatus according to any one of claims 1 to 4, further comprising a position measuring unit that measures a position of the second table using the first table as a positioning reference.   The overlay apparatus according to claim 5, wherein the position measurement unit is disposed at a predetermined position with respect to the first table.   The superposition apparatus according to claim 5, further comprising a frame that holds the first table, wherein the position measurement unit is fixed to the frame.   The overlay apparatus according to claim 7, further comprising: a microscope that is fixed to the frame and that observes the second substrate held on the second table.   The overlay apparatus according to claim 5, wherein the position measurement unit is an interferometer.   The position measuring unit has 5 degrees other than the Z direction, which is a direction in which the second table approaches and separates from the first table, out of a total of 6 degrees of freedom including three translational degrees of freedom and three degrees of freedom of rotation of the second table. The overlay apparatus according to any one of claims 5 to 9, which measures a degree of freedom. The second table has a fine movement stage that holds the second substrate, and a coarse movement stage that moves with the fine movement stage in a movable range wider than a movable range of the fine movement stage,
The superposition apparatus according to any one of claims 1 to 10, wherein the fine movement stage is movable with a total of six degrees of freedom, ie, three degrees of freedom of translation and three degrees of freedom of rotation.   The overlay apparatus according to claim 11, wherein the coarse movement stage is movable with two degrees of freedom parallel to a surface of the first table that holds the first substrate.   The overlay apparatus according to claim 11, further comprising a second in-table measurement unit that measures a relative position between the fine movement stage and the coarse movement stage. Any said is supported by anti-vibration unit, the second table is Z direction measuring unit from claim 1 comprising 13 to measure the position of the second table in the Z direction is a direction toward and away from said first table The overlay apparatus according to claim 1 . An air cylinder that floats and supports the second table;
The air cylinder has a fixed part arranged on the vibration isolating part, and a movable part connected to the second table and movable relative to the fixed part,
The overlay apparatus according to claim 14 , wherein the Z direction measurement unit is fixed to the fixing unit. A first transfer step of transferring a first substrate holder, which receives a supply of electric power from a first supply terminal provided in the robot arm and holds the first substrate by electrostatic force, to the first table by the robot arm;
A first mounting for mounting the first substrate holder on the first table while supplying power from the first supply terminal until the supply of power from the second supply terminal provided on the first table is started. Steps,
A second transport step of transporting a second substrate holder, which receives power from the first supply terminal and holds the second substrate by electrostatic force, to a second table by the robot arm;
A second mounting for mounting the second substrate holder on the second table while supplying power from the first supply terminal until the supply of power from the third supply terminal provided on the second table is started. Steps,
While the vibration isolator prevents the vibration of the second table from being transmitted to the first table, the second table is moved relative to the first table to move the first substrate and the second substrate. And a superimposing method for superimposing. A method for manufacturing a semiconductor device, wherein the semiconductor device is manufactured using the overlaying method according to claim 16 . A first table holding a first substrate;
A second table holding a second substrate and moving relative to the first table to align the first substrate and the second substrate;
A superposition apparatus comprising: a vibration isolator that prevents vibration of the second table from being transmitted to the first table.

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