US20140339711A1 - Semiconductor device, method of positioning semiconductor device, and positioning apparatus for semiconductor device - Google Patents
Semiconductor device, method of positioning semiconductor device, and positioning apparatus for semiconductor device Download PDFInfo
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- US20140339711A1 US20140339711A1 US14/277,217 US201414277217A US2014339711A1 US 20140339711 A1 US20140339711 A1 US 20140339711A1 US 201414277217 A US201414277217 A US 201414277217A US 2014339711 A1 US2014339711 A1 US 2014339711A1
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- semiconductor device
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L23/00—Details of semiconductor or other solid state devices
- H01L23/544—Marks applied to semiconductor devices or parts, e.g. registration marks, alignment structures, wafer maps
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
- H01L22/10—Measuring as part of the manufacturing process
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2223/00—Details relating to semiconductor or other solid state devices covered by the group H01L23/00
- H01L2223/544—Marks applied to semiconductor devices or parts
- H01L2223/5442—Marks applied to semiconductor devices or parts comprising non digital, non alphanumeric information, e.g. symbols
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2223/00—Details relating to semiconductor or other solid state devices covered by the group H01L23/00
- H01L2223/544—Marks applied to semiconductor devices or parts
- H01L2223/54426—Marks applied to semiconductor devices or parts for alignment
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2223/00—Details relating to semiconductor or other solid state devices covered by the group H01L23/00
- H01L2223/544—Marks applied to semiconductor devices or parts
- H01L2223/54473—Marks applied to semiconductor devices or parts for use after dicing
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2223/00—Details relating to semiconductor or other solid state devices covered by the group H01L23/00
- H01L2223/544—Marks applied to semiconductor devices or parts
- H01L2223/54473—Marks applied to semiconductor devices or parts for use after dicing
- H01L2223/54486—Located on package parts, e.g. encapsulation, leads, package substrate
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
- H01L2224/01—Means for bonding being attached to, or being formed on, the surface to be connected, e.g. chip-to-package, die-attach, "first-level" interconnects; Manufacturing methods related thereto
- H01L2224/10—Bump connectors; Manufacturing methods related thereto
- H01L2224/12—Structure, shape, material or disposition of the bump connectors prior to the connecting process
- H01L2224/13—Structure, shape, material or disposition of the bump connectors prior to the connecting process of an individual bump connector
- H01L2224/13001—Core members of the bump connector
- H01L2224/13099—Material
- H01L2224/131—Material with a principal constituent of the material being a metal or a metalloid, e.g. boron [B], silicon [Si], germanium [Ge], arsenic [As], antimony [Sb], tellurium [Te] and polonium [Po], and alloys thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
- H01L2224/01—Means for bonding being attached to, or being formed on, the surface to be connected, e.g. chip-to-package, die-attach, "first-level" interconnects; Manufacturing methods related thereto
- H01L2224/10—Bump connectors; Manufacturing methods related thereto
- H01L2224/12—Structure, shape, material or disposition of the bump connectors prior to the connecting process
- H01L2224/13—Structure, shape, material or disposition of the bump connectors prior to the connecting process of an individual bump connector
- H01L2224/13001—Core members of the bump connector
- H01L2224/13099—Material
- H01L2224/13198—Material with a principal constituent of the material being a combination of two or more materials in the form of a matrix with a filler, i.e. being a hybrid material, e.g. segmented structures, foams
- H01L2224/13199—Material of the matrix
- H01L2224/1329—Material of the matrix with a principal constituent of the material being a polymer, e.g. polyester, phenolic based polymer, epoxy
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
- H01L2224/01—Means for bonding being attached to, or being formed on, the surface to be connected, e.g. chip-to-package, die-attach, "first-level" interconnects; Manufacturing methods related thereto
- H01L2224/10—Bump connectors; Manufacturing methods related thereto
- H01L2224/12—Structure, shape, material or disposition of the bump connectors prior to the connecting process
- H01L2224/13—Structure, shape, material or disposition of the bump connectors prior to the connecting process of an individual bump connector
- H01L2224/13001—Core members of the bump connector
- H01L2224/13099—Material
- H01L2224/13198—Material with a principal constituent of the material being a combination of two or more materials in the form of a matrix with a filler, i.e. being a hybrid material, e.g. segmented structures, foams
- H01L2224/13298—Fillers
- H01L2224/13299—Base material
- H01L2224/133—Base material with a principal constituent of the material being a metal or a metalloid, e.g. boron [B], silicon [Si], germanium [Ge], arsenic [As], antimony [Sb], tellurium [Te] and polonium [Po], and alloys thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
- H01L2224/80—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected
- H01L2224/81—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected using a bump connector
- H01L2224/8112—Aligning
- H01L2224/81121—Active alignment, i.e. by apparatus steering, e.g. optical alignment using marks or sensors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L24/00—Arrangements for connecting or disconnecting semiconductor or solid-state bodies; Methods or apparatus related thereto
- H01L24/80—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected
- H01L24/81—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected using a bump connector
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2924/00—Indexing scheme for arrangements or methods for connecting or disconnecting semiconductor or solid-state bodies as covered by H01L24/00
- H01L2924/013—Alloys
- H01L2924/014—Solder alloys
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2924/00—Indexing scheme for arrangements or methods for connecting or disconnecting semiconductor or solid-state bodies as covered by H01L24/00
- H01L2924/10—Details of semiconductor or other solid state devices to be connected
- H01L2924/11—Device type
- H01L2924/12—Passive devices, e.g. 2 terminal devices
- H01L2924/1204—Optical Diode
- H01L2924/12042—LASER
Definitions
- the disclosure relates to a semiconductor device, a method of positioning the semiconductor device, and a positioning apparatus for the semiconductor device.
- a semiconductor chip When a semiconductor chip is connected to a mount substrate to manufacture a semiconductor device, positioning between the semiconductor chip and the mount substrate is performed, based on an alignment mark formed on the semiconductor chip and/or the mount substrate, conventionally.
- a technique of forming, in a region around an alignment mark of a semiconductor substrate, a sloped region that is sloped with respect to a normal direction of the substrate, to thereby reduce a normal direction reflectivity of laser light irradiated from the normal direction to the sloped region and precisely detect the alignment mark for example, see Japanese Laid-open Patent Application No. 11-330347
- a technique of making a contrast difference between an alignment mark and a background region uniform to thereby improve visibility of the alignment mark for example, see Japanese Laid-open Patent Application No. 2009-194119
- a semiconductor device includes: a semiconductor chip that has a first connection terminal for wiring connection; a substrate that has a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light from the first connection terminal and the second connection terminal in a thickness direction of the substrate or the semiconductor chip.
- a method of positioning a semiconductor device in which a semiconductor chip and a substrate are connected to each other includes the steps of: first positioning of positioning in a field of view of an imaging device a reflective surface that reflects light from a first connection terminal of the semiconductor chip for wiring connection; and second positioning of positioning the substrate according to an image of a second connection terminal of the substrate for wiring connection and an image of the first connection terminal, both of the images being projected on the reflective surface.
- a positioning apparatus for a semiconductor device includes: a semiconductor chip having a first connection terminal for wiring connection; a substrate having a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light.
- the positioning apparatus includes: a stage that fixes the semiconductor chip having the first connection terminal for wiring connection and is movable within one plane; a tool that suctions and fixes the substrate having the second connection terminal for wiring connection and mounts the substrate on the semiconductor chip; an imaging device that images a reflective surface for projecting images of the first connection terminal and the second connection terminal; and a control unit that controls movement of the stage based on the images of the first connection terminal and the second connection terminal that are projected on the reflective surface, the images having been imaged by the imaging device.
- FIG. 1 is a cross section diagram of a semiconductor device according to a first embodiment of the present invention
- FIG. 2 is a top view before connection of the semiconductor device of FIG. 1 ;
- FIG. 3 is a block diagram illustrating a positioning apparatus for the semiconductor device according to the first embodiment of the present invention
- FIG. 4 is a flow chart illustrating a method of manufacturing the semiconductor device according to the first embodiment of the present invention
- FIG. 5 is a cross section diagram illustrating positioning of a semiconductor device according to a second embodiment of the present invention.
- FIG. 6 is a top view illustrating positioning of the semiconductor device according to the second embodiment of the present invention.
- FIG. 7 is a diagram illustrating projection of an image of a connection part
- FIG. 8 is a cross section diagram illustrating positioning of a semiconductor device according to a third embodiment of the present invention.
- FIG. 9 is a top view illustrating positioning of the semiconductor device according to the third embodiment of the present invention.
- FIG. 10 is a perspective diagram illustrating a semiconductor device according to a modified example of the third embodiment of the present invention.
- FIG. 11 is a cross section diagram along line A-A of the semiconductor device of FIG. 10 .
- FIG. 1 is a cross section diagram illustrating a semiconductor device 100 according to a first embodiment of the present invention.
- FIG. 2 is a top view before connection of the semiconductor device 100 of FIG. 1 .
- the semiconductor device 100 according to the first embodiment of the present invention includes: a semiconductor chip 10 , which is a solid-state image sensing element; a mount substrate 20 ; and a prism 30 that emits light incident from an imaging optical system to the semiconductor chip 10 .
- a first connection terminal 11 for wiring connection an imaging region 12 that converts an optical signal input from the prism 30 to an electric signal, and an alignment mark 13 are formed on a same surface.
- a second connection terminal 21 for wiring connection is formed, and an alignment mark 22 , which is on a reverse side of a surface on which the second connection terminal 21 is formed, is formed.
- the first connection terminal 11 and second connection terminal 21 are bumps formed by screen printing, plating, or the like.
- the prism 30 has a first prism 31 and a second prism 32 , reflects, by a connection surface 33 between the first prism 31 and second prism 32 , light incident on the first prism 31 from a non-illustrated imaging optical system, and emits the reflected light to the imaging region 12 .
- a sloped surface of the first prism 31 and not contacting the second prism 32 forms a reflective surface 34 that reflects light from the first connection terminal 11 and second connection terminal 21 .
- the reflective surface 34 is formed at a position such that the reflective surface 34 is able to reflect the light from the first connection terminal 11 and second connection terminal 21 in a thickness direction of the mount substrate 20 , and the reflective surface 34 projects thereon an image 11 a of the first connection terminal 11 and an image 21 a of the second connection terminal 21 .
- the semiconductor chip 10 and the mount substrate 20 are formed respectively with the alignment marks 13 and 22 , and after roughly adjusting positions of the semiconductor chip 10 and mount substrate 20 using the alignment marks 13 and 22 , the positions of the semiconductor chip 10 and mount substrate 20 are finely adjusted using the image 11 a and image 21 a projected on the reflective surface 34 , and thus highly accurate positioning is possible in a short period of time.
- FIG. 1 In FIG. 1
- the reflective surface 34 projects thereon the image 11 a of the first connection terminal 11 , the image 21 a of the second connection terminal 21 , and an image 20 a of a part of the mount substrate 20 , but the reflective surface 34 may just have an area that allows projection of at least the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 in the thickness direction of the mount substrate.
- connection material 15 such as a soldering paste, an anisotropic conductive film (ACF), an anisotropic conductive paste), or the like, such that the first connection terminal 11 and the second connection terminal 21 face each other.
- FIG. 3 is a block diagram illustrating a positioning apparatus for the semiconductor device 100 according to the first embodiment of the present invention.
- a positioning apparatus 200 for the semiconductor device 100 includes: an imaging device 210 such as a CCD that captures the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 that are projected on the reflective surface 34 ; a control unit 220 that performs control of each unit; a stage 230 that fixes the semiconductor chip 10 and is able to move the fixed semiconductor chip 10 in one plane (X-direction, Y-direction, and O-direction); a tool 240 that holds the mount substrate 20 and mounts the held mount substrate 20 on the semiconductor chip 10 fixed on the stage 230 ; and a display unit 250 that outputs an image captured by the imaging device 210 .
- an imaging device 210 such as a CCD that captures the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 that are projected on the reflective surface 34 ; a control unit 220 that performs control of each unit; a stage 230 that fixes the semiconductor chip 10 and is able to move the fixed semiconductor chip 10 in one
- the imaging device 210 is fixed above the mount substrate 20 that is to be positioned, and the imaging device 210 captures the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 , which are projected on the reflective surface 34 . Further, the imaging device 210 outputs the captured images to the control unit 220 .
- the imaging device 210 preferably has an angle change mechanism that is able to make adjustment according to an angle of the reflective surface 34 and a vertical axis Z adjustment mechanism for adjusting a focus point.
- control unit 220 When image data are input by the imaging device 210 , the control unit 220 performs the positioning of the semiconductor chip 10 and mount substrate 20 by performing a pattern matching process, focus adjustment, and the like on the image data. Further, the control unit 220 outputs the image data input from the imaging device 210 to the display unit 250 .
- the control unit 220 may be one that controls a non-illustrated coating mechanism for the connection material 15 .
- the coating mechanism for the connection material 15 is fixed in a retractable manner and the coating mechanism supplies the connection material 15 to a connection part of the semiconductor chip 10 , that is, onto the first connection terminal 11 , by a discharge device, such as a syringe.
- the coating mechanism preferably has a temperature control device, a displacement meter, and the like, for the syringe or the like.
- the coating mechanism may be configured to perform coating of the connection material on a specified position by image recognition using the imaging device 210 and control unit 220 , instead of using the displacement meter. A positioning process by the imaging device 210 and the control unit 220 is performed after the coating mechanism is retracted from above the semiconductor chip 10 .
- the stage 230 moves on the one plane (X-direction, Y-direction, and ⁇ -direction), under control of the control unit 220 , to place the semiconductor chip 10 to a specified position by suctioning and fixing the semiconductor chip 10 .
- the tool 240 picks up the mount substrate 20 by suction-fixing the mount substrate 20 using a suction unit or the like and mounts the picked up mount substrate 20 on the semiconductor chip 10 fixed on the stage 230 .
- a servomotor is used for the movement of the semiconductor chip 10 and mount substrate 20 by the stage 230 and tool 240 .
- the tool 240 moves, under the control of the control unit 220 , the mount substrate 20 fixed by the suction unit or the like to the specified position with respect to the semiconductor chip 10 .
- the positioning of the semiconductor chip 10 and the mount substrate 20 by the positioning apparatus 200 may be automatically performed by software built in the control unit 220 or operated manually based on an image displayed on the display unit 250 . Further, the coating of the connection material 15 by the coating mechanism and the movement of the semiconductor chip 10 and mount substrate 20 may be performed automatically by software or operated manually based on the image displayed on the display unit 250 .
- FIG. 4 is a flow chart illustrating the method of manufacturing the semiconductor device 100 according to the first embodiment of the present invention.
- step S 1 by capturing, by the imaging device 210 , an image of the alignment mark 13 of the semiconductor chip 10 fixed on the stage 230 , the alignment mark 13 of the semiconductor chip 10 is recognized (step S 1 ).
- the positions of the semiconductor chip 10 and the first connection terminal 11 are recognized, and the connection material 15 is coated on the first connection terminal 11 of the semiconductor chip 10 by the coating mechanism (step S 2 ).
- step S 3 After coating the connection material 15 and retracting the coating mechanism from above the semiconductor chip 10 (step S 3 ), the tool 240 is set (step S 4 ), and the mount substrate 20 is picked up by the tool 240 (step S 5 ).
- the alignment mark 22 of the mount substrate 20 held by the tool 240 is recognized through imaging by the imaging device 210 (step S 6 ).
- the recognized alignment mark 22 and the alignment mark 13 of the semiconductor chip 10 recognized in step S 1 under the control of the control unit 220 , the positions of the semiconductor chip 10 and mount substrate 20 are roughly adjusted by movement of the tool 240 (step S 7 ).
- the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 which are projected on the reflective surface 34 , are captured by the imaging device 210 to be recognized (step S 8 ).
- the control unit 220 performs pattern matching or the like on the image data captured by the imaging device 210 to thereby finely adjust the positions of the semiconductor chip 10 and mount substrate 20 (step S 9 ).
- step S 10 After the fine adjustment of the positions, the first connection terminal 11 and second connection terminal 21 come into contact with each other by the movement of the tool 240 (step S 10 ). If misalignment is detected after coming into contact (step S 11 : YES), fine adjustment of the positions at step S 9 is performed again, and if no misalignment is detected (step S 11 : NO), the first connection terminal 11 and the second connection terminal 21 are connected to each other (step S 12 ).
- the semiconductor device 100 includes the optical reflective surface 34 , which is a part of an outer surface of the prism 30 , and is able to project the image 11 a of the first connection terminal 11 and the image 21 a of the second connection terminal 21 on the reflective surface 34 , and thus, positioning that conventionally required two devices (top view and side view) is able to be performed by the single imaging device 210 arranged at the reverse side of the connection surface of the mount substrate 20 .
- the semiconductor device 100 since the semiconductor device 100 according to the first embodiment has the alignment marks 13 and 22 , it becomes possible to perform positioning (rough adjustment) by the alignment marks 13 and 22 up to positions where the image 21 a of the connection terminal 21 is projected on the reflective surface 34 , and thereafter perform positioning by the images 11 a and 21 a projected on the reflective surface 34 , and thus, fast and highly accurate positioning and connection between connection terminals become possible.
- the alignment marks 13 and 22 are respectively formed in the semiconductor chip 10 and the mount substrate 20 , and the positions of the semiconductor chip 10 and mount substrate 20 are roughly adjusted by the alignment marks 13 and 22 , but without forming the alignment marks 13 and 22 , positioning between the semiconductor chip 10 and the mount substrate 20 may be performed based only on the images 11 a and 21 a projected on the reflective surface 34 . If the positioning between the semiconductor chip 10 and the mount substrate 20 is performed based only on the images 11 a and 21 a projected on the reflective surface 34 , positioning in the Y-direction of FIG. 2 may be performed by pattern matching with respect to the positions of the images 11 a and 21 a projected on the reflective surface 34 , and positioning in the X-direction may be performed by focus adjustment of the images 11 a and 21 a.
- a semiconductor device 100 A according to a second embodiment includes a transmission cable 40 connected on the reverse side of the connection surface, which is of the mount substrate 20 and which is connected to the semiconductor chip 10 .
- FIG. 5 is a cross section diagram illustrating positioning of the semiconductor device 100 A according to the second embodiment of the present invention.
- FIG. 6 is a top view illustrating the positioning of the semiconductor device 100 A according to the second embodiment of the present invention.
- FIG. 7 is a diagram illustrating projection of an image of a connection part.
- the semiconductor device 100 A includes the transmission cable 40 connected on the reverse side of the connection surface, which is of the mount substrate 20 and which is connected to the semiconductor chip 10 .
- the transmission cable 40 includes a core wire 41 formed of a conductor such as copper, and an insulation layer 42 that covers an outer periphery of the core wire 41 .
- connection land 23 that connects the transmission cable 40 is formed. After being positioned on the connection land 23 , the core wire 41 of the transmission cable 40 is connected by a non-illustrated electrically conductive joining member such as a solder, ACF, ACP, or the like.
- the semiconductor device 100 A according to the second embodiment is different from the semiconductor device 100 of the first embodiment in that only one prism 30 A is used.
- the reflective surface 34 is able to be secured largely.
- an image 23 a of the connection land 23 of the mount substrate 20 and an image 40 a of the transmission cable 40 are able to be projected on the reflective surface 34 .
- an angle of a slope of the prism 30 A is freely settable, and thus reflected light is able to be reflected in any direction.
- the angle of the slope of the prism 30 A is preferably 45°.
- the semiconductor device 100 A according to the second embodiment is manufactured by performing positioning and connection of an end portion of the exposed core wire 41 of the transmission cable 40 , by using the reflective surface 34 .
- the transmission cable 40 is also mounted on the mount substrate 20 , highly accurate positioning is possible by using a reflected image.
- positioning using the reflective surface 34 is possible.
- a reflective surface 51 is formed on a base substrate 50 on which the semiconductor chip 10 is mounted, and the semiconductor chip 10 is connected to the mount substrate 20 at a reverse side of a connection surface of the semiconductor chip 10 to the base substrate 50 .
- FIG. 8 is a cross section diagram illustrating positioning of the semiconductor device 100 B according to the third embodiment of the present invention.
- FIG. 9 is a top view illustrating positioning of the semiconductor device 100 B according to the third embodiment of the present invention.
- the reflective surface 51 is formed on the base substrate 50 on which the semiconductor chip 10 is mounted.
- the reflective surface 51 has a reflective coat layer formed thereon, by forming a slope on the base substrate 50 and thereafter forming a vapor deposition film or the like of a metal on the slope.
- the semiconductor device 100 B of the third embodiment after positioning is performed according to the image 11 a of the first connection terminal 11 of the semiconductor chip 10 and the image 21 a of the second connection terminal 21 of the mount substrate 20 , which are projected on the reflective surface 51 , the first connection terminal 11 and the second connection terminal 21 are connected by the connection material.
- the semiconductor device 100 B according to the third embodiment by providing the reflective surface 51 on the base substrate 50 to be mounted with the semiconductor chip 10 , highly accurate positioning becomes possible by just a single imaging device.
- FIG. 10 is a perspective diagram illustrating a semiconductor device 100 C according to a modified example of the third embodiment of the present invention.
- FIG. 11 is a cross section diagram along line A-A of the semiconductor device 100 C of FIG. 10 .
- the semiconductor device 100 C includes: the semiconductor chip 10 ; a substrate 60 having a trench portion 62 in which the semiconductor chip 10 is mounted; and a reflective surface 63 formed in the trench portion 62 .
- the reflective surface 63 is formed on one of side surfaces of the trench portion 62 and similarly to the third embodiment, after a slope is formed thereon, a reflective coat layer is formed thereon by a vapor deposition film or the like of metal.
- the substrate 60 serves as a relay substrate to be connected to one or two circuit boards.
- the first connection terminal 11 and the second connection terminal 61 are connected to each other by a connection material 16 .
- the semiconductor device 100 C by providing the reflective surface 63 on the base substrate 60 to be mounted with the semiconductor chip 10 , highly accurate positioning becomes possible by a single imaging device.
- the semiconductor device, the method of positioning the semiconductor device, and the positioning apparatus for the semiconductor device are useful for a semiconductor device that requires highly accurate positioning.
Abstract
A semiconductor device includes: a semiconductor chip that has a first connection terminal for wiring connection; a substrate that has a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light from the first connection terminal and the second connection terminal in a thickness direction of the substrate or the semiconductor chip.
Description
- This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2013-106330, filed on May 20, 2013, the entire contents of which are incorporated herein by reference.
- 1. Technical Field
- The disclosure relates to a semiconductor device, a method of positioning the semiconductor device, and a positioning apparatus for the semiconductor device.
- 2. Related Art
- When a semiconductor chip is connected to a mount substrate to manufacture a semiconductor device, positioning between the semiconductor chip and the mount substrate is performed, based on an alignment mark formed on the semiconductor chip and/or the mount substrate, conventionally.
- As techniques of performing positioning highly accurately by using an alignment mark: a technique of forming, in a region around an alignment mark of a semiconductor substrate, a sloped region that is sloped with respect to a normal direction of the substrate, to thereby reduce a normal direction reflectivity of laser light irradiated from the normal direction to the sloped region and precisely detect the alignment mark (for example, see Japanese Laid-open Patent Application No. 11-330347); and a technique of making a contrast difference between an alignment mark and a background region uniform to thereby improve visibility of the alignment mark (for example, see Japanese Laid-open Patent Application No. 2009-194119), are disclosed.
- In some embodiments, a semiconductor device includes: a semiconductor chip that has a first connection terminal for wiring connection; a substrate that has a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light from the first connection terminal and the second connection terminal in a thickness direction of the substrate or the semiconductor chip.
- In some embodiments, a method of positioning a semiconductor device in which a semiconductor chip and a substrate are connected to each other includes the steps of: first positioning of positioning in a field of view of an imaging device a reflective surface that reflects light from a first connection terminal of the semiconductor chip for wiring connection; and second positioning of positioning the substrate according to an image of a second connection terminal of the substrate for wiring connection and an image of the first connection terminal, both of the images being projected on the reflective surface.
- In some embodiments, a positioning apparatus for a semiconductor device is provided. The semiconductor device includes: a semiconductor chip having a first connection terminal for wiring connection; a substrate having a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light. The positioning apparatus includes: a stage that fixes the semiconductor chip having the first connection terminal for wiring connection and is movable within one plane; a tool that suctions and fixes the substrate having the second connection terminal for wiring connection and mounts the substrate on the semiconductor chip; an imaging device that images a reflective surface for projecting images of the first connection terminal and the second connection terminal; and a control unit that controls movement of the stage based on the images of the first connection terminal and the second connection terminal that are projected on the reflective surface, the images having been imaged by the imaging device.
- The above and other features, advantages and technical and industrial significance of this invention will be better understood by reading the following detailed description of presently preferred embodiments of the invention, when considered in connection with the accompanying drawings.
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FIG. 1 is a cross section diagram of a semiconductor device according to a first embodiment of the present invention; -
FIG. 2 is a top view before connection of the semiconductor device ofFIG. 1 ; -
FIG. 3 is a block diagram illustrating a positioning apparatus for the semiconductor device according to the first embodiment of the present invention; -
FIG. 4 is a flow chart illustrating a method of manufacturing the semiconductor device according to the first embodiment of the present invention; -
FIG. 5 is a cross section diagram illustrating positioning of a semiconductor device according to a second embodiment of the present invention; -
FIG. 6 is a top view illustrating positioning of the semiconductor device according to the second embodiment of the present invention; -
FIG. 7 is a diagram illustrating projection of an image of a connection part; -
FIG. 8 is a cross section diagram illustrating positioning of a semiconductor device according to a third embodiment of the present invention; -
FIG. 9 is a top view illustrating positioning of the semiconductor device according to the third embodiment of the present invention; -
FIG. 10 is a perspective diagram illustrating a semiconductor device according to a modified example of the third embodiment of the present invention; and -
FIG. 11 is a cross section diagram along line A-A of the semiconductor device ofFIG. 10 . - Hereinafter, with reference to the appended drawings, modes for carrying out the present invention (hereinafter, referred to as “embodiments”) will be described. The present invention is not limited by the embodiments. Further, in describing the drawings, the same portions are appended with the same reference signs. Further, the drawings are schematic, and it is to be noted that the relation between the thickness and width of each component and the ratios among the respective components are different from the actual. Further, a portion is included, which has different size relations and ratios among the drawings.
-
FIG. 1 is a cross section diagram illustrating asemiconductor device 100 according to a first embodiment of the present invention.FIG. 2 is a top view before connection of thesemiconductor device 100 ofFIG. 1 . Thesemiconductor device 100 according to the first embodiment of the present invention includes: asemiconductor chip 10, which is a solid-state image sensing element; amount substrate 20; and aprism 30 that emits light incident from an imaging optical system to thesemiconductor chip 10. - In the
semiconductor chip 10, afirst connection terminal 11 for wiring connection, animaging region 12 that converts an optical signal input from theprism 30 to an electric signal, and analignment mark 13 are formed on a same surface. - In the
mount substrate 20, asecond connection terminal 21 for wiring connection is formed, and analignment mark 22, which is on a reverse side of a surface on which thesecond connection terminal 21 is formed, is formed. Thefirst connection terminal 11 andsecond connection terminal 21 are bumps formed by screen printing, plating, or the like. - The
prism 30 has afirst prism 31 and asecond prism 32, reflects, by aconnection surface 33 between thefirst prism 31 andsecond prism 32, light incident on thefirst prism 31 from a non-illustrated imaging optical system, and emits the reflected light to theimaging region 12. A sloped surface of thefirst prism 31 and not contacting thesecond prism 32 forms areflective surface 34 that reflects light from thefirst connection terminal 11 andsecond connection terminal 21. - As illustrated in
FIG. 2 , thereflective surface 34 is formed at a position such that thereflective surface 34 is able to reflect the light from thefirst connection terminal 11 andsecond connection terminal 21 in a thickness direction of themount substrate 20, and thereflective surface 34 projects thereon animage 11 a of thefirst connection terminal 11 and animage 21 a of thesecond connection terminal 21. By visually recognizing theimage 11 a andimage 21 a projected on thereflective surface 34 from above, that is, from the reverse side of a connection surface of themount substrate 20, positioning of thesemiconductor chip 10 andmount substrate 20 is possible. Further, in the first embodiment, thesemiconductor chip 10 and themount substrate 20 are formed respectively with thealignment marks semiconductor chip 10 andmount substrate 20 using thealignment marks semiconductor chip 10 andmount substrate 20 are finely adjusted using theimage 11 a andimage 21 a projected on thereflective surface 34, and thus highly accurate positioning is possible in a short period of time. InFIG. 2 , thereflective surface 34 projects thereon theimage 11 a of thefirst connection terminal 11, theimage 21 a of thesecond connection terminal 21, and animage 20 a of a part of themount substrate 20, but thereflective surface 34 may just have an area that allows projection of at least theimage 11 a of thefirst connection terminal 11 and theimage 21 a of thesecond connection terminal 21 in the thickness direction of the mount substrate. - The
semiconductor chip 10 and themount substrate 20 are connected in parallel by aconnection material 15 such as a soldering paste, an anisotropic conductive film (ACF), an anisotropic conductive paste), or the like, such that thefirst connection terminal 11 and thesecond connection terminal 21 face each other. - Next, a manufacturing method and a manufacturing device for the
semiconductor device 100 according to the first embodiment are described.FIG. 3 is a block diagram illustrating a positioning apparatus for thesemiconductor device 100 according to the first embodiment of the present invention. - A
positioning apparatus 200 for thesemiconductor device 100 includes: animaging device 210 such as a CCD that captures theimage 11 a of thefirst connection terminal 11 and theimage 21 a of thesecond connection terminal 21 that are projected on thereflective surface 34; acontrol unit 220 that performs control of each unit; astage 230 that fixes thesemiconductor chip 10 and is able to move thefixed semiconductor chip 10 in one plane (X-direction, Y-direction, and O-direction); atool 240 that holds themount substrate 20 and mounts the heldmount substrate 20 on thesemiconductor chip 10 fixed on thestage 230; and adisplay unit 250 that outputs an image captured by theimaging device 210. - The
imaging device 210 is fixed above themount substrate 20 that is to be positioned, and theimaging device 210 captures theimage 11 a of thefirst connection terminal 11 and theimage 21 a of thesecond connection terminal 21, which are projected on thereflective surface 34. Further, theimaging device 210 outputs the captured images to thecontrol unit 220. Theimaging device 210 preferably has an angle change mechanism that is able to make adjustment according to an angle of thereflective surface 34 and a vertical axis Z adjustment mechanism for adjusting a focus point. - When image data are input by the
imaging device 210, thecontrol unit 220 performs the positioning of thesemiconductor chip 10 andmount substrate 20 by performing a pattern matching process, focus adjustment, and the like on the image data. Further, thecontrol unit 220 outputs the image data input from theimaging device 210 to thedisplay unit 250. - The
control unit 220 may be one that controls a non-illustrated coating mechanism for theconnection material 15. Above thesemiconductor chip 10, the coating mechanism for theconnection material 15 is fixed in a retractable manner and the coating mechanism supplies theconnection material 15 to a connection part of thesemiconductor chip 10, that is, onto thefirst connection terminal 11, by a discharge device, such as a syringe. The coating mechanism preferably has a temperature control device, a displacement meter, and the like, for the syringe or the like. The coating mechanism may be configured to perform coating of the connection material on a specified position by image recognition using theimaging device 210 andcontrol unit 220, instead of using the displacement meter. A positioning process by theimaging device 210 and thecontrol unit 220 is performed after the coating mechanism is retracted from above thesemiconductor chip 10. - The
stage 230 moves on the one plane (X-direction, Y-direction, and θ-direction), under control of thecontrol unit 220, to place thesemiconductor chip 10 to a specified position by suctioning and fixing thesemiconductor chip 10. - Under the control of the
control unit 220, thetool 240 picks up themount substrate 20 by suction-fixing themount substrate 20 using a suction unit or the like and mounts the picked upmount substrate 20 on thesemiconductor chip 10 fixed on thestage 230. For the movement of thesemiconductor chip 10 andmount substrate 20 by thestage 230 andtool 240, a servomotor is used. - When the
control unit 220 determines, by using the pattern matching process, that thesemiconductor chip 10 and themount substrate 20 are not at the specified positions, thetool 240 moves, under the control of thecontrol unit 220, themount substrate 20 fixed by the suction unit or the like to the specified position with respect to thesemiconductor chip 10. - The positioning of the
semiconductor chip 10 and themount substrate 20 by thepositioning apparatus 200 may be automatically performed by software built in thecontrol unit 220 or operated manually based on an image displayed on thedisplay unit 250. Further, the coating of theconnection material 15 by the coating mechanism and the movement of thesemiconductor chip 10 andmount substrate 20 may be performed automatically by software or operated manually based on the image displayed on thedisplay unit 250. - Next, the method of manufacturing the
semiconductor device 100 by using thepositioning apparatus 200 will be described.FIG. 4 is a flow chart illustrating the method of manufacturing thesemiconductor device 100 according to the first embodiment of the present invention. - First, by capturing, by the
imaging device 210, an image of thealignment mark 13 of thesemiconductor chip 10 fixed on thestage 230, thealignment mark 13 of thesemiconductor chip 10 is recognized (step S1). By the recognition of thealignment mark 13 of thesemiconductor chip 10, the positions of thesemiconductor chip 10 and thefirst connection terminal 11 are recognized, and theconnection material 15 is coated on thefirst connection terminal 11 of thesemiconductor chip 10 by the coating mechanism (step S2). - After coating the
connection material 15 and retracting the coating mechanism from above the semiconductor chip 10 (step S3), thetool 240 is set (step S4), and themount substrate 20 is picked up by the tool 240 (step S5). - The
alignment mark 22 of themount substrate 20 held by thetool 240 is recognized through imaging by the imaging device 210 (step S6). By the recognizedalignment mark 22 and thealignment mark 13 of thesemiconductor chip 10 recognized in step S1, under the control of thecontrol unit 220, the positions of thesemiconductor chip 10 andmount substrate 20 are roughly adjusted by movement of the tool 240 (step S7). - After the rough adjustment by the alignment marks 13 and 22, the
image 11 a of thefirst connection terminal 11 and theimage 21 a of thesecond connection terminal 21, which are projected on thereflective surface 34, are captured by theimaging device 210 to be recognized (step S8). Thecontrol unit 220 performs pattern matching or the like on the image data captured by theimaging device 210 to thereby finely adjust the positions of thesemiconductor chip 10 and mount substrate 20 (step S9). - After the fine adjustment of the positions, the
first connection terminal 11 andsecond connection terminal 21 come into contact with each other by the movement of the tool 240 (step S10). If misalignment is detected after coming into contact (step S11: YES), fine adjustment of the positions at step S9 is performed again, and if no misalignment is detected (step S11: NO), thefirst connection terminal 11 and thesecond connection terminal 21 are connected to each other (step S12). - The
semiconductor device 100 according to the first embodiment includes the opticalreflective surface 34, which is a part of an outer surface of theprism 30, and is able to project theimage 11 a of thefirst connection terminal 11 and theimage 21 a of thesecond connection terminal 21 on thereflective surface 34, and thus, positioning that conventionally required two devices (top view and side view) is able to be performed by thesingle imaging device 210 arranged at the reverse side of the connection surface of themount substrate 20. Further, since thesemiconductor device 100 according to the first embodiment has the alignment marks 13 and 22, it becomes possible to perform positioning (rough adjustment) by the alignment marks 13 and 22 up to positions where theimage 21 a of theconnection terminal 21 is projected on thereflective surface 34, and thereafter perform positioning by theimages reflective surface 34, and thus, fast and highly accurate positioning and connection between connection terminals become possible. - In the first embodiment, the alignment marks 13 and 22 are respectively formed in the
semiconductor chip 10 and themount substrate 20, and the positions of thesemiconductor chip 10 andmount substrate 20 are roughly adjusted by the alignment marks 13 and 22, but without forming the alignment marks 13 and 22, positioning between thesemiconductor chip 10 and themount substrate 20 may be performed based only on theimages reflective surface 34. If the positioning between thesemiconductor chip 10 and themount substrate 20 is performed based only on theimages reflective surface 34, positioning in the Y-direction ofFIG. 2 may be performed by pattern matching with respect to the positions of theimages reflective surface 34, and positioning in the X-direction may be performed by focus adjustment of theimages - A
semiconductor device 100A according to a second embodiment includes atransmission cable 40 connected on the reverse side of the connection surface, which is of themount substrate 20 and which is connected to thesemiconductor chip 10.FIG. 5 is a cross section diagram illustrating positioning of thesemiconductor device 100A according to the second embodiment of the present invention.FIG. 6 is a top view illustrating the positioning of thesemiconductor device 100A according to the second embodiment of the present invention.FIG. 7 is a diagram illustrating projection of an image of a connection part. - As illustrated in
FIGS. 5 and 6 , thesemiconductor device 100A according to the second embodiment includes thetransmission cable 40 connected on the reverse side of the connection surface, which is of themount substrate 20 and which is connected to thesemiconductor chip 10. Thetransmission cable 40 includes acore wire 41 formed of a conductor such as copper, and aninsulation layer 42 that covers an outer periphery of thecore wire 41. - On the reverse side of the connection surface of the
mount substrate 20 to thesemiconductor chip 10, aconnection land 23 that connects thetransmission cable 40 is formed. After being positioned on theconnection land 23, thecore wire 41 of thetransmission cable 40 is connected by a non-illustrated electrically conductive joining member such as a solder, ACF, ACP, or the like. - The
semiconductor device 100A according to the second embodiment is different from thesemiconductor device 100 of the first embodiment in that only oneprism 30A is used. In the second embodiment, because only oneprism 30A is used, thereflective surface 34 is able to be secured largely. Thereby, in addition to theimage 11 a andimage 21 a of thefirst connection terminal 11 andsecond connection terminal 21, animage 23 a of theconnection land 23 of themount substrate 20 and animage 40 a of thetransmission cable 40 are able to be projected on thereflective surface 34. - Further, as illustrated in
FIG. 7 , an angle of a slope of theprism 30A is freely settable, and thus reflected light is able to be reflected in any direction. The angle of the slope of theprism 30A is preferably 45°. - After performing positioning and connection of the
semiconductor chip 10 andmount substrate 20 by using thereflective surface 34 similarly to the first embodiment, thesemiconductor device 100A according to the second embodiment is manufactured by performing positioning and connection of an end portion of the exposedcore wire 41 of thetransmission cable 40, by using thereflective surface 34. - According to the second embodiment, even when the
transmission cable 40 is also mounted on themount substrate 20, highly accurate positioning is possible by using a reflected image. When an electronic part or the like other than thetransmission cable 40 is mounted on themount substrate 20 also, positioning using thereflective surface 34 is possible. - In a
semiconductor device 100B according to a third embodiment, areflective surface 51 is formed on abase substrate 50 on which thesemiconductor chip 10 is mounted, and thesemiconductor chip 10 is connected to themount substrate 20 at a reverse side of a connection surface of thesemiconductor chip 10 to thebase substrate 50.FIG. 8 is a cross section diagram illustrating positioning of thesemiconductor device 100B according to the third embodiment of the present invention.FIG. 9 is a top view illustrating positioning of thesemiconductor device 100B according to the third embodiment of the present invention. - In the
semiconductor device 100B according to the third embodiment, thereflective surface 51 is formed on thebase substrate 50 on which thesemiconductor chip 10 is mounted. Thereflective surface 51 has a reflective coat layer formed thereon, by forming a slope on thebase substrate 50 and thereafter forming a vapor deposition film or the like of a metal on the slope. - In the
semiconductor device 100B of the third embodiment, after positioning is performed according to theimage 11 a of thefirst connection terminal 11 of thesemiconductor chip 10 and theimage 21 a of thesecond connection terminal 21 of themount substrate 20, which are projected on thereflective surface 51, thefirst connection terminal 11 and thesecond connection terminal 21 are connected by the connection material. - In the
semiconductor device 100B according to the third embodiment, by providing thereflective surface 51 on thebase substrate 50 to be mounted with thesemiconductor chip 10, highly accurate positioning becomes possible by just a single imaging device. - The reflective surface may be formed on a substrate instead of the
base substrate 50.FIG. 10 is a perspective diagram illustrating asemiconductor device 100C according to a modified example of the third embodiment of the present invention.FIG. 11 is a cross section diagram along line A-A of thesemiconductor device 100C ofFIG. 10 . - The
semiconductor device 100C according to the modified example includes: thesemiconductor chip 10; asubstrate 60 having atrench portion 62 in which thesemiconductor chip 10 is mounted; and areflective surface 63 formed in thetrench portion 62. Thereflective surface 63 is formed on one of side surfaces of thetrench portion 62 and similarly to the third embodiment, after a slope is formed thereon, a reflective coat layer is formed thereon by a vapor deposition film or the like of metal. Thesubstrate 60 serves as a relay substrate to be connected to one or two circuit boards. - In the
semiconductor device 100C, after positioning according to the image of thefirst connection terminal 11 of thesemiconductor chip 10 and an image of asecond connection terminal 61 of thesubstrate 60, which are projected on thereflective surface 63, is performed, thefirst connection terminal 11 and thesecond connection terminal 61 are connected to each other by aconnection material 16. - In the
semiconductor device 100C according to the modified example of the third embodiment, by providing thereflective surface 63 on thebase substrate 60 to be mounted with thesemiconductor chip 10, highly accurate positioning becomes possible by a single imaging device. - As described above, the semiconductor device, the method of positioning the semiconductor device, and the positioning apparatus for the semiconductor device are useful for a semiconductor device that requires highly accurate positioning.
- According to some embodiments, because positioning while visually recognizing the connection terminals projected on the reflective surfaces is possible, accurate positioning becomes possible.
- Additional advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described herein. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
Claims (9)
1. A semiconductor device, comprising:
a semiconductor chip that has a first connection terminal for wiring connection;
a substrate that has a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and
a reflective surface that reflects light from the first connection terminal and the second connection terminal in a thickness direction of the substrate or the semiconductor chip.
2. The semiconductor device according to claim 1 , wherein the reflective surface is a part of an outer surface of a prism mounted on the semiconductor chip.
3. The semiconductor device according to claim 2 , further comprising a transmission cable that is connected on a reverse side of a connection surface of the substrate to the semiconductor chip, and is positioned according to an image reflected by the reflective surface when being connected.
4. The semiconductor device according to claim 2 , wherein
the semiconductor chip has a first alignment mark on a connection surface to the substrate, and
the substrate has a second alignment mark on a reverse side of a connection surface to the semiconductor chip.
5. The semiconductor device according to claim 1 , wherein the reflective surface is formed on a base substrate to which the semiconductor chip is connected.
6. The semiconductor device according to claim 1 , wherein the reflective surface is a part of a trench portion that is formed in the substrate and that accommodates the semiconductor chip.
7. A method of positioning a semiconductor device in which a semiconductor chip and a substrate are connected to each other, the method comprising the steps of:
first positioning of positioning in a field of view of an imaging device a reflective surface that reflects light from a first connection terminal of the semiconductor chip for wiring connection; and
second positioning of positioning the substrate according to an image of a second connection terminal of the substrate for wiring connection and an image of the first connection terminal, both of the images being projected on the reflective surface.
8. The method according to claim 7 , further comprising a step of roughly adjusting a position of the second connection terminal of the substrate according to a first alignment mark formed on a connection surface of the semiconductor chip to the substrate and a second alignment mark formed on a reverse side of a connection surface of the substrate to the semiconductor chip, after the step of first positioning.
9. A positioning apparatus for a semiconductor device that includes: a semiconductor chip having a first connection terminal for wiring connection; a substrate having a second connection terminal for wiring connection, the second connection terminal being electrically connected to the first connection terminal; and a reflective surface that reflects light, the positioning apparatus comprising:
a stage that fixes the semiconductor chip having the first connection terminal for wiring connection and is movable within one plane;
a tool that suctions and fixes the substrate having the second connection terminal for wiring connection and mounts the substrate on the semiconductor chip;
an imaging device that images a reflective surface for projecting images of the first connection terminal and the second connection terminal; and
a control unit that controls movement of the stage based on the images of the first connection terminal and the second connection terminal that are projected on the reflective surface, the images having been imaged by the imaging device.
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US15/885,033 US10446501B2 (en) | 2013-05-20 | 2018-01-31 | Semiconductor device, method of positioning semiconductor device, and positioning apparatus for semiconductor device |
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JP2013106330A JP6242078B2 (en) | 2013-05-20 | 2013-05-20 | Semiconductor device and semiconductor device positioning device |
JP2013-106330 | 2013-05-20 |
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US14/277,217 Abandoned US20140339711A1 (en) | 2013-05-20 | 2014-05-14 | Semiconductor device, method of positioning semiconductor device, and positioning apparatus for semiconductor device |
US15/885,033 Active US10446501B2 (en) | 2013-05-20 | 2018-01-31 | Semiconductor device, method of positioning semiconductor device, and positioning apparatus for semiconductor device |
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US10446501B2 (en) | 2019-10-15 |
US20180174978A1 (en) | 2018-06-21 |
JP2014229664A (en) | 2014-12-08 |
JP6242078B2 (en) | 2017-12-06 |
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