WO2015166696A1 - 半導体モジュールおよびその製造方法 - Google Patents
半導体モジュールおよびその製造方法 Download PDFInfo
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- WO2015166696A1 WO2015166696A1 PCT/JP2015/055066 JP2015055066W WO2015166696A1 WO 2015166696 A1 WO2015166696 A1 WO 2015166696A1 JP 2015055066 W JP2015055066 W JP 2015055066W WO 2015166696 A1 WO2015166696 A1 WO 2015166696A1
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- lead frame
- adhesive
- case
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- circuit block
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Definitions
- the present invention relates to a semiconductor module and a method for manufacturing the same, and more particularly to a semiconductor module used for an inverter device such as a motor drive device and a power converter such as a switching power supply device and a method for manufacturing the same.
- a semiconductor module for power conversion has a plurality of power semiconductor chips such as power transistors or diodes for power conversion integrated in one package.
- circuit wiring suitable for a desired application is previously performed inside the package, which contributes to downsizing of the entire application device.
- MOSFETs Metal Oxide Semiconductors Field-Effect Transistors
- IGBTs Insulated-Gate Bipolar Transistors
- the element for power conversion is configured to be exposed to the outside of the semiconductor module through the copper foil surface on the insulating substrate and the insulating substrate in order to reduce heat generation due to the loss by heat dissipation, and the radiator from the exposed surface Is used to radiate heat (see, for example, Patent Document 1). That is, in Patent Document 1, an insulating layer is disposed on the surface of a metal plate having good heat conductivity, a main circuit wiring pattern is formed on the insulating layer, and a semiconductor chip is bonded on the main circuit wiring pattern. ing. The heat generated by the semiconductor chip is transferred to the metal plate through the main circuit wiring pattern and the insulating layer, and is radiated by a heat sink joined to the metal plate.
- the power conversion element has a desired circuit formed by a lead frame, a conductive wire, or a wiring pattern generated on the substrate, and these circuits are directly connected to terminals that are electrical connection means to the outside. Or indirectly connected via a wire or the like.
- IPM Intelligent Power Module
- the control IC has a driver function for driving an element for power conversion and a function for detecting and protecting an abnormal state such as an overcurrent.
- the control IC is mounted at a location away from the substrate on which the power conversion element is mounted in order to prevent heat generation and noise from the power conversion element.
- the control IC is mounted on a wiring pattern formed in the case.
- the IPM there are modules in which passive components such as a current detection element, a temperature detection element, a snubber element, or a capacitor connected to supply stable power to the control IC are mounted inside the module.
- the semiconductor module on which these elements are mounted and desired electrical connection is made is resin-sealed to complete the IPM.
- the lead frame and PPS resin Polyphenylene Sulfide Resin
- the terminal case is formed by injecting PPS resin into a mold that is fixed and set with a fixing pin such as a fixing pin or an ejector pin that is placed so that the lead frame is not displaced or deformed by resin pressure during molding. Although it is molded, an opening (a hole formed by a fixed pin) formed at that time is sealed with a resin by moving the fixed pin during molding.
- an element such as a control IC is mounted on the lead terminal by an adhesive means such as silver paste.
- an insulating substrate is bonded to the terminal case with an adhesive, and electrical connection (ultrasonic bonding) is performed with aluminum wires so as to form a desired circuit configuration between the element-insulating substrate wiring pattern and the lead frame. It is sealed with a casting resin to constitute a semiconductor module.
- Patent Document 2 when the terminal case is manufactured, when the high-temperature resin cools due to the difference in linear expansion coefficient between the resin and the metal lead terminal, the terminal case adheres closely. The lead terminal that was left may come off the case. In addition, since the lead terminal and the PPS resin do not have an adhesive force, a minute gap is generated between the lead terminal and the PPS resin even if they are formed so as to adhere to each other. If the bonding wire is to be ultrasonically bonded to the lead terminal while the lead terminal is floating from the case, the ultrasonic vibration energy is absorbed by the lead terminal, which causes bonding failure.
- Patent Document 2 a through hole is formed in a case immediately below an ultrasonic bonding portion of a terminal board serving as a lead terminal, and a support member is inserted into a heat sink bonded to the case at a position corresponding to the through hole. Forming a mouth.
- a rod-shaped tool is used on the upper surface of the terminal plate while supporting the lower surface of the ultrasonic bonding portion of the terminal plate with the fixing pin arranged in the support member insertion port and the through hole. Bonding wires are ultrasonically bonded.
- the terminal plate faces this through-hole, the lower surface of the terminal plate is exposed to air and heat dissipation is improved.
- Patent Document 2 a plate-like heat sink made of a metal having high thermal conductivity is disposed on the lower surface of a frame-like case made of an insulating resin having an opening at the center, and the opening is opened with the heat sink.
- An adhesive is used for bonding such a resin and a metal, but if the adhesive is applied more than necessary, a high bonding strength can be obtained, but the adhesive protrudes from the bonding surface.
- the outflow of the adhesive to the outside not only impairs the appearance, but the inflow to the inside will contaminate the bonded portion by ultrasonic bonding and reduce the strength.
- a plurality of grooves are formed on the surface of the case facing the heat sink, and the groove near the center is used as an adhesive application groove, and the outer and inner grooves flow out of the adhesive.
- channel is known (for example, refer patent document 3).
- JP 2013-258321 A (paragraph [0043], FIG. 2) JP 2004-134518 A (paragraphs [0048]-[0056], FIGS. 4-7) JP 2012-15349 A (FIG. 1)
- the present invention has been made in view of these points, and an object of the present invention is to provide a semiconductor module capable of stable wire bonding using ultrasonic waves in the manufacturing stage and a manufacturing method thereof.
- a semiconductor module is provided to solve the above problems.
- This semiconductor module has a lead frame having a connection surface to which bonding wires are ultrasonically bonded and a mounting surface on which the lead frame is mounted, and a circuit block in which a semiconductor chip is formed on an insulating substrate is fixed. And a case having an opening formed so as to penetrate between the mounting surface and the fixing surface. The opening is filled with an adhesive, and the vicinity of the connection surface of the lead frame and the circuit block are bonded to each other.
- the present invention also provides a method for manufacturing a semiconductor module.
- a case is molded.
- a mounting surface on which a lead frame having a connection surface to which a bonding wire is ultrasonically bonded is mounted, and a circuit block in which a semiconductor chip is formed on an insulating substrate are fixed to the outside corresponding to the mounting surface. And a fixed surface.
- the case is molded by injecting resin into the mold while supporting the vicinity of the connecting surface of the lead frame from the back surface with the ejector pin or the pressing pin.
- an adhesive is applied to the fixing surface of the case where the opening is formed by the ejector pin or the presser pin so that the opening is also filled, and the circuit block is placed on the fixing surface of the case. Is fixed to the case.
- a bonding wire is ultrasonically bonded to the connection surface of the lead frame fixed to the circuit block with an adhesive.
- the vicinity of the connection surface of the lead frame to which the bonding wire is ultrasonically bonded is fixed to the circuit block by the adhesive via the opening.
- the semiconductor module having the above configuration and the manufacturing method thereof can fix the vicinity of the connection surface of the lead frame without changing the conventional process or adding any process to the conventional process. There is an advantage that it can be improved.
- the lead frame is bonded to the insulating substrate with an adhesive having a high thermal conductivity, the thermal resistance between the insulating substrate and the lead frame is reduced, and the heat dissipation of the lead frame can be further improved.
- the control IC mounted on the lead frame has a temperature protection function and a temperature output function
- the insulating substrate to which the semiconductor chip is connected with a low thermal resistance and the lead frame on which the control IC is mounted The thermal resistance between them also decreases. For this reason, since the thermal resistance between the semiconductor chip and the control IC also becomes low, the control IC can detect the temperature more accurately, and the semiconductor chip can be protected with high accuracy.
- FIG. 1 is an exploded perspective view of a semiconductor module according to the present invention as viewed from the bottom side thereof
- FIG. 2 is a cross-sectional view showing the semiconductor module before being mounted on an insulating substrate in an upside down state
- FIG. FIG. FIG. 4 is a cross-sectional view showing the semiconductor module when wiring with bonding wires is performed
- FIG. 5 is a cross-sectional view showing the semiconductor module after resin sealing.
- the semiconductor module according to the present invention includes a terminal case 1 as shown in FIG. 1 showing an outline before assembly.
- the terminal case 1 is formed by integral molding (lead frame insert molding) of the lead frame 2 and the case 3.
- the terminal case 1 has a pair of opposed parallel side wall portions 4a into which the lead frame 2 is inserted, and a pair of opposed parallel side wall portions 4b connected to both ends in the longitudinal direction of the side wall portion 4a. It is formed in a rectangular frame shape in plan view.
- the side wall portions 4 a and 4 b of the terminal case 1 have an L-shaped cross section, and a step portion 6 a is formed along the periphery of the central opening 5 on the bottom surface (the upper surface in FIG. 1). ing.
- the stepped portions 6 a of the side wall portions 4 a and 4 b are fixed surfaces to which the insulating substrate 7 is fixed, and have a depth smaller than the thickness of the insulating substrate 7.
- the terminal case 1 is mounted on the inner surface 6b, which is the mounting surface located on the opposite side of the stepped portion 6a, and the outer side of the lead frame 2 is the side wall portion. It is formed in a state of extending outward through 4a.
- the lead frame 2 has a connection surface by ultrasonic bonding on the side opposite to the mounting surface of the case 3 on the inner surface 6b.
- an opening 8 is formed which penetrates to the stepped portion 6a. That is, the case portion in which the step portion 6 a is formed has a structure in which the lead frame 2 and the bonding surface of the insulating substrate 7 are positioned above and below the opening 8.
- the opening 8 is formed in the case portion immediately below the connection surface of the lead frame 2, that is, in the case portion near the portion where wire bonding is performed by ultrasonic bonding.
- the place where wire bonding is performed by ultrasonic bonding is also the place where the main current of the lead frame 2 flows.
- the opening 8 is formed for the purpose of fixing the lead frame 2 to the insulating substrate 7 at a place where the lead frame 2 is disposed and where ultrasonic bonding is not performed, as necessary. May be.
- the opening 8 is formed at the time of lead frame insert molding. That is, when the pre-molded lead frame 2 is set in a mold, the ejector pins are installed so as to support the lead frame 2. In this state, for example, PPS resin is injected into the mold to mold the terminal case 1. At this time, since the resin filled in the mold is solidified without moving the ejector pin, the resin does not go around the ejector pin. Thereafter, the terminal case 1 is protruded from the mold by the ejector pins, and the opening 8 is formed by pulling the ejector pins out of the terminal case 1.
- the opening 8 may also be formed of a so-called presser pin that is used to suppress kinking or misalignment of the lead frame 2 during insert molding. Further, both the ejector pin and the presser pin are used. It may be formed.
- a passive element such as a control IC, a capacitor, or a resistor is placed on a lead frame 2 that also serves as a circuit depending on the application and purpose.
- a lead frame 2 that also serves as a circuit depending on the application and purpose.
- the control IC 9 is placed on the lead frame 2 is shown.
- the terminal case 1 in which the control IC 9 is placed on the lead frame 2 is turned upside down as shown in FIG. 2, and then the step portion to which the insulating substrate 7 is fixed as shown in FIG.
- the adhesive 10 is applied to 6a.
- the adhesive 10 is a resin having a thermal conductivity (for example, 0.5 [W / mK]) higher than that of the PPS resin forming the case 3 (for example, 0.3 [W / mK]). Is used.
- the adhesive 10 is not only applied to the surface of the stepped portion 6a but also filled in the opening 8. As a result, the lead frame 2 is bonded to the portion facing the opening 8 by the adhesive 10.
- the insulating substrate 7 is placed on the step portion 6a to which the adhesive 10 is applied.
- the insulating substrate 7 can be an AL (aluminum) insulating substrate or a DCB (Direct Copper Bonding) substrate, and power semiconductor chips 13 and 14 are placed on a conductive wiring pattern 12 formed in advance on the surface.
- the circuit block 11 is configured by being mounted.
- these semiconductor chips 13 and 14 are IGBTs and FWDs.
- the circuit block 11 is mounted on the step portion 6 a with the mounting surfaces of the semiconductor chips 13 and 14 facing down, so that the outer peripheral portion of the insulating substrate 7 is not only bonded to the terminal case 1 by the adhesive 10.
- the lead frame 2 is also bonded by the adhesive 10 in the opening 8. As a result, the lead frame 2 is not only fixed to the insulating substrate 7 by the adhesive 10 filled in the opening 8 immediately below the lead frame 2 but also thermally bonded to the insulating substrate 7 via the adhesive 10. become.
- the lead frame 2 is thermally coupled to the insulating substrate 7 through the opening 8, heat generated by the main current flowing can be transferred to the insulating substrate 7, and the lead terminals can be dissipated. It is possible. As a result, the heat dissipation of the lead frame 2 can be further improved as compared with the conventional example in which the lead frame is exposed to air having a thermal conductivity of 0.0241 [W / mK] through the openings formed as the support member insertion opening and the through hole. Can be improved.
- the control IC 9 placed on the lead frame 2 has a temperature protection function and a temperature output function
- the control IC 9 can protect the semiconductor chips 13 and 14 with high accuracy. That is, as compared with the conventional example in which the lead frame 2 is exposed to air, the heat between the insulating substrate 7 to which the semiconductor chips 13 and 14 are connected with a low thermal resistance and the lead frame 2 on which the control IC 9 is mounted. Resistance is lower. For this reason, since it becomes low thermal resistance between the semiconductor chips 13 and 14 and the control IC 9, it becomes possible for the control IC 9 to detect temperature more accurately, and the semiconductor chips 13 and 14 can be protected with high accuracy. .
- the terminal case 1 to which the circuit block 11 is fixed is rotated by 180 degrees, and the inner surface 6b of the terminal case 1 and the mounting surfaces of the semiconductor chips 13 and 14 of the circuit block 11 are on the upper side.
- the terminal case 1 is prepared for wire bonding by pressing its upper end surface in the direction indicated by the arrow 15.
- the structure of the holding jig can be overwhelmingly simple compared to the conventional example in which the lead frame floating from the case must be pressed at each position where wire bonding is performed during ultrasonic bonding. .
- the semiconductor module is wire-bonded by the bonding wire 16 of the main circuit and the bonding wire 17 of the control circuit.
- the interface between the inner surface 6b of the terminal case 1 and the lead frame 2 is in close contact, ultrasonic bonding of the bonding wire 16 to the lead frame 2 ensures that ultrasonic vibration energy is not absorbed. Reportedly. Further, wire bonding of the bonding wire 16 to the semiconductor chips 13 and 14 and wire bonding of the bonding wire 17 to the semiconductor chip 13, the control IC 9 and the lead frame 2 are also performed.
- the terminal case 1 is filled with a liquid casting resin 18, and the semiconductor chips 13 and 14 and the control IC 9 are resin-sealed.
- the casting resin 18 can be the same resin as the adhesive 10 that bonds the insulating substrate 7 of the circuit block 11 to the terminal case 1. By using the same material for the casting resin 18 and the adhesive 10, it becomes possible to make the members common.
- FIG. 6 is a flowchart illustrating a method for manufacturing a semiconductor module
- FIG. 7 is a diagram illustrating a specific example of the semiconductor module.
- the circuit block 11 and the terminal case 1 are respectively prepared in advance in separate steps.
- an insulating substrate 7 is prepared (step S1), and solder is applied to one surface of the insulating substrate 7 (step S2).
- semiconductor chips 13 and 14 to be IGBT and FWD are prepared (step S3), and these semiconductor chips 13 and 14 are mounted on the solder applied to the insulating substrate 7 (step S4) and put in a reflow furnace.
- the circuit block 11 is configured (step S5).
- a pre-molded lead frame 2 is prepared (step S6).
- This lead frame 2 is set in a mold of an injection molding machine, and PPS resin is injected into the mold.
- the terminal case 1 is molded (step S7).
- the terminal case 1 is formed with an opening 8 using an ejector pin or a presser pin.
- a thermosetting silver paste is applied to the control IC mounting position of the lead frame 2 in the terminal case 1 (step S8).
- the control IC 9 is prepared (step S9), and the control IC 9 is mounted on the silver paste and fixed to the lead frame 2 (step S10).
- the terminal case 1 in which the control IC 9 is mounted on the lead frame 2 is turned upside down (see FIG. 2), and the adhesive 10 is applied to the step portion 6 a formed around the central opening 5 of the terminal case 1. Is applied.
- the insulating substrate 7 with the mounting surfaces of the semiconductor chips 13 and 14 down is mounted on the stepped portion 6a, whereby the terminal case 1 and the insulating substrate 7 are bonded (step S11).
- the same process and equipment as conventional terminal case / insulating substrate bonding can be used, so there is no cost increase due to an increase in equipment and tact.
- the terminal case 1 is turned upside down so that the mounting surfaces of the semiconductor chips 13 and 14 on the insulating substrate 7 and the control IC mounting surface of the lead frame 2 are placed on top, and wire bonding using bonding wires 16 and 17 is performed. Is performed (step S12).
- the terminal case 1 is filled with a casting resin 18 as a PPS resin and sealed with resin (step S13).
- the semiconductor module 20 illustrated in FIG. 7 is a top view of the case 3 before resin sealing.
- six wiring patterns 12 are formed on the insulating substrate 7 of the circuit block 11, and a semiconductor chip 13 that is an IGBT and a semiconductor chip 14 that is an FWD are mounted on each wiring pattern 12.
- three control ICs 9 are mounted on the lead frame 2a forming the internal wiring.
- the wiring pattern 12 or the semiconductor chips 13 and 14 and the lead frame 2 forming the lead terminal are connected by the bonding wire 16, and an opening is provided directly below the vicinity of the bonding wire 16 of the lead frame 2.
- Part 8 is formed.
- the lead frame 2 is fixed to the insulating substrate 7 by the adhesive 10 in the vicinity of the location where the bonding wire 16 is joined. Therefore, when the bonding wire 16 is ultrasonically bonded to the connection surface of the lead frame 2, the lead frame 2 does not flutter and a bonding failure does not occur.
- the thermal conductivity of the adhesive 10 is higher than the thermal conductivity of the case 3, the heat generated by the main current flowing through the lead frame 2 is transferred to the insulating substrate 7 through the adhesive 10, so that the lead frame 2 The heat dissipation performance is improved.
- the opening 8 formed immediately below the lead frame 2 a is for filling the adhesive 10 and fixing the lead frame 2 a to the insulating substrate 7. Both ends of the lead frame 2 a are fixed by the side wall portions 4 a and 4 b of the case 3, but the intermediate portion is fixed to the insulating substrate 7 by the adhesive 10, so that the lead frame 2 a is more firmly fixed to the case 3.
- the adhesive 10 preferably has higher adhesion to the lead frame 2 than the case 3. Accordingly, when a gap is generated between the case 3 and the lead frame 2 due to a difference in linear expansion coefficient, the lead frame 2 and the insulating substrate 7 can be firmly adhered to each other, and heat dissipation performance is improved.
- this invention is not limited to said structure, It can comprise suitably combining as needed.
- the above merely illustrates the principle of the present invention.
- many modifications and changes can be made by those skilled in the art, and the present invention is not limited to the precise configuration and application shown and described above, and all corresponding modifications and equivalents may be And the equivalents thereof are considered to be within the scope of the invention.
Landscapes
- Structures Or Materials For Encapsulating Or Coating Semiconductor Devices Or Solid State Devices (AREA)
- Encapsulation Of And Coatings For Semiconductor Or Solid State Devices (AREA)
- Engineering & Computer Science (AREA)
- Ceramic Engineering (AREA)
- Lead Frames For Integrated Circuits (AREA)
Abstract
Description
図6は半導体モジュールの製造方法を示すフローチャート、図7は半導体モジュールの具体例を示す図である。
以上の工程により作られた半導体モジュールの具体例について説明する。図7に例示した半導体モジュール20は、樹脂封止前のケース3をその上面から見たものである。この半導体モジュール20は、回路ブロック11の絶縁基板7に6つの配線パターン12が形成され、それぞれの配線パターン12には、IGBTとする半導体チップ13およびFWDとする半導体チップ14が搭載されている。また、内部配線をなすリードフレーム2aには、3つの制御IC9が搭載されている。
上記については単に本発明の原理を示すものである。さらに、多数の変形、変更が当業者にとって可能であり、本発明は上記に示し、説明した正確な構成および応用例に限定されるものではなく、対応するすべての変形例および均等物は、添付の請求項およびその均等物による本発明の範囲とみなされる。
2,2a リードフレーム
3 ケース
4a,4b 側壁部
5 中央開口部
6a 段部
6b 内面
7 絶縁基板
8 開口部
9 制御IC
10 接着剤
11 回路ブロック
12 配線パターン
13,14 半導体チップ
16,17 ボンディングワイヤ
18 注型樹脂
20 半導体モジュール
Claims (7)
- ボンディングワイヤが超音波接合される接続面を有するリードフレームと、
内部に前記リードフレームが搭載される搭載面を有し、外部に半導体チップを絶縁基板上に形成した回路ブロックが固定される固定面を有し、前記搭載面と前記固定面との間を貫通するように形成された開口部を有するケースと、
を備え、
前記開口部には、接着剤が充填されて前記リードフレームの前記接続面のある近傍箇所と前記回路ブロックとを接着していることを特徴とする半導体モジュール。 - 前記開口部は、前記リードフレームの前記接続面のない箇所と前記回路ブロックとの間にも形成されていて内部に充填された前記接着剤により前記リードフレームと前記回路ブロックとを接着していることを特徴とする請求項1記載の半導体モジュール。
- 前記接着剤は、前記回路ブロックが前記ケースの前記固定面に固定される接着剤と同じ接着剤であることを特徴とする請求項1または2記載の半導体モジュール。
- 前記接着剤は、熱伝導率が前記ケースの熱伝導率より高いことを特徴とする請求項1記載の半導体モジュール。
- 前記接着剤は、前記ケースに充填されて前記半導体チップを樹脂封止する注型樹脂と同じ樹脂であることを特徴とする請求項1記載の半導体モジュール。
- 前記接着剤は、前記ケースよりも前記リードフレームとの密着力が高いことを特徴とする請求項1記載の半導体モジュール。
- 内部にボンディングワイヤが超音波接合される接続面を有するリードフレームが搭載される搭載面と、前記搭載面に対応する外部に半導体チップを絶縁基板上に形成した回路ブロックが固定される固定面とを有するように、前記リードフレームの前記接続面の近傍箇所をその裏面よりエジェクタピンまたは押えピンで支持しながら金型に樹脂を注入してケースを成型し、
前記エジェクタピンまたは前記押えピンによって開口部が形成された前記ケースの前記固定面に前記開口部にも充填されるようにして接着剤を塗布し、
前記ケースの前記固定面に前記回路ブロックを載置して前記回路ブロックを前記ケースに固定し、
前記接着剤によって前記回路ブロックに固定された前記リードフレームの前記接続面に前記ボンディングワイヤを超音波接合する、
ことを特徴とする半導体モジュールの製造方法。
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201580002346.8A CN105684147B (zh) | 2014-04-30 | 2015-02-23 | 半导体模块及其制造方法 |
| JP2016515880A JP6288254B2 (ja) | 2014-04-30 | 2015-02-23 | 半導体モジュールおよびその製造方法 |
| DE112015000183.2T DE112015000183B4 (de) | 2014-04-30 | 2015-02-23 | Halbleitermodul und Verfahren zu dessen Herstellung |
| US15/151,453 US9837338B2 (en) | 2014-04-30 | 2016-05-10 | Semiconductor module with mounting case and method for manufacturing the same |
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| JP2014093422 | 2014-04-30 | ||
| JP2014-093422 | 2014-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| US15/151,453 Continuation US9837338B2 (en) | 2014-04-30 | 2016-05-10 | Semiconductor module with mounting case and method for manufacturing the same |
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| WO2015166696A1 true WO2015166696A1 (ja) | 2015-11-05 |
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| PCT/JP2015/055066 Ceased WO2015166696A1 (ja) | 2014-04-30 | 2015-02-23 | 半導体モジュールおよびその製造方法 |
Country Status (5)
| Country | Link |
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| US (1) | US9837338B2 (ja) |
| JP (1) | JP6288254B2 (ja) |
| CN (1) | CN105684147B (ja) |
| DE (1) | DE112015000183B4 (ja) |
| WO (1) | WO2015166696A1 (ja) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6288254B2 (ja) | 2018-03-07 |
| US20160254215A1 (en) | 2016-09-01 |
| JPWO2015166696A1 (ja) | 2017-04-20 |
| CN105684147B (zh) | 2019-04-05 |
| CN105684147A (zh) | 2016-06-15 |
| US9837338B2 (en) | 2017-12-05 |
| DE112015000183T5 (de) | 2016-07-21 |
| DE112015000183B4 (de) | 2022-05-05 |
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