Inspection systems having rotating motion

A positioning system is provided for positioning a part or element in different inclinations relative to a plane normal to a central axis, and for also rotating the part about the central axis. A holder supporting the part is freely pivotable about a point on the central axis. A central spindle on the axis is coupled to a concentric tiltable ring assembly that is controllable in two directions of freedom from an input device. The tilt and rotational motions of the ring assembly are translated to the part holder by a multi-element linkage mechanism having low friction bearings at each end and allowing a wide range of motion. The part may be a semiconductor wafer to be inspected for flaws on a holder comprising a vacuum chuck. Alternatively the tiltable, rotatable mechanism may be used to support an optical camera or viewing device, or a robotic mechanism, for operation within a wide field.

BACKGROUND OF THE INVENTION 
This invention relates to systems for providing selectable orbital and 
scanning motions about a central axis, and more particularly to systems 
for viewing defects on the surfaces of semiconductor wafers. 
A number of applications exist in which it is desirable to control a member 
so that it can be arbitrarily tilted in any direction about a central 
axis, and also to rotate it in a true orbital motion in any inclination. 
Usually, it is desirable that there be a large possible angle of deviation 
from the central axis, and that the rotary control be operable separately 
or together with the tilting control. Examples of such systems are found 
in inspection applications, in compound motion mechanisms, and in systems 
in which a viewing device or optical unit is to be scanned or positioned 
within a large field of view. 
An example of a critical inspection application is the so-called bright 
light inspection system for semiconductor applications. Semiconductor 
wafers, prior to deposition or etching, have highly polished surfaces 
which may include minute but visually observable defects such as finger 
marks, scratches, and lap lines. These can commonly be discerned by visual 
inspection at different angles under a strong light, properly oriented. In 
order for an inspector to see minute defects of different kinds, the wafer 
must be positionable at different angles and rotatable relative to the 
illumination. Different conditions of operation are best for searching for 
specific types of defects. For example, minute lines may only appear at 
certain angles, and particle matter may appear to luminesce briefly when 
moved through the light field. A range of tilt positions and a wide number 
of viewing perspectives should therefore be available along with the 
rotary motion. 
In the inspection process, it is preferred to handle the wafers by an 
automatic transport mechanism which extracts them from one cassette and 
places them at the inspection position where they can be studied in 
different attitudes and motions. As determined by the inspector, an 
examined wafer may then be passed to a different cassette or returned to 
the original cassette, depending upon the wafer's acceptability, and the 
desired direction of flow. 
There are a number of available wafer handling systems that incorporate a 
tilt and rotate feature, sometimes solely for purposes of bright light 
inspection and at other times to supplement an optical inspection 
utilizing a microscope. These systems are, however, restricted in their 
capability and not readily adjustable by the operator. Obviously, it is 
desirable to make it as convenient as possible for the operator to select 
and control the angle of inclination for inspection purposes. Moreover, 
the wafer should be arbitrarily tiltable along two orthogonally disposed 
directions (e.g. roll and pitch), and through substantial angles, such as 
.+-.45.degree. relative to a plane normal to the axis of rotation. With 
such capability, the wafer can be tilted about one axis in a 
unidirectional scan, tilted concurrently about two axes to provide a 
warbling or wobbling motion, rotated in a fixed inclination about the 
central axis, or even tilted and rotated in a synchronized manner. 
Prior art systems are limited in the fact that some can only be adjusted 
through a relatively small angle, some must be pre-set to a given angle, 
few provide a variety of control modes, and most are difficult and 
cumbersome to use, thus slowing the inspection process. 
A reliable, precise mechanism for imparting such motions can be used in 
many other applications where comparable mechanical control is needed. A 
viewing device such as a CCD array can be directed, scanned or positioned 
anywhere within a wide field of view, or a robotic mechanism can be 
positioned in a confined space but be effective throughout a wide volume. 
SUMMARY OF THE INVENTION 
Systems and devices in accordance with the invention can separately or 
concurrently rotate a part or unit about a central axis while also 
selecting or changing its inclination relative to a reference point on the 
central axis. The part or unit is seated freely on a pivot ball mount to 
which is coupled one end of a central drive spindle that is disposed along 
and rotatable about the central axis. The central spindle is rotated by a 
drive system coupled to its opposite end, while an encompassing control 
ring is gimbal coupled to the spindle. The control ring thus is rotatable 
with the spindle but also tiltable with two degrees of freedom into 
arbitrary inclinations relative to a predetermined point on the central 
axis. An outer, non-rotating guidance ring is coupled by bearings about 
the control ring and engaged by a position control mechanism that inclines 
the ring assembly in either or both of two directions relative to a 
nominal central plane and about the predetermined point on the central 
axis. The rotational motion and the angle of inclination are translated to 
the part or unit by a system of control rods circumferentially spaced 
about and parallel to the central spindle. The ends of the control rods 
are coupled to the part holder and control ring respectively by low 
friction ball couplings which, together with the pivot ball on the center 
spindle, permit the inclination to be varied within a wide angle, such as 
an included angle of 90.degree.. This system is therefore capable of 
receiving a part on the holder, tilting it in any direction about a pivot 
point through wide angles, and rotating it separately or concurrently with 
tilting. 
Manual or automatic controls can be used in following a predetermined or 
arbitrary positioning sequence. The tilt mechanisms can be driven by 
stepper motors and the rotary drive by a variable speed motor, so that 
precise control with rapid adjustment can be readily achieved. 
In accordance with other features of this arrangement, the part is a 
semiconductor wafer held on a vacuum chuck firmly during tilt and 
rotation. A vacuum line coupled to a carrier at the base of the spindle 
communicates suction to the vacuum chuck surface through a rotary seal via 
conduits extending through the center of the spindle, the pivot ball, and 
the vacuum chuck interior. The XY tilt mechanisms comprise separate 
compound pivot yokes coupled to the guidance ring and each driven by a 
lead screw controlled by a stepper motor supported on a gimballed actuator 
mount. 
A feature of the invention is the provision of a low friction pivot ball 
having an interior vacuum conduit, and received within a chuck pivot 
socket so as to permit free tilting movement of the chuck and the attached 
wafer. Also satellite pivot balls and encompassing rings are used at each 
end of the control rods to provide low friction couplings in the 
tilt/rotate mechanism. The system thus obviates use of lubricants in the 
vicinity of the wafer that might degrade the stringent clean room 
conditions that have to be maintained. 
In semiconductor inspection systems incorporating the tilt/rotation 
mechanism in accordance with the invention, wafers may be withdrawn from a 
supply cassette by a probe, and transported to the vacuum chuck. The tilt 
and rotate mechanism includes an elevator system for raising the mechanism 
and the chuck into a position for taking the wafer from the probe. In this 
position an operator may view light reflected off the wafer from an 
opposite bright light source. A tracking ball control is used by the 
operator to introduce single axis tilting or a compound wobbling motion, 
and a separate control is used for slow rotation. As a result of the 
inspection a decision is made as to the disposition of the wafer and the 
operator may enter commands on a keyboard as to the disposition of a wafer 
and also record data as to the inspection. Usually the choice is either to 
return the wafer to the supply cassette or cause it to be picked up by a 
separate probe and fed to a different cassette. 
Although particularly suited for use in inspection of semiconductor wafers, 
systems and methods in accordance with the invention may be utilized for a 
wide range of other products which must be subjected to close examination. 
These include high precision parts such as those used in satellites, 
optical elements, and medical products, particularly for implantable 
devices. Further, the mechanism can serve as the positioning platform for 
a variety of scanning and controlled motion devices.

DETAILED DESCRIPTION OF THE INVENTION 
FIG. 1 depicts in general form one example of a system for providing 
controlled tilt and rotation through a wide angle. This is a bright light 
inspection system 10 including a vacuum chuck 12 disposed in a central 
position in front of an operator (not shown) who views light reflected off 
a semiconductor wafer 14 from a bright light source 16. The chuck 12 
extends upwardly from a console 18 at what may be called the inspection 
position, to one side of which is disposed a supply cassette 20, while on 
the other side is disposed a take-up or secondary cassette 22. Elevator 
mechanisms that are used for lifting and lowering the cassettes so that 
individual wafers are made available are not shown or described in detail 
because they are well known. Either the supply cassette or the secondary 
cassette 20, 22 respectively may be used for receiving rejects, under 
control of an operator keyboard 24 with a line display 25, in conventional 
fashion. The operator also has a tracking ball type of mouse control 28 
positioned for manual control of the tilting position, in X and Y, of the 
chuck 12 and the wafer 24. The mouse control 28 includes separate keys A, 
B and C for most used repetitive commands (e.g., reject, repeat cycle, 
accept). By X and Y are meant orthogonally disposed pitch and roll 
directions of motion relative to a central reference plane normal to the 
central or Z axis. The Z axis, about which the wafer 14 is to be rotated 
is in this instance vertical so that the reference plane is horizontal and 
the X and Y movements tilt the wafer 14 in either or both of the pitch and 
roll directions. 
Within the console 18, a first probe 31 movable in the plane of the chuck 
12 transports wafers between the supply cassette 20 and the chuck in 
conventional fashion, using suction to hold the wafer 14 in position. A 
second probe 32 is used between the chuck 12 and the secondary cassette 
22. The line display 25 enables the operator to check commands as entered 
and to interact with a CPU 26, which is not described in detail as to data 
processing, recording and related functions are not of significance to the 
inventive feature. The CPU 26 operates in known fashion to control 
cassette elevation, cycling of the probes 31 and 32, and transfer of 
wafers 14 to and from the vacuum chuck 12 under control of the keyboard 24 
and the mouse control 28. 
The general arrangement of the tilt/rotate system is shown in FIGS. 2 and 
3, to which reference is now made. Additional details of specific parts of 
the system are shown in figures referenced in detail hereafter. The 
tilt/rotate system is mounted so as to tilt and rotate the wafer 14 in X 
and Y around a point on the vertical central axis. The principal drive, 
support and control elements are enclosed within the console 18 of the 
system, except for the top protruding portion comprising the vacuum chuck 
12 and its supporting elements, when extended to a raised inspection 
position. As seen in FIGS. 2 and 3, the drive units are mounted on a 
vertically movable Z axis drive plate 36 which includes slide bearings 37 
receiving vertical guide rods 38. The upper ends of the rods 38 support a 
top plate 40 having a central aperture 41 concentric with the central 
axis. The guide rods 38 are seated in a base plate 43 and maintain the 
parallelism with the horizontal of the Z axis drive plate 36 as a Z axis 
motor 45 elevates or lowers the entire tilt/rotate mechanism via a large 
lead screw 46. Therefore, when the vacuum chuck 12 is lowered, the probes 
of FIG. 1 can transport wafers 14 to the central axis, and the vacuum 
chuck 12 can then be raised to slightly above the plane of the probes 31, 
32 to an inspection position. Similarly, the chuck 12 can be lowered to 
deposit a wafer 14 on one of the probes 31, 32. 
A motor plate 48 on the upper side of the Z axis drive plate 36 holds a 
spindle drive motor 50, the shaft of which extends downwardly through the 
motor plate 48 to a drive gear 54 coupled by a drive belt 56 to a driven 
gear 58 coupled to the rotatable center spindle 60 (FIGS. 3 and 6). 
As best seen in FIG. 3, the spindle 60 is mounted on ball bearings 61 in a 
stationary Z bearing carrier 62 on a spindle support 63. The Z bearing 
carrier 62 includes a vacuum line fitting 64 (FIG. 2) to which an external 
vacuum line 65 (FIG. 2 also) is attached. The interior of the Z bearing 
carrier 62 includes a vacuum feed bushing 66 which includes a hole 67 
opening the vacuum line fitting 64 to a bore 68 in the spindle 60, while 
sealing out other air flow to prevent loss of suction. 
The intermediate portion of the center spindle 60 includes a conical base 
70 from which the principal upstanding portion of the spindle 60 extends. 
The center spindle 60 is hollow, communicating the vacuum line with an 
uppermost vertically adjustable tapered tip 72 coupled into a central 
pivot ball 74 of inert, very low friction, material such as "Teflon," best 
seen in FIG. 3A, that includes an aperture 75 in communication with the 
surface of the vacuum chuck 12. The pivot ball 74 is itself seated in 
mating fashion within a chuck pivot socket 77 of "Teflon" in the vacuum 
chuck 12. 
Exterior to the chuck 12, attached at different equally spaced points on 
its periphery, are a number (here four) of satellite pivot balls 78 
secured by threaded bolts 79. The satellite pivot balls 78 are essentially 
spherical and also of "Teflon", further being held within "Teflon" rings 
80 of relatively small width which slide freely through considerable arcs 
on the balls 78, since the geometry provides clearance through wide angles 
without contact of abutting surfaces. With proper fabrication practices 
and with smooth exterior surfaces on the balls and the mating bodies in 
which they are seated, the chuck 12 moves very freely but without the 
sources of contamination a chemical lubricant would present in the 
vicinity of a wafer. To assure conformity of the Teflon balls and rings, 
and low friction operation, it has been found advantageous to heat the 
assembly to an elevated temperature and to suddenly cool it. 
The tilting and rotating mechanism for providing a true orbital motion 
about the central axis includes a gimbal mounted ring assembly 82, seen 
best in FIGS. 2, 3 and 4. The ring assembly 82 comprises an inner control 
ring 85 disposed concentric with the central axis and adjacent the conical 
base 70 portion of the center spindle 60. The control ring 85 is coupled 
to the center spindle 60 by a drive gimbal 87 at a transverse pin 89, thus 
imparting rotation while allowing a first degree of tilt freedom. The 
gimbal 87 has a central bore 91 sized and shaped to permit tilting motion 
through more than .+-.45.degree. without contact with the outer surface of 
the central shaft 60. Short shafts 92 couple the control ring 85 radially 
to the ends of the drive gimbal 87 in the direction orthogonal to the 
transverse pin 89. Full gimballing action, in a second degree of freedom, 
is provided by low friction (e.g. "Teflon") bearing spheres 93 on the 
shafts 92 between the drive gimbal 87 and the inner control ring 85. The 
bearing spheres 93 provide lower attachment points for circumferentially 
spaced, parallel control rods 95 that extend vertically up to satellite 
pivot balls 78 at the vacuum chuck 12 assembly. The lower ends of the 
control rods 95 taper to eyes 97 that contain narrow "Teflon" rings 98 
which fit in mating relation about the bearing spheres 93. Here also a low 
friction coupling is provided that permits free tilting movement in any 
direction (within geometrical limits defined by clearance relative to 
adjacent units) of the control ring 85. Although only three control rods 
95 need be used to define a plane, this is a matter of design choice, and 
four control rods provide better symmetry against torsional forces. 
The upper ends of the control rods 95 also include eyes 97' holding the 
rings 80 that fit around the satellite pivot balls 78. Thus changes in 
inclination at the control ring 85 are coupled to the vacuum chuck 12 by 
the rods 95 to cause the vacuum chuck 12 to assume a like inclination. The 
control rods 95 also rotate the vacuum chuck 12 with the center spindle 
60, when it is turned. Although the control rods 95 may be made as a 
single piece, they as shown here as comprising three-piece elements, with 
an end section 95' at the lower end and an end section 95" at the upper 
end, the center section being threaded into each of the end sections to 
permit adjustment of length. This allows adjustment of the control rod 95 
lengths, but adequate adjustment is usually obtained by threading the 
upper end of the center spindle 60 up or down. 
The XY positioning mechanism for tilting the control ring 85 functions 
about the two parallel axes that are in planes that intercept the central 
axis but are orthogonally disposed relative to each other, and determine X 
and Y tilting. The mechanism comprises a bearing ring 100 whose inner half 
is coupled to the outer perimeter of the control ring 85, and an outer 
guidance ring 101 that is stationary and coupled to the outer half of 
bearing ring 100. A compound pivot yoke 102, 102' is provided for each of 
the X and Y tilt axes. As seen in FIGS. 3 and 4 the compound pivot yokes 
102, 102' each include an upper bracket 103 having a U-shaped head within 
which a short arm 104 is seated on a pivot 105. A finger 106 extends from 
the arm 104 and is coupled into the adjacent portion of the guidance ring 
101, as best seen in FIGS. 3 and 4. 
For X and Y control, a lead screw 107 seated rotatably in the upper bracket 
103 at its upper end, is movable substantially vertically in a fixed 
element on an actuator mount 108, the actuator mount 108 being held in a 
gimbal 109 having two degrees of freedom. Pivot pins 110 at the ends of 
the gimbal 109 seat in blocks 111 on the spindle support 63. A stepper 
motor 112 is mounted on the underside of the actuator mount 108 to drive 
the lead screw 107 up and down, while pivoting on the gimbal 109 in the 
direction toward and away from the central axis to adjust for changes in 
the length of the lead screw 107 between the mount 108 and the upper 
bracket 103. The actuator mount 108 is gimballed to allow slight torsional 
displacements of the control rods 95 because their ends are not restrained 
in the circumferential direction except when a limit is reached. The 
compound pivot yokes 102, 102' thus allow for some side movement relative 
to the principal arc. The stepper motor 112 is of the type in which the 
lead screw 107 passes through the central axis, thus conserving space and 
simplifying the mechanism. 
As best seen in FIG. 2, the second compound pivot yoke 102' is mounted on a 
different gimballed actuator mount 114 lying in the same horizontal plane 
as the first described yoke 102, but pivoting with change of lead screw 
116 length about an axis that is in an orthogonally disposed plane 
relative to the central axis. Both XY drives thus principally move through 
an arc lying in a plane that intercepts the central axis, but accommodate 
some lateral movement relative to that plane as well. 
The side view of FIG. 7 diagrammatically illustrates the principal pivot 
action of one of these pivot yokes, as the ring assembly 82 is shifted 
between limit positions about the central pivot point, defining an 
instantaneous angle of anywhere between +45.degree. to -45.degree. 
relative to the horizontal reference plane. As also seen in FIG. 7, when 
the control ring 85 is tilted, the angle of the lead screw 107 (or 116) 
(diagrammatically illustrated only) relative to the vertical is changed 
correspondingly. At the same time, the gimballed ring assembly 82 tilt 
causes the control rods 95 to move radially inwardly toward the center 
spindle 60, where there is inclination relative to a horizontal reference 
plane normal to the control axis. The motion of a point on the gimballed 
control ring 85 is orbital when ring 85 is rotated in a given inclination. 
As seen in FIG. 5, this motion is translated by the control rods 95 and 
the satellite pivot balls 78 into an identical orientation and orbital 
rotation of the vacuum chuck 12. Angular play at the outset of angular 
motion in each direction is limited and does not affect the inspection 
process. 
The suction on the underside of a wafer 14 on the vacuum chuck 12 is 
maintained during rotation. As seen in FIG. 3B, a vacuum is drawn on the Z 
bearing carrier 62 into the interior chamber within the vacuum feed 
bushing 66. The interior is sealed but coupled into the conduit extending 
vertically along the hollow center spindle 60, then to the central pivot 
ball 74, and to the surface of the vacuum chuck 12 in FIG. 3A. 
The compound pivot yokes 102, 102' incline the ring assembly 82 at 
arbitrary angles, but it is desirable to limit the range of movement 
automatically, so as to preclude stressing the motor and mechanism. For 
this purpose, as seen in FIGS. 2 and 3B, an optical sensor 120 is mounted 
on the outer radial side of each bracket 103. The optical sensor 120 
arrangement is alike for each of the pivot yokes and so only one sensor 
need be described. It includes a small circuit board 122 interconnected 
with the CPU 26 and with a light source element 124 and a light sensor 
element 126, the two elements 124 and 126 being spaced apart by a gap that 
is vertically aligned with and adjacent to one of the guide rods 38. A 
flag element 130 is selectably positionable in height on the rod 38, as by 
a set screw (not shown) and includes a tab 132 lying in the vertical plane 
which intercepts the gap between the source element 124 and sensor element 
126. Thus, if the angle of inclination of the ring assembly 82 reaches the 
limit defined by the flag element 130 position, a signal is transmitted to 
the CPU 26 and the associated drive motor 112 is disabled from further 
movement in that direction by blocking further commands from the tracking 
ball mouse control 28. 
Alternatively, the flag element 130 can be of the type in which a long 
strip having one or more sensor holes is positioned along the rod. The 
strip may occlude the sensor from the light source except when the light 
beam passes through the sensor hole, signaling the CPU 26 that the ring 
assembly 82 is at the limit position. An inverse sensor system, having a 
slot between limit positions, may also be used. In all arrangements both 
lower and upper limit positions may be sensed, this feature not being 
shown in detail for simplicity. 
To stabilize the ring assembly 82 the guidance ring 101 is mechanically 
biased to the central reference plane position in which it is normal to 
the vertical central axis. This may be accomplished by a set of light 
tension springs (not shown) anchoring the guidance ring 101 to fixed parts 
of the structure so as to provide low force loads against both up and down 
movements. In the present example, however, a bar 136 is disposed in a 
generally vertical orientation between a spring 138 coupled to the Z axis 
drive plate 36 at one end, and a sleeve 140 pivotally coupled to the 
guidance ring 101 at the other end. The spring 138 is in a neutral 
position when the ring assembly 82 is centered, but functions in both 
tension and compression to provide a light opposing load to inclination of 
the assembly 82. 
In the operation of the system of FIGS. 1-7, an operator seated in front of 
the console 18 uses the keyboard 24 and the CPU 26 to elevate or lower the 
supply cassette 20 to a selected level, then cause the first probe 31 to 
withdraw a wafer 14 from the selected position. The wafer 14 is shifted 
along a horizontal plane to above the lowered vacuum chuck 12, which is 
then raised and a suction applied. At contact with the vacuum chuck 12 the 
wafer 14 is transferred from the probe 31 by release of suction on the 
probe 31 and application of suction on the chuck 12, before or as it 
raises to the inspection plane. When the wafer 14 is in position the beam 
from the bright light 16 is reflected off the wafer 14 toward the 
operator, who can start the inspection process, in automatic or manual 
controlled sequences. When the inspection procedure is complete, the wafer 
can then be returned to the supply cassette 20 by the first probe 31 or 
passed on to the secondary cassette 22 by the second probe 32, depending 
on which of those cassettes is used for accepted and rejected wafers. 
The inspection procedure can be manual, controlled solely by the operator, 
or completely automatic, under CPU 26 control, or a combination of both. 
In the automatic mode, by which higher throughput can usually be achieved, 
the selected wafer 14 is placed on the chuck 12, and various tilt and 
rotation subroutines are carried out. In the manual mode, the tilt and 
rotation (.theta.) controls can be used in arbitrary fashion. 
The operator, with training and experience, quickly becomes astute in using 
different angles and modes to look for different types of defects in the 
wafer 14 surface. To control tilt, the operator simply rotates the 
tracking ball on the mouse control 28 in the back/forth or right/left 
directions. To create a warbling motion he moves the tracking ball 28 in a 
circular motion. Such actions quickly become instinctive since the 
operator is immediately aware of the responsive change in position. In 
response, the stepper motors, e.g. 112, control the XY position with 
sufficient precision for close examination. Tilting can be carried out 
prior to or during rotation, as desired, so as to effect a scanning action 
using tilt alone or to scan using rotation. Consequently, if the wafer 14 
is not clean, has lap marks or scratches, or other blemishes, the bright 
light illumination will show a significant flaw visibly at some point in 
the inspection process. 
It should be appreciated that this tilt/rotate system can be utilized in a 
variety of applications and systems that require comparable compound 
motions through a wide range. As mentioned above, implantable medical 
devices, precision components for satellite installations, extremely high 
precision units, and other devices require very careful visual checking 
and can be inspected in a comparable manner. These can be placed on a 
tiltable, orbitally rotatable, holder of a type compatible for the part, 
by a conventional robotic or other pick and place mechanism, then 
inspected in comparable fashion. The same structure makes feasible 
automatic inspection systems, in which the pivot and rotational operations 
are controlled by a processor in programmed fashion, and the light 
reflected off the part being inspected is detected by a scanning mechanism 
or matrix and then analyzed in analog or digital circuitry. For example, 
the pivot position and angular position can be sequenced through a number 
of steps, and a digitized image can be derived at each step, with the 
images being analyzed in comparison to a number of standard images, and 
high amplitude and low amplitude excursions, relative to the standards, 
being used as indicators of likely fault conditions. 
A TV camera or CCD matrix can be placed on a holder and both inclined and 
rotated through a wide angle, providing an extremely broad field of view. 
Remote control systems can employ this arrangement with benefit. Similarly 
a beam scanning device can be controlled in comparable fashion, or a 
robotic arm mounted on a tiltable, rotatable base in this manner, can 
cover an extremely wide working area from a focal region. 
Although there have been described above various forms and modifications in 
accordance with the invention, it will be appreciated that the invention 
is not limited thereto but encompasses all modifications and 
exemplifications within the scope of the appended claims.