Abstract:
A moving apparatus including a first movable body which moves in a first direction in a horizontal plane, a second movable body arranged in a location different from a location of the first movable body in a vertical direction, which moves in a second direction intersecting with the first direction in the horizontal plane, a first linear motor which moves the first movable body in the first direction, a second linear motor which moves the second movable body in the second direction, a third movable body which is moved in the first direction and is moved in the second direction, a vacuum container which puts the first, second and third movable bodies in a vacuum, driving force transmission rods, and a sealing mechanism for sealing the driving force transmission rods and the vacuum container.

Description:
This application claims the benefit of Japanese Patent Application No. 2001-066531, filed Mar. 9, 2001, which is hereby incorporated by reference herein in its entirety. 
   FIELD OF THE INVENTION 
   The present invention relates to a moving/guiding apparatus for guiding a movable body, e.g., an electron beam drawing apparatus or a precision measurement instrument, which repeats high-speed movement and precision positioning, or moves by scanning at high precision in a non-atmospheric atmosphere, and an exposure apparatus, and the like, using the same. 
   BACKGROUND OF THE INVENTION 
   Generally, as disclosed in, e.g., Japanese Patent Publication No. 57-41814 and Japanese Patent Laid-Open No. 57-61436, in a moving/guiding apparatus, one shaft is directly connected to a motor (plus a transmission mechanism, such as a screw), and another shaft fixes the motor, and a force is transmitted through a coupling, so that a stage can move within the X-Y plane. For example, the Y stage is directly connected to the feed screw of a fixed motor, and is driven in the Y direction by rotation of the feed screw. An X stage is also driven in the X direction by the feed screw of the fixed motor. Since the X stage is set on the Y stage and moves in the Y direction as well, together with the Y stage, it cannot be directly connected to the feed screw of the motor fixed outside the stage, and a driving force in the X direction is supplied to it through a coupling. In this arrangement, a driving transmission shaft (e.g., a screw) and a motor are fixed (immobile) to each of the two shafts. This is suitable to transmit a force from outside a vacuum container. This arrangement, however, has the following drawbacks. 
   (1) The rigidity of the coupling is serially applied to the driving system to cause degradation in rigidity. 
   (2) Since the coupling rigidity changes depending on the position of the stage, the control characteristics change, and a sufficiently high precision and moving speed cannot be obtained. 
   (3) When the stage moves, an eccentric load is generated on the Y stage to deform it. Accordingly, the static posture precision (pitching) of the X stage is degraded. 
   (4) When the stage moves, the position of a barycenter of the system within the plane changes. Hence, when the stage is driven, oscillation, such as pitching or yawing, is induced. This also degrades the dynamic posture precision. 
   To cover the drawbacks of the above arrangement, a stage arrangement disclosed in Japanese Patent Publication No. 60-23941 is proposed. Even in this stage arrangement, the above items (3) and (4) are not improved. Moreover, this stage arrangement contributes little to the thrust of the coil of the driving linear motor. Therefore, the linear motor has a poor efficiency, and a large adverse influence is imposed by, e.g., heat generation. 
   SUMMARY OF THE INVENTION 
   The present invention has been made to cover the above drawbacks. It is the first object of the present invention to provide a moving/guiding apparatus capable of guiding and driving a high-precision movable body movable within the X-Y plane, and a moving/guiding method. It is the second object of the present invention to improve the seal structure of a vacuum container for storing the movable body. It is the third object of the present invention to provide a semiconductor and a liquid crystal panel manufactured by using the above moving/guiding apparatus or moving/guiding method. 
   It is still another object of the present invention to provide a moving/guiding apparatus, or the like, which guides movement of a movable body, e.g., an electron beam drawing apparatus or a precision measurement instrument, which repeats high-speed movement and precision positioning or moves by scanning at high precision in a non-atmospheric atmosphere. 
   It is still another object of the present invention to provide a moving/guiding apparatus comprising first and second movable bodies guided to move in an intersecting direction, arranged at vertically different positions, and restrained in a vertical direction, first and second actuators for driving the first and second movable bodies in the intersecting directions, and a third movable body guided to be movable on a surface plate in a moving direction of the first movable body and in a moving direction of the second movable body, and driven in two intersecting directions upon reception of forces from guide surfaces in a horizontal direction of the first and second movable bodies. 
   It is still another object of the present invention to provide a moving/guiding method, for a moving/guiding apparatus having first and second movable bodies guided to move in intersecting directions, arranged at vertically different positions, and restrained in a vertical direction, and a third movable body guided to be movable on a surface plate in a moving direction of the first movable body and in a moving direction of the second movable body, comprising the steps of driving the first and second movable bodies by respective actuators in directions the first and second movable bodies are guided, and driving the third movable body in two intersecting directions by forces from guide surfaces in a horizontal direction of the first and second movable bodies. 
   According to one aspect of the present invention, the first movable body is guided by one radial static pressure bearing and a vertically restraining static pressure bearing. Similarly, the second movable body is also guided by one radial static pressure bearing and a vertically restraining static pressure bearing. The third movable body is guided vertically by the surface of a surface plate and horizontally by the side surfaces of the first and second movable bodies. The first to third movable bodies are accommodated in a vacuum container. The first movable body is driven by at least one linear motor fixed outside the vacuum container, and the second movable body is driven by at least one linear motor fixed outside the vacuum container. The third movable body is guided vertically by the surface of the surface plate, and horizontally by the side surfaces of the first and second movable bodies. The driving operation of the third movable body is transmitted through the horizontal guide operations of the first and second movable bodies. This arrangement produces the following operations. 
   (1) Because both the first and second movable bodies are directly driven, a change in rigidity (characteristics), depending on the position of the stage, can be suppressed. 
   (2) The third movable body is vertically guided by the surface of the surface plate. Even when the first and second movable bodies move, an eccentric load is not generated, and pitching and rolling can be maintained at high precision. 
   (3) The driving torque of the two actuators is appropriately distributed in accordance with the positions of the first and second movable bodies. This decreases vibration in the yawing direction and improves a dynamic posture precision. 
   (4) Pitching and rolling are small, since they are transmitted merely through the gap of the bearing. The dynamic posture precision is improved in this respect as well. 
   (5) No actuators are required for moving the third movable body within a plane. 
   (6) As the first and second movable bodies are horizontally guided by the side surface of one stationary guide on the surface plate, even when a temperature change occurs, the gap of the bearing does not change. A fear of damage is eliminated even when a temperature change should occur during transportation or use. 
   According to one aspect of the present invention, the first to third movable bodies are guided by a static pressure bearing with a labyrinth seal structure described in, e.g., Japanese Patent Laid-Open No. 63-192864 (U.S. Pat. No. 2,587,227), and the first and second movable bodies are driven by the linear motors. Hence, the following functions/effects are obtained. 
   (1) Since no friction exists, hissing, or the like, does not occur, and high-precision positioning can be performed. 
   (2) Since heat generation by a contact portion does not occur, thermal deformation, or the like, does not occur. This enables high-precision positioning. 
   (3) Since no dust is generated, a mechanism for collecting dust is unnecessary, leading to a simple arrangement and cost reduction. 
   (4) Maintenance, such as grease up, is not necessary. 
   Furthermore, according to one aspect of the present invention, the force is transmitted from the linear motor set outside the vacuum container through a transmission rod with a sufficiently large rigidity, and the transmission rod and vacuum container are sealed by exhausting air from a labyrinth. This leads to the following effects. 
   (1) Driving operation from outside the vacuum container is enabled without adversely affecting the vacuum degree. 
   (2) A control performance almost identical to that obtained with direct drive by a linear motor can be obtained. 
   (3) The seal portion is of a no-contact type and does not generate dust. 
   (4) Since no frictional resistance exists, high-precision positioning is enabled. 
   As the driving portion is set outside the vacuum container, the following advantages are obtained. 
   (5) The vacuum container can be downsized. 
   (6) As the influence of the magnetism of the linear motor can be decreased, the present invention is suitable for an apparatus, e.g., an electron beam drawing apparatus, which is apt to be easily damaged by magnetism. 
   Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
       FIG. 1  is a perspective view showing the schematic arrangement of a moving/guiding apparatus according to the first embodiment of the present invention; 
       FIG. 2  is a lower surface view of the moving guiding apparatus of  FIG. 1  from which a surface plate is removed; 
       FIG. 3  is a sectional view taken along the line A-A of  FIG. 1 ; 
       FIG. 4  is a sectional view taken along the line B-B of  FIG. 1 ; 
       FIG. 5  is a detailed sectional view of the vacuum seal mechanism of the vacuum container shown in  FIG. 2 ; 
       FIG. 6  is an illustration of a semiconductor device manufacturing system using the apparatus according to the present invention, seen from a certain angle; 
       FIG. 7  is an illustration of the semiconductor device manufacturing system using the apparatus according to the present invention seen from another angle; 
       FIG. 8  shows a practical example of a user interface; 
       FIG. 9  is a flow chart for describing the flow of a device manufacturing process; and 
       FIG. 10  is a flow chart for describing the wafer process. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
   Preferred embodiments of the present invention will now be described in detail in accordance with the accompanying drawings. 
   First Embodiment 
     FIGS. 1 to 4  are schematic views showing an example of a moving/guiding apparatus according to the first embodiment of the present invention, in which  FIG. 1  is a perspective view,  FIG. 2  is a lower surface view of the moving/guiding apparatus of  FIG. 1 , from which a main body surface plate is removed,  FIG. 3  is a sectional view taken along the line A-A of  FIG. 1 , and  FIG. 4  is a sectional view taken along the line B-B of  FIG. 1 . In the sectional view taken along the line B-B of this embodiment, a pre-pressurizing mechanism is not used. The vacuum container ( 8 ) is shown in only  FIG. 2 , and is omitted in the other drawings in order to avoid complexity in the drawings. 
   Referring to  FIGS. 1 to 4 , reference numeral  1  denotes a surface plate; reference numeral  11 , a stage surface plate; and reference numeral  12 , a main body surface plate. Reference numeral  21  denotes an X-direction stationary guide; reference numeral  22 , a Y-direction stationary guide; and reference numeral  3 , an X-Y movable body movable within a plane in the X and Y directions. Reference numeral  41  denotes an X-direction movable body which can move the X-Y movable body  3  in the X direction; reference numeral  42 , a Y-direction movable body in the Y direction, reference numerals  511  and  512 , X-direction driving linear motors; and reference numerals  521  and  522 , Y-direction driving linear motors. 
   Reference numeral  611  denotes a static pressure bearing (radial bearing) for guiding the X-direction movable body  41  in the X direction and restraining it in all directions except for the X direction; reference numeral  612 , static pressure bearings for guiding the X-direction movable body  41  in the horizontal direction parallel to the X-Y plane and restraining it in the vertical direction; reference numeral  621 , a static pressure bearing (radial bearing) for guiding the Y-direction movable body  42  in the Y direction and restraining it in all directions except for the Y direction; reference numeral  622 , a static pressure bearing for guiding the Y-direction movable body  42  in the horizontal direction and restraining it in the vertical direction parallel to the Z direction; reference numeral  631 , vertically restraining static pressure bearings between the X-Y movable body  3  and stage surface plate  11 ; reference numeral  632 , static pressure bearings for guiding the X-Y movable body  3  in the Y direction while restraining horizontal (X-direction) movement between the X-Y movable body  3  and X-direction movable body  41 ; and reference numeral  641 , static pressure bearings for guiding the X-Y movable body  3  in the X direction while restraining horizontal (Y-direction) movement between the X-Y movable body  3  and Y-direction movable body  42 . These static pressure bearings use air. 
   Reference numeral  8  denotes the vacuum container; reference numeral  911 , a driving force transmission rod for a linear motor  511 ; and reference numeral  912 , a driving force transmission rod for a linear motor  512 . The driving force transmission rods  911  and  912  transmit driving forces to the X-direction movable body  41  as X-direction transmitting rigid bodies. The driving force transmission rod  912  is connected to the X-direction movable body  41  through a connecting plate  413 . Reference numerals  921  and  922  denote driving force transmission rods for linear motors  521  and  522 . The driving force transmission rods  921  and  922  transmit driving forces to the Y-direction movable body  42  as Y-direction transmitting rigid bodies. The driving force transmission rod  921  is connected to the Y-direction movable body  42  through a connecting plate  423 . 
   In the above arrangement, when air is supplied to the static pressure bearing  611 , one side portion  411  of the X-direction movable body  41  floats from the X-direction stationary guide  21 . When air is supplied to the static pressure bearings  612 , the other portion  412  of the X-direction movable body  41  floats with respect to an X-direction guide  211  on the stage surface plate  11 . Similarly, when air is supplied to the static pressure bearing  621 , one side portion  421  of the Y-direction movable body  42  floats from the Y-direction stationary guide  22 . When air is supplied to the static pressure bearing  622 , the other side portion  422  of the Y-direction movable body  42  floats with respect to a Y-direction guide  221  on the stage surface plate  11 . 
   When air is supplied to the static pressure bearings  631 , the X-Y movable body  3  floats from the stage surface plate  11 . When air is supplied to the static pressure bearings  632 , the gaps between the side surface of the X-direction movable body  41  and the static pressure bearings  632  are maintained. When air is supplied to the static pressure bearings  641 , the gaps between the side surface of the Y-direction movable body  42  and the static pressure bearings  641  are maintained. 
   As the respective static pressure bearings  611 ,  612 ,  621 ,  622 ,  631 ,  632 , and  641  described above, static pressure bearings each with a labyrinth seal structure are preferably used. Such a static pressure bearing is described in, e.g., Japanese Patent Laid-Open No. 63-192864 (U.S. Pat. No. 2,587,227). 
   The above mechanism is accommodated in the vacuum container  8  shown in  FIG. 2 . The vacuum container  8  is set on the main body surface plate  12 , and accommodates the stage surface plate  11 , X-direction guides  21  and  211 , Y-direction guides  22  and  221 , X-Y movable body  3 , X-direction movable body  41 , Y-direction movable body  42 , and static pressure bearings  611 ,  612 ,  621 ,  622 ,  631 ,  632 , and  641 , and the like, entirely. The driving force transmission rods  911 ,  912 ,  921 , and  922  can be projected from and retracted in the vacuum container  8 . 
   As shown in  FIG. 5 , the vacuum container  8  has labyrinth seal structures  80  at its boundaries between the inside and outside through which the driving force transmission rods  911 ,  912 ,  921 , and  922  are respectively projected and retracted. In each labyrinth seal structure  80 , a cylinder  81  concentrically projects from the opening of the vacuum container  8  where the driving force transmission rod  911 ,  912 ,  921 , or  922  extends, and an annular groove is formed in the cylinder  81  so as to surround the corresponding driving force transmission rod, thus forming recesses and projections. This groove forms a labyrinth at that portion through which the driving force transmission rod is projected or retracted. An external gas entering the vacuum container  8  from the outside is exhausted by a vacuum pump (not shown) from the vacuum container  8  through a plurality of pores formed in the outer wall of the cylinder  81 . 
   In this moving/guiding apparatus, when the linear motors  511  and  512  fixed on the main body surface plate  12  are driven, the X-direction movable body  41  moves in the X direction through the transmission rods  911  and  912 , to move the X-Y movable body  3  in the X direction through the static pressure bearings  632 . When the linear motors  521  and  522  are driven, the Y-direction movable body  42  moves in the Y direction through the transmission rods  921  and  922 , to move the X-Y movable body  3  in the Y direction through the static pressure bearings  641 . The transmission rods  911 ,  912 ,  921 , and  922  are vacuum-sealed at the boundaries with respect to the vacuum container  8  by the respective labyrinth seal structures  80 . 
   Although a pair of linear motors are provided in the above embodiment to each of the X- and Y-direction movable bodies  41  and  42 , only one linear motor may be provided to each of the X- and Y-direction movable bodies  41  and  42 . More specifically, each of the X- and Y-direction movable bodies  41  and  42  may be driven by one linear motor. An ultrasonic motor may be used as the linear motor. 
   The moving/guiding apparatus according the above embodiment has the following effects. 
   (1) Even when the position of the X-Y movable body ( 3 ) changes, no eccentric load is generated in the surface plates ( 1 ,  11 , and  12 ). Thus, high-precision static posture can be maintained. 
   (2) Each of the X- and Y-direction movable bodies ( 41  and  42 ) is driven by two linear motors ( 511  and  512 , and  521  and  522 ) on the surface plate ( 12 ). When the driving force is appropriately adjusted in accordance with the position of the X-Y movable body ( 3 ), the yawing vibration of the X-Y movable body ( 3 ) can be suppressed. 
   (3) Since all portions are of a no-contact type, dust or heat is not generated to realize high precision and easy maintenance. 
   (4) Since vibration is transmitted only in a very small amount through the gap of the static pressure bearing, dynamic posture precision can be maintained well. 
   (5) Since each of the first and second movable bodies ( 41  and  42 ) is guided in the horizontal direction parallel to the X-Y plane by the side surface of one stationary guide ( 21  or  22 ) on the stage surface plate ( 11 ), even when a temperature change occurs, the gap of the static pressure bearing does not change, and damage may not occur during transportation, or the like. 
   (6) The linear motors ( 511 ,  512 ,  521 , and  522 ) are driven outside the vacuum container ( 8 ), and their driving forces are transmitted by the transmission rods ( 911 ,  912 ,  921 , and  922 ) through the vacuum seals ( 80 ). Thus, the vacuum is little affected adversely. 
   (7) Even when the position of the stage changes, since no couplings, or the like, exist, the dynamic characteristics do not substantially change. This is advantageous in terms of control as well. 
   Second Embodiment 
   The second embodiment of the present invention provides an exposure apparatus using the moving/guiding apparatus described in the first embodiment. As a reticle stage or wafer stage, which mounts a reticle as an original plate or a wafer as a substrate, and moves it, the exposure apparatus uses the moving/guiding apparatus according to the present invention. A high-quality device, such as a semiconductor or liquid crystal panel, can be manufactured at a high yield by using the exposure apparatus according to this embodiment. 
   (Embodiment of a Semiconductor Manufacturing System) 
   An example of a manufacturing system for manufacturing a semiconductor device (e.g., a semiconductor chip, such as an IC or LSI, a liquid crystal panel, a CCD, a thin film magnetic head, a micromachine, and the like) by using the apparatus according to the present invention (such as the exposure apparatus described in the second embodiment) will be described. With this manufacturing system, maintenance and services, such as trouble-shooting, periodical maintenance, or providing software for a manufacturing apparatus installed at a semiconductor manufacturing factory, are performed by utilizing a computer network outside the factory. 
     FIG. 6  expresses the entire system seen from a certain angle. Referring to  FIG. 6 , reference numeral  1101  denotes a business office of a vendor (e.g., an apparatus supplier), which provides a semiconductor device manufacturing apparatus. An example of the manufacturing apparatus includes, e.g., semiconductor manufacturing apparatuses for performing various types of processes used in a semiconductor manufacturing factory, e.g., a pre-process device, (e.g., a lithography apparatus, such as an exposure apparatus, a resist processing apparatus, and an etching apparatus, a heat-treating apparatus, a film forming apparatus, a planarizing apparatus, and the like) or a post-processing device (e.g., an assembling apparatus, an inspection apparatus, and the like). The business office  1101  has a host management system  1108  for providing a maintenance database for the manufacturing apparatus, a plurality of operation terminal computers  1110 , and a local area network (LAN)  1109 , which connects the host management system  1108  and operation terminal computers  1110  to make up an intranet, or the like. The host management system  1108  has a gateway for connecting the LAN  1109  to the Internet  1105  as a network outside the business office, and a security function of limiting an external access. 
   Reference numerals  1102  to  1104  denote manufacturing factories of the semiconductor manufacturer as the user of the manufacturing apparatus. The manufacturing factories  1102  to  1104  may be factories belonging to different manufacturers, or factories (for example, a pre-processing factory, a post-processing factory, and the like) belonging to one manufacturer. Each of the factories  1102  to  1104  has a plurality of manufacturing apparatuses  1106 , a local area network (LAN)  111  for connecting the manufacturing apparatuses  1106  to make up an intranet, or the like, and a host management system  1107  serving as a monitoring unit for monitoring the operating states of the respective manufacturing apparatuses  1106 . The host management system  1107  provided in each of the factories  1102  to  1104  has a gateway for connecting the LAN  1111  in each factory to the Internet  1105  as a network outside the factory. Thus, the LAN  1111  of each factory can access the host management system  1108  of the vendor  1101  through the Internet  1105 . Access by only those uses limited by the security function of the host management system  1108  is allowed. More specifically, the factory informs the vendor of status information (e.g., the symptom of a manufacturing apparatus with trouble) indicating the operating state of each manufacturing apparatus  1106 . The factory can receive response information (e.g., information designating a remedy against trouble, or remedy software or data) regarding this notice, and maintenance information, such as update software or help information, from the vendor. Data communication between the factories  1102  and  1104  and the vendor  1101 , and that in the LANs  1111  of the respective factories, are done using a communication protocol (TCP/IP) generally used in the Internet. In place of utilizing the Internet as a network outside the factory, a high-security dedicated line network (e.g., an ISDN) that does not allow access by a third party may be utilized. The host management system is not limited to one provided by the vendor. The user may create a database and place it on an external network, and the plurality of factories of the user may be allowed to access the database. 
     FIG. 7  is an illustration expressing the entire system of this embodiment seen from an angle different from that of  FIG. 6 . In the aforementioned example, the plurality of user factories each having the manufacturing apparatuses, and the management system of the vendor of the manufacturing apparatuses are connected to each other through an external network. Information on production management of each factory and at least one manufacturing apparatus are data-communicated through the external network. In contrast to this, in this example, factories each having manufacturing apparatuses of a plurality of vendors, and the management systems of the respective vendors of the plurality of manufacturing apparatuses are connected to each other through an external network outside the factories. The maintenance information on the respective manufacturing apparatuses are data-communicated through the external network. Referring to  FIG. 7 , reference numeral  1201  denotes a manufacturing factory of a manufacturing apparatus used (e.g., a semiconductor device manufacturer). Manufacturing apparatuses for performing various types of processes, e.g., an exposure apparatus  1202 , a resist processing apparatus  1203 , and a film formation processing apparatus  1204 , are introduced to the manufacturing line of the factory. Although only one manufacturing factory  1201  is illustrated in  FIG. 7 , in fact, a plurality of factories form a network in this manner. The apparatuses of each factory are connected to each other through a LAN  1206  to make up an intranet. A host management system  1205  performs the operation management of the manufacturing line. 
   Each business office of the vendors (e.g., apparatus suppliers), e.g., an exposure apparatus manufacturer  1210 , a resist processing apparatus manufacturer  1220 , or a film formation apparatus manufacturer  1230 , has a host management system  1211 ,  1221 , or  1231  for remote-control maintenance of the devices that the users supplied. The host management system has a maintenance database and a gateway to an external network, as described above. The host management system  1205  for managing the respective apparatuses in the manufacturing factory of the user and the management systems  1211 ,  1221 , and  1231  of the vendors of the respective apparatuses are connected to each other through the Internet as an external network  1200 , or a private line network. In this system, when trouble occurs in any one of a series of manufacturing devices of the manufacturing line, the manufacturing line stops operation. However, this situation can be quickly coped with by receiving remote-control maintenance from the vendor of the device where the trouble occurs through the Internet  1200 . Downtime of the manufacturing can thus be minimized. 
   Each manufacturing apparatus set in the semiconductor manufacturing factory has a display, a network interface, and a computer for performing network access software and apparatus operating software stored in a storage. For example, the storage is a stored memory, a hard disk, or a network file server. The network access software includes a dedicated or general web browser, and provides a user interface, an example of which is shown in, e.g.,  FIG. 8 , on the display. The operator who manages the manufacturing apparatus in each factory inputs information, such as the type of manufacturing apparatus  1401 , serial number  1402 , subject of trouble  1403 , occurrence date  1404 , degree of urgency  1405 , symptom  1406 , remedy  1407 , progress  1408 , and the like, in the enter boxes on the display. The input information is transmitted to the maintenance database through the Internet. Appropriate maintenance information corresponding to the transmitted information is sent back from the maintenance database and shown on the display. The user interface provided by the web browser realizes hyperlink functions  1410  to  1412 , as shown in  FIG. 8 . Thus, the operator can access further detailed information of each item, and download updated software to be used for the manufacturing apparatus or operation guide (help information) for reference by the factory operator from the software library of the vendor. The maintenance information provided by the maintenance database also includes information concerning the present invention described above. The software library also provides updated software that realizes the present invention. 
   A semiconductor device manufacturing process utilizing the above manufacturing system will now be described.  FIG. 9  shows the flow of an overall semiconductor device manufacturing process. In step  1  (design circuit), a semiconductor device circuit is designed. In step  2  (fabricate mask), a mask on which the designed circuit pattern is formed is fabricated. In step  3  (manufacture wafer), a wafer is manufactured by using a material such as silicon. In step  4  (wafer process), called a pre-process, an actual circuit is formed on the wafer by lithography using the prepared mask and wafer. In step  5  (assembly), called a post-process, a semiconductor chip is formed by using the wafer fabricated in step  4 , and includes processes such as an assembly process (dicing and bonding) and a packaging process (chip encapsulation). In step  6  (inspection), inspections, such as an operation confirmation test and a durability test of the semiconductor device manufactured in step  5 , are conducted. After these steps, the semiconductor device is completed, and shipped (step  7 ). The pre-process and post-process are performed at different dedicated factories, and maintenance for these processes is performed in units of factories by the remote-control maintenance system described above. Information on manufacture management and apparatus maintenance is data-communicated between the pre-process factory and post-process factory through the Internet or private line network. 
     FIG. 10  shows the detailed flow of the wafer process. In step  11  (oxidation), the surface of the wafer is oxidized. In step  12  (CVD), an insulating film is formed on the wafer surface. In step  13  (form electrode), an electrode is formed on the wafer by vapor deposition. In step  14  (implant ion), ions are implanted in the wafer. In step  15  (resist processing), a photosensitive agent is applied to the wafer. In step  16  (exposure), the above-mentioned exposure apparatus exposes the circuit pattern of the mask to the wafer. In step  17  (developing), the exposed wafer is developed. In step  18  (etching), the resist is etched except for the developed resist image. In step  19  (remove resist), any unnecessary resist after etching is removed. These steps are repeated to form multiple circuit patterns on the wafer. As the maintenance of the manufacturing devices used in the respective steps is performed by the remote-control maintenance system described above, trouble is prevented. Even if trouble should occur, it can be coped with, and the normal operating condition is restored quickly. The semiconductor device productivity can thus be improved to be higher than that in the prior art. 
   As described above, with the moving/guiding apparatus according to this embodiment, the first and second movable bodies ( 41  and  42 ) are guided horizontally and vertically by the guides fixed on the surface plate ( 11 ). The third movable body ( 3 ) is guided in the vertical direction by the surface of the surface plate ( 11 ), and is guided in the horizontal direction by the side surfaces of the first and second movable bodies. The first to third movable bodies are accommodated in the vacuum container ( 8 ). The first and second movable bodies are driven by actuators fixed outside the vacuum container. The driving operation of the third movable body is transmitted through the horizontal guide operations of the first and second movable bodies. 
   Preferably, the first movable body is guided in one side by the guide ( 21 ,  611 ) fixed on the surface plate and restrained in vertical and horizontal directions entirely, and is guided in the other side by the stationary guide ( 211 ,  612 ) restrained only in the vertical direction. Similarly, the second movable body is guided in one side by the guide ( 22 ,  621 ) fixed on the surface plate and restrained in vertical and horizontal directions entirely, and is guided in the other side by the stationary guide ( 221 ,  622 ) restrained only in the vertical direction. Hence, the present invention has the following effects. 
   (1) The height can be decreased when compared to a structure in which X and Y stages are stacked. 
   (2) Since a mechanism such as a coupling is not used, even when the position of the third movable body changes, the dynamic characteristics do not change, and a high controllability is obtained. 
   (3) Even when the third movable body moves, no eccentric load is generated, and the static posture precision can be maintained at high precision. 
   Since the first to third movable bodies are guided through the static pressure bearings, the following effects are obtained. 
   (4) Concerning vibration, it is transmitted only through the gap of the static pressure bearing. Thus, the transmitted amount of vibration is very small, so the posture precision can be maintained dynamically at high precision. 
   (5) Since the first and second movable bodies are driven by the two linear motors on the surface plate ( 12 ), yawing vibration can be suppressed, and the dynamic posture precision can be maintained at high precision. 
   (6) Since no friction exists, hissing, or the like, does not occur, and high-precision positioning can be performed. 
   (7) Since heat generation by a contact portion does not occur, thermal deformation, or the like, does not occur. This also enables high-precision positioning. 
   (8) Since no dust is generated, a mechanism for collecting dust is unnecessary, leading to a simple arrangement and cost reduction. 
   (9) Maintenance, such as grease up, is not necessary. 
   The overall structure of the guiding apparatus described above can provide the following effects. 
   (10) The first and second movable bodies are guided in the horizontal direction by the side surfaces of the stationary guides on the surface plate. Even when a temperature change occurs, the gap of the bearing does not change, and the frequency characteristics do not change. Also, damage by transportation, or the like, does not occur. 
   (11) Since a driving operation is performed from outside the vacuum container, the vacuum container can be downsized. 
   (12) The vacuum seal portion is of a no-contact type as well. This also enables high-precision positioning. 
   As many apparently widely different embodiments of the present invention can be made without departing from the spirit and scope thereof, it is to be understood that the invention is not limited to the specific embodiments thereof except as defined in the appended claims.