Patent Publication Number: US-2023154775-A1

Title: Semiconductor device manufacturing device and manufacturing method

Description:
TECHNICAL FIELD 
     The present specification discloses a manufacturing device and a manufacturing method in which a semiconductor device is manufactured with one or more chips bonded on a substrate. 
     RELATED ART 
     In the related art, a manufacturing device for installing one or more chips on a substrate to manufacture a semiconductor device is known. Such a manufacturing device has an installing tool that sucks and holds a chip, and when the chip is disposed on the substrate, the installing tool is moved such that the chip is disposed in a desired position. Further, when the chip is disposed on the substrate, it is also important that a bonding surface of the chip facing the substrate be parallel to an installing surface of the substrate. If the chip is tilted with respect to the installing surface, the chip causes an installing defect with respect to the substrate. For example, an electrical bonding defect may occur between a bump electrode of the chip and an electrode of the substrate. 
     Here, in Patent Literature 1, a technique in which, when an IC component is temporarily pressure-bonded to an electrode provided in a flat panel display, the amount of misalignment of the mounted IC component with respect to the electrode is detected by a camera, and in a case in which the amount of misalignment is not appropriate, the amount of misalignment is fed back to correct a temporary pressure bonding operation of a next IC component is disclosed. Further, in Patent Literature 1, a technique in which a bonding state between a bump and an electrode is detected, and in a case in which the bonding state is not appropriate, a warning is output assuming that a degree of parallelization between the IC component and the display exceeds the allowable range is also disclosed. According to the technique of Patent Literature 1, the amount of misalignment is appropriately detected and fed back, and thus positioning accuracy of the IC component can be kept high. 
     Citation List 
     Patent Literature 
     Patent Literature 1 
     Japanese Patent No. 3323395 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, in the technique of Patent Literature 1, the degree of parallelization is determined as only good or bad, and no feedback is given. Therefore, in the related art such as Patent Literature 1, the degree of parallelization of the chip with respect to the substrate cannot be kept high. 
     Therefore, the present specification discloses a semiconductor device manufacturing device capable of further improving the degree of parallelization of the chip with respect to the substrate. 
     Solution to Problem 
     A semiconductor device manufacturing device disclosed in the present specification includes a stage that has a loading surface on which a substrate is loaded; an installing head that has a chip holding surface for holding a chip and disposes the chip on the substrate loaded on the stage; a measuring mechanism that measures a tilt angle of the chip loaded on an installing surface of the substrate by the installing head with respect to the installing surface as a detection tilt angle; a holding surface adjusting mechanism that changes a holding surface tilt angle which is a tilt angle of the chip holding surface with respect to the loading surface; and a controller that calculates a correction amount of the holding surface tilt angle on the basis of the detection tilt angle and changes the holding surface tilt angle by the holding surface adjusting mechanism according to the correction amount calculated. 
     In this case, the controller may store a plurality of the detection tilt angles measured in the past, and the controller may obtain a basic tilt angle by removing an influence of correction of the holding surface tilt angle from each of the plurality of detection tilt angles and may change a calculation policy of the correction amount according to a change tendency of the basic tilt angle between the substrates. 
     Further, in a case in which a variation of the basic tilt angle between the substrates is equal to or less than a specified allowable value, the controller may calculate a value to cancel the detection tilt angle obtained for a nearest substrate as the correction amount. 
     Further, in a case in which the basic tilt angle changes between the substrates with a predetermined regularity, the controller may estimate a basic tilt angle of a next substrate according to the regularity and may calculate a value to cancel the basic tilt angle as the correction amount. 
     Further, in a case in which the basic tilt angle changes randomly between the substrates, the controller may estimate a representative value of a plurality of the basic tilt angles obtained for a plurality of the substrates as a basic tilt angle of a next substrate and may calculate a value to cancel the basic tilt angle as the correction amount. 
     Further, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller may treat a representative value of a plurality of the detection tilt angles obtained for the plurality of chips as the detection tilt angle of the one substrate. 
     Further, in a case in which the detection tilt angle is obtained for each of a plurality of chips loaded on one substrate, the controller may generate a map in which a correspondence between a position of each chip in the substrate and the detection tilt angle of each chip is recorded and may calculate the correction amount for each chip position on the basis of the map. 
     Further, the installing head may have an installing tool that includes the chip holding surface and a spherical air bearing that holds the installing tool, the spherical air bearing may be capable of switching between a free state in which the installing tool is held with its swinging allowed and a locked state in which the installing tool is held with its swinging hindered, and the holding surface adjusting mechanism may have a tilt plate with which the chip holding surface is brought into contact, and a plurality of support columns that supports the tilt plate and advances and retreats independently of each other to arbitrarily change an angle of the tilt plate. 
     A semiconductor device manufacturing method disclosed in the present specification includes a bonding step of holding a chip with a chip holding surface of an installing tool and moving the installing tool to load the chip on an installing surface of a substrate loaded on an loading surface of a stage; a measurement step of measuring a tilt angle between an upper surface of the chip loaded on the installing surface and the installing surface as a detection tilt angle; a correction amount calculation step of calculating a correction amount of a holding surface tilt angle, which is a tilt angle of the chip holding surface with respect to the stage, on the basis of the detection tilt angle; and a correction step of changing the holding surface tilt angle according to the correction amount by a holding surface adjusting mechanism that changes the holding surface tilt angle. 
     Advantageous Effects of Invention 
     According to the technique disclosed in the present specification, the degree of parallelization of the chip with respect to the substrate can be further improved. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a conceptual view showing a configuration of a manufacturing device. 
         FIG.  2    is a conceptual view showing a configuration of a holding surface adjusting mechanism. 
         FIG.  3 A  is a conceptual view showing a state of a bonding process of a chip. 
         FIG.  3 B  is a conceptual view showing a state in which a holding surface tilt angle is corrected. 
         FIG.  4    is a flowchart showing a flow in manufacturing a semiconductor device by a manufacturing device of the present example. 
         FIG.  5    is a view showing examples of changes in various parameters in a case in which a process is executed according to the flow of  FIG.  4   . 
         FIG.  6 A  is a diagram showing an example of a change tendency of a basic tilt angle. 
         FIG.  6 B  is a diagram showing another example of a change tendency of a basic tilt angle. 
         FIG.  6 C  is a diagram showing still another example of a change tendency of a basic tilt angle. 
         FIG.  7    is a flowchart showing a detailed flow of a correction amount calculation step. 
         FIG.  8    is a flowchart showing another example of a flow in manufacturing a semiconductor device. 
         FIG.  9    is a conceptual view showing a state of a variation of a detection tilt angle for each position. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, a configuration of a semiconductor device manufacturing device  10  will be described with reference to the drawings.  FIG.  1    is a conceptual view showing a configuration of the manufacturing device  10 . The manufacturing device  10  is a device that manufactures a semiconductor device by installing a chip  100 , which is an electronic component, on a substrate  110  in a face-down state. The manufacturing device  10  includes a stage  12  on which the substrate  110  is loaded, an installing head  14  that installs the chip  100  on the substrate  110 , a measuring mechanism  16  that measures a degree of parallelization of the installed chip  100  with respect to the substrate  110 , a holding surface adjusting mechanism  18  that changes a tilt of a chip holding surface  26  of the installing head  14 , and a controller  20  that controls the drive of the installing head  14  or the holding surface adjusting mechanism  18 . 
     The stage  12  can suck and hold the substrate  110 , and a heater (not shown) for heating the substrate  110  is installed inside the stage  12 . The heating and suction of the stage  12  are controlled by the controller  20 , which will be described later. An upper surface of the stage  12  functions as a loading surface  21  on which the substrate  110  is loaded. The stage  12  of the present example is a fixed stage of which vertical and horizontal positions do not change, but in some cases, the stage  12  may be movable in at least one of a vertical direction and a horizontal direction. 
     The installing head  14  includes an installing tool  22  that sucks and holds the chip  100 , and a moving mechanism (not shown) that moves the installing tool  22  in the horizontal direction and the vertical direction. The installing tool  22  is disposed to face the substrate  110 , and a tip end surface thereof functions as the chip holding surface  26  that sucks and holds the chip  100 . Further, a heater (not shown) for heating the held chip  100  is built in the installing tool  22 . The installing tool  22  sucks and holds the chip  100  with the chip holding surface  26 , loads the chip  100  on a surface (hereinafter referred to as an “installing surface  112 ”) of the substrate  110 , and heats and pressurizes the chip  100  to bond the chip  100  to the substrate  110 . 
     Further, the installing head  14  of the present example has a spherical air bearing  28 . The spherical air bearing  28  has a fixed portion  28   a  and a movable portion  28   b,  one of the fixed portion  28   a  and the movable portion  28   b  has a concave hemispherical surface, and the other has a convex hemispherical surface that slides inside the concave hemispherical surface. Swinging of the movable portion  28   b  with respect to the fixed portion  28   a  is controlled by sucking or supplying air from or to the gap between the two portions. That is, when air is supplied to the gap, three-dimensional swinging of the movable portion  28   b  with respect to the fixed portion  28   a  is allowed, and when air is sucked from the gap, three-dimensional swinging of the movable portion  28   b  with respect to the fixed portion  28   a  is hindered. In the following, a state in which air is supplied and the swinging of the movable portion  28   b  is allowed is referred to as a “free state,” and a state in which air is sucked and the swinging of the movable portion  28   b  is hindered is referred to as a “locked state.” In the present example, the movable portion  28   b  of the spherical air bearing  28  is attached to the installing tool  22 , and the fixed portion  28   a  is attached to a main body  23  of the installing head  14 . In this case, by pressing the chip holding surface  26  against a desired surface after the spherical air bearing  28  is made to be in a free state, it is possible to make the chip holding surface  26  parallel to the desired surface. In other words, by providing the spherical air bearing  28 , it is possible to change swinging of the installing tool  22  with respect to the main body  23  and a tilt angle (hereinafter referred to as a “holding surface tilt angle Sb”) of the chip holding surface  26  with respect to the loading surface  21 . 
     When the chip  100  is installed on the substrate  110 , the installing tool  22  is lowered toward the substrate  110  in a state in which the chip  100  is held with the chip holding surface  26 , and the chip  100  is loaded on the installing surface  112  of the substrate  110 . Then, the chip  100  is heated and pressurized in that state, and thus a bump  102  (see  FIGS.  3 A and  3 B ) provided on a bottom surface of the chip  100  is welded to an electrode  114  (see  FIGS.  3 A and  3 B ) of the substrate  110 . 
     The measuring mechanism  16  measures an installed state of the chip  100  on the substrate  110 , particularly, a tilt angle of the chip  100  with respect to the installing surface  112 . The measured tilt angle of the chip  100  is transmitted to the controller  20  as a detection tilt angle Sd. The controller  20  corrects the holding surface tilt angle Sb on the basis of the obtained detection tilt angle Sd, which will be described later. 
     The method for measuring the detection tilt angle Sd is not particularly limited, and for example, a contact-type tilt sensor, a non-contact-type distance sensor, or the like may be used for measurement. For example, in a case in which a laser measuring device  30  that measures a distance in a non-contact manner is used, the laser measuring device  30  measures distances to a plurality of substrate-side measuring points set on the installing surface  112  and distances to a plurality of chip-side measuring points set on an upper surface of the chip  100 . Then, the measuring mechanism  16  calculates a tilt angle of the installing surface  112  on the basis of the distances to the plurality of substrate-side measuring points, calculates a tilt angle of the upper surface of the chip  100  on the basis of the distances to the plurality of chip-side measuring points, and calculates the tilt angle of the chip  100  with respect to the installing surface  112 , that is, the detection tilt angle Sd from the two tilt angles. The method for measuring the detection tilt angle Sd described here is an example and may be changed as appropriate. 
     The holding surface adjusting mechanism  18  is a mechanism that adjusts the tilt angle of the chip holding surface  26  with respect to the loading surface  21 , that is, the holding surface tilt angle Sb. Specifically, the holding surface adjusting mechanism  18  has a tilt plate  34  with which the chip holding surface  26  is brought into contact. The tilt plate  34  is supported by a plurality of support columns  36  that can advance and retreat arbitrarily, and as shown in  FIG.  2   , it is possible to change a tilt angle of the tilt plate  34  by adjusting protrusion amounts of arbitrary support columns  36 . In a case in which the holding surface tilt angle Sb is adjusted, in advance, the support columns  36  are advanced and retreated to adjust the tilt plate  34  to a desired tilt angle, and the installing tool  22  is made to be in the free state in which the installing tool  22  can be swung with respect to the main body  23 . In this state, the chip holding surface  26  is brought into contact with the tilt plate  34 , and the chip holding surface  26  is made to conform with the tilt plate  34 . Then, when the chip holding surface  26  completely conforms with the tilt plate  34 , the installing tool  22  is switched to a locked state in which the swinging of the installing tool  22  is hindered. As a result, the holding surface tilt angle Sb is fixed at the same tilt angle as the tilt plate  34 . 
     The controller  20  controls the drive of each part of the manufacturing device  10 . Specifically, the controller  20  drives the installing head  14  to execute a bonding process for bonding the chip  100  to the substrate  110 . Further, the controller  20  of the present example causes the holding surface adjusting mechanism  18  to execute a correction process of the tilt of the chip holding surface  26  as necessary, which will be described later. Such a controller  20  is a computer having a processor  38  that executes various operations and a memory  40  that stores data and programs. 
     Next, the correction process of the holding surface tilt angle Sb will be described. As shown in  FIG.  3 A , the bump  102  that functions as an electrode is formed on the bottom surface of the chip  100 . When the chip  100  is installed, the chip  100  is loaded on the installing surface  112  of the substrate  110  such that the bump  102  comes into contact with the electrode  114  of the substrate  110 , and then the chip  100  is heated and pressurized by the installing tool  22 . To ensure good installing quality, it is necessary to keep the chip  100  and the installing surface  112  parallel to each other during this pressurization and heating. In a case in which the chip  100  and the installing surface  112  are not parallel to each other, electrical bonding failure may occur between the bump  102  and the electrode  114 . 
     Therefore, in the manufacturing device  10  of the related art, the holding surface tilt angle Sb is adjusted such that the chip holding surface  26  is parallel to the loading surface  21  of the stage  12  prior to the installing of the chip  100 . Specifically, prior to the installing of the chip  100 , the chip holding surface  26  is pressed against the loading surface  21  to make the installing tool  22  conform with the loading surface  21 . 
     However, since the manufacturing device  10  of the related art merely adjusts the tilt of the installing tool  22  with respect to the stage  12 , the degree of parallelization of the chip  100  with respect to the installing surface  112  of the substrate  110  is not sufficiently ensured. For example, as shown in  FIG.  3 A , even though the chip holding surface  26  is adjusted parallel to the loading surface  21 , if the upper surface (the mounting surface  112 ) of the substrate  110  is tilted with respect to a lower surface thereof due to a temperature change, a manufacturing error of the substrate  110 , or the like, the chip  100  is tilted with respect to the installing surface  112 . 
     Therefore, in the present example, as necessary, the tilt angle of the chip  100  with respect to the installing surface  112  is measured as the detection tilt angle Sd, and the holding surface tilt angle Sb is corrected to cancel the detection tilt angle Sd.  FIG.  3 B  is a conceptual view showing a state after correction. 
     In the present example, the measurement of the detection tilt angle Sd and the correction of the holding surface tilt angle Sb are performed for each substrate  110 . This will be described with reference to  FIG.  4   .  FIG.  4    is a flowchart showing a flow in manufacturing a semiconductor device by the manufacturing device  10  of the present example. 
     When a semiconductor device is manufactured, first, the substrate  110  is transported to the stage  12  and is loaded on the stage  12  (S 10 ). Subsequently, the installing head  14  is driven to bond the chip  100  to the substrate  110 . That is, the chip  100  is loaded at a predetermined position on the substrate  110  and is heated and pressurized (S 12 ). If the required number of chips  100  can be bonded to one substrate  110 , the substrate  110  after the bonding is transported to the measuring mechanism  16 . 
     The measuring mechanism  16  measures the tilt angle of the chip  100  with respect to the installing surface  112  as the detection tilt angle Sd and transmits the detection tilt angle Sd to the controller  20  (S 14 ). Here, in a case in which a plurality of chips  100  is mounted on one substrate  110 , the measuring mechanism  16  may measure the detection tilt angle Sd for only one representative chip  100  (for example, a chip  100  installed on a center of the substrate  110  or the like) of the plurality of chips  100 . Further, as another form, the measuring mechanism  16  may measure the detection tilt angle Sd for each of the plurality of chips  100 . In this case, the controller  20  treats a representative value of a plurality of detection tilt angles Sd obtained for one substrate  110  as the detection tilt angles Sd of the one substrate  110 . Here, the “representative value” is a statistical value representing a central position of the distribution of data and is, for example, a mean, a median, or a mode. In any case, the controller  20  associates one detection tilt angle Sd with one substrate  110  and stores it in the memory  40 . 
     If the detection tilt angle Sd is obtained, the controller  20  checks the presence or absence of a next substrate  110  (S 16 ). If there is no next substrate  110  (Yes in S 16 ), the manufacturing process ends. On the other hand, in a case in which there is a next substrate  110  (Yes in S 16 ), the controller  20  determines whether or not the holding surface tilt angle Sb needs to be corrected for the next substrate  110  on the basis of the detection tilt angle Sd (S 18 ). Specifically, the controller  20  compares the obtained detection tilt angle Sd with a specified allowable tilt value. As a result of the comparison, in a case in which the detection tilt angle Sd is equal to or less than the allowable tilt value, it is determined that the current holding surface tilt angle Sb is appropriate and correction is not necessary (No in S 18 ). In this case, the controller  20  returns to step S 20  and executes the next bonding process on the new substrate  110  without correcting the holding surface tilt angle Sb. On the other hand, when the detection tilt angle Sd exceeds the allowable tilt value, the controller  20  determines that the holding surface tilt angle Sb needs to be corrected (Yes in S 18 ). In this case, the controller  20  reduces a next detection tilt angle Sd and calculates a correction amount C such that the tilt angle of the chip  100  approaches the tilt angle of the installing surface  112  (S 20 ). The calculation of the correction amount C will be described later. 
     If the correction amount C can be calculated, the controller  20  corrects the holding surface tilt angle Sb by the correction amount C using the holding surface adjusting mechanism  18  (S 22 ). Specifically, the amount of the advancing and retreating of the support column  36  is adjusted to change the tilt angle of the tilt plate  34  to a tilt angle according to the correction amount C. Then, the installing tool  22  switched to the free state is pressed against the tilt plate  34  to make the chip holding surface  26  conform the tilt plate  34 , and then the installing tool  22  is switched to the fixed state. When the correction of the holding surface adjusting mechanism  18  is completed, the process returns to step S 10 , and the chip  100  is installed on the new substrate  110 . Then, finally, when the installing of the chip  100  is completed for all the necessary substrates  110  (No in S 16 ), the manufacturing process is completed. 
     In this way, in the present example, the tilt angle of the installed chip  100  with respect to the installing surface  112  is measured, and the measurement result is fed back to the next and subsequent installing operations. As a result, the degree of parallelization of the chip  100  with respect to the installing surface  112  can be further improved. 
     Next, the calculation of the correction amount C will be described. A calculation procedure of the correction amount C is not particularly limited as long as the detection tilt angle Sd in the next substrate  110  approaches zero. In the present example, a basic tilt angle Ss is calculated by removing an influence of the correction of the holding surface tilt angle Sb from each of the plurality of detection tilt angles Sd obtained for the plurality of substrates  110 , and a calculation policy of the correction amount C is changed according to a change tendency of the basic tilt angle Ss between the substrates. 
     Prior to the detailed description of the calculation of the correction amount C, parameters used in the calculation of the correction amount C will be described with reference to  FIG.  5   .  FIG.  5    is a view showing examples of changes of various parameters when the installing of the chip  100 , the measuring of the detection tilt angle Sd, the correction of the holding surface tilt angle Sb are repeatedly executed with respect to four substrates  110  according to the flow of  FIG.  4   . Even in a case in which the holding surface tilt angle Sb is kept constant, the degree of parallelization of the chip  100  with respect to the installing surface  112  varies between the substrates  110 . There are various causes of the variation in the degree of parallelization between the substrates, such as a change in temperature or load, a correction error, and a variation in quality of the substrate  110 , but in  FIG.  5   , these are collectively expressed as a tilt of the installing surface  112  of the substrate  110 . Then, the tilt of the installing surface  112  of the substrate  110  in  FIG.  5    is a tilt angle obtained by removing the influence of the correction from the detection tilt angle Sd and is a detection tilt angle Sd that can be obtained in a case in which the correction of the holding surface tilt angle Sb is not performed at all. In the following, the detection tilt angle (the tilt angle of the installing surface  112  in  FIG.  5   ) that can be obtained in a case in which this correction is not performed is the “basic tilt angle Ss.” 
     In a case in which the detection tilt angle Sd, the basic tilt angle Ss, the holding surface tilt angle Sb, and the correction amount C of an n-th substrate  110  are set to Sd [n], Ss [n], Sb [n], and C [n], respectively, the n-th holding surface tilt angle Sb [n] and the n-th basic tilt angle Ss [n] can be expressed by the following equation 1 and equation 2, respectively. 
         Sb[n]=Sb[n− 1]+ C[n]   equation 1
 
         Ss[n]=Sb[n]−Sd[n]   equation 2
 
     In the example of  FIG.  5   , since the correction of the holding surface tilt angle Sb has never been performed at a step of a first substrate  110 , the correction amount C[1]=0°, and the holding surface tilt angle Sb[1]=0°. In this case, in a case in which it can be measured that the detection tilt angle Sd[1]=−5°, it can be calculated that the basic tilt angle Ss[1]=Sb[1]−Sd[1]=+5°. 
     To cancel the detection tilt angle Sd [1] of the first substrate, it is assumed that the correction amount C[2]=−Sd[1]=+5° for a second substrate  110 . In this case, in the second substrate  110 , the holding surface tilt angle Sb [2] is that Sb[2]=Sb[1]+C[2]=+5°. Then, in a case in which the detection tilt angle Sd [2] of the second substrate  110 =−5°, the basic tilt angle Ss [2] of the second substrate  110  can be calculated as Ss[2]=Sb[2]−Sd[2]=+10°. Similarly, for third and subsequent substrates, the basic tilt angle Ss [n] can be calculated on the basis of the detection tilt angle Sd [n]. 
     The controller  20  sequentially calculates the basic tilt angles Ss according to equations 1 and 2, identifies a change tendency of the basic tilt angle Ss between the substrates, and calculates the correction amount C by a procedure suitable for the change tendency. In the present example, the change tendency is divided into three types: a “small variation,” a “regularity,” and a “random change.”  FIGS.  6 A to  6 C  are diagrams for explaining these three types of change tendencies. In each figure, a horizontal axis represents the number of samples n of the substrate  110 , and a vertical axis represents the basic tilt angle Ss of the n-th substrate  110 . 
     As shown in  FIG.  6 A , in a case in which the variation of a plurality of basic tilt angles Ss is small, it can be said that the causes of the tilt of the chip  100  with respect to the installing surface  112 , for example, the temperature change, the quality of the substrate, or the like are generally stable. Therefore, in this case, the controller  20  calculates a value to cancel a nearest detection tilt angle Sd [n] as a correction amount C [n+1] of the next substrate  110 . That is, the controller  20  performs an operation of C[n+1]=−Sd[n]. For the evaluation of a variation, for example, a variance or a standard deviation is used. Therefore, for example, the controller  20  obtains a standard deviation of the plurality of basic tilt angles Ss, and in a case in which the standard deviation is equal to or less than a predetermined allowable value, the correction amount C is calculated as C[n+1]=−Sd[n]. 
     On the other hand, as shown in  FIG.  6 B , in a case in which the basic tilt angle Ss changes with a predetermined regularity, it can be inferred that the causes of the tilt of the chip  100  with respect to the installing surface  112  also change with a regularity. Therefore, in this case, the controller  20  obtains a basic tilt angle Ss[n+1] of the next substrate  110  according to this regularity and calculates a value to cancel the basic tilt angle Ss[n+1] as a correction amount C of the next substrate  110 . For example, in a case in which a and b are constants, a case in which the basic tilt angle Ss changes according to a linear function of “Ss[n]=a×n+b” is considered. In this case, the basic tilt angle Ss[n+1] of the next substrate  110  can be inferred to be Ss[n+1]=a×(n+1)+b. 
     Further, a detection tilt angle Sd[n+1] of the next substrate  110  is expressed by the following equation 3. Then, since a correction amount C[n+1] of the next substrate  110  is a value that makes the detection tilt angle Sd[n+1] zero, it can be obtained by equation 4. 
         Sd[n+ 1]= Sb[n]+C[n+ 1]− Sd[n+ 1]  equation 3
 
         C[n+ 1]= Sd[n+ 1]− Sb[n]   equation 4
 
     First, for example, an approximate curve Ac of the plurality of basic tilt angles Ss is obtained, and then whether or not the change is made with a regularity may be determined on the basis of a degree of approximation between the approximate curve Ac and the plurality of basic tilt angle Ss. Here, the approximate curve Ac is not limited to the linear function as described above and may be a quadratic function, an exponential function, a logarithmic function, or the like. Further, the degree of approximation may be expressed by, for example, a mean square error between the approximate curve Ac and the plurality of basic tilt angles Ss. That is, the controller  20  may determine that the basic tilt angle Ss changes regularly in a case in which the mean square error of the plurality of basic tilt angles Ss with respect to the approximate curve Ac is equal to or less than a predetermined allowable value. 
     Next, as shown in  FIG.  6 C , a case in which the basic tilt angle Ss changes randomly without a regularity, that is, a case in which the mean square error of the plurality of basic tilt angles Ss with respect to the approximate curve Ac exceeds an allowable value will be described. In this case, it can be inferred that the causes of the tilt of the chip  100  with respect to the installing surface  112  also change randomly. In this case, the controller  20  estimates a representative value of the plurality of basic tilt angles Ss as the basic tilt angle Ss[n+1] of the next substrate  110  and calculates a value to cancel the basic tilt angle Ss[n+1] as the correction amount C[n+1] of the next substrate  110 . Here, the representative value is, for example, a mean, a median, or a mode. If the controller  20  estimates the representative value of the plurality of basic tilt angles Ss as the basic tilt angle Ss[n+1] of the next substrate  110 , the controller  20  applies the basic tilt angles Ss[n+1] to equation 4 to calculate the next correction amount C[n+1]. 
       FIG.  7    is a flowchart showing a detailed flow of a correction amount calculation step (step S 20  of  FIG.  4   ). In a case in which the correction amount C is calculated, as described above, first, the basic tilt angles Ss of the past N substrates  110  are calculated (S 30 ). If the basic tilt angles Ss of the past N substrates can be calculated, then the variation, for example, the variance or the standard deviation of the basic tilt angles Ss of the past N substrates is calculated (S 32 ). In a case in which the variation of the basic tilt angles Ss is small, for example, in a case in which the standard deviation is less than or equal to a specified allowable value (Yes in S 34 ), the controller  20  calculates a value to cancel a nearest detection tilt angle Sd[n] as a correction amount C[n+1] of the next substrate  110  (S 36 ). 
     On the other hand, in a case in which the variation of the basic tilt angles Ss of N substrates is large (No in S 34 ), the controller  20  obtains an approximate curve Ac of the basic tilt angles Ss of the N substrates (S 38 ). The approximate curve Ac obtained here may be any of a linear function, a quadratic function, an exponential function, and a logarithmic function. Further, the approximate curve Ac obtained here is not limited to one type and may be a plurality of types. 
     If the approximate curve Ac can be calculated, then the controller  20  compares the approximate curve Ac with the basic tilt angles Ss for N substrates (S 40 ). As a result of the comparison, in a case in which the degree of approximation between the approximate curve Ac and the basic tilt angles Ss is large (Yes in S 40 ), for example, in a case in which the mean square error between the approximate curve Ac and the basic tilt angles Ss is less than or equal to the allowable value, the controller  20  obtains the next basic tilt angle Ss[n+1] on the basis of the approximate curve Ac (S 42 ). In a case in which a plurality of types of approximate curves Ac are obtained in step S 38 , Ss[n+1] may be obtained on the basis of an approximate curve Ac having a maximum degree of approximation among the plurality of approximate curves Ac. On the other hand, in a case in which the degree of approximation between the approximate curve Ac and the basic tilt angles Ss is small (No in S 40 ), the controller  20  sets the representative value of the basic tilt angles Ss of the past N substrates, for example, a mean or the like as the basic tilt angle Ss[n+1] of the next substrate  110  (S 44 ). Then, if the basic tilt angle Ss[n+1] of the next substrate  110  is obtained, the basic tilt angle Ss[n+1] is applied to equation 4 and the correction amount C[n+1] of the next substrate  110  is calculated (S 46 ). 
     As is clear from the above description, in the present example, the calculation policy of the correction amount C is changed according to the change tendency of the basic tilt angle Ss. As a result, a more appropriate correction amount C can be calculated, and the degree of parallelization of the chip  100  with respect to the installing surface  112  can be further improved. 
     The configuration described so far is an example, and as long as at least the correction amount C of the holding surface tilt angle Sb is calculated on the basis of the detection tilt angle Sd at a necessary timing and the holding surface tilt angle Sb is changed according to the calculated correction amount C, other configurations may be changed as appropriate. For example, in the description so far, the calculation policy of the correction amount C is changed according to the change tendency of the basic tilt angle Ss. However, the procedure for calculating the correction amount C may be changed as appropriate. Therefore, for example, a value to always cancel the nearest detection tilt angle Sd [n] may be calculated as the correction amount C[n+1] of the next substrate  110  regardless of the change tendency of the basic tilt angle Ss. 
     Further, in the flowchart of  FIG.  4   , the measurement of the detection tilt angle Sd (S 14 ) and the correction of the holding surface tilt angle Sb (S 20  and S 22 ) are performed for each substrate  110 . However, a measurement interval of the detection tilt angle Sd and an execution interval of the holding surface tilt angle Sb may be changed as appropriate. Therefore, the measurement of the detection tilt angle Sd and the correction of the holding surface tilt angle Sb may be performed at intervals of a plurality of substrates or at regular time intervals. Further, the measurement execution interval of the detection tilt angle Sd and the correction execution interval of the holding surface tilt angle Sb do not have to be the same and may be different from each other. For example, as shown in  FIG.  8   , the measurement of the detection tilt angle Sd (S 14 ) is performed for each substrate  110 , and the correction of the holding surface tilt angle Sb (S 20  and S 22 ) may be performed for each Imax substrate. With such a configuration, the number of times the holding surface tilt angle Sb is corrected can be reduced, and a tact time for manufacturing the semiconductor device can be reduced. 
     Further, in the description so far, the holding surface tilt angle Sb is corrected in a unit of the substrate  110 , but the holding surface tilt angle Sb may be corrected for each position in the substrate  110 . For example, as shown in  FIG.  9   , in a case in which the detection tilt angles Sd_a to Sd_c differ depending on the positions Pa to Pc in the substrate  110 , the controller  20  generates a map in which the positions Pa to Pc in the substrate  110  and the detection tilt angles Sd_a to Sd_c thereof are recorded to be associated with each other. Then, on the basis of this map, the correction amounts C_a to C_c for the positions Pa to Pc may be calculated, and the holding surface tilt angle Sb may be corrected for each of the positions Pa to Pc. With such a configuration, the degree of parallelization of the chip  100  with respect to the installing surface  112  can be further improved. 
     Further, in the present example, the holding surface tilt angle Sb is changed by swinging the installing tool  22 . However, the holding surface tilt angle Sb may be changed by swinging the stage  12  instead of the installing tool  22 . For example, by supporting the stage  12  by a plurality of support columns capable of advancing and retreating and by adjusting the amount of advancing and retreating of the support columns, it is possible to change a tilt of the stage  12  and the tilt angle of the chip holding surface  26  with respect to the loading surface  21  (that is, the holding surface tilt angle Sb). 
     REFERENCE SIGNS LIST 
       10  Manufacturing device 
       12  Stage 
       14  Installing head 
       16  Measuring mechanism 
       18  Holding surface adjusting mechanism 
       20  Controller 
       21  Loading surface 
       22  Installing tool 
       23  Main body 
       26  Chip holding surface 
       28  Spherical air bearing 
       30  Laser measuring device 
       34  Tilt plate 
       36  Support column 
       38  Processor 
       40  Memory 
       100  Chip 
       102  Bump 
       110  Substrate 
       112  Installing surface 
       114  Electrode