Patent Publication Number: US-2022216077-A1

Title: Apparatus for manufacturing semiconductor device and method of manufacturing semiconductor device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based on and claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2021-001033, filed on Jan. 6, 2021, in the Japan Patent Office, and Korean Patent Application No. 10-2021-0104205, filed on Aug. 6, 2021, in the Korean Intellectual Property Office, the disclosures of which are incorporated by reference herein in their entireties. 
     BACKGROUND 
     The inventive concept relates to an apparatus for manufacturing a semiconductor device and a method of manufacturing a semiconductor device. 
     Recently, multi-layered semiconductor devices have been developed to achieve low power consumption and high driving speed. A manufacturing operation of such semiconductor devices includes a chip bonding operation, which is an operation of stacking a semiconductor chip or mounting a semiconductor package, which referred to as a chip on chip (CoC) or a chip on wafer (CoW). The chip bonding operation is changing from a wire bonding technology to a connection method by a flip chip or a through silicon via (TSV). In the wire bonding technology, the bonding precision of several tens of micrometers (μm) was sufficient, but in flip chip bonding where a bump and a pad are in a direct contact, a precision of several μm, and especially in TSV chip bonding, sub-μm precision is required. In addition, because metals are directly bonded in the chip bonding operation, there is a tendency to use high temperature and high pressure during bonding. Accordingly, in a chip bonding apparatus having high precision, a minute change in a mechanical/thermal structure becomes a factor impairing the precision. 
     SUMMARY 
     The inventive concept provides an apparatus for manufacturing a semiconductor device, the apparatus having high precision, and a method of manufacturing a semiconductor device using the apparatus. 
     According to an aspect of the inventive concept, there is provided an apparatus for manufacturing a semiconductor device, including: a bonding head configured to adsorb and hold a mounting component at a pick-up position, to move between the pick-up position and a mounting position, and to mount the mounting component on a substrate that is on a bonding stage; a camera configured to move together with the bonding head, to capture an image of the mounting component held by the bonding head, and to capture an image of the substrate that is on the bonding stage; an optical system configured to transmit light between the mounting component and the camera so that the image of the mounting component held by the bonding head is captured by the camera; a fiducial mark configured to move together with the camera in a capturing range of the camera; and a controller configured to correct a positional relationship between the mounting component and the substrate based on a first image including the fiducial mark and the mounting component and a second image including the fiducial mark and the substrate, wherein the first image is obtained by capturing an image of the mounting component by the camera through the optical system, and the second image is obtained by capturing an image of the substrate by the camera. 
     According to another aspect of the inventive concept, there is provided an apparatus for manufacturing a semiconductor device, including: a bonding head configured to adsorb and hold a semiconductor chip at a pick-up position, to move between the pick-up position and a mounting position, and to mount the semiconductor chip on a substrate that is on a bonding stage; a camera configured to move together with the bonding head, to capture an image of the semiconductor chip held by the bonding head, and to capture an image of the substrate that is on the bonding stage; an optical system configured to transmit light between the semiconductor chip and the camera so that the image of the semiconductor chip held by the bonding head is captured by the camera; and a controller configured to correct a positional relationship between the semiconductor chip and the substrate based on a first image of the semiconductor chip and a second image of the substrate, wherein the first image is obtained by capturing an image of the semiconductor chip by the camera through the optical system, and the second image is obtained by capturing an image of the substrate directly by the camera. 
     According to another aspect of the inventive concept, there is provided an apparatus for manufacturing a semiconductor device, including: a bonding head configured to adsorb and hold a mounting component at a pick-up position, to move between the pick-up position and a mounting position, and to mount the mounting component on a substrate on a bonding stage; a camera configured to move together with the bonding head, to capture an image of the mounting component held by the bonding head, and to capture an image of the substrate on the bonding stage; and a fiducial mark configured to move together with the camera and in a capturing range of the camera when the camera captures the image of the mounting component held by the bonding head and when the camera captures the image of the substrate on the bonding stage. 
     According to another aspect of the inventive concept, there is provided a method of manufacturing a semiconductor device, including: holding, by a bonding head, a mounting component at a pick-up position; carrying the mounting component held by the bonding head to a capturing position; capturing an image of the mounting component held by the bonding head by using a camera configured to move together with the bonding head; capturing an image of a substrate that is on a bonding stage by using the camera; and mounting the mounting component on the substrate, wherein the camera is configured to capture the image of the mounting component through an optical system while the camera captures the image of the mounting component held by the bonding head, a fiducial mark configured to move together with the camera is provided in a capturing range of the camera while the camera captures the image of the mounting component held by the bonding head and captures the image of the substrate that is on the bonding stage, and a positional relationship between the mounting component and the substrate is corrected based on a first image including the fiducial mark and the mounting component and a second image including the fiducial mark and the substrate, wherein the first image is obtained by capturing an image of the mounting component by the camera through the optical system, and the second image is obtained by capturing an image of the substrate by the camera. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the inventive concept will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which: 
         FIG. 1  is a schematic configuration diagram of an apparatus for manufacturing a semiconductor device, according to example embodiments of the inventive concept; 
         FIG. 2  is a configuration diagram of a chip carrying unit; 
         FIG. 3  is configuration diagram of a chip carrying unit; 
         FIG. 4  is a configuration diagram of a fiducial mark and a mirror; 
         FIG. 5  is a schematic diagram showing an image including a fiducial mark captured by a camera; 
         FIG. 6  is a perspective view of an external appearance of an optical unit; 
         FIG. 7  is a configuration diagram of an internal optical system of an optical unit; 
         FIG. 8  is a configuration diagram showing an operation of capturing a semiconductor chip by using an optical unit; 
         FIG. 9  is a configuration diagram showing an operation of capturing a semiconductor chip by using an optical unit; 
         FIG. 10  is a configuration diagram of a measuring apparatus; 
         FIG. 11  is a flowchart illustrating a mounting method performed via an apparatus for manufacturing a semiconductor device according to example embodiments of the inventive concept; 
         FIG. 12  is a diagram for explaining an example of calculating positions of a semiconductor chip and a substrate in a mounting method performed via an apparatus for manufacturing a semiconductor device; 
         FIG. 13  is a diagram for explaining an example of calculating positions of a semiconductor chip and a substrate in a mounting method performed via an apparatus for manufacturing a semiconductor device; 
         FIG. 14  is a diagram for explaining an example of calculating positions of a semiconductor chip and a substrate in a mounting method performed via an apparatus for manufacturing a semiconductor device; and 
         FIG. 15  is a configuration diagram of a portion of an apparatus for manufacturing a semiconductor device according to example embodiments of the inventive concept. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, embodiments of the inventive concept will be described in detail with reference to the accompanying drawings. Like reference numerals refer to like elements throughout and description thereof will not be given. 
       FIG. 1  is a schematic configuration diagram of an apparatus  1  for manufacturing a semiconductor device, according to example embodiments of the inventive concept. 
     Referring to  FIG. 1 , the apparatus  1  for manufacturing a semiconductor device may include a mounting apparatus (or bonding apparatus) such as a chip bonding apparatus or a die bonding apparatus. The apparatus  1  may be configured to mount (or bond) a mounting component such as a semiconductor chip  2  on or to a substrate  3 . For example, the semiconductor chip  2  may be a chip having a rectangular flat plate shape as an example of a mounting component, or other electronic components such as a chip. For example, the substrate  3  may be a semiconductor substrate having a rectangular flat plate shape or a semiconductor wafer including a rectangular mounting area as an example of a component to be mounted. The substrate  3  on which the semiconductor chip  2  (that is, the mounting component) is mounted may also include a semiconductor chip manufactured by cutting from a semiconductor wafer, or a wafer substrate before cutting. 
     Hereinafter, a Z-axis direction may mean a mounting direction in which the semiconductor chip  2  is mounted on the substrate  3 , and a Y-axis direction may mean a carrying direction of carrying the semiconductor chip  2  from a pickup position to a mounting position on the substrate  3 . In addition, an X-axis direction may mean a direction crossing the Y-axis direction and perpendicular to the Z-axis direction. In the Z-axis direction (that is, the mounting direction), a direction from the substrate  3  toward the semiconductor chip  2  may be referred to as an upper side or upper direction of the Z-axis direction, and a direction from the semiconductor chip  2  toward the substrate  3  may be referred to a lower side or lower direction of the Z-axis direction. In addition, in the Y-axis direction (that is, the carrying direction), a direction from the mounting position toward the pickup position may be referred to as a left side or left direction of the Y-axis direction, and a direction from the pickup position toward the mounting position may be referred to as a right side or right direction of the Y-axis direction. 
     As shown in  FIG. 1 , the apparatus  1  may include a base  100 , a flip chip unit or system  200 , a chip carrying unit or system  300 , an optical unit or system  400 , a measuring apparatus  500 , and a bonding stage  600 , and may also include a controller  700  configured to control an operation of the apparatus  1 . 
     The base  100  may support components of the apparatus  1 . For example, the base  100  may support the flip chip unit  200  and the optical unit  400  to be fixed on a certain position. Also, the base  100  may support the chip carrying unit  300 , the measuring apparatus  500 , and the bonding stage  600  to be movable. 
     The flip chip unit  200  may pick up the semiconductor chip  2  from a semiconductor wafer and flip the semiconductor chip  2  such that the top and bottom of the semiconductor chip  2  are inverted. The flip chip unit  200  may rotate the semiconductor chip  2  such that the top and bottom of the semiconductor chip  2  are inverted. For example, the flip chip unit  200  may include a chip picker for picking up the semiconductor chip  2  supplied from the semiconductor wafer. The flip chip unit  200  may adsorb and hold the semiconductor chip  2 . In addition, the flip chip unit  200  may rotate while holding the semiconductor chip  2  to invert the top and bottom of the semiconductor chip  2 . The flip chip unit  200  may rotate the semiconductor chip  2  such that a mounting surface (or a surface having external pads or external terminals) of the semiconductor chip  2 , which is picked up, faces the lower side of the Z-axis direction (or faces downward). 
     The chip carrying unit  300  may carry the semiconductor chip  2  to the right side of the Y-axis direction such that the semiconductor chip  2  picked up by the flip chip unit  200  is positioned on the bonding stage  600 , and the semiconductor chip  2  may also be moved in the lower side of the Z-axis direction (or downward) so that the semiconductor chip  2  may be mounted on the substrate  3 . 
     After receiving the semiconductor chip  2  from the flip chip unit  200 , the chip carrying unit  300  may move to the top of the optical unit  400  and capture an image of the semiconductor chip  2  by using the optical unit  400 , capture an image of the substrate  3  on the bonding stage  600 , and also mount the semiconductor chip  2  on the substrate  3 . 
       FIGS. 2 and 3  are configuration diagrams of the chip carrying unit  300 . 
     Referring to  FIGS. 2 and 3 , the chip carrying unit  300  may include a Y-axis slider  301 , a bonding head or bonding head system  310 , a vision head or vision head system  320 , and a fiducial mark arrangement unit or system  330 . The Y-axis slider  301  is a moving unit movable in the Y-axis direction, and may include, for example, a slider having a gantry structure. The bonding head  310 , the vision head  320 , and the fiducial mark arrangement unit  330  may be fixed to the Y-axis slider  301 . The Y-axis slider  301  may move the bonding head  310 , the vision head  320 , and the fiducial mark arrangement unit  330  simultaneously in the Y-axis direction. 
     A Y-axis linear encoder  302  for obtaining Y-axis coordinates may be mounted on the Y-axis slider  301 . The Y-axis linear encoder  302  may be referred to as a movement distance detector. The Y-axis slider  301  may be arranged on a gantry frame  304  through a linear guide  305  provided on the gantry frame  304 . A Y-axis scale  303  extending in the Y-axis direction may be provided on the gantry frame  304 . The Y-axis slider  301  may move on the Y-axis scale  303  in the Y-axis direction, and the Y-axis linear encoder  302  may obtain Y-axis coordinates from the Y-axis scale  303 . 
     The bonding head  310  is a bonding unit or system for adsorbing and holding the semiconductor chip  2 , and bonding (mounting) the held semiconductor chip  2  on the substrate  3  after moving a certain distance. The bonding head  310  may receive and hold the semiconductor chip  2  from the flip chip unit  200 , and may move the held semiconductor chip  2  in the Z-axis direction to bond the held semiconductor chip  2  with the substrate  3 . 
     The bonding head  310  may include an adsorbing head  311  and a bonding picker  312 . The adsorbing head  311  is, for example, an adsorbing pad formed on an end portion of the bonding picker  312 , and may adsorb and hold the semiconductor chip  2 . The bonding picker  312  may move the adsorbing head  311  holding the semiconductor chip  2  in the Z-axis direction. For example, the bonding picker  312  may be fixed and connected to the Y-axis slider  301 , and the bonding head  310  may move in the Y-axis direction. 
     The vision head  320  may be mounted on the Y-axis slider  301  to move together with the bonding head  310 . The vision head  320  is a capturing unit for capturing and observing images of the semiconductor chip  2  and the substrate  3 . The vision head  320  may capture an image of the semiconductor chip  2  through the optical unit  400 . In addition, the vision head  320  may capture an image of the substrate  3  on the bonding stage  600 . The vision head  320  may include a camera  321  and a camera lens  322 . The camera  321  may include a capturing device (capturing unit) such as a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS) sensor, or the like. For example, only one camera  321  may be used from the pickup of the semiconductor chip  2  to the bonding between the semiconductor chip  2  and the substrate  3 , and an image of the semiconductor chip  2  and an image of the substrate  3  may be captured by using one camera  321  to obtain position information of the semiconductor chip  2  and the substrate  3 . When the bonding head  310  holds the semiconductor chip  2 , the camera  321  may capture the image of the held semiconductor chip  2  through the optical unit  400  and obtain position information of the semiconductor chip  2 . In addition, when the semiconductor chip  2  is mounted on the substrate  3 , the camera  321  may capture the image of the substrate  3  arranged on the bonding stage  600  to obtain position information on a particular area of the substrate  3  on which the semiconductor chip  2  is mounted. The camera  321  may set a direction from the upper side toward the lower side of the Z-axis direction as a capturing direction, and the camera lens  322  is oriented toward the capturing direction. The camera lens  322  is an optical system mounted on the camera  321 , and may include, for example, a telecentric lens. For example, the vision head  320  may be fixed and connected to the Y-axis slider  301 , and the vision head  320  may move in the Y-axis direction. 
     The fiducial mark arrangement unit  330  may include a fiducial mark  331 . The fiducial mark  331  is a mark indicating a fiducial position for correcting a position and a posture of each of the semiconductor chip  2  and the substrate  3 . 
     The fiducial mark arrangement unit  330  includes the fiducial mark  331 , a mark fixing part  332 , and a mirror  333 . The fiducial mark  331  may be configured to move together with the camera  321 . From the time of picking up the semiconductor chip  2  to the time of bonding the same to the substrate  3 , the fiducial mark  331  may be included within a field of view (that is, a capturing range) of the camera  321 , and may be arranged in a position in which an image thereof is always able to be captured by the camera  321 . The fiducial mark  331  is held by a structure in which a relative positional variation with the Y-axis linear encoder  302  for grasping a Y-coordinate of the camera  321  is sufficiently suppressed. That is, the fiducial mark  331  may be fixed at a certain position so that a distance from the Y-axis linear encoder  302  does not change (that is, a relative position to the Y-axis linear encoder  302  becomes constant). For example, the mark fixing part  332  may be arranged at a position at a certain distance from the Y-axis linear encoder  302 , and the fiducial mark  331  may be arranged on an end of the mark fixing part  332 . For example, the mark fixing part  332  extends from the Y-axis slider  301  in the Z-axis direction, and the fiducial mark  331  arranged on the mark fixing part  332  moves in the Y-axis direction together with the mark fixing part  332 . The mirror  333  may be arranged on an optical path of the camera  321 , and may branch an optical path from a portion of the field of view of the camera  321  so that an image of the fiducial mark  331  may be captured by the camera  321 . In addition, an auxiliary lighting device for illuminating the fiducial mark  331  may be included. The auxiliary lighting device may include at least one light source. For example, the auxiliary lighting device may illuminate the fiducial mark  331  from a back side. The auxiliary lighting device may be controlled independently of a lighting for capturing the semiconductor chip  2 . 
       FIG. 4  is a configuration diagram of the fiducial mark  331  and the mirror  333 .  FIG. 5  is a schematic diagram showing an image including the fiducial mark  331  captured by the camera  321 . 
     Referring to  FIGS. 4 and 5 , the mirror  333  may be mounted on an end of the camera lens  322 , and the camera lens  322  may capture the image of the fiducial mark  331  through the mirror  333 . The fiducial mark  331  is arranged at a position spaced apart from the camera  321  by a certain distance. In particular, the fiducial mark  331  may be arranged at a position that becomes a focal length of the camera  321 . For example, as shown in  FIG. 5 , a field of view  329  of the camera  321  may include an image of a bottom surface of the semiconductor chip  2  or an image of the substrate  3 , and an image of the fiducial mark  331 . That is, an image obtained by capturing, by the camera  321 , the semiconductor chip  2  held by the bonding head  310  may include the semiconductor chip  2  and the fiducial mark  331 , and an image obtained by capturing, by the camera  321 , the substrate  3  mounted on the bonding stage  600  may include the substrate  3  and the fiducial mark  331 . In  FIG. 5 , the fiducial mark  331  is illustrated in an upper left portion of the field of view  329  of the camera  321  as an example, but may be at other positions in the field of view  329  of the camera  321  as long as a fiducial position may be indicated. In addition, the fiducial mark  331  is illustrated as a cross mark as an example, but may be a round mark or a mark having other arbitrary shape as long as a reference position may be indicated. 
     Referring back to  FIGS. 1 and 2 , the optical unit  400  may include an optical system adjusting the optical path of the camera  321 . In example embodiments, while the bonding head  310  picks up and holds the semiconductor chip  2 , the camera  321  may capture an image of the mounting surface of the semiconductor chip  2  through the optical unit  400 . A position error of the semiconductor chip  2  may be detected by using an image obtained by capturing the semiconductor chip  2  supported by the bonding head  310 . 
     The camera  321  of the vision head  320  is arranged to capture an image in the same direction (that is, the Z-axis direction) as the mounting direction of the bonding head  310 , and the optical unit  400  enables the camera  321  to capture the mounting surface opposite to an adsorbing surface of the semiconductor chip  2  adsorbed by the bonding head  310 . The optical unit  400  may enable the camera  321  to capture the mounting surface in a direction from the lower side to the upper side in the Z-axis direction. The optical unit  400  may be fixed to the base  100  and may be or may not be connected to an actuator. The optical unit  400  may be arranged below a movement path of the chip carrying unit  300  in the Y-axis direction, wherein the movement path of the chip carrying unit  300  may be extending from the flip chip unit  200  to the bonding stage  600 . The flip chip unit  200  picks up the semiconductor chip  2  at a pick-up position, and also the optical unit  400  may be arranged near the pick-up position of the flip chip unit  200  to capture the image of the semiconductor chip  2  held by the bonding head  310 . An optical system inside the optical unit  400  may include a telecentric relay optical system, and may transmit an image of the bottom surface of the semiconductor chip  2  with the same optical performance as when an image is captured directly from below by the camera  321 . The optical unit  400  may include a prism and/or a telecentric feature to transmit light or images. In addition, the optical unit  400  may be implemented with an optical system other than a telecentric system by designing the camera lens  322  mounted on the camera  321  and the optical unit  400  exclusively. In example embodiments, the optical unit  400  may also include an optical system having a variable optical magnification. For example, the optical unit  400  may include an optical system capable of adjusting an optical magnification as necessary. 
       FIG. 6  is a perspective view of an external appearance of the optical unit  400 .  FIG. 7  is a configuration diagram of an internal optical system of the optical unit  400 . 
     As shown in  FIG. 6 , the optical unit  400  may include a case  401  forming the external appearance of the optical unit  400 , and a first opening  402   a  and a second opening  402   b  formed in the case  401 . The case  401  may include an optical system therein, and may have, for example, a substantially rectangular parallelepiped shape. The first and second openings  402   a  and  402   b  may be provided on an upper surface (input/output surface) of the case  401 , and, for example, may have the same circular shape as first and second lenses  403   a  and  403   b  provided inside the case  401 . The first and second openings  402   a  and  402   b  may correspond to first and second incident/emission units (input/output units) for making light or an image to be incident/emitted to an internal optical system. For example, one of the first and second openings  402   a  and  402   b  is an incident unit for incident light, and the other is an emission unit for emitting light. For example, the first and second openings  402   a  and  402   b  are respectively formed in the vicinity of both ends of the upper surface of the case  401  in a longitudinal direction. However, the first and second openings  402   a  and  402   b  may also be formed at other arbitrary positions according to the structure and arrangement of the optical system therein. 
     As shown in  FIG. 7 , the optical unit  400  may include a first lens  403   a , a second lens  403   b , a first mirror  404   a , and a second mirror  404   b , as the internal optical system. For example, the first and second lens  403   a  and  403   b  are convex lenses of the same characteristic, and the first and second mirrors  404   a  and  404   b  are total reflection mirrors of the same characteristic. The first and second lens  403   a  and  403   b  may have the same height or be at the same vertical position in the Z-axis direction, and the first and second mirrors  404   a  and  404   b  may have the same height or be at the same vertical position in the Z-axis direction. The first mirror  404   a  may be arranged below the first lens  403   a  in the Z-axis direction, and similarly, the second mirror  404   b  may be arranged below the second lens  403   b  in the Z-axis direction. The first lens  403   a  and the first mirror  404   a  may be on an incident side (object side) of light, and the second lens  403   b  and the second mirror  404   b  may be on an emission side (capturing side). Alternatively, the first lens  403   a  and the first mirror  404   a  may be on the emission side (capturing side), and the second lens  403   b  and the second mirror  404   b  may be on the incident side (object side) of light. For example, in a case where the first lens  403   a  and the first mirror  404   a  are on the incident side (object side) of light, when light is incident on the first lens  403   a  in the lower side of the Z-axis direction (or downward), light passing through the first lens  403   a  is tilted 90° by the first mirror  404   a  and reflected to the right side of the Y-axis direction (or to the right), the light reflected by the first mirror  404   a  is tilted 90° by the second mirror  404   b  and reflected in the upper side of the Z-axis direction (or upward), and the light reflected by the second mirror  404   b  is emitted by passing through the second lens  403   b.    
     For example, a height or vertical position L0a of an object in the Z-axis direction and a height or vertical position L0b of an image in the Z-axis direction are equal to each other, and let L1 be a distance in the Z-axis direction from the object to the first lens  403   a  and a distance in the Z-axis direction from the image to the second lens  403   b , respectively, let L2 be a distance in the Z-axis direction from the first lens  403   a  to the first mirror  404   a  and a distance in the Z-axis direction from the second lens  403   b  to the second mirror  404   b , respectively, and let L3 be a distance in the Y-axis direction between the first mirror  404   a  and the second mirror  404   b . In this case, a relationship of “L1=L2+0.5*L3=a focal length of each of the first lens  403   a  and the second lens  403   b ” is established, and a bidirectional telecentric optical system may be configured. In addition, L3 may be a distance in the Y-axis direction between the object and the image, and may also be a distance between a center of the bonding head  310  and a center of the vision head  320 . A positional relationship of the bonding head  310  and the vision head  320  (or a positional relationship of the bonding head  310  and the camera  321 ) may correspond to a positional relationship of the first lens  403   a  and the second lens  403   b  or a positional relationship of the first opening  402   a  and the second opening  402   b . In other words, a positional relationship of the bonding head  310  and the vision head  320  (or a positional relationship of the bonding head  310  and the camera  321 ) may correspond to a pitch between an optical axis of the first lens  403   a  and an optical axis of the second lens  403   b.    
       FIGS. 8 and 9  are each a configuration diagram illustrating an operation of capturing the semiconductor chip  2  by using the optical unit  400 . 
     Referring to  FIG. 8 , the vision head  320  may include an illumination light source  323  that illuminates in a capturing direction. The illumination light source  323  may include, for example, a falling illumination light source, a coaxial illumination light source, or the like. For example, the illumination light source  323  may be mounted on the camera lens  322 , and the semiconductor chip  2  may be illuminated by using the illumination light source  323  while the image of the semiconductor chip  2  is being captured through the optical unit  400 . When illumination light  327  is emitted from the illumination light source  323  from the top to the bottom in the Z-axis direction through the camera lens  322 , the semiconductor chip  2  may be illuminated through the first lens  403   a , the first mirror  404   a , the second mirror  404   b , and the second lens  403   b  of the optical unit  400 . 
     In addition, referring to  FIG. 9 , an additional light  328  adding brightness to the illumination light  327  from the illumination light source  323  may be provided. For example, the additional light  328  may be provided by an auxiliary light source  405  arranged inside the optical unit  400 . The brightness of an image of the semiconductor chip  2  may be improved by auxiliary illumination of the semiconductor chip  2  by the auxiliary light source  405 . For example, the first mirror (see  404   a  of  FIG. 8 ) provided in the optical unit  400  may be replaced by a beam splitter  406  having the same transmittance and reflectance. The semiconductor chip  2  may be illuminated from the lower side to the upper side in the Z-axis direction from the auxiliary light source  405  through the beam splitter  406 . 
       FIG. 10  is a configuration diagram of the measuring apparatus  500 . 
     Referring  FIG. 10  together with  FIG. 1 , the measuring apparatus  500  may be configured to measure inclination information and distance information of a measurement target (that is, the semiconductor chip  2  and/or the substrate  3 ). For example, the measuring apparatus  500  may be configured to measure an inclination and/or a height in the Z-axis direction of a measurement target of the semiconductor chip  2  and/or the substrate  3 . For example, the measuring apparatus  500  may include a collimator, an auto-collimator, a distance sensor, or the like. The measuring apparatus  500  may be configured to move in the Y-axis direction. The movement of the measuring apparatus  500  in the Y-axis direction and the movement of the chip carrying unit  300  in the Y-axis direction may be controlled independently. 
     The measuring apparatus  500  may include a Y-axis slider  501 , a measurement unit or system  502 , and a Z-axis slider  503 . 
     The Y-axis slider  501  is a moving unit movable in the Y-axis direction similar to the Y-axis slider  301  of the chip carrying unit  300 . The y-axis slider  501  may support the measurement unit  502  and the Z-axis slider  503 . The measurement unit  502  and the Z-axis slider  503  may be fixed to the y-axis slider  501 . The y-axis slider  501  may move the measurement unit  502  and the Z-axis slider  503  in the Y-axis direction. The measurement unit  502  may measure the inclination information and/or distance information of each of the semiconductor chip  2  and the substrate  3  by using a laser beam. 
     The Z-axis slider  503  may move the measurement unit  502 , which is fixed to an end portion of the Z-axis slider  503 , in the Z-axis direction. In addition, the configuration of the measuring apparatus  500  is an example, and in some cases, the Z-axis slider  503  may not be provided, and a position of the measurement unit  502  may be or may not be fixed in the Z-axis direction. 
     The measurement unit  502  includes a first light emitting and light receiving device  511   a , a second light emitting and light receiving device  511   b , a first mirror  512   a , and a second mirror  512   b . Each of the first and second light emitting and light receiving devices  511   a  and  511   b  may include a light source for irradiating a laser beam and a light receiving device for receiving reflected light. 
     The first light emitting and light receiving device  511   a  and the first mirror  512   a  may be provided to perform measurement on the semiconductor chip  2 . For example, a light emitting device of the first light emitting and light receiving device  511   a  emits a laser beam from the right side to the left side in the Y-axis direction, the emitted laser beam may be bent  900  by the first mirror  512   a  to travel from the lower side to the upper side in the Z-axis direction to be irradiated on the semiconductor chip  2 . Also, reflected light reflected by the semiconductor chip  2  may travel from the upper side to the lower side in the Z-axis direction and be reflected by the first mirror  512   a  to travel from the left side to the right side in the Y-axis direction to be received by the light receiving device of the first light emitting and light receiving device  511   a . An inclination or distance of the semiconductor chip  2  may be measured based on an intensity or the like of the received reflected light. 
     The second light emitting and light receiving device  511   b  and the second mirror  512   b  may be provided to perform measurement on the substrate  3 . When a light emitting device of the second light emitting and light receiving device  511   b  emits a laser beam from the right side to the left side in the Y-axis direction, the emitted laser beam may be bent  900  by the second mirror  512   b  to travel from the upper side to the lower side in the Z-axis direction to be irradiated on the substrate  3 . Also, reflected light reflected by the substrate  3  may travel from the lower side to the upper side in the Z-axis direction and be reflected by the second mirror  512   b  to travel from the left side to the right side in the Y-axis direction to be received by the light receiving device of the second light emitting and light receiving device  511   b . An inclination and a distance of the substrate  3  may be measured based on an intensity of the received reflected light. 
     Referring  FIGS. 1 to 5 , the bonding stage  600  may movably mount the substrate  3  to be bonded. The bonding stage  600  may move in the X-axis direction and/or the Y-axis direction to designate a bonding position of the semiconductor chip  2 . In addition, the bonding stage  600  may rotate in a rotation direction (e.g., θ direction) having a rotation axis (e.g., θ-axis) that is parallel to the Z-axis direction. In addition, the bonding stage  600  may rotate in a rotation direction (e.g., Tx direction) having a rotation axis (e.g., Tx-axis) that is parallel to the X-axis direction, and may be configured to rotate in a rotation direction (e.g., Ty direction) having as a rotation axis (e.g., Ty-axis) that is parallel to the Y-axis direction. The bonding stage  600  may be driven based on a correction value calculated based on angle information in the θ-axis and position information of the semiconductor chip  2  obtained by the camera  321 , angle information in the θ-axis and position information of the substrate  3  obtained by the camera  321 , height information and inclination information of the semiconductor chip  2  obtained by the measuring apparatus  500 , and/or height information and inclination information of the substrate  3  obtained by the measuring apparatus  500 , thereby correcting a bonding position between the semiconductor chip  2  and the substrate  3 . 
     The controller  700  may control an operation of each component included in the apparatus  1 , and may control the overall bonding operation of the apparatus  1 . The controller  700  may be implemented in, for example, a computer device such as a personal computer or a server that executes a control program. For example, the controller  700  may include a memory device such as read only memory (ROM) and random access memory (RAM), and a processor configured to perform a certain operation and algorithm, for example, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), etc. In addition, the controller  700  may include a receiver and a transmitter for receiving and transmitting an electrical signal. 
     The controller  700  may control movements of the chip carrying unit  300  and the measuring apparatus  500 , obtain images (or position information) of the semiconductor chip  2  and the substrate  3  using the camera  321 , and obtain the inclination information and the distance information of each of the semiconductor chip  2  and the substrate  3  using the measuring apparatus  500 . The controller  700  may perform a control operation for correcting a position and a posture (i.e., a positional relationship between the semiconductor chip  2  and the substrate  3 ) of each of the semiconductor chip  2  and the substrate  3  based on the images and information obtained by using the camera  321  and the measuring apparatus  500 . 
     In example embodiments, the controller  700  may obtain an image of the semiconductor chip  2  and an image of the substrate  3  while the bonding head  310  is holding the semiconductor chip  2 . The image of the semiconductor chip  2  may be obtained by capturing the semiconductor chip  2  by the camera  321  through the optical unit  400  and include the fiducial mark  331 . The image of the substrate  3  may be obtained by capturing the substrate  3  by the camera  321  and include the fiducial mark  331 . The controller  700  may calculate a position correction amount for aligning the semiconductor chip  2  and the substrate  3  based on a positional relationship between the fiducial mark  331  included in the image of the semiconductor chip  2  and the semiconductor chip  2  and a positional relationship between the fiducial mark  331  included in the image of the substrate  3  and the substrate  3 . In particular, the controller  700  may calculate the position correction amount for aligning the semiconductor chip  2  and the substrate  3  based on coordinates of a representative point of the semiconductor chip  2  and coordinates of a representative point of the substrate  3 . The representative point of the semiconductor chip  2  may be determined by using the fiducial mark  331  as a fiducial point (or a reference point) in the image of the semiconductor chip  2 , and the representative point of the substrate  3  may be determined by using the fiducial mark  331  as a fiducial point (or a reference point) in the image of the substrate  3 . 
       FIG. 11  is a flowchart illustrating a mounting method performed via an apparatus for manufacturing a semiconductor device according to example embodiments of the inventive concept. The flowchart of  FIG. 11  shows one cycle from pickup of the semiconductor chip to completion of bonding between a semiconductor chip and a substrate. Hereinafter, a mounting method using an apparatus for manufacturing a semiconductor device according to example embodiments will be described with reference to  FIG. 11  together with  FIGS. 1 to 10 . 
     First, in S 101 , the flip chip unit  200  picks up the semiconductor chip  2 . For example, the flip chip unit  200  picks up the semiconductor chip  2 , which is formed by cutting a semiconductor wafer, after moving to a wafer stage on which the semiconductor wafer is mounted, wherein the semiconductor wafer has semiconductor elements formed thereon. 
     Then, in S 102 , the flip chip unit  200  rotates the semiconductor chip  2  such that upper and lower surfaces of the semiconductor chip  2  are inverted. For example, the flip chip unit  200  rotates the semiconductor chip  2  by 180 degrees so that the upper and lower surfaces of the semiconductor chip  2 , which is picked up, are inverted. 
     Next, in S 103 , the flip chip unit  200  transfers the semiconductor chip  2  to the bonding head  310 . 
     For example, in operation S 103 , the Y-axis slider  301  of the chip carrying unit  300  is moved in the Y-axis direction, and the bonding head  310  is stopped at a position above the flip chip unit  200 . The flip chip unit  200  transfers, to the bonding head  310 , the semiconductor chip  2  which is picked up and inverted. The bonding head  310  receives the semiconductor chip  2  and adsorbs to hold the semiconductor chip  2 . 
     Then, in S 104 , a position and a posture of the semiconductor chip  2  held by the bonding head  310  are inspected. 
     For example, in operation S 104 , the Y-axis slider  301  of the chip carrying unit  300  is moved in the Y-axis direction, and the bonding head  310  and the vision head  320  are stopped at a certain position above the optical unit  400 . That is, the Y-axis slider  301  moves until the bonding head  310  is aligned with the first opening  402   a  of the optical unit  400  and the vision head  320  is aligned with the second opening  402   b  of the optical unit  400 . At this time, a position of the chip carrying unit  300  in the Y-axis direction (that is, positions of the bonding head  310  and the vision head  320  in the Y-axis direction) may be referred to as a “semiconductor chip capturing position”, and a state of the bonding head  310  and the vision head  320  in the semiconductor chip capturing position may be referred to as a “semiconductor chip capturing state”. In the semiconductor chip capturing position, the camera  321  of the vision head  320  captures, through the optical unit  400 , an image of the bottom surface (that is, the mounting surface of the semiconductor chip  2 ) of the semiconductor chip  2  held by the bonding head  310 . The controller  700  obtains a position of the semiconductor chip  2  or a rotation angle around a Z-axis from the captured image of the semiconductor chip  2 . An error which may occur due to positional deviation of the camera  321  may be removed by using a distance from the fiducial mark  331  reflected in the field of view of the camera  321  in an operation of obtaining the position of the semiconductor chip  2  or the rotation angle around the Z-axis from the captured image of the semiconductor chip  2 . 
     In addition, in operation S 104 , the measuring apparatus  500  obtains an inclination angle of the semiconductor chip  2 . For example, after moving the chip carrying unit  300  to the semiconductor chip capturing position and capturing the image of the semiconductor chip  2 , the Y-axis slider  501  of the measuring apparatus  500  is moved in the Y-axis direction and stopped at a certain position near the bonding head  310 . That is, the Y-axis slider  501  moves until an end portion of the measurement unit  502  of the measuring apparatus  500  is positioned between the semiconductor chip  2  and the optical unit  400 . The measuring apparatus  500  measures the inclination angle of the semiconductor chip  2  by irradiating a laser beam upward from the measurement unit  502  to the bottom surface of the semiconductor chip  2  and receiving a reflected laser beam. 
     Then, in S 105 , a position and a posture of the substrate  3  mounted on the bonding stage  600  are inspected. 
     For example, in operation S 105 , the Y-axis slider  301  of the chip carrying unit  300  is moved in the Y-axis direction, the bonding stage  600  is moved in the X-axis direction, and the bonding head  310  and the vision head  320  are stopped at a certain position above the bonding stage  600 . That is, the bonding head  310  and the bonding stage  600  are moved so that the semiconductor chip  2  held by the bonding head  310  and the substrate  3  on the bonding stage  600  are side by side on the Z-axis. When the semiconductor chip  2  held by the bonding head  310  and the substrate  3  on the bonding stage  600  are arranged side by side on the Z-axis, a position of the chip carrying unit  300  in the Y-axis direction (or positions of the bonding head  310  and the vision head  320  in the Y-axis direction) may be referred to as a “substrate capturing position”, and a state of the bonding head  310  and the vision head  320  in the substrate capturing position may be referred to as a “substrate capturing state”. In the substrate capturing position, the camera  321  of the vision head  320  captures an image of a surface (mounting surface) of the substrate  3  on the bonding stage  600 . The controller  700  obtains a position of the substrate  3  or a rotation angle around the Z-axis from the captured image of the substrate  3 . An error which may occur due to positional deviation of the camera  321  may be removed by using a distance from the fiducial mark  331  reflected in the field of view of the camera  321  in an operation of obtaining the position of the substrate  3  or the rotation angle around the Z-axis from the image of the substrate  3 , which is captured. 
     In addition, in operation S 105 , the measuring apparatus  500  obtains an inclination angle of the substrate  3 . For example, after moving the chip carrying unit  300  to the substrate capturing position and capturing the image of the substrate  3 , the Y-axis slider  501  of the measuring apparatus  500  is moved in the Y-axis direction and stopped at a certain position above the bonding stage  600 . That is, the Y-axis slider  501  moves until the end portion of the measurement unit  502  of the measuring apparatus  500  is positioned between the semiconductor chip  2  and the substrate  3 . The measuring apparatus  500  measures the inclination angle of the substrate  3  by irradiating a laser beam downward from the measurement unit  502  to the surface of the substrate  3  and receiving a reflected laser beam. 
     Then, in S 106 , a position of the bonding head  310 , and a position and a posture of the bonding stage  600  are finely corrected. The controller  700  calculates a correction amount of the positions and postures of the semiconductor chip  2  and the substrate  3  based on the inspected position and posture of the semiconductor chip  2  and the position and posture of the substrate  3 . The position of the bonding head  310 , and the position and posture of the bonding stage  600  may be finely corrected based on the calculated correction amount. Accordingly, the positions and postures of the semiconductor chip  2  and the substrate  3  may be finely corrected such that the semiconductor chip  2  and the substrate  3  are aligned with each other. 
     Last, in S 107 , the semiconductor chip  2  is mounted on the substrate  3 . For example, after the positions and postures of the semiconductor chip  2  and the substrate  3  are corrected, the bonding head  310  moves the semiconductor chip  2  in the lower side of the Z-axis direction (or downward) and bonds the semiconductor chip  2  on the substrate  3  by applying an appropriate pressure. In addition, appropriate heat may be applied to the semiconductor chip  2  and the substrate  3  through the bonding stage  600  such that the semiconductor chip  2  is firmly bonded to the substrate  3 . 
       FIGS. 12 to 14  are each a diagram for explaining an example of calculating positions of a semiconductor chip and a substrate in a mounting method using an apparatus for manufacturing a semiconductor device. 
     Hereinafter, a position calculation algorithm for correcting the positions of the semiconductor chip  2  and the substrate  3 , as a particular example of operation S 106  of  FIG. 11 , will be described with reference to  FIGS. 12 to 14  together with  FIGS. 1 to 10 . For example, the position calculation algorithm is executed by the controller  700 . A position calculation algorithm in an example without the fiducial mark  331  will be described with reference to  FIGS. 12 and 13 , and a position calculation algorithm in an example with the fiducial mark  331  will be described with reference to  FIG. 14 . In addition, any example described below is applicable to the apparatus  1 . In the example in which the reference mark  331  is not provided, the position detection process is performed with only one camera, so that errors due to a plurality of cameras can be removed. Also, in the example in which the fiducial mark  331  is provided, an error due to positional deviation of one camera may be further reduced. 
     In the following description, the following variables are used. 
     a i  is a i-th representative point on the semiconductor chip  2 . Image coordinates of a i  are (u ai , v ai ) [pixel]. Here, for simplicity of explanation, i=1, 2, 3, but more points may be used as representative points. In addition, a representative point of the semiconductor chip  2  is, for example, a terminal of the semiconductor chip  2 , a conductive pad of the semiconductor chip  2 , a certain mark, or the like. 
     g a  is a central position of the representative points of the semiconductor chip  2 . g a  is calculated from coordinates of a1, a2, and a3. Image coordinates g a  of are (u ga , v ga ) [pixel]. 
     θ a  is a rotation angle of the semiconductor chip  2 . θ a  is calculated from coordinates of a1, a2, and a3. 
     b i  is a i-th representative point on the substrate  3 . Image coordinates of b i  are (u bi , v bi ) [pixel]. Here, for simplicity of explanation, i=1, 2, 3, but more points may be used as representative points. In addition, a representative point of the substrate  3  is a point corresponding to a representative point of the substrate  3 , and for example, is a terminal of the substrate  3 , a conductive pad of the substrate  3 , a certain mark, or the like. 
     g b  is a central position of the representative points of the substrate  3 . g b  is calculated from positions of b1, b2, and b3. Image coordinates of g b  are (u gb , v gb ) [pixel]. 
     θ b  is a rotation angle of the substrate  3 . θ b  is calculated from coordinates of b1, b2, and b3. 
     z is a distance [mm] of the semiconductor chip  2  measured based on the surface of the substrate  3  in the Z-axis direction in the substrate capturing state. 
     βv is an optical magnification [mm/pixel] of the vision head  320 . 
     βr is an optical magnification [times] of the optical unit  400 . 
       FIG. 12  shows a position alignment example in an ideal case where there is no positional deviation of the camera  321  in the example without the fiducial mark  331 . In the example without the fiducial mark  331 , the bonding head  310  and the vision head  320  fixed to the Y-axis slider  301  move in the Y-axis direction at the same time. 
     A purpose of the position calculation algorithm is to position and align the semiconductor chip  2  and the substrate  3  with high precision. Here, for convenience of explanation, a representative point b i  (i=1, 2, 3) on the substrate  3  and a corresponding representative point a i  (i=1, 2, 3) on the semiconductor chip  2  are aligned with high precision. 
     In the position calculation algorithm, first, in the semiconductor chip capturing state (position of Y1) on the left side of  FIG. 12 , the camera  321  captures the image of the semiconductor chip  2  through the optical unit  400  and obtains a first image P 1  of the semiconductor chip  2 , which is captured. Image coordinates of a i  are obtained from the first image P 1  of the semiconductor chip  2 . A central position g a  (herein, also referred to as central positions of a1, a2, and a3) of a representative point of the semiconductor chip  2 , and a rotation angle θ a  are calculated from the obtained image coordinates of a i . 
     After capturing the image of the semiconductor chip  2 , the bonding head  310  moves the semiconductor chip  2  in the upper side of the Z-axis direction (or upward). Next, the bonding head  310  and the vision head  320  are moved together in the Y-axis direction and the bonding stage  600  is moved in the X-axis direction so that the mounting position of the substrate  3  (that is, a position of the substrate  3  where the semiconductor chip  2  is to be mounted) is captured in the field of view of the camera  321 . The mounting position where the semiconductor chip  2  is mounted on the substrate  3  is a programmed design value, and the bonding stage  600  is movable with such precision that the mounting position on the substrate  3  is included in the field of view of the camera  321 . In the substrate capturing state (position of Y2) on the right side of  FIG. 12 , the camera  321  captures the image of the substrate  3  and obtains a second image P 2  of the substrate  3 . Image coordinates of b i  of are obtained from the second image P 2  of the substrate  3 . A central position g b  of a representative point of the substrate  3 , and the rotation angle θ b  are calculated from the obtained image coordinates of b i . 
     In addition, y offset  [mm] corresponding to a distance in the Y-axis direction between a central axis of the bonding head  310  and a central axis of the vision head  320  is determined at the time of setting the apparatus  1 , and a distance z [mm] of the semiconductor chip  2  measured based on the surface of the substrate  3  in the Z-axis direction is considered to be predetermined. 
     Next, a movement amount (correction amount) for alignment between the semiconductor chip  2  and the substrate  3  is calculated, from information a i , g a , b i , g b , θ a , θ b , y offset , and z, as follows together. 
     The representative point of the semiconductor chip  2  and the representative point of the substrate  3  may be expressed by the following Equation 1. 
     
       
         
           
             
               
                 
                   
                     [ 
                     
                       Equation 
                       ⁢ 
                           
                       1 
                     
                     ] 
                   
                                                                                                                                                     
                 
               
               
                   
               
             
           
         
       
       
         
           
             
               
                 
                   
                     
                       [ 
                       
                         
                           
                             
                               
                                 r 
                                 bi 
                               
                               - 
                               
                                 r 
                                 gb 
                               
                             
                           
                         
                         
                           
                             1 
                           
                         
                       
                       ] 
                     
                     = 
                     
                       
                         
                           
                             [ 
                             
                               
                                 
                                   R 
                                 
                                 
                                   T 
                                 
                               
                               
                                 
                                   0 
                                 
                                 
                                   1 
                                 
                               
                             
                             ] 
                           
                               
                           [ 
                           
                             
                               
                                 
                                   
                                     r 
                                     ai 
                                   
                                   - 
                                   
                                     r 
                                     ga 
                                   
                                 
                               
                             
                             
                               
                                 1 
                               
                             
                           
                           ] 
                         
                         ⁢ 
                             
                         i 
                       
                       = 
                       1 
                     
                   
                   , 
                   2 
                   , 
                   3 
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
           
         
       
     
     Here, r ai  is a three-dimensional space coordinate of the i-th representative point of the semiconductor chip  2 . r ga  is a three-dimensional space coordinate of a center coordinate of representative points of the semiconductor chip  2 . r bi  is a three-dimensional space coordinate of the i-th representative point on the substrate  3 . r gb  is a three-dimensional space coordinate of a center coordinate of representative points of the substrate  3 . 
     When a center of the field of view of the camera  321  in the substrate capturing state is taken as a fiducial point, r ai  becomes the following Equation 2. 
     
       
         
           
             
                 
               
                 
                   
                     [ 
                     
                       Equation 
                       ⁢ 
                           
                       2 
                     
                     ] 
                   
                                                                                                                                                        
                 
               
             
           
         
       
       
         
           
             
               
                 
                   
                     r 
                     
                       a 
                       ⁢ 
                       i 
                     
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               x 
                               
                                 a 
                                 ⁢ 
                                 i 
                               
                             
                           
                         
                         
                           
                             
                               y 
                               
                                 a 
                                 ⁢ 
                                 i 
                               
                             
                           
                         
                         
                           
                             
                               z 
                               
                                 a 
                                 ⁢ 
                                 i 
                               
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             
                               
                                 β 
                                 v 
                               
                               ⁢ 
                               
                                 v 
                                 
                                   a 
                                   ⁢ 
                                   i 
                                 
                               
                               / 
                               
                                 β 
                                 r 
                               
                             
                           
                         
                         
                           
                             
                               
                                 
                                   β 
                                   v 
                                 
                                 ⁢ 
                                 
                                   u 
                                   
                                     a 
                                     ⁢ 
                                     i 
                                   
                                 
                                 / 
                                 
                                   β 
                                   r 
                                 
                               
                               - 
                               
                                 y 
                                 offset 
                               
                             
                           
                         
                         
                           
                             z 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                   ( 
                   2 
                   ) 
                 
               
             
           
         
       
     
     Similarly, r bi  may be expressed by Equation 3 below. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                     
                 3 
               
               ] 
             
                                                                                                                                              
           
         
       
       
         
           
             
               
                 
                   
                     r 
                     bi 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               x 
                               bi 
                             
                           
                         
                         
                           
                             
                               y 
                               bi 
                             
                           
                         
                         
                           
                             
                               z 
                               bi 
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       [ 
                       
                         
                           
                             
                               
                                 β 
                                 v 
                               
                               ⁢ 
                               
                                 v 
                                 
                                   b 
                                   ⁢ 
                                   i 
                                 
                               
                             
                           
                         
                         
                           
                             
                               
                                 β 
                                 v 
                               
                               ⁢ 
                               
                                 u 
                                 
                                   b 
                                   ⁢ 
                                   i 
                                 
                               
                             
                           
                         
                         
                           
                             0 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                   ( 
                   3 
                   ) 
                 
               
             
           
         
       
     
     When a rotation amount for correcting the posture of the semiconductor chip  2  is assumed as R, R is obtained by the following Equation 4. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                     
                 4 
               
               ] 
             
                                                                                                                                              
           
         
       
       
         
           
             
               
                 
                   
                     R 
                     = 
                     
                       [ 
                       
                         
                           
                             
                               cos 
                               ⁢ 
                                  
                               θ 
                             
                           
                           
                             
                               
                                 - 
                                 sin 
                               
                               ⁢ 
                                  
                               θ 
                             
                           
                           
                             0 
                           
                         
                         
                           
                             
                               sin 
                               ⁢ 
                                  
                               θ 
                             
                           
                           
                             
                               cos 
                               ⁢ 
                                  
                               θ 
                             
                           
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                           
                             0 
                           
                           
                             1 
                           
                         
                       
                       ] 
                     
                   
                   , 
                   
                     θ 
                     = 
                     
                       
                         θ 
                         b 
                       
                       - 
                       
                         θ 
                         a 
                       
                     
                   
                 
               
               
                 
                   ( 
                   4 
                   ) 
                 
               
             
           
         
       
     
     When an amount by which a position of the semiconductor chip  2  is moved in parallel (that is, a movement in the X-axis direction, a movement in the Y-axis direction, and a movement in the Z-axis direction) is assumed as T, T is obtained by the following Equation 5. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                     
                 5 
               
               ] 
             
                                                                                                                                                
           
         
       
       
         
           
             
               
                 
                   T 
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               T 
                               x 
                             
                           
                         
                         
                           
                             
                               T 
                               y 
                             
                           
                         
                         
                           
                             
                               T 
                               z 
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       
                         [ 
                         
                           
                             
                               
                                 
                                   ( 
                                   
                                     
                                       v 
                                       gb 
                                     
                                     - 
                                     
                                       
                                         v 
                                         ga 
                                       
                                       / 
                                       
                                         β 
                                         r 
                                       
                                     
                                   
                                   ) 
                                 
                                 ⁢ 
                                 
                                   β 
                                   v 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   
                                     ( 
                                     
                                       
                                         u 
                                         gb 
                                       
                                       - 
                                       
                                         
                                           u 
                                           ga 
                                         
                                         / 
                                         
                                           β 
                                           r 
                                         
                                       
                                     
                                     ) 
                                   
                                   ⁢ 
                                   
                                     β 
                                     v 
                                   
                                 
                                 + 
                                 
                                   y 
                                   offset 
                                 
                               
                             
                           
                           
                             
                               
                                 - 
                                 z 
                               
                             
                           
                         
                         ] 
                       
                       = 
                       
                         
                           r 
                           gb 
                         
                         - 
                         
                           r 
                           ga 
                         
                       
                     
                   
                 
               
               
                 
                   ( 
                   5 
                   ) 
                 
               
             
           
         
       
     
     The following movement amount and rotation angle (correction amount) are obtained from Equations 4 and 5. 
     A movement amount of the Y-axis slider  301  in the Y-axis direction is T y  [mm]. 
     A movement amount of the bonding stage  600  in the X-axis direction is T x  [mm]. 
     A movement amount of the bonding head  310  in the Z-axis direction is T z  [mm]. 
     A rotation angle of the semiconductor chip  2  is θ [mm]. 
     Position alignment between the semiconductor chip  2  and the substrate  3  is performed by instructing the calculated movement amount and rotation angle to the apparatus  1  (that is, from the controller  700  to each component of the apparatus  1 ). 
       FIG. 13  shows a position alignment example in a case where a positional deviation of the camera  321  exists in the example without the fiducial mark  331 . Similar to  FIG. 12 , the bonding head  310  and the vision head  320  which are fixed to the Y-axis slider  301  are simultaneously moved in the Y-axis direction, and a movement amount (e.g., a movement amount of the Y-axis slider  301  in the Y-axis direction, a movement amount of the bonding stage  600  in the X-axis direction, and a movement amount of the bonding head  310  in the Z-axis direction) is calculated. Here, it is assumed that a light receiving device inside the camera  321  causes a slight positional deviation between the semiconductor chip capturing state (the position of Y1) and the substrate capturing state (the position of Y2). That is, the slight positional deviation caused by the light receiving device inside the camera  321  does not occur in the semiconductor chip capturing state, but occurs only in the substrate capturing state. A case in which the light receiving device provided in the camera  321  causes a slight positional deviation will be described below, but it should be noted that the following description may be applied substantially the same or similarly even when positional deviation entirely occurs in the vision head  320 . 
     First, a positional deviation amount of the light receiving device of the camera  321  is expressed by Equation 6. In addition, the positional deviation of the light receiving device of the camera  321  is not limited only to a parallel movement, and although rotation is included, herein, only a parallel movement component is used for simplified description. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                       
                 6 
               
               ] 
             
                                                                                                                                            
           
         
       
       
         
           
             
               
                 
                   
                     Δ 
                     ⁢ 
                     p 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               Δ 
                               ⁢ 
                               v 
                             
                           
                         
                         
                           
                             
                               Δ 
                               ⁢ 
                               u 
                             
                           
                         
                         
                           
                             0 
                           
                         
                       
                       ] 
                     
                         
                     [ 
                     pixel 
                     ] 
                   
                 
               
               
                 
                   ( 
                   6 
                   ) 
                 
               
             
           
         
       
     
     At this time, because the image coordinates of the representative point b i  on the substrate  3 , which is calculated from the second image P 2  of the substrate  3 , include positional deviation as an error, the above Equation 3 becomes the following Equation 7. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                     
                 7 
               
               ] 
             
                                                                                                                                                 
           
         
       
       
         
           
             
               
                 
                   
                     r 
                     bi 
                     ′ 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               x 
                               bi 
                               ′ 
                             
                           
                         
                         
                           
                             
                               y 
                               bi 
                               ′ 
                             
                           
                         
                         
                           
                             
                               z 
                               bi 
                               ′ 
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       
                         [ 
                         
                           
                             
                               
                                 
                                   β 
                                   v 
                                 
                                 ⁢ 
                                 
                                   v 
                                   
                                     b 
                                     ⁢ 
                                     1 
                                   
                                   ′ 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   β 
                                   v 
                                 
                                 ⁢ 
                                 
                                   u 
                                   
                                     b 
                                     ⁢ 
                                     1 
                                   
                                   ′ 
                                 
                               
                             
                           
                           
                             
                               0 
                             
                           
                         
                         ] 
                       
                       = 
                       
                         
                           [ 
                           
                             
                               
                                 
                                   
                                     β 
                                     ν 
                                   
                                   ⁢ 
                                   
                                     ( 
                                     
                                       
                                         v 
                                         
                                           b 
                                           ⁢ 
                                           i 
                                         
                                       
                                       - 
                                       
                                         Δ 
                                         ⁢ 
                                         v 
                                       
                                     
                                     ) 
                                   
                                 
                               
                             
                             
                               
                                 
                                   
                                     β 
                                     ν 
                                   
                                   ( 
                                   
                                     
                                       u 
                                       
                                         b 
                                         ⁢ 
                                         i 
                                       
                                     
                                     - 
                                     
                                       Δ 
                                       ⁢ 
                                       u 
                                     
                                   
                                   ) 
                                 
                               
                             
                             
                               
                                 0 
                               
                             
                           
                           ] 
                         
                         = 
                         
                           
                             r 
                             
                               b 
                               ⁢ 
                               i 
                             
                           
                           - 
                           
                             Δ 
                             ⁢ 
                             r 
                           
                         
                       
                     
                   
                 
               
               
                 
                   ( 
                   7 
                   ) 
                 
               
             
           
         
       
     
     That is, an error is added by −Δr for a real value r bi . Here, Δr is a conversion of a positional deviation amount Δp of the light receiving device in a unit of mm, and is expressed by the following Equation 8. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                     
                 8 
               
               ] 
             
                                                                                                                                                
           
         
       
       
         
           
             
               
                 
                   
                     Δ 
                     ⁢ 
                     r 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               Δ 
                               ⁢ 
                               x 
                             
                           
                         
                         
                           
                             
                               Δ 
                               ⁢ 
                               y 
                             
                           
                         
                         
                           
                             
                               Δ 
                               ⁢ 
                               z 
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       
                         [ 
                         
                           
                             
                               
                                 
                                   β 
                                   v 
                                 
                                 ⁢ 
                                 Δ 
                                 ⁢ 
                                 v 
                               
                             
                           
                           
                             
                               
                                 
                                   β 
                                   v 
                                 
                                 ⁢ 
                                 Δ 
                                 ⁢ 
                                 u 
                               
                             
                           
                           
                             
                               0 
                             
                           
                         
                         ] 
                       
                       = 
                       
                         
                           β 
                           ν 
                         
                         ⁢ 
                         Δ 
                         ⁢ 
                         p 
                       
                     
                   
                 
               
               
                 
                   ( 
                   8 
                   ) 
                 
               
             
           
         
       
     
     T′ calculated from the second image P 2  of the substrate  3  which includes positional deviation becomes the following Equation 9 based on the above Equation 5. 
     
       
         
           
             
               [ 
               
                 Equation 
                 ⁢ 
                 
                      
                     
                 
                 ⁢ 
                 9 
               
               ] 
             
                                                                                                                                             
           
         
       
       
         
           
             
               
                 
                   
                     T 
                     ′ 
                   
                   = 
                   
                     
                       [ 
                       
                         
                           
                             
                               T 
                               x 
                               ′ 
                             
                           
                         
                         
                           
                             
                               T 
                               y 
                               ′ 
                             
                           
                         
                         
                           
                             
                               T 
                               z 
                               ′ 
                             
                           
                         
                       
                       ] 
                     
                     = 
                     
                       
                         [ 
                         
                           
                             
                               
                                 
                                   ( 
                                   
                                     
                                       v 
                                       gb 
                                       ′ 
                                     
                                     - 
                                     
                                       
                                         v 
                                         ga 
                                       
                                       / 
                                       
                                         β 
                                         r 
                                       
                                     
                                   
                                   ) 
                                 
                                 ⁢ 
                                 
                                   β 
                                   v 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   
                                     ( 
                                     
                                       
                                         u 
                                         gb 
                                         ′ 
                                       
                                       - 
                                       
                                         
                                           u 
                                           ga 
                                         
                                         / 
                                         
                                           β 
                                           r 
                                         
                                       
                                     
                                     ) 
                                   
                                   ⁢ 
                                   
                                     β 
                                     v 
                                   
                                 
                                 + 
                                 
                                   y 
                                   offset 
                                 
                               
                             
                           
                           
                             
                               
                                 - 
                                 z 
                               
                             
                           
                         
                         ] 
                       
                       = 
                       
                         T 
                         - 
                         
                           Δ 
                           ⁢ 
                           r 
                         
                       
                     
                   
                 
               
               
                 
                   ( 
                   9 
                   ) 
                 
               
             
           
         
       
     
     As described above, there is a problem in that the positional deviation amount of the light receiving device of the camera  321  is applied to a movement amount of the semiconductor chip  2  as an error. To eliminate this error, a movement amount Δr of the light receiving device of the camera  321  needs to be known. In this example, as shown in Equation 7, an exact position of the substrate  3  and the positional deviation amount of the light receiving device of the camera  321  may not be separated. 
       FIG. 14  shows a position alignment example in a case where a positional deviation of the camera  321  exists in the example with the fiducial mark  331 . In the example with the fiducial mark  331 , the bonding head  310 , the vision head  320 , and the fiducial mark  331  which are fixed to the Y-axis slider  301  are simultaneously moved in the Y-axis direction, and a movement amount (e.g., the movement amount of the Y-axis slider  301  in the Y-axis direction, the movement amount of the bonding stage  600  in the X-axis direction, and the movement amount of the bonding head  310  in the Z-axis direction) is calculated. 
     In embodiments, the fiducial mark  331  is arranged to always be reflected in the field of view of the camera  321 . The image of the semiconductor chip  2  is captured in the semiconductor chip capturing state (the position of Y1), and the image coordinates of the representative point a i  of the semiconductor chip  2  is obtained from the first image P 1  of the semiconductor chip  2 . At this time, a center of an image is not taken as a fiducial point, and the fiducial mark  331  shown in the first image P 1  is taken as an origin. 
     It is assumed that the light receiving device inside the camera  321  causes a positional deviation by Δp [pixel] between the semiconductor chip capturing state (the position of Y1) and the substrate capturing state (the position of Y2). That is, the positional deviation Δp caused by the light receiving device inside the camera  321  does not occur in the semiconductor chip capturing state, but occurs only in the substrate capturing state. In this case, in the second image P 2  of the substrate  3 , which is obtained by capturing the substrate  3  in the substrate capturing state, the fiducial mark  331  is shown by moving −Δp. Similarly, in the second image P 2  of the substrate  3 , the substrate  3  is also shown by moving −Δp from a real position. 
     When the image coordinates of the representative point b i  on the substrate  3  are obtained without using the fiducial mark  331  as a fiducial point, the movement amount of the light receiving device of the camera  321  is applied as an error as shown in Equations 7 and 9. However, when the image coordinates of the representative point b i  of the substrate  3  are obtained with the fiducial mark  331  as a fiducial point, the movement amount Δp of the light receiving is not included as shown in Equations 3 and 5. In addition, as shown in the above Equation 7, the exact position of the substrate  3  and the positional deviation amount of the light receiving device of the camera  321  may be separated by knowing a change in image coordinates of the fiducial mark  331 . 
     According to example embodiments, as an operation from the pick-up of the semiconductor chip  2  to the bonding between the semiconductor chip  2  and the substrate  3  is performed by one camera  321 , an error factor due to the camera  321  may be reduced, and mounting precision may be achieved at high precision (e.g., sub-μm). In addition, because there is only one camera  321 , the number of members of the apparatus  1  may be reduced and the manufacturing cost of the apparatus  1  may be reduced. 
     In example embodiments, high-precision mounting using one camera  321  may be achieved by adopting the following two methods. 
     First, to detect a position error of the semiconductor chip  2  picked up by the bonding head  310 , the optical unit  400  for observing the bottom surface of the semiconductor chip  2  is provided. 
     Because the semiconductor chip  2  is held by the bonding head  310 , an image thereof needs to be captured from the lower side toward the upper side. In general, an additional camera for performing capturing from the lower side to the upper side has been provided. However, in the present embodiments, the camera  321  is arranged to perform capturing from the upper side to the lower side, but the optical unit  400  for capturing the bottom surface of the semiconductor chip  2  is added. The optical unit  400  may perform a function of transmitting an image of the bottom surface of the semiconductor chip  2  to a capturing position of the camera  321 . Accordingly, the camera  321  is arranged in a direction from the upper side toward the lower side, but the image of the bottom surface of the semiconductor chip  2  may be captured through the optical unit  400 . Also, when the image of the substrate  3  is captured to detect a position error of the substrate  3 , the camera  321  captures from the upper side toward the lower side, and thus the image of the substrate  3  may be directly captured without the optical unit  400 . 
     Second, to correct the positional deviation of the camera  321 , the fiducial mark  331  which is always reflected in the field of view of the camera  321  is provided. 
     The camera  321  is an important element for detecting the position error of the semiconductor chip  2  or the substrate  3 , and the positional deviation of the camera  321  is directly related to a mounting error. However, the camera  321  may receive mechanical stress in an operation of performing a Y-axis driving, and the light receiving device such as a CCD or a CMOS inside the camera  321  may receive thermal stress due to heat generation. To achieve high-precision mounting, it is needed to monitor the position deviation of the camera  321  and reflect the same in the correction of a mounting position. In embodiments, the fiducial mark  331  in which the image thereof is always able to be captured is provided in the field of view of the camera  321 . The fiducial mark  331  is arranged so that a relative position thereof to the camera  321  and the Y-axis linear encoder  302  that detects Y-axis coordinates of the bonding head  310  does not change. When a position error of the semiconductor chip  2  is detected and when a position error of the substrate  3  is detected, an error is managed based on a relative position to the fiducial mark  331 , so that an effect due to the positional deviation of the camera  321  may be excluded even when the position deviation occurs in the camera  321 . 
       FIG. 15  is a configuration diagram of a portion of an apparatus for manufacturing a semiconductor device according to example embodiments of the inventive concept. 
     The apparatus for manufacturing a semiconductor device shown in  FIG. 15  may be substantially the same as or similar to the apparatus  1  for manufacturing the semiconductor device described with reference to  FIGS. 1 to 14  except for a configuration of the measuring apparatus  500 . Hereinafter, the apparatus for manufacturing a semiconductor device shown in  FIG. 15  will be described with a focus on differences from the apparatus  1  described with reference to  FIGS. 1 to 14 . 
     Referring to  FIG. 15 , the chip carrying unit  300  may include the measuring apparatus  500 . The chip carrying unit  300  may include the Y-axis slider  301 , the bonding head  310 , the vision head  320 , and the fiducial mark arrangement unit  330 , and may further include the measuring apparatus  500 . 
     The measuring apparatus  500  may be fixed to the Y-axis slider  301  together with the bonding head  310  and the vision head  320 , and may be integrated with the bonding head  310  and the vision head  320  to move in the Y-axis direction. A distance from the bonding head  310  to the vision head  320  (or the camera  321 ) in the Y-axis direction and a distance from the bonding head  310  to the measuring apparatus  500  in the Y-axis direction may be the same. A positional relationship between the bonding head  310  and the measuring apparatus  500  may correspond to positions of the first opening  402   a  ( FIG. 6 ) and the second opening  402   b  ( FIG. 6 ) or positions of the first lens  403   a  ( FIG. 7 ) and the second lens  403   b  ( FIG. 7 ) of the optical unit  400 . For example, when the measuring apparatus  500  is aligned with an optical axis of the first opening  402   a  ( FIG. 6 ) or the first lens  403   a  ( FIG. 7 ) of the optical unit  400  in the Z-axis direction, the bonding head  310  may be aligned with an optical axis of the second opening  402   b  ( FIG. 6 ) or the second lens  403   b  ( FIG. 7 ) of the optical unit  400  in the Z-axis direction. The measuring apparatus  500  may be spaced apart from the vision head  320  with the bonding head  310  therebetween, and the distance between the measuring apparatus  500  and the bonding head  310  in the Y-axis direction may be equal to an optical axis pitch of the optical unit  400 . Accordingly, the measuring apparatus  500  may measure an inclination or distance information in the Z-axis direction of the semiconductor chip  2  held by the bonding head  310  through the optical unit  400 . 
     The measuring apparatus  500  measures the semiconductor chip  2  and the substrate  3  ( FIG. 1 ) by using one light emitting and light receiving device  511 . 
     In a case where the semiconductor chip  2  is measured, when a light emitting device of the light emitting and light receiving device  511  emits a laser beam in the Z-axis direction, the laser beam emitted by the light emitting device of the light emitting and light receiving device  511  reaches the semiconductor chip  2  through the optical unit  400 , and reflected light reflected by the semiconductor chip  2  is incident on a light receiving device of the light emitting and light receiving device  511  through the optical unit  400 . Through the reflected light reflected by the semiconductor chip  2 , an inclination angle or distance information in the Z-axis direction of the semiconductor chip  2  may be obtained. When the substrate  3  is measured, the optical unit  400  is not needed, and the measuring apparatus  500  directly measures the surface of the substrate  3  by using a laser beam emitted in the Z-axis direction. The controller  700  calculates the correction amounts of the semiconductor chip  2  and the substrate  3  by using the inclination information and the distance information of the semiconductor chip  2 , which are measured by the measuring apparatus  500  through the optical unit  400 , and the inclination information and the distance information of the substrate  3 , which are directly measured by the measuring apparatus  500 . 
     The measuring apparatus  500  is driven integrally with the bonding head  310  and the vision head  320 , and the semiconductor chip  2  may be measured from the measuring apparatus  500  through the optical unit  400 . Accordingly, because the light emitting and light receiving device  511  of the measuring apparatus  500  may be realized as one, the measurement precision of the measuring apparatus  500  may be improved, and the number of members and cost may also be reduced. 
     Each configuration in the above-described embodiment is configured by hardware, software, or both of hardware and software, and may be configured by one piece of hardware or software, or may be configured by a plurality of pieces of hardware or software. A function (process) of each device may also be implemented by a computer having a CPU, a memory, or the like. For example, a program for performing the method (control method) according to the embodiments may be stored in a storage device, and each function may be implemented by executing the program stored in the storage device in the CPU. 
     Such a program may be stored and provided to a computer by using various types of non-transitory computer readable media. The non-transitory computer-readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., optical magnetic disks), CD-ROM, compact disc-recordable (CD-R), CD-rewritable (R/W), a semiconductor memory (e.g., mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash ROM, RAM). In addition, the program may be supplied to the computer by various types of transitory computer readable media. Examples of the transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable medium may supply the program to the computer through a wired communication path such as an electric wire and optical fiber, or a wireless communication path. 
     While the inventive concept has been particularly shown and described with reference to embodiments thereof, it will be understood that various changes in form and details may be made therein without departing from the scope of the following claims.