CN100478789C - Four-quadrant aligning device of mask transmission system - Google Patents
Four-quadrant aligning device of mask transmission system Download PDFInfo
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- CN100478789C CN100478789C CNB2005101052606A CN200510105260A CN100478789C CN 100478789 C CN100478789 C CN 100478789C CN B2005101052606 A CNB2005101052606 A CN B2005101052606A CN 200510105260 A CN200510105260 A CN 200510105260A CN 100478789 C CN100478789 C CN 100478789C
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Abstract
A four-quadrant alignment device of mast transmission system consists of two lasers, mask plate labeled with two * form alignment marks, two filters, two four-quadrant photoelectric detectors for receiving said masks flare, signal regulating circuit connected to two said detectors, A / D converter, driving motor for driving mask convey mechanical hand and mask drive mechanical hand both being used for finalizing pre -alignment to move horizontally along x and Y direction and to rotate around z axle, grating rule and controller for measuring position of mask convey mechanical hand on x and Y direction.
Description
Technical field
The present invention relates to technical field of photoelectric detection, is the mask plate position in the mask aligner mask transmission system, the measurement sensing device of attitude, is used to realize the aligning of mask plate.
Background technology
Based on traditional alignment methods of four-quadrant photo detector, adopt a laser instrument and a 4 quadrant detector.By mobile laser beam or 4 quadrant detector, change the relative position of laser beam and 4 quadrant detector, thereby the centre of form of the circular light spot that four-quadrant receives is overlapped with the four-quadrant center.This alignment methods can only realize a little and the aiming at of point, be difficult to realize the position of object and aiming at of attitude.
Summary of the invention
The objective of the invention is to utilize the ultimate principle of four-quadrant centering, a kind of novel four-quadrant alignment device is provided, this device can be realized the measurement of mask plate position and attitude information.In view of the above, adjust mask plate, reach desired position and attitude by the mask transmission manipulator of clamping mask plate.Apparatus of the present invention compact conformation, simple, alignment precision is high.
For achieving the above object, technical solution of the present invention provides a kind of mask transmission system four-quadrant alignment device, contains two laser instruments, two 4 quadrant detectors, a controller, is used for the aligning of litho machine mask plate; It also comprises a mechanical arm and mechanical arm kinematic train, two optical filters, wherein, mask plate, mechanical arm are between laser instrument and 4 quadrant detector, mask plate and 4 quadrant detector horizontal positioned, mask plate is fixedly arranged on the mechanical arm, surface distance with respect to two-laser and two 4 quadrant detectors is fixed, and mask plate is provided with the M shape alignment mark of two printing opacities, and is light tight around the M shape alignment mark; Two optical filters are horizontally placed on the M shape alignment mark below of two printing opacities respectively, between mask plate and 4 quadrant detector; Distance between the distance between the distance between two-laser, two 4 quadrant detectors, two M shape alignment marks and the distance between two optical filters equate;
Two light beams that laser instrument sends, vertically pass two M shape alignment marks on the mask plate respectively, pass two optical filters more respectively, form the M shape hot spot at the 4 quadrant detector photosurface, by mechanical arm kinematic train and mechanical arm, adjust mask plate, make two M shape spot center and two 4 quadrant detector photosurface center difference centerings of generation, promptly reach desired mask plate position and attitude.
Described mask transmission system four-quadrant alignment device, its described mechanical arm kinematic train comprises that x, y are to precise guide rail, x, y be to the grating chi, and x, y, z be to drive motor, controller, wherein, x, y are to the grating chi, and x, y, z are electrically connected with controller to drive motor; Mechanical arm side mid point is fixed in z on the transmission shaft of drive motor, and under the controlling of controller, the mask plate of mechanical arm clamping can be the center rotation to the rotating shaft of drive motor with z, and at x, y under the driving of drive motor, along x, y to the precise guide rail translation.
Described mask transmission system four-quadrant alignment device, it is under the controlling of controller, two 4 quadrant detectors are electrically connected with the 4 quadrant detector signal-processing board respectively, the 4 quadrant detector signal-processing board is electrically connected with controller again, when two 4 quadrant detectors receive two M shape hot spots, the position signalling of hot spot is reached the 4 quadrant detector signal-processing board, be input in the controller again, simultaneously, controller synthesis x, y is to the output information of grating chi, send control signal and give x, y, z is to drive motor, make the mask plate of mechanical arm clamping, be x, y rotates position or the attitude of adjusting mask plate to translation or around the z axle, so that two M shape spot center and two 4 quadrant detector photosurface center difference centerings.
Described mask transmission system four-quadrant alignment device, it also comprises four right-angle steering prisms, per two constitute one group, place respectively on the light path of two-laser and two 4 quadrant detectors, at this moment, two-laser is horizontally disposed with, two 4 quadrant detectors vertically are provided with, its photosurface is towards side direction, two right-angle steering prisms are positioned at the top of mask plate, output beam over against the ejaculation of two-laser level, two other right-angle steering prism is positioned at the below of two optical filters, over against the M shape hot spot that vertically penetrates two optical filters; The effect of two groups of right-angle prisms is to make light beam turn to 90 degree in the plane.Light path between two-laser and two 4 quadrant detectors behind four right-angle steering prism vergences, forms anti-ㄈ font light path, and the incident beam of the outgoing beam of two-laser and two 4 quadrant detector photosurfaces is parallel to each other.
The present invention is a measuring basis with the laser beam optical axis, and two laser beam optical axises are adjusted in advance perpendicular to two four-quadrant photosurfaces, and makes it and four-quadrant center (coincidence).The installation site of laser instrument and 4 quadrant detector is fixed, and will guarantee that when equipment is installed two four-quadrant centre distances equate that with two laser beam axis distance (distance that this distance equals two M shape alignment mark centers on the mask plate) and two optical axises are respectively by two four-quadrant centers.Light tight around the M shape alignment mark that two printing opacities are arranged on the mask plate, M shape mark.Mask plate is between laser instrument and the 4 quadrant detector, and mask plate is to the fixed distance on laser instrument and four-quadrant surface.By mechanical arm translation and rotation planar, can adjust the position and the attitude of mask plate.Light beam forms the M shape hot spot by the M shape alignment mark of printing opacity on the four-quadrant surface, and the corresponding signal of output is to signal-processing board under multi-form hot spot irradiation for 4 quadrant detector, and the output signal of signal-processing board is input in the controller by A/D.Controller is according to the grating chi information that is transferred to reflection position of manipulator information wherein, and the information at the offset four-quadrant center of the hot spot that provides of four-quadrant, send control command and adjust the position and the attitude of mask plate, make two M shape spot center and two 4 quadrant detector center difference centerings, promptly reach desired position and attitude.
Description of drawings
Fig. 1 is the structural representation of apparatus of the present invention embodiment one;
Fig. 2 is the structural representation of apparatus of the present invention embodiment two.
Embodiment
As shown in Figure 1, be the embodiment one of apparatus of the present invention, by two laser instruments 1,1a, two 4 quadrant detectors 12,12a, a mechanical arm 3 and mechanical arm kinematic train, a controller 16, one mask plates 26 are formed.Two laser instruments 1,1a vertically are provided with, and are installed in respectively on two laser stents 27, the 27a, and two 4 quadrant detectors 12,12a are horizontally disposed with, and photosurface upwards is fixedly mounted on respectively on the fixed support 11,11a of two 4 quadrant detectors.Mechanical arm 3 and mask plate 26 are horizontally disposed with, and place between two laser instruments 1,1a and two 4 quadrant detectors 12, the 12a, fix with respect to the surface distance of two-laser 1,1a and two 4 quadrant detectors 12,12a.Two optical filters 9,9a are horizontally disposed with, and are separately fixed on filter supporter 8, the 8a, place the photosurface top of two 4 quadrant detectors 12,12a respectively, are positioned at mask plate 26 belows.
The mechanical arm kinematic train comprises x, y to precise guide rail 5,24, and x, y, z be to drive motor 6,21,23, and with x, y to supporting x, the y of precise guide rail 5,24 to grating chi 22,25.X, y are located at the vertical dual-side of mechanical arm 3 to precise guide rail 5,24 and x, y respectively to grating chi 22,25, at a distance of suitable distance, are positioned at same surface level.X, y are connected to drive motor 6,21 with x, y to an end of precise guide rail 5,24, z to drive motor 23 movably be fixed in x to precise guide rail 5 or y on precise guide rail 24.One side mid point of mechanical arm 3 is fixed in z in the rotating shaft of drive motor 23, and mask plate 26 grips for mechanical arm 3.
X, y are to grating chi 22,25, and x, y, z are electrically connected with a controller 16 respectively by cable 19,17,7,18,20 to drive motor 6,21,23.Two 4 quadrant detectors 12,12a are electrically connected with controller 16 by cable 13,13a, a 4 quadrant detector signal-processing board 14, cable 15.
The installation site of two laser instruments 1,1a and two 4 quadrant detectors 12,12a is fixed.And to guarantee when installing that the optical axis 4 of two-laser 1,1a outgoing beam, the distance of 4a equal the distance at two 4 quadrant detectors 12,12a center (this distance equals the distance at two M shape alignment marks 2,2a center on the mask plate).The optical axis 4 of two 4 quadrant detectors 12, light beam that 12a received, 4a are perpendicular to the photosurface of two 4 quadrant detectors 12,12a.Not during clamping mask plate 26, two optical axises 4,4a are respectively by two 4 quadrant detectors 12,12a center at mechanical arm 3.Behind mechanical arm 3 clamping mask plates 26, laser beam sees through M shape alignment mark 2 on the mask plate, 2a, mating plate 9,9a after filtration, M shape hot spot 10,10a is projected the photosurface of 4 quadrant detector 12,12a.
During work, mask plate 26 under the clamping of mask transmission manipulator 3 at x to drive motor 6, y can be along x to guide rail 5 under the driving of drive motor 21, and y moves to guide rail 24, planar is X, Y and rotates around the z axle to translation with under the driving of z axle rotary drive motor 23.Two 4 quadrant detectors 12, the M shape hot spot 10 that 12a receives, the position signalling of 10a is by output signal cable 13,13a reaches 4 quadrant detector 12,12a signal-processing board 14, signal-processing board 14 output signals are input in the controller 16 by cable 15, simultaneously, y, x is to grating chi 25,22 output signal, by y to grating chi 25 cable 17 that links to each other with controller 16, x is input in the controller 16 to grating chi 22 cable 19 that links to each other with controller 16, controller 16 sends control signal according to these signals and gives transmission manipulator 3, make it be x, y rotates position or the attitude of adjusting mask plate 26 to translation or around the z axle, until 4 quadrant detector 12,12a receives M shape hot spot 10,10a center and 4 quadrant detector 12, the 12a center overlaps, and promptly mask plate 26 reaches desired position and attitude.
As shown in Figure 2, be the embodiment two of apparatus of the present invention, all parts in comprising embodiment one, also include four right- angle steering prisms 28,28a, 30,30a.Among four right- angle steering prisms 28,28a, 30, the 30a, per two constitute one group, place respectively on the light path of two-laser 1,1a and two 4 quadrant detectors 12,12a, two right- angle steering prisms 28,28a are positioned at the top of mask plate 26, output beam 4,4a over against two-laser 1, the ejaculation of 1a level, two other right- angle steering prism 30,30a are positioned at the below of two optical filters 9,9a, over against the M shape hot spot 10, the 10a that vertically penetrate two optical filters; Light path between two-laser 1,1a and two 4 quadrant detectors 12, the 12a, after turning to through four right- angle steering prisms 28,28a, 30,30a, form anti-ㄈ font light path, the incident beam of the outgoing beam of two-laser 1,1a and two 4 quadrant detectors 12,12a photosurface is parallel to each other.
Because two laser instruments 1,1a vertically install in embodiment one, it is bigger to take up room, and the vertical direction space is limited, be reduced volume, in the present embodiment two, the prealignment light path of 4 quadrant detector 12,12a is done following variation: two laser instruments 1,1a are installed in respectively on laser stent 27, the 27a, and the optical axis 4 of outgoing beam, 4a are parallel to mask plate 26 planes.Light beam irradiates turns to 90 ° behind the reflecting surface that is installed on right-angle steering prism 28 on right-angle steering prism deck 29, the 29a, 28a, vertical irradiation is on the printing opacity M shape alignment mark 2 of mask plate 26,2a again, and this moment, the distance of beam optical axis 4,4a equaled the distance at two printing opacity M shape alignment marks 2,2a center on the mask plate 26.Beam optical axis 4,4a see through behind M shape alignment mark 2, the 2a by being installed on optical filter 9, the 9a on filter supporter 8, the 8a.The two-beam that sees through optical filter 9,9a turns to 90 ° after shining the right-angle steering prism 30 that is installed on right-angle steering prism deck 31, the 31a, 30a more respectively, this moment, optical axis 4, the 4a of light beam were parallel to the optical axis of the initial outgoing beam of laser instrument 1,1a, and perpendicular to the photosurface of two 4 quadrant detectors 12,12a.Mask plate 26 is between two right- angle steering prisms 28,28a and optical filter 9, the 9a, if mask plate 26 is taken away, then two beam optical axis 4,4a are respectively by two 4 quadrant detectors 12,12a center.Mask plate 26 is under the clamping of mask transmission manipulator 3, and to drive motor 6, y can be along x to guide rail 5 under the driving of drive motor 21 at x, and y moves to guide rail 24, promptly is X, Y in the plane to translation with rotating around the z axle under the driving of z axle rotary drive motor 23.The M shape hot spot 10 that two 4 quadrant detectors 12,12a receive, the position signalling of 10a reach 4 quadrant detector signal-processing board 14 by output signal cable 13,13a.Signal-processing board 14 output signals are input in the controller 16 by cable 15, simultaneously, y, x is to grating chi 25,22 output signal, by y to grating chi 25 cable 17 that links to each other with controller 16, x is input in the controller 16 to grating chi 22 cable 19 that links to each other with controller 16, controller 16 sends control signal according to these signals and gives transmission manipulator 3, make it be x, y rotates position or the attitude of adjusting mask plate 26 to translation or around the z axle, until 4 quadrant detector 12,12a receives M shape hot spot 10, the center of 10a and 4 quadrant detector 12, the center of 12a overlaps, and promptly mask plate 26 reaches desired position and attitude.
Claims (4)
1, a kind of mask transmission system four-quadrant alignment device contains two laser instruments, two 4 quadrant detectors, a controller, is used for the aligning of litho machine mask plate; It is characterized in that, also comprise a mechanical arm and mechanical arm kinematic train, two optical filters, wherein, mask plate, mechanical arm are between laser instrument and 4 quadrant detector, mask plate and 4 quadrant detector horizontal positioned, mask plate is fixedly arranged on the mechanical arm, fixes with respect to the surface distance of two-laser and two 4 quadrant detectors, mask plate is provided with the M shape alignment mark of two printing opacities, and is light tight around the M shape alignment mark; Two optical filters are horizontally placed on the M shape alignment mark below of two printing opacities respectively, between mask plate and 4 quadrant detector; The distance at the distance at two-laser outgoing beam distance between optical axes, two 4 quadrant detector centers, two M shape alignment mark centers all equates;
Two light beams that laser instrument sends, vertically pass two M shape alignment marks on the mask plate respectively, pass two optical filters more respectively, form the M shape hot spot at the 4 quadrant detector photosurface, by mechanical arm kinematic train and mechanical arm, adjust mask plate, make two M shape spot center and two 4 quadrant detector photosurface center difference centerings of generation, promptly reach desired mask plate position and attitude.
2, mask transmission system four-quadrant alignment device as claimed in claim 1, it is characterized in that, described mechanical arm kinematic train, comprise x, y to precise guide rail, x, y are to the grating chi, and x, y, z are to drive motor, controller, wherein, x, y are to the grating chi, and x, y, z are electrically connected with controller to drive motor; Mechanical arm side mid point is fixed in z on the transmission shaft of drive motor, and under the controlling of controller, the mask plate of mechanical arm clamping can be the center rotation to the rotating shaft of drive motor with z, and at x, y under the driving of drive motor, along x, y to the precise guide rail translation.
3, mask transmission system four-quadrant alignment device as claimed in claim 2 is characterized in that,
Describedly under the controlling of controller, be meant:
Two 4 quadrant detectors are electrically connected with the 4 quadrant detector signal-processing board respectively, the 4 quadrant detector signal-processing board is electrically connected with controller again, when two 4 quadrant detectors receive two M shape hot spots, the position signalling of hot spot is reached the 4 quadrant detector signal-processing board, be input in the controller again, simultaneously, controller synthesis x, y is to the output information of grating chi, send control signal and give x, y, z is to drive motor, make the mask plate of mechanical arm clamping, be x, y rotates position or the attitude of adjusting mask plate to translation or around the z axle, so that two M shape spot center and two 4 quadrant detector photosurface center difference centerings.
4, as claim 1,2 or 3 described mask transmission system four-quadrant alignment devices, it is characterized in that, also comprise four right-angle steering prisms, per two constitute one group, place respectively on the light path of two-laser and two 4 quadrant detectors, at this moment, two-laser is horizontally disposed with, two 4 quadrant detectors vertically are provided with, its photosurface is towards side direction, two right-angle steering prisms are positioned at the top of mask plate, over against the output beam that the two-laser level penetrates, two other right-angle steering prism is positioned at the below of two optical filters, over against the M shape hot spot that vertically penetrates two optical filters; Light path between two-laser and two 4 quadrant detectors, behind four right-angle steering prism vergences, form anti-ㄈ font light path, the incident beam of the outgoing beam of two-laser and two 4 quadrant detector photosurfaces is parallel to each other, and this structure has reduced installing space in vertical direction.
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| CNB2005101052606A CN100478789C (en) | 2005-09-28 | 2005-09-28 | Four-quadrant aligning device of mask transmission system |
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| CNB2005101052606A CN100478789C (en) | 2005-09-28 | 2005-09-28 | Four-quadrant aligning device of mask transmission system |
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| CN100478789C true CN100478789C (en) | 2009-04-15 |
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| CN102486622B (en) * | 2010-12-03 | 2014-04-16 | 上海微电子装备有限公司 | Mask prealignment device of photoetching machine and method thereof |
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| CN110658685B (en) * | 2018-06-29 | 2021-03-12 | 上海微电子装备（集团）股份有限公司 | Sensor, mask plate fork, manipulator, mask plate transmission system and photoetching machine |
| CN111856894B (en) * | 2019-04-30 | 2021-10-12 | 上海微电子装备（集团）股份有限公司 | Calibration method of four-quadrant sensor, mask transmission subsystem and photoetching equipment |
| CN115200474B (en) * | 2022-07-14 | 2023-12-05 | 西安工业大学 | Device and method for positioning center axis of small hole diffraction light spot based on photosensitive detection array |
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