Beam Processing Equipment

Abstract

To provide a beam processing-device that is able to improve performance related to processing a work-piece.SOLUTION: A beam processing-device that emits a processing beam to a work-piece, performs a removal process on a first portion of the work-piece by emitting the processing beam to a first surface of the work-piece while moving an emitting position of the processing beam in a first direction, and performs a removal process on a second portion of the work-piece by emitting the processing beam to a second surface formed on the work-piece by the removal process of the first portion, while moving the emitting position of the processing beam in the first direction. The movement range of the processing beam in the removal process of the second portion is smaller than the movement range of the processing beam in the removal process of the first portion.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to the technical field of a beam processing device that processes a workpiece using, for example, a processing beam. [Background technology]

[0002] Patent Document 1 describes a processing device that processes a workpiece by irradiating the workpiece with laser light, which is a specific example of a processing beam. In technical fields related to such workpiece processing, there is a demand for improvement in performance related to workpiece processing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2005 / 0045090 Summary of the Invention

[0004] According to one aspect of the invention, there is provided a beam processing apparatus that irradiates a workpiece with a processing beam, the beam irradiation device comprising an irradiation optical system that irradiates the processing beam, a beam irradiation position changing member that is arranged in the optical path of the processing beam and changes the irradiation position of the processing beam on the workpiece, and a control device that controls the beam irradiation device, wherein the control device controls the beam irradiation device to move the irradiation position of the processing beam in a first direction while irradiating the processing beam onto a first surface of the workpiece to remove and process a first portion of the workpiece, and to move the irradiation position of the processing beam in the first direction while irradiating the processing beam onto a second surface formed in the workpiece by removing and processing the first portion to remove and process a second portion of the workpiece, and the control device controls the beam irradiation device so that the movement range of the processing beam in removing and processing the second portion is smaller than the movement range of the processing beam in removing and processing the first portion. [Brief explanation of the drawings]

[0005] [Figure 1] FIG. 1 is a cross-sectional view showing the structure of the processing system of this embodiment. [Figure 2] Each of FIGS. 2(a) to 2(c) is a cross-sectional view showing the removal process performed on the workpiece. [Figure 3] FIG. 3 is a cross-sectional view showing the structure of the processing device. [Figure 4] FIG. 4 is a perspective view showing the structure of an optical system provided in the processing device. [Figure 5] FIG. 5(a) is a plan view showing an example of a machined workpiece, and FIG. 5(b) is a cross-sectional view showing an example of the machined workpiece. [Figure 6] FIG. 6(a) is a plan view showing an example of the positional relationship between the processing target area and the workpiece, and FIG. 6(b) is a cross-sectional view showing an example of the positional relationship between the processing target area and the workpiece. [Figure 7] FIG. 7(a) is a plan view showing a processing shot area set on a first surface of a portion to be processed, and FIG. 7(b) is a cross-sectional view showing a processing shot area set on the first surface of the portion to be processed. [Figure 8] FIG. 8 is a plan view showing the movement locus of the irradiation region on the surface of the processing target portion. [Figure 9] FIG. 9(a) is a plan view showing a part to be processed after one scanning operation has been performed, and FIG. 9(b) is a plan view showing a part to be processed after multiple scanning operations have been performed. [Figure 10] FIG. 10 is a cross-sectional view of a workpiece with a single layer portion removed. [Figure 11] FIG. 11 is a cross-sectional view of a workpiece from which multiple layers have been removed. [Figure 12] FIG. 12 is a plan view showing the movement range of the processing light within the processing shot area when removing the first unit processing target portion. [Figure 13] FIG. 13 is a cross-sectional view showing the workpiece from which the first unit machining portion has been removed. [Figure 14] FIG. 14 is a cross-sectional view showing a processing shot area set for removing a second unit processing target portion. [Figure 15] FIG. 15 is a cross-sectional view showing a workpiece from which a single layer portion constituting a second unit processing portion has been removed. [Figure 16] FIG. 16 is a cross-sectional view showing a workpiece from which a plurality of layer portions constituting a second unit processing portion have been removed. [Figure 17] FIG. 17 is a plan view showing the movement range of the processing light within the processing shot area when removing the second unit processing target portion. [Figure 18] FIG. 18 is a cross-sectional view showing the workpiece from which the second unit machining portion has been removed. [Figure 19] FIG. 19 is a cross-sectional view showing a processing shot area set for removing the third unit processing target portion. [Figure 20] FIG. 20 is a cross-sectional view showing a workpiece from which a single layer portion constituting a third unit machining portion has been removed. [Figure 21] FIG. 21 is a cross-sectional view showing a workpiece from which a plurality of layer portions constituting a third unit processing portion have been removed. [Figure 22] FIG. 22 is a plan view showing the movement range of the processing light within the processing shot area when removing the third unit processing target portion. [Figure 23] FIG. 23 is a cross-sectional view showing the workpiece from which the third unit machining portion has been removed. DETAILED DESCRIPTION OF THE INVENTION

[0006] Hereinafter, an embodiment of a beam processing device will be described with reference to the drawings. Below, a processing system SYS to which the embodiment of the beam processing device is applied will be described. Note that the processing system SYS may also be called a beam processing device.

[0007] In the following description, the positional relationships of the various components that make up the machining system SYS will be explained using an XYZ Cartesian coordinate system defined by mutually orthogonal X, Y, and Z axes. For ease of explanation, the following description assumes that the X-axis and Y-axis directions are horizontal (i.e., predetermined directions within a horizontal plane) and the Z-axis direction is vertical (i.e., a direction perpendicular to the horizontal plane, essentially the up-down direction or the direction of gravity). The rotation directions (in other words, tilt directions) around the X-axis, Y-axis, and Z-axis will be referred to as the θX direction, θY direction, and θZ direction, respectively. Here, the Z-axis direction may be the direction of gravity. The XY plane may also be horizontal.

[0008] (1) Structure of the machining system SYS First, the structure of the processing system SYS will be described with reference to Fig. 1. Fig. 1 is a cross-sectional view showing the structure of the processing system SYS. Note that, for the sake of simplicity, Fig. 1 does not show cross sections of some of the components of the processing system SYS.

[0009] As shown in FIG. 1, the processing system SYS includes a processing device 1, a measuring device 2, a stage device 3, a housing 4, a drive system 5, a drive system 6, and a control device .

[0010] The processing device 1 is capable of processing a workpiece W under the control of the control device 7. The workpiece W is an object that is processed by the processing device 1. The workpiece W may be, for example, a metal, an alloy (e.g., duralumin, etc.), a composite material such as CFRP (Carbon Fiber Reinforced Plastic), or an object made of any other material.

[0011] In order to process the workpiece W, the processing device 1 irradiates the workpiece W with processing light EL, which is a specific example of a processing beam. For this reason, the processing device 1 may be referred to as a beam irradiation device. The processing light EL may be any type of light as long as it can process the workpiece W when irradiated onto the workpiece W. In this embodiment, the processing light EL will be described using an example in which the processing light EL is laser light, but the processing light EL may be a type of light other than laser light. Furthermore, the wavelength of the processing light EL may be any wavelength as long as it can process the workpiece W when irradiated onto the workpiece W. For example, the processing light EL may be visible light or invisible light (e.g., at least one of infrared light and ultraviolet light).

[0012] In this embodiment, the processing device 1 irradiates the workpiece W with processing light EL to perform removal processing (typically, cutting or grinding) to remove a portion of the workpiece W. However, as will be described later, the processing device 1 may also perform processing other than removal processing (for example, additional processing or marking). The removal processing may include at least one of flat cutting processing, flat grinding processing, cylindrical cutting processing, cylindrical grinding processing, drilling cutting processing, drilling and grinding processing, flat polishing processing, cutting processing, and engraving processing (in other words, marking processing) to form (in other words, carve) any character or any pattern.

[0013] Here, an example of removal processing using the processing light EL will be described with reference to FIGS. 2(a) to 2(c). Each of FIGS. 2(a) to 2(c) is a cross-sectional view showing the removal processing performed on the workpiece W. As shown in FIG. 2(a), the processing device 1 irradiates the processing light EL onto a target irradiation area EA, which is set on the surface of the workpiece W as an area to be irradiated with the processing light EL from the processing device 1. When the target irradiation area EA is irradiated with the processing light EL, the energy of the processing light EL is transmitted to an energy transmission portion of the workpiece W, which includes at least one of a portion overlapping the target irradiation area EA and a portion adjacent to the target irradiation area EA. When heat caused by the energy of the processing light EL is transmitted, the heat caused by the energy of the processing light EL melts the material constituting the energy transmission portion of the workpiece W. The molten material scatters in the form of droplets. Alternatively, the molten material evaporates due to the heat caused by the energy of the processing light EL. As a result, the energy transmission portion of the workpiece W is removed. That is, as shown in FIG. 2(b), a recess (in other words, a groove) is formed on the surface of the workpiece W. In this case, it can be said that the processing apparatus 1 processes the workpiece W using the principle of so-called thermal processing. Furthermore, as described below, the galvanometer mirror 122 provided in the processing apparatus 1 moves the target irradiation area EA on the surface of the workpiece W so that the processing light EL scans the surface of the workpiece W. As a result, as shown in FIG. 2(c), the surface of the workpiece W is at least partially removed along the scanning trajectory of the processing light EL (i.e., the movement trajectory of the target irradiation area EA). In other words, the surface of the workpiece W is essentially scraped away along the scanning trajectory of the processing light EL (i.e., the movement trajectory of the target irradiation area EA). Therefore, the processing apparatus 1 can appropriately remove the portion of the workpiece W that is to be removed by causing the processing light EL to scan the surface of the workpiece W along a desired scanning trajectory that corresponds to the area to be removed.

[0014] On the other hand, depending on the characteristics of the processing light EL, the processing device 1 may process the workpiece W using the principle of non-thermal processing (e.g., ablation processing). That is, the processing device 1 may perform non-thermal processing (e.g., ablation processing) on ​​the workpiece W. For example, when pulsed light having an emission time of picoseconds or less (or, in some cases, nanoseconds or femtoseconds or less) is used as the processing light EL, the material constituting the energy transmission portion of the workpiece W instantaneously evaporates and scatters. Note that when pulsed light having an emission time of picoseconds or less (or, in some cases, nanoseconds or femtoseconds or less) is used as the processing light EL, the material constituting the energy transmission portion of the workpiece W may sublimate without passing through a molten state. Therefore, it is possible to form recesses (in other words, grooves) on the surface of the workpiece W while minimizing the effect of heat caused by the energy of the processing light EL on the workpiece W.

[0015] In order to perform such removal processing, the processing device 1 is provided with a light source 11 and an optical system 12, as shown in FIG. 3, which is a cross-sectional view showing the structure of the processing device 1.

[0016] The light source 11 is capable of generating the processing light EL. When the processing light EL is laser light, the light source 11 may be, for example, a laser diode. Furthermore, the light source 11 may be a light source capable of pulse oscillation. In this case, the light source 11 is capable of generating pulsed light (for example, pulsed light having an emission time of picoseconds or less) as the processing light EL. The light source 11 emits the generated processing light EL toward the optical system 12. Note that the light source 11 may emit the processing light EL in a linearly polarized state.

[0017] The optical system 12 is an optical system into which the processing light EL emitted from the light source 11 is incident. The optical system 12 is an optical system for emitting (i.e., guiding) the processing light EL from the light source 11 toward the workpiece W. In order to emit the processing light EL toward the workpiece W, the optical system 12 includes a focus lens 121, a galvanometer mirror 122, and an fθ lens 123.

[0018] The focus lens 121 controls the convergence or divergence of the processing light EL emitted from the optical system 12. This controls the focus position (for example, the so-called best focus position) of the processing light EL. Note that the optical system 12 may be provided with an optical element capable of controlling any state of the processing light EL in addition to or instead of the focus lens 121. The any state of the processing light EL may include at least one of the pulse length of the processing light EL, the number of pulses of the processing light EL, the intensity of the processing light EL, the traveling direction of the processing light EL, and the polarization state of the processing light EL in addition to or instead of at least one of the focus position of the processing light EL, the beam diameter of the processing light EL, the convergence or divergence of the processing light EL, and the intensity distribution of the processing light EL.

[0019] The galvanometer mirror 122 is disposed in the optical path of the processing light EL from the focus lens 121. The galvanometer mirror 122 deflects the processing light EL emitted from the fθ lens 123 so that the processing light EL scans the workpiece W (i.e., the target irradiation area EA onto which the processing light EL is irradiated moves across the surface of the workpiece W). In other words, the galvanometer mirror 122 functions as an optical element that can change the irradiation position of the processing light EL on the workpiece W (i.e., the position of the target irradiation area EA). For this reason, the galvanometer mirror 122 may also be referred to as a beam irradiation position changing member. For example, as shown in FIG. 4, which is a perspective view showing the structure of a portion of the optical system 12, the galvanometer mirror 122 includes an X-scanning mirror 122X and a Y-scanning mirror 122Y. The X-scanning mirror 122X reflects the processing light EL toward the Y-scanning mirror 122Y. The X-scanning mirror 122X can swing or rotate about an axis in the θY direction (i.e., the rotation direction around the Y-axis). The swinging or rotation of the X scanning mirror 122X causes the processing light EL to scan the surface of the workpiece W along the X-axis direction. The swinging or rotation of the X scanning mirror 122X causes the target irradiation area EA to move along the X-axis direction on the surface of the workpiece W. The swinging or rotation of the X scanning mirror 122X changes the position of the target irradiation area EA in the X-axis direction. The Y scanning mirror 122Y reflects the processing light EL toward the fθ lens 123. The Y scanning mirror 122Y can swing or rotate around the θX direction (i.e., the rotation direction around the X-axis) as an axis. The swinging or rotation of the Y scanning mirror 122Y causes the processing light EL to scan the surface of the workpiece W along the Y-axis direction. The swinging or rotation of the Y scanning mirror 122Y causes the target irradiation area EA to move along the Y-axis direction on the surface of the workpiece W. The swinging or rotation of the Y scanning mirror 122Y changes the position of the target irradiation area EA in the Y-axis direction.

[0020] The fθ lens 123 is an optical element for irradiating the processing light EL from the galvanometer mirror 122 onto the workpiece W. For this reason, the fθ lens 123 may be referred to as an irradiation optical system. In particular, the fθ lens 123 is an optical element for focusing the processing light EL from the galvanometer mirror 122 onto the workpiece W.

[0021] Referring again to FIG. 1, the measuring device 2 is capable of measuring the workpiece W under the control of the control device 7. For example, the measuring device 2 may be a device capable of measuring the state of the workpiece W. The state of the workpiece W may include the position of the workpiece W. The position of the workpiece W may include the position of the surface of the workpiece W. The position of the surface of the workpiece W may include the position of each surface portion obtained by dividing the surface of the workpiece W in at least one of the X-axis direction, Y-axis direction, and Z-axis direction. The state of the workpiece W may include the shape of the workpiece W (e.g., a three-dimensional shape). The shape of the surface of the workpiece W may include the shape of the surface of the workpiece W. The shape of the surface of the workpiece W may include the orientation of each surface portion obtained by dividing the surface of the workpiece W (e.g., the orientation of the normal to each surface portion) in addition to or instead of the position of the surface of the workpiece W described above. Measurement information regarding the measurement results of the measuring device 2 is output from the measuring device 2 to the control device 7.

[0022] The measuring device 2 may measure the workpiece W using a predetermined measurement method. Examples of the measurement method include at least one of the following: light section method, white light interferometry, pattern projection method, time-of-flight method, moire topography method (specifically, grating illumination method or grating projection method), holographic interferometry, autocollimation method, stereo method, astigmatism method, critical angle method, knife-edge method, interferometry method, and confocal method. In any case, the measuring device 2 may include a light source that emits measurement light (e.g., slit light or white light) ML and a light receiver that receives light from the workpiece W irradiated with the measurement light ML (e.g., at least one of reflected light and scattered light of the measurement light ML).

[0023] The stage device 3 is disposed below (i.e., on the -Z side of) the processing device 1 and the measuring device 2. The stage device 3 includes a surface plate 31 and a stage 32. The surface plate 31 is disposed on the bottom surface of the housing 4 (or on a support surface such as the floor on which the housing 4 is placed). The stage 32 is disposed on the surface plate 31. Furthermore, a support frame 8 that supports the processing device 1 and the measuring device 2 may be disposed on the surface plate 31. In other words, the processing device 1 and the measuring device 2 (and further, the stage 32) may be supported by the same surface plate 31.

[0024] The workpiece W is placed on the stage 32. In this case, the stage 32 does not have to hold the placed workpiece W. Alternatively, the stage 32 may hold the placed workpiece W. For example, the stage 32 may hold the workpiece W by vacuum suction and / or electrostatic suction.

[0025] The stage 32, with the workpiece W placed thereon, is movable over the surface plate 31 under the control of the control device 7. The stage 32 is movable relative to at least one of the surface plate 31, the processing device 1, and the measuring device 2. The stage 32 is movable along both the X-axis and the Y-axis. In this case, the stage 32 is movable along a stage running plane parallel to the XY plane. The stage 32 may also be movable along at least one of the Z-axis, the θX direction, the θY direction, and the θZ direction. To move the stage 32, the stage device 3 includes a stage drive system 33. The stage drive system 33 moves the stage 32 using, for example, any motor (e.g., a linear motor). Furthermore, the stage device 3 includes a position measuring device 34 for measuring the position of the stage 32. The position measuring device 34 may include, for example, at least one of an encoder and a laser interferometer.

[0026] When the stage 32 moves, the positional relationship between the stage 32 (and further the workpiece W placed on the stage 32), the processing device 1 (particularly the fθ lens 123), and the measuring device 2 changes. In other words, when the stage 32 moves, the positions of the stage 32 and the workpiece W relative to the processing device 1 and the measuring device 2 change. Therefore, moving the stage 32 is equivalent to changing the positional relationship between the stage 32 and the workpiece W, the processing device 1 (particularly the fθ lens 123), and the measuring device 2. For this reason, the stage device 3 (particularly the stage drive system 33 that moves the stage 32) may be referred to as a position changing device.

[0027] The stage 32 may move so that at least a portion of the workpiece W is located within the processing shot area PSA during at least a portion of the processing period during which the processing apparatus 1 processes the workpiece W. In this embodiment, the "processing shot area PSA" refers to an area where processing is performed by the processing apparatus 1 while the positional relationship between the processing apparatus 1 and the workpiece W is fixed (i.e., without change). Typically, as shown in FIG. 4, the processing shot area PSA is set to coincide with or be narrower than the scanning range of the processing light EL deflected by the galvanometer mirror 122 while the positional relationship between the processing apparatus 1 and the workpiece W is fixed. The processing shot area PSA is set to coincide with or be narrower than the range within which the target irradiation area EA can be set while the positional relationship between the processing apparatus 1 and the workpiece W is fixed. Therefore, the processing shot area PSA is an area determined based on the processing apparatus 1. When at least a portion of the workpiece W is located within the processing shot area PSA (i.e., when the processing shot area PSA is located on the workpiece W), the processing device 1 can irradiate at least a portion of the workpiece W located within the processing shot area PSA with the processing light EL. As a result, at least a portion of the workpiece W is processed by the processing light EL from the processing device 1 while placed on the stage 32. Note that when the workpiece W is large enough that the entire workpiece W cannot be located within the processing shot area PSA, one portion of the workpiece W is processed while being included in the processing shot area PSA. Then, the stage 32 moves (and, if necessary, the processing device 1 moves by the drive system 5, which will be described later) so that another portion of the workpiece W different from the one portion is included in the processing shot area PSA. Then, the other portion of the workpiece W is processed. Thereafter, the same operation is repeated until processing of the workpiece W is completed.

[0028] The stage 32 may move so that at least a portion of the workpiece W is positioned within the measurement shot area MSA during at least a portion of the measurement period during which the measuring device 2 measures the workpiece W. The measurement shot area MSA may be set to be a range corresponding to the light receiving surface of a light receiver that receives light from the workpiece W irradiated with measurement light ML from the measuring device 2, while the positional relationship between the measuring device 2 and the workpiece W is fixed. Therefore, the measurement shot area MSA is an area that is determined based on the measuring device 2.

[0029] The stage 32 may move between the processing shot area PSA and the measurement shot area MSA with the workpiece W placed on the stage 32. The stage 32 may move so that the workpiece W moves between the processing shot area PSA and the measurement shot area MSA with the workpiece W placed on the stage 32. In other words, the workpiece W may remain placed on the stage 32 not only during a processing period in which the processing device 1 processes the workpiece W and a measurement period in which the measurement device 2 measures the workpiece W, but also during a movement period in which the workpiece W moves between the processing shot area PSA and the measurement shot area MSA.

[0030] The housing 4 accommodates the processing device 1, the measuring device 2, and the stage device 3 in an internal storage space SP that is separated from the space outside the housing 4. That is, in this embodiment, the processing device 1, the measuring device 2, and the stage device 3 are arranged in the same housing 4. The processing device 1, the measuring device 2, and the stage device 3 are arranged in the same storage space SP. When a workpiece W is placed on the stage 32 of the stage device 3, the housing 4 accommodates the workpiece W in its internal storage space SP. That is, the processing device 1, the measuring device 2, and the workpiece W are arranged in the same storage space SP. However, at least a portion of the processing device 1, the measuring device 2, and the stage device 3 do not have to be arranged in the storage space SP.

[0031] The drive system 5 moves the processing device 1 under the control of the control device 7. The drive system 5 moves the processing device 1 relative to at least one of the surface plate 31, the stage 32, and the workpiece W placed on the stage 32. The drive system 5 may also move the processing device 1 relative to the measuring device 2. The drive system 5 moves the processing device 1 along at least one of the X-axis direction, the Y-axis direction, the Z-axis direction, the θX direction, the θY direction, and the θZ direction. The drive system 5 includes, for example, a motor. Furthermore, the processing system SYS is equipped with a position measuring device 51 that can measure the position of the processing device 1 moved by the drive system 5. The position measuring device 51 may include, for example, at least one of an encoder and a laser interferometer.

[0032] When the drive system 5 moves the processing device 1, the target irradiation area EA and the processing shot area PSA move on the workpiece W. Therefore, by moving the processing device 1, the drive system 5 can change the positional relationship between the workpiece W and the target irradiation area EA and the processing shot area PSA. Furthermore, when the drive system 5 moves the processing device 1, the positional relationship between the stage 32, the workpiece W, and the processing device 1 (particularly the fθ lens 123) changes. For this reason, the drive system 5, like the stage drive system 33, may be referred to as a position changing device.

[0033] The drive system 6 moves the measuring device 2 under the control of the control device 7. The drive system 6 moves the measuring device 2 relative to at least one of the surface plate 31, the stage 32, and the workpiece W placed on the stage 32. The drive system 6 may also move the measuring device 2 relative to the processing device 1. The drive system 6 moves the measuring device 2 along at least one of the X-axis direction, the Y-axis direction, the Z-axis direction, the θX direction, the θY direction, and the θZ direction. The drive system 6 includes, for example, a motor. Furthermore, the processing system SYS is equipped with a position measuring device 61 that can measure the position of the measuring device 2 moved by the drive system 6. The position measuring device 61 may include, for example, at least one of an encoder and a laser interferometer.

[0034] When the drive system 6 moves the measurement device 2, the measurement shot area MSA moves on the workpiece W. Therefore, by moving the measurement device 2, the drive system 6 can change the positional relationship between the workpiece W and the measurement shot area MSA.

[0035] The control device 7 controls the operation of the machining system SYS. Specifically, the control device 7 controls the operation of the machining system SYS (for example, the operation of at least one of the machining device 1, the measuring device 2, the stage device 3, the drive system 5, and the drive system 6) so that the machining device 1 properly machines the workpiece W.

[0036] The control device 7 may include, for example, an arithmetic device and a storage device. The arithmetic device may include, for example, at least one of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The control device 7 functions as a device that controls the operation of the machining system SYS by the arithmetic device executing a computer program. This computer program is a computer program for causing the control device 7 (e.g., the arithmetic device) to perform (i.e., execute) the operations to be performed by the control device 7, which will be described later. In other words, this computer program is a computer program for causing the control device 7 to function so as to cause the machining system SYS to perform the operations to be performed by the control device 7. The computer program executed by the arithmetic device may be recorded in a storage device (i.e., a recording medium) included in the control device 7, or may be recorded in any storage medium (e.g., a hard disk or semiconductor memory) built into or externally attachable to the control device 7. Alternatively, the arithmetic device may download the computer program to be executed from a device external to the control device 7 via a network interface.

[0037] The control device 7 does not have to be provided inside the machining system SYS, and may be provided outside the machining system SYS as a server or the like. In this case, the control device 7 and the machining system SYS may be connected by a wired and / or wireless network (or a data bus and / or a communication line). In this case, the control device 7 and the machining system SYS may be configured to be able to send and receive various information via the network. The control device 7 may also be able to send information such as commands and control parameters to the machining system SYS via the network. The machining system SYS may also include a receiving device that receives information such as commands and control parameters from the control device 7 via the network. Alternatively, a first control device that performs part of the processing performed by the control device 7 may be provided inside the machining system SYS, while a second control device that performs another part of the processing performed by the control device 7 may be provided outside the machining system SYS.

[0038] The recording medium for recording the computer program executed by the arithmetic unit may be at least one of an optical disk, a magnetic medium, a magneto-optical disk, a semiconductor memory such as a USB memory, and any other medium capable of storing a program. The recording medium may include a device capable of recording a computer program. Furthermore, each process or function included in the computer program may be realized by a logical processing block realized within the control unit 7 when the control unit 7 (i.e., a computer) executes the computer program, or may be realized by hardware such as a predetermined gate array (FPGA, ASIC) included in the control unit 7, or may be realized in a form in which the logical processing block and a partial hardware module that realizes some of the hardware elements are mixed.

[0039] (2) Machining operations performed by the machining system SYS Next, the machining operation performed by the machining system SYS (i.e., the machining operation for machining the workpiece W) will be described. In particular, for the sake of convenience, the following describes the machining operation for forming a recess PH recessed from the surface of the workpiece W in a flat plate-shaped workpiece W, as shown in FIG. 5(a), a plan view showing an example of the machined workpiece W, and FIG. 5(b), a cross-sectional view showing an example of the machined workpiece W. In particular, in the examples shown in FIGS. 5(a) and 5(b), the machining operation for forming a square hole-shaped recess PH in a flat plate-shaped workpiece W will be described. However, the machining system SYS may perform a machining operation different from the machining operation for forming the recess PH. The machining system SYS may also perform a machining operation for forming a shape or structure different from the recess PH.

[0040] In order to process the workpiece W, first, the workpiece W is mounted on the stage 32. Thereafter, the measuring device 2 measures the workpiece W. At this time, the measurement shot area MSA of the measuring device 2 may be set to a relatively wide area (for example, an area wider than the measurement shot area MSA in fine measurement, which will be described later). For this reason, hereinafter, for convenience of explanation, the measurement performed by the measuring device 2 after the workpiece W is mounted on the stage 32 will be referred to as wide-area measurement.

[0041] Thereafter, the control device 7 generates 3D model data of the workpiece W based on wide-area measurement information indicating the results of the wide-area measurement of the workpiece W by the measuring device 2. Hereinafter, for convenience of explanation, the 3D model data based on the wide-area measurement information will be referred to as "wide-area 3D model data." Note that if a workpiece W for which wide-area 3D model data has already been generated is newly placed on the stage 32, the measuring device 2 does not need to perform wide-area measurement. In this case, subsequent operations may be performed using already generated wide-area 3D data (for example, data generated using 3D-CAD).

[0042] Furthermore, the control device 7 determines the position of the workpiece W within a coordinate system (hereinafter referred to as the "stage coordinate system") used when the stage 32 moves, based on the wide-area measurement information. Specifically, when performing wide-area measurement, the measurement device 2 measures a fiducial mark formed in advance on the surface of the stage 32 (or another member such as the surface plate 31). Information regarding the measurement results of the fiducial mark includes information regarding the position of the fiducial mark. Therefore, the control device 7 can determine the positional relationship between the fiducial mark and the workpiece W based on the wide-area measurement information including the measurement results of the fiducial mark. Furthermore, because the fiducial mark is formed on the stage 32 (i.e., the positional relationship between the fiducial mark and the stage 32 is fixed), the control device 7 can determine the position of the fiducial mark within the stage coordinate system based on information regarding the position of the stage 32 (i.e., the position within the stage coordinate system) measured by the position measurement device 34 and information regarding the positional relationship between the fiducial mark and the stage 32. As a result, the control device 7 can identify the position of the workpiece W in the stage coordinate system based on information about the position of the reference mark in the stage coordinate system and information about the positional relationship between the reference mark measured by wide-area measurement and the workpiece W. Note that the measurement device 2 may measure characteristic points of the stage 32 instead of measuring the reference mark of the stage 32.

[0043] Thereafter, the control device 7 sets a machining target area TA of the workpiece W that should actually be machined by the machining device 1. For example, the control device 7 may set the machining target area TA based on an instruction from a user of the machining system SYS who has confirmed a 3D model of the workpiece W based on the wide-area 3D model data (e.g., an instruction to set the machining target area TA on the 3D model). Alternatively, for example, the control device 7 may identify a portion of the workpiece W that satisfies predetermined conditions and set the machining target area TA including the identified portion. Note that the following description will be given using an example in which the machining target area TA is set in the center of the workpiece W, as shown in FIG. 6(a), a plan view showing an example of the positional relationship between the machining target area TA and the workpiece W, and FIG. 6(b), a cross-sectional view showing an example of the positional relationship between the machining target area TA and the workpiece W.

[0044] Thereafter, the measuring device 2 measures the processing target portion W_target, which is a portion of the workpiece W included in the processing target area TA. In the example shown in FIGS. 6(a) and 6(b), the processing target portion W_target coincides with the portion of the workpiece W that is to be removed to form the recess PH. In this case, the measurement resolution when measuring the processing target portion W_target may be higher than the measurement resolution in the wide-area measurement described above. For this reason, in this embodiment, for convenience of explanation, the measurement of the processing target portion W_target is referred to as "fine measurement." However, fine measurement does not necessarily have to be performed.

[0045] After fine measurement of the workpiece W is performed, the control device 7 generates three-dimensional model data of the processing target portion W_target based on fine measurement information indicating the results of the fine measurement. Hereinafter, for convenience of explanation, the three-dimensional model data based on the fine measurement information will be referred to as "fine 3D model data." Note that if a workpiece W for which fine 3D model data has already been generated is newly placed on the stage 32, the measuring device 2 does not need to perform fine measurement. In this case, the subsequent operations may be performed using fine 3D data that has already been generated (for example, data generated using 3D-CAD). Alternatively, the three-dimensional model data of the processing target portion W_target may be generated based on the wide-area measurement information described above.

[0046] Thereafter, the control device 7 controls the processing device 1, the stage drive system 33, and the drive system 5 to remove and process the workpiece W to form the recess PH based on the fine 3D model data (or the wide area 3D model data if fine measurement is not performed). Below, the removal and processing of the workpiece W performed to form the recess PH will be specifically described with reference to FIGS. 7 to 23.

[0047] First, as shown in FIGS. 7(a) and 7(b), the control device 7 controls the stage drive system 33 and / or the drive system 5 to move the stage 32 and / or the processing device 1 so that a processing shot area PSA is set on a first surface WS#1 of the surface WS of the processing target portion W_target, the position and shape of which are specified by the fine 3D model data. The first surface WS#1 has the same size as the processing shot area PSA or is smaller than the processing shot area PSA in a planar view. The first surface WS#1 typically contacts the outer edge of the surface WS of the processing target portion W_target. The first surface WS#1 is part of the surface WS of the processing target portion W_target. In other words, the following description will discuss an example in which the surface WS of the processing target portion W_target is larger than the processing shot area PSA. In other words, the following description will discuss an example in which the processing target portion W_target is divided into multiple unit processing target portions W_unit according to the size of the processing shot area PSA, and the multiple unit processing target portions W_unit are removed sequentially. Therefore, with the processing shot area PSA set on the first surface WS#1, first, the first unit processing portion W_unit#1 is removed from the processing portion W_target.

[0048] Thereafter, the control device 7 controls the processing device 1 to scan the first surface WS#1, on which the processing shot area PSA is set, with the processing light EL. Specifically, as shown in FIG. 8, which is a plan view showing the movement trajectory of the target irradiation area EA on the surface WS of the processing target portion W_target, the control device 7 alternately repeats a scanning operation in which the galvanometer mirror 122 is controlled to move the target irradiation area EA on the first surface WS#1 along the Y-axis direction (e.g., from the -Y side to the +Y side) while irradiating the target irradiation area EA with the processing light EL, and a stepping operation in which the galvanometer mirror 122 is controlled to move the target irradiation area EA on the first surface WS#1 by a predetermined step movement amount along the X-axis direction without irradiating the target irradiation area EA with the processing light EL. At this time, the focus position (i.e., the light collection position) of the processing light EL may be set on or near the first surface WS#1. Because the processing light EL is irradiated during the scanning operation, the scanning operation removes a unit removal portion URP extending along the Y-axis direction and having a predetermined thickness along the Z-axis direction from the processing target portion W_target, as shown in FIG. 9(a), which is a plan view showing the processing target portion W_target after one scanning operation. Furthermore, because the scanning operation is repeated, multiple unit removal portions URP arranged along the X-axis direction are sequentially removed from the processing target portion W_target, as shown in FIG. 9(b), which is a plan view showing the processing target portion W_target after multiple scanning operations. As a result, as shown in FIG. 10, a layer portion (i.e., a layered structure) SL corresponding to a collection of multiple unit removal portions URP removed by one scanning of the processing shot area PSA with the processing light EL is removed from the processing target portion W_target. Specifically, as shown in FIG. 10, the layer portion SL#1_1, whose surface was the first surface WS#1, is removed.

[0049] As a result of removing the layer portion SL#1_1, a new exposed surface WS#1_1 is formed in the processing target portion W_target, facing the processing device 1. Here, because the processing device 1 and the stage 32 are not moving, the processing shot area PSA is set to the exposed surface WS#1_1. In this case, as shown in FIG. 11 , the processing device 1 removes a new layer portion SL#1_2 adjacent to the layer portion SL#1_1 on the −Z side by scanning at least a portion of the exposed surface WS#1_1 with the processing light EL, similar to the case of removing the layer portion SL#1_1 by scanning the first surface WS#1 with the processing light EL. In other words, the processing device 1 removes a new layer portion SL#1_2 by scanning the surface of the layer portion SL#1_2, including at least a portion of the exposed surface WS#1_1, with the processing light EL.

[0050] Specifically, the control device 7 first controls the optical system 12 (particularly, the focus lens 121) so that the focus position of the processing light EL, which was set at or near the first surface WS#1, is set at or near the exposed surface WS#1_1. That is, the control device 7 controls the optical system 12 (particularly, the focus lens 121) so that the focus position of the processing light EL when removing the layer portion SL#1_2 is farther from the surface WS of the processing target portion W_target than the focus position of the processing light EL when removing the layer portion SL#1_1. Thereafter, the processing device 1 removes the layer portion SL#1_2 by alternately repeating a scanning operation in which the target irradiation area EA is moved along the Y-axis direction on the exposed surface WS#1_1 while irradiating the target irradiation area EA with the processing light EL, and a stepping operation in which the target irradiation area EA is moved by a predetermined step movement amount along the X-axis direction on the exposed surface WS#1_1 without irradiating the target irradiation area EA with the processing light EL.

[0051] 11, the processing device 1 irradiates the exposed surface WS#1_1 with the processing light EL so that the movement range of the processing light EL when removing the layer portion SL#1_2 is smaller than the movement range (i.e., scanning range) of the processing light EL when removing the layer portion SL#1_1. In other words, the processing device 1 irradiates the exposed surface WS#1_1 with the processing light EL so that the movement range of the target irradiation area EA when removing the layer portion SL#1_2 is smaller than the movement range of the target irradiation area EA when removing the layer portion SL#1_1.

[0052] In particular, the processing device 1 irradiates the exposed surface WS#1_1 with the processing light EL so that the movement range of the processing light EL in the scanning direction when removing the layer portion SL#1_2 is smaller than the movement range of the processing light EL in the scanning direction (or any desired direction, the same applies below) when removing the layer portion SL#1_1. In other words, the processing device 1 irradiates the exposed surface WS#1_1 with the processing light EL so that the movement range of the target irradiation area EA in the scanning direction when removing the layer portion SL#1_2 is smaller than the movement range of the target irradiation area EA in the scanning direction when removing the layer portion SL#1_1. Note that the scanning direction means the scanning direction of the processing light EL by the scanning operation (i.e., the movement direction of the target irradiation area EA). In the example shown in FIG. 11, the scanning direction is the Y-axis direction. For this reason, the processing device 1 irradiates the exposed surface WS#1_1 with the processing light EL so that the movement range of the processing light EL in the Y-axis direction when removing the layer portion SL#1_2 is smaller than the movement range of the processing light EL in the Y-axis direction when removing the layer portion SL#1_1. As a result, the size of the layer portion SL#1_2 to be removed is smaller than the size of the layer portion SL#1_1 to be removed. In other words, the size of the layer portion SL#1_1 to be removed is larger than the size of the layer portion SL#1_2 to be removed. Specifically, the size of the layer portion SL#1_1 in the scanning direction (the Y-axis direction in the example shown in FIG. 11) is larger than the size of the layer portion SL#1_2 in the scanning direction.

[0053] As an example, in the Y-axis direction (i.e., the scanning direction), the position of the end on the -Y side (i.e., the rear side in the scanning direction of the processing light EL by the scanning operation) of the movement range of the processing light EL when removing the layer portion SL#1_2 may be the same as the position of the end on the -Y side of the movement range of the processing light EL when removing the layer portion SL#1_1. On the other hand, in the Y-axis direction, the position of the end on the +Y side (i.e., the front side in the scanning direction of the processing light EL by the scanning operation) of the movement range of the processing light EL when removing the layer portion SL#1_2 may be located on the -Y side of the position of the end on the +Y axis side of the movement range of the processing light EL when removing the layer portion SL#1_1. As a result, the movement range of the processing light EL in the scanning direction when removing the layer portion SL#1_2 is smaller than the movement range of the processing light EL in the scanning direction when removing the layer portion SL#1_1. In this case, as shown in FIG. 11, in the Y-axis direction (i.e., the scanning direction), the position of the -Y-side end ES#1_2 of the layer portion SL#1_2 is the same as the position of the -Y-side end ES#1_1 of the layer portion SL#1_1. On the other hand, in the Y-axis direction, the position of the +Y-side end EE#1_2 of the layer portion SL#1_2 is located on the -Y side of the position of the +Y-side end EE#1_1 of the layer portion SL#1_1. In other words, the size of the layer portion SL#1_1 in the scanning direction (in the example shown in FIG. 11, the Y-axis direction) is larger than the size of the layer portion SL#1_2 in the scanning direction. Note that in this embodiment, the state in which "the position of the first end and the position of the second end are the same" includes not only a state in which "the position of the first end and the position of the second end are literally exactly the same," but also a state in which "the position of the first end and the position of the second end are not exactly the same, but the difference between the two is small enough that they can be considered to be substantially the same."

[0054] Thereafter, the same operation (i.e., the operation of removing the layer portion SL) is repeated until a groove having the same depth as the recess PH is formed. That is, each time the processing apparatus 1 removes a layer portion SL#1_k (note that k is an integer greater than or equal to 1), it sets the focus position of the processing light EL to the exposed surface WS#1_k newly formed by removing the layer portion SL#1_k or near the exposed surface WS#1_k, and alternately repeats a scanning operation and a stepping operation targeting at least a portion of the exposed surface WS#1_k. As a result, the layer portion SL#1_k+1 adjacent to the -Z side of the layer portion SL#1_k is removed. That is, the processing apparatus 1 newly removes the layer portion SL#1_k+1 by scanning the surface of the layer portion SL#1_k+1, including at least a portion of the exposed surface WS#1_k, with the processing light EL.

[0055] In this case, as described above, the processing apparatus 1 irradiates the first unit processing target portion W_unit#1 with the processing light EL so that the movement range of the processing light EL when removing the layer portion SL#1_k+1 is smaller than the movement range of the processing light EL when removing the layer portion SL#1_k. That is, as shown in FIG. 12 , which shows the movement range of the processing light EL within the processing shot area PSA when removing the first unit processing target portion W_unit#1, the processing apparatus 1 irradiates the first unit processing target portion W_unit#1 with the processing light EL so that the movement range of the processing light EL in the scanning direction is smaller each time the layer portion SL#1_k is removed. For example, the processing apparatus 1 irradiates the exposed surface WS#1_k with the processing light EL so that the +Y side end of the movement range of the processing light EL in the scanning direction moves to the -Y side each time the layer portion SL#1_k is removed. 12 shows the range of the removal process performed within the processing shot area PSA, since the removal process is performed in the area irradiated with the processing light EL. In other words, the processing apparatus 1 irradiates the first unit processing target portion W_unit#1 with the processing light EL so that the area of ​​the removal process performed by the processing light EL becomes smaller each time a layer portion SL#1_k is removed.

[0056] As a result, as shown in Fig. 13, the first unit processing part W_unit#1 made up of a plurality of layer parts SL (in the example shown in Fig. 13, layer parts SL#1_1 to SL#1_6) is removed from the processing part W_target. In other words, the first unit processing part W_unit#1 that was located below at least a part of the first surface WS#1 of the processing part W_target is removed.

[0057] Thereafter, the processing device 1 removes a second unit processing target portion W_unit#2 adjacent to the first unit processing target portion W_unit#1 from the processing target portion W_target, as shown in Fig. 14. The second unit processing target portion W_unit#2 is typically adjacent to the first unit processing target portion W_unit#1 along the scanning direction.

[0058] The second unit processing target portion W_unit#2 is composed of a plurality of layer portions SL each adjacent to a plurality of layer portions SL that constitute the first unit processing target portion W_unit#1. Typically, the second unit processing target portion W_unit#1 is composed of a plurality of layer portions SL each adjacent to a plurality of layer portions SL that constitute the first unit processing target portion W_unit#1 along the scanning direction. 14, the second unit processing portion W_unit#2 is composed of a layer portion SL#2_1 adjacent to the layer portion SL#1_1 in the scanning direction, a layer portion SL#2_2 adjacent to the layer portion SL#1_2 in the scanning direction, a layer portion SL#2_3 adjacent to the layer portion SL#1_3 in the scanning direction, a layer portion SL#2_4 adjacent to the layer portion SL#1_4 in the scanning direction, a layer portion SL#2_5 adjacent to the layer portion SL#1_5 in the scanning direction, and a layer portion SL#2_6 adjacent to the layer portion SL#1_6 in the scanning direction. Therefore, the processing apparatus 1 removes the layer portions SL#2_1 to SL#2_6 in order to remove the second unit processing portion W_unit#2.

[0059] 14, even if the second unit processing target portion W_unit#2 is removed, the entire removal of the processing target portion W_target is not completed. In this case, the sizes (particularly, the size in the scanning direction) of the multiple layer portions SL constituting the second unit processing target portion W_unit#2 may be the same. On the other hand, as will be explained later when removing the third unit processing target portion W_unit#3, if the entire removal of the processing target portion W_target is completed by removing the second unit processing target portion W_unit#2, the sizes (particularly, the size in the scanning direction) of the multiple layer portions SL constituting the second unit processing target portion W_unit#2 may be different from one another.

[0060] To remove the second unit processing target portion W_unit#2, the control device 7 controls the stage drive system 33 and / or the drive system 5 to move the stage 32 and / or the processing device 1 so that the processing light EL is irradiated onto the second unit processing target portion W_unit#2. In this case, as shown in FIG. 14 , the control device 7 typically controls the stage drive system 33 and / or the drive system 5 to move the stage 32 and / or the processing device 1 so that a second surface WS#2 of the surface WS of the processing target portion W_target is included in the processing shot area PSA. The second surface WS#2 is part of the surface WS of the processing target portion W_target and is adjacent to the first surface WS#1. The second surface WS#2 is typically adjacent to the first surface WS#1 along the scanning direction. Furthermore, the control device 7 moves the stage 32 and / or the processing device 1 in the scanning direction so that the position of the end E_PSA on the -Y side of the processing shot area PSA (i.e., the side of the first unit processing target portion W_unit#1) is the same as the position of the end E#2 on the -Y side of the second unit processing target portion W_unit#2, or is located on the -Y side of the end E#2, as shown in Fig. 14. In the example shown in Fig. 14, the position of the end E#2 on the -Y side of the second unit processing target portion W_unit#2 is the same as the position of the end on the -Y side of the layer portion SL#2_6.

[0061] Thereafter, the control device 7 controls the processing device 1 to remove the second unit processing portion W_unit#2. Specifically, the control device 7 controls the processing device 1 to remove the second unit processing portion W_unit#2 by sequentially removing the layer portions #2_1 to #2_6.

[0062] Specifically, the control device 7 first controls the optical system 12 (particularly, the focus lens 121) so that the focus position of the processing light EL is set on or near the second surface WS#2 (i.e., the surface of the second unit processing portion W_unit#2, which is the surface of the layer portion SL#2_1). Then, the processing device 1 alternately repeats a scanning operation in which the target irradiation area EA is moved along the Y-axis direction on the second surface WS#2 while irradiating the target irradiation area EA with the processing light EL, and a stepping operation in which the target irradiation area EA is moved along the X-axis direction on the second surface WS#2 by a predetermined step movement amount without irradiating the target irradiation area EA with the processing light EL. As a result, the layer portion SL#2_1 is removed, as shown in FIG. 15 .

[0063] As a result of removing the layer portion SL#2_1, a new exposed surface WS#2_1 is formed in the processing target portion W_target, facing the processing device 1. In this case, as shown in FIG. 16 , the processing device 1, similar to the case of removing the first unit processing target portion W_unit#1, scans at least a portion of the exposed surface WS#2_1 with the processing light EL to newly remove the layer portion SL#2_2 adjacent to the layer portion SL#2_1 on the −Z side. That is, the processing device 1 scans the surface of the layer portion SL#2_2, including at least a portion of the exposed surface WS#2_1, with the processing light EL to newly remove the layer portion SL#2_2. Specifically, the control device 7 first controls the optical system 12 (particularly, the focus lens 121) so that the focus position of the processing light EL, which was set on or near the second surface WS#2, is set on or near the exposed surface WS#2_1. That is, the control device 7 controls the optical system 12 (particularly the focus lens 121) so that the focus position of the processing light EL when removing the layer portion SL#2_2 is farther from the surface WS of the processing target portion W_target than the focus position of the processing light EL when removing the layer portion SL#2_1. Thereafter, the processing device 1 removes the layer portion SL#2_2 by alternately repeating a scanning operation and a stepping operation on at least a part of the exposed surface WS#2_1.

[0064] As described above, even if the second unit processing target portion W_unit#2 is removed, the entire processing target portion W_target is not completely removed. Therefore, the sizes (particularly, the size in the scanning direction) of the multiple layer portions SL constituting the second unit processing target portion W_unit#2 are the same. Therefore, the processing device 1 irradiates the second unit processing target portion W_unit#2 with the processing light EL so that the size (particularly, the size in the scanning direction; the same applies hereinafter) of the movement range of the processing light EL when removing the layer portion SL#2_1 is the same as the size of the movement range of the processing light EL when removing the layer portion SL#2_2. The processing device 1 irradiates the second unit processing target portion W_unit#2 with the processing light EL so that the size of the movement range of the target irradiation area EA when removing the layer portion SL#2_1 is the same as the size of the movement range of the target irradiation area EA when removing the layer portion SL#2_2.

[0065] However, as described above, in the scanning direction, the position of the +Y side end EE#1_2 of the layer portion SL#1_2 adjacent to the layer portion SL#2_2 is located on the -Y side of the position of the +Y side end EE#1_1 of the layer portion SL#1_1 adjacent to the layer portion SL#2_1. As a result, as shown in Figure 16, in the scanning direction, the position of the -Y side end ES#2_2 of the layer portion SL#2_2 is located on the -Y side of the position of the -Y side end ES#2_1 of the layer portion SL#2_1. In this case, since the size of the layer portion SL#2_1 and the size of the layer portion SL#2_2 are the same, in the scanning direction, the position of the +Y side end EE#2_2 of the layer portion SL#2_2 is located on the -Y side of the position of the +Y side end EE#2_1 of the layer portion SL#2_1. In order to remove such layered portion SL#2_2, the processing device 1 irradiates the processing light EL onto the second unit processing target portion W_unit#2 in the Y-axis direction (i.e., the scanning direction) so that (i) the position of the -Y end of the movement range of the processing light EL when removing the layered portion SL#2_2 is located on the -Y side of the position of the -Y end of the movement range of the processing light EL when removing the layered portion SL#2_1, and (ii) the position of the +Y end of the movement range of the processing light EL when removing the layered portion SL#2_2 is located on the -Y side of the position of the +Y end of the movement range of the processing light EL when removing the layered portion SL#2_1.

[0066] Thereafter, the same operation (i.e., the operation of removing the layer portion SL) is repeated until a groove having the same depth as the recess PH is formed. That is, each time the processing apparatus 1 removes a layer portion SL#2_k, it sets the focus position of the processing light EL to the exposed surface WS#2_k newly formed by removing the layer portion SL#2_k or near the exposed surface WS#2_k, and alternately repeats a scanning operation and a stepping operation targeting at least a portion of the exposed surface WS#2_k. As a result, the layer portion SL#2_k+1 adjacent to the -Z side of the layer portion SL#2_k is removed. That is, the processing apparatus 1 newly removes the layer portion SL#2_k+1 by scanning the surface of the layer portion SL#2_k+1, which includes at least a portion of the exposed surface WS#2_k, with the processing light EL.

[0067] At this time, as described above, the processing device 1 irradiates the second unit processing target portion W_unit#2 with the processing light EL so that the size of the movement range of the processing light EL when removing layer portion SL#2_k is the same as the size of the movement range of the processing light EL when removing layer portion SL#2_k+1 in the Y-axis direction (i.e., the scanning direction). Furthermore, the processing device 1 irradiates at least a portion of the exposed surface WS#2_k with the processing light EL so that, in the Y-axis direction, (i) the position of the -Y-side end of the movement range of the processing light EL when removing layer portion SL#2_k+1 is located on the -Y-axis side of the position of the -Y-side end of the movement range of the processing light EL when removing layer portion SL#2_k, and (ii) the position of the +Y-axis end of the movement range of the processing light EL when removing layer portion SL#2_k+1 is located on the -Y-axis side of the position of the +Y-axis end of the movement range of the processing light EL when removing layer portion SL#2_k. In other words, as shown in Figure 17, which shows the movement range of the processing light EL within the processing shot area PSA when removing the second unit processing target portion W_unit#2, the processing apparatus 1 irradiates the processing light EL so that the size of the movement range of the processing light EL in the scanning direction is maintained constant, while the movement range of the processing light EL moves (typically along the scanning direction) each time the layer portion SL#2_k is removed.

[0068] As a result, as shown in Figure 18, a second unit processing part W_unit#2 consisting of multiple layer parts SL (in the example shown in Figure 18, layer parts SL#2_1 to SL#2_6) is removed from the processing part W_target.

[0069] Thereafter, the processing device 1 removes a third unit processing target portion W_unit#3 adjacent to the second unit processing target portion W_unit#2 from the processing target portion W_target, as shown in Fig. 19. The third unit processing target portion W_unit#3 is typically adjacent to the second unit processing target portion W_unit#2 along the scanning direction.

[0070] The third unit processing part W_unit#3 is composed of a plurality of layer parts SL each adjacent to a plurality of layer parts SL that constitute the second unit processing part W_unit#2. Typically, the third unit processing part W_unit#3 is composed of a plurality of layer parts SL each adjacent to a plurality of layer parts SL that constitute the second unit processing part W_unit#2 along the scanning direction. 19, the third unit processing portion W_unit#3 is composed of a layer portion SL#3_1 adjacent to the layer portion SL#2_1 in the scanning direction, a layer portion SL#3_2 adjacent to the layer portion SL#2_2 in the scanning direction, a layer portion SL#3_3 adjacent to the layer portion SL#2_3 in the scanning direction, a layer portion SL#3_4 adjacent to the layer portion SL#2_4 in the scanning direction, a layer portion SL#3_5 adjacent to the layer portion SL#2_5 in the scanning direction, and a layer portion SL#3_6 adjacent to the layer portion SL#2_6 in the scanning direction. Therefore, the processing apparatus 1 removes the layer portions SL#3_1 to SL#3_6 in order to remove the third unit processing portion W_unit#3.

[0071] 19, when the third unit processing target portion W_unit#3 is removed, the entire removal of the processing target portion W_target is completed. In this case, the sizes (particularly, the size in the scanning direction) of the multiple layer portions SL constituting the third unit processing target portion W_unit#3 may be different from each other. On the other hand, even if the third unit processing target portion W_unit#3 is removed, the entire removal of the processing target portion W_target is not completed (for example, if another unit processing target portion W_unit adjacent to the third unit processing target portion W_unit#3 in the scanning direction needs to be removed), the sizes (particularly, the size in the scanning direction) of the multiple layer portions SL constituting the third unit processing target portion W_unit#3 may be the same. In other words, in this embodiment, when multiple unit processing target parts W_unit lined up along the scanning direction are removed in sequence, (i) the first unit processing target part W_unit to be removed is removed in the same removal manner as the first unit processing target part W_unit#1 described above, (ii) the last unit processing target part W_unit to be removed is removed in the same removal manner as the third unit processing target part W_unit#3, and (iii) the other unit processing target parts W_unit are removed in the same removal manner as the second unit processing target part W_unit#2 described above. That is, (i) in order to remove the unit processing target portion W_unit to be removed first, the processing light EL is controlled so that the size of the layer portion SL in the scanning direction decreases each time a layer portion SL is removed, (ii) in order to remove the unit processing target portion W_unit to be removed last, the processing light EL is controlled so that the size of the layer portion SL in the scanning direction increases each time a layer portion SL is removed, and (iii) in order to remove other unit processing target portions W_unit, the size of the layer portion SL in the scanning direction is maintained constant, while the processing light EL is controlled so that the area from which the layer portion SL is removed moves along the scanning direction each time a layer portion SL is removed.

[0072] To remove the third unit processing target portion W_unit#3, the control device 7 controls the stage drive system 33 and / or the drive system 5 to move the stage 32 and / or the processing device 1 so that the processing light EL is irradiated onto the third unit processing target portion W_unit#3. In this case, as shown in FIG. 19 , the control device 7 typically controls the stage drive system 33 and / or the drive system 5 to move the stage 32 and / or the processing device 1 so that the third surface WS#3 of the surface WS of the processing target portion W_target is included in the processing shot area PSA. The third surface WS#3 is part of the surface WS of the processing target portion W_target and is adjacent to the second surface WS#2. The third surface WS#3 is typically adjacent to the second surface WS#2 along the scanning direction. Furthermore, the control device 7 moves the stage 32 and / or the processing device 1 in the scanning direction so that the position of the end E_PSA on the -Y side of the processing shot area PSA (i.e., the second unit processing target portion W_unit#2 side) is the same as the position of the end E#3 on the -Y side of the third unit processing target portion W_unit#3 or is located on the -Y side of the end E#3, as shown in Fig. 19. In the example shown in Fig. 19, the position of the -Y end E#3 of the third unit processing target portion W_unit#3 is the same as the position of the end on the -Y side of the layer portion SL#3_6.

[0073] Thereafter, the control device 7 controls the processing device 1 to remove the third unit processing portion W_unit#3. Specifically, the control device 7 controls the processing device 1 to remove the third unit processing portion W_unit#3 by sequentially removing the layer portions #3_1 to #3_6.

[0074] Specifically, the control device 7 first controls the optical system 12 (particularly the focus lens 121) so that the focus position of the processing light EL is set on or near the third surface WS#3 (i.e., the surface of the third unit processing portion W_unit#3, i.e., the surface of the layer portion SL#3_1). After that, the processing device 1 alternately repeats a scanning operation in which the target irradiation area EA is moved along the Y-axis direction on the third surface WS#3 while irradiating the target irradiation area EA with the processing light EL, and a stepping operation in which the target irradiation area EA is moved a predetermined step amount along the X-axis direction on the third surface WS#3 without irradiating the target irradiation area EA with the processing light EL. As a result, the layer portion SL#3_1 is removed, as shown in FIG. 20 .

[0075] As a result of removing the layer portion SL#3_1, a new exposed surface WS#3_1 is formed in the processing target portion W_target, facing the processing device 1. In this case, as shown in FIG. 21 , the processing device 1, similar to the case of removing the first unit processing target portion W_unit#1 and the second unit processing target portion W_unit#2, scans at least a portion of the exposed surface WS#3_1 with the processing light EL to newly remove the layer portion SL#3_2 adjacent to the -Z side of the layer portion SL#3_1. That is, the processing device 1 scans the surface of the layer portion SL#3_2, including at least a portion of the exposed surface WS#3_1, with the processing light EL to newly remove the layer portion SL#3_2. Specifically, the control device 7 first controls the optical system 12 (particularly, the focus lens 121) so that the focus position of the processing light EL, which was set at or near the third surface WS#3, is set to or near the exposed surface WS#3_1. That is, the control device 7 controls the optical system 12 (particularly the focus lens 121) so that the focus position of the processing light EL when removing the layer portion SL#3_2 is farther from the surface WS of the processing target portion W_target than the focus position of the processing light EL when removing the layer portion SL#3_1. Thereafter, the processing device 1 removes the layer portion SL#3_2 by alternately repeating a scanning operation and a stepping operation on at least a part of the exposed surface WS#3_1.

[0076] As described above, since the removal of the third unit processing portion W_unit#2 completes the removal of the entire processing portion W_target, the sizes (particularly the size in the scanning direction) of the multiple layer portions SL constituting the third unit processing portion W_unit#3 become different. Specifically, as described above, the position of the +Y side end EE#2_2 of the layer portion SL#2_2 adjacent to the layer portion SL#3_2 is located on the -Y side of the position of the +Y side end EE#2_1 of the layer portion SL#2_1 adjacent to the layer portion SL#3_1. As a result, as shown in FIG. 21 , the position of the -Y side end ES#3_2 of the layer portion SL#3_2 is located on the -Y side of the position of the -Y side end ES#3_1 of the layer portion SL#3_1 in the scanning direction. On the other hand, because the rectangular hole-shaped recess PH is formed, the position of the end EE#3_2 on the +Y side of the layer portion SL#3_2 is the same as the position of the end EE#3_1 on the +Y side of the layer portion SL#3_1 in the scanning direction. As a result, the size of the layer portion SL#3-2 is larger than the size of the layer portion SL#3-1 in the scanning direction.

[0077] To remove such layer portion SL#3_2, the processing device 1 irradiates the exposed surface WS#3_1 with the processing light EL so that the movement range of the processing light EL when removing layer portion SL#3_2 is larger than the movement range of the processing light EL when removing layer portion SL#3_1 (particularly, the size in the scanning direction). The processing device 1 irradiates the exposed surface WS#3_1 with the processing light EL so that the movement range of the target irradiation area EA when removing layer portion SL#3_2 is larger than the movement range of the target irradiation area EA when removing layer portion SL#3_1. Specifically, the processing device 1 irradiates the processing light EL onto the exposed surface WS#3_1 in the Y-axis direction (i.e., the scanning direction) so that (i) the position of the -Y end of the range of movement of the processing light EL when removing the layered portion SL#3_2 is located on the -Y side of the position of the -Y end of the range of movement of the processing light EL when removing the layered portion SL#3_1, and (ii) the position of the +Y end of the range of movement of the processing light EL when removing the layered portion SL#3_2 is the same as the position of the +Y end of the range of movement of the processing light EL when removing the layered portion SL#3_1.

[0078] Thereafter, the same operation (i.e., the operation of removing the layer portion SL) is repeated until a groove having the same depth as the recess PH is formed. That is, each time the processing apparatus 1 removes a layer portion SL#3_k, it sets the focus position of the processing light EL to the exposed surface WS#3_k newly formed by the removal of the layer portion SL#3_k or in the vicinity of the exposed surface WS#3_k, and alternately repeats a scanning operation and a stepping operation targeting at least a portion of the exposed surface WS#3_k. As a result, the layer portion SL#3_k+1 adjacent to the -Z side of the layer portion SL#3_k is removed. That is, the processing apparatus 1 newly removes the layer portion SL#3_k+1 by scanning the surface of the layer portion SL#3_k+1, which includes at least a portion of the exposed surface WS#3_k, with the processing light EL.

[0079] At this time, as described above, the processing device 1 irradiates the exposed surface WS#3_k with the processing light EL so that the movement range of the processing light EL when removing the layer portion SL#3_k+1 is larger than the movement range of the processing light EL when removing the layer portion SL#3_k. Furthermore, the processing device 1 irradiates the exposed surface WS#3_k with the processing light EL so that, in the Y-axis direction (i.e., the scanning direction), (i) the position of the -Y-side end of the movement range of the processing light EL when removing the layer portion SL#3_k+1 is located on the -Y-axis side of the position of the -Y-side end of the movement range of the processing light EL when removing the layer portion SL#3_k, and (ii) the position of the +Y-axis end of the movement range of the processing light EL when removing the layer portion SL#3_k+1 is the same as the position of the +Y-axis end of the movement range of the processing light EL when removing the layer portion SL#3_k. In other words, as shown in Figure 22, which shows the movement range of the processing light EL within the processing shot area PSA when removing the third unit processing target portion W_unit#3, the processing apparatus 1 irradiates the processing light EL onto the third unit processing target portion W_unit#3 so that the movement range of the processing light EL in the scanning direction increases each time a layer portion SL#3_k is removed.

[0080] As a result, as shown in Fig. 23, a third unit processing part W_unit#3 consisting of a plurality of layer portions SL (in the example shown in Fig. 23, layer portions SL#3_1 to SL#3_6) is removed from the processing part W_target. As a result, removal of the processing part W_target is completed, and a recess PH is formed.

[0081] (3) Technical effects of the processing system SYS According to the machining system SYS described above, it is possible to properly machine the workpiece W. In particular, the machining system SYS can properly machine the boundaries between the multiple unit machining portions W_unit that make up the machining portion W_target. The reason for this will be explained below.

[0082] First, it is assumed that the machining system SYS may process one unit machining target portion W_unit all at once (i.e., all at once without dividing it into multiple layer portions SL) to form a recess PH in the workpiece W. However, in this embodiment, because the machining light EL is emitted from the machining device 1 in the vertical direction (i.e., the Z-axis direction), it is not easy for the machining system SYS to process the workpiece W so as to form a vertical surface by irradiating the machining light EL. For this reason, the wall surface remaining after one unit machining target portion W_unit is removed all at once (specifically, the side surface of another unit machining target portion W_unit to be removed next) may be inclined with respect to the vertical surface. Furthermore, when another unit machining target portion W_unit is removed following one unit machining target portion W_unit, a wall surface inclined with respect to the vertical surface may remain. In some cases, a wall portion defined by such a wall surface may remain between one unit machining target portion W_unit and another unit machining target portion W_unit.

[0083] However, in this embodiment, the machining system SYS first removes the relatively thin layer portions SL constituting each unit machining portion W_unit in order to remove each unit machining portion W_unit. Therefore, the wall surface remaining after each unit machining portion W_unit is removed is an aggregate of multiple tiny wall surfaces formed by sequentially removing the multiple layer portions SL. Therefore, even if the tiny wall surfaces themselves are inclined with respect to the vertical plane, the inclination of the entire wall surface, which is an aggregate of multiple tiny wall surfaces, is sufficiently small. Furthermore, because the multiple layer portions SL (e.g., the ends of the multiple layer portions SL) that are sequentially removed are shifted along the scanning direction, the boundaries of the multiple unit machining portions W_unit are intentionally processed so that the boundary surfaces of the multiple unit machining portions W_unit have a step-like shape that is substantially inclined with respect to the vertical plane. Therefore, the machining system SYS can appropriately process such intentionally formed step-like boundary surfaces so that no wall portions remain. This is because the shape and size of the boundary surface that the machining system SYS intentionally formed to have a stepped shape are known to the machining system SYS, and the machining system SYS can appropriately machine the boundary surface having the known shape and size so that no wall portion remains. As a result, the machining system SYS can appropriately machine the boundaries of the multiple unit machining portions W_unit. Specifically, the machining system SYS can machine the workpiece W so that no structures (e.g., wall-like structures) that were not completely removed remain between the multiple unit machining portions W_unit.

[0084] (4) Variations The above description describes a processing operation for sequentially removing a plurality of unit processing target portions W_unit lined up along the scanning direction. Meanwhile, in addition to or instead of sequentially removing a plurality of unit processing target portions W_unit lined up along the scanning direction, the processing system SYS may sequentially remove a plurality of unit processing target portions W_unit lined up along the step direction, which is the movement direction of the target irradiation area EA by the step operation (in the above example, the X-axis direction). In this case, the processing system SYS may sequentially remove a plurality of unit processing target portions W_unit lined up along the step direction in the same manner as in the case of sequentially removing a plurality of unit processing target portions W_unit lined up along the scanning direction. Specifically, when sequentially removing multiple unit processing target portions W_unit lined up along the step direction, the processing system SYS (i) controls the processing light EL so that the movement range of the processing light EL in the step direction becomes smaller each time a layer portion SL is removed in order to remove the unit processing target portion W_unit to be removed first, (ii) controls the processing light EL so that the movement range of the processing light EL in the step direction becomes larger each time a layer portion SL is removed in order to remove the unit processing target portion W_unit to be removed last, and (iii) controls the processing light EL so that the size of the movement range of the processing light EL in the step direction is maintained constant, while the movement range of the processing light EL moves along the step direction each time a layer portion SL is removed in order to remove other unit processing target portions W_unit. The processing system SYS may (i) control the processing light EL so that the size of the layer portion SL in the step direction decreases each time a layer portion SL is removed in order to remove the unit processing target portion W_unit that is to be removed first, (ii) control the processing light EL so that the size of the layer portion SL in the step direction increases each time a layer portion SL is removed in order to remove the unit processing target portion W_unit that is to be removed last, and (iii) control the processing light EL so that the size of the layer portion SL in the step direction is maintained constant, while the area from which the layer portion SL is removed moves along the step direction each time a layer portion SL is removed in order to remove other unit processing target portions W_unit.

[0085] In the above description, the processing device 1 irradiates the workpiece W with the processing light EL to perform removal processing, which removes a portion of the workpiece W. However, the processing device 1 may also irradiate the workpiece W with the processing light EL to perform processing other than removal processing. For example, the processing device 1 may irradiate the workpiece W with the processing light EL to perform additional processing on the workpiece W. For example, the processing device 1 may perform marking processing, which changes the properties of at least a portion of the surface of the workpiece W by irradiating it with the processing light EL, to form a desired pattern on the surface of the workpiece W.

[0086] In the above description, the stage device 3 is provided with the stage drive system 33. However, the stage device 3 does not have to be provided with the stage drive system 33. In other words, the stage 32 does not have to move. If the stage 32 does not move, the stage device 3 does not have to be provided with the position measuring device 34. In the above description, the processing system SYS is provided with the drive systems 5 and 6. However, the processing system SYS does not have to be provided with at least one of the drive systems 5 and 6. In other words, at least one of the processing device 1 and the measuring device 2 does not have to move. In this case, the processing system SYS does not have to be provided with at least one of the position measuring devices 51 and 61.

[0087] In the above description, the machining system SYS includes the measuring device 2. However, the machining system SYS does not have to include the measuring device 2. In this case, the machining system SYS does not have to include the drive system 6 and the position measuring device 61, which are components related to the measuring device 2.

[0088] In the above description, the processing apparatus 1 processes the workpiece W by irradiating the workpiece W with processing light EL. However, the processing apparatus 1 may also process the workpiece W by irradiating the workpiece W with any energy beam other than light (this energy beam may be referred to as a "processing beam"). In this case, the processing apparatus 1 may be equipped with a beam irradiation device capable of irradiating the any energy beam in addition to or instead of the light source 11. Examples of any energy beam include charged particle beams such as electron beams and ion beams. Another example of any energy beam includes electromagnetic waves.

[0089] At least some of the constituent elements of each of the above-described embodiments can be appropriately combined with at least some of the other constituent elements of each of the above-described embodiments. Some of the constituent elements of each of the above-described embodiments may not be used. Furthermore, to the extent permitted by law, the disclosures of all publications and U.S. patents cited in each of the above-described embodiments are incorporated herein by reference.

[0090] The present invention is not limited to the above-described embodiments, but can be modified as appropriate within the scope of the claims and the gist or concept of the invention as can be read from the entire specification, and beam processing devices with such modifications are also included in the technical scope of the present invention. [Explanation of symbols]

[0091] SYS Machining System 1 Processing equipment 122 Galvanometer mirror 123 fθ lens 7 Control Device double work EL processing light

Claims

1. A processing method for processing a workpiece with a processing beam, comprising: scanning the processing beam in a first direction on a first surface of the workpiece to remove a first portion; scanning the processing beam in a first direction on a first surface of the workpiece to remove a second portion adjacent to the first portion; a step of removing a third portion by scanning the processing beam in a first direction across a second surface formed on the workpiece by removing the first portion and a third surface formed on the workpiece by removing the second portion; A processing method comprising:

2. a step of removing a fourth portion by scanning the processing beam in a first direction on a second surface formed on the workpiece by removing the first portion; The processing method of claim 1 further comprising:

3. The step of removing the first portion, the step of removing the fourth portion, the step of removing the second portion, and the step of removing the third portion are performed in sequence. The processing method according to claim 2.

4. The step of removing the fourth portion includes processing the fourth portion, the fourth portion having a length shorter than a length of the first portion in the first direction. The processing method according to claim 2 or 3.

5. The step of removing the third portion includes processing the third portion, which has a length longer than a length of the second portion in the first direction. The processing method according to claim 2 or 3.

6. The steps of removing the first portion, removing the second portion, and removing the third portion form a recess in the workpiece. The processing method according to any one of claims 1 to 5.

7. A focusing position of the processing beam in the step of removing the second portion is located upstream in a traveling direction of the processing beam compared to a focusing position of the processing beam in the step of removing the third portion. The processing method according to any one of claims 1 to 6.

8. A focusing position of the processing beam in the step of removing the first portion is located upstream in a traveling direction of the processing beam compared to a focusing position of the processing beam when removing the third portion. The processing method according to any one of claims 1 to 7.

9. In a processing device that processes a workpiece with a processing beam, a beam irradiation device including an irradiation optical system that irradiates the processing beam and a beam scanning member that is disposed in an optical path of the processing beam and scans the processing beam; a position changing device that changes the positional relationship between the irradiation optical system and the workpiece; a control device for controlling the beam irradiation device; Equipped with The control device (i) controlling a beam irradiation device to scan the processing beam in a first direction on a first surface of the workpiece to remove and process a first portion of the workpiece; (ii) controlling the beam irradiation device to scan the processing beam in a first direction on a second surface formed on the workpiece by removing the first portion, thereby removing the second portion of the workpiece; (iii) after removing and processing the first and second portions, the beam irradiation device is controlled to scan and irradiate the processing beam in a first direction on the first surface to remove and process a third portion of the workpiece adjacent to a position where the first portion was located in the first direction; (iv) controlling the beam irradiation device to scan the processing beam in the first direction across the second surface and a third surface formed on the workpiece by removing and processing the third portion, and to remove and process a fourth portion of the workpiece adjacent to a position where the second portion was located in the first direction; Processing equipment.

10. (v) after removing and processing the first and second portions, and before removing and processing the third portion, controlling the position changing device so that the processing beam can be irradiated onto the third portion adjacent to a position where the first portion was located in the first direction; The processing device according to claim 9.

11. The control device controls the beam irradiation device so that the length of the second portion is shorter than the length of the first portion in the first direction. The processing device according to claim 9 or 10.

12. The control device controls the beam irradiation device so that the length of the fourth portion is longer than the length of the third portion in the first direction. The processing device according to any one of claims 9 to 1.

13. The control device controls the beam irradiation device so that a focusing position of the processing beam when removing the fourth portion is farther from the first surface along the traveling direction of the processing beam than a focusing position of the processing beam when removing the third portion. The processing device according to any one of claims 9 to 12.

14. The control device controls the beam irradiation device so that a focusing position of the processing beam when removing the second portion is farther from the first surface along a traveling direction of the processing beam than a focusing position of the processing beam when removing the first portion. The processing device according to any one of claims 9 to 13.

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