JPH0619246B2 - Mounted parts inspection method - Google Patents

Description

The present invention relates to a method of inspecting a component mounted by a component mounting apparatus, and a mounted component suitable for checking the type and position / orientation of the component after completion of mounting. Regarding inspection method.

[Conventional technology]

Japanese Patent Application Laid-Open No. 57-15 is a conventional technique for mounting components on a substrate.
As described in Japanese Patent No. 2194, a visual device is used to capture the mounting position data of a component and also to check the positional deviation and type of the component.

However, the conventional technology does not have a function of inspecting whether or not the type, position and orientation of the components finally mounted on the board are correct.

Therefore, at present, the type, position, and orientation of the components mounted on the board are checked by a human in a post process or by using an expensive inspection device.

[Problems to be solved by the invention]

With the above-mentioned conventional technology, it is possible to check the type, position, and orientation of the component to be mounted from now on, but consideration is given to checking the type, position, and orientation of the component finally mounted on the board. It has not been.

Further, in the conventional technology, in order to check the components mounted on the board, a human being needs to perform the check in a later step or an inspection device different from the mounting device is required. In particular, when another inspection device is used, there is a problem that a new hardware cost is required and a programming man-hour for the inspection device is required.

An object of the present invention is to solve the above-mentioned problems of the prior art, and to provide a mounted component inspection method capable of inspecting a component mounted by the component mounting device using the hardware and program data of the component mounting device itself. Especially.

[Means for solving problems]

The purpose of the above is to move the board on which the component is mounted according to the mounting order data of the component within the field of view of the television camera installed at the position corresponding to the component mounting position, and shoot the component mounted on the substrate with the TV camera. Then, the image is processed to create the type and position / orientation data of the part, and it is compared with the part data relating to the position / orientation of the type of the part created in advance, and the type or position / orientation of the installed part is compared. This is achieved by inspecting whether or not.

[Action]

Generally, in a mounter or inserter as a component mounting device, data such as a component mounting order, a mounting position, and a component type is held in a memory or the like inside the device,
The mounting work is performed automatically based on these data. Therefore, if the type and position / orientation of the component mounted on the board can be input by some method, the input data is compared with the data held internally and the type of the component mounted on the board is compared. It becomes possible to automatically check the position and orientation.

If a TV camera is used to input the data of the mounted parts, it is a problem to put the parts within the field of view of the TV camera because the field of view of the TV camera is limited.

Therefore, if you install the TV camera at the same position as the component mounting position, move the component mounted board according to the component mounting order data, and bring each component to the component mounting position, that is, within the field of view of the TV camera. The above problem is solved, and it becomes possible to automatically inspect the type of mounted components and the quality of the position / orientation.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an external view of a mounter as a component mounting apparatus to which the present invention is applied, FIG. 2 is a plan view of a component mounting portion of the mounter shown in FIG. 1, FIG. 3 is a side view of the same, and FIG. 4 is a mounter. 5 is a block diagram of the components of FIG. 5, FIG. 5 is a diagram showing the contents of mounting order data, FIG. 6 is a diagram showing the contents of component data, FIG. 7 is a diagram showing the internal logic of the image processing apparatus, and FIG. It is a flow chart which shows one example of the method of the present invention.

The mounted component inspection apparatus for carrying out the method of the present invention is the first
As shown in FIGS. 4 to 4, an XY table 1, a rotary head 3, an image processing device 5, a parts cassette moving table 6, a head 9 with a television camera, an arithmetic device 11,
The memory 12 is provided with a mounting sequence and a component data holding memory 12, and a step number counter 18.

A substrate 2 is mounted on the XY table 1 as shown in FIG. The XY table 1 is controlled to move to the component mounting position 8 by inputting an XY table movement command 16 from the arithmetic unit 11.

As shown in FIGS. 2 and 3, the rotary head 3 sucks the component 10 at the component suction position 7 corresponding to the component cassette moving table 6, and the component mounting position corresponding to the XY table 1. The component 10 can be mounted on the substrate 2 by the reference numeral 8.

The component cassette 4 is mounted on the component cassette moving table 6 as shown in FIG. Further, the parts cassette moving table 6 moves the parts cassette 4 in the direction of the arrow shown in FIG.
Is configured to be removable.

2 and 3 as the rotary head 3 inputs a rotation command from the arithmetic unit 11 when the component 9 is mounted on the substrate 2 of the head 9 with the television camera, and the rotary head 3 rotates. As you can see, move to the component mounting position 8,
The component 10 is photographed and its image data 13 is output to the image processing apparatus 5 as shown in FIGS. 4 and 7.

As shown in FIG. 8, the image processing device 5 includes a binarization circuit 19, a binarized data holding memory 21, a standard data holding memory 22, and an image processing device internal arithmetic unit 23. is doing. The binarization circuit 19 inputs the image processing device activation command 17 from the arithmetic unit 11 and the image data 13 from the head 9 with a television camera, and outputs the image data 13 from the image data 13 according to a predetermined binarization threshold value. Create a binary video signal 20 and
It outputs to the memory 21 for holding the digitized data. The binarized data holding memory 21 receives the binarized video signal 20 from the binarization circuit 19 and stores it. In the standard data holding memory 22, standard data 24 regarding the position of the center of gravity of the component, the longitudinal direction, the area, and the peripheral length is stored in advance. The arithmetic unit 23 in the image processing device reads the binarized video signal 20 from the binarized data holding memory 21 and calculates the center of gravity position, longitudinal direction, area, and perimeter of mounted components, and standard data Standard data from holding memory 22
24 is extracted and the data calculated based on the binarized video signal 20 is compared with the standard data 24 to calculate the type and position / orientation of the part, and the device 14 calculates the type and position / orientation data 14 of this part. 11 is configured to enter.

As shown in FIG. 5, the mounting sequence and the component data holding memory 12 have step NO.
Mounting order data such as coordinates, Y coordinates, attitude, and component cassette NO., And component data such as component cassette NO. And component type are stored in advance as shown in FIG.

As shown in FIG. 4, the arithmetic unit 11 fetches the mounting order data from the mounting order and component data holding memory 12, and instructs the XY table 1 to move the XY table.
16 is sent in and the board 2 on which the components are mounted is moved within the visual field of the head 9 with the television camera according to the mounting sequence data. Further, the arithmetic unit 11 sends an image processing unit activation command 17 to the image processing unit 5 and causes the image processing unit 5 to execute processing of the image data 13 taken by the head 9 with the television camera. Further, the arithmetic unit 11 fetches the component data from the mounting order and component data holding memory 12, fetches the component type and the position / orientation data 14 from the image processing unit 5, compares the two data, and mounts them on the board 2. It is configured to determine the type of the existing component and the quality of the position / orientation.

Next, an example of the mounted component inspection method of the present invention performed using the mounted component inspection apparatus of the above embodiment will be described.

Assuming that the components have been mounted on the board 2, the procedure of the inspection operation will be described below.

(1) Move the TV camera head 9 to the mounting position 8.

This operation is realized, for example, by processing the mounting sequence data up to the latest step, recognizing that the mounting work is completed, and giving a rotation command to the rotary head 3.

(2) The arithmetic unit 11 holds the data (X coordinate, Y coordinate, attitude (tilt), component cassette NO.) 15 indicating the current number of steps (initial value is 1) of the mounting sequence data, the mounting sequence and the component data. Input from memory 12 for use.

(3) The arithmetic unit 11 moves to the X and Y coordinates input in (2) above.
-To move the Y table 1, the XY table movement command 16 is output to the XY table 1.

At this point, the component corresponding to the current step of the mounting sequence data is moving within the field of view of the television camera head 9 at the component mounting position 8.

(4) The arithmetic device 11 outputs the image processing device activation command 17 to the image processing device 5.

The image processing apparatus 5 inputs the image data 13 from the head 9 with a television camera, processes the image data 13, and outputs the type of component and the position / orientation data 14 to the arithmetic unit 11.

(5) The arithmetic unit 11 uses the parts cassette N input in (2) above.
The component data 15 corresponding to O. is input from the mounting order and component data holding memory 12.

(6) The arithmetic unit 11 compares the type and position / orientation data of the mounted parts input in (4) with the type and position / orientation data of the parts input in (2) and (5). .

(7) If both data are the same in (6) above,
Go to (8).

If the two data are not the same, it is determined that there is a mounting error and the processing ends. Here, for example, if there is any display device, a mounting error message is output to that.

(8) If the inspection of the final step has been completed, the processing ends. If the inspection of the final step is not completed, the current step number is incremented and the process returns to (2).

In (7) above, the inspection processing is not terminated when a mounting error occurs, but the mounting error information (the number of steps in which an error has occurred, the cause of the error, etc.) is retained in the memory of the component mounting device and processing continues. Is also possible.

This makes it possible to collectively refer to various kinds of error information after the inspection of one substrate is completed.

The above flow is simply shown in FIG.

Further, the type of the part and the position / orientation data 14 are obtained by the following procedure using the image processing device 5.

(i) The image data 13 is taken into the binarization circuit 19 from the television camera head 9.

(ii) By the binarization circuit 19, the image data 13 is binarized by the binarization threshold value set in advance to an appropriate level.
Create a binarized video signal 20. Then, the binarized video signal 20 is stored in the binarized data holding memory 21.

(iii) The arithmetic unit 23 in the image processing device reads the binarized video signal 20 from the binarized data holding memory 21 and calculates the position of the center of gravity, the longitudinal direction, the area, and the perimeter of the component.

In these calculations, for example, in the binarized video signal 20, if the part having a part is shown as 1 and the board part is shown as 0, the pixel number of the part of 1 is added or the signal is 0.
This is done by connecting the changes from 1 to 1.

(iv) The image processing device internal processing device 23 compares the barycentric position, the longitudinal direction, the area, and the perimeter of the component obtained in (iii) with the standard data 24 of the component in the standard data holding memory 22. .

The standard data holding memory 22 stores in advance data of the position of the center of gravity, the longitudinal direction, the area, and the perimeter of the component to be mounted.

(v) As a result of the comparison in (iv) above, the type and position / orientation of parts can be obtained.

The type of the component is determined by matching the area and the perimeter of the component.

The position / orientation of the component is determined by the position of the center of gravity of the component and the longitudinal direction.

(vi) The image processing device internal processing device 23 sends the type and position / orientation data 14 of the parts to the processing device 11.

〔The invention's effect〕

According to the present invention described above, within the field of view of the television camera installed at the position corresponding to the component mounting position, the component mounted board is moved according to the component mounting sequence data,
The parts mounted on the board are photographed with a TV camera, the images are processed to create the part type, position / orientation data, and comparison is made with the part data created in advance regarding the part type, position / orientation However, the type and position / orientation of the mounted components are inspected, and the component mounting device itself can automatically check the type and position / orientation after the mounting is completed. is there.

(1) Since human visual inspection is not required in the subsequent process, it is possible to eliminate personnel.

(2) Moreover, since the inspection can be performed at a higher speed than the inspection by humans, the tact time of the component mounting work on the board can be shortened.

(3) Not only does the inspection device in the subsequent process become unnecessary, but the work of inputting on-board data etc. to the inspection device becomes unnecessary.

[Brief description of drawings]

FIG. 1 is an external view of a mounter as a component mounting apparatus to which the present invention is applied, FIG. 2 is a plan view of a component mounting portion of the mounter shown in FIG. 1, FIG. 3 is a side view of the same, and FIG. 4 is a mounter. 5 is a block diagram of the components of FIG. 5, FIG. 5 is a diagram showing the contents of mounting order data, FIG. 6 is a diagram showing the contents of component data, FIG. 7 is a diagram showing the internal logic of the image processing apparatus, and FIG. It is a flow chart which shows one example of the method of the present invention. 1 ... XY table, 2 ... Substrate, 3 ... Rotating head, 4 ... Component cassette, 5 ... Image processing device, 6 ...
Table for moving parts supply cassette, 7 ... Parts pick-up position, 8 ... Parts mounting position, 9 ... TV camera head, 10 ... Parts to be picked up, 11 ... Computing device, 12 ... Mounting order and parts Data holding memory, 13 ... Image data, 14 ... Component type and position / orientation data, 15 ... Mounting order and component data, 16 ... XY table move command, 17 ... Image processing device start command , 18 ... Step counter, 19 ... Binarization circuit, 20 ... Binary video signal, 21
...... Binary data storage memory, 22 …… Standard data storage memory, 23 …… Image processing unit arithmetic unit, 24 …… Standard data.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-61-138101 (JP, A) JP-A-60-180200 (JP, A) JP-A-61-134616 (JP, A) Actual development Sho-61- 48304 (JP, U)

Claims (1)

[Claims] 1. A method of inspecting a mounted component on a same board as that when mounting a component mounted substrate, wherein a head equipped with a TV camera is movable to the mounting head position of the component mounting device. Then, the head equipped with the TV camera is moved to the component mounting position, and at least the substrate on which the components are mounted is mounted in the mounting sequence according to the component mounting sequence data including at least the mounting sequence, the mounting position, the mounting posture, and the mounting component type. In that order, move to the mounting position, shoot the parts mounted on the board with a TV camera, binarize the image, identify the part area, and create the data of the part type, position, and orientation. Then, the mounted component inspection method is characterized by comparing the component type, position, and orientation of component data created in advance, and inspecting the type, position, and orientation of the mounted component.