JPS62215856A - Apparatus for inspecting printed circuit board - Google Patents

Abstract

PURPOSE:To attain to simplify work and to increase a processing speed, by a method wherein a printed circuit board to be inspected is fed to one direction by a board feed part and moved to the direction at a right angle to the feed direction of the board feed part by an image pickup feed part to inspect the detachment and positional shift of the parts on the printed circuit board to be inspected. CONSTITUTION:The reference printed circuit board 10-1 (or a printed circuit board 10-2 to be inspected) fed in by a feed-in side belt conveyor is automatically transferred on a board feed part 11. In this state, the image of the printed circuit board is picked up by an image pickup part 15 in a divided state while said board is stepwise moved to an X-direction by the feed part 11 and, thereafter, the board is automatically transferred to a feed-out side belt conveyor from the feed part 11. A camera feed part 12 operates a pulse motor 18 for a Y-direction when a Y-direction position control signal is supplied from a processing part 16 to stepwise move a camera mount stand 47 to the Y-direction. By this method, the detachment and positional shift of the parts 13-1b-13-nb on the printed circuit board to be inspected can be rapidly detected with respect to the parts 13-1a-13-na of the board 10-1.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a board inspection apparatus that processes data obtained by transferring an image of a board to inspect components on the board.

(Prior Art) When an automatic mounting device is used to mount various chip components such as resistors and semiconductor elements on a printed circuit board, the components may not be mounted according to the mount data after mounting.

Therefore, when using such automatic mounting equipment, the printed circuit board is checked after mounting to ensure that the correct chip components are mounted in the correct position and orientation (position and direction) on the printed circuit board. Whether there is
It is also necessary to inspect whether or not it has fallen off.

However, if such an inspection is performed by manual visual inspection as in the past, there are problems in that the occurrence of inspection errors cannot be completely eliminated and the inspection speed cannot be increased.

Therefore, in recent years, manufacturers have proposed various automatic inspection devices for printed circuit boards that can automatically perform this type of inspection.

FIG. 6 is a block diagram showing an example of such an automatic inspection device.

The automatic inspection device shown in this figure includes an X-Y table section 2 on which a printed circuit board 1 to be inspected is set, and an
A TV camera 3 takes an image of the printed circuit board 1 to be inspected set on the Y-table part 2, and the image data obtained by this TV camera 3 is compared with the data inputted from the keyboard 4 to create the X-Y table. All the parts 5-1 to 5-n are placed on the printed circuit board 1 to be inspected placed on the part 2.
Whether or not there is, and each of these parts 5-1 to 5-n
A processing unit 6 that determines whether or not the positional shift has occurred, etc., and a display unit 7 that displays the determination result of this processing unit 6.
It is equipped with

Then, as shown in the flowchart of FIG. 7, the worker sets the printed circuit board 1 to be inspected, which has been transported by the carry-in belt conveyor 8, on the X-Y table section 2, and fixes it using the clamp mechanism. When the inspection start switch (path shown in the figure) is operated, the processing unit 6 detects this in step ST1, moves the X-Y table unit 2 to the start position in step ST2, and starts testing the print substrate #fi1 to be inspected. A part of the image is placed in the field of view of the TV camera 3.

Next, in step ST3, the processing unit 6 moves the printed circuit board 1 to be inspected, which is placed on the X-Y table unit 2, to 11@ with the TV camera 3, captures the image signal obtained by this positive image operation, and processes the printed circuit board 1 in step ST4. After processing this image signal (for example, binarization processing), the processing result is checked based on the judgment data input from the keyboard 4, and all the components 5-1 to 5-1 are printed on the printed circuit board 1 to be inspected. 5-n, and whether these parts 5
It is determined whether or not -1 to 5-n have caused a positional shift, etc., and the result of this determination is displayed on the display unit 7.

Thereafter, in step ST5, the processing section 6 checks whether the imaging process has been completed for the entire surface of the printed circuit board 1 to be inspected, and if there is still no transfer t%! If unprocessed areas remain, the process returns to step ST3 and the above-described image transfer process is repeatedly performed on the remaining areas.

Then, when the Ill image processing is completed for the entire surface of the printed circuit board 1 to be inspected, the processing section 6 branches from step ST5 to step ST6, where it displays a message or outputs it by voice. The worker is informed that the processing of the printed circuit board 1 to be inspected is completed.

Then, this worker removes the processed printed circuit board 1 to be inspected from the X-Y table section 2 and conveys it to the conveyor belt 9
When the printed circuit board 1 to be inspected is sent to the next stage of processing, the processing section 6 displays a message or outputs a voice in step ST7 to inform the operator of the unprocessed board. Ask whether there is any printed circuit board 1 left for inspection.

Here, if this worker inputs through the keyboard 4 that there are remaining unprocessed printed circuit boards 1 to be inspected, the processing section 6 returns from step ST7 to step STI, and processes the remaining printed circuit boards 1 to be inspected. The above-described process is repeatedly executed until all processes in step 1 are completed.

(Problems to be Solved by the Invention) By the way, in such a conventional automatic inspection device, when carrying out an image transfer process on the printed circuit board 1 to be inspected, the printed circuit board 1 to be inspected is manually placed on the X-Y table section 2. The problem is that it is difficult to simplify the work and speed up processing because it has to be installed and removed.

Furthermore, this automatic inspection device requires an expensive X-Y table section, so there is a problem in that it is difficult to reduce the cost of the entire device.

In view of the above-mentioned circumstances, the present invention performs divisional imaging processing on a printed circuit board to be inspected without using an expensive X-Y table unit, and inspects for parts falling off or misaligned on the printed circuit board to be inspected. The purpose of the present invention is to provide a board inspection device that can simplify the work and speed up the processing when inspecting the components, as well as reduce the cost of the entire device. It is said that

(Means for Solving the Problems) In order to solve the above problems, a board inspection apparatus according to the present invention provides a board inspection system that processes data obtained by imaging a board to inspect components on the board. The apparatus includes a substrate transport section that moves the substrate in one direction, and an imager transport section that moves an imaging section disposed above the substrate transport section in a direction different from the transport direction of the substrate transport section. It is characterized by

(Embodiment) FIG. 1 is a block diagram showing an embodiment of a board inspection apparatus according to the present invention.

The board search device shown in this figure searches for components 13-1a to 13-1 on a reference printed circuit board 1O-1 (or a printed circuit board to be inspected 10-2) mounted on one stage (or a printed circuit board to be inspected 10-2).
na (or importing the information of parts 13-1b to l3-nb) and comparing the information about one part 13-1a to l3-na with the information about the other part 13-1b to l3-nb According to
The camera is configured to inspect whether there is any positional shift or the like, and includes a belt conveyor section 11, a camera conveyance section 12, an imaging section 15, and a processing section 16.

As shown in FIG. 2, the belt conveyor unit (substrate transport unit) 11 includes an X-direction pulse motor 17 that operates based on an X-direction position control signal supplied from the processing unit 16, and a It includes a drive pulley 40 that is rotationally driven by a motor 17, a driven pulley 41 that is arranged parallel to the drive pulley 40, and a belt 42 that is hung between the drive pulley 40 and the driven pulley 41.
The reference printed circuit board 1O-1 (or the printed circuit board to be inspected 1O-2) carried in by the carry-in belt conveyor (path shown) is automatically transferred from the carry-in belt conveyor onto the belt conveyor section 11. In this state, the belt conveyor section 11 moves stepwise in the X direction, and then the image pickup section 15 picks up a divided image. When this divided image conveyance process is completed, the belt conveyor section 11 moves from the belt conveyor section 11 to the discharge side belt conveyor (not shown). The material is automatically transferred to a road (road) and transported to the next process.

The camera transport unit 12 also includes a Y-direction pulse motor 18 that operates based on a Y-direction position control signal supplied from the processing unit 16, and one end of its screw shaft 44 connected to the Y-direction pulse motor 18 via a coupler 43. The ball screw mechanism 45 connected to the shaft of 18 and the camera mounting table into which the nut 46 of the ball screw mechanism 45 is fitted are mounted on a stand 47 and the four camera stand 47 in the Y direction (direction perpendicular to the X direction). The Y-direction pulse motor 18 operates when a Y-direction position control signal is supplied from the processing section 16 to move the camera. moves the stand 47 in steps in the Y direction.

Further, the imaging unit 15 includes a TV camera 21 fixed to the lower surface of the base 47, and a ring illumination device 2 coaxially provided in front of the lens of the TV camera 21.
2, and the reference printed circuit board 10-1 (
Alternatively, the printed circuit board 1O-2) to be inspected is imaged into m quarters by the TV camera 21 which is being moved step by step in the X direction by the belt conveyor section 11 and step by step in the Y direction by the camera transport section 12. , an image signal obtained by this fi image operation is supplied to the processing section 16.

When in the teaching mode, the processing section 16 receives the image signal (the reference printed circuit board 1) supplied from the Ia image section 15.
0-1 image signal) to the reference printed circuit board 10-1.
A determination data file is created by extracting the parameters of each of the parts 13-1a to 13-na located above, and when in the inspection mode, the image signal supplied from the imaging unit 15 (the printed circuit board 10-2 to be inspected) is image signal) from each component 13-1b~ on the printed circuit board 10-2 to be inspected.
The parameters of l3-nb are extracted to create a data file to be inspected, and this data file to be inspected is compared with the judgment data file, and based on the comparison result, it is determined whether each of the parts 13-1b to l3-nb has fallen off. 2 positional deviation, etc., and the A/D converter 23 and the memory 2
4, a teaching table 25, an image processing section 26, an X-Y stage controller 27, and a CRT display 2.
8, a printer 29, a keyboard 30, and 11 (on I section (CPU) 31).

When the A/D conversion section 23 is supplied with the image signal from the image carrier section 15, it performs A/D conversion (analog-to-digital conversion) to create image data, and supplies this to the control section 31. .

Further, the memory 24 includes a RAM (random access memory), etc., and is configured by the control unit 3.
It is used as a work area.

Furthermore, when the image processing section 26 is supplied with image data via the control section 31, it binarizes this image data and attaches a label (identification number) to each part image. Each component image with a label is sent to the control unit 31.
supplied to

The teaching table 25 is equipped with a floppy disk device, etc., and when supplied with a judgment data file etc. from the control section 31 during teaching,
This is stored, and when the control section 31 outputs a transfer request during inspection, the determination data file and the like are read out in response to this request and supplied to the control section 31 and the like.

Further, the X-Y stage controller 27 is connected to the control section 31.
and the belt conveyor section 11. The belt conveyor section 11 and the camera conveyance section 12 are controlled based on the output of the control section 31, and the camera conveyance section 12 is connected to the camera conveyance section 12.
5, the reference printed circuit board 1O-1 (or the printed circuit board to be inspected 1O-2) is divided into images.

Further, the CR7 display 28 is equipped with a cathode ray tube (CRT), and receives image data from the control section 31.

When the judgment result, key human power data, etc. are supplied, this is displayed on the screen.

Further, when the printer 29 is supplied with the determination result etc. from the control section a 31, it prints it out in a predetermined format.

The keyboard 30 also provides operational information, data regarding the reference printed circuit board 10-1, and the reference printed circuit board 10-1.
The keyboard 30 is equipped with various keys necessary for inputting data, etc. related to the parts 13-1a to 13-na on the keyboard 30, and the information and data entered from this keyboard 30 are transferred to the control unit 3.
1.

The control unit 31 is equipped with a microphone sensor, etc., and operates in a manner such that it hovers over the microphone.

First, when inspecting a new printed circuit board 10-2 to be inspected, the control section 31 performs the steps shown in the flowchart V-t of FIG. 3(B) in step ST1 of the main flowchart as shown in FIG. 3(A). Call the teaching routine 32, and step ST2 of this teaching routine 32
Wait until the reference printed circuit board 10-1 is transferred from the carry-in belt conveyor to the belt conveyor section 11.

Then, a reference printed circuit board 1o is placed on the belt conveyor section 11.
-1, the control section 31 branches from step ST2 to step ST3, where it controls the belt conveyor section 11 and the camera conveyance section 12, and controls the TV camera 2.
The imaging area 33 of the reference printed circuit board 10-1 is located below the reference printed circuit board 10-1.
-1a (see Figure 4) is placed.

After that, the control unit 31 controls the TV camera 21 in step ST4.
The A/D converter 23 converts the image signal obtained by
At the same time, this A/D conversion result (image data of the reference printed circuit board 10-1) is stored in the memory 24 in real time.

Next, the control unit 31 stores the memory 24 in step ST5.
The image data of the reference printed circuit board 10-1 is read out from the image processing unit 26, and the image data is supplied to the image processing unit 26 to be binarized, and each component 13-1 obtained by this binarization processing is
A label is attached to each part image of a to 13-ia (2≦1≦n).

Next, in step ST6, the control unit 31 takes in the image of each component with a label obtained by the image processing unit 26, and determines the position, color, shape, and position of each component 13-1a to 13-1a.
Along with extracting parameters such as morphology, step ST
7, each part 13-1a to 13 from each of these parameters.
-Create judgment data regarding ia.

After this, the control unit 31 controls each component 13-1 in step ST8.
It is checked whether judgment data have been obtained for all parts a to 13-ia, and the step S is continued until judgment data has been obtained for all parts 13-1a to 13-ia.
Steps T6 to ST8 are repeatedly executed.

Then, when determination data has been obtained for all of these components 13-1a to 13-ia, the control section 31 branches from step ST8 to step ST9, where the entire removable area of the reference printed circuit board 10-1 is 33-1 a~3
Check whether the processing for 3-ma has ended.

If there remains an unprocessed image carrying area, the control section 31 returns from step ST9 to step ST3 and repeats the above-described operation.

Then, when the processing is completed for all of the imaging areas 33-1 to 33-m, the control unit 31
Branches to step 5T10, where each of the parts 13
A judgment data file necessary for inspecting the printed circuit board 10-2 to be inspected is created from each judgment data for -1a to 13-na, and after this is stored in the teaching table 25, it is carried out from the belt conveyor section 11. The reference printed circuit board 10-1 is transferred to the side conveyor, and this teaching routine 32 is completed.

Further, when this teaching routine 32 is completed and the test mode is set, the control section 31 calls the test routine 34 shown in the flowchart of FIG. 3(C) at step STI 1 of the main flowchart. Teaching table 2 at step 5T12
5 and the keyboard 30, and the ID number (identification number) of the printed circuit board 10-2 to be inspected, and read out the determination data file from the teaching table 25jp and store these in the memory.

Next, the control section 31 holds T' until the printed circuit board 10-2 to be inspected is transferred from the carry-in side belt conveyor to the belt conveyor section 11 in step 5T13.

Then, when the printed circuit board 10-2 to be inspected is transferred onto the belt conveyor section 11, the control section 31 performs the step 5.
Branches from T13 to step 5T14, where the belt conveyor section 11 and camera conveyance section 12 are controlled to
R of the printed circuit board 10-2 to be inspected is placed below the V camera 21.
An image area 33-1b (see FIG. 5) is arranged.

Next, the control unit 31 controls the TV camera 2 in step 5T15.
The image signal obtained in step 1 is converted into A/D converter 23 by A/D converter 23.
At the same time, the A/D conversion result (image data of the printed circuit board 10-2 to be inspected) is stored in the memory 24 in real time.

Next, the control unit 31 stores the memory 2 in step 5T16.
The image data of the reference printed circuit board 10-2 is read out from 4, and is supplied to the image processing section 26 to be binarized.
A label is attached to each part image of 1b to 13-ib (2≦i≦n).

Next, in step 5T17, the control unit 31 imports each labeled component image obtained by the image processing unit 26, and extracts parameters such as position, color, shape, form, etc. of each component 13-1b to 13-1b. At the same time, data to be inspected is created for all of the parts 13-1b to 13-ib based on each of these parameters.

After that, the control unit 31 controls the memory 2 in step 5T18.
4, each judgment data regarding the imaging area 33-1a in the judgment data file is read out, and each of these judgment data and each of the above-mentioned data to be inspected are respectively compared, and the parts 13 on the printed circuit board 10-2 to be inspected are read out. -1b~13-i
Determine whether b has caused missing 1 position shift, etc.
This determination result is stored in the memory 24.

After that, the control unit 31 returns from step 5T19 to step 5T14, and returns to
The above-mentioned processing for the 11i imager IJ733-2b to 33-mb is sequentially executed.

Then, once the processing has been completed for all of the R image areas 33-1b to 33-nb, the control section 31 branches from step 5T19 to step 5T20, where each component 13-1 stored in the memory 24 is b~13-n
The determination result of b is read out and displayed on the CR7 display 28 or printed out from the printer 29.

In this way, J3 in this embodiment controls the belt conveyor section 11 and the camera conveyance section 12, and controls the TV camera 2.
1 to mth of the reference printed circuit board 10-1 within the field of view of
I! 1 full areas 33-1a to 33-ma (or 1st to mR@areas 33-1b to 33-mb of the printed circuit board 1 to be inspected 10-2) are sequentially positioned, and this reference printed circuit board 1 is 〇-1 (or the printed circuit board to be inspected 1O-2) was imaged separately, so
-Reference printed circuit board 1 without using the Y table part
0-1 to create a judgment data file, or to import an image of the printed circuit board to be inspected 10-2 to create a judgment data file, and to import the image of the printed circuit board to be inspected 10-2 to create a judgment data file.
-1b to 13-nb can be inspected for drop-off, 1-position displacement, etc.

In addition, since an X-Y table section is not required, the reference printed circuit board 10-1 and the printed circuit board 1 to be inspected can be inspected in-line.
0-2, thereby making it possible to simplify the inspection work and speed up the processing, as well as to reduce the cost of the entire apparatus.

(Effects of the Invention) As explained above, according to the present invention, a printed circuit board to be inspected can be divided into image pickup processing without using an expensive Positional deviations, etc. can be inspected, thereby simplifying the work and speeding up processing when inspecting the parts, as well as reducing the cost of the entire device.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the board inspection apparatus according to the present invention, FIG. 2 is a plan view of the belt conveyor section, camera transport section, and R image section shown in FIG. 1, and FIG. 3 (A) is a main flowchart for explaining an example of the operation of the embodiment,
FIG. 3(B) is a flowchart showing an example of the teaching routine of the same embodiment, FIG. 3(C) is a flowchart showing an example of the inspection routine of the same embodiment, and FIG. 4 is a reference printed circuit board of the same embodiment. Fig. 5 is a schematic diagram showing an example of the imaging area set for the printed veneer to be inspected in the same example, and Fig. 6 is a schematic diagram showing an example of the imaging area set for the printed veneer to be inspected in the same example. FIG. 7 is a block diagram showing an example of an inspection device, and a flowchart showing an example of the operation of this automatic inspection device. 10-1... Board (reference printed circuit board>, 1o-2.
... Board (printed circuit board to be inspected), 11... Board transport section, 12... Ti image section transport section (camera transport section), 15
... ml image section, 16... processing section. Patent Applicant Tateishi Electric Co., Ltd. Agent Patent Attorney Hyakuji Iwaji (1 other person) Figure 4 Figure 5\13-mb

Claims (1)

[Claims] In a board inspection apparatus that processes data obtained by imaging a board to inspect components on the board, the board transport section moves the board in one direction, and the imaging device is arranged above the board transport section. 1. A substrate inspection apparatus, comprising: an imaging device transport section that moves the image pickup device in a direction different from the transport direction of the substrate transport section.