KR20210042775A - Handler for managing electronic components and recording midium - Google Patents

Abstract

The present invention relates to a handler for handling electronic components. The present invention stores a reference information value (number or form) for the electronic components, obtains a comparison information value from an image obtained by photographing a lower surface of a tray loaded with the electronic components, and then compares the reference information value and the comparison information value. According to the present invention, since loading failure is basically determined through the comparison of numerical information, reliability of the determination of the loading failure can be guaranteed.

Description

Handler and recording medium for processing electronic parts {HANDLER FOR MANAGING ELECTRONIC COMPONENTS AND RECORDING MIDIUM}

The present invention relates to a loading miss of an electronic component in a handler for processing an electronic component.

Produced electronic parts are shipped through several processing processes (testing, sorting, etc.).

In various processing processes for electronic parts, dedicated handlers for handling electronic parts are used.

Handlers can be manufactured in various forms depending on what processing process they are used in. Among the various types of handlers, many types of handlers use trays as a medium for transporting electronic components. One of the reasons for using a tray is to increase processing capacity by processing a large number of electronic components together.

However, in order to process (test, sort, etc.) electronic components loaded on the tray, the electronic components must be properly loaded on the tray. If electronic components are not properly loaded in the tray, defects may occur in the processing operation. Therefore, it is necessary to check whether electronic components are properly loaded in the tray before processing.

There can be several causes of poor loading. For example, a defective loading operation, a defective loading area on a tray, or an electronic component itself may cause a poor loading. The importance of the inspection of such poor loading is increasing as electronic components become increasingly finer.

First, the failure of the loading operation means that an error occurs in the process of loading the electronic component into the tray, and thus the electronic component is not properly seated on the tray. In general, the loading operation can be done by itself in the handler or by other equipment. In most cases, a handler with a tray has a loading device, but some types of handlers receive trays that have been loaded from other equipment. However, in any case, since the handling operation of the handler can be properly performed only when the loading operation is properly performed, it is necessary to check the loading failure for the tray on which the loading operation has been performed.

A defective loading area refers to a case in which an electronic component cannot be properly seated on the tray due to a defect in a latch that fixes the electronic component in the tray or a mechanical defect in the part where other electronic components are seated.

Defects of electronic components themselves occur due to various tolerances or improper production processes in the process of producing electronic components. For example, a defect may occur in the size of a terminal or a gap between the terminals of an electronic component, or a defect may occur in the entire standard, resulting in a poor loading.

Conventionally, a business operator operating a handler has used a program capable of recognizing poor loading.

Initially, after storing a normal image (reference image) to be a reference in order to determine a loading failure, a loading failure has been determined by comparing the stored reference image with a photographed comparison image (first prior art). However, in this method, the inspection speed is slow because the entire reference image versus the entire comparison image must be compared. In addition, when distortion occurs due to a shadow of another apparatus in a region where the cause of the defect cannot be generated, it may be determined that the defect has occurred because the reference image and the comparison image are different from each other, and thus the accuracy of the inspection is also degraded.

Therefore, a reference image is saved by manually or automatically individually designating a specific area where loading failure may occur, such as a specific area of the tray (e.g., a latch area) or an area with a terminal of an electronic component, and the saved specific area is compared. A program has been developed that compares with specific areas of (2nd prior art). Therefore, it is possible to reduce the comparison time and improve the accuracy of the inspection through comparison between specific areas.

However, in any case mentioned in the prior art above, since a camera must be used to acquire a reference image, there are the following problems.

First, it was not possible to deliver the handler to consumers who use the handler in a state where the supplier that produces and provides the handler can determine the loading failure. This is because even though the camera captures the same part, different images are captured due to various lighting environments or colors of electronic components, so that the reference images may be obtained differently depending on the situation. However, since the lighting environment in which the handler is used is different for each of the various consumers, the task of acquiring a reference image or setting a specific area to be compared must be done as a task in the process of installing the handler at the consumer's workplace. In addition, the lighting environment of the workplace can change at any time, and accordingly, the tricky task of acquiring a reference image has to be repeated.

Second, since the consumer arbitrarily selects a specific area of the reference image, the result is each, and even if the second prior art is applied, errors that are not much different from the first prior art in terms of accuracy of inspection continue to occur. In addition, errors may occur depending on who (which manager) designates a specific area, so the reliability of the inspection could not be uniformly guaranteed.

In addition, in order to obtain a precise reference image, the camera must be of high-performance and expensive, and the skill of the workers must be high, and there are various constraints such as the need to always approach with the same judgment.

In addition, when storing a reference image, the image data has a large capacity and is limited by the shooting area for acquiring the reference image, so there are limitations to the installation of photographing equipment and the space to focus the camera at each time. Because it has to be done, it is accompanied by bloated handlers.

Republic of Korea Patent Publication No. 10-0717882

The object of the present invention is as follows.

First, it provides a technology that can produce the same test result for poor loading regardless of what kind of site environment or what manager sets it up.

Second, since the type of loading defect can be identified, it provides a technology to eliminate the cause of the loading defect or establish an improvement plan.

Third, it provides a technology that allows the inspection to be properly performed even when a relatively inexpensive camera is used.

The electronic component processing handler according to the present invention comprises: a processing device that performs a processing task required for an electronic component loaded in a tray; A camera that photographs a lower surface of the tray to detect a loading failure of electronic components loaded on the tray; A transfer device for transferring the tray so that some of the electronic components loaded on the tray in a matrix form are exposed to the viewing angle of the camera; And a control device that controls each of the above components and determines whether or not loading is defective by comparing a comparison information value obtained from an image captured by the camera with an actual reference information value input in advance. Including, the control device controls the transfer device so that the electronic components loaded in the test tray are sequentially exposed to the viewing angle of the camera while the tray moves and stops through a plurality of steps, and when the test tray stops The camera is controlled to photograph the lower surface of the test tray.

The cameras are installed so that the center line of the viewing angle has a certain angle inclination on the vertical line, and the cameras are provided in a direction parallel to one side of the test tray perpendicular to the moving direction of the test tray moved by the moving device. do.

The control device includes: storage means for storing reference information values for electronic components; Obtaining means for obtaining a comparison information value for an electronic component from the image obtained by the camera; And determining means for determining a loading failure of an electronic component by comparing the reference information value with the comparison information value. Includes.

The reference information value is a numerical value for a physical standard of an electronic component to be actually processed, the comparison information value is a numerical value for a physical standard obtained from an image captured by the camera, and the control device compares the reference information value. And a setting means for setting a matching ratio of the comparison information value, wherein the determination means determines a loading failure based on a matching ratio between the reference information value and the comparison information value set in advance.

In addition, the electronic component processing handler according to the present invention includes a storage function for storing reference information values for the electronic component; -The reference information value includes numerical information-an acquisition function of obtaining a comparison information value that can be compared with the reference information value from an image of an electronic component acquired by a camera; And a determination function of comparing the reference information value and the comparison information value to determine a loading failure of the electronic component. Have.

The acquisition function may obtain a comparison information value for a terminal of an electronic component by applying a binary method in which the brightness of a pixel is changed to 0 and 1 based on a predetermined brightness.

After applying the binary method, the acquisition function adds up the number of pixels in the horizontal and vertical direction, and if the total number of pixels is greater than or equal to a predetermined standard, it is set to 1, and if the number of pixels is lower than that, it is changed to 0 to obtain the result data. The terminal can be detected by calculating the original image acquired by the and camera as an AND condition.

It may further have a setting function capable of setting a matching ratio to determine a loading failure based on a matching ratio between the reference information value and the comparison information value.

The determination function may determine a loading failure by comparing a numerical conversion value obtained by converting a reference information value and a numerical conversion value obtained by converting the comparison information value.

The storage function can further store information on the specifications of the tray, and the determination function uses the information on the specifications of electronic parts and trays as the reference information value, thereby determining not only the loading defects but also the defects of electronic parts and trays. can do.

According to the present invention, there are the following effects.

First, it is sufficient to input the numerical values of all configurations, so the setting work for grasping the loading failure becomes easy.

Second, the reliability can be guaranteed without the need to rely on the skill level of the operator (manager) for the setting work to identify the loading failure.

Third, it is possible to accurately determine the loading failure regardless of the lighting situation of the space where the handler is used or the specifications of all devices for shooting, and it is possible to reduce the production cost by using a relatively inexpensive camera.

Fourth, it is possible to improve the processing speed of the handler ultimately by speeding up the judgment process through numerical comparison.

Fifth, the accuracy of the inspection can be further improved through correction of the captured image.

Sixth, since the cause of the loading failure is also identified, future countermeasures for the loading failure can be devised.

1 is a schematic diagram of a tray applied to a handler according to the present invention.
2 is a conceptual plan view of a handler according to the present invention.
3 is a schematic perspective view of a main part of the handler of FIG. 2.
4 is a functional diagram of a control device applied to the handler of FIG. 2.
5 is a flowchart illustrating an operation of determining a loading failure in the handler of FIG. 2.
6 is a simplified example of image correction performed in the handler of FIG. 2.
7 to 14 are reference diagrams for explaining an example of obtaining a comparison information value and comparing a reference information value with a comparison information value.
15 to 19 are reference diagrams for explaining another example of detecting a terminal.
20 is a flowchart illustrating an overall flow according to an example of determining a loading failure using a terminal.

A preferred embodiment according to the present invention will be described with reference to the accompanying drawings, but for the sake of brevity, descriptions of redundant or substantially identical configurations will be omitted or compressed as much as possible.

<Brief description of the tray>

The tray (T) may refer to, for example, the technology of Korean Patent Application Laid-Open No. 10-2008-00406541.

1A and 1B are schematic plan and bottom perspective views of the tray T.

The tray T includes a frame F and inserts I.

The frame (F) constitutes the skeleton of the tray (T), and the inserts (I) are installed in the frame (F) in a 16×6 matrix form.

The insert (I) has a seating space in which an electronic component is seated, as well-known, and has a latch for fixing the electronic component seated in the seating space.

In addition, the tray (T) of FIG. 1 has a structure in which four inserts (I) having an arrangement of 2×2 are fixed to the frame (F) by one bolt (B). Here, the center point where the bolt (B) is located acts as a reference point (M, Marker) in the image for the area where the four inserts (I) are located, as will be described later.

On the other hand, the insert (I) has a support jaw or a support film for preventing the electronic component seated in the seating space from being separated from the lower side, as is well known.

<Brief description of the handler>

FIG. 2 is a schematic plan view of a handler 100 according to an embodiment of the present invention, and FIG. 3 is a schematic perspective view of a main part of the handler 100 of FIG. 2. The handler 100 of FIG. 1 takes an example in which both a loading operation of loading an electronic component into the tray T and an unloading operation of unloading an electronic component from the tray T are performed. In addition, the tray T circulates along a certain circulation path C, and electronic components are loaded, unloaded, or tested at specific locations on the circulation path C.

The handler 100 according to the present embodiment includes a loading device 110, a connection device 120, an unloading device 130, a transfer device 140, a camera device 150, a cleaning device 160, and a control device ( 170) and an input device 180.

The loading device 110 loads the electronic component to be tested onto the tray T. In this embodiment, the loading device 110 is paired with the transfer device 140 so that the transfer and loading of the tray T are performed in connection with each other. At this time, as is well known, a loading opening device (OA) for opening the inserts (I) of the tray (T) for the operation of the loading device (110) may be provided below the loading device (110).

When the tray (T) is located at the test position (TP) on a certain circulation path (C), the connector 120 electrically connects the electronic components loaded on the tray (T) to the tester (TESTER) to test the electronic components. To be able to be. In this embodiment, the processing task required for the electronic component is a test task, and for this purpose, the connection device 120 performs a task of electrically connecting the electronic component to a tester, so that the connection device 120 is an electronic component. It functions as a processing device that performs the processing work required for it. If a handler merely classifies electronic parts, classification components for classifying electronic parts will function as a processing device.

The unloading device 130 unloads the electronic components on which the test operation has been processed from the tray T, and classifies the electronic components according to the test result. Likewise, as is well known, an unloading opening device for opening the inserts I of the tray T for the operation of the unloading device 130 may be provided below the unloading device 130.

The transfer device 140 transfers the tray T in which the electronic component is unloaded in stages on the circulation path C. In this way, when the tray T is transferred in stages by repeating movement and stopping by the transfer device 140, the loading operation by the loading device 110 and the unloading operation by the unloading device 130 are sequentially performed. Technical matters related to the transfer and loading operation of the tray (T) may refer to Korean Patent Laid-Open No. 10-2008-0008661 (prior art), but the present invention must be carried out with loading and unloading operations specified in the prior art. It is not limited to the structure for the work.

As shown in FIG. 2, the camera device 150 includes eight cameras 151 in a row and photographs the lower surface of the tray T. The camera device 151 is located at the rear end of the position where the loading operation is performed on the circulation path C when the tray T is transferred by the transfer device 140, and in this embodiment, one camera 151 is It is supposed to shoot a total of 4 inserts (I) in a 2×2 arrangement. That is, some of the electronic components (32 in 2 rows in this embodiment) loaded in the tray T by the stepwise transfer of the tray T by the transfer device 140 are step by step according to the viewing angle of the camera 151 After being exposed, the camera 151 photographs an area exposed to its own viewing angle. This camera device 150 will be described in more detail later.

The cleaning device 160 periodically cleans the lenses of the cameras 151 by blowing air. Therefore, since dust or foreign matters generated in the operation process of the handler 100 or in the workplace are continuously removed, distortion of the image due to foreign matters sticking to the lens is significantly reduced. That is, due to the image distorted by foreign substances due to the cleaning device 160, the probability of being determined as a loading failure can be significantly reduced.

The control device 170 controls each of the above-described components. In particular, the control device 170 moves and stops the unloaded tray T through a plurality of steps on the circulation path C, and the electronic components loaded in the tray T sequentially display the viewing angle of the camera 151 The loading device 110 and the loading device 110 control the transfer device 140 so that it is exposed to, and perform a loading operation of an electronic component to be tested and a photographing operation of photographing the bottom surface of the tray T when the tray T stops. Control the camera 151.

The input device 180 is provided to input necessary information to the control device 170. Such an input device 180 may be provided so that the manager directly inputs it to the handler 100, but it is also provided so that the required reference information value is input to the handler 100 from a server at an upper level through a communication network installed in the workplace. It can be fully considered. Of course, there are any number of input devices 180 provided so that a method of directly inputting a required reference information value to the handler 100 or a method of inputting a required reference information value to the handler 100 from an upper-level server through a communication network are parallel. It is possible. However, in the present embodiment, it is implemented to input the reference information value through a separate input device 100, but depending on the implementation, a method of obtaining and storing the reference information value from the normal image obtained through photographing may be sufficiently considered. I will be able to. Here, the reference information value for the insert (I), etc. may be previously stored or input in the handler 100, and the reference information value for the electronic component is implemented to be received from the upper server of the customer who purchases the handler 100 through the internal communication network. It could be. Furthermore, the reference information value for the electronic component may be implemented to be input to the handler 100 through an automatic supply device (OHT) for supplying the tray (T) or an automatic moving vehicle (AGV). That is, a path through which the reference information value accompanying the handler 100 and the reference information value accompanying the electronic component are input may be different.

For reference, the handler 100 of FIG. 2 is an example of a handler 100 used for a test operation among a number of processing operations for electronic components, but the present invention provides various processing operations (for example, classification operations) in addition to the test operation. Etc.) can be applied to all types of handlers. That is, in this embodiment, the connection device 120 serves as a processing device for electrical connection between an electronic component and a tester, which is a processing task required for an electronic component, but depending on the shape of the handler As mentioned above, a variety of processing devices required according to the application can be applied.

In addition, the handler 100 of FIG. 2 is provided with a loading device 110 and an unloading device 130, but depending on implementation, the tray T in a state in which loading of electronic components is completed may be supplied to the handler. Therefore, the loading device 110 and the unloading device 120 are only configurations that can be selectively provided according to the type of handler.

<Description of the main parts>

Further reference is made to FIG. 3.

3, the tray (T) is transferred in stages by the transfer device 140 while repeating the stop and transfer, and loading and unloading by the loading device 110 and the unloading device 130 in connection therewith. The work is done.

When the tray T is stopped, the loading device 110 loads a total of 32 electronic components in two rows into the tray T, and for this purpose, the opening device OA opens the 32 inserts I. In addition, a photograph is taken of the 32 electronic components loaded in the tray T immediately beforehand.

The camera device 150 is provided with eight cameras 151 arranged in a line in the front-rear direction, and one camera 151 photographs the bottom surfaces of four inserts I in an approximately 2×2 arrangement. Accordingly, the camera device 150 photographs a total of 32 inserts I and the bottoms of the electronic components at once.

In this embodiment, the center line CL of the viewing angle of the cameras 151 provided in the camera device 150 is inclined at a certain angle θ with respect to the vertical line PL. That is, the camera 151 is not provided directly under the insert (I or electronic component) to be photographed, but is provided at a predetermined interval in the horizontal direction in an inclined state. This takes into account not only the installability of the camera device 150 but also the case in which the support film is a configuration supporting the electronic component. For example, since the support film reflects light, an image photographed by the camera 151 may be distorted by the reflected light. Accordingly, by tilting the center line CL of the viewing angle of the camera 151 at a certain angle with respect to the vertical line PL, distortion of the image due to reflected illumination is minimized even when the support film is provided on the insert I.

On the other hand, when the tray T is stopped, the loading and unloading work and the photographing work are performed together, so that the processing time can be shortened by that amount.

The cleaning device 160 periodically blows air strongly to the lens of the camera 151 to remove foreign substances from the lens.

<Description of the control device>

As shown in FIG. 4, the control device 170 includes a storage means 171, a correction means 172, an acquisition means 173, a determination means 174, and a setting means 175.

The storage means 171 stores reference information values for electronic components input through the input device 180. The stored reference information values may be information values for the insert I or the tray T constituting the tray T, or information values for electronic components.

First, the information values for the inserts (I) are the shape of the latch that holds the electronic component, the plane area or the length of one side of the seating space, information on whether the insert (I) is provided with a supporting jaw or a supporting film, and a reference point ( It is a value such as the distance from M) to the insert (I) or information on the shape of the support jaw.

In addition, the information value for the electronic component is information on the length or shape of the sides of the electronic component, the position of the terminals, the diameter of the terminal, the spacing between the terminals, the number of the terminals, the arrangement type, and the like.

In other words, unlike the prior art for storing a reference image, in the present invention, reference information values such as numerical values and shapes (for example, at what position from the reference point, in what configuration, in what form, in what size or area, etc.) are It is stored in the storage means 171. In addition, although all the reference information values may be used as a factor for determining the loading failure, recognition speed by specifying only the information values for the feature region among the reference information values and using only the information value for the feature region as a factor for determining the loading failure. It may be implemented to improve To this end, it may be considered to be preferably implemented so that the administrator designates and sets only information values for the feature portion.

The correction means 172 corrects the distortion of the image due to the inclination of the illumination or the camera 151 in the field. Therefore, regardless of the inclination of the viewing angle of the camera 151, the corrected image is corrected as if the camera 151 photographed the insert I directly under the insert I, and In spite of the shadows, it is transformed uniformly. However, since the correction of easy support is a matter that can be solved through a more specific calculation algorithm, the correction means 172 may be omitted.

The acquisition means 173 acquires various comparison information values that may correspond to the reference information values from the corrected image after being obtained by the camera 151.

The determination means 174 compares the reference information value and the comparison information value to determine the loading failure of the electronic component. Here, the determination means 174 may be implemented to determine that there is no loading defect only when the reference information value and the comparison information value match 100%, but if the comparison information value falls within a certain matching ratio with respect to the reference information value, there is no loading defect. It may be implemented to judge. For example, if the matching rate is 98%, if there are 100 terminals of the electronic component according to the reference information value, but 98 terminals of the electronic component are detected in the comparison information value, this means that it can be determined as an appropriate loading state. . In other words, when electronic components with hard solidified physical properties are seated in an inclined position on the insert (I) due to poor loading, one or two terminals of the electronic component are not covered. As a result, a large number of terminals are omitted from the image at once, and this phenomenon may occur more when the electronic component is supported by the supporting film. Therefore, for example, if 98 terminals are detected, it is not unreasonable to judge that it is a normal loading state. In addition, even when the electronic component is seated at a slight angle, it may be determined that loading is appropriate if the electronic component is distorted within a normal range according to the degree of distortedness. Here, the matching ratio may be preferably considered to be implemented to be set by an administrator based on results obtained through various experiments.

For reference, it is preferable that the matching ratio varies depending on whether the insert (I) has a supporting jaw or a supporting film. Unlike the case of the support jaw, in the case of the support film, the terminals are inserted into the protruding holes, so while the terminals are located within an appropriate range on the photographed image, the size of the support film is large enough to be seen as a terminal for reasons such as slightly hanging over the protruding holes. It may not appear on the image. In addition, in the process of installing the support film, there may be a place where a part of the support film is installed, and in this case, even if the terminal is in a normal position, the terminal may not protrude sufficiently through the protruding hole and may protrude only slightly, and diffuse reflection of light. This may prevent proper marking of the terminal. In such cases, a case in which the terminal portion is erased may occur when a binary method, which will be described later, is performed. Therefore, several more improvements can be added. For example, a method of making the lighting brighter or increasing the amount of light can be applied, and optimization can be achieved by increasing the gain value of the camera 151 (for example, changing the brightness of 5 to the brightness of 10). . In addition, it may be considered that a pixel having light above the reference level is counted as an area where the terminal exists, rather than comparing the size with an actual terminal. In addition, it is necessary to lower the matching ratio when the insert (I) has a supporting film than when the insert (I) has a supporting jaw. That is, for example, if the matching rate when the insert (I) has a supporting jaw is 98%, the matching rate when the insert (I) has a supporting film is lower than 90% or 80%, etc. I can. It is desirable to set this matching rate after confirming that the matching rate is normal through various experiments.

The setting means 175 supports various necessary settings such as an inspection area or a matching ratio.

<Description of the operation method of the main parts-see FIG. 5>

1. Save reference information value <S501>

The storage means 171 stores a reference information value coming from an upper level by a manual input by an administrator or an automated process. To this end, a dedicated program installed in the control device 170 has a function of storing reference information values. Here, the reference information value is a numerical value for a physical standard of an electronic component to be actually processed, and may be as follows.

For example, the reference information values for electronic components include the number of terminals of the electronic component, the distance between the terminals, the arrangement of the terminals (array type or the aspect ratio of the array), the diameter (size) of the terminals, and the electronic component. The XY standard (area), the number of electronic components, the inclination of the arranged terminals (when the terminals are not on the same plane), the arrangement of the terminals (rectangular shape, ring shape), etc. may be used.

The reference information value for the tray (T) is the distance between the inserts (I) from the reference point (M) (the distance between the electronic components), the shape of the bottom of the insert (I), the ratio of the width and height of the insert (I), It may be a gap between the inserts (I), a shape of a latch seen from below, and the like.

2. Inspection area setting<S502>

The setting of the inspection area is made once in situations such as changes in the standard of the electronic component to be processed during the initial handler setting process. After that, the inspection is automatically performed on the set inspection area. Specific examples related to the setting of the inspection area will be described later.

3. Electronic component loading<S503>

When the manager operates the handler 100 while the reference information value is stored, the handler 100 starts to perform a test process on the electronic component by a predetermined process. In this case, the first operation to be performed is an operation in which the loading device 110 loads 32 electronic components in two rows on the tray T.

4. Tray transfer and stop<S504>

When 32 electronic components in 2 rows are seated on the 32 inserts I in 2 rows, the transfer device 140 operates to move the tray T by 1 step. And the tray (T) is stopped for loading and photographing.

5. Shooting with the camera <S505>

When the tray T is transferred one step in step S503 and then stops, the control device 170 operates the loading device 110 and the camera device 150 to perform a loading operation and a photographing operation.

That is, the cameras 151 photograph the bottom of 32 inserts (I) in 2 rows and 32 inserts (I) in which the electronic parts are loaded, and the loading device 110 then attaches the electronic parts to the 32 inserts (I) in 2 rows. Load them.

6. Image correction <S506>

Since the center line CL of the viewing angle of the camera 151 is inclined to the vertical line PL and a certain angle θ, the photographed image is distorted by the inclination and distortion occurs according to the lighting situation of the field. Accordingly, the correction means 172 corrects the image by reflecting the degree of inclination of the camera as in the example of FIG. 6. Of course, in order to perform such a task, a dedicated program must have a function to correct the image. At this time, the center point of the electronic component can be calculated from the center of the insert (I), and image processing can be performed with a standard slightly larger than the XY standard of the electronic component. Simplification can also be fully considered. Of course, since the correction of the image is a process performed for more accurate comparison, it may be sufficiently considered to omit the correction of the image if it can be obtained by calculating an accurate comparison information value from the original image.

7. Acquisition of comparison information value <S507>

The acquisition means 173 acquires the comparison information value from the image corrected in step S506. At this time, the acquisition means 173 acquires a comparison information value, which is a numerical value for a physical standard of an electronic component obtained from an image such as the number of terminals in the inspection area, an interval between terminals, a size of a terminal, and a latch. In this case, if the example of converting the reference information value to the resin conversion value is followed, the comparison information value is obtained and converted into a numerical conversion value.

This will be described in more detail with one example.

7 illustrates an image taken when an electronic component is normally seated when a supporting jaw is provided in the insert (I).

7A is an image captured by the camera 151. The image in (a) is converted to (b) through the binary method. Here, the binary method refers to a method of resetting the brightness by determining the brightness of each pixel as 0 and 1. For example, if the brightness of each pixel ranges from 0 to 10, the starting point is 5, the bottom is 0, and the top is 10. This is the transition from (a) to (b). Then, by removing the noise (N) other than the terminal in the state of (b) with basic information (diameter, shape, spacing between terminals, etc.) about the previously input terminal, a comparison image as shown in (c) is obtained. Referring to (c), noise (N) is treated as an afterimage. This is to allow the administrator to check which has been erased, so in some cases, it is possible to remove noise without leaving an afterimage.

7 is described as going through (b) in the process from (a) to (c) for convenience of explanation, but since it is changed at a time by algorithm, in reality (a) to (c) rather than (b) It is safe to understand that it is converted to immediately. By doing this, it is possible to accurately obtain comparison information values (number of terminals, etc.) from the comparison image.

Of course, it is also possible to follow an example of converting the comparison information value into a numerical conversion value necessary for comparison, such as the total horizontal and vertical lengths of the terminals arranged and the shape accordingly, while acquiring the comparison information value.

8. Comparison and judgment of reference information value and comparison information value <S508>

When the comparison information value (for example, the number of terminals) is obtained in step S507, the determination means 174 compares the comparison information value and the reference information value to determine the degree of match.

As mentioned above, if the comparison information value is within the matching range of the reference information value within the preset matching ratio, it is determined that the loading has been properly performed. Here are some examples of this judgment.

For example, if the number of terminals of an electronic component is 100 and all 100 are visible, it is naturally determined to be normal. However, if the number of terminals of an electronic component is 100 and 98 are visible, this is considered normal because there are occasional cases in which it is not visible due to an instantaneous abnormal lighting or a shadow of an apparatus.

In addition, if the distance between the terminal and the terminal is 0.5 mm, but it is detected as 0.4 mm, it is judged as abnormal. In addition, if 10 terminals are arranged in a 4.5 mm length and are detected as being arranged at a smaller or longer distance than this, it is determined to be abnormal, and this can be recognized from the distance on the X-Y plane. Likewise, determination may be performed for these intervals in consideration of a certain matching ratio.

In this process, some of all the numerical information of the reference information value may be used as it is, or a more simplified numerical conversion value may be created through a combination of some and the reference information value and the comparison information value may be compared using the corresponding numerical conversion value. . Here, the numerical conversion value means arbitrarily simplifying the shape, area, and length of a number. For example, the coordinates of the reference point (M) are fixed at (0, 0), and the terminals of the electronic component range from the (1cmm, 1cmm) coordinates in the diagonal direction from the reference point (M) to the (2cmm, 2cmm) coordinates. Is formed, and the number of terminals in the region is approximately 10, and the form in which the terminals are arranged is a rectangle (or diamond, triangle, etc.), and a numerical conversion value is generated, and then the numerical conversion value and the obtained comparison information value are compared. It can also be implemented. In addition, as another example, it may be sufficiently considered to compare only the values of the outermost terminals among the terminals. Of course, when the reference information value is transformed into a numerical conversion value, it is necessary to transform the comparison information value into a numerical conversion value and compare it.

Here, the matching according to the comparison between the reference information value and the comparison information value may be performed by gradually expanding the area starting from the reference point M.

The above comparison process will be described in more detail.

Referring to FIG. 7, since the number of terminals according to the obtained comparison information value is 39×2 and the actual number of terminals of an electronic component is 39×2, the case of FIG. 7 is determined to be normal.

However, referring to FIG. 8, if the image of (a) is subjected to the binary method, it becomes (b), and if the basic information is compared and ultimately only terminals that match the basic information are left, it becomes (c). Therefore, when comparing the comparison information value or the numerical conversion value that can be obtained from the image in (c) with the preset input basic information value, both do not match. So, in this case, it is judged as poor loading. Of course, as mentioned above, it may be implemented to apply a certain matching ratio in determining whether it is normal or poor loading.

9 and 10 are a binary method as shown in FIGS. 7 and 8 above, and FIG. 9 shows a case in which the S side of the electronic component is lifted and is defectively seated in the insert I, and FIG. 10 is the electronic component. It shows a case where the insert (I) is poorly seated in the state of being twisted at a certain angle.

For reference, if you look at the image in (b) of FIG. 8, it can be seen that two terminals are attached. This is because the electronic components are also inclined while the camera 151 is inclined at a certain angle, so that the terminals that are adjacent to each other appear attached to each other due to the shooting angle of the camera 151. Because it is large or long, it is erased in (c). As such, since the camera has an inclined irradiation angle from a vertical line, it is possible to more precisely identify the loading failure of electronic components.

Meanwhile, FIGS. 11 to 14 show a process in which a binary method or the like is applied when a supporting film is provided in the insert (I).

11 illustrates a case where an electronic component is normally seated, FIGS. 12 and 13 illustrate a case where a loading failure occurs due to an S- side portion of the electronic component, and FIG. 14 illustrates a case where the electronic component is not mounted. Here, FIG. 12 is an image where the S side is more excited and the terminals are crushed, and FIG. 13 shows that the S side is more excited than that of FIG. 12.

9. Jam occurrence<S509>

If the loading is appropriate, the control device 170 continues the operation for inspecting the loaded state of the next 32 electronic components in two rows, but generates a jam if it is determined that the loading is poor.

In this process, as mentioned above, the cause of the loading failure may be an error in a loading operation, a defect in an electronic component itself, a structural error in the tray T, and the like. These will be described by way of example.

First, when the number of terminals of the obtained electronic component is much less than the input reference information value, it may be determined that the electronic component is loaded in an inclined state. That is, in this case, it may be determined that a defect has occurred in the loading operation.

If the distance between the terminals of the electronic component is out of the distance between the terminals in the reference information value, it may be identified as a defect of the electronic component itself, and this may be determined as a defect in the production process of the electronic component.

In addition, if a distance value or a shape of a latch between the latches at the reference point M among the comparison information values differs from the reference information value, it may be determined that the latch is defective.

In other words, according to the present invention, not only a defective loading operation, but also a defect of the tray T (including a defect of the insert) or a defect of the electronic component itself can be determined. It makes it possible to know more clearly if it is caused by.

As the above processes are repeated, dust or foreign substances may adhere to the camera due to the continued operation of the handler 100, so that the cleaning device periodically cleans the lens of the camera.

On the other hand, although one camera 151 may be provided to photograph only one electronic component, as in the example of FIG. 6, one camera 151 is provided to take care of four electronic components in a 2×2 matrix arrangement. It is more desirable to reduce the number of cameras to lower production costs and to facilitate design. Therefore, it is necessary to initially set the inspection area. The setting of the inspection area may be implemented so that the administrator designates the area with a mouse. However, for more convenience, it may be implemented to automatically set the inspection area.

For example, as mentioned above, a method of setting the inspection area by calculating the distance from the reference point M may be applied.

However, it may be difficult to place a separate reference point (M) due to the structure of the tray (T), and in this case, a cluster of terminals in the reference area set to be somewhat rough while the electronic components are normally seated on the tray. It can be done in a manner of setting up a total of four inspection areas by searching for and calculating the distance from the corresponding cluster. Of course, since there may be various tolerances or flow of the insert (I), it is necessary to set a little wider than the inspection area than the cluster area of the actual terminals.

<Another example of the terminal detection method>

The present invention is particularly suitable for determining a loading failure by detecting a terminal of an electronic component. Therefore, as mentioned above, the terminal may be detected using a method such as comparing with the size of the actual terminal after passing through the binary method, but it may be implemented to detect the terminal through another example. The method to be introduced here can be preferably applied when the size of the terminal is very fine and there is a high possibility that defects may occur in the size comparison.

1. Take an image

First, the surface of the electronic component on which the terminal is located is photographed using the camera 151.

2. Application of binary method

The image shown in FIG. 15 is obtained by applying the aforementioned binary method to the captured image.

3. Sum of pixel values and change data

Then, the number of pixels in the horizontal and vertical directions are added. For example, in the vertical direction, when the number of pixels is added, a graph as shown in FIG. 16 can be obtained. If the number of pixels summed from the result data is greater than or equal to the reference value, it is determined as 255, and if it is below that, it is changed to 0 to obtain graph data as shown in FIG.

4. Finding the location of the starting and ending points

Find the starting point and the ending point in the graph of the result data. For example, if the value of the current position is -255, it is the start point, and if the value of the next position is +255, it is the end point.

5. Creating an effective area image

When the horizontal and vertical operation is performed as described above, an effective area image in which the effective area is displayed (a part marked in white is an effective area in which the terminal should be positioned) is generated as shown in FIG. 18B. Such an effective area image can be obtained by leaving only the area in which the horizontal and vertical data overlap in the image of (a) drawn through the summation of the number of horizontal and vertical pixels and data change.

6. Terminal detection

Thereafter, as shown in FIG. 19, the effective area image and the original image acquired by the camera 151 are calculated under an AND condition to obtain a final image from which noise has been removed, thereby accurately detecting the terminals.

This terminal detection method may be utilized when setting the inspection area during the initial setting process or when obtaining a comparison information value.

<Explanation of an example of the overall flow>

Since the flowchart of FIG. 5 shows a general flow, an example of a detailed flow of determining a loading failure through comparison of terminals to which a method using pixel values is applied in the initial setting process and the terminal detection process will be described.

1. Input standard information such as terminal diameter and number of terminals <S501>

Standard information such as the diameter or number of terminals of the electronic component is input. The input at this time may be transmitted to the handler 100 from the server at the upper level. Of course, manual input by the administrator can be considered so that any number of parallel inputs can be performed. In this process, the matching rate is also input and set.

2. Shooting for setting the inspection area <S502-1>

When the manager supplies the electronic components to the handler 100 with the electronic components normally seated on the tray T and inputs a setting command, the camera 151 captures the bottom of the electronic component.

3. Cluster search of terminals for setting inspection area <S502-2>

Since the image captured by the camera 151 captures a wider area including four electronic components, a cluster of terminals is first searched in one direction on the image.

4. Detecting terminals for setting inspection area <S502-3>

After applying the binary method to the cluster searched in step S502-2, the terminal is detected through processes such as summing pixel values, changing data, finding the location of the start point and the end point, and generating an effective area image.

5. Comparison and judgment for setting inspection area <S502-4>

When the terminals are detected in step S502-3, it is determined whether the searched cluster is an appropriate cluster of terminals by comparing the number and diameter of the detected terminals with a reference information value. If it is not an appropriate cluster, the process returns to step S502-2 again.

6. Setting the inspection area according to the reference information value <S502-5>

If it is determined in step S502-4 that it is a cluster of appropriate terminals, the areas of the remaining three clusters are calculated based on a distance and direction separated from the cluster, and then a test area including the clusters is set. In this case, in consideration of various design and installation tolerances, the inspection area is preferably implemented to be set to a wider area capable of including a cluster of terminals.

7. Electronic component loading <S503>, tray transfer and stop <S504>, camera shooting <S505>, image correction <S506>

Loading of electronic components, transfer and stop of trays, photographing of the camera 151, and correction of images are replaced with a description of the flowchart of FIG. 5.

8. Application of binary method, etc. to obtain comparative information value<S507-1>

In the corrected image according to step S506, a terminal is detected through a process of binary method, summing of pixel values and data change, locating a starting point and an ending point, and generating an effective area image.

9. Obtaining comparison information value from the detected terminal <S507-2>

When the detection of the terminals is completed through step S507-1, comparison information values such as the number and diameter of the terminals identified as preset on the photographed image are obtained.

10. Comparison and judgment of the reference information value and the comparison information value based on the matching ratio <S508>

Whether the comparison information value (diameter or number of terminals shown in the image) is within a certain matching ratio with respect to the reference information value (actual diameter or number of terminals) is compared and determined to determine whether there is a loading failure.

<Explanation of the program>

In order to determine the loading failure by the control device 170 described above, a dedicated program for this must be mounted on the control device 170.

The dedicated program may be downloaded by the control device 170 from a server or the like through a communication network, or may be manually mounted by an administrator by a movable recording medium.

The program can execute the above-mentioned method of FIG. 5 on a computer, and has a storage function, an inspection area setting function, a matching ratio setting function, a correction function, an acquisition function, and a judgment function.

The storage function is a function that can store reference information values for electronic components, and furthermore, it is a function that can also store reference information values for the specifications of the tray (T). Here, as mentioned above, the reference information value is not the image itself, but information about the number or shape. Of course, the storage function may be implemented to store the reference image, but according to the present invention, the reference image itself is not used to determine whether or not the loading is defective, so the reference image is used only when it is necessary to obtain a reference information value. do.

The inspection area setting function is a function of setting an inspection area by a method according to at least one of the aforementioned methods.

The matching ratio setting function is a function capable of setting a matching ratio to determine a loading failure based on a matching ratio between a reference information value and a comparison information value. It is desirable to support setting such a setting function so that an administrator compares only a specific part.

The correction function corrects the distortion of the image acquired by the camera 151 prior to the acquisition of the comparison information value by the acquisition function. Of course, the correction function may not be an essential function.

The acquisition function acquires a comparison information value that can be compared with a reference information value from the (corrected) image of the electronic component acquired by the camera 151. Likewise, the acquisition function may further have a function of converting the obtained comparison information value into a numerical conversion value. In this case, as mentioned above, an accurate comparison information value may be obtained by applying a binary method or the like, and the aforementioned terminal detection method may be used.

The judgment function compares the reference information value and the comparison information value to determine the loading failure of the electronic component. Such a determination function may be implemented to determine a loading failure by comparing a numerical conversion value obtained by converting the reference information value and a numerical conversion value obtained by converting the comparison information value. Furthermore, the determination function may be implemented to determine not only the loading defect but also the defect of the electronic component and the tray by using information on the specification of the electronic component and the tray as a reference information value. Exaggeratingly, for example, if the diameter of the correct terminal is 1mm, but it is seen as 1.5mm, it is possible to determine whether the terminal is defective.

Of course, the above functions can be contained in the recording medium. Here, the recording medium may be a USB storage medium, a CD diskette, a hard disk, or a server. Since the handler also has a storage means, the handler itself may also serve as a recording medium.

For reference, the above example refers to the handler 100 implemented so that the loading operation and the photographing operation are performed together, but depending on the implementation, the tray T is loaded after all electronic components are loaded into the tray T. Any number of cases in which photographing is performed while moving one step at a time can be considered. However, the above embodiment in which the time required for the photographing operation is inserted into the time required for the loading operation in the overall processing process may be more preferable in terms of reducing the processing speed.

In addition, depending on the type of the tray (T), since the camera device 150 may be sufficient if only one camera 151 is provided, if the camera device 150 has one or more cameras 151, the present invention is appropriately used. Could be implemented.

That is, as described above, a detailed description of the present invention has been made by an embodiment with reference to the accompanying drawings, but since the above-described embodiment has only been described with reference to a preferred example of the present invention, the present invention is implemented as described above. It should not be understood as being limited to the examples, and the scope of the present invention should be understood as the claims and their equivalents to be described later.

100: handler
120: connection device
140: transfer device
150: camera device
151: camera
170: control device
171: storage means 173: acquisition means
174: judgment means 175: setting means

Claims (10)

A loading device for loading electronic components into a tray;
A processing device for performing a processing task required for an electronic component loaded on a tray when the loading operation by the loading device is completed;
An unloading device for unloading an electronic component processed by the processing device from a test tray;
A camera photographing a lower surface of the tray to detect a loading failure of electronic components loaded on the tray by the loading device;
A transfer device for transferring the tray so that some of the electronic components loaded in a matrix form on the tray by the loading device are exposed to the viewing angle of the camera; And
A control device that controls each of the above components and determines whether or not loading is defective by comparing a comparison information value obtained from an image captured by the camera with an actual reference information value input in advance; Including,
The control device controls the transfer device so that the electronic components loaded in the test tray are sequentially exposed to the viewing angle of the camera while the tray moves and stops through a plurality of steps. When the test tray is stopped, the lower surface of the test tray To control the camera to shoot
Handler for processing electronic components. The method of claim 1,
The camera is installed so that the center line of the viewing angle has a certain angle inclination on the vertical line,
The camera is provided in a direction parallel to one side of the test tray perpendicular to the moving direction of the test tray moved by the moving device.
Handler for processing electronic components. The method of claim 1,
The control device,
Storage means for storing a reference information value for an electronic component input through the input device;
Obtaining means for obtaining a comparison information value for an electronic component from the image obtained by the camera; And
Determining means for determining a loading failure of an electronic component by comparing the reference information value with the comparison information value; Containing
Handler for processing electronic components. The method of claim 3,
The reference information value is a numerical value for a physical standard of an electronic component to be actually processed, the comparison information value is a numerical value for a physical standard obtained from an image captured by the camera,
The control device further comprises setting means for setting a matching ratio of the comparison information value to the reference information value,
The determination means is configured to determine a loading failure based on a matching ratio between the preset reference information value and the comparison information value.
Handler for processing electronic components. A storage function for storing reference information values for electronic components; -The reference information value includes numerical information
An acquisition function of acquiring a comparison information value that can be compared with the reference information value from an image of an electronic component acquired by a camera; And
A judgment function of comparing the reference information value and the comparison information value to determine a loading failure of an electronic component; Handler for processing electronic parts having a. The method of claim 5,
The acquisition function is to obtain a comparison information value for a terminal of an electronic component by applying a binary method that changes the brightness of a pixel to 0 and 1 based on a predetermined brightness.
Handler for processing electronic components. The method of claim 6,
After applying the binary method, the acquisition function adds up the number of pixels in the horizontal and vertical direction, and if the total number of pixels is greater than or equal to a predetermined standard, it is set to 1, and if the number of pixels is lower than that, it is changed to 0 to obtain the result data, and the effective area image according to the obtained result data. And the original image acquired by the camera as an end condition to detect the terminal.
Handler for processing electronic components. The method of claim 5,
A setting function capable of setting a matching ratio to determine a loading failure based on a matching ratio between the reference information value and the comparison information value; Have more
Handler for processing electronic components. The method of claim 5,
The determination function is capable of determining a loading failure by comparing a numerical conversion value obtained by converting a reference information value and a numerical conversion value obtained by converting the comparison information value.
Handler for processing electronic components. The method of claim 5,
The storage function can also store more information on the specifications of the tray,
The determination function uses information on the specifications of electronic parts and trays as the reference information value, so that it is possible to judge not only the loading defects but also the defects of electronic parts and trays
Handler for processing electronic components.

Images