WO2020080025A1 - 非破壊自動検査システム - Google Patents
非破壊自動検査システム Download PDFInfo
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- WO2020080025A1 WO2020080025A1 PCT/JP2019/036653 JP2019036653W WO2020080025A1 WO 2020080025 A1 WO2020080025 A1 WO 2020080025A1 JP 2019036653 W JP2019036653 W JP 2019036653W WO 2020080025 A1 WO2020080025 A1 WO 2020080025A1
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- inspection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
- G21K5/00—Irradiation devices
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
- G21K5/00—Irradiation devices
- G21K5/02—Irradiation devices having no beam-forming means
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
- G21K5/00—Irradiation devices
- G21K5/04—Irradiation devices with beam-forming means
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
- G21K5/00—Irradiation devices
- G21K5/10—Irradiation devices with provision for relative movement of beam source and object to be irradiated
Definitions
- the present invention relates to a non-destructive inspection system, and particularly in a mass production site, it continuously inspects thin structures such as semiconductor packages for defects and defects in a microstructure of an object to be inspected in which heterogeneous materials are formed.
- X-ray inspection equipment is known as a conventional non-destructive automatic inspection system.
- the conventional X-ray inspection apparatus can detect a mechanical or physical defect or defect in a fine three-dimensional structure (3D structure) such as a semiconductor package, although it can inspect an area where X-rays can be projected with a plane pattern. It was difficult to do.
- the X-ray tube of the invention described in Patent Document 1 uses a micro-focus X-ray tube with a focus F, and uses a conical X-ray beam having the focus F as an apex.
- a position correction value based on a complicated formula is set in order to prevent the attention position on the inspection object (inspection object) from being displaced from the transmission image visual field as it is turned by the turning arm. It is necessary to correct the turning visual field shift by using this.
- the present invention provides a three-dimensional microscopic structure without causing variation in measurement accuracy depending on the inspection position, even if the object has a fine and complicated internal structure and has a large main surface area.
- An object of the present invention is to provide a miniaturized and safe nondestructive automatic inspection system capable of highly accurately and nondestructively inspecting fine defects and defects.
- an inspection line generation unit that emits an inspection line from a point light source, and (b) at a desired inspection point of the inspected object, from the point light source.
- An inspection stage that mounts an inspection object and is capable of translational movement along a three-dimensional orthogonal coordinate system (XYZ orthogonal coordinate system) so as to define an inspection angle at which the inspection line is obliquely incident.
- a spherical surface defined by the center of polar coordinates with the position of the point light source as the center of polar coordinates so that an image of the object under inspection is captured by the inspection line that has penetrated the object under inspection at an inspection angle. It is a gist of the present invention to provide a non-contact automatic inspection system including an inspection unit having an image sensor that constantly moves to a point light source while maintaining the orientation in which the normal direction of the imaging surface is oriented.
- ADVANTAGE OF THE INVENTION According to this invention, even if it is an inspected object which has a fine and complicated internal structure and has a large main surface area, a three-dimensional microscopic defect or defect does not occur with variation in measurement accuracy depending on the inspection position. It is possible to provide a miniaturized and safe nondestructive automatic inspection system capable of highly efficiently and accurately performing nondestructive inspection.
- FIG. 7A is a diagram before bending (deflection) is eliminated and FIG. It is a bird's-eye view which shows an example of the imaging stage which concerns on embodiment.
- FIG. 4A and 4B are schematic diagrams illustrating a defect detection method according to the embodiment
- FIG. 7A is a diagram illustrating the arrangement of an inspection stage and an imaging stage
- FIG. 4A and 4B are schematic diagrams illustrating a defect detection method according to the embodiment
- FIG. 7A is a diagram illustrating the arrangement of an inspection stage and an imaging stage
- FIG. It is a schematic diagram showing a part of inspection unit concerning an embodiment. It is a schematic diagram showing a part of inspection unit concerning an embodiment. It is a schematic diagram showing a part of inspection unit concerning an embodiment. It is a schematic diagram showing a part of inspection unit concerning an embodiment. It is a schematic diagram showing a part of inspection unit concerning an embodiment. It is a schematic diagram showing a part of inspection unit concerning an embodiment.
- FIG. 4 is a bird's-eye view showing the inspection unit before separation of the inspection stages according to the embodiment. It is another bird's-eye view showing the state before the inspection stage separation of the inspection unit according to the embodiment. It is a bird's-eye view which shows after the inspection stage separation of the inspection unit which concerns on embodiment.
- It is an upper surface schematic diagram showing some conveyance lines of a supply unit and an inspection unit concerning an embodiment. It is an upper surface schematic diagram showing other parts of a transportation line of a supply unit and an inspection unit concerning an embodiment. It is a schematic diagram explaining the example of the plane pattern of the plate-shaped to-be-inspected object which becomes a suitable object of the nondestructive automatic inspection system which concerns on embodiment.
- the appearance of the nondestructive automatic inspection system includes a supply unit 2, an inspection unit 3, a marking unit 4, and a discharge unit 5, which are connected as individual units.
- the inspection object set in the supply unit 2 is automatically conveyed to a position on the inspection stage of the inspection unit 3 by using a conveying device.
- an image based on the transmission amount of the inspection line which is irradiated to the inspection object held by the pair of stage rails 17 and 18 so that the inspection line is located on the inspection stage and which is transmitted through the inspection object
- An inspection image is created in a non-contact manner by the image sensor capturing the image.
- photon rays electromagnetic wave rays
- photon beams electromagnetic wave rays
- particle beams such as proton beams, heavy particle beams or neutron beams can also be used, but the device becomes bulky and expensive.
- a typical example of the “inspection object” that is the target of the nondestructive automatic inspection system according to the embodiment is a resin-molded semiconductor package continuum as shown in FIG. 19A.
- the nondestructive automatic inspection system according to the embodiment is suitable for automatic inspection of a plate-shaped lead frame continuous body in which semiconductor packages in a state before being divided into individual packages exist as a continuous assembly.
- a plate-shaped lead frame continuous body has a width of 10 cm ⁇ a length of 10 cm, a width of 15 cm ⁇ a length of 15 cm, a width of 15 cm ⁇ a length of 20 cm, a width of 20 cm ⁇ a length of 20 cm, a width of 25 cm ⁇ a length of 200 cm, and the like.
- a lead frame continuum as an object to be inspected can be irradiated with an inspection line, and wire bonding breakages of individual semiconductor packages can be automatically inspected as an image of the inspection line.
- the non-destructive automatic inspection system according to the embodiment, as shown in FIG. 19, has one side serving as the first end and the other side serving as the second end facing in parallel to the first end. It has a rectangular or square plate shape having sides. 19 (a), (b), and (c) respectively exemplify a continuous assembly of semiconductor packages in a state before being divided into individual packages. ) And (c) are not limited to the plane patterns.
- the lower side is the "first end”
- the upper side parallel to the first end is the "second end”.
- An object to be inspected a typical example of which is a plate-shaped lead frame continuous body as shown in FIG. 19, usually has different plane dimensions for each product type. It is possible to irradiate an inspection line with an inspection line before the shipment or between processes, and automatically inspect the disconnection of the wiring forming the internal structure of each inspection item as an image of the inspection line.
- the external view of FIG. 1 shows the housing of the inspection unit 3.
- the inspection unit 3 includes, as shown in FIG. 2, an inspection line generation unit (point source) 12 and an image sensor 13 that detects an inspection line emitted from the inspection line generation unit 12 to an object to be inspected.
- the imaging stage 14 having The inspection unit 3 is further arranged between the inspection line generating unit 12 and the imaging stage 14, and an inspection object (lead frame) having a thin plate-like or blind-like structure can be appropriately set thereon.
- a stage bottom plate 16 which constitutes 15 is provided.
- the inspection stage 15 is generically illustrated in FIG. 2, the inspection stage 15 appearing in FIG. 2 is actually a rectangular plate-shaped (tray 3) is a side wall surface of the stage bottom plate 16.
- a shielding material is attached to the housing to prevent the inspection line from leaking from the inside of the inspection unit 3 to the outside.
- photon rays and particle rays used for inspection lines have a risk of being harmful to the human body, so that the shielding of the inspection lines is protected by a shielding material.
- An inlet side shutter 71 that can be automatically opened and closed as needed or appropriately is provided between the supply unit 2 and the inspection unit 3 shown in FIG. 1 so as to configure a part of this shielding material.
- an outlet side shutter 72 that can be automatically opened / closed is also provided between the inspection unit 3 and the marking unit 4 as needed so as to constitute another part of the shielding material.
- the non-destructive automatic inspection system conveys the thin plate-like or blind-like inspected object supplied from the supply unit 2 shown in FIG. 1 to the inspection stage 15, and completes the imaging of the inspected object.
- the transport device (61, 62; 17, 18; 63, 64) includes a pair of imaging-side rails 61 and 62 extending in a straight line and an extension of the pair of imaging-side rails 61 and 62 (one straight line).
- a pair of stage rails 17 and 18 connected on the line) and a linear direction that is an extension of the pair of stage rails 17 and 18 are defined as a "conveying direction". It is composed of relay rails 63 and 64.
- the supply unit 2 has a pair of supply sides extending in a straight line so as to convey an inspection object such as a thin plate to a conveyance device (61, 62; 17, 18; 63, 64) located in the inspection unit 3. It has rails 65 and 66. Specifically, the supply-side rails 65 and 66 are extended (on a straight line) of the pair of imaging-side rails 61 and 62 that form the transport device (61, 62; 17, 18; 63, 64). Be connected.
- the marking unit 4 includes a pair of unloading-side rails 41, which are connected by extension (on a straight line) of a pair of relay rails 63, 64 that form a conveyor (61, 62; 17, 18; 63, 64). An inspection object is conveyed from the inspection unit 3 through the pair of unloading side rails 41 and 42.
- stage rails 17 and 18 located in the inspection unit 3 are installed on the inspection stage 15.
- the relationship between the stage rails 17 and 18 and the inspection stage 15 is shown in FIG.
- the stage rail 18 is located behind the stage rail 17 and is not shown in FIG.
- the imaging side rails 61 and 62 are the stage rails 17 and 18 and the supply side rails 65 and 66
- the relay rails 63 and 64 are the stage rails 17 and 18 and the carry-out side rails 41 and 42. They are arranged in the carrying direction so that they can be continued on the carrying line.
- the supply-side rails 65 and 66, the transfer devices (61, 62; 17, 18; 63, 64) and the unload-side rails 41 and 42 can be adjusted in their intervals according to the width of the inspection object.
- the conveyance mechanism of the nondestructive automatic inspection system according to the embodiment is arranged so as to be continuous on the conveyance line arranged as two parallel lines.
- the supply side rails 65 and 66 and the imaging side rails 61 and 62 are separated from each other, and the pair of imaging side rails 61 and 62, the pair of stage rails 17 and 18, and the pair of relays.
- the rails 63 and 64 are housed inside the inspection unit 3, and the entrance side shutter 71 is closed.
- the carry-out side rails 41 and 42 are schematically illustrated as two integrated bodies that are continuous from the marking unit 4 to the discharge unit 5, but this is merely an example.
- the first unloading side rail 41 and the second unloading side rail 42 which constitute the unloading side rails 41 and 42, maintain the correspondence relationship of two parallel lines. However, each may be divided into two or three.
- the relay rails 63, 64 and the unloading side rails 41, 42 are simultaneously divided, the pair of unloading side rails 41, 42 are housed in the inspection unit 3 side, and the outlet side shutter 72 is closed.
- the pair that is close to the inspection unit 3 among the two or three is separated from the other portions. Then, after the separated pair of the unloading-side rails 41 and 42 are housed on the inspection unit 3 side, the outlet-side shutter 72 is closed.
- the inspection stage 15 is moved from the imaging side rails 61 and 62 and the relay rails 63 and 64 in the conveyance direction while the inspection object is placed on the stage bottom plate 16 that constitutes the inspection stage 15. Is cut in the direction orthogonal to. As a result of the inspection stage 15 being separated in the direction orthogonal to the transport direction, it is arranged between the inspection line generation unit 12 and the imaging stage 14 as shown in FIG.
- the inspection stage 15 is separated from the imaging side rails 61 and 62 and the relay rails 63 and 64 in the direction orthogonal to the conveyance direction, and thus the inspection stage 15 is conveyed on the conveyance device.
- the inspection object can be inspected without transferring the inspection object to the inspection stage, and labor can be saved.
- the inspection unit 3 further includes an external input device 8 and an image display device 9.
- the inspection unit 3 may further include a position correction camera, a control unit, and the like.
- FIG. 2 illustrates an inspection line generation unit 12 of the nondestructive automatic inspection system according to the embodiment, an imaging stage 14 that captures an image in which the inspection line from the inspection line generation unit 12 is transmitted through the inspection object, and the inspection object.
- the inspection line generator 12 is a point light source.
- the inspection line is irradiated from the point light source on the lower surface of the box showing the inspection line generation unit 12 toward the inspection object 60 below.
- the point light source of the actual inspection line is located on the lower surface of the convex portion located under the box denoted by reference numeral 12.
- the rectangular stage bottom plate 16 constituting the inspection stage 15 shown in FIG. 2 is joined to the pair of stage rails 17 and 18 having variable widths from below as shown in FIG.
- An object to be inspected such as an eggplant plate, is set at a position above the stage bottom plate 16.
- an X-ray source that emits X-rays as an inspection line is exemplarily described as the inspection line generation unit 12 from the practicality of a point light source, but it is used in the nondestructive automatic inspection system according to the embodiment.
- the inspection line generator 12 is not limited to the X-ray source.
- the stage bottom plate 16 may be made of a material having a high X-ray transmittance, such as a resin, ceramics, or a light metal having a small atomic number such as aluminum (Al). Although illustration is omitted, if a hole through which an inspection line is transmitted is formed in the stage bottom plate 16, a light metal having a small atomic number can be used as the material of the stage bottom plate 16 even when the inspection line generation unit 12 is an X-ray or the like. It is not necessary to take care that the material is made of a material having a high X-ray transmittance.
- the stage bottom plate 16 constituting the inspection stage 15 includes a first X-axis moving mechanism 30, a first Y-axis moving mechanism 31, and a first Z-axis moving mechanism shown in FIGS. 2, 3, 16 and the like. 32 is connected.
- the first X-axis moving mechanism 30, the first Y-axis moving mechanism 31, and the first Z-axis moving mechanism 32 constitute an inspection stage position control mechanism (30, 31, 32).
- the direction of the XYZ Cartesian coordinate system is defined in the lower right of Fig. 3.
- the Y axis of the XYZ Cartesian coordinate system is parallel to the transport direction of the stage rail 17, and the Z axis is the main surface of the inspected object when a plate-like inspected object is installed on the stage rail 17. Since it is parallel to the direction perpendicular to (the widest surface) and the X axis is the direction orthogonal to the Y axis and the Z axis, it is the direction orthogonal to the paper surface of FIG.
- Each of the first X-axis moving mechanism 30, the first Y-axis moving mechanism 31, and the first Z-axis moving mechanism 32 moves the stage bottom plate 16 constituting the inspection stage 15 into the X-axis, Y-axis, and Z-axis. It is installed so as to perform translational movement (XYZ movement) in a direction parallel to each. That is, the inspection stage position control mechanism (30, 31, 32 drives the inspection stage 15 in the XYZ directions defined in the lower right of FIG.
- the side surface of the rectangular Y-axis moving mechanism 31 is connected to one side surface of the rectangular plate-shaped (plate-shaped) stage bottom plate 16.
- the left side first X-axis moving mechanism 30 is connected to the left side end surface of the quadrangular prism-shaped first Y-axis moving mechanism 31, and the right side first X-axis is connected to the right side end surface of the first Y-axis moving mechanism 31.
- the axis moving mechanism 30 is connected.
- the first X-axis moving mechanism 30 on the left side and the first X-axis moving mechanism 30 on the right side are quadrangular prisms.
- the first Z-axis moving mechanism 32 on the left side is erected in the Z-axis direction in FIG.
- a right first Z-axis moving mechanism 32 is erected in the Z-axis direction at a corner where the right first X-axis moving mechanism 30 and the first Y-axis moving mechanism 31 intersect at right angles.
- the imaging stage 14 equipped with the image sensor 13 for detecting the transmission inspection line further includes a second X-axis moving mechanism 33, a second Y-axis moving mechanism 34, and a second Y-axis moving mechanism 34, as shown in FIGS.
- a Z-axis movement mechanism 35, a first elevation angle rotation mechanism 36, and a second elevation angle rotation mechanism 37 are provided.
- Each of the second X-axis moving mechanism 33, the second Y-axis moving mechanism 34, and the second Z-axis moving mechanism 35 has three-dimensional orthogonal coordinates whose coordinate origin is different from the three-dimensional orthogonal coordinate system of the stage moving coordinate system.
- the image sensor 13 is installed so as to translate in a direction parallel to each of the X axis, Y axis, and Z axis of the system.
- Each of the second X-axis moving mechanism 33, the second Y-axis moving mechanism 34, and the second Z-axis moving mechanism 35 has five axes obtained by adding two elevation angle rotation axes ( ⁇ 1, ⁇ 2) to three orthogonal axes.
- the coordinate system is independent of the three-dimensional orthogonal coordinate system of the stage movement coordinate system included in the coordinate system.
- the first elevation angle rotation mechanism 36 that constitutes the 5-axis coordinate system is installed so as to rotate the image sensor 13 around the ⁇ 1 rotation axis.
- the second elevation angle rotation mechanism 37 forming the 5-axis coordinate system is installed so as to rotate the image sensor 13 around the ⁇ 2 rotation axis orthogonal to the ⁇ 1 rotation axis.
- the ⁇ 1 rotation axis is parallel to the Y axis
- the ⁇ 2 rotation axis is parallel to the X axis
- the ⁇ 1 rotation axis and the ⁇ 2 rotation axis intersect with each other at the position of the image sensor 13.
- the image sensor 13 has an orientation of the imaging surface (principal surface) toward the inspection line generation unit (point source) 12 so as to move in a spherical surface having the inspection line generation unit (point source) 12 as the center of polar coordinates. Controlled.
- the control of the orientation according to the movement within the spherical surface is performed by the X 2 -Y 2 -Z 2 axis included in the independent 5-axis coordinate system having different coordinate origins from the X 1 -Y 1 -Z 1 axis of the stage movement coordinate system described above.
- the position and the angle are controlled by a 5-axis moving mechanism (33, 34, 35, 36, 37) that drives the 5-axis movement of - ⁇ 1- ⁇ 2.
- the inspection stage position control mechanism (30, 31, 32) and the 5-axis moving mechanism (33, 34, 35, 36, 37) have different coordinate systems
- the Cartesian coordinate system of the mechanism (30, 31, 32) is X 1 -Y 1 -Z 1
- the Cartesian coordinate system of the 5-axis moving mechanism (33, 34, 35, 36, 37) is X 2 -Y 2 -Z. Although they are identified by adding 2 and a subscript, they are all inclusively the "XYZ coordinate system”.
- the imaging surface (main surface) of the image sensor 13 is within the maximum solid angle ⁇ max shown in FIG.
- the image sensor 13 captures an image of the inspection object 60 by the inspection line that has passed through the inspection object 60 while maintaining the azimuth (orientation) facing the inspection line generating unit 12.
- the inspection stage 15 includes a stage bottom plate 16 and a stage bottom plate 16 on the stage bottom plate 16 so as to correspond to a plate-shaped inspection object such as the blind-shaped lead frame continuous body shown in FIG. A pair of stage rails 17 and 18 are provided.
- the inspection stage 15 further includes a pitch control mechanism 20, a pitch change mechanism (pitch change actuator) 19 that drives the pitch control mechanism 20, a rail width control mechanism 28, and a rail width change mechanism that drives the rail width control mechanism 28 ( A rail width changing actuator) 21 and a deflection eliminating mechanism (deflection eliminating actuator) 29 are provided.
- the pair of stage rails 17, 18 is composed of a first stage rail 17 and a second stage rail 18.
- the first stage rail 17 is composed of two plates, a first upper rail 17u and a first lower rail 17d facing the lower side of the first upper rail 17u.
- a first groove portion such as a dovetail groove is formed by sandwiching one end of the first groove portion, and a first guide for transportation that moves the inspection object 60 is configured by the structure of the first groove portion.
- the second stage rail 18 is a thin plate-shaped object to be inspected, which is composed of two plates including a second upper rail 18u and a second lower rail 18d facing the lower side of the second upper rail 18u.
- a second groove portion such as a dovetail groove is formed by sandwiching the other end of the object 60, and a second guide for transportation that moves the object 60 to be inspected is formed by the structure of the second groove portion. .
- the second end slides inside the second groove while sandwiching the second end of the inspection object 60 in the form of a thin plate or a blind in a predetermined clearance in the second groove.
- the inspection object 60 can be transported.
- the first stage rail 17 similarly includes a first upper rail 17u and a first lower rail 17d facing the lower side of the first upper rail 17u.
- the single plate constitutes a first groove portion that forms a guide groove into which the first end portion of the inspection object 60 is inserted.
- the first end portion of the inspection object 60 is also inserted into the first groove portion through a predetermined clearance, and the inspection object 60 is conveyed by the first end portion slidingly moving inside the first groove portion. It is possible.
- the structure in which the second groove portion is formed by two plates of the second upper rail 18u and the second lower rail 18d is merely an example, and the second upper rail 18u and It may be integrated with the second lower rail 18d. Similarly, the first upper rail 17u and the first lower rail 17d may be integrated into the first groove portion.
- the inspection stage 15 includes a first chuck mechanism (22, 25), a second chuck mechanism (23, 26) and a third chuck mechanism (24, 27).
- the first chuck mechanism (22, 25) is composed of a first holding unit (first chuck unit) 22 and a first cylinder 25 that drives the first holding unit 22.
- the second chuck mechanism (23, 26) is composed of a second holding portion (second chuck portion) 23 and a second cylinder 26 that drives the second holding portion 23, and a third chuck mechanism ( 24, 27) is composed of a third holding portion (third chuck portion) 24 and a third cylinder 27 that drives the third holding portion 24.
- the pair of stage rails 17 and 18 are installed on the stage bottom plate 16 so as to be parallel to each other.
- the second holding portion 23 is attached so as to wrap the second stage rail 18 and holds the outside of the second stage rail 18.
- the second holding portion 23 of the inspected object 60 It has a structure of a mechanical action portion that applies a pressing force that holds a part of the second end portion.
- the third holding portion 24 as well as the second holding portion 23 are mounted on the second stage rail 18, and the second upper rail 18u and the second lower rail 18d are the second.
- the third holding portion 24 has a structure of a mechanical action portion that applies a pressing force for holding the other portion of the second end portion of the inspection object 60. It has become.
- the second holding unit 23 and the third holding unit 24 surround the second stage rail 18 from the outside and grasp the second stage rail 18 to configure the inspection stage 15 of the second stage rail 18.
- the relative position with respect to the stage bottom plate 16 is fixed.
- the first holding portion 22 is attached so as to surround the first stage rail 17, and is attached to the first upper rail 17u and the first upper rail 17u.
- the mechanical action portion has a structure for applying a pressing force for holding a part of the first end portion. ing. Since the first holding portion 22 surrounds the first stage rail 17 from the outside, the relative position of the first stage rail 17 with respect to the stage bottom plate 16 forming the inspection stage 15 is fixed.
- pitch control mechanism 20 Since the pitch control mechanism 20 is attached to the second holding portion 23 and the third holding portion 24, by driving the pitch control mechanism 20 by the pitch changing mechanism 19, the second holding portion 23 and the third holding portion 23 are driven. The distance between the holding portions 24 of is changed.
- the rail width changing mechanism 21 is connected to the second stage rail 18 via the rail width control mechanism 28, the rail width changing mechanism 21 is controlled to change the position of the second stage rail 18 to the first stage. By moving relative to the rail 17, the distance between the first stage rail 17 and the second stage rail 18 is changed.
- the type of the inspected object such as the semiconductor package and the size of the plate-shaped lead frame existing as an assembly before the semiconductor package is divided into individual packages
- When inspecting multiple objects to be inspected with different dimensions in a mass production site it is necessary to prepare jigs and devices for each different plane dimension, and maintenance and management of these jigs and devices are required. .
- the distance between the first stage rail 17 and the second stage rail 18 can be freely changed, so that the inspection object such as a plate having different width dimensions can be inspected. Processing becomes possible freely.
- the non-destructive automatic inspection system according to the embodiment it is not necessary to prepare a jig or an apparatus when inspecting a plurality of inspected objects having different dimensions, and the inspection can be easily performed.
- all the motors on the stage bottom plate 16 constituting the inspection stage 15 are arranged along the X-axis or the Y-axis so that the thickness of the stage bottom plate 16 constituting the inspection stage 15 in the Z-axis direction becomes thin. It is located in.
- the thickness of the stage bottom plate 16 that constitutes the inspection stage 15 By designing the thickness of the stage bottom plate 16 that constitutes the inspection stage 15 to be thin, the distance between the inspection line generation unit 12 and the stage bottom plate 16 and the imaging stage 14 that constitute the inspection stage 15 can be shortened, resulting in low output. It is possible to obtain an inspection image having a high SN ratio, which can be inspected by the inspection line generation unit 12 of.
- FIG. 4 is a graph of the brightness value when the tube current of the nondestructive automatic inspection system according to the embodiment is changed.
- Data represented by circles in FIG. 4 are luminance values when the thickness of the inspection stage 15 is not designed to be thin.
- the thickness of the inspection stage 15 By designing the thickness of the inspection stage 15 to be thin, the same luminance value is obtained even at low output. Has been obtained.
- the required thickness of the shielding material can be reduced and the size of the equipment can be reduced.
- FIG. 5A shows a state in which one end of the inspection object 60 is sandwiched between the second upper rail 18u and the second lower rail 18d so as to be conveyed through a predetermined clearance. Shows. FIG. 5A shows a state in which the second chuck 23 sandwiches one end of the inspection object 60.
- the first cylinder 25 shown in FIG. 3 raises the power point along the Z-axis direction in FIG. 3 with the front side of the first holding portion 22 as the power point. By raising the force point, the action point of the back side first holding portion 22 forming the “first type lever” is pushed down, and a pressing force is applied to a part of the first end portion of the inspection object 60. To hold the first end.
- the deflection eliminating mechanism 29 is attached to the second holding portion 23 and the third holding portion 24.
- the second end portion of the inspection object 60 has a side surface of the second stage rail 18, that is, a second upper rail 18u and a second lower rail. It shows a state of being sandwiched between the second groove portions provided between 18d via a clearance. After the second groove portion slidably grips the second end portion of the inspection object 60, the second holding portion 23 and the third holding portion 24 cause the second end portion of the inspection object 60 to move. Hold it across.
- the deflection eliminating mechanism 29 moves the second holding portion in the direction opposite to the X-axis. 5B is different from FIG. 5A, both ends of the inspection object 60 are pulled to both sides.
- the deflection eliminating mechanism 29 widens the rail interval between the first stage rail 17 and the second stage rail 18 more than the rail interval of the transfer device (61, 62; 17, 18; 63, 64) during transfer.
- the first groove on the side surface of the first stage rail 17 and the second groove on the side surface of the second stage rail 18 are made to function as guides for conveyance, and the deflection canceling mechanism 29 causes the first stage rail 17 and the second stage rail 17 to move.
- FIG. 5B by widening the rail spacing of the stage rail 18 of FIG. 5, the bending and loosening of the inspection object 60 can be eliminated, and the geometric conditions in the X-ray inspection can be stabilized.
- the non-destructive automatic inspection system according to the embodiment, it is possible to provide a non-contact inspection device capable of inspecting a thin and large-area inspected object with a simplified structure.
- the deflection eliminating mechanism including the first holding portion 22, the second holding portion 23, and the third holding portion 24 provided on the stage bottom plate 16 configuring the inspection stage 15 is the same as the marking unit 4 shown in FIG. It can also be applied to laser marking.
- the marking unit 4 when the thin object to be inspected 60 is laser-marked, the object to be inspected 60 such as a thin plate is bent by its own weight, so that the laser marking is not stable. Even when laser marking is performed, a deflection canceling mechanism using a holding unit is installed, the object to be inspected 60 is gripped by the holding unit, and the bending or loosening of the object to be inspected 60 is eliminated, so that laser marking can be performed stably. You can
- the transfer mechanism (61, 62; 17, 18; 63, 64) and the inspection stage 15 in the nondestructive automatic inspection system according to the embodiment have a width between each pair of rails.
- the first imaging-side rail 61 and the second imaging-side rail 62 are formed by the same structure and method as the mechanism arranged on the stage bottom plate 16 that constitutes the inspection stage 15 shown in FIG. ,
- the width between the first stage rail 17 and the second stage rail 18 and the width between the first relay rail 63 and the second relay rail 64 are changed to inspect the plate-like object having different width dimensions. You can inspect things.
- the width between the first carry-out side rail 41 and the second carry-out side rail 42 is changed, and the plate-like object to be inspected having a different width dimension. Can be marked and discharged.
- a moving mechanism or mechanism such as a screw similar to the rail width control mechanism 28 and the rail width changing mechanism 21 connected to the pair of stage rails 17 and 18 is provided on the first supply side rail 65 and the second supply side rail 66. Any one of the first imaging-side rail 61 and the second imaging-side rail 62, one of the first relay rail 63 and the second relay rail 64, and the first unloading-side rail 41. It is connected to each of either one of the second unloading side rails 42. By controlling the respective motors connected to these rails, the widths of all the conveyance devices are automatically controlled.
- the width of the transfer device can be automatically adjusted by numerical control according to the size of an object to be inspected such as a thin lead plate or the like to be transferred.
- the mechanism arranged on the stage bottom plate 16 constituting the inspection stage 15 shown in FIG. 3 changes the distance between the second holding unit 23 and the third holding unit 24 according to the length of the object to be inspected to be conveyed. It can be adjusted automatically by numerical control.
- the second holding portion 23 and the third holding portion 24 can be inspected in various ways such as plate-like objects having different lengths at any time. Since the distance between the second holding portion 23 and the third holding portion 24 can be changed, a jig or device is not required each time the length of the inspection object changes. Therefore, even when inspecting a plurality of types of lead frames having different dimensions, it is possible to omit adjustments using the jigs and devices without preparing jigs and devices for each, and to easily perform plate-shaped products with different dimensions. It is possible to carry and inspect an object to be inspected.
- a pair of stage rails 17 and 18 of which the spacing is adjusted on the stage bottom plate 16 which constitutes the inspection stage 15 is an extension (a straight line) of a pair of imaging side rails 61 and 62 of which the spacing is adjusted on the transfer line.
- the inspection stage 15 is installed so as to be connected (on the line).
- the first holding portion 22 causes the first stage rail 17 to move relative to the inspection stage 15.
- the position is fixed.
- the second holding portion 23 and the third holding portion 24 fix the relative position of the second stage rail 18 with respect to the inspection stage 15.
- the first X-axis moving mechanism 30 of the inspection stage 15 operates.
- the inspection stage 15 is separated from the transfer line by moving the inspection stage 15 in the X-axis direction by the first X-axis moving mechanism 30, and as shown in FIG. Be drawn into.
- the first X-axis moving mechanism 30 of the inspection stage 15 is activated again, and the inspection stage 15 is moved by the transfer device (61 , 62; 17, 18; 63, 64), and the inspection object 60 is conveyed to the marking unit 4 through a pair of relay rails 63, 64.
- FIG. 6 shows details of the imaging stage 14. Similar to the first elevation angle ⁇ 1 and the second elevation angle ⁇ 2 in FIG. 2, the ⁇ 1 rotation axis shown in FIG. 6 is parallel to the Y axis, the ⁇ 2 rotation axis is parallel to the X axis, and the ⁇ 1 rotation axis and the ⁇ 2 rotation axis are They intersect each other at the position of the image sensor 13.
- the image sensor 13 that detects the transmission inspection line is installed on the first rotating member 67, and is attached to the second rotating member 68 via the shaft of the first elevation angle rotating mechanism 36.
- the second rotation member 68 is attached to the support member 69 via the shaft of the second elevation angle rotation mechanism 37, and the support member 69 is attached to the second Z-axis movement mechanism 35.
- the image sensor 13 is rotated about the ⁇ 1 rotation axis by rotating the first rotation member 67 by the first elevation angle rotation mechanism 36. Further, by rotating the second rotating member 68 by the second elevation angle rotating mechanism 37, the first rotating member 67 is rotated around the ⁇ 2 rotation axis. In this way, the image sensor 13 can be rotated by the first elevation angle rotation mechanism 36 and the second elevation angle rotation mechanism 37 at arbitrary first elevation angle ⁇ 1 and second elevation angle ⁇ 2.
- the object 60 to be inspected which has been transported on the transport device (61, 62; 17, 18; 63, 64) forming the transport line, is transferred to the inspection stage, and again transferred to the transfer line after the inspection is executed.
- a mechanism for transferring the object 60 to be inspected and a mechanism for fixing the object to be inspected after it is transferred to the inspection stage are required, which complicates the mechanism and lowers the processing capacity.
- only the transfer line is installed on the inspection stage, and the mechanism for transferring the inspection object 60 is not provided.
- the inspection stage 15 When the inspection stage 15 is separated from the transfer line of the transfer device (61, 62; 17, 18; 63, 64), an image is taken by the inspection line generator 12 instead of providing a new mechanism for separation. At this time, it is also used as a mechanism for separating the first X-axis moving mechanism 30 which is a mechanism for adjusting the angle of the inspection line incident on the inspection object 60 on the stage bottom plate 16 which constitutes the inspection stage 15. .
- the transfer line and the inspection stage both, and separating the inspection stage when the inspection object 60 reaches the inspection stage and retracting it below the point source, the operation of transferring the inspection object 60 can be omitted, and Simplification and improved throughput are achieved.
- the state (1) that is, a case where the semiconductor package is a continuous body of a blind-shaped semiconductor package (lead frame continuous body) will be described.
- a cord-shaped lead frame continuous body has different plane dimensions, that is, different widths and lengths, depending on product specifications.
- FIGS. 7 and 8. a part of a single semiconductor package is schematically represented as the inspection object 60 in FIGS. 7 and 8.
- FIG. 7A and 8A show respective positions of the inspection line generation unit 12, the inspection object 60, and the image sensor 13 when performing continuous automatic inspection in the nondestructive automatic inspection system according to the embodiment. It is a schematic diagram which shows a relationship, and FIG.7 (b) and FIG.8 (b) are schematic diagrams of the inspection image obtained by FIG.7 (a) and FIG.8 (a), respectively.
- the non-destructive automatic inspection system inspects the fine bonding wires 52a, 52b, 52c with a diameter of 30 ⁇ to 150 ⁇ that connect the IC chip 51 inside the inspection object 60 and the package substrates 53a, 53b, 53c with each other.
- An inspection line is irradiated to the inspection object 60 mounted on the bottom plate 16, and the inspection line transmitted through the resin 54 of the inspection object 60 is detected by the image sensor 13 to create an inspection image, thereby breaking the bonding wire 52a. Etc. are automatically inspected.
- the inspection line generation unit (point source) 12 of the nondestructive automatic inspection system uses a point light source, the inside of the maximum solid angle ⁇ max showing the inspection line irradiation range in FIG.
- the lines are illuminated with a uniform intensity.
- a maximum solid angle ⁇ max 2 ⁇ / 3 steradian can be selected.
- a slit made of a material having a high shielding rate against the inspection line may be provided.
- the image sensor 13 is arranged such that the imaging surface of the image sensor 13 is always oriented to face the inspection line generating portion 12 within the maximum solid angle ⁇ max centered on the inspection line generating portion (point source) 12.
- the axis moving mechanism (33, 34, 35, 36, 37) moves so that its position and orientation are controlled.
- the image sensor 13 displays an image of the inspection object 60 by the inspection line transmitted through the inspection object 60. Take an image.
- the three-dimensional Cartesian coordinate system (X 1 -Y 1 -Z 1 ) of the inspection stage position control mechanism (30, 31, 32) and the 5-axis moving mechanism (33, 34, 35, 36, 37) 5 axes (X 2 -Y 2 -Z 2 - ⁇ 1- ⁇ 2) are independent coordinate systems having different coordinate origins.
- the inspection angle from which the inspection line from the inspection line generator 12 is obliquely incident on the surface of the inspection object 60 at the maximum solid angle ⁇ max is defined as follows.
- the inspection stage position control mechanism (30, 31, 32) moves the inspection object 60.
- the five-axis moving mechanism (33, 34, 35, 36, 37) moves the resin 54 of the inspection object 60 to the image sensor 13 at the position and direction where the transmission inspection line is perpendicularly incident on the imaging surface of the image sensor 13. Move and rotate.
- a solid such as a micron-level float or disconnection as shown in FIG. 8A, which could not be detected by the conventional inspection method having high directivity. Minute defects can be detected easily and surely.
- one end of the bonding wire 52a is floating from the IC chip 51, but the other end of the bonding wire 52a is in contact with the package substrate 53a.
- the inspection line is obliquely incident at a large maximum solid angle ⁇ max and isotropically irradiated. Similarly, it can be detected easily and surely.
- the other bonding wires 52b and 52c whose top view is shown in FIG. 8B also have a large floating from the IC chip 51 and floating from the package substrates 53b and 53c.
- FIG. 9 is a diagram showing a case where the rectangular plate-shaped stage bottom plate 16 constituting the image sensor 13 and the inspection stage 15 is moved to an orientation position assuming the same maximum solid angle ⁇ max as in FIG. 8A.
- the imaging stage 14 in FIG. 9 is located at a position deviated from the vertical irradiation direction indicated by the downward arrow in FIG. I know that That is, the imaging stage 14 of FIG. 9 is driven by an independent 5-axis moving mechanism (33, 34, 35, 36, 37) having different coordinate origins from the stage moving coordinate system, and is based on the orthogonal coordinate system shown in FIG.
- the image can be incident on the main surface of the image sensor 13 in the vertical direction.
- the inspection line emitted from the inspection line generating unit 12 at the fixed position defines an arbitrary oblique inspection angle. Then, it is swept so as to be incident on a flat plate-shaped inspection object 60 having a thin area. As a result, the inspection line emitted from the fixed position is swept over the wide surface of the inspection object 60.
- the inspection line swept over the wide surface of the inspection object 60 by the movement of the inspection stage 15 defines a thin and wide flat inspection object 60 so that the inspection angle of arbitrary oblique incidence determined by the sweep position is defined. Is incident on the inspection line and the inspection line is transmitted through an arbitrary position of the plane pattern of the inspection object 60.
- the inspection line obliquely incident on and transmitted through an arbitrary position of the plane pattern of the flat plate-shaped inspection object 60 having a large area is aligned with the position of the image pickup surface of the image sensor 13 so as to vertically enter the image pickup surface of the image sensor 13.
- the orientation is controlled.
- the control of the position and orientation of the imaging surface of the image sensor 13 is controlled by a 5-axis moving mechanism (33, 34, 35, 36, 37) separate from the stage moving coordinate system that drives the inspection stage 15.
- the imaging stage 14 is translated in a direction parallel to the Y-axis and the Z-axis to generate an inspection line.
- the position of the point light source defined by the unit 12 and the position of the image sensor 13 determine the inspection angle of the inspection line incident on the flat plate-shaped inspection object 60 and the effective inspection solid angle.
- the “effective inspection solid angle” is a solid angle in which the point light source looks into the image pickup surface of the image sensor 13, and therefore is determined by the distance from the point light source to the image pickup surface of the image sensor 13 and the effective area of the image pickup surface.
- the effective inspection solid angle is not the cone but the apex angle of the quadrangular pyramid. At this time, at the inspection angle within the maximum solid angle ⁇ max and the effective inspection solid angle, the inspection line within the effective inspection solid angle always enters the main surface of the image sensor 13 substantially vertically. Further, the image sensor 13 is rotated about the ⁇ 1 rotation axis by operating the first elevation angle rotation mechanism 36. “Substantially perpendicular” means that the inspection line within the effective inspection solid angle does not have to be strict vertical incidence as long as it effectively enters the image pickup surface of the image sensor 13.
- the inspection object 60 is located at a position where the inspection line passes through a desired portion of the flat plate-shaped inspection object 60 having a thin and wide area so as to correspond to the inspection angle determined by the position of the point light source and the position of the image sensor 13.
- the inspection position of is determined. Considering the inspection line within the effective inspection solid angle, the position of the inspection object 60 through which the inspection line penetrates is not a point but an inspection region having a certain area.
- the inspection stage The stage bottom plate 16 constituting 15 is translated in a direction parallel to the Y axis and the Z axis.
- the sweep movement is unnecessary.
- FIG. 9 does not show the movement of the stage bottom plate 16 and the image sensor 13 forming the inspection stage 15 in the X-axis direction (perpendicular to the paper surface), the stage bottom plate 16 and the image sensor forming the inspection stage 15 are not shown.
- the first X-axis moving mechanism 30 and the second X-axis moving mechanism 33 are operated in conjunction with each other.
- the stage bottom plate 16 and the image sensor 13 that form the inspection stage 15 are arranged in a direction parallel to the Z axis. It is possible to perform the inspection only by the translational movement in the direction parallel to the Y-axis without the translational movement. However, when there is no translational movement in the direction parallel to the Z-axis, the translational distance in the direction parallel to the Y-axis becomes large and the size of the equipment becomes large. In addition, the distance from the inspection line generation unit 12 to the inspection object 60 and the image sensor 13 increases, and the S / N ratio of the inspection image decreases as described below.
- the 5-axis moving mechanism (33, 34, 35, 36, 37) is arranged so that the image pickup surface of the image sensor 13 is always oriented to face the inspection line generating unit 12.
- the position of the image sensor 13 and the orientation of the main surface (imaging surface) of the image sensor 13 are controlled and moved.
- an inspection stage position control mechanism (30, 31, 32) for controlling the inspection point inside the plane pattern of the inspection object 60 and a 5-axis moving mechanism (33, 34, 35) for controlling the position and orientation of the image sensor 13. , 36, 37) are independent coordinate systems whose coordinate origins are different from each other, it is possible to measure an arbitrary position of the plane pattern of the inspection object 60 having a large area.
- an image of the inspection object 60 by inspection lines transmitted through different plane positions of the inspection object 60 does not depend on the transmission position, and is always efficient.
- the image sensor 13 can often take an image. Therefore, according to the non-destructive automatic inspection system according to the embodiment, even a flat-plate inspected object 60 having a thin and wide area can increase fine defects and defects in the inspected object having a precise and complicated three-dimensional structure. It can be inspected efficiently and accurately.
- ⁇ Method of adjusting magnification and SN ratio> In order to move the image sensor 13 along a spherical surface whose radius is the inspection distance so that the inspection distance from the inspection line generating unit 12 to the image sensor 13 shown in FIG. Translational movement in a direction parallel to is required.
- the inspection distance can be kept constant by providing a translational movement mechanism in a direction parallel to the Z axis as shown in FIG. 9 so that the inspection distance can be moved on a spherical surface, and the size of the equipment can be reduced. It is possible to realize the above, and it is possible to suppress a decrease in the SN ratio of the inspection image.
- the magnification of the inspection image and the SN ratio of the inspection image can be adjusted.
- a method of adjusting the magnification and SN ratio of the inspection image will be described with reference to FIG. 2 and FIGS. 10 to 13.
- FIG. 2 shows a state in which the image sensor 13 and the inspection stage 15 are both set at the reference position.
- the magnification of the inspection image is determined by the ratio of the “irradiation distance” from the inspection line generating unit 12 to the inspection stage 15 and the “inspection distance” from the inspection line generating unit 12 to the image sensor 13.
- the ratio of the irradiation distance from the inspection line generating unit 12 to the inspection stage 15 and the inspection distance from the inspection line generating unit 12 to the image sensor 13 may be adjusted.
- the SN ratio of the inspection image is determined by the inspection distance from the inspection line generating unit 12 to the image sensor 13. Therefore, in order to adjust the SN ratio of the inspection image, the inspection distance from the inspection line generator 12 to the image sensor 13 may be adjusted.
- the inspection distance from the inspection line generating unit 12 to the image sensor 13 with respect to the irradiation distance from the inspection line generating unit 12 to the inspection stage 15 may be reduced, and the magnification of the inspection image can be increased.
- the inspection distance from the inspection line generating unit 12 to the image sensor 13 with respect to the irradiation distance from the inspection line generating unit 12 to the inspection stage 15 may be increased, contrary to the case where the magnification of the inspection image is reduced.
- 10 and 11 show an example of the arrangement of the inspection stage 15 and the imaging stage 14 when changing the magnification of the inspection image.
- FIG. 10 shows the case where the magnification of the inspection image is lowered
- FIG. 11 shows the case where the magnification is increased.
- the inspection stage 15 is set at a position farther from the inspection line generating unit 12 along the Z axis than the reference position, and the imaging stage 14 generates the inspection line along the Z axis as compared to the reference position. Since it is set at a position close to the portion 12, the magnification of the inspection image is smaller than that in the case of FIG. In FIG. 10, since the inspection distance from the inspection line generating unit 12 to the image sensor 13 is shortened, the SN ratio becomes larger than that in the case of FIG.
- the irradiation distance from the inspection stage 15 to the inspection line generation unit 12 is increased and the inspection distance from the inspection stage 15 to the image sensor 13 is reduced without changing the inspection distance from the inspection line generation unit 12 to the image sensor 13,
- the magnification of the inspection image can be reduced without changing the SN ratio.
- the inspection stage 15 is set at a position closer to the inspection line generation unit 12 along the Z axis than the reference position, and the imaging stage 14 is compared with the reference position, and the imaging stage 14 is compared with the reference position. Is set at a position distant from the inspection line generator 12 along the line.
- the SN ratio is smaller and the magnification of the inspection image is larger than that in FIG. If the irradiation distance from the inspection stage 15 to the inspection line generation unit 12 is made small and the inspection distance from the inspection stage 15 to the image sensor 13 is made large without changing the inspection distance from the inspection line generation unit 12 to the image sensor 13, The magnification of the inspection image can be increased without changing the SN ratio.
- the inspection distance from the inspection line generating unit 12 to the image sensor 13 may be reduced, and to decrease the SN ratio, the inspection from the inspection line generating unit 12 to the image sensor 13 may be performed.
- Increase the distance. 12 and 13 show an example of the arrangement of the inspection stage 15 and the imaging stage 14 when changing the SN ratio of the inspection image.
- FIG. 12 shows the case where the SN ratio of the inspection image is raised
- FIG. 13 shows the case where the SN ratio is lowered. In FIG.
- the inspection stage 15 and the imaging stage 14 is set at a position farther from the inspection line generating unit 12 along the Z axis than the reference position, and the SN ratio of the inspection image can be increased while maintaining the magnification of the inspection image.
- the ratio of the irradiation distance from the inspection line generating unit 12 to the inspection object 60 and the inspection distance from the inspection line generating unit 12 to the image sensor 13 is kept constant and the inspection is performed.
- the stage 15 and the imaging stage 14 are set at a position closer to the inspection line generation unit 12 along the Z axis compared to the reference position, and the SN ratio of the inspection image can be lowered while maintaining the magnification of the inspection image. .
- 14 to 16 are diagrams for explaining the transfer operation of the inspection stage performed inside the inspection unit 3.
- 14 to 16 are views of the inside of the inspection unit 3, but the inspection line generation unit 12 and the imaging stage 14 are not shown.
- the inspection stage 15 is installed so that the stage rails 17 and 18 on the inspection stage 15 are connected on the extension (on a straight line) of the imaging side rails 61 and 62 on the transfer line.
- the first X-axis moving mechanism 30 of the inspection stage 15 operates. Then, by moving the inspection stage 15 in the X-axis direction, the inspection stage 15 is separated from the transport line, and is drawn under a point radiation source (not shown) as shown in FIG. After the inspection stage 15 is drawn below the point source and the inspection is performed, the inspection stage 15 is returned to the transfer line again, and the inspection object 60 is transferred to the marking unit 4 via the relay rails 63 and 64. . If the object 60 to be inspected that has been transported on the transport line is transferred to the inspection stage and then transferred to the transport line again after the inspection has been performed, the processing capacity will decrease and the mechanism will become more complicated.
- the transfer line is also used as the inspection stage, and when the inspection object 60 reaches the inspection stage, the inspection stage is separated and pulled below the point source, so that the operation of transferring the inspection object 60 can be omitted, and the mechanism of the mechanism can be omitted. Simplification and improved throughput are achieved.
- 17A and 17B and FIGS. 18A and 18B show only the supply-side rails 65 and 66 of the supply unit 2, the imaging-side rails 61 and 62 of the inspection unit 3, and the inspection object 60. Is illustrated from the upper side with the housing, the entrance-side shutter 71 and the like omitted.
- the inspection object 60 is on the supply-side rails 65 and 66 of the supply unit 2 in FIG. 17A.
- the imaging side rails 61 and 62 of the inspection unit 3 are slid toward the supply side rails 65 and 66 by a moving mechanism (actuator) such as an air cylinder so that the supply side rails 65 and 66 of the supply unit 2.
- actuator such as an air cylinder
- the gap between the imaging side rails 61 and 62 of the inspection unit 3 is made small enough to allow the inspection object 60 to be delivered from the supply unit 2 to the inspection unit 3, and the transportation lines are connected.
- the inspection object 60 is transferred from the supply unit 2 to the inspection unit 3.
- the imaging side rails 61 and 62 slid from the inspection unit 3 to the supply unit 2 are returned to the inspection unit 3 and the entrance side shutter 71 is closed.
- the delivery of the inspection object 60 between the inspection unit 3 and the marking unit 4 is also performed when the exit side shutter 72 is opened. This is performed by sliding all or part of the inspection unit 3 side to the marking unit 4 side. That is, as described above, in the case of the structure in which the carry-out side rails 41, 42 are divided into two or three, the pair of carry-outs, which is a part close to the inspection unit 3 among the two or three.
- the side rails 41 and 42 are slid from the inspection unit 3 to the marking unit 4 side.
- the nondestructive automatic inspection system it is possible to provide a nondestructive automatic inspection system which is safe for an operator and which can inspect microscopic defects and defects of an inspection object having a three-dimensional structure automatically and highly efficiently.
- the present invention has been described by the above embodiments, but it should not be understood that the descriptions and drawings forming a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples, and operation techniques will be apparent to those skilled in the art.
- the plate-shaped inspected object 60 having different width dimensions has been described as an example mainly of a semiconductor package such as a lead frame, but the inspected object 60 targeted by the present invention is
- the structure is not limited to the structure such as the lead frame illustrated in FIG.
- first holding portion 22 is attached to the first stage rail 17 and the second holding portion 23 and the third holding portion 24 are attached to the second stage rail 18
- the structure may be such that two holding parts are attached to the first stage rail 17 and one holding part is attached to the second stage rail 18.
- the structure may be such that two or more holding parts are attached to the first stage rail 17 and three or more holding parts are attached to the second stage rail 18.
- the 5-axis moving mechanism (33, 34, 35, 36, 37) in which the ⁇ 1 rotation axis is parallel to the Y axis and the ⁇ 2 rotation axis is parallel to the X axis has been described, but this is merely an example.
- a control mechanism of an azimuth angle (rotation angle) defined around a ⁇ axis parallel to the Z axis may be added to control by a 6-axis moving mechanism.
- one of two-axis control including elevation angle control and azimuth angle control may be used, and control may be performed by a five-axis moving mechanism including these two axes.
- First X-axis moving mechanism 31 ... First Y-axis moving mechanism, 32 ... First Z-axis moving mechanism, 33 ... Second X-axis moving Mechanism, 34 ... Second Y-axis moving mechanism, 3 ... second Z-axis moving mechanism, 36, 37 ... rotating mechanism, 4 ... marking unit, 41, 42 ... unloading side rail, 5 ... ejection unit, 51 ... IC chip, 52a, 52b, 52c ... bonding wire, 53a, 53b, 53c ... Package substrate, 54 ... Resin, 60 ... Inspected object, 61, 62 ... Imaging side rail, 63, 64 ... Relay rail, 65, 66 ... Supply side rail, 67 ... First rotating member, 68 ... 2nd rotation member, 69 ... Support member, 71 ... Entrance side shutter, 72 ... Exit side shutter, 8 ... External input device, 9 ... Image display device
Abstract
Description
実施形態に係る不良検出方法を、図7(a)、図7(b)、図8(a)及び図8(b)を参照して、被検査物60が個々のパッケージに分割される前の状態、即ち簾状の半導体パッケージの連続体(リードフレーム連続体)である場合について説明する。既に述べたように、通常、このような簾状のリードフレーム連続体は、製品仕様に応じて、異なる平面寸法、即ち異なる幅と長さを有している。説明を簡略化する便宜上、図7及び図8では被検査物60として単体の半導体パッケージの一部を模式的に表現している。図7(a)及び図8(a)は、実施形態に係る非破壊自動検査システムで連続的な自動検査を行う際の検査線発生部12、被検査物60及びイメージセンサ13のそれぞれの位置関係を示す模式図であり、図7(b)及び図8(b)は、図7(a)及び図8(a)それぞれによって得られた検査画像の模式図である。
図8(a)に示した検査線発生部12からイメージセンサ13までの検査距離を一定に維持するように、検査距離を半径とする球面に沿ってイメージセンサ13を移動させるためには、軸に平行な方向への並進移動が必要になる。検査距離を半径とする球面上を移動か可能とするように、図9に示すようなZ軸に平行な方向へ並進移動機構を備えることで検査距離を一定に維持でき、且つ設備のサイズダウンを実現でき、さらに検査画像のSN比の低下を抑えることができる。
図14~図16は、検査ユニット3の内部において行われる、検査ステージの受け渡し動作を説明する図である。図14~図16は検査ユニット3の内部の図であるが、検査線発生部12と撮像ステージ14は図示されていない。被検査物60が供給ユニット2から検査ユニット3へ搬送されたのち、撮像側レール61,62上を搬送される過程において、被検査物60が検査ステージ15上に到達していない時点では、図14に示すように、検査ステージ15上のステージレール17,18が搬送ライン上の撮像側レール61,62の延長上(一直線上)で連結されるように、検査ステージ15が設置される。
検査線検査時には、検査ユニット3の内部から外部への検査線の漏洩を防ぐため、図1に示した供給ユニット2から検査ユニット3のユニット間、検査ユニット3からマーキングユニット4のユニット間を、それぞれ遮断材で閉じる必要がある。遮断材で閉じても、供給ユニット2から検査ユニット3のユニット間、検査ユニット3からマーキングユニット4のユニット間において、被検査物60を搬送する必要がある。このため、検査線の透過に対し遮蔽性能を有する入口側シャッタ71及び出口側シャッタ72で搬送経路を開閉自在にする必要がある。入口側シャッタ71及び出口側シャッタ72が閉じた場合、ユニット間で入口側シャッタ71及び出口側シャッタ72によって、搬送経路を構成している搬送ラインが分断され、被検査物60の受け渡しができない。
上記のように、本発明は上記の実施形態によって記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例及び運用技術が明らかとなろう。例えば、上述した実施形態において、幅寸法の異なる板状の被検査物60はリードフレーム等の半導体パッケージを主に、例示的に説明したが、本発明の対象とする被検査物60は、上記において例示したリードフレーム等の構造物に限るものではない。
Claims (16)
- 平板状の被検査物に対して、点光源から検査線を出射する検査線発生部と、
前記被検査物の所望の検査点における、前記検査線が斜めに入射する検査角度を定義するように、前記被検査物を搭載して3次元直交座標系に沿って並進移動可能な検査ステージと、
前記検査角度で前記被検査物に入射して、前記被検査物を透過した前記検査線による前記被検査物の像を撮像するように、前記点光源の位置を極座標の中心とし、該極座標の中心が定義する球面内を、常に前記点光源に撮像面の法線方向が向く配向を維持して移動するイメージセンサと、
を有する検査ユニットを備えることを特徴とする非接触自動検査システム。 - 前記検査ユニットが、
前記イメージセンサを搭載する撮像ステージと、
該撮像ステージを、前記3次元直交座標系とは座標原点が異なる直交3軸に2つの仰角回転軸を加えた5軸に関し移動させる5軸移動機構を更に備え、
前記5軸移動機構が、前記イメージセンサの撮像面が常に前記点光源を向く配向を維持しながら、前記撮像ステージを移動させることを特徴とする請求項1に記載の非接触自動検査システム。 - 前記検査ユニットが、対向する2本のレールで構成され、被検査物の両端を前記2本のレールの間に挟んで前記被検査物を搬送する搬送装置を更に有することを特徴とする請求項1又は2に記載の非接触自動検査システム。
- 前記2本のレールの間の距離を変更するレール幅制御機構を更に備えることを特徴とする請求項3に記載の非接触自動検査システム。
- 前記検査ユニットが、直線上に延びる一対の撮像側レール、該一対の撮像側レールの延長上で連結される一対のステージレール、該一対のステージレールの延長上で連結される一対の中継レールを更に有し、前記連結される延長方向を搬送方向として、被検査物を前記搬送方向に搬送する搬送装置を更に備えることを特徴とする請求項1又は2に記載の非接触自動検査システム。
- 前記検査ステージは、前記一対のステージレールを保持し、前記一対のステージレールと共に、前記搬送装置から、前記搬送方向に直交する方向に前記一対のステージレールを切り離し、切り離し後は前記3次元直交座標系に沿って自在に並進移動可能であることを特徴とする請求項5に記載の非接触自動検査システム。
- 前記イメージセンサは、前記3次元直交座標系に沿った並進移動に伴い、前記検査ステージ上に搭載された前記被検査物に任意の角度で入射し、前記被検査物を透過した前記検査線による前記被検査物の像を撮像することを特徴とする請求項6に記載の非接触自動検査システム。
- 前記検査ステージは、前記一対のステージレールを下から保持するステージ底板を有し、
前記ステージ底板に接続され、前記ステージ底板を前記3次元直交座標系に沿って並進移動させる検査ステージ位置制御機構を更に備えることを特徴とする請求項6又は7に記載の非破壊自動検査システム。 - 前記一対のステージレールは、第1のステージレール及び前記第1のステージレールに平行な第2のステージレールからなり、
前記第1のステージレールの前記第2のステージレールに対向する側の側面に前記第1の端部が挿入される第1の溝部を設け、前記第2のステージレールの前記第1のステージレールに対向する側面に前記第2の端部が挿入される第2の溝部を設け、前記第1及び第2の溝部をガイド部として前記被検査物を搬送することを特徴とする請求項5~8のいずれか1項に記載の非破壊自動検査システム。 - 前記検査ステージが、前記第1のステージレールを掴みながら前記第1の端部の一部を挟んで保持する第1のチャック機構、前記第2のステージレールを掴みながら前記第2の端部の一部を挟んで保持する第2のチャック機構、前記第2の端部の他の一部を挟んで保持する第3のチャック機構、並びに前記第2及び第3のチャック機構を前記一対のステージレールの幅を広げる方向に移動させる撓解消機構を更に有することを特徴とする請求項9に記載の非破壊自動検査システム。
- 前記第1のチャック機構は、前記第1の端部の一部を挟んで保持する第1の保持部と、前記第1の保持部に押圧力を印加する第1のシリンダを有し、
前記第2のチャック機構は、前記第2の端部の一部を挟んで保持する第2の保持部と、前記第2の保持部に押圧力を印加する第2のシリンダを有し、
前記第3のチャック機構は、前記第2の端部の他の一部を挟んで保持する第3の保持部と、前記第3の保持部に押圧力を印加する第3のシリンダを有することを特徴とする請求項10に記載の非接触検査装置。 - 前記検査ユニットに前記被検査物を搬送する供給側レールを有し、該供給側レールが前記撮像側レールの延長上で連結される供給ユニットと、
前記供給ユニットと前記検査ユニットとの間に設けられ、前記検査線の透過に対し遮蔽性能を有する入口側シャッタと、
を更に備え、前記検査ユニットにおける検査時には、前記撮像側レール、前記ステージレール、前記中継レールを前記検査ユニットの内部に収め、前記入口側シャッタを閉じることを特徴とする請求項11に記載の非破壊自動検査システム。 - 前記検査の前に前記入口側シャッタを解放し、前記前記撮像側レールを前記供給側レール方向にスライドさせ、前記供給ユニットから前記検査ユニットへ前記被検査物の受け渡しを行うことを特徴とする請求項12に記載の非破壊自動検査システム。
- 前記中継レールの延長上で連結されるスライド移動可能な搬出側レールを有し、該搬出側レールを介して前記検査ユニットから前記被検査物が搬送されるマーキングユニットと、
前記検査ユニットと前記マーキングユニットとの間に設けられ、前記検査線の透過に対し遮蔽性能を有する出口側シャッタと
を更に備え、
前記検査ユニットにおける検査時には、前記搬出側レールの少なくとも一部を検査ユニット側に収め、前記出口側シャッタを閉じることを特徴とする請求項12又は13に記載の非破壊自動検査システム。 - 前記検査の終了後に前記出口側シャッタを解放し、前記検査ユニット側に納められていた前記搬出側レールの前記少なくとも一部を前記マーキングユニット側へスライドさせ、前記検査ユニットから前記マーキングユニットへ前記被検査物の受け渡しを行うことを特徴とする請求項14に記載の非破壊自動検査システム。
- 前記検査線は、波長10nm以下の電磁波又は粒子線であることを特徴とする請求項1~15のいずれか1項に記載の非接触自動検査システム。
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