WO2024003965A1 - Inspection image display system and inspection image display method - Google Patents

Inspection image display system and inspection image display method Download PDF

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Publication number
WO2024003965A1
WO2024003965A1 PCT/JP2022/025434 JP2022025434W WO2024003965A1 WO 2024003965 A1 WO2024003965 A1 WO 2024003965A1 JP 2022025434 W JP2022025434 W JP 2022025434W WO 2024003965 A1 WO2024003965 A1 WO 2024003965A1
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WO
WIPO (PCT)
Prior art keywords
component
mounting
information
image
image display
Prior art date
Application number
PCT/JP2022/025434
Other languages
French (fr)
Japanese (ja)
Inventor
恵市 小野
一也 小谷
貴紘 小林
智也 藤本
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/025434 priority Critical patent/WO2024003965A1/en
Publication of WO2024003965A1 publication Critical patent/WO2024003965A1/en

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages

Definitions

  • the present specification relates to a system for displaying an inspection image used for inspecting a board on which components are mounted, and a method for displaying an inspection image.
  • the NG component display method disclosed in Patent Document 1 displays an image of a component that has a characteristic part that can be used for direction inspection and was determined to be rejected (defective) in a board appearance inspection, and displays an image of the component that is placed at the ideal position of the component at the same magnification.
  • a part shape frame that represents the desired position and a feature coordination section that emphasizes the ideal position of the feature are displayed in a superimposed manner on the screen. According to this, it is said that the operator can easily check on the screen the difference between the ideal mounting state of the component and the mounting state of the component that has been determined to be rejected in the board appearance inspection.
  • Patent Document 1 is preferable because the inspector can easily check how much the position of the component determined to be defective deviates from the ideal position.
  • the inspector is able to confirm a state that has been determined to be defective, it is often difficult for the inspector to estimate the cause and circumstances of the occurrence of the defect.
  • This type of defect can occur due to various factors in various situations of board-related work. For this reason, a great deal of effort and time is often spent investigating the cause of the defect and considering measures to prevent recurrence.
  • This specification provides positional information representing a relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board, and the component held by the component mounting tool.
  • an information acquisition unit that acquires mounting information including the position information used for correcting the position of the component mounting tool when performing a mounting operation; and an information acquisition unit that captures an image of the board on which the component is mounted to generate an inspection image.
  • An inspection image display system is disclosed that includes an image acquisition unit that acquires the information, and an image display unit that graphically displays the mounting information while superimposing it on the inspection image.
  • this specification provides positional information indicating a relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board, and the component held by the component mounting tool.
  • An inspection image display method is disclosed that includes an image acquisition step of acquiring an image, and an image display step of graphically displaying the information at the time of wearing while superimposing it on the inspection image.
  • position information representing the relative positional relationship between the component mounting tool and the component is graphically displayed and superimposed on the inspection image.
  • the inspector can refer to the relative positional relationship displayed in the inspection image and estimate the cause and circumstances of the defective mounting state of the component. Therefore, the inspection image display system and the inspection image display method can support investigation of the cause of defects and how they occurred.
  • FIG. 1 is a diagram schematically showing a line configuration of a component mounting line including the inspection image display system of the first embodiment.
  • FIG. 2 is a perspective view schematically showing a configuration example of a component mounting machine. It is a diagram looking up from below of a nozzle tool and a suction nozzle, and is a diagram corresponding to an image obtained by capturing an image of a suction nozzle holding a component by a component camera.
  • FIG. 2 is a plan view illustrating a board on which components are mounted, and is a diagram corresponding to an inspection image obtained by capturing an image of the board with an inspection camera.
  • FIG. 3 is an operation flow diagram illustrating the operation of the inspection image display system of the first embodiment. It is a figure showing an example of an inspection image.
  • FIG. 7 is a diagram illustrating another example in which wearing information is illustrated and displayed over the inspection image.
  • FIG. 2 is a diagram schematically showing the configuration of an inspection image display system according to a second embodiment.
  • FIG. 7 is a diagram illustrating an example in which mounting information to be displayed is selected based on whether or not there is a possibility of interference.
  • the line configuration of the component mounting line 9 including the inspection image display system 1 of the first embodiment will be described with reference to FIG. 1.
  • the left side of FIG. 1 is the upstream side of the line, and the right side is the downstream side of the line.
  • the component mounting line 9 is a line that produces board products by mounting components onto a board on which a circuit pattern is formed.
  • the component mounting line 9 includes four modular component mounting machines 92, a large component mounting machine 93, a board inspection machine 94, a production information server 96, and the like.
  • the four component mounting machines 92 have the same structure and are arranged in a line on the common base 91.
  • a solder printing machine and a print inspection machine are arranged side by side.
  • a solder printing machine prints paste-like solder on the lands (electrodes to which components are soldered) of a board on which a circuit pattern is formed.
  • the print inspection machine inspects the printed state of solder.
  • the board determined to be good by the print inspection machine is carried into the component mounting machine 92.
  • Each of the four component mounting machines 92 performs a mounting operation of mounting a component on a board using a suction nozzle corresponding to a component mounting tool.
  • the four component mounting machines 92 share the task of mounting a large number of small and medium-sized components.
  • a large component mounting machine 93 is arranged downstream of the component mounting machine 92.
  • the component mounting machine 93 performs a component mounting operation using a large suction nozzle corresponding to a component mounting tool or a mechanically driven type component mounting tool having a chuck for gripping the component.
  • the component mounting machine 93 is in charge of mounting operations for large components and irregularly shaped components.
  • the component mounting machine 93 may include a tray-type component supply device (not shown).
  • the board inspection machine 94 is arranged downstream of the component mounting machine 93.
  • the board inspection machine 94 uses an inspection camera to image a board on which components are mounted, and obtains an inspection image. Further, the board inspection machine 94 performs image processing on the inspection image to determine whether the mounting state of each of the plurality of components is good or bad.
  • a reflow machine (not shown) is arranged downstream of the board inspection machine 94.
  • a reflow machine stabilizes the soldered state of components by heating paste-like solder to melt it and then cooling it.
  • the production information server 96 is communicatively connected to the component mounting machines (92, 93) and the board inspection machine 94 via a LAN 95 (local area network).
  • the production information server 96 exchanges information with the component mounting machines (92, 93) and the board inspection machine 94 as needed, and manages the production of board products.
  • the production information server 96 stores parts data 971, equipment data 972, job data 973, and operation history data 974 in an attached memory 97, and updates them sequentially.
  • the component data 971 is data that stores information regarding various types of components mounted on the board.
  • the component data 971 includes component external shape information indicating the shape, external shape, size of electrodes, etc., external color of various components, and the like.
  • the parts data 971 includes information such as electrical characteristics, manufacturers, packaging forms, handling conditions, etc. of various parts.
  • the equipment data 972 is data that stores the structure, performance, etc. of the component mounting machine (92, 93) and the board inspection machine 94.
  • the equipment data 972 includes information regarding equipment such as component mounting tools used by the component mounting machines (92, 93) and equipment such as an inspection camera used by the board inspection machine 94, such as information such as the shape, performance, and usage conditions of the equipment. including.
  • the job data 973 is data that stores the details of the work to be performed on the board.
  • Job data 973 includes design data representing the type of board, the type of parts to be mounted, and the mounting coordinates. Further, the job data 973 includes production data that defines the order in which a plurality of parts are mounted in the component mounting machines (92, 93) and the component mounting tools to be used. Further, the job data 973 includes imaging conditions for an inspection camera that captures an inspection image in the board inspection machine 94, image processing conditions for the inspection image, pass/fail determination conditions, and the like. Job data 973 is created for each type of board product.
  • the operation history data 974 is data that stores the operation history when the component mounting machines (92, 93) and the board inspection machine 94 are operated.
  • the production information server 96 sends job data 973 to the component mounting machines (92, 93) and the board inspection machine 94, respectively, when producing boards.
  • the component mounting machines (92, 93) and the board inspection machine 94 perform board work according to the received job data 973.
  • the component mounting machines (92, 93) and the board inspection machine 94 refer to the component data 971 and the equipment data 972 as necessary based on the description of the job data 973.
  • the component mounting machines (92, 93) and the board inspection machine 94 convert their operations into data and transmit the data to the production information server 96.
  • the production information server 96 sequentially updates the operation history data 974 using the received data.
  • the component mounting machine 92 includes a mounting machine housing 20, a substrate transport device 22, a head moving device 24, a mounting head 26, a component supply device 28, a nozzle station 30, a component camera 32, a control device 34, and the like.
  • the mounting machine housing 20 is composed of a frame part 201 and a beam part 202 spanning over the frame part 201. Furthermore, a cover 203 that can be opened and closed is provided above the beam section 202. The cover 203 is shown on the component mounting machine 92 on the left side, and is omitted from the illustration on the component mounting machine 92 on the right side.
  • the substrate transport device 22 includes two sets of conveyor devices (221, 222) and a substrate holding mechanism (not shown).
  • the two conveyor devices (221, 222) are provided on the frame portion 201 so as to be parallel to each other and extend in the X-axis direction.
  • Each of the conveyor devices (221, 222) is rotatably driven by a motor (not shown) and conveys the supported substrate in the X-axis direction.
  • the two substrate holding mechanisms are arranged at approximately the center lower part of each of the conveyor devices (221, 222). Each of the substrate holding mechanisms holds the substrate in a predetermined mounting position.
  • the component supply device 28 is composed of a plurality of tape feeders 29 arranged in the X-axis direction.
  • Each tape feeder 29 rotatably holds a tape reel.
  • a tape reel is wound with a carrier tape in which components are housed in storage pockets arranged in a row.
  • Each of the tape feeders 29 uses a tape feeding mechanism (not shown) to feed the carrier tape to a feeding position by pitch feeding. Thereby, the tape feeder 29 supplies the parts at the supply position.
  • the reel holding mechanism that rotatably holds the tape reel may be configured separately from the tape feeder 29.
  • the head moving device 24 is an XY robot type device.
  • the head moving device 24 includes an X-axis motor (not shown) that slides the slider 25 in the X-axis direction, and a Y-axis motor (not shown) that slides the slider 25 in the Y-axis direction.
  • a mounting head 26 is attached to the side surface of the slider 25 in the negative direction of the Y axis.
  • the mounting head 26 is driven by an X-axis motor and a Y-axis motor to move to an arbitrary position on the frame section 201.
  • a nozzle tool 27 is removably provided below the mounting head 26.
  • the mounting head 26 may be a rotary head in which the nozzle tool 27 is permanently installed.
  • the suction nozzle 4 is one form of a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board.
  • a substrate camera (not shown) with a downward optical axis is provided below the slider 25 or the mounting head 26.
  • the board camera captures an image of a position reference mark attached to a board held at a mounting work position to obtain image data.
  • the acquired image data is subjected to image processing to accurately determine the mounting position of the board.
  • the relative positional relationship between the first XY coordinate system of the head moving device 24 and the second XY coordinate system representing the mounting position of the component on the board is calibrated.
  • the nozzle station 30 is provided adjacent to the component supply device 28.
  • the nozzle station 30 accommodates a plurality of suction nozzles 4 in a replaceable manner.
  • the suction nozzle 4 housed in the nozzle station 30 and the suction nozzle 4 attached to the mounting head 26 are automatically replaced as necessary.
  • the component camera 32 is provided between the board transport device 22 and the component supply device 28.
  • the component camera 32 is arranged so that its optical axis faces upward.
  • the component camera 32 images the suction nozzle 4 holding the component to obtain image data.
  • the component camera 32 captures an image while the mounting head 26 is temporarily stopped above it. Alternatively, the component camera 32 may increase the shutter speed and take an image at the moment the mounting head 26 passes above it.
  • image processing the image data By image processing the image data, the relative positional relationship between the suction nozzle 4 and the held component is detected and reflected in the mounting operation (details will be described later).
  • a digital imaging device having an imaging element such as a CCD or CMOS can be exemplified.
  • the control device 34 is assembled to the frame portion 201, and its position is not particularly limited.
  • the control device 34 is configured using a computer device having a CPU, a memory, an input/output section, and the like. Note that the control device 34 may be configured such that a plurality of CPUs are distributed within the machine and are communicatively connected.
  • the control device 34 controls the substrate transport device 22 and the component supply device 28 based on job data 973.
  • the control device 34 includes an imaging control section 35 that controls the imaging operation of the component camera 32, and an image processing section 36 that performs image processing on image data acquired by the component camera 32. Further, the control device 34 includes a mounting control section 37 that coordinately controls the mounting head 26, the nozzle tool 27, the suction nozzle 4, etc. to perform a mounting operation.
  • FIG. 3 is a diagram viewed from below, and the positive and negative directions of the Y-axis are reversed compared to FIG. 2.
  • the nozzle tool 27 has a substantially cylindrical outer shape and is formed as a rotating body that rotates about the vertical central axis AV.
  • the nozzle tool 27 is driven by an R-axis rotation drive mechanism (not shown) and rotates.
  • the nozzle tool 27 has a plurality of suction nozzles 4 (eight in the example of FIG. 3) that revolve around the vertical central axis AV due to its own rotation.
  • the suction nozzle 4 is selectively supplied with negative pressure air and positive pressure air from an air supply system (not shown). Further, the suction nozzle 4 is driven by a Q-axis rotation drive mechanism (not shown) to rotate. Furthermore, the suction nozzle 4 is driven by a Z-axis drive mechanism 261 provided on the mounting head 26 to move up and down. That is, when the suction nozzle 4 revolves and enters the lower position of the Z-axis drive mechanism 261, it becomes possible to move up and down. Further, the suction nozzle 4 remains in an elevated state except at the position below the Z-axis drive mechanism 261.
  • the suction nozzle 4 performs a suction operation that suctions the component P from the tape feeder 29 and a mounting operation that mounts the component P on the board, according to coordinated control that combines selective supply of negative pressure air and positive pressure air and lifting and lowering operations. I do.
  • the suction nozzle 4 located below the Z-axis drive mechanism 261 is designated as the first suction nozzle 41 for convenience, and the second suction nozzle 42 to the eighth suction nozzle 48 are designated clockwise thereafter.
  • the suction operation and the mounting operation of the component P are performed in order in the order in which the first suction nozzle 41 to the eighth suction nozzle 48 are installed.
  • the component P is a rectangular component that is rectangular in plan view, and a pair of electrodes for connection is provided on the lower surface and the upper surface.
  • the suction nozzle 4 is not limited to this, and can perform an operation of mounting components having a shape other than a rectangle.
  • the imaging control section 35 controls the component camera 32 to perform imaging, and acquires image data representing an image corresponding to FIG. 3.
  • the imaging control unit 35 causes the component camera 32 to perform imaging a plurality of times to acquire a plurality of image data.
  • the imaging control unit 35 can combine a plurality of image data to obtain image data corresponding to FIG. 3.
  • the imaging control unit 35 passes the acquired image data to the image processing unit 36.
  • the image processing unit 36 performs image processing on the image data and calculates position information and angle information for each part P.
  • the positional information represents the relative positional relationship between the suction nozzles (41 to 48) and the held part P.
  • the position information indicates the relative positional relationship between the center position 4A of the opening of the tip 49 (corresponding to the holding location) of the suction nozzle (41 to 48) and the center of the part P using a local xy coordinate system. This is information expressed in coordinate values.
  • both the outer shape of the tip 49 and the opening shape of the opening are circular.
  • the present invention is not limited to this, and for example, the opening shape of the opening may be oval, oval, or the like.
  • the local x-y coordinate system has the origin at the center position 4A of the tip 49 of each suction nozzle (41 to 48), the x-axis direction in the direction tangent to the circumferential direction of the nozzle tool 27, and the vertical center of the nozzle tool 27.
  • the direction toward the axis AV is defined as the y-axis positive direction.
  • the position information is represented by the coordinate values of the center of the part P. According to this definition, when the suction nozzles (4, 41 to 48) enter the lower position of the Z-axis drive mechanism 261 by revolution and perform the mounting operation of the component P, the local x-y coordinate system and the board The axes of the XY coordinate systems are parallel. Note that for a mechanically driven type component mounting tool, a similar definition can be made, for example, with the center position of a plurality of chucks as the origin.
  • the angle information represents the relative rotational angle relationship between the suction nozzles (41 to 48) and the part P.
  • the angle information is expressed, for example, as an angle between the long side of the rectangular component and the x-axis direction. Even for parts other than rectangles, a reference direction of the part can be determined, and the angle at which this reference direction is rotated with respect to the suction nozzles (41 to 48) can be used as angle information.
  • the first suction nozzle 41, the second suction nozzle 42, the third suction nozzle 43, the fifth suction nozzle 45, and the eighth suction nozzle 48 maintain the center position 4A of the tip 49.
  • the center of the part P is aligned with the center of the part P. Therefore, position information is expressed as (0,0). Further, in these suction nozzles (41, 42, 43, 45, 48), the long side of the part P is parallel to the x-axis. Therefore, the angle information is represented by 0.
  • the center of the component P is displaced by the displacement amount dx in the positive direction of the x-axis with respect to the center position 4A. Therefore, the position information is expressed as (dx, 0) representing the amount of displacement. Further, the long side of the component P is parallel to the x-axis, and the angle information is represented by 0. In the seventh suction nozzle 47, the center of the component P is displaced by a displacement amount -dy in the negative direction of the y-axis with respect to the center position 4A. Therefore, the position information is expressed as (0, -dy) representing the amount of displacement.
  • the long side of the component P which is a rectangular component, is parallel to the x-axis, and the angle information is represented by 0.
  • the center position 4A coincides with the center of the component P, and the position information is expressed as (0, 0).
  • the long side of the component P has an angle dA with respect to the x-axis. Therefore, the angle information is expressed in dA.
  • Non-zero position information occurs when the component P is displaced from the center of the storage pocket on the carrier tape used by the tape feeder 29. Also, non-zero angle information occurs when the part P is rotating within the storage pocket. Furthermore, non-zero position information and angle information may also be caused by vibrations or air currents that are accidentally superimposed when the suction nozzles (41 to 48) suction the part P, and other factors.
  • the image processing section 36 passes the calculated position information and angle information to the mounting control section 37.
  • the mounting control unit 37 uses the received position information and angle information to correct the positions and rotation angles of the suction nozzles (41 to 48) when performing the mounting operation. Specifically, when the position information and the angle information are both zero, the mounting control unit 37 adjusts the center position 4A of the tip 49 of the suction nozzle (41, 42, 43, 45, 48) to a predetermined mounting position. At the same time, the suction nozzles (41, 42, 43, 45, 48) are lowered without rotating on their axis to perform the mounting operation.
  • the mounting control unit 37 adjusts the position of the mounting head 26 so that the suction nozzle (46, 47) is displaced from the predetermined mounting position by the amount of the position information, and The attachment operation is performed by lowering the suction nozzle 4 without rotating it.
  • the mounting control unit 37 controls the fourth suction nozzle 44 to a predetermined mounting position, and also causes the fourth suction nozzle 44 to rotate by an amount corresponding to the angle information and then descend. to perform the mounting operation. Further, when both the position information and the angle information are non-zero, the mounting control unit 37 performs correction using both the adjustment of the position of the mounting head 26 and the rotation of the suction nozzle 4.
  • the mounting control unit 37 associates the position information and angle information used for correction during the mounting operation with the individual identification information of the suction nozzles (41 to 48) as mounting information, and sends this mounting information to the production information server 96. Send.
  • the production information server 96 stores the received installation information in the operation history data 974.
  • the mounting control unit 37 may rotate the suction nozzle 4 depending on the mounting direction of the component P. For example, the mounting control unit 37 does not rotate the suction nozzle 4 when the long side of the rectangular component is in the mounting direction parallel to the X-axis direction. When the mounting direction is parallel to , the suction nozzle 4 is rotated by 90 degrees. At this time, if the angle information is non-zero, the mounting control unit 37 performs correction to increase or decrease the angle information relative to 90°.
  • the component P is mounted on the board K by a mounting operation controlled by the mounting control section 37, as shown in FIG. 4, for example.
  • the board K illustrated in FIG. 4 four parts P are mounted on each of the first area AR1 and the second area AR2 which are spaced apart from each other, and the long sides of the parts P are parallel to the X-axis direction.
  • the mounting positions of the four parts P are determined at the apex positions of the rectangle.
  • the eight parts P are mounted in order by the first suction nozzle 41 to the eighth suction nozzle 48 (shown by broken lines for convenience). That is, the component P at the lower left of the second area is installed first, and the components P are subsequently installed in clockwise order.
  • the mounting condition of each component P is good, in other words, the positional error in the mounting position and the rotation angle error in the mounting direction of the component P are within the permissible range. Therefore, correction of the displacement amount dx in the mounting operation of the sixth suction nozzle 46, correction of the displacement amount -dy in the mounting operation of the seventh suction nozzle 47, and correction of the angle dA in the mounting operation of the fourth suction nozzle 44 can be performed satisfactorily. I know what was done.
  • the inspection image display system 1 of the first embodiment is used to support an inspector who investigates the causes and circumstances of non-installation or incorrect installation of the component P.
  • Configuration of the inspection image display system 1 of the first embodiment As shown in FIG. 7, an image display section 8, and the like.
  • the four functional units are provided in the board inspection machine 94.
  • the present invention is not limited thereto, and at least one of the four functional units may be provided in another part of the component mounting line 9 that is communicatively connected.
  • the information acquisition unit 5 acquires the mounting information (position information and angle information) stored in the operation history data 974 by the mounting control unit 37. Therefore, the information acquisition section 5 substantially includes the component camera 32 of the component mounting machine 92, the imaging control section 35, the image processing section 36, and the memory 97. Furthermore, the information acquisition unit 5 acquires attachment tool external shape information from the device data 972 based on the individual identification information of the suction nozzle 4 included in the attachment information.
  • This mounting tool external shape information is information representing the external shape of the suction nozzle (4, 41 to 48) used by the component mounting machine (92, 93) for the mounting operation of the component P.
  • the mounting tool external shape information includes the external shape and external size of the tip 49 of the suction nozzle (4, 41 to 48), and the opening shape and opening size of the opening of the tip 49.
  • the mounting tool external shape information includes external shape information of a mechanically driven type component mounting tool used by the large component mounting machine 93.
  • the information acquisition unit 5 acquires mounting order information representing the mounting order of the plurality of parts P to be mounted on the board K from the job data 973.
  • the image acquisition unit 6 uses an inspection camera to image the board K on which the component P is mounted, and acquires an inspection image.
  • FIG. 4 corresponds to an example of an acquired inspection image.
  • the suction nozzles (41 to 48) indicated by broken lines are not captured in the inspection image.
  • the image inspection unit 7 performs image processing on the inspection image to determine whether the mounting state of each of the plurality of parts P is good or bad.
  • defects in the mounting state may include rotational deviation in the mounting direction of the component P, tilting and overturning of the component P, and the like.
  • the image display unit 8 graphically displays the installation information over the inspection image. Specifically, the image display unit 8 diagrams the center position 4A of the tip 49 of the suction nozzle 4 as a symbol, and displays the symbol at a position that satisfies the relative positional relationship with respect to the image of the part P in the inspection image. do. In this embodiment, a broken line "cross shape" is used as a symbol to illustrate the center position 4A. It is assumed that the intersection of two line segments forming a "cross shape” is represented as a center position 4A. Furthermore, the image display section 8 rotates and displays the "cross-shaped" symbol within the inspection image based on the angle information. Further, the image display unit 8 graphically displays the external shape information of the attachment device such as the suction nozzle 4 in association with the "cross-shaped" symbol in the inspection image.
  • the image display section 8 selects the mounting information to be displayed based on the determination result of the image inspection section 7. Specifically, the image display unit 8 displays only the mounting information regarding the parts determined to be defective by the image inspection unit 7 and surrounding components located within a predetermined distance from the parts determined to be defective. do. Further, the image display section 8 displays the mounting order of the corresponding parts at a position near each of the plurality of component images in the inspection image, based on the mounting order information acquired by the information acquisition section 5. The image display unit 8 transmits the image data of the finally displayed image to the production information server 96 and stores it in the operation history data 974.
  • the functions of the image inspection section 7 and the image display section 8 will be described in detail by showing a specific example in the following description of the operation.
  • step S1 of FIG. 5 the production information server 96 sends job data 973 to the component mounting machines (92, 93) and the board inspection machine 94, respectively.
  • the component mounting machines (92, 93) and the board inspection machine 94 start producing board products according to the received job data 973.
  • Step S2 the suction nozzle 4 of the component mounting machine 92 moves horizontally to above the tape feeder 29, descends, and suctions the component P (suction operation).
  • step S3 first, the mounting head 26 and the suction nozzle 4 move above the component camera 32.
  • the component camera 32 operates under the control of the imaging control unit 35, and images the suction nozzle 4 holding the component P to obtain image data.
  • the image processing unit 36 operates to perform image processing on the image data and calculate position information and angle information for each part P.
  • wearing information including position information and angle information is stored in the operation history data 974.
  • the information acquisition unit 5 acquires the wearing information, the wearing tool external shape information, and the wearing order information.
  • Step S3 corresponds to an information acquisition step in which the information acquisition unit 5 acquires mounting information including position information. Note that the information acquisition step may be performed at any time before step S8.
  • step S4 the suction nozzle 4 moves horizontally to above the board K, descends, and mounts the component P on the board K (mounting operation).
  • steps S2 to S4 are repeated.
  • steps S2 to S4 are similarly executed by the large-sized component mounting machine 93.
  • the operation flow proceeds to step S5.
  • step S5 the board K on which the component P is mounted is transported to the board inspection machine 94.
  • step S6 the image acquisition unit 6 operates, images the transported substrate K, and acquires the inspection image GT1 illustrated in FIG. 6.
  • Step S6 corresponds to an image acquisition step in which the image acquisition unit 6 acquires the test image GT1.
  • the substrate K that is the imaging target of the inspection image GT1 shown in FIG. 6 is the same type as the substrate K shown in FIG. 4, but is a different body. Therefore, the mounting information (position information and angle information) of the eight parts P shown in FIG. 6 is different from that in FIG. 3, and the mounting state of the eight parts P shown in FIG. 6 is different from that in FIG. differ.
  • the image inspection unit 7 operates to perform image processing on the inspection image GT1 and inspect the mounting state of each of the plurality of parts P.
  • the image inspection unit 7 determines that the component PB at the lower left of the first area AR1 is defective, and displays "NG" at a position near the upper left of the component image.
  • the image inspection unit 7 determines the other seven parts P to be good, and displays "OK" in the vicinity of the upper left of the parts images.
  • the image inspection unit 7 displays "TOLERANCE ERROR", which means a defective mounting state, near the left side of the component image of the component PB determined to be defective.
  • the image inspection unit 7 displays a position error in the X-axis direction "X: -20 ⁇ m", a position error in the Y-axis direction "Y: -30 ⁇ m", and a rotation angle error "Q: 10 deg”.
  • the part PB in question was determined to be defective based on the fact that the positional error in at least one of the X-axis direction and the Y-axis direction exceeded the allowable error with respect to the predetermined mounting position indicated by the broken line in FIG. It is.
  • the predetermined mounting position may or may not be displayed on the test image GT1.
  • the tolerance of the mounting position is set by multiplying the dimension of a specific part of the component P (for example, the long side dimension of a rectangular component) by a predetermined ratio (for example, 10 to 30%).
  • the rotational angle error of 10 degrees in the mounting direction of the component PB depends on the set value of the angle tolerance.
  • the inspector can visually check the inspection image GT1 and confirm the state in which this part PB has been determined to be defective.
  • This type of defect occurs when the suction nozzle 4 (component mounting tool) picks up or mounts the component PB, when the suction nozzle 4 holding the component PB moves, and when the board K on which the component PB is mounted is transported. This can occur in a variety of situations, such as when the vehicle is being operated, due to various factors such as external disturbances such as vibrations and airflow, and control errors.
  • the situation during the suction operation and mounting operation of the component PB is unknown. Therefore, even if the inspector visually checks the inspection image GT1, it is often difficult for the inspector to infer the cause and circumstances of the occurrence of the defect.
  • the image display section 8 operates, and displays the "cross shape" representing the center position 4A of the opening of the tip 49 of the suction nozzle 4 and the external shape of the tip 49 of the suction nozzle 4 for the component in the inspection image.
  • the image is displayed so as to satisfy the relative positional relationship with respect to the image of P.
  • the image display unit 8 limits the parts (P, PB) to be displayed. Specifically, the image display unit 8 displays mounting information regarding the component PB determined to be defective by the image inspection unit 7 and surrounding components P placed within a predetermined distance from the component PB determined to be defective. Display only.
  • the surrounding parts P placed within a predetermined distance from the part PB determined to be defective correspond to the three parts P in the first area AR1.
  • the image display section 8 displays the test image GT2 illustrated in FIG. 7.
  • the inspection image GT2 displays the four parts (P, PB) in the first area AR1 and does not display the four parts P determined to be good in the second area AR2. This makes it possible to enlarge and display only the vicinity of the component PB that has been determined to be defective, which facilitates visual recognition by the inspector.
  • FIG. 1 the surrounding parts P placed within a predetermined distance from the part PB determined to be defective correspond to the three parts P in the first area AR1.
  • the image display section 8 displays the test image GT2 illustrated in FIG. 7.
  • the inspection image GT2 displays the four parts (P, PB) in the first area AR1 and does not display the four parts P determined to be good in the second area AR2. This makes it possible to enlarge and display only the vicinity of the component PB that has been determined to be defective, which facilitates visual recognition by
  • the center position 4A of the suction nozzle 4 is indicated by a broken line "cross shape", and the outer shape of the tip 49 of the suction nozzle 4 is indicated by a broken line circle.
  • the broken line circle corresponding to the external shape of the tip 49 and its diameter are based on the mounting tool external shape information acquired by the information acquisition unit 5.
  • the image display unit 8 displays the corresponding parts in the vicinity of each part image of the four parts (P, PB) in the inspection image GT2 based on the mounting order information acquired by the information acquisition unit 5. Display the installation order. Specifically, “3", “4", “5", and “6" indicating the mounting order are displayed near the lower right of the component images of the four components (P, PB). Note that if there is no defect in the inspection result in step S7, step S8 is omitted. After step S8 is completed, or after step S7 is completed when there is no defect, steps S2 and subsequent steps are repeatedly executed for the next board K.
  • the inspection image GT2 displays the relative positional relationship during the suction operation in which the suction nozzle 4 suctions the parts (P, PB). Specifically, in the lower left part PB of the first area AR1, which was determined to be defective with the mounting order "3", the position information and angle information are almost zero, and the relative positional relationship between the part PB and the suction nozzle 4 is It is shown that it was in good condition. By visually recognizing this display, the inspector can infer that the suction and mounting operations of the component PB have been successfully performed.
  • position information is displayed in which the part P is shifted relative to the suction nozzle 4 in the positive direction of the Y axis.
  • the inspector can infer that the suction nozzle 4 has interfered with the mounted component PB.
  • the inspector can infer the cause and course of occurrence of the defect as follows. That is, in the third mounting operation, the component PB was initially successfully mounted at the predetermined mounting position. In the next fourth mounting operation, in order to correct the deviation during the suction operation of the component P, the position of the suction nozzle 4 was corrected in the Y-axis negative direction based on the position information. As a result, the suction nozzle 4 approached the mounted component PB, and when descending, the tip 49 pushed the component PB and caused it to slide sideways from the predetermined mounting position.
  • the inspector can infer causes and circumstances other than interference, such as a control error in the mounting operation or sideways slipping of the component PB due to an accidental shock occurring during the transportation of the board K.
  • the installation information superimposed on the inspection image GT2 it becomes possible to estimate the situation during the suction operation and the installation operation of the suction nozzle 4. Furthermore, when a defect is determined by the image inspection section 7, it becomes possible to estimate the cause of the defect and the course of its occurrence. In other words, support is provided for inspectors to investigate the causes and circumstances of defects.
  • the display of the mounting order facilitates the inspector's guess and improves the accuracy of the guess. If the mounting order is not displayed, the arrangement of the mounted parts P during the mounting operation of a certain suction nozzle 4 is unknown, making estimation difficult and tending to reduce the accuracy of estimation.
  • step S7 the image inspection section 7 displays the inspection image GT3 illustrated in FIG. 8.
  • the uninstalled component PC is not captured in the inspection image GT3.
  • the image inspection unit 7 displays the predetermined mounting position of the component PC in question with a conspicuous red thick dashed-dotted line, and displays "NOTPLACING ERROR" indicating that the component PC is not mounted at a nearby position on the left side.
  • the image display unit 8 regards the red dot-dash line as a component image and displays the mounting information as a broken line. Further, the image display unit 8 displays not only the outer shape of the tip 49 of the suction nozzle 4 but also the opening shape of the opening of the tip 49 using broken lines. As a result, a double circle with a broken line is displayed on the inspection image GT3.
  • a state is displayed in which the opening of the suction nozzle 4 is shifted outward from the side surface of the component PC.
  • An inspector who visually recognizes this display can recognize that a leak of negative pressure air has occurred due to the misalignment of the opening of the suction nozzle 4. Furthermore, the inspector can infer that the holding state of the component PC has become unstable and that the component PC has fallen somewhere during the movement of the suction nozzle 4 from the component camera 32 to the board K.
  • the image processing unit 36 may not be able to calculate the mounting information (position information and angle information) of the component PC. That is, the component PC may not be imaged in the imaging data of the component camera 32. In this case, the image display section 8 does not display mounting information. If the installation information is not displayed superimposed on the inspection image GT3, the inspector can determine whether the component PC could not be suctioned by the suction operation of the suction nozzle 4, or if the component PC could not be suctioned before moving to the component camera 32. It can be assumed that it fell.
  • the positional information representing the relative positional relationship between the suction nozzles (4, 41 to 48) and the components (P, PB, PC) is graphically displayed. It is displayed superimposed on the inspection images (GT2, GT3). According to this, for example, the inspector can refer to the relative positional relationship displayed in the inspection images (GT2, GT3) and estimate the cause and circumstances of the defective mounting state of the component. Therefore, the inspection image display system 1 and the inspection image display method shown in FIG. 5 can support investigation of the cause of defects and how they occur.
  • the information acquisition unit 5A acquires the information at the time of wearing (position information and angle information), the information on the outer shape of the wearing tool, and the information on the wearing order. Further, unlike the first embodiment, the information acquisition unit 5A acquires a plurality of pieces of part outline information representing the size and shape of each of the plurality of parts from the part data 971. Further, the information acquisition unit 5A acquires a plurality of mounting position information representing the mounting position of each of the plurality of parts from the job data 973.
  • the interference determination unit 75 determines whether there is a possibility that the component mounting tool will interfere with the mounted component, based on the information acquired by the information acquisition unit 5A. To give a specific example, the interference determination unit 75 determines whether there is a possibility that the mounting operation of the suction nozzle 4 for mounting the second component onto the board will interfere with the first component already mounted on the board. The possibility of interference is determined based on the size of the suction nozzle 4 and the components, as well as the distance between adjacent components, and takes into account the dimensional tolerances of these components and the maximum positional error that may occur. will be carried out. Furthermore, the interference determination unit 75 may consider a predetermined safe separation distance and determine whether there is a possibility of interference on the safe side.
  • the board KA shown in the inspection image GT4 of FIG. 10 is of a different type from the board K shown in the first embodiment, and does not have a mounting position at the lower left of the first area AR1.
  • the component mounting machine 92 first mounts the component P in the upper left of the first area, then mounts the component P1 in the upper right of the first area, and then mounts the component P2 in the lower right of the first area.
  • the mounting positions of the component P1 and the component P2 are determined to be relatively far apart in the positive direction of the X-axis from the mounting position of the component P that is mounted first. Therefore, the suction nozzle 4 for mounting the component P1 and the suction nozzle 4 for mounting the component P2 have no possibility of interfering with the mounted component P.
  • the mounting position of component P2 is determined to be close to the mounting position of component P1, which is mounted first, in the negative direction of the Y-axis. Therefore, the suction nozzle 4 that mounts the component P2 may interfere with the mounted component P1.
  • the interference determination unit 75 automatically determines whether there is a possibility of the above-mentioned interference. Note that the interference determination unit 75 does not use the mounting order information in the above description. However, the interference determination unit 75 improves the determination accuracy by considering the mounting order information when the sizes of the plurality of parts to be mounted are different or when the suction nozzle 4 to be used is replaced midway through. can be increased.
  • the image display unit 8A displays mounting information regarding the component determined to be defective and the surrounding components.
  • the image display section 8A displays mounting information regarding the first and second components determined by the interference determination section 75 to have a possibility of interference even if there is no component determined to be defective.
  • the image display section 8A displays, for example, a test image GT4 shown in FIG. 10. In the inspection image GT4, the mounting information regarding the part P is not displayed, but the mounting information is displayed superimposed on the part image of the part P1 corresponding to the first part, and the mounting information is superimposed on the part image of the part P2 corresponding to the second part. Time information is displayed overlapping.
  • the second embodiment as in the first embodiment, by displaying the installation information superimposed on the inspection image GT4, it is possible to support investigation of the cause and the course of occurrence of a defective installation state of the component P. Furthermore, even if there is no defect, mounting information is superimposed on a portion of the inspection image GT4 where there is a possibility that the suction nozzle 4 will interfere with the mounted component P. Therefore, by visually recognizing the inspection image GT4, it is possible to recognize the actual condition of the margin size for interference and to estimate the magnitude of the possibility that interference will occur.
  • the component placement machines (92, 93) do not include the nozzle tool 27, but have one suction nozzle 4 below the placement head 26 so as to be movable up and down and rotatable. Good too.
  • a symbol illustrating the center position 4A of the suction nozzle 4 a symbol other than the broken line "cross shape" can be used.
  • the mounting order of parts displayed in the inspection images (GT2 to GT4) may be omitted. Further, the mounting information may be directly transferred from the component mounting machine (92, 93) to the board inspection machine 94 without going through the operation history data 974 of the memory 97.
  • the image display sections (8, 8A) display the mounting information of all parts P superimposed on the inspection images (GT2 to GT4), regardless of the judgment results of the image inspection section 7 and the interference judgment section 75. Good too.
  • the first and second embodiments are capable of various other applications and modifications.
  • Inspection image display system 26 Mounting head 27: Nozzle tool 32: Component camera 36: Image processing unit 37: Mounting control unit 4, 41-48: Suction nozzle 49: Tip 4A: Center position 5, 5A: Information Acquisition unit 6: Image acquisition unit 7: Image inspection unit 75: Interference determination unit 8, 8A: Image display unit 9: Component mounting line 92, 93: Component mounting machine 94: Board inspection machine 96: Production information server 971: Component data 972: Equipment data 973: Job data 974: Operation history data K, KA: Board P, PB, PC, P1, P2: Parts GT1, GT2, GT3, GT4: Inspection image

Abstract

This inspection image display system comprises: an information acquisition unit that acquires mounting information including positional information that represents the relative positional relationship between a component mounting tool that performs mounting operation to mount a component at a predetermined mounting position set on a substrate and the component held by the component mounting tool, the positional information being used to correct the position of the component mounting tool when performing the mounting operation; an image acquisition unit that acquires an inspection image by capturing an image of the substrate on which the component is mounted; and an image display unit that diagrammatizes the mounting information and overlays the result on the inspection image to display same.

Description

検査画像表示システムおよび検査画像表示方法Inspection image display system and inspection image display method
　本明細書は、部品が装着された基板の検査に用いる検査画像を表示するシステム、および、検査画像を表示する方法に関する。 The present specification relates to a system for displaying an inspection image used for inspecting a board on which components are mounted, and a method for displaying an inspection image.
　回路パターンが形成された基板に対基板作業を実施して、基板製品を量産する技術が普及している。対基板作業を実施する対基板作業機として、部品装着具を用いて基板に部品を装着する部品装着機や、部品が装着された基板の検査を担当する基板検査機などがある。一般的に、基板検査機は、部品が装着された基板を撮像して検査画像を取得し、検査画像に画像処理を施して部品の装着状態（装着位置や装着姿勢など）の良否を判定する。検査画像を用いて基板の検査を行う一技術例が特許文献１に開示されている。 The technology of mass producing board products by performing board-to-board work on boards on which circuit patterns have been formed is becoming widespread. As board-to-board work machines that perform board-to-board work, there are component mounting machines that mount components on boards using component mounting tools, and board inspection machines that inspect boards on which components are mounted. Generally, a board inspection machine captures an image of a board on which a component is mounted to obtain an inspection image, and performs image processing on the inspection image to determine whether the mounting state of the component (mounting position, mounting posture, etc.) is good or bad. . A technical example of inspecting a board using an inspection image is disclosed in Patent Document 1.
　特許文献１のＮＧ部品表示方法は、方向検査に使用可能な特徴部を有し基板外観検査で不合格（不良）と判定された部品の画像と、該部品の理想位置に等倍率で配置される部品形状枠と、特徴部の理想位置を強調する特徴協調部と、を画面に重ね合わせて表示する。これによれば、理想的な部品の装着状態と、基板外観検査で不合格判定された部品の装着状態との相違点を作業者が画面上で確認しやすい、とされている。 The NG component display method disclosed in Patent Document 1 displays an image of a component that has a characteristic part that can be used for direction inspection and was determined to be rejected (defective) in a board appearance inspection, and displays an image of the component that is placed at the ideal position of the component at the same magnification. A part shape frame that represents the desired position and a feature coordination section that emphasizes the ideal position of the feature are displayed in a superimposed manner on the screen. According to this, it is said that the operator can easily check on the screen the difference between the ideal mounting state of the component and the mounting state of the component that has been determined to be rejected in the board appearance inspection.
特開２０１１－２５３９７４号公報Japanese Patent Application Publication No. 2011-253974
　ところで、特許文献１の技術例では、検査員は、不良と判定された部品の位置が理想位置からどの程度ずれているかを容易に確認することができて好ましい。しかしながら、検査員は、不良と判定された状態を確認することができても、不良が発生した原因および発生経緯を推測することが難しい場合が多い。この種の不良は、対基板作業の様々な場面において、様々な要因で発生し得る。このため、不良原因の究明や再発防止策の検討に多大な手間および時間が費やされることが多い。 By the way, the technical example of Patent Document 1 is preferable because the inspector can easily check how much the position of the component determined to be defective deviates from the ideal position. However, even if the inspector is able to confirm a state that has been determined to be defective, it is often difficult for the inspector to estimate the cause and circumstances of the occurrence of the defect. This type of defect can occur due to various factors in various situations of board-related work. For this reason, a great deal of effort and time is often spent investigating the cause of the defect and considering measures to prevent recurrence.
　それゆえ、本明細書では、基板に装着された部品の装着状態の不良の原因および発生経緯の究明を支援する検査画像表示システムおよび検査画像表示方法を提供することを解決すべき課題とする。 Therefore, in this specification, it is an object to be solved to provide an inspection image display system and an inspection image display method that support investigation of the causes and circumstances of poor mounting conditions of components mounted on a board.
　本明細書は、基板に設定された所定の装着位置に部品を装着する装着動作を行う部品装着具と、前記部品装着具に保持された前記部品との相対位置関係を表す位置情報であって、装着動作を行うときの前記部品装着具の位置の補正に用いられる前記位置情報を含んだ装着時情報を取得する情報取得部と、前記部品が装着された前記基板を撮像して検査画像を取得する画像取得部と、前記装着時情報を図化しつつ前記検査画像に重ねて表示する画像表示部と、を備える検査画像表示システムを開示する。 This specification provides positional information representing a relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board, and the component held by the component mounting tool. , an information acquisition unit that acquires mounting information including the position information used for correcting the position of the component mounting tool when performing a mounting operation; and an information acquisition unit that captures an image of the board on which the component is mounted to generate an inspection image. An inspection image display system is disclosed that includes an image acquisition unit that acquires the information, and an image display unit that graphically displays the mounting information while superimposing it on the inspection image.
　また、本明細書は、基板に設定された所定の装着位置に部品を装着する装着動作を行う部品装着具と、前記部品装着具に保持された前記部品との相対位置関係を表す位置情報であって、装着動作を行うときの前記部品装着具の位置の補正に用いられる前記位置情報を含んだ装着時情報を取得する情報取得工程と、前記部品が装着された前記基板を撮像して検査画像を取得する画像取得工程と、前記装着時情報を図化しつつ前記検査画像に重ねて表示する画像表示工程と、を備える検査画像表示方法を開示する。 Further, this specification provides positional information indicating a relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board, and the component held by the component mounting tool. an information acquisition step of acquiring mounting information including the position information used for correcting the position of the component mounting tool when performing a mounting operation; and an image capturing and inspection of the board on which the component is mounted. An inspection image display method is disclosed that includes an image acquisition step of acquiring an image, and an image display step of graphically displaying the information at the time of wearing while superimposing it on the inspection image.
　なお、本明細書では、出願当初の請求項６において「請求項２に記載の検査画像表示システム」を「請求項２～５のいずれか一項に記載の検査画像表示システム」に変更した技術的思想、出願当初の請求項９において「請求項１～６のいずれか一項に記載の検査画像表示システム」を「請求項１～８のいずれか一項に記載の検査画像表示システム」に変更した技術的思想、出願当初の請求項１１において「請求項１～６のいずれか一項に記載の検査画像表示システム」を「請求項１～１０のいずれか一項に記載の検査画像表示システム」に変更した技術的思想、および出願当初の請求項１２において「請求項１～６のいずれか一項に記載の検査画像表示システム」を「請求項１～１１のいずれか一項に記載の検査画像表示システム」に変更した技術的思想を開示している。 In addition, in this specification, a technology in which "the inspection image display system according to claim 2" in claim 6 at the time of filing is changed to "the inspection image display system according to any one of claims 2 to 5" is described. According to the original idea of claim 9, "the inspection image display system according to any one of claims 1 to 6" is changed to "the inspection image display system according to any one of claims 1 to 8". The changed technical idea is that "the inspection image display system according to any one of claims 1 to 6" was changed to "the inspection image display system according to any one of claims 1 to 10" in claim 11 at the time of filing. In addition, in claim 12 at the time of filing, the technical idea was changed from "inspection image display system according to any one of claims 1 to 6" to "as described in any one of claims 1 to 11. This paper discloses the technical idea behind the change to the ``inspection image display system''.
　開示した検査画像表示システムや検査画像表示方法において、部品装着具と部品との相対位置関係を表す位置情報が図化されて検査画像に重ねて表示される。これによれば、例えば検査員は、検査画像に表示された相対位置関係を参考にして、部品の装着状態の不良の原因および発生経緯を推測することができる。したがって、検査画像表示システムや検査画像表示方法は、不良の原因および発生経緯の究明を支援することができる。 In the disclosed inspection image display system and inspection image display method, position information representing the relative positional relationship between the component mounting tool and the component is graphically displayed and superimposed on the inspection image. According to this, for example, the inspector can refer to the relative positional relationship displayed in the inspection image and estimate the cause and circumstances of the defective mounting state of the component. Therefore, the inspection image display system and the inspection image display method can support investigation of the cause of defects and how they occurred.
第１実施形態の検査画像表示システムを含んで構成される部品装着ラインのライン構成を模式的に示す図である。FIG. 1 is a diagram schematically showing a line configuration of a component mounting line including the inspection image display system of the first embodiment. 部品装着機の構成例を模式的に示す斜視図である。FIG. 2 is a perspective view schematically showing a configuration example of a component mounting machine. ノズルツールおよび吸着ノズルを下方から見上げた図であって、部品を保持した吸着ノズルを部品カメラが撮像して取得した画像に相当する図である。It is a diagram looking up from below of a nozzle tool and a suction nozzle, and is a diagram corresponding to an image obtained by capturing an image of a suction nozzle holding a component by a component camera. 部品が装着された基板を例示する平面図であり、当該の基板を検査用カメラが撮像して取得した検査画像に相当する図である。FIG. 2 is a plan view illustrating a board on which components are mounted, and is a diagram corresponding to an inspection image obtained by capturing an image of the board with an inspection camera. 第１実施形態の検査画像表示システムの動作を説明する動作フローの図である。FIG. 3 is an operation flow diagram illustrating the operation of the inspection image display system of the first embodiment. 検査画像の一例を示す図である。It is a figure showing an example of an inspection image. 装着時情報を図化しつつ検査画像に重ねて表示した例を示す図である。It is a figure which shows the example which superimposes and displays on the test|inspection image, drawing the information at the time of wearing. 装着時情報を図化しつつ検査画像に重ねて表示した別の例を示す図である。FIG. 7 is a diagram illustrating another example in which wearing information is illustrated and displayed over the inspection image. 第２実施形態の検査画像表示システムの構成を模式的に示す図である。FIG. 2 is a diagram schematically showing the configuration of an inspection image display system according to a second embodiment. 干渉する可能性の有無に基づいて、表示する装着時情報を選択した例を示す図である。FIG. 7 is a diagram illustrating an example in which mounting information to be displayed is selected based on whether or not there is a possibility of interference.
　１．部品装着ライン９のライン構成
　まず、第１実施形態の検査画像表示システム１を含んで構成される部品装着ライン９のライン構成について、図１を参考にして説明する。図１の左側がラインの上流側であり、右側がラインの下流側である。部品装着ライン９は、回路パターンが形成された基板に部品を装着して基板製品を生産するラインである。部品装着ライン９は、モジュール型の４台の部品装着機９２、大型の部品装着機９３、基板検査機９４、および生産情報サーバ９６などで構成される。４台の部品装着機９２は、同一の構造を有して、共通ベース９１の上に一列に配列される。 1. Line Configuration of Component Mounting Line 9 First, the line configuration of the component mounting line 9 including the inspection image display system 1 of the first embodiment will be described with reference to FIG. 1. The left side of FIG. 1 is the upstream side of the line, and the right side is the downstream side of the line. The component mounting line 9 is a line that produces board products by mounting components onto a board on which a circuit pattern is formed. The component mounting line 9 includes four modular component mounting machines 92, a large component mounting machine 93, a board inspection machine 94, a production information server 96, and the like. The four component mounting machines 92 have the same structure and are arranged in a line on the common base 91.
　部品装着機９２よりも上流側に、図示省略のはんだ印刷機および印刷検査機が並んで配置される。はんだ印刷機は、回路パターンが形成された基板のランド（部品をはんだ付けする電極）にペースト状のはんだを印刷する。印刷検査機は、はんだの印刷状態を検査する。印刷検査機で良と判定された基板が部品装着機９２に搬入される。４台の部品装着機９２の各々は、部品装着具に相当する吸着ノズルを用いて基板に部品を装着する装着動作を行う。４台の部品装着機９２は、多数の小型部品および中型部品の装着動作を分担する。 Upstream of the component mounting machine 92, a solder printing machine and a print inspection machine (not shown) are arranged side by side. A solder printing machine prints paste-like solder on the lands (electrodes to which components are soldered) of a board on which a circuit pattern is formed. The print inspection machine inspects the printed state of solder. The board determined to be good by the print inspection machine is carried into the component mounting machine 92. Each of the four component mounting machines 92 performs a mounting operation of mounting a component on a board using a suction nozzle corresponding to a component mounting tool. The four component mounting machines 92 share the task of mounting a large number of small and medium-sized components.
　大型の部品装着機９３は、部品装着機９２の下流側に並んで配置される。部品装着機９３は、部品装着具に相当する大型の吸着ノズル、または部品を把持するチャックをもつメカ駆動タイプの部品装着具を用いて、部品の装着動作を行う。部品装着機９３は、大型部品や異形部品の装着動作を担当する。部品装着機９３は、トレー式部品供給装置(図示省略)を備えていてもよい。 A large component mounting machine 93 is arranged downstream of the component mounting machine 92. The component mounting machine 93 performs a component mounting operation using a large suction nozzle corresponding to a component mounting tool or a mechanically driven type component mounting tool having a chuck for gripping the component. The component mounting machine 93 is in charge of mounting operations for large components and irregularly shaped components. The component mounting machine 93 may include a tray-type component supply device (not shown).
　基板検査機９４は、部品装着機９３の下流側に並んで配置される。基板検査機９４は、検査用カメラを用いて部品が装着された基板を撮像し、検査画像を取得する。さらに、基板検査機９４は、検査画像に画像処理を施して複数の部品の各々の装着状態の良否を判定する。基板検査機９４の下流側に、図示省略のリフロー機が配置される。リフロー機は、ペースト状のはんだを加熱して溶融させ、さらに冷却することにより、部品のはんだ付け状態を安定化する。 The board inspection machine 94 is arranged downstream of the component mounting machine 93. The board inspection machine 94 uses an inspection camera to image a board on which components are mounted, and obtains an inspection image. Further, the board inspection machine 94 performs image processing on the inspection image to determine whether the mounting state of each of the plurality of components is good or bad. A reflow machine (not shown) is arranged downstream of the board inspection machine 94. A reflow machine stabilizes the soldered state of components by heating paste-like solder to melt it and then cooling it.
　生産情報サーバ９６は、ＬＡＮ９５（ローカルエリアネットワーク）を介して部品装着機（９２、９３）および基板検査機９４に通信接続される。生産情報サーバ９６は、必要に応じて部品装着機（９２、９３）および基板検査機９４との間で情報を授受し、基板製品の生産管理を行う。生産情報サーバ９６は、付属されたメモリ９７の内部に部品データ９７１、機器データ９７２、ジョブデータ９７３、および動作履歴データ９７４を記憶し、かつ逐次更新する。 The production information server 96 is communicatively connected to the component mounting machines (92, 93) and the board inspection machine 94 via a LAN 95 (local area network). The production information server 96 exchanges information with the component mounting machines (92, 93) and the board inspection machine 94 as needed, and manages the production of board products. The production information server 96 stores parts data 971, equipment data 972, job data 973, and operation history data 974 in an attached memory 97, and updates them sequentially.
　部品データ９７１は、基板に装着される様々な種類の部品に関する情報を記憶したデータである。部品データ９７１は、各種部品の形状、外形や電極などのサイズ、外観色などを表す部品外形情報を含む。さらに、部品データ９７１は、各種部品の電気的特性、製造者、梱包形態、取り扱い条件等の情報を含む。機器データ９７２は、部品装着機（９２、９３）および基板検査機９４の構造および性能などを記憶したデータである。機器データ９７２は、部品装着機（９２、９３）が用いる部品装着具などの器具、および基板検査機９４が用いる検査用カメラなどの器具に関する情報、例えば器具の形状、性能、使用条件などの情報を含む。 The component data 971 is data that stores information regarding various types of components mounted on the board. The component data 971 includes component external shape information indicating the shape, external shape, size of electrodes, etc., external color of various components, and the like. Furthermore, the parts data 971 includes information such as electrical characteristics, manufacturers, packaging forms, handling conditions, etc. of various parts. The equipment data 972 is data that stores the structure, performance, etc. of the component mounting machine (92, 93) and the board inspection machine 94. The equipment data 972 includes information regarding equipment such as component mounting tools used by the component mounting machines (92, 93) and equipment such as an inspection camera used by the board inspection machine 94, such as information such as the shape, performance, and usage conditions of the equipment. including.
　ジョブデータ９７３は、基板に実施する対基板作業の作業内容を記憶したデータである。ジョブデータ９７３は、基板の種類、ならびに装着する部品の種類および装着座標を表す設計データを含む。また、ジョブデータ９７３は、部品装着機（９２、９３）における複数の部品の装着順序、および使用する部品装着具を規定した生産データを含む。さらに、ジョブデータ９７３は、基板検査機９４において検査画像を撮像する検査用カメラの撮像条件や検査画像の画像処理条件、良否判定条件などを含む。ジョブデータ９７３は、基板製品の種類ごとに作成される。動作履歴データ９７４は、部品装着機（９２、９３）および基板検査機９４が稼動したときの動作の履歴を記憶したデータである。 The job data 973 is data that stores the details of the work to be performed on the board. Job data 973 includes design data representing the type of board, the type of parts to be mounted, and the mounting coordinates. Further, the job data 973 includes production data that defines the order in which a plurality of parts are mounted in the component mounting machines (92, 93) and the component mounting tools to be used. Further, the job data 973 includes imaging conditions for an inspection camera that captures an inspection image in the board inspection machine 94, image processing conditions for the inspection image, pass/fail determination conditions, and the like. Job data 973 is created for each type of board product. The operation history data 974 is data that stores the operation history when the component mounting machines (92, 93) and the board inspection machine 94 are operated.
　生産情報サーバ９６は、基板の生産に際して、部品装着機（９２、９３）および基板検査機９４にそれぞれジョブデータ９７３を送信する。部品装着機（９２、９３）および基板検査機９４は、受信したジョブデータ９７３にしたがって対基板作業を実施する。部品装着機（９２、９３）および基板検査機９４は、ジョブデータ９７３の記述に基づき、必要に応じて部品データ９７１や機器データ９７２を参照する。部品装着機（９２、９３）および基板検査機９４は、稼働しているときの動作をデータ化して、生産情報サーバ９６に送信する。生産情報サーバ９６は、受信したデータを用いて動作履歴データ９７４を逐次更新する。 The production information server 96 sends job data 973 to the component mounting machines (92, 93) and the board inspection machine 94, respectively, when producing boards. The component mounting machines (92, 93) and the board inspection machine 94 perform board work according to the received job data 973. The component mounting machines (92, 93) and the board inspection machine 94 refer to the component data 971 and the equipment data 972 as necessary based on the description of the job data 973. The component mounting machines (92, 93) and the board inspection machine 94 convert their operations into data and transmit the data to the production information server 96. The production information server 96 sequentially updates the operation history data 974 using the received data.
　２．部品装着機９２の構成例
　次に、部品装着機９２の構成例について、図２を参考にして説明する。図２に示される例では、２台の部品装着機９２が共通ベース９１の上に隣接して配置され、残る２台の部品装着機９２が図示省略されている。４台の部品装着機９２が並ぶ方向は、基板を搬送するＸ軸方向に一致しており、Ｘ軸方向に直交する水平方向がＹ軸方向となる。部品装着機９２は、装着機筐体２０、基板搬送装置２２、ヘッド移動装置２４、装着ヘッド２６、部品供給装置２８、ノズルステーション３０、部品カメラ３２、および制御装置３４などを備える。 2. Configuration Example of Component Mounting Machine 92 Next, a configuration example of the component mounting machine 92 will be described with reference to FIG. 2. In the example shown in FIG. 2, two component mounting machines 92 are arranged adjacent to each other on the common base 91, and the remaining two component mounting machines 92 are not shown. The direction in which the four component mounting machines 92 are lined up corresponds to the X-axis direction in which the board is transported, and the horizontal direction perpendicular to the X-axis direction is the Y-axis direction. The component mounting machine 92 includes a mounting machine housing 20, a substrate transport device 22, a head moving device 24, a mounting head 26, a component supply device 28, a nozzle station 30, a component camera 32, a control device 34, and the like.
　装着機筐体２０は、フレーム部２０１と、フレーム部２０１の上部に架け渡されたビーム部２０２とにより構成される。さらに、ビーム部２０２の上方には、開閉可能なカバー２０３が設けられる。カバー２０３は、左側の部品装着機９２に示され、右側の部品装着機９２では図示省略されている。 The mounting machine housing 20 is composed of a frame part 201 and a beam part 202 spanning over the frame part 201. Furthermore, a cover 203 that can be opened and closed is provided above the beam section 202. The cover 203 is shown on the component mounting machine 92 on the left side, and is omitted from the illustration on the component mounting machine 92 on the right side.
　基板搬送装置２２は、二組のコンベア装置（２２１、２２２）および基板保持機構（図示省略）を備える。二つのコンベア装置（２２１、２２２）は、互いに平行し、かつＸ軸方向に延びるようにフレーム部２０１に設けられる。コンベア装置（２２１、２２２）の各々は、モータ（図示省略）によって輪転駆動され、支持する基板をＸ軸方向に搬送する。二つの基板保持機構は、コンベア装置（２２１、２２２）の各々の概ね中央の下部に配置される。基板保持機構の各々は、基板を所定の装着作業位置に保持する。 The substrate transport device 22 includes two sets of conveyor devices (221, 222) and a substrate holding mechanism (not shown). The two conveyor devices (221, 222) are provided on the frame portion 201 so as to be parallel to each other and extend in the X-axis direction. Each of the conveyor devices (221, 222) is rotatably driven by a motor (not shown) and conveys the supported substrate in the X-axis direction. The two substrate holding mechanisms are arranged at approximately the center lower part of each of the conveyor devices (221, 222). Each of the substrate holding mechanisms holds the substrate in a predetermined mounting position.
　部品供給装置２８は、図２に示されるように、複数のテープフィーダ２９がＸ軸方向に配列されて構成される。テープフィーダ２９の各々は、テープリールを回転可能に保持する。テープリールには、一列に並んだ収容ポケットの中にそれぞれ部品を収容したキャリアテープが巻回されている。テープフィーダ２９の各々は、テープ送り機構（図示省略）によりキャリアテープをピッチ送りで供給位置に送り出す。これにより、テープフィーダ２９は、供給位置で部品を供給する。なお、テープリールを回転可能に保持するリール保持機構がテープフィーダ２９と別体で構成されてもよい。 As shown in FIG. 2, the component supply device 28 is composed of a plurality of tape feeders 29 arranged in the X-axis direction. Each tape feeder 29 rotatably holds a tape reel. A tape reel is wound with a carrier tape in which components are housed in storage pockets arranged in a row. Each of the tape feeders 29 uses a tape feeding mechanism (not shown) to feed the carrier tape to a feeding position by pitch feeding. Thereby, the tape feeder 29 supplies the parts at the supply position. Note that the reel holding mechanism that rotatably holds the tape reel may be configured separately from the tape feeder 29.
　ヘッド移動装置２４は、ＸＹロボット型の装置である。ヘッド移動装置２４は、スライダ２５をＸ軸方向にスライドさせるＸ軸モータ（図示省略）、およびスライダ２５をＹ軸方向にスライドさせるＹ軸モータ（図示省略）を備える。スライダ２５のＹ軸負方向の側面に、装着ヘッド２６が取り付けられる。装着ヘッド２６は、Ｘ軸モータおよびＹ軸モータに駆動されて、フレーム部２０１上の任意の位置に移動する。装着ヘッド２６の下側に、ノズルツール２７が着脱可能に設けられる。これに限定されず、装着ヘッド２６は、ノズルツール２７が常設されるロータリ型ヘッドであってもよい。ノズルツール２７の下側に、複数の吸着ノズル４が設けられる（詳細後述）。吸着ノズル４は、基板に設定された所定の装着位置に部品を装着する装着動作を行う部品装着具の一形態である。 The head moving device 24 is an XY robot type device. The head moving device 24 includes an X-axis motor (not shown) that slides the slider 25 in the X-axis direction, and a Y-axis motor (not shown) that slides the slider 25 in the Y-axis direction. A mounting head 26 is attached to the side surface of the slider 25 in the negative direction of the Y axis. The mounting head 26 is driven by an X-axis motor and a Y-axis motor to move to an arbitrary position on the frame section 201. A nozzle tool 27 is removably provided below the mounting head 26. However, the mounting head 26 may be a rotary head in which the nozzle tool 27 is permanently installed. A plurality of suction nozzles 4 are provided below the nozzle tool 27 (details will be described later). The suction nozzle 4 is one form of a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board.
　スライダ２５または装着ヘッド２６の下側に、下向きの光軸をもつ基板カメラ（図示省略）が設けられる。基板カメラは、装着作業位置に保持された基板に付設されている位置基準マークを撮像して画像データを取得する。取得された画像データは画像処理され、基板の装着作業位置が正確に求められる。これにより、ヘッド移動装置２４の第一のＸ－Ｙ座標系と、基板上で部品の装着位置を表す第二のＸ－Ｙ座標系との相対的な位置関係が較正される。 A substrate camera (not shown) with a downward optical axis is provided below the slider 25 or the mounting head 26. The board camera captures an image of a position reference mark attached to a board held at a mounting work position to obtain image data. The acquired image data is subjected to image processing to accurately determine the mounting position of the board. As a result, the relative positional relationship between the first XY coordinate system of the head moving device 24 and the second XY coordinate system representing the mounting position of the component on the board is calibrated.
　ノズルステーション３０は、部品供給装置２８に隣接して設けられる。ノズルステーション３０には、複数の吸着ノズル４が入れ替え可能に収容される。ノズルステーション３０に収容されている吸着ノズル４と、装着ヘッド２６に取り付けられている吸着ノズル４との交換が、必要に応じて自動的に行われる。 The nozzle station 30 is provided adjacent to the component supply device 28. The nozzle station 30 accommodates a plurality of suction nozzles 4 in a replaceable manner. The suction nozzle 4 housed in the nozzle station 30 and the suction nozzle 4 attached to the mounting head 26 are automatically replaced as necessary.
　部品カメラ３２は、基板搬送装置２２と部品供給装置２８の間に設けられる。部品カメラ３２は、光軸が上向きとなるように配置される。部品カメラ３２は、部品を保持した吸着ノズル４を撮像して画像データを取得する。部品カメラ３２は、その上方で装着ヘッド２６が一時停止した状態で撮像を行う。または、部品カメラ３２は、シャッタースピードを速くして、その上方を装着ヘッド２６が通過する瞬間に撮像を行ってもよい。画像データが画像処理されることにより、吸着ノズル４と保持された部品との相対位置関係が検出され、装着動作に反映される（詳細後述）。部品カメラ３２として、ＣＣＤやＣＭＯＳ等の撮像素子を有するデジタル式の撮像装置を例示することができる。 The component camera 32 is provided between the board transport device 22 and the component supply device 28. The component camera 32 is arranged so that its optical axis faces upward. The component camera 32 images the suction nozzle 4 holding the component to obtain image data. The component camera 32 captures an image while the mounting head 26 is temporarily stopped above it. Alternatively, the component camera 32 may increase the shutter speed and take an image at the moment the mounting head 26 passes above it. By image processing the image data, the relative positional relationship between the suction nozzle 4 and the held component is detected and reflected in the mounting operation (details will be described later). As the component camera 32, a digital imaging device having an imaging element such as a CCD or CMOS can be exemplified.
　制御装置３４は、フレーム部２０１に組み付けられており、その位置は特に限定されない。制御装置３４は、ＣＰＵやメモリ、入出力部などを有するコンピュータ装置を用いて構成される。なお、制御装置３４は、複数のＣＰＵが機内に分散配置され、かつ通信接続されて構成されてもよい。制御装置３４は、ジョブデータ９７３に基づいて、基板搬送装置２２および部品供給装置２８を制御する。制御装置３４は、部品カメラ３２の撮像動作を制御する撮像制御部３５、部品カメラ３２が取得した画像データに画像処理を施す画像処理部３６を含む。さらに、制御装置３４は、装着ヘッド２６、ノズルツール２７、および吸着ノズル４等を協調制御して装着動作を行わせる装着制御部３７を含む。 The control device 34 is assembled to the frame portion 201, and its position is not particularly limited. The control device 34 is configured using a computer device having a CPU, a memory, an input/output section, and the like. Note that the control device 34 may be configured such that a plurality of CPUs are distributed within the machine and are communicatively connected. The control device 34 controls the substrate transport device 22 and the component supply device 28 based on job data 973. The control device 34 includes an imaging control section 35 that controls the imaging operation of the component camera 32, and an image processing section 36 that performs image processing on image data acquired by the component camera 32. Further, the control device 34 includes a mounting control section 37 that coordinately controls the mounting head 26, the nozzle tool 27, the suction nozzle 4, etc. to perform a mounting operation.
　３．ノズルツール２７の構成および機能
　次に、ノズルツール２７の構成および機能について、図３を参考にして説明する。なお、図３は下から見上げた図であり、Ｙ軸の正負方向が図２と比較して逆になる。ノズルツール２７は、略円柱形状の外形を有し、垂直中心軸ＡＶを中心にして自転する回転体に形成される。ノズルツール２７は、図示省略のＲ軸回転駆動機構から駆動されて自転する。ノズルツール２７は、自身の自転によって垂直中心軸ＡＶの周りを公転する複数（図３の例では８本）の吸着ノズル４を有する。 3. Configuration and Function of Nozzle Tool 27 Next, the configuration and function of the nozzle tool 27 will be described with reference to FIG. 3. Note that FIG. 3 is a diagram viewed from below, and the positive and negative directions of the Y-axis are reversed compared to FIG. 2. The nozzle tool 27 has a substantially cylindrical outer shape and is formed as a rotating body that rotates about the vertical central axis AV. The nozzle tool 27 is driven by an R-axis rotation drive mechanism (not shown) and rotates. The nozzle tool 27 has a plurality of suction nozzles 4 (eight in the example of FIG. 3) that revolve around the vertical central axis AV due to its own rotation.
　吸着ノズル４は、図示省略のエア供給系統から負圧エアおよび正圧エアが選択的に供給される。また、吸着ノズル４は、図示省略のＱ軸回転駆動機構に駆動されて自転する。さらに、吸着ノズル４は、装着ヘッド２６に設けられたＺ軸駆動機構２６１に駆動されて昇降する。つまり、吸着ノズル４は、公転してＺ軸駆動機構２６１の下側位置に進入したときに昇降が可能となる。また、吸着ノズル４は、Ｚ軸駆動機構２６１の下側位置以外では、上昇した状態を保つ。 The suction nozzle 4 is selectively supplied with negative pressure air and positive pressure air from an air supply system (not shown). Further, the suction nozzle 4 is driven by a Q-axis rotation drive mechanism (not shown) to rotate. Furthermore, the suction nozzle 4 is driven by a Z-axis drive mechanism 261 provided on the mounting head 26 to move up and down. That is, when the suction nozzle 4 revolves and enters the lower position of the Z-axis drive mechanism 261, it becomes possible to move up and down. Further, the suction nozzle 4 remains in an elevated state except at the position below the Z-axis drive mechanism 261.
　吸着ノズル４は、負圧エアおよび正圧エアの選択的供給と昇降動作とを組み合わせた協調制御にしたがい、テープフィーダ２９から部品Ｐを吸着する吸着動作、および部品Ｐを基板に装着する装着動作を行う。図３において、Ｚ軸駆動機構２６１の下側位置の吸着ノズル４を便宜的に第１吸着ノズル４１と定め、以下時計回りに第２吸着ノズル４２～第８吸着ノズル４８を定める。さらに、ジョブデータ９７３の記述にしたがい、第１吸着ノズル４１から第８吸着ノズル４８の装着順序で、部品Ｐの吸着動作および装着動作が順番に行われるものとする。なお、部品Ｐは、平面視で長方形の長方形部品であり、下面および上面に接続用の一対の電極が設けられている。これに限定されず、吸着ノズル４は、長方形以外の形状をもつ部品の装着動作を行うことができる。 The suction nozzle 4 performs a suction operation that suctions the component P from the tape feeder 29 and a mounting operation that mounts the component P on the board, according to coordinated control that combines selective supply of negative pressure air and positive pressure air and lifting and lowering operations. I do. In FIG. 3, the suction nozzle 4 located below the Z-axis drive mechanism 261 is designated as the first suction nozzle 41 for convenience, and the second suction nozzle 42 to the eighth suction nozzle 48 are designated clockwise thereafter. Furthermore, according to the description in the job data 973, it is assumed that the suction operation and the mounting operation of the component P are performed in order in the order in which the first suction nozzle 41 to the eighth suction nozzle 48 are installed. Note that the component P is a rectangular component that is rectangular in plan view, and a pair of electrodes for connection is provided on the lower surface and the upper surface. The suction nozzle 4 is not limited to this, and can perform an operation of mounting components having a shape other than a rectangle.
　４．撮像制御部３５、画像処理部３６、および装着制御部３７の機能
　撮像制御部３５は、部品カメラ３２を制御して撮像を行わせ、図３に相当する画像を表す画像データを取得する。部品カメラ３２の撮像視野が限定される場合、撮像制御部３５は、部品カメラ３２に複数回の撮像を行わせて複数の画像データを取得させる。さらに、撮像制御部３５は、複数の画像データを合成して、図３に相当する画像データを取得することができる。撮像制御部３５は、取得した画像データを画像処理部３６に受け渡す。 4. Functions of the imaging control section 35, the image processing section 36, and the attachment control section 37 The imaging control section 35 controls the component camera 32 to perform imaging, and acquires image data representing an image corresponding to FIG. 3. When the imaging field of view of the component camera 32 is limited, the imaging control unit 35 causes the component camera 32 to perform imaging a plurality of times to acquire a plurality of image data. Furthermore, the imaging control unit 35 can combine a plurality of image data to obtain image data corresponding to FIG. 3. The imaging control unit 35 passes the acquired image data to the image processing unit 36.
　画像処理部３６は、画像データに画像処理を施して、部品Ｐごとに位置情報および角度情報を演算する。位置情報は、吸着ノズル（４１～４８）と保持された部品Ｐとの相対位置関係を表す。詳細には、位置情報は、吸着ノズル（４１～４８）の先端４９（保持箇所に相当）の開口部の中心位置４Ａと、部品Ｐの中心との相対位置関係をローカルなｘ－ｙ座標系の座標値で表した情報である。なお、実施形態において、先端４９の外形形状および開口部の開口形状は、ともに円形である。これに限定されず、例えば、開口部の開口形状が長円形や楕円形などであってもよい。 The image processing unit 36 performs image processing on the image data and calculates position information and angle information for each part P. The positional information represents the relative positional relationship between the suction nozzles (41 to 48) and the held part P. In detail, the position information indicates the relative positional relationship between the center position 4A of the opening of the tip 49 (corresponding to the holding location) of the suction nozzle (41 to 48) and the center of the part P using a local xy coordinate system. This is information expressed in coordinate values. In the embodiment, both the outer shape of the tip 49 and the opening shape of the opening are circular. The present invention is not limited to this, and for example, the opening shape of the opening may be oval, oval, or the like.
　ローカルなｘ－ｙ座標系は、吸着ノズル（４１～４８）の各々の先端４９の中心位置４Ａを原点とし、ノズルツール２７の周方向に接する方向をｘ軸方向とし、ノズルツール２７の垂直中心軸ＡＶに向かう方向をｙ軸正方向として定義される。そして、位置情報は、部品Ｐの中心の座標値で表される。この定義によれば、吸着ノズル（４、４１～４８）が公転によりＺ軸駆動機構２６１の下側位置に進入して部品Ｐの装着動作を行うときに、ローカルなｘ－ｙ座標系および基板のＸ－Ｙ座標系の軸方向が平行する。なお、メカ駆動タイプの部品装着具については、例えば、複数のチャックの中央位置を原点として、同様の定義を行うことができる。 The local x-y coordinate system has the origin at the center position 4A of the tip 49 of each suction nozzle (41 to 48), the x-axis direction in the direction tangent to the circumferential direction of the nozzle tool 27, and the vertical center of the nozzle tool 27. The direction toward the axis AV is defined as the y-axis positive direction. The position information is represented by the coordinate values of the center of the part P. According to this definition, when the suction nozzles (4, 41 to 48) enter the lower position of the Z-axis drive mechanism 261 by revolution and perform the mounting operation of the component P, the local x-y coordinate system and the board The axes of the XY coordinate systems are parallel. Note that for a mechanically driven type component mounting tool, a similar definition can be made, for example, with the center position of a plurality of chucks as the origin.
　また、角度情報は、吸着ノズル（４１～４８）と部品Ｐとの相対的な回転角度関係を表す。角度情報は、例えば、長方形部品の長辺がｘ軸方向と成す角度で表される。長方形以外の部品についても、部品の基準方向を定め、この基準方向が吸着ノズル（４１～４８）に対して回転した角度を以って角度情報とすることができる。 Further, the angle information represents the relative rotational angle relationship between the suction nozzles (41 to 48) and the part P. The angle information is expressed, for example, as an angle between the long side of the rectangular component and the x-axis direction. Even for parts other than rectangles, a reference direction of the part can be determined, and the angle at which this reference direction is rotated with respect to the suction nozzles (41 to 48) can be used as angle information.
　図３に示される例で、第１吸着ノズル４１、第２吸着ノズル４２、第３吸着ノズル４３、第５吸着ノズル４５、および第８吸着ノズル４８では、先端４９の中心位置４Ａと、保持している部品Ｐの中心とが一致している。したがって、位置情報が（０，０）で表される。また、これらの吸着ノズル（４１、４２、４３、４５、４８）において、部品Ｐの長辺は、ｘ軸に平行している。したがって、角度情報が０で表される。 In the example shown in FIG. 3, the first suction nozzle 41, the second suction nozzle 42, the third suction nozzle 43, the fifth suction nozzle 45, and the eighth suction nozzle 48 maintain the center position 4A of the tip 49. The center of the part P is aligned with the center of the part P. Therefore, position information is expressed as (0,0). Further, in these suction nozzles (41, 42, 43, 45, 48), the long side of the part P is parallel to the x-axis. Therefore, the angle information is represented by 0.
　一方、第６吸着ノズル４６では、中心位置４Ａに対して部品Ｐの中心がｘ軸正方向に変位量ｄｘだけ変位している。したがって、位置情報は、変位量を表す（ｄｘ，０）で表される。また、部品Ｐの長辺がｘ軸に平行しており、角度情報が０で表される。第７吸着ノズル４７では、中心位置４Ａに対して部品Ｐの中心がｙ軸負方向に変位量－ｄｙだけ変位している。したがって、位置情報は、変位量を表す（０，－ｄｙ）で表される。また、長方形部品である部品Ｐの長辺がｘ軸に平行しており、角度情報が０で表される。一方、第４吸着ノズル４４では、中心位置４Ａと部品Ｐの中心とが一致しており、位置情報が（０，０）で表される。また、部品Ｐの長辺がｘ軸に対して角度ｄＡを有する。したがって、角度情報がｄＡで表される。 On the other hand, in the sixth suction nozzle 46, the center of the component P is displaced by the displacement amount dx in the positive direction of the x-axis with respect to the center position 4A. Therefore, the position information is expressed as (dx, 0) representing the amount of displacement. Further, the long side of the component P is parallel to the x-axis, and the angle information is represented by 0. In the seventh suction nozzle 47, the center of the component P is displaced by a displacement amount -dy in the negative direction of the y-axis with respect to the center position 4A. Therefore, the position information is expressed as (0, -dy) representing the amount of displacement. Furthermore, the long side of the component P, which is a rectangular component, is parallel to the x-axis, and the angle information is represented by 0. On the other hand, in the fourth suction nozzle 44, the center position 4A coincides with the center of the component P, and the position information is expressed as (0, 0). Further, the long side of the component P has an angle dA with respect to the x-axis. Therefore, the angle information is expressed in dA.
　非ゼロの位置情報は、テープフィーダ２９が用いるキャリアテープにおいて、部品Ｐが収容ポケットの中心から偏移していた場合に生じる。また、非ゼロの角度情報は、部品Ｐが収容ポケットの中で回転していた場合に生じる。さらに、非ゼロの位置情報および角度情報は、吸着ノズル（４１～４８）が部品Ｐを吸着する際に偶発的に重畳する振動や気流、およびその他の要因でも生じ得る。画像処理部３６は、演算した位置情報および角度情報を装着制御部３７に受け渡す。 Non-zero position information occurs when the component P is displaced from the center of the storage pocket on the carrier tape used by the tape feeder 29. Also, non-zero angle information occurs when the part P is rotating within the storage pocket. Furthermore, non-zero position information and angle information may also be caused by vibrations or air currents that are accidentally superimposed when the suction nozzles (41 to 48) suction the part P, and other factors. The image processing section 36 passes the calculated position information and angle information to the mounting control section 37.
　装着制御部３７は、受け取った位置情報および角度情報を用いて、装着動作を行うときの吸着ノズル（４１～４８）の位置および自転角度を補正する。詳述すると、装着制御部３７は、位置情報および角度情報がともにゼロである場合に、吸着ノズル（４１、４２、４３、４５、４８）の先端４９の中心位置４Ａを所定の装着位置に合わせる制御を行うとともに、吸着ノズル（４１、４２、４３、４５、４８）を自転させずに下降させて装着動作を行わせる。また、装着制御部３７は、位置情報が非ゼロである場合に、吸着ノズル（４６、４７）が所定の装着位置から位置情報の分だけ変位するように装着ヘッド２６の位置を調整するとともに、吸着ノズル４を自転させずに下降させて装着動作を行わせる。 The mounting control unit 37 uses the received position information and angle information to correct the positions and rotation angles of the suction nozzles (41 to 48) when performing the mounting operation. Specifically, when the position information and the angle information are both zero, the mounting control unit 37 adjusts the center position 4A of the tip 49 of the suction nozzle (41, 42, 43, 45, 48) to a predetermined mounting position. At the same time, the suction nozzles (41, 42, 43, 45, 48) are lowered without rotating on their axis to perform the mounting operation. Further, when the position information is non-zero, the mounting control unit 37 adjusts the position of the mounting head 26 so that the suction nozzle (46, 47) is displaced from the predetermined mounting position by the amount of the position information, and The attachment operation is performed by lowering the suction nozzle 4 without rotating it.
　さらに、装着制御部３７は、角度情報が非ゼロである場合に、第４吸着ノズル４４を所定の装着位置に制御するとともに、第４吸着ノズル４４を角度情報の分だけ自転させた後に下降させて装着動作を行わせる。また、装着制御部３７は、位置情報および角度情報がともに非ゼロである場合に、装着ヘッド２６の位置の調整と、吸着ノズル４の自転とを併用した補正を行う。装着制御部３７は、装着動作時の補正に用いた位置情報および角度情報を吸着ノズル（４１～４８）の個体識別情報と対応付けて装着時情報とし、この装着時情報を生産情報サーバ９６に送信する。生産情報サーバ９６は、受信した装着時情報を動作履歴データ９７４に記憶する。 Furthermore, when the angle information is non-zero, the mounting control unit 37 controls the fourth suction nozzle 44 to a predetermined mounting position, and also causes the fourth suction nozzle 44 to rotate by an amount corresponding to the angle information and then descend. to perform the mounting operation. Further, when both the position information and the angle information are non-zero, the mounting control unit 37 performs correction using both the adjustment of the position of the mounting head 26 and the rotation of the suction nozzle 4. The mounting control unit 37 associates the position information and angle information used for correction during the mounting operation with the individual identification information of the suction nozzles (41 to 48) as mounting information, and sends this mounting information to the production information server 96. Send. The production information server 96 stores the received installation information in the operation history data 974.
　なお、装着制御部３７は、部品Ｐの装着方向に応じて吸着ノズル４を自転させる場合がある。例えば、装着制御部３７は、長方形部品の長辺がＸ軸方向に平行する装着方向の場合に、吸着ノズル４を自転させない、一方、装着制御部３７は、長方形部品の長辺がＹ軸方向に平行する装着方向の場合に、吸着ノズル４を９０°自転させる。このとき、角度情報が非ゼロであれば、装着制御部３７は、９０°に対して角度情報を加減する補正を行う。 Note that the mounting control unit 37 may rotate the suction nozzle 4 depending on the mounting direction of the component P. For example, the mounting control unit 37 does not rotate the suction nozzle 4 when the long side of the rectangular component is in the mounting direction parallel to the X-axis direction. When the mounting direction is parallel to , the suction nozzle 4 is rotated by 90 degrees. At this time, if the angle information is non-zero, the mounting control unit 37 performs correction to increase or decrease the angle information relative to 90°.
　装着制御部３７からの制御による装着動作で、例えば図４に示されるように部品Ｐが基板Ｋに装着される。図４に例示される基板Ｋでは、互いに離隔する第１エリアＡＲ１および第２エリアＡＲ２に、それぞれ４個の部品Ｐが装着され、部品Ｐの長辺がＸ軸方向に平行している。かつ、第１エリアＡＲ１および第２エリアＡＲ２の各々において、４個の部品Ｐの装着位置は、長方形の頂点位置に定められている。 The component P is mounted on the board K by a mounting operation controlled by the mounting control section 37, as shown in FIG. 4, for example. In the board K illustrated in FIG. 4, four parts P are mounted on each of the first area AR1 and the second area AR2 which are spaced apart from each other, and the long sides of the parts P are parallel to the X-axis direction. In addition, in each of the first area AR1 and the second area AR2, the mounting positions of the four parts P are determined at the apex positions of the rectangle.
　８個の部品Ｐは、前述した第１吸着ノズル４１～第８吸着ノズル４８（便宜的に破線で示す）によって順番に装着されたものである。つまり、第２エリアの左下の部品Ｐの装着順序が１番目で、以下時計回りの順序で部品Ｐが装着されたものである。各々の部品Ｐの装着状態は良好であり、換言すると、部品Ｐの装着位置の位置誤差および装着方向の回転角度誤差が許容範囲内となっている。したがって、第６吸着ノズル４６の装着動作における変位量ｄｘの補正、第７吸着ノズル４７の装着動作における変位量－ｄｙの補正、および第４吸着ノズル４４の装着動作における角度ｄＡの補正が良好に行われたことが分かる。 The eight parts P are mounted in order by the first suction nozzle 41 to the eighth suction nozzle 48 (shown by broken lines for convenience). That is, the component P at the lower left of the second area is installed first, and the components P are subsequently installed in clockwise order. The mounting condition of each component P is good, in other words, the positional error in the mounting position and the rotation angle error in the mounting direction of the component P are within the permissible range. Therefore, correction of the displacement amount dx in the mounting operation of the sixth suction nozzle 46, correction of the displacement amount -dy in the mounting operation of the seventh suction nozzle 47, and correction of the angle dA in the mounting operation of the fourth suction nozzle 44 can be performed satisfactorily. I know what was done.
　ところで、上述した装着動作時の補正は、毎回良好に行われるとは限らない。また、想定外の要因で装着動作が不安定化したり、想定を超える位置誤差が発生したりする場合が皆無でない。これらの場合に、部品Ｐが未装着となり得る。または、部品Ｐの装着不良、例えば部品Ｐの位置ずれが発生し得る。部品Ｐの未装着や装着不良の原因および発生経緯を究明する検査員を支援するために、第１実施形態の検査画像表示システム１が用いられる。 By the way, the above-mentioned correction during the mounting operation is not always performed satisfactorily. In addition, there are many cases where the mounting operation becomes unstable due to unexpected factors, or where an unexpected position error occurs. In these cases, the component P may not be installed. Alternatively, poor mounting of the component P, for example, misalignment of the component P may occur. The inspection image display system 1 of the first embodiment is used to support an inspector who investigates the causes and circumstances of non-installation or incorrect installation of the component P.
　５．第１実施形態の検査画像表示システム１の構成
　図１に示されるように、第１実施形態の検査画像表示システム１は、四つの機能部、すなわち情報取得部５、画像取得部６、画像検査部７、および画像表示部８などで構成される。四つの機能部は、基板検査機９４に設けられる。これに限定されず、四つの機能部の少なくとも一つが、通信接続された部品装着ライン９の他の部位に設けられてもよい。 5. Configuration of the inspection image display system 1 of the first embodiment As shown in FIG. 7, an image display section 8, and the like. The four functional units are provided in the board inspection machine 94. The present invention is not limited thereto, and at least one of the four functional units may be provided in another part of the component mounting line 9 that is communicatively connected.
　情報取得部５は、装着制御部３７が動作履歴データ９７４に記憶させた装着時情報（位置情報および角度情報）を取得する。したがって、情報取得部５は、実質的に部品装着機９２の部品カメラ３２、撮像制御部３５、および画像処理部３６、ならびにメモリ９７を含んで構成される。また、情報取得部５は、装着時情報に含まれる吸着ノズル４の個体識別情報に基づいて、装着具外形情報を機器データ９７２から取得する。この装着具外形情報は、部品装着機（９２、９３）が部品Ｐの装着動作に用いた吸着ノズル（４、４１～４８）の外形を表す情報である。装着具外形情報は、吸着ノズル（４、４１～４８）の先端４９の外形形状および外形サイズ、ならびに、先端４９の開口部の開口形状および開口サイズを含む。加えて、装着具外形情報は、大型の部品装着機９３が用いるメカ駆動タイプの部品装着具の外形情報を含む。さらに、情報取得部５は、基板Ｋに装着される複数の部品Ｐの装着順序を表す装着順序情報をジョブデータ９７３から取得する。 The information acquisition unit 5 acquires the mounting information (position information and angle information) stored in the operation history data 974 by the mounting control unit 37. Therefore, the information acquisition section 5 substantially includes the component camera 32 of the component mounting machine 92, the imaging control section 35, the image processing section 36, and the memory 97. Furthermore, the information acquisition unit 5 acquires attachment tool external shape information from the device data 972 based on the individual identification information of the suction nozzle 4 included in the attachment information. This mounting tool external shape information is information representing the external shape of the suction nozzle (4, 41 to 48) used by the component mounting machine (92, 93) for the mounting operation of the component P. The mounting tool external shape information includes the external shape and external size of the tip 49 of the suction nozzle (4, 41 to 48), and the opening shape and opening size of the opening of the tip 49. In addition, the mounting tool external shape information includes external shape information of a mechanically driven type component mounting tool used by the large component mounting machine 93. Further, the information acquisition unit 5 acquires mounting order information representing the mounting order of the plurality of parts P to be mounted on the board K from the job data 973.
　画像取得部６は、検査用カメラを用いて部品Ｐが装着された基板Ｋを撮像し、検査画像を取得する。図４は、取得された検査画像の一例に相当する。ただし、破線で示された吸着ノズル（４１～４８）は、検査画像に撮像されない。画像検査部７は、検査画像に画像処理を施して、複数の部品Ｐの各々の装着状態の良否を判定する。装着状態の不良として、前述した部品Ｐの未装着および位置ずれの他に、部品Ｐの装着方向の回転ずれや、部品Ｐの傾斜および転倒などが発生し得る。 The image acquisition unit 6 uses an inspection camera to image the board K on which the component P is mounted, and acquires an inspection image. FIG. 4 corresponds to an example of an acquired inspection image. However, the suction nozzles (41 to 48) indicated by broken lines are not captured in the inspection image. The image inspection unit 7 performs image processing on the inspection image to determine whether the mounting state of each of the plurality of parts P is good or bad. In addition to the above-mentioned non-installation and positional deviation of the component P, defects in the mounting state may include rotational deviation in the mounting direction of the component P, tilting and overturning of the component P, and the like.
　画像表示部８は、装着時情報を図化しつつ検査画像に重ねて表示する。詳細には、画像表示部８は、吸着ノズル４の先端４９の中心位置４Ａを記号に図化するとともに、検査画像内の部品Ｐの画像に対して、相対位置関係を満たす位置に記号を表示する。本実施形態では、中心位置４Ａを図化した記号として破線の「十字形状」を用いる。そして、「十字形状」を成す二本の線分の交点が中心位置４Ａと表すものとする。また、画像表示部８は、角度情報に基づき、検査画像内で「十字形状」の記号を回転させて表示する。さらに、画像表示部８は、吸着ノズル４等の装着具外形情報を図化しつつ、検査画像内の「十字形状」の記号に対応付けて表示する。 The image display unit 8 graphically displays the installation information over the inspection image. Specifically, the image display unit 8 diagrams the center position 4A of the tip 49 of the suction nozzle 4 as a symbol, and displays the symbol at a position that satisfies the relative positional relationship with respect to the image of the part P in the inspection image. do. In this embodiment, a broken line "cross shape" is used as a symbol to illustrate the center position 4A. It is assumed that the intersection of two line segments forming a "cross shape" is represented as a center position 4A. Furthermore, the image display section 8 rotates and displays the "cross-shaped" symbol within the inspection image based on the angle information. Further, the image display unit 8 graphically displays the external shape information of the attachment device such as the suction nozzle 4 in association with the "cross-shaped" symbol in the inspection image.
　また、画像表示部８は、画像検査部７の判定結果に基づいて、表示する装着時情報を選択する。具体的には、画像表示部８は、画像検査部７によって不良と判定された部品、および不良と判定された部品から所定の離間距離以内に配置される周辺の部品に関する装着時情報のみを表示する。さらに、画像表示部８は、情報取得部５が取得した装着順序情報に基づいて、検査画像内の複数の部品画像の各々の近傍位置に、対応する部品の装着順序を表示する。画像表示部８は、最終的に表示した画像の画像データを生産情報サーバ９６に送信して、動作履歴データ９７４に記憶させる。画像検査部７および画像表示部８の機能については、次の動作の説明の中で具体例を示して詳述する。 Furthermore, the image display section 8 selects the mounting information to be displayed based on the determination result of the image inspection section 7. Specifically, the image display unit 8 displays only the mounting information regarding the parts determined to be defective by the image inspection unit 7 and surrounding components located within a predetermined distance from the parts determined to be defective. do. Further, the image display section 8 displays the mounting order of the corresponding parts at a position near each of the plurality of component images in the inspection image, based on the mounting order information acquired by the information acquisition section 5. The image display unit 8 transmits the image data of the finally displayed image to the production information server 96 and stores it in the operation history data 974. The functions of the image inspection section 7 and the image display section 8 will be described in detail by showing a specific example in the following description of the operation.
　６．検査画像表示システム１の動作
　次に、検査画像表示システム１の動作について、図５～図７を参考にして説明する。図５に示される動作フローは、検査画像表示システム１の動作だけでなく、部品装着ライン９の全体の動作を含んでいる。図５のステップＳ１で、生産情報サーバ９６は、部品装着機（９２、９３）および基板検査機９４にそれぞれジョブデータ９７３を送信する。部品装着機（９２、９３）および基板検査機９４は、受信したジョブデータ９７３にしたがって基板製品の生産を開始する。 6. Operation of Inspection Image Display System 1 Next, the operation of the inspection image display system 1 will be described with reference to FIGS. 5 to 7. The operation flow shown in FIG. 5 includes not only the operation of the inspection image display system 1 but also the entire operation of the component mounting line 9. In step S1 of FIG. 5, the production information server 96 sends job data 973 to the component mounting machines (92, 93) and the board inspection machine 94, respectively. The component mounting machines (92, 93) and the board inspection machine 94 start producing board products according to the received job data 973.
　次のステップＳ２で、部品装着機９２の吸着ノズル４は、テープフィーダ２９の上方まで水平移動し、下降して部品Ｐを吸着する（吸着動作）。次のステップＳ３で、まず、装着ヘッド２６および吸着ノズル４が部品カメラ３２の上方に移動する。次に、撮像制御部３５からの制御で部品カメラ３２が動作し、部品Ｐを保持した吸着ノズル４を撮像して画像データを取得する。その次に、画像処理部３６が動作して画像データに画像処理を施し、部品Ｐごとに位置情報および角度情報を演算する。そして、位置情報および角度情報を含む装着時情報が動作履歴データ９７４に記憶される。情報取得部５は、前述したように装着時情報、装着具外形情報、および装着順序情報を取得する。ステップＳ３は、情報取得部５が位置情報を含んだ装着時情報を取得する情報取得工程に相当する。なお、情報取得工程は、ステップＳ８以前の任意の時期に行われてもよい。 In the next step S2, the suction nozzle 4 of the component mounting machine 92 moves horizontally to above the tape feeder 29, descends, and suctions the component P (suction operation). In the next step S3, first, the mounting head 26 and the suction nozzle 4 move above the component camera 32. Next, the component camera 32 operates under the control of the imaging control unit 35, and images the suction nozzle 4 holding the component P to obtain image data. Next, the image processing unit 36 operates to perform image processing on the image data and calculate position information and angle information for each part P. Then, wearing information including position information and angle information is stored in the operation history data 974. As described above, the information acquisition unit 5 acquires the wearing information, the wearing tool external shape information, and the wearing order information. Step S3 corresponds to an information acquisition step in which the information acquisition unit 5 acquires mounting information including position information. Note that the information acquisition step may be performed at any time before step S8.
　次のステップＳ４で、吸着ノズル４は、基板Ｋの上方まで水平移動し、下降して部品Ｐを基板Ｋに装着する（装着動作）。装着する部品Ｐの点数が多い場合、ステップＳ２～ステップＳ４が繰り返される。また、ステップＳ２～ステップＳ４は、大型の部品装着機９３でも同様に実行される。部品装着機（９２、９３）における全部の部品Ｐの装着動作が終了すると、動作フローは、ステップＳ５に進められる。 In the next step S4, the suction nozzle 4 moves horizontally to above the board K, descends, and mounts the component P on the board K (mounting operation). When the number of parts P to be mounted is large, steps S2 to S4 are repeated. Furthermore, steps S2 to S4 are similarly executed by the large-sized component mounting machine 93. When the mounting operation of all the components P in the component mounting machines (92, 93) is completed, the operation flow proceeds to step S5.
　ステップＳ５で、部品Ｐが装着された基板Ｋが基板検査機９４に搬送される。次のステップＳ６で、画像取得部６が動作し、搬送された基板Ｋを撮像して、図６に例示される検査画像ＧＴ１を取得する。ステップＳ６は、画像取得部６が検査画像ＧＴ１を取得する画像取得工程に相当する。図６に示される検査画像ＧＴ１の撮像対象となった基板Ｋは、図４に示された基板Ｋと種類は同じであるが、別体である。このため、図６に示される８個の部品Ｐの装着時情報（位置情報および角度情報）は、図３と相違し、図６に示される８個の部品Ｐの装着状態は、図４と相違する。 In step S5, the board K on which the component P is mounted is transported to the board inspection machine 94. In the next step S6, the image acquisition unit 6 operates, images the transported substrate K, and acquires the inspection image GT1 illustrated in FIG. 6. Step S6 corresponds to an image acquisition step in which the image acquisition unit 6 acquires the test image GT1. The substrate K that is the imaging target of the inspection image GT1 shown in FIG. 6 is the same type as the substrate K shown in FIG. 4, but is a different body. Therefore, the mounting information (position information and angle information) of the eight parts P shown in FIG. 6 is different from that in FIG. 3, and the mounting state of the eight parts P shown in FIG. 6 is different from that in FIG. differ.
　次のステップＳ７で、画像検査部７が動作して検査画像ＧＴ１に画像処理を施し、複数の部品Ｐの各々の装着状態を検査する。図６に示される検査画像ＧＴ１の例で、画像検査部７は、第１エリアＡＲ１の左下の部品ＰＢを不良と判定し、その部品画像の左上部の近傍位置に「ＮＧ」を表示する。また、画像検査部７は、それ以外の７個の部品Ｐを良と判定し、それらの部品画像の左上部の近傍位置に「ＯＫ」を表示する。 In the next step S7, the image inspection unit 7 operates to perform image processing on the inspection image GT1 and inspect the mounting state of each of the plurality of parts P. In the example of the inspection image GT1 shown in FIG. 6, the image inspection unit 7 determines that the component PB at the lower left of the first area AR1 is defective, and displays "NG" at a position near the upper left of the component image. In addition, the image inspection unit 7 determines the other seven parts P to be good, and displays "OK" in the vicinity of the upper left of the parts images.
　さらに、画像検査部７は、不良と判定した部品ＰＢの部品画像の左側の近傍位置に、装着状態の不良を意味する「TOLERANCE ERROR」を表示する。加えて、画像検査部７は、Ｘ軸方向の位置誤差「Ｘ：－２０μｍ」、Ｙ軸方向の位置誤差「Ｙ：－３０μｍ」、および回転角度誤差「Ｑ：１０ｄｅｇ」を表示する。当該の部品ＰＢは、図６に破線で示された所定の装着位置に対してＸ軸方向およびＹ軸方向の少なくとも一方の位置誤差が許容誤差を超過したことに基づいて不良と判定されたものである。なお、所定の装着位置は、検査画像ＧＴ１に表示されてもよいし、表示されなくてもよい。また、装着位置の許容誤差は、部品Ｐの特定箇所の寸法（例えば長方形部品の長辺寸法）に所定の比率（例えば１０～３０％）を乗じて設定される。 Further, the image inspection unit 7 displays "TOLERANCE ERROR", which means a defective mounting state, near the left side of the component image of the component PB determined to be defective. In addition, the image inspection unit 7 displays a position error in the X-axis direction "X: -20 μm", a position error in the Y-axis direction "Y: -30 μm", and a rotation angle error "Q: 10 deg". The part PB in question was determined to be defective based on the fact that the positional error in at least one of the X-axis direction and the Y-axis direction exceeded the allowable error with respect to the predetermined mounting position indicated by the broken line in FIG. It is. Note that the predetermined mounting position may or may not be displayed on the test image GT1. Further, the tolerance of the mounting position is set by multiplying the dimension of a specific part of the component P (for example, the long side dimension of a rectangular component) by a predetermined ratio (for example, 10 to 30%).
　一方、この部品ＰＢの装着方向の回転角度誤差の１０ｄｅｇが許容されるか否かは、角度許容誤差の設定値に依存する。検査員は、検査画像ＧＴ１を視認して、この部品ＰＢが不良と判定された状態を確認することができる。この種の不良は、吸着ノズル４（部品装着具）が部品ＰＢを採取するときや装着するとき、部品ＰＢを保持した吸着ノズル４が移動するとき、および部品ＰＢが装着された基板Ｋが搬送されるときなどの様々な場面において、振動や気流などの外乱や制御上の誤差などの様々な要因で発生し得る。しかしながら、当該の部品ＰＢの吸着動作時や装着動作時の状況は不明である。したがって、検査員は、検査画像ＧＴ１を視認しても、不良が発生した原因や発生経緯を推測することが難しい場合が多い。 On the other hand, whether the rotational angle error of 10 degrees in the mounting direction of the component PB is allowed depends on the set value of the angle tolerance. The inspector can visually check the inspection image GT1 and confirm the state in which this part PB has been determined to be defective. This type of defect occurs when the suction nozzle 4 (component mounting tool) picks up or mounts the component PB, when the suction nozzle 4 holding the component PB moves, and when the board K on which the component PB is mounted is transported. This can occur in a variety of situations, such as when the vehicle is being operated, due to various factors such as external disturbances such as vibrations and airflow, and control errors. However, the situation during the suction operation and mounting operation of the component PB is unknown. Therefore, even if the inspector visually checks the inspection image GT1, it is often difficult for the inspector to infer the cause and circumstances of the occurrence of the defect.
　次のステップＳ８で、画像表示部８が動作し、吸着ノズル４の先端４９の開口部の中心位置４Ａを表す「十字形状」および吸着ノズル４の先端４９の外形形状を、検査画像内の部品Ｐの画像に対して相対位置関係を満たすように表示する。ただし、画像表示部８は、表示対象とする部品（Ｐ、ＰＢ）を限定する。具体的には、画像表示部８は、画像検査部７によって不良と判定された部品ＰＢ、および不良と判定された部品ＰＢから所定の離間距離以内に配置される周辺の部品Ｐに関する装着時情報のみを表示する。 In the next step S8, the image display section 8 operates, and displays the "cross shape" representing the center position 4A of the opening of the tip 49 of the suction nozzle 4 and the external shape of the tip 49 of the suction nozzle 4 for the component in the inspection image. The image is displayed so as to satisfy the relative positional relationship with respect to the image of P. However, the image display unit 8 limits the parts (P, PB) to be displayed. Specifically, the image display unit 8 displays mounting information regarding the component PB determined to be defective by the image inspection unit 7 and surrounding components P placed within a predetermined distance from the component PB determined to be defective. Display only.
　図６に示される検査画像ＧＴ１の例で、不良と判定された部品ＰＢから所定の離間距離以内に配置される周辺の部品Ｐは、第１エリア内ＡＲ１内の３個の部品Ｐが該当する。これによれば、画像表示部８は、図７に例示される検査画像ＧＴ２を表示する。検査画像ＧＴ２は、第１エリアＡＲ１の４個の部品（Ｐ、ＰＢ）を表示し、第２エリアＡＲ２の良と判定された４個の部品Ｐを表示しない。これにより、不良と判定された部品ＰＢの近傍のみを拡大表示することが可能となり、検査員による視認が容易になる。図７において、吸着ノズル４の中心位置４Ａが破線の「十字形状」で表示され、吸着ノズル４の先端４９の外形形状が破線の円で形示される。先端４９の外形形状に相当する破線の円形およびその直径は、情報取得部５が取得した装着具外形情報に基づくものである。 In the example of the inspection image GT1 shown in FIG. 6, the surrounding parts P placed within a predetermined distance from the part PB determined to be defective correspond to the three parts P in the first area AR1. . According to this, the image display section 8 displays the test image GT2 illustrated in FIG. 7. The inspection image GT2 displays the four parts (P, PB) in the first area AR1 and does not display the four parts P determined to be good in the second area AR2. This makes it possible to enlarge and display only the vicinity of the component PB that has been determined to be defective, which facilitates visual recognition by the inspector. In FIG. 7, the center position 4A of the suction nozzle 4 is indicated by a broken line "cross shape", and the outer shape of the tip 49 of the suction nozzle 4 is indicated by a broken line circle. The broken line circle corresponding to the external shape of the tip 49 and its diameter are based on the mounting tool external shape information acquired by the information acquisition unit 5.
　また、画像表示部８は、情報取得部５が取得した装着順序情報に基づいて、検査画像ＧＴ２内の４個の部品（Ｐ、ＰＢ）の部品画像の各々の近傍位置に、対応する部品の装着順序を表示する。具体的には、４個の部品（Ｐ、ＰＢ）の部品画像の右下の近傍位置に、装着順序を示す「３」、「４」、「５」、「６」が表示される。なお、ステップＳ７で検査結果の不良が無い場合、ステップＳ８は省略される。ステップＳ８の終了後、または不良が無い場合のステップＳ７の終了後、次の基板Ｋを対象としてステップＳ２以降が繰り返して実行される。 Furthermore, the image display unit 8 displays the corresponding parts in the vicinity of each part image of the four parts (P, PB) in the inspection image GT2 based on the mounting order information acquired by the information acquisition unit 5. Display the installation order. Specifically, "3", "4", "5", and "6" indicating the mounting order are displayed near the lower right of the component images of the four components (P, PB). Note that if there is no defect in the inspection result in step S7, step S8 is omitted. After step S8 is completed, or after step S7 is completed when there is no defect, steps S2 and subsequent steps are repeatedly executed for the next board K.
　検査画像ＧＴ２は、吸着ノズル４が部品（Ｐ、ＰＢ）を吸着する吸着動作時の相対位置関係を表示している。具体的には、装着順序が「３」で不良と判定された第１エリアＡＲ１の左下の部品ＰＢでは、位置情報および角度情報が概ねゼロで、部品ＰＢと吸着ノズル４との相対位置関係が良好であったことが表示されている。検査員は、この表示を視認することにより、当該の部品ＰＢの吸着動作および装着動作が良好に行われた、と推測することができる。 The inspection image GT2 displays the relative positional relationship during the suction operation in which the suction nozzle 4 suctions the parts (P, PB). Specifically, in the lower left part PB of the first area AR1, which was determined to be defective with the mounting order "3", the position information and angle information are almost zero, and the relative positional relationship between the part PB and the suction nozzle 4 is It is shown that it was in good condition. By visually recognizing this display, the inspector can infer that the suction and mounting operations of the component PB have been successfully performed.
　一方、装着順序が「４」で良と判定された第１エリアＡＲ１の左上の部品Ｐでは、吸着ノズル４に対して部品ＰがＹ軸正方向に相対的にずれた位置情報が表示されている。検査員は、この表示を視認することにより、当該の吸着ノズル４が装着済みの部品ＰＢに干渉した、と推測することができる。換言すると、検査員は、次のように不良の原因および発生経過を推測することができる。すなわち、３番目の装着動作で、部品ＰＢは、当初は所定の装着位置に良好に装着された。次の４番目の装着動作で、部品Ｐの吸着動作時のずれを補正するために、位置情報に基づいて当該の吸着ノズル４の位置をＹ軸負方向に補正した。これにより、当該の吸着ノズル４は、装着済みの部品ＰＢに接近し、下降したときに先端４９が部品ＰＢを押して所定の装着位置から横滑りさせた。 On the other hand, for the upper left part P of the first area AR1 whose mounting order is "4" and determined to be good, position information is displayed in which the part P is shifted relative to the suction nozzle 4 in the positive direction of the Y axis. There is. By visually recognizing this display, the inspector can infer that the suction nozzle 4 has interfered with the mounted component PB. In other words, the inspector can infer the cause and course of occurrence of the defect as follows. That is, in the third mounting operation, the component PB was initially successfully mounted at the predetermined mounting position. In the next fourth mounting operation, in order to correct the deviation during the suction operation of the component P, the position of the suction nozzle 4 was corrected in the Y-axis negative direction based on the position information. As a result, the suction nozzle 4 approached the mounted component PB, and when descending, the tip 49 pushed the component PB and caused it to slide sideways from the predetermined mounting position.
　また、装着順序が「３」で不良と判定された部品ＰＢが有っても、装着順序が４番目以降の吸着ノズル４において吸着した部品ＰＢの位置ずれがわずかで、干渉の可能性が低い場合がある。この場合、検査員は、干渉以外の原因および発生経緯、例えば、装着動作の制御エラーや、基板Ｋの搬送途中に発生した偶発的なショックによる部品ＰＢの横滑りなどを推測することができる。 In addition, even if there is a component PB whose mounting order is "3" and determined to be defective, the positional deviation of the component PB picked up by the suction nozzle 4 whose mounting order is 4th or later is slight, and the possibility of interference is low. There are cases. In this case, the inspector can infer causes and circumstances other than interference, such as a control error in the mounting operation or sideways slipping of the component PB due to an accidental shock occurring during the transportation of the board K.
　また、装着順序が「５」で良と判定された第１エリアＡＲ１の右上の部品Ｐでは、位置情報が概ねゼロで、角度情報が非ゼロであったことが表示されている。この表示を視認した検査員は、当該の部品Ｐの装着動作で角度情報に基づく補正が良好に行われた、と推測することができる。さらに、装着順序が「６」で良と判定された第１エリアＡＲ１の右下の部品Ｐでは、位置情報が非ゼロで、角度情報が概ねゼロであったことが表示されている。この表示を視認した検査員は、当該の部品Ｐの装着動作で位置情報に基づく補正が良好に行われた、と推測することができる。 In addition, for the upper right part P of the first area AR1 whose mounting order is "5" and determined to be good, it is displayed that the position information is approximately zero and the angle information is non-zero. The inspector who visually recognized this display can infer that the correction based on the angle information was successfully performed in the mounting operation of the part P in question. Furthermore, for the lower right part P of the first area AR1 whose mounting order is "6" and determined to be good, it is displayed that the position information is non-zero and the angle information is approximately zero. The inspector who visually recognized this display can infer that the correction based on the positional information was successfully performed in the mounting operation of the part P in question.
　上述したように、検査画像ＧＴ２に装着時情報を重ねた表示が行われることにより、吸着ノズル４の吸着動作時および装着動作時の状況の推測が可能となる。さらに、画像検査部７で不良の判定が行われた場合に、不良の原因および発生経過の推測が可能となる。つまり、検査員による不良の原因および発生経緯の究明に対して、支援が行われる。加えて、装着順序の表示により、検査員の推測が容易となり、かつ推測の精度が高められる。仮に、装着順序が表示されない場合、或る吸着ノズル４の装着動作時に装着済みの部品Ｐの配置が不明であるため、推測が難しくなり、かつ推測の精度が低下しがちになる。 As described above, by displaying the installation information superimposed on the inspection image GT2, it becomes possible to estimate the situation during the suction operation and the installation operation of the suction nozzle 4. Furthermore, when a defect is determined by the image inspection section 7, it becomes possible to estimate the cause of the defect and the course of its occurrence. In other words, support is provided for inspectors to investigate the causes and circumstances of defects. In addition, the display of the mounting order facilitates the inspector's guess and improves the accuracy of the guess. If the mounting order is not displayed, the arrangement of the mounted parts P during the mounting operation of a certain suction nozzle 4 is unknown, making estimation difficult and tending to reduce the accuracy of estimation.
　７．検査画像表示システム１の応用動作
　次に、検査画像表示システム１の応用動作について、図８を参考にして説明する。応用動作では、基板Ｋの第１エリアＡＲ１の左下に部品ＰＣの未装着の不良が発生した場合を想定する。この場合のステップＳ７で、画像検査部７は、図８に例示される検査画像ＧＴ３を表示する。当然ながら、未装着の部品ＰＣは、検査画像ＧＴ３に撮像されていない。このため、画像検査部７は、当該の部品ＰＣの所定の装着位置を目立つ赤色の太線の一点鎖線で表示し、その左側の近傍位置に未装着を意味する「NOTPLACING ERROR」を表示する。 7. Applied Operation of Inspection Image Display System 1 Next, applied operation of the inspection image display system 1 will be described with reference to FIG. 8. In the applied operation, it is assumed that a defective component PC is not mounted at the lower left of the first area AR1 of the board K. In step S7 in this case, the image inspection section 7 displays the inspection image GT3 illustrated in FIG. 8. Naturally, the uninstalled component PC is not captured in the inspection image GT3. For this reason, the image inspection unit 7 displays the predetermined mounting position of the component PC in question with a conspicuous red thick dashed-dotted line, and displays "NOTPLACING ERROR" indicating that the component PC is not mounted at a nearby position on the left side.
　次のステップＳ８で、画像表示部８は、赤色の一点鎖線を部品画像と見做し、装着時情報を破線で重ねて表示する。さらに、画像表示部８は、吸着ノズル４の先端４９の外形形状だけでなく、先端４９の開口部の開口形状を併せて破線で表示する。これにより、検査画像ＧＴ３には、破線の二重円が表示される。 In the next step S8, the image display unit 8 regards the red dot-dash line as a component image and displays the mounting information as a broken line. Further, the image display unit 8 displays not only the outer shape of the tip 49 of the suction nozzle 4 but also the opening shape of the opening of the tip 49 using broken lines. As a result, a double circle with a broken line is displayed on the inspection image GT3.
　具体的には、装着順序が「３」で不良と判定された部品ＰＣでは、吸着ノズル４の開口部が部品ＰＣの側面よりも外方にずれた状態が表示されている。この表示を視認した検査員は、吸着ノズル４の開口部のずれにより負圧エアのリークが発生していたことを認識できる。さらに、検査員は、部品ＰＣの保持状態が不安定化し、吸着ノズル４が部品カメラ３２から基板Ｋまで移動する途中のどこかで部品ＰＣが落下した、と推測することができる。 Specifically, for a component PC whose mounting order is "3" and determined to be defective, a state is displayed in which the opening of the suction nozzle 4 is shifted outward from the side surface of the component PC. An inspector who visually recognizes this display can recognize that a leak of negative pressure air has occurred due to the misalignment of the opening of the suction nozzle 4. Furthermore, the inspector can infer that the holding state of the component PC has become unstable and that the component PC has fallen somewhere during the movement of the suction nozzle 4 from the component camera 32 to the board K.
　また、画像処理部３６が部品ＰＣの装着時情報（位置情報および角度情報）を演算できない場合がある。つまり、部品カメラ３２の撮像データに部品ＰＣが撮像されていない場合がある。この場合、画像表示部８は、装着時情報を表示しない。検査員は、検査画像ＧＴ３に装着時情報が重ねて表示されない場合に、吸着ノズル４の吸着動作で部品ＰＣを吸着できなかった、または吸着できても部品カメラ３２まで移動する以前に部品ＰＣが落下した、と推測することができる。 Furthermore, the image processing unit 36 may not be able to calculate the mounting information (position information and angle information) of the component PC. That is, the component PC may not be imaged in the imaging data of the component camera 32. In this case, the image display section 8 does not display mounting information. If the installation information is not displayed superimposed on the inspection image GT3, the inspector can determine whether the component PC could not be suctioned by the suction operation of the suction nozzle 4, or if the component PC could not be suctioned before moving to the component camera 32. It can be assumed that it fell.
　第１実施形態の検査画像表示システム１およびその応用動作によれば、吸着ノズル（４、４１～４８）と部品（Ｐ、ＰＢ、ＰＣ）との相対位置関係を表す位置情報が図化されて検査画像（ＧＴ２、ＧＴ３）に重ねて表示される。これによれば、例えば検査員は、検査画像（ＧＴ２、ＧＴ３）に表示された相対位置関係を参考にして、部品の装着状態の不良の原因および発生経緯を推測することができる。したがって、検査画像表示システム１や図５に示される検査画像表示方法は、不良の原因および発生経緯の究明を支援することができる。 According to the inspection image display system 1 of the first embodiment and its applied operation, the positional information representing the relative positional relationship between the suction nozzles (4, 41 to 48) and the components (P, PB, PC) is graphically displayed. It is displayed superimposed on the inspection images (GT2, GT3). According to this, for example, the inspector can refer to the relative positional relationship displayed in the inspection images (GT2, GT3) and estimate the cause and circumstances of the defective mounting state of the component. Therefore, the inspection image display system 1 and the inspection image display method shown in FIG. 5 can support investigation of the cause of defects and how they occur.
　８．第２実施形態の検査画像表示システム１Ａ
　次に、第２実施形態の検査画像表示システム１Ａについて、図９および図１０を参考にして、第１実施形態と異なる点を主に説明する。図９に示されるように、第２実施形態では、干渉判定部７５が追加される。また、情報取得部５Ａおよび画像表示部８Ａの機能が変形される。 8. Inspection image display system 1A of second embodiment
Next, regarding the inspection image display system 1A of the second embodiment, the differences from the first embodiment will be mainly described with reference to FIGS. 9 and 10. As shown in FIG. 9, in the second embodiment, an interference determining section 75 is added. Further, the functions of the information acquisition section 5A and the image display section 8A are modified.
　情報取得部５Ａは、第１実施形態と同様、装着時情報（位置情報および角度情報）、装着具外形情報、および装着順序情報を取得する。また、第１実施形態と異なり、情報取得部５Ａは、複数の部品の各々のサイズおよび形状を表す複数の部品外形情報を部品データ９７１から取得する。さらに、情報取得部５Ａは、複数の部品の各々の装着位置を表す複数の装着位置情報をジョブデータ９７３から取得する。 Similarly to the first embodiment, the information acquisition unit 5A acquires the information at the time of wearing (position information and angle information), the information on the outer shape of the wearing tool, and the information on the wearing order. Further, unlike the first embodiment, the information acquisition unit 5A acquires a plurality of pieces of part outline information representing the size and shape of each of the plurality of parts from the part data 971. Further, the information acquisition unit 5A acquires a plurality of mounting position information representing the mounting position of each of the plurality of parts from the job data 973.
　干渉判定部７５は、情報取得部５Ａが取得した情報に基づいて、部品装着具が装着済みの部品に干渉する可能性の有無を判定する。具体例をあげると、干渉判定部７５は、基板に第二部品を装着する吸着ノズル４の装着動作が基板に装着済みの第一部品に干渉する可能性の有無を判定する。干渉する可能性の判定は、吸着ノズル４および部品の大きさ、ならびに隣り合って装着される部品の離間距離に基づき、これらの部材の寸法公差や発生し得る位置誤差の最大値などを考慮して行われる。さらに、干渉判定部７５は、所定の安全離間距離を考慮し、干渉の可能性の有無を安全サイドで判定するようにしてもよい。 The interference determination unit 75 determines whether there is a possibility that the component mounting tool will interfere with the mounted component, based on the information acquired by the information acquisition unit 5A. To give a specific example, the interference determination unit 75 determines whether there is a possibility that the mounting operation of the suction nozzle 4 for mounting the second component onto the board will interfere with the first component already mounted on the board. The possibility of interference is determined based on the size of the suction nozzle 4 and the components, as well as the distance between adjacent components, and takes into account the dimensional tolerances of these components and the maximum positional error that may occur. will be carried out. Furthermore, the interference determination unit 75 may consider a predetermined safe separation distance and determine whether there is a possibility of interference on the safe side.
　図１０の検査画像ＧＴ４に示される基板ＫＡは、第１実施形態で示した基板Ｋと異なる種類であって、第１エリアＡＲ１の左下に装着位置が無い。部品装着機９２は、まず第１エリアの左上に部品Ｐを装着し、次に第１エリアの右上に部品Ｐ１を装着し、その次に第１エリアの右下に部品Ｐ２を装着する。図示されるように、部品Ｐ１および部品Ｐ２の装着位置は、先に装着される部品Ｐの装着位置に対し、Ｘ軸正方向に比較的大きく離間して定められている。このため、部品Ｐ１を装着する吸着ノズル４、および部品Ｐ２を装着する吸着ノズル４は、装着済みの部品Ｐに干渉する可能性が無い。 The board KA shown in the inspection image GT4 of FIG. 10 is of a different type from the board K shown in the first embodiment, and does not have a mounting position at the lower left of the first area AR1. The component mounting machine 92 first mounts the component P in the upper left of the first area, then mounts the component P1 in the upper right of the first area, and then mounts the component P2 in the lower right of the first area. As illustrated, the mounting positions of the component P1 and the component P2 are determined to be relatively far apart in the positive direction of the X-axis from the mounting position of the component P that is mounted first. Therefore, the suction nozzle 4 for mounting the component P1 and the suction nozzle 4 for mounting the component P2 have no possibility of interfering with the mounted component P.
　一方、部品Ｐ２の装着位置は、先に装着される部品Ｐ１の装着位置に対し、Ｙ軸負方向に接近して定められている。このため、部品Ｐ２を装着する吸着ノズル４は、装着済みの部品Ｐ１に干渉する可能性が有る。干渉判定部７５は、上述した干渉の可能性の有無を自動で判定する。なお、干渉判定部７５は、上述の説明では装着順序情報を使用しない。これに限定されず、干渉判定部７５は、装着する複数の部品の大きさが相違する場合や、使用する吸着ノズル４を途中で交換する場合に、装着順序情報を考慮することによって判定精度を高めることができる。 On the other hand, the mounting position of component P2 is determined to be close to the mounting position of component P1, which is mounted first, in the negative direction of the Y-axis. Therefore, the suction nozzle 4 that mounts the component P2 may interfere with the mounted component P1. The interference determination unit 75 automatically determines whether there is a possibility of the above-mentioned interference. Note that the interference determination unit 75 does not use the mounting order information in the above description. However, the interference determination unit 75 improves the determination accuracy by considering the mounting order information when the sizes of the plurality of parts to be mounted are different or when the suction nozzle 4 to be used is replaced midway through. can be increased.
　画像表示部８Ａは、第１実施形態と同様、不良と判定された部品およびその周辺の部品に関する装着時情報を表示する。加えて、画像表示部８Ａは、不良と判定された部品が無くとも、干渉判定部７５によって干渉する可能性が有ると判定された第一部品および第二部品に関する装着時情報を表示する。画像表示部８Ａは、例えば、図１０に示される検査画像ＧＴ４を表示する。検査画像ＧＴ４では、部品Ｐに関する装着時情報は表示されず、第一部品に相当する部品Ｐ１の部品画像に装着時情報が重ねて表示され、第二部品に相当する部品Ｐ２の部品画像に装着時情報が重ねて表示される。 Similarly to the first embodiment, the image display unit 8A displays mounting information regarding the component determined to be defective and the surrounding components. In addition, the image display section 8A displays mounting information regarding the first and second components determined by the interference determination section 75 to have a possibility of interference even if there is no component determined to be defective. The image display section 8A displays, for example, a test image GT4 shown in FIG. 10. In the inspection image GT4, the mounting information regarding the part P is not displayed, but the mounting information is displayed superimposed on the part image of the part P1 corresponding to the first part, and the mounting information is superimposed on the part image of the part P2 corresponding to the second part. Time information is displayed overlapping.
　第２実施形態では、第１実施形態と同様、検査画像ＧＴ４に装着時情報を重ねた表示によって、部品Ｐの装着状態の不良の原因および発生経過の究明を支援することができる。また、不良が無くとも、検査画像ＧＴ４において装着済みの部品Ｐに吸着ノズル４が干渉する可能性が有る箇所に装着時情報が重ねて表示される。したがって、検査画像ＧＴ４を視認することにより、干渉に対するマージン寸法の実態を認識したり、干渉が発生する可能性の大小を推測したりすることができる。 In the second embodiment, as in the first embodiment, by displaying the installation information superimposed on the inspection image GT4, it is possible to support investigation of the cause and the course of occurrence of a defective installation state of the component P. Furthermore, even if there is no defect, mounting information is superimposed on a portion of the inspection image GT4 where there is a possibility that the suction nozzle 4 will interfere with the mounted component P. Therefore, by visually recognizing the inspection image GT4, it is possible to recognize the actual condition of the margin size for interference and to estimate the magnitude of the possibility that interference will occur.
　９．実施形態の応用および変形
　なお、部品装着機（９２、９３）は、ノズルツール２７を備えず、装着ヘッド２６の下側に１本の吸着ノズル４を昇降可能および自転可能に有する構成であってもよい。また、吸着ノズル４の中心位置４Ａを図化した記号として、破線の「十字形状」以外の記号を用いることができる。また、検査画像（ＧＴ２～ＧＴ４）に表示される部品の装着順序は、省略されてもよい。また、装着時情報は、メモリ９７の動作履歴データ９７４を介することなく、部品装着機（９２、９３）から基板検査機９４に直接的に受け渡されてもよい。さらに、画像表示部（８、８Ａ）は、画像検査部７や干渉判定部７５の判定結果に関係なく、全ての部品Ｐの装着時情報を検査画像（ＧＴ２～ＧＴ４）に重ねて表示してもよい。第１および第２実施形態は、その他にも様々な応用や変形が可能である。 9. Applications and Modifications of Embodiments Note that the component placement machines (92, 93) do not include the nozzle tool 27, but have one suction nozzle 4 below the placement head 26 so as to be movable up and down and rotatable. Good too. In addition, as a symbol illustrating the center position 4A of the suction nozzle 4, a symbol other than the broken line "cross shape" can be used. Further, the mounting order of parts displayed in the inspection images (GT2 to GT4) may be omitted. Further, the mounting information may be directly transferred from the component mounting machine (92, 93) to the board inspection machine 94 without going through the operation history data 974 of the memory 97. Furthermore, the image display sections (8, 8A) display the mounting information of all parts P superimposed on the inspection images (GT2 to GT4), regardless of the judgment results of the image inspection section 7 and the interference judgment section 75. Good too. The first and second embodiments are capable of various other applications and modifications.
　１、１Ａ：検査画像表示システム　　２６：装着ヘッド　　２７：ノズルツール　　３２：部品カメラ　　３６：画像処理部　　３７：装着制御部　　４、４１～４８：吸着ノズル　　４９：先端　　４Ａ：中心位置　　５、５Ａ：情報取得部　　６：画像取得部　　７：画像検査部　　７５：干渉判定部　　８、８Ａ：画像表示部　　９：部品装着ライン　　９２、９３：部品装着機　　９４：基板検査機　　９６：生産情報サーバ　　９７１：部品データ　　９７２：機器データ　　９７３：ジョブデータ　　９７４：動作履歴データ　　Ｋ、ＫＡ：基板　　Ｐ、ＰＢ、ＰＣ、Ｐ１、Ｐ２：部品　　ＧＴ１、ＧＴ２、ＧＴ３、ＧＴ４：検査画像 1, 1A: Inspection image display system 26: Mounting head 27: Nozzle tool 32: Component camera 36: Image processing unit 37: Mounting control unit 4, 41-48: Suction nozzle 49: Tip 4A: Center position 5, 5A: Information Acquisition unit 6: Image acquisition unit 7: Image inspection unit 75: Interference determination unit 8, 8A: Image display unit 9: Component mounting line 92, 93: Component mounting machine 94: Board inspection machine 96: Production information server 971: Component data 972: Equipment data 973: Job data 974: Operation history data K, KA: Board P, PB, PC, P1, P2: Parts GT1, GT2, GT3, GT4: Inspection image

Claims (13)

  1. 　基板に設定された所定の装着位置に部品を装着する装着動作を行う部品装着具と、前記部品装着具に保持された前記部品との相対位置関係を表す位置情報であって、装着動作を行うときの前記部品装着具の位置の補正に用いられる前記位置情報を含んだ装着時情報を取得する情報取得部と、
    　前記部品が装着された前記基板を撮像して検査画像を取得する画像取得部と、
    　前記装着時情報を図化しつつ前記検査画像に重ねて表示する画像表示部と、
    　を備える検査画像表示システム。     Positional information representing the relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board and the component held by the component mounting tool, which performs a mounting operation. an information acquisition unit that acquires mounting information including the position information used for correcting the position of the component mounting tool;
    an image acquisition unit that captures an image of the board on which the component is mounted to obtain an inspection image;
    an image display unit that graphically displays the wearing information while superimposing it on the inspection image;
    An inspection image display system comprising:
  2. 　前記位置情報は、前記部品を保持する前記部品装着具の保持箇所の中心位置と、前記保持箇所に保持された前記部品との相対位置関係を表し、
    　前記画像表示部は、前記保持箇所の前記中心位置を記号に図化するとともに、前記検査画像内の部品画像に対して前記相対位置関係を満たす位置に前記記号を表示する、
    　請求項１に記載の検査画像表示システム。     The position information represents a relative positional relationship between a center position of a holding location of the component mounting tool that holds the component and the component held at the holding location,
    The image display unit diagrams the center position of the holding location as a symbol, and displays the symbol at a position that satisfies the relative positional relationship with respect to the component image in the inspection image.
    The inspection image display system according to claim 1.
  3. 　前記情報取得部は、前記装着時情報に含まれる装着具外形情報であって前記部品装着具の前記保持箇所の形状およびサイズを表す前記装着具外形情報を取得し、
    　前記画像表示部は、前記装着具外形情報を図化しつつ前記検査画像内の前記記号に対応付けて表示する、
    　請求項２に記載の検査画像表示システム。     The information acquisition unit acquires the mounting tool external shape information that is included in the mounting information and represents the shape and size of the holding part of the component mounting tool;
    The image display unit graphically displays the mounting tool external shape information in association with the symbol in the inspection image.
    The inspection image display system according to claim 2.
  4. 　前記部品装着具は、負圧エアの供給により先端の開口部で前記部品を吸着して保持する吸着ノズルであり、
    　前記保持箇所の形状およびサイズは、前記吸着ノズルの前記先端の外形形状および外形サイズである、
    　請求項３に記載の検査画像表示システム。     The component mounting tool is a suction nozzle that suctions and holds the component at an opening at its tip by supplying negative pressure air,
    The shape and size of the holding location are the external shape and size of the tip of the suction nozzle,
    The inspection image display system according to claim 3.
  5. 　前記部品装着具は、負圧エアの供給により先端の開口部で前記部品を吸着して保持する吸着ノズルであり、
    　前記保持箇所の形状およびサイズは、前記吸着ノズルの前記開口部の開口形状および開口サイズである、
    　請求項３に記載の検査画像表示システム。     The component mounting tool is a suction nozzle that suctions and holds the component at an opening at its tip by supplying negative pressure air,
    The shape and size of the holding location are the opening shape and size of the opening of the suction nozzle.
    The inspection image display system according to claim 3.
  6. 　前記装着時情報は、前記部品装着具と前記部品との相対的な回転角度関係を表す角度情報を含み、
    　前記画像表示部は、前記角度情報に基づき前記検査画像内で前記記号を回転させて表示する、
    　請求項２に記載の検査画像表示システム。     The mounting information includes angle information representing a relative rotational angle relationship between the component mounting tool and the component,
    The image display unit rotates and displays the symbol within the inspection image based on the angle information.
    The inspection image display system according to claim 2.
  7. 　前記画像取得部は、複数の前記部品が装着された前記基板を撮像して前記検査画像を取得し、
    　前記検査画像表示システムは、前記検査画像に画像処理を施して複数の前記部品の各々の装着状態の良否を判定する画像検査部を備え、
    　前記画像表示部は、前記画像検査部の判定結果に基づいて表示する前記装着時情報を選択する、
    　請求項１～６のいずれか一項に記載の検査画像表示システム。     The image acquisition unit acquires the inspection image by capturing an image of the board on which a plurality of the components are mounted,
    The inspection image display system includes an image inspection unit that performs image processing on the inspection image to determine whether the mounting state of each of the plurality of parts is good or bad,
    The image display unit selects the wearing information to be displayed based on the determination result of the image inspection unit.
    The inspection image display system according to any one of claims 1 to 6.
  8. 　前記画像表示部は、前記画像検査部によって不良と判定された前記部品、および不良と判定された前記部品から所定の離間距離以内に配置される周辺の前記部品に関する前記装着時情報のみを表示する、請求項７に記載の検査画像表示システム。 The image display unit displays only the mounting information regarding the component determined to be defective by the image inspection unit and the peripheral components located within a predetermined distance from the component determined to be defective. , The inspection image display system according to claim 7.
  9. 　前記情報取得部は、前記基板に装着される複数の前記部品の装着順序を表す装着順序情報を取得し、
    　前記画像取得部は、複数の前記部品が装着された前記基板を撮像して前記検査画像を取得し、
    　前記画像表示部は、前記装着順序情報に基づいて、前記検査画像内の複数の部品画像の各々の近傍位置に、対応する前記部品の前記装着順序を表示する、
    　請求項１～６のいずれか一項に記載の検査画像表示システム。     The information acquisition unit acquires mounting order information representing a mounting order of the plurality of components to be mounted on the board,
    The image acquisition unit acquires the inspection image by capturing an image of the board on which a plurality of the components are mounted,
    The image display unit displays the mounting order of the corresponding component at a position near each of the plurality of component images in the inspection image based on the mounting order information.
    The inspection image display system according to any one of claims 1 to 6.
  10. 　前記情報取得部は、複数の前記部品の各々の前記装着位置を表す複数の装着位置情報、複数の前記部品の各々のサイズおよび形状を表す複数の部品外形情報、ならびに前記装着時情報に含まれる装着具外形情報であって前記部品を保持する前記部品装着具の保持箇所の形状およびサイズを表す前記装着具外形情報を取得し、
    　前記検査画像表示システムは、複数の前記装着位置情報、複数の前記部品外形情報、ならびに前記装着具外形情報に基づいて、前記基板に第二部品を装着する前記部品装着具の装着動作が前記基板に装着済みの第一部品に干渉する可能性の有無を判定する干渉判定部を備え、
    　前記画像表示部は、前記干渉判定部によって干渉する可能性が有ると判定された場合に、前記第一部品および前記第二部品に関する前記装着時情報を表示し、干渉する可能性が無いと判定された場合に、前記第一部品および前記第二部品に関する装着時情報を表示しない、
    　請求項１～６のいずれか一項に記載の検査画像表示システム。     The information acquisition unit includes a plurality of mounting position information representing the mounting position of each of the plurality of parts, a plurality of part outline information representing the size and shape of each of the plurality of parts, and the mounting time information. acquiring the mounting tool external shape information that is the mounting tool external shape information and indicating the shape and size of a holding part of the component mounting tool that holds the component;
    The inspection image display system is configured to perform a mounting operation of the component mounting tool for mounting a second component on the board based on the plurality of mounting position information, the plurality of component external shape information, and the mounting tool external shape information. Equipped with an interference determination section that determines whether there is a possibility of interference with the first component installed on the
    The image display section displays the mounting information regarding the first component and the second component when it is determined by the interference determination section that there is a possibility of interference, and determines that there is no possibility of interference. does not display mounting information regarding the first component and the second component when
    The inspection image display system according to any one of claims 1 to 6.
  11. 　前記情報取得部は、前記部品を保持した前記部品装着具を撮像して画像データを取得するカメラと、前記画像データに画像処理を施して前記位置情報を演算する画像処理部とを含む、請求項１～６のいずれか一項に記載の検査画像表示システム。 The information acquisition unit includes a camera that captures an image of the component mounting tool holding the component to acquire image data, and an image processing unit that performs image processing on the image data to calculate the position information. The inspection image display system according to any one of Items 1 to 6.
  12. 　前記情報取得部は、前記部品装着具を有する部品装着機に設けられ、
    　前記画像取得部および前記画像表示部は、前記部品装着機の下流工程側に配置された基板検査機に設けられる、
    　請求項１～６のいずれか一項に記載の検査画像表示システム。     The information acquisition unit is provided in a component mounting machine having the component mounting tool,
    The image acquisition unit and the image display unit are provided in a board inspection machine disposed on a downstream process side of the component mounting machine.
    The inspection image display system according to any one of claims 1 to 6.
  13. 　基板に設定された所定の装着位置に部品を装着する装着動作を行う部品装着具と、前記部品装着具に保持された前記部品との相対位置関係を表す位置情報であって、装着動作を行うときの前記部品装着具の位置の補正に用いられる前記位置情報を含んだ装着時情報を取得する情報取得工程と、
    　前記部品が装着された前記基板を撮像して検査画像を取得する画像取得工程と、
    　前記装着時情報を図化しつつ前記検査画像に重ねて表示する画像表示工程と、
    　を備える検査画像表示方法。     Positional information representing the relative positional relationship between a component mounting tool that performs a mounting operation of mounting a component at a predetermined mounting position set on a board and the component held by the component mounting tool, which performs a mounting operation. an information acquisition step of acquiring mounting information including the position information used for correcting the position of the component mounting tool;
    an image acquisition step of capturing an image of the board on which the component is mounted to obtain an inspection image;
    an image display step of graphically displaying the wearing information while superimposing it on the inspection image;
    An inspection image display method comprising:
PCT/JP2022/025434 2022-06-27 2022-06-27 Inspection image display system and inspection image display method WO2024003965A1 (en)

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Publication number Priority date Publication date Assignee Title
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018100717A1 (en) * 2016-12-01 2018-06-07 株式会社Ｆｕｊｉ Manufacturing management system for component mounting line

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