Test image display system and test image display procedure

Abstract

A test image display system is equipped with an information acquisition unit for obtaining placement information, which includes position information representing the relative positional relationship between a component placement device, which performs the placement operation to insert a component into a predetermined placement location fixed on a circuit board, and the component held by the component placement device, and which is used for correcting the position of the component placement device during the placement operation; an image acquisition unit for obtaining a test image by capturing an image of the circuit board with the component; and an image display unit that displays the placement information over the test image in a diagrammatic representation.

Description

Inspection image display system and inspection image display method

[0001] The present specification relates to a system for displaying an inspection image used to inspect a board on which components are mounted, and a method for displaying the inspection image.

[0002] A technology for mass-producing board products by performing substrate-related operations on boards on which circuit patterns are formed is becoming widespread. Examples of substrate-related operations include component placement machines that use component placement tools to place components on boards, and board inspection machines that inspect boards on which components have been placed. Generally, board inspection machines capture an inspection image of a board on which components have been placed, and then process the inspection image to determine whether the component placement status (such as placement position and placement posture) is acceptable. Patent Document 1 discloses an example of a technology for inspecting boards using inspection images.

[0003] The NG part display method of Patent Document 1 displays an image of a part that has a feature that can be used in a direction inspection and has been judged to be a failure (defective) in a board visual inspection, a part shape frame that is placed at the ideal position of the part at equal magnification, and a feature accentuation part that highlights the ideal position of the feature, all superimposed on the screen. This is said to make it easy for workers to check on the screen the differences between the ideal part mounting state and the mounting state of a part that has been judged to be a failure in the board visual inspection.

[0004] JP 2011-253974 A

[0005] The technical example of Patent Document 1 is preferable because it allows inspectors to easily confirm the degree to which the position of a component determined to be defective deviates from the ideal position. However, even if inspectors can confirm the state of a component determined to be defective, it is often difficult for them to deduce the cause and circumstances of the defect. This type of defect can occur for various reasons in various situations during 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.

[0006] Therefore, the problem to be solved in this specification is to provide an inspection image display system and an inspection image display method that support investigation of the cause and circumstances of defects in the mounting state of components mounted on a board.

[0007] This specification discloses an inspection image display system that includes a component mounting tool that performs a mounting operation to mount a component at a predetermined mounting position set on a board, an information acquisition unit that acquires mounting time information including position information that represents the relative positional relationship between the component held by the component mounting tool and the component, and the position information is used to correct the position of the component mounting tool when performing the mounting operation, an image acquisition unit that captures an image of the board on which the component is mounted to acquire an inspection image, and an image display unit that graphically displays the mounting time information and overlays it on the inspection image.

[0008] This specification also discloses an inspection image display method that includes an information acquisition step of acquiring mounting time information including positional information that represents the relative positional relationship between a component mounting tool that performs a mounting operation to mount a component at a predetermined mounting position set on a board and the component held by the component mounting tool, and the positional information is used to correct the position of the component mounting tool when performing the mounting operation; an image acquisition step of capturing an image of the board on which the component is mounted to acquire an inspection image; and an image display step of graphically displaying the mounting time information while superimposing it on the inspection image.

[0009] This specification discloses the technical idea of ​​changing "the inspection image display system according to claim 2" to "the inspection image display system according to any one of claims 2 to 5" in claim 6 as originally filed, the technical idea of ​​changing "the inspection image display system according to any one of claims 1 to 6" to "the inspection image display system according to any one of claims 1 to 8" in claim 9 as originally filed, the technical idea of ​​changing "the inspection image display system according to any one of claims 1 to 6" to "the inspection image display system according to any one of claims 1 to 10" in claim 11 as originally filed, and the technical idea of ​​changing "the inspection image display system according to any one of claims 1 to 6" to "the inspection image display system according to any one of claims 1 to 11" in claim 12 as originally filed.

[0010] In the disclosed inspection image display system and inspection image display method, positional information showing the relative positional relationship between the component mounter and the component is visualized and superimposed on the inspection image. This allows, for example, an inspector to infer the cause of a component placement defect and how it occurred by referring to the relative positional relationship displayed in the inspection image. Therefore, the inspection image display system and inspection image display method can assist in identifying the cause of the defect and how it occurred.

[0011] FIG. 1 is a diagram schematically showing the line configuration of a component mounting line configured to include the inspection image display system of the first embodiment. FIG. 2 is a perspective view schematically showing an example configuration of a component mounting machine. FIG. 3 is a diagram showing a nozzle tool and a suction nozzle viewed from below, and corresponds to an image captured by a component camera of the suction nozzle holding a component. FIG. 4 is a plan view illustrating an example of a board on which components are mounted, and corresponds to an inspection image captured by an inspection camera of the board. FIG. 5 is an operational flow diagram explaining the operation of the inspection image display system of the first embodiment. FIG. 6 is a diagram showing an example of an inspection image. FIG. 7 is a diagram showing an example in which mounting time information is illustrated and superimposed on an inspection image. FIG. 8 is a diagram showing another example in which mounting time information is illustrated and superimposed on an inspection image. FIG. 9 is a diagram schematically showing the configuration of an inspection image display system of a second embodiment. FIG. 10 is a diagram showing an example of selection of mounting time information to be displayed based on the presence or absence of the possibility of interference.

[0012] 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 boards on which circuit patterns are formed. The component mounting line 9 is composed of 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 row on a common base 91.

[0013] A solder printer and a print inspection machine (not shown) are arranged in line upstream of the component placement machine 92. The solder printer prints solder paste onto lands (electrodes to which components are soldered) on a board on which a circuit pattern is formed. The print inspection machine inspects the state of the solder printing. Boards that are judged to be good by the print inspection machine are carried into the component placement machine 92. Each of the four component placement machines 92 performs a placement operation to place components on the board using a suction nozzle, which corresponds to a component placement tool. The four component placement machines 92 are responsible for placing a large number of small and medium-sized components.

[0014] The large component placement machine 93 is arranged next to the component placement machine 92 on the downstream side. The component placement machine 93 places components using a large suction nozzle equivalent to the component placement tool or a mechanically driven component placement tool with a chuck for gripping the components. The component placement machine 93 is responsible for placing large components and odd-shaped components. The component placement machine 93 may also be equipped with a tray-type component supply device (not shown).

[0015] The board inspection machine 94 is arranged next to the component mounting machine 93 on the downstream side. The board inspection machine 94 uses an inspection camera to capture an image of the board on which components are mounted and obtains an inspection image. The board inspection machine 94 then performs image processing on the inspection image to determine whether or not each of the multiple components is properly mounted. A reflow machine (not shown) is arranged downstream of the board inspection machine 94. The reflow machine heats and melts paste solder, and then cools it to stabilize the soldered state of the components.

[0016] 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 necessary to manage the production of board products. The production information server 96 stores component data 971, equipment data 972, job data 973, and operation history data 974 in an attached memory 97, and updates the data as needed.

[0017] The component data 971 is data that stores information about various types of components to be mounted on a board. The component data 971 includes component external shape information that indicates the shape, outer shape, electrode size, and exterior color of each component. Furthermore, the component data 971 includes information about the electrical characteristics, manufacturer, packaging, and handling conditions of each component. The equipment data 972 is data that stores the structure and performance of the component mounting machines (92, 93) and the board inspection machine 94. The equipment data 972 includes information about tools such as component mounting fixtures used by the component mounting machines (92, 93) and tools such as inspection cameras used by the board inspection machine 94, such as the shape, performance, and usage conditions of the tools.

[0018] The job data 973 is data that stores the work content of the work performed on the board. The job data 973 includes design data that indicates the type of board, the type of components to be mounted, and the mounting coordinates. The job data 973 also includes production data that specifies the mounting order of multiple components in the component mounting machines (92, 93) and the component mounting fixtures to be used. The job data 973 also includes imaging conditions for the inspection camera that captures inspection images in the board inspection machine 94, image processing conditions for the inspection images, and pass / fail judgment conditions. The 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.

[0019] When producing a board, the production information server 96 transmits job data 973 to each of the component mounting machines (92, 93) and the board inspection machine 94. The component mounting machines (92, 93) and the board inspection machine 94 perform work on the board in accordance with the received job data 973. The component mounting machines (92, 93) and the board inspection machine 94 refer to component data 971 and equipment data 972 as necessary based on the description in the job data 973. The component mounting machines (92, 93) and the board inspection machine 94 digitize their operations while in operation and transmit the data to the production information server 96. The production information server 96 uses the received data to successively update the operation history data 974.

[0020] 2. Configuration Example of Component Mounting Machine 92 Next, an example of the configuration of the component mounting machine 92 will be described with reference to Figure 2. In the example shown in Figure 2, two component mounting machines 92 are arranged adjacent to each other on a 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 coincides with the X-axis direction along which the boards are 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 board 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, and a control device 34.

[0021] The placement machine housing 20 is composed of a frame portion 201 and a beam portion 202 that spans the upper portion of the frame portion 201. Furthermore, an openable and closable cover 203 is provided above the beam portion 202. The cover 203 is shown in the component placement machine 92 on the left side, but is not shown in the component placement machine 92 on the right side.

[0022] 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 mounted 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 driven by a motor (not shown) and transports the substrate it supports in the X-axis direction. The two substrate holding mechanisms are located below and approximately in the center of each of the conveyor devices (221, 222). Each of the substrate holding mechanisms holds the substrate at a predetermined mounting position.

[0023] As shown in FIG. 2 , the component supply device 28 is configured with a plurality of tape feeders 29 arranged in the X-axis direction. Each tape feeder 29 rotatably holds a tape reel. A carrier tape, each of which contains components in a row of storage pockets, is wound on the tape reel. Each tape feeder 29 uses a tape feeding mechanism (not shown) to feed the carrier tape at a pitch to a supply position. In this way, the tape feeder 29 supplies components at the supply position. Note that a reel holding mechanism that rotatably holds the tape reel may be configured separately from the tape feeder 29.

[0024] 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 of the slider 25 facing the negative Y-axis direction. The mounting head 26 is driven by the X-axis motor and the Y-axis motor to move to any position on the frame unit 201. A nozzle tool 27 is detachably provided below the mounting head 26. The mounting head 26 is not limited to this, and may be a rotary type head in which the nozzle tool 27 is permanently installed. A plurality of suction nozzles 4 are provided below the nozzle tool 27 (described in detail below). The suction nozzles 4 are a type of component mounting tool that performs a mounting operation to mount components at predetermined mounting positions set on the board.

[0025] A board camera (not shown) with a downward optical axis is provided below the slider 25 or the mounting head 26. The board camera captures image data by capturing images of position reference marks attached to the board held at the mounting position. The acquired image data is processed to accurately determine the mounting position of the board. This calibrates the relative positional relationship between the first X-Y coordinate system of the head moving device 24 and the second X-Y coordinate system that represents the component mounting position on the board.

[0026] The nozzle station 30 is provided adjacent to the component supply device 28. A plurality of suction nozzles 4 are interchangeably housed in the nozzle station 30. The suction nozzles 4 housed in the nozzle station 30 are automatically replaced with the suction nozzles 4 attached to the mounting head 26 as needed.

[0027] The component camera 32 is provided between the board transport device 22 and the component supply device 28. The component camera 32 is positioned so that its optical axis faces upward. The component camera 32 captures an image of the suction nozzle 4 holding a component to acquire image data. The component camera 32 captures the image while the mounting head 26 is temporarily stopped above it. Alternatively, the component camera 32 may capture the image at a fast shutter speed, just as the mounting head 26 passes above it. The image data is processed to detect the relative positional relationship between the suction nozzle 4 and the held component, and this is reflected in the mounting operation (described in detail below). An example of the component camera 32 is a digital imaging device having an imaging element such as a CCD or CMOS.

[0028] The control device 34 is attached to the frame 201, and its location is not particularly limited. The control device 34 is configured using a computer device having a CPU, memory, input / output units, etc. Note that the control device 34 may be configured with multiple CPUs distributed within the machine and connected to each other for communication. The control device 34 controls the board transport device 22 and the component supply device 28 based on the job data 973. The control device 34 includes an imaging control unit 35 that controls the imaging operation of the component camera 32, and an image processing unit 36 ​​that performs image processing on image data acquired by the component camera 32. The control device 34 also includes a placement control unit 37 that cooperatively controls the placement head 26, the nozzle tool 27, the suction nozzle 4, etc. to perform the placement operation.

[0029] 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 view 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 around a vertical central axis AV. The nozzle tool 27 is driven to rotate by an R-axis rotation drive mechanism (not shown). The nozzle tool 27 has multiple (eight in the example of FIG. 3) suction nozzles 4 that revolve around the vertical central axis AV by their own rotation.

[0030] The suction nozzle 4 is selectively supplied with negative pressure air or positive pressure air from an air supply system (not shown). The suction nozzle 4 is driven to rotate by a Q-axis rotation drive mechanism (not shown). The suction nozzle 4 is driven to move up and down by a Z-axis drive mechanism 261 provided in the mounting head 26. In other words, the suction nozzle 4 can move up and down when it revolves and enters a position below the Z-axis drive mechanism 261. The suction nozzle 4 maintains its raised state at any position other than the position below the Z-axis drive mechanism 261.

[0031] The suction nozzle 4 performs a suction operation to pick up a component P from the tape feeder 29 and a placement operation to place the component P on a board, using coordinated control that combines the selective supply of negative and positive pressure air with lifting and lowering operations. In FIG. 3 , for convenience, the suction nozzle 4 located at the bottom of the Z-axis drive mechanism 261 is designated the first suction nozzle 41, and the second through eighth suction nozzles 42 through 48 are designated clockwise. Furthermore, as described in the job data 973, the suction and placement operations for the component P are performed in the placement order of the first through eighth suction nozzles 41 through 48. Note that the component P is a rectangular component in a plan view, with a pair of connection electrodes on its bottom and top surfaces. However, the suction nozzle 4 can also perform placement operations for components with shapes other than rectangular.

[0032] 4. Functions of the Imaging Control Unit 35, Image Processing Unit 36, and Mounting Control Unit 37 The imaging control unit 35 controls the component camera 32 to capture an image and acquire 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 capture an image multiple times and acquire multiple pieces of image data. Furthermore, the imaging control unit 35 can combine the multiple pieces of image data to acquire image data corresponding to FIG. 3. The imaging control unit 35 passes the acquired image data to the image processing unit 36.

[0033] The image processing unit 36 ​​performs image processing on the image data to calculate position information and angle information for each component P. The position information represents the relative positional relationship between the suction nozzles (41-48) and the held component P. Specifically, the position information represents the relative positional relationship between the center position 4A of the opening of the tip 49 (corresponding to the holding location) of the suction nozzles (41-48) and the center of the component P using coordinate values ​​in a local x-y coordinate system. In this embodiment, the outer shape of the tip 49 and the opening shape of the opening are both circular. However, this is not a limitation, and the opening shape of the opening may be oval or elliptical, for example.

[0034] The local x-y coordinate system is defined with its origin at the center position 4A of each tip 49 of the suction nozzles (41-48), its x-axis direction tangent to the circumferential direction of the nozzle tool 27, and its y-axis positive direction toward the vertical center axis AV of the nozzle tool 27. Position information is expressed as the coordinate values ​​of the center of the component P. According to this definition, when the suction nozzles (4, 41-48) revolve to enter a position below the Z-axis drive mechanism 261 and perform the component P placement operation, the axes of the local x-y coordinate system and the X-Y coordinate system of the board are parallel. Note that for a mechanically driven component placement tool, a similar definition can be made, for example, with the center position of multiple chucks as the origin.

[0035] The angle information also represents the relative rotation angle relationship between the suction nozzles (41 to 48) and the component P. For example, the angle information is represented by the angle that the long side of a rectangular component makes with the x-axis direction. For components other than rectangular components, a reference direction for the component 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 the angle information.

[0036] 3, for 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, the center position 4A of the tip 49 coincides with the center of the component P being held. Therefore, the position information is represented as (0, 0). Furthermore, for these suction nozzles (41, 42, 43, 45, 48), the long side of the component P is parallel to the x-axis. Therefore, the angle information is represented as 0.

[0037] On the other hand, for the sixth suction nozzle 46, the center of the component P is displaced in the positive direction of the x-axis by a displacement amount dx relative to the central position 4A. Therefore, the position information is represented by (dx, 0) representing the displacement amount. Furthermore, the long side of the component P is parallel to the x-axis, and the angle information is represented by 0. For the seventh suction nozzle 47, the center of the component P is displaced in the negative direction of the y-axis by a displacement amount -dy relative to the central position 4A. Therefore, the position information is represented by (0, -dy) representing the displacement amount. Furthermore, the long side of the rectangular component P is parallel to the x-axis, and the angle information is represented by 0. On the other hand, for the fourth suction nozzle 44, the central position 4A and the center of the component P are aligned, and the position information is represented by (0, 0). Furthermore, the long side of the component P forms an angle dA with respect to the x-axis. Therefore, the angle information is represented by dA.

[0038] 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. Non-zero angle information occurs when the component P is rotated within the storage pocket. Furthermore, non-zero position information and angle information can also be caused by vibrations or air currents that accidentally occur when the suction nozzles (41 to 48) pick up the component P, as well as other factors. The image processing unit 36 ​​passes the calculated position information and angle information to the placement control unit 37.

[0039] The mounting control unit 37 uses the received position information and angle information to correct the positions and rotation angles of the suction nozzles (41-48) when performing the mounting operation. Specifically, when the position information and angle information are both zero, the mounting control unit 37 controls the center positions 4A of the tips 49 of the suction nozzles (41, 42, 43, 45, 48) to align with a predetermined mounting position, and causes the suction nozzles (41, 42, 43, 45, 48) to descend without rotating to perform the mounting operation. Furthermore, when the position information is non-zero, the mounting control unit 37 adjusts the position of the mounting head 26 so that the suction nozzles (46, 47) are displaced from the predetermined mounting position by the amount of the position information, and causes the suction nozzles 4 to descend without rotating to perform the mounting operation.

[0040] Furthermore, if the angle information is non-zero, the placement control unit 37 controls the fourth suction nozzle 44 to a predetermined placement position, rotates the fourth suction nozzle 44 by the amount of the angle information, and then lowers it to perform the placement operation. Furthermore, if both the position information and the angle information are non-zero, the placement control unit 37 performs correction by combining adjustment of the position of the placement head 26 and rotation of the suction nozzle 4. The placement control unit 37 associates the position information and angle information used for the correction during the placement operation with the individual identification information of the suction nozzles (41 to 48) to create placement information, and transmits this placement information to the production information server 96. The production information server 96 stores the received placement information in the operation history data 974.

[0041] The placement control unit 37 may rotate the suction nozzle 4 on its axis depending on the placement direction of the component P. For example, the placement control unit 37 does not rotate the suction nozzle 4 on its axis when the long side of the rectangular component is placed parallel to the X-axis direction, whereas the placement control unit 37 rotates the suction nozzle 4 by 90° on its axis when the long side of the rectangular component is placed parallel to the Y-axis direction. In this case, if the angle information is non-zero, the placement control unit 37 corrects the angle information by adding or subtracting it from 90°.

[0042] 4, components P are mounted on the board K through a mounting operation controlled by the mounting control unit 37. In the board K illustrated in FIG. 4, four components P are mounted in each of a first area AR1 and a second area AR2 that are spaced apart from each other, with the long sides of the components P parallel to the X-axis direction. In each of the first area AR1 and the second area AR2, the mounting positions of the four components P are determined to be the vertices of a rectangle.

[0043] The eight components P were placed in order by the first suction nozzle 41 through the eighth suction nozzle 48 (shown by dashed lines for convenience). That is, the component P at the bottom left of the second area was placed first, and the remaining components P were placed in clockwise order. The placement condition of each component P was good; in other words, the positional error in the placement position and the rotational angle error in the placement direction of each component P were within the allowable range. Therefore, it can be seen that the correction of the displacement amount dx in the placement operation of the sixth suction nozzle 46, the correction of the displacement amount -dy in the placement operation of the seventh suction nozzle 47, and the correction of the angle dA in the placement operation of the fourth suction nozzle 44 were performed well.

[0044] However, the above-described correction during the mounting operation is not necessarily performed satisfactorily every time. Furthermore, there are cases where the mounting operation becomes unstable due to unexpected factors, or where a positional error beyond the expected level occurs. In these cases, the component P may not be mounted. Alternatively, the component P may be mounted improperly, for example, misaligned. The inspection image display system 1 of the first embodiment is used to assist inspectors in investigating the cause and circumstances of the non-mounting or improper mounting of the component P.

[0045] 5. Configuration of Inspection Image Display System 1 of First Embodiment As shown in Fig. 1, the inspection image display system 1 of the first embodiment is composed of four functional units, namely, an information acquisition unit 5, an image acquisition unit 6, an image inspection unit 7, and an image display unit 8. The four functional units are provided in a board inspection machine 94. However, the present invention is not limited to this, and at least one of the four functional units may be provided in another location on the component mounting line 9 that is connected to the inspection unit 9 through communication.

[0046] The information acquisition unit 5 acquires the mounting time information (position information and angle information) stored in the operation history data 974 by the placement control unit 37. Therefore, the information acquisition unit 5 essentially includes the component camera 32, the imaging control unit 35, the image processing unit 36, and the memory 97 of the component placement machine 92. Furthermore, the information acquisition unit 5 acquires placement tool outer shape information from the equipment data 972 based on the individual identification information of the suction nozzle 4 included in the placement time information. This placement tool outer shape information is information representing the outer shape of the suction nozzle (4, 41-48) used by the component placement machine (92, 93) in the placement operation of the component P. The placement tool outer shape information includes the outer shape and outer size of the tip 49 of the suction nozzle (4, 41-48) and the opening shape and opening size of the opening of the tip 49. Additionally, the placement tool outer shape information includes outer shape information of a mechanically driven component placement tool used by the large component placement machine 93. Furthermore, the information acquisition unit 5 acquires mounting order information indicating the mounting order of the multiple components P to be mounted on the board K from the job data 973 .

[0047] The image acquisition unit 6 uses an inspection camera to capture an image of the board K on which the components P are mounted, and acquires an inspection image. FIG. 4 shows an example of the acquired inspection image. However, the suction nozzles (41-48) indicated by dashed 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 multiple components P is good or bad. Possible mounting state defects include the aforementioned non-mounting and misalignment of components P, as well as rotational deviation in the mounting direction of the components P, tilting, and tipping of the components P.

[0048] The image display unit 8 graphically displays the mounting information while superimposing it on the inspection image. Specifically, the image display unit 8 graphically represents 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 component P in the inspection image. In this embodiment, a dashed "cross shape" is used as the symbol for graphically representing the center position 4A. The intersection of two line segments that form the "cross shape" represents the center position 4A. The image display unit 8 also rotates and displays the "cross shape" symbol in the inspection image based on the angle information. Furthermore, the image display unit 8 graphically represents the outer shape information of the mounting fixture, such as the suction nozzle 4, and displays the information in association with the "cross shape" symbol in the inspection image.

[0049] Furthermore, the image display unit 8 selects the mounting time information to display based on the judgment results of the image inspection unit 7. Specifically, the image display unit 8 displays only the mounting time information related to the component judged to be defective by the image inspection unit 7 and the peripheral components located within a predetermined distance from the component judged to be defective. Furthermore, the image display unit 8 displays the mounting order of the corresponding components near each of the multiple component images in the inspection image based on the mounting order information acquired by the information acquisition unit 5. The image display unit 8 transmits 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 unit 7 and the image display unit 8 will be described in detail with specific examples in the following explanation of the operation.

[0050] 6. Operation of Inspection Image Display System 1 Next, the operation of inspection image display system 1 will be described with reference to Figures 5 to 7. The operation flow shown in Figure 5 includes not only the operation of inspection image display system 1 but also the operation of the entire component mounting line 9. In step S1 of Figure 5, production information server 96 transmits job data 973 to each of the component mounting machines (92, 93) and the board inspection machine 94. The component mounting machines (92, 93) and the board inspection machine 94 start producing board products in accordance with the received job data 973.

[0051] In the next step S2, the suction nozzle 4 of the component mounting machine 92 moves horizontally to above the tape feeder 29 and then descends to pick up the component P (suction operation). In the next step S3, the mounting head 26 and suction nozzle 4 first move above the component camera 32. Next, the component camera 32 operates under control of the imaging control unit 35 to capture an image of the suction nozzle 4 holding the component P and acquire image data. Next, the image processing unit 36 ​​operates to process the image data and calculate position information and angle information for each component P. Then, the mounting information including the position information and angle information is stored in the operation history data 974. The information acquisition unit 5 acquires the mounting information, the mounting fixture outer shape information, and the mounting order information as described above. Step S3 corresponds to an information acquisition step in which the information acquisition unit 5 acquires the mounting information including the position information. Note that the information acquisition step may be performed at any time before step S8.

[0052] In the next step S4, the suction nozzle 4 moves horizontally to above the board K and then descends to place the components P on the board K (mounting operation). If there are a large number of components P to be mounted, steps S2 to S4 are repeated. Steps S2 to S4 are also performed in the same way in the large component mounting machine 93. When the mounting operation of all components P in the component mounting machines (92, 93) is completed, the operation flow proceeds to step S5.

[0053] In step S5, the board K on which the components P are mounted is transported to the board inspection machine 94. In the next step S6, the image acquisition unit 6 operates to image the transported board K and acquire the inspection image GT1 illustrated in FIG. 6. Step S6 corresponds to the image acquisition step in which the image acquisition unit 6 acquires the inspection image GT1. The board K that was the subject of the image of the inspection image GT1 shown in FIG. 6 is the same type as the board K shown in FIG. 4, but is a different body. For this reason, the mounting information (position information and angle information) of the eight components P shown in FIG. 6 differs from that shown in FIG. 3, and the mounting state of the eight components P shown in FIG. 6 differs from that shown in FIG. 4.

[0054] 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 multiple components P. In the example of the inspection image GT1 shown in Figure 6, the image inspection unit 7 judges the component PB at the bottom left of the first area AR1 to be defective and displays "NG" near the upper left corner of that component image. The image inspection unit 7 also judges the other seven components P to be good and displays "OK" near the upper left corner of those component images.

[0055] Furthermore, the image inspection unit 7 displays "TOLERANCE ERROR," indicating a defective mounting condition, near the left side of the component image of the component PB determined to be defective. Additionally, the image inspection unit 7 displays the position error in the X-axis direction (X: -20 μm), the position error in the Y-axis direction (Y: -30 μm), and the rotation angle error (Q: 10 deg). The component PB was determined to be defective because the position 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 dashed line in FIG. 6 . The predetermined mounting position may or may not be displayed in the inspection image GT1. The tolerance for the mounting position is set by multiplying the dimension of a specific portion of the component P (e.g., the long side dimension of a rectangular component) by a predetermined ratio (e.g., 10 to 30%).

[0056] On the other hand, whether a 10-degree rotation angle error in the mounting direction of this component PB is acceptable depends on the set value of the angle tolerance. By visually viewing the inspection image GT1, an inspector can confirm that this component PB has been determined to be defective. This type of defect can occur due to various factors, such as external disturbances such as vibrations and air currents, or control errors, in various situations, such as 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. However, the circumstances surrounding the pickup and mounting of the component PB are unknown. Therefore, even if an inspector visually views the inspection image GT1, it is often difficult to infer the cause or circumstances of the defect.

[0057] In the next step S8, the image display unit 8 operates to display the "cross shape" representing the center position 4A of the opening of the tip 49 of the suction nozzle 4 and the outer shape of the tip 49 of the suction nozzle 4 so as to satisfy the relative positional relationship with the image of the component P in the inspection image. However, the image display unit 8 limits the components (P, PB) to be displayed. Specifically, the image display unit 8 displays only mounting information related to the component PB determined to be defective by the image inspection unit 7 and surrounding components P located within a predetermined distance from the component PB determined to be defective.

[0058] In the example of the inspection image GT1 shown in FIG. 6, the peripheral components P located within a predetermined distance from the defective component PB correspond to three components P in the first area AR1. Accordingly, the image display unit 8 displays the inspection image GT2 shown in FIG. 7. The inspection image GT2 displays the four components (P, PB) in the first area AR1, but does not display the four components P in the second area AR2 that are determined to be passable. This allows for an enlarged display of only the vicinity of the defective component PB, making it easier for the inspector to visually identify the defective component. In FIG. 7, the center position 4A of the suction nozzle 4 is displayed as a dashed "cross," and the outer shape of the tip 49 of the suction nozzle 4 is shown as a dashed circle. The dashed circle corresponding to the outer shape of the tip 49 and its diameter are based on the mounting fixture outer shape information acquired by the information acquisition unit 5.

[0059] Furthermore, the image display unit 8 displays the mounting order of the corresponding four components (P, PB) in the inspection image GT2 near each of the component images, based on the mounting order information acquired by the information acquisition unit 5. Specifically, numbers "3," "4," "5," and "6" indicating the mounting order are displayed near the bottom right of the component images of the four components (P, PB). Note that if no defects are found in the inspection results in step S7, step S8 is omitted. After step S8 is completed, or after step S7 is completed if no defects are found, step S2 and subsequent steps are repeated for the next board K.

[0060] The inspection image GT2 displays the relative positional relationship during the suction operation in which the suction nozzle 4 picks up the components (P, PB). Specifically, for the component PB at the bottom left of the first area AR1, which was determined to be defective because its placement order was "3," the position information and angle information are approximately zero, indicating that the relative positional relationship between the component PB and the suction nozzle 4 was good. By visually checking this display, the inspector can infer that the suction operation and placement operation for the component PB were performed well.

[0061] On the other hand, for the component P in the upper left of the first area AR1, whose placement order was "4" and was judged to be good, position information is displayed indicating that the component P is misaligned relative to the suction nozzle 4 in the positive direction of the Y axis. By visually checking this display, the inspector can infer that the suction nozzle 4 in question interfered with the already-placed component PB. In other words, the inspector can infer the cause of the defect and how it occurred as follows: In the third placement operation, the component PB was initially placed properly in the designated placement position. In the following fourth placement operation, the position of the suction nozzle 4 in question was corrected in the negative direction of the Y axis based on the position information to correct the misalignment during the suction operation of the component P. As a result, the suction nozzle 4 in question approached the already-placed component PB, and as it descended, its tip 49 pushed the component PB, causing it to slide sideways from its designated placement position.

[0062] Furthermore, even if a component PB is determined to be defective in the mounting order "3," there may be a small deviation in the position of the component PB picked up by the suction nozzle 4 that is fourth or later in the mounting order, making interference unlikely. In this case, the inspector can infer causes and circumstances other than interference, such as a control error in the mounting operation or a sideways slip of the component PB due to an accidental shock that occurred during the transport of the board K.

[0063] Furthermore, for the component P in the upper right of the first area AR1 whose placement order was "5" and whose placement was judged to be good, it is displayed that the position information was approximately zero and the angle information was non-zero. An inspector who sees this display can infer that correction based on the angle information was performed well during the placement operation of that component P. Furthermore, for the component P in the lower right of the first area AR1 whose placement order was "6" and whose placement was judged to be good, it is displayed that the position information was non-zero and the angle information was approximately zero. An inspector who sees this display can infer that correction based on the position information was performed well during the placement operation of that component P.

[0064] As described above, by displaying the mounting time information superimposed on the inspection image GT2, it becomes possible to infer the situation during the suction operation and the mounting operation of the suction nozzle 4. Furthermore, when a defect is determined by the image inspection unit 7, it becomes possible to infer the cause of the defect and how it occurred. In other words, assistance is provided to the inspector in identifying the cause of the defect and how it occurred. In addition, displaying the mounting order makes it easier for the inspector to make inferences and improves the accuracy of the inferences. If the mounting order were not displayed, the arrangement of the components P already placed during the mounting operation of a certain suction nozzle 4 would be unknown, making it difficult to make inferences and tending to reduce the accuracy of the inferences.

[0065] 7. Advanced Operation of Inspection Image Display System 1 Next, an advanced operation of the inspection image display system 1 will be described with reference to FIG. 8. In this advanced operation, it is assumed that a defect due to a component PC not being mounted has occurred in the lower left of the first area AR1 of the board K. In this case, in step S7, the image inspection unit 7 displays the inspection image GT3 exemplified in FIG. 8. Naturally, the not-mounted component PC is not captured in the inspection image GT3. Therefore, the image inspection unit 7 displays the predetermined mounting position of the component PC in a conspicuous thick red dashed line, and displays "NOTPLACING ERROR" in a nearby position to the left of that line, indicating that the component PC is not mounted.

[0066] In the next step S8, the image display unit 8 regards the red dashed line as a component image and displays the mounting information superimposed with a dashed line. Furthermore, 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 with a dashed line. As a result, a double dashed circle is displayed in the inspection image GT3.

[0067] Specifically, for the component PC whose placement order was "3" and which was determined to be defective, the display shows that the opening of the suction nozzle 4 is misaligned outward from the side of the component PC. By visually checking this display, an inspector can recognize that a negative pressure air leak 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 suction nozzle 4's movement from the component camera 32 to the board K.

[0068] Furthermore, there are cases where the image processing unit 36 ​​is unable to calculate the mounting time information (position information and angle information) of the component PC. In other words, there are cases where the component PC is not captured in the image data captured by the component camera 32. In such cases, the image display unit 8 does not display the mounting time information. If the mounting time information is not displayed superimposed on the inspection image GT3, the inspector can infer that the suction nozzle 4 was unable to pick up the component PC during its suction operation, or that even if it was able to pick up the component PC, it fell off before it reached the component camera 32.

[0069] According to the inspection image display system 1 of the first embodiment and its applied operation, positional information representing the relative positional relationship between the suction nozzles (4, 41-48) and the components (P, PB, PC) is visualized and displayed superimposed on the inspection images (GT2, GT3). This allows, for example, an inspector to infer the cause of a component placement defect and how it occurred by referring to the relative positional relationship displayed in the inspection images (GT2, GT3). Therefore, the inspection image display system 1 and the inspection image display method shown in FIG. 5 can assist in identifying the cause of the defect and how it occurred.

[0070] 8. Inspection Image Display System 1A of Second Embodiment Next, the inspection image display system 1A of the second embodiment will be described, mainly focusing on the differences from the first embodiment, with reference to Figures 9 and 10. As shown in Figure 9, in the second embodiment, an interference detection unit 75 is added. Furthermore, the functions of the information acquisition unit 5A and the image display unit 8A are modified.

[0071] The information acquisition unit 5A acquires mounting time information (position information and angle information), mounting fixture outer shape information, and mounting order information, similar to the first embodiment. Also, unlike the first embodiment, the information acquisition unit 5A acquires a plurality of pieces of component outer shape information representing the size and shape of each of the plurality of components from the component data 971. Furthermore, the information acquisition unit 5A acquires a plurality of pieces of mounting position information representing the mounting position of each of the plurality of components from the job data 973.

[0072] The interference determination unit 75 determines whether or not there is a possibility that the component mounter will interfere with a component that has already been placed, based on the information acquired by the information acquisition unit 5A. Specifically, the interference determination unit 75 determines whether or not there is a possibility that the mounting operation of the suction nozzle 4 that mounts the second component on the board will interfere with the first component that has already been placed on the board. The determination of the possibility of interference is based on the sizes of the suction nozzle 4 and the component, as well as the separation distance between adjacent components, taking into account the dimensional tolerances of these components and the maximum value of possible positional error. Furthermore, the interference determination unit 75 may take into account a predetermined safe separation distance to determine whether or not there is a possibility of interference on the safe side.

[0073] The board KA shown in the inspection image GT4 of Figure 10 is a different type from the board K shown in the first embodiment, and does not have a mounting position in the lower left of the first area AR1. The component mounting machine 92 first mounts component P in the upper left of the first area, then mounts component P1 in the upper right of the first area, and then mounts component P2 in the lower right of the first area. As shown in the figure, the mounting positions of components P1 and P2 are determined to be relatively far apart in the positive direction of the X axis from the mounting position of the component P to be mounted first. Therefore, there is no possibility that the suction nozzle 4 mounting component P1 or the suction nozzle 4 mounting component P2 will interfere with the component P that has already been mounted.

[0074] On the other hand, the placement position of component P2 is determined to be closer in the negative Y-axis direction to the placement position of component P1, which is to be placed first. Therefore, there is a possibility that the suction nozzle 4 placing component P2 may interfere with the already placed component P1. The interference determination unit 75 automatically determines whether or not there is a possibility of the above-mentioned interference. Note that the interference determination unit 75 does not use placement order information in the above explanation. However, this is not limited to this, and the interference determination unit 75 can improve the determination accuracy by taking placement order information into account when the sizes of the multiple components to be placed are different or when the suction nozzle 4 to be used is replaced midway.

[0075] As in the first embodiment, the image display unit 8A displays mounting time information for a component determined to be defective and its surrounding components. In addition, the image display unit 8A displays mounting time information for a first component and a second component determined by the interference determination unit 75 to have the potential to interfere, even if there is no component determined to be defective. The image display unit 8A displays, for example, the inspection image GT4 shown in FIG. 10. In the inspection image GT4, the mounting time information for the component P is not displayed, but the mounting time information is displayed superimposed on the component image of the component P1 corresponding to the first component, and the mounting time information is displayed superimposed on the component image of the component P2 corresponding to the second component.

[0076] In the second embodiment, as in the first embodiment, the display of the mounting time information superimposed on the inspection image GT4 can assist in the investigation of the cause of a defective mounting state of the component P and the process by which it occurred. Furthermore, even if there is no defect, the mounting time information is superimposed and displayed at a location in the inspection image GT4 where there is a possibility that the suction nozzle 4 may interfere with the already-mounted component P. Therefore, by visually checking the inspection image GT4, it is possible to recognize the actual margin dimensions for interference and estimate the likelihood of interference occurring.

[0077] 9. Applications and Modifications of the Embodiments The component mounting machines (92, 93) may not include the nozzle tool 27, but may instead have a single suction nozzle 4 below the mounting head 26 that is movable up and down and rotatable. Symbols other than dashed crosses may be used to illustrate the center position 4A of the suction nozzle 4. The component mounting order displayed in the inspection images (GT2 to GT4) may be omitted. Mounting information may be directly transferred from the component mounting machines (92, 93) to the board inspection machine 94 without using the operation history data 974 in the memory 97. Furthermore, the image display unit (8, 8A) may display mounting information for all components P superimposed on the inspection images (GT2 to GT4), regardless of the results of the image inspection unit 7 and the interference detection unit 75. Various other applications and modifications are possible for the first and second embodiments.

[0078] 1, 1A: Inspection image display system 26: Placement head 27: Nozzle tool 32: Component camera 36: Image processing unit 37: Placement control unit 4, 41 to 48: Suction nozzle 49: Tip 4A: Center position 5, 5A: Information acquisition unit 6: Image acquisition unit 7: Image inspection unit 75: Interference detection unit 8, 8A: Image display unit 9: Component placement line 92, 93: Component placement 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: Component GT1, GT2, GT3, GT4: Inspection image

Claims

1. An inspection image display system comprising: a component mounting tool that performs a mounting operation to mount a component at a predetermined mounting position set on a board; an information acquisition unit that acquires mounting time information including position information that represents the relative positional relationship between the component held by the component mounting tool and the component, the position information being used to correct the position of the component mounting tool when performing the mounting operation; an image acquisition unit that takes an image of the board on which the component is mounted to acquire an inspection image; and an image display unit that graphically displays the mounting time information while superimposing it on the inspection image.

2. The inspection image display system of claim 1, wherein the position information represents the relative positional relationship between the center position of the holding location of the component mounting fixture that holds the component and the component held at the holding location, and the image display unit illustrates 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.

3. The inspection image display system of claim 2, wherein the information acquisition unit acquires the mounting fixture outer shape information included in the mounting time information, the mounting fixture outer shape information representing the shape and size of the holding portion of the component mounting fixture, and the image display unit graphically depicts the mounting fixture outer shape information and displays it in association with the symbol in the inspection image.

4. The inspection image display system according to claim 3, wherein the component mounting tool is a suction nozzle that sucks and holds the component at an opening at the tip by supplying negative pressure air, and the shape and size of the holding point are the outer shape and outer size of the tip of the suction nozzle.

5. The inspection image display system according to claim 3, wherein the component mounting tool is a suction nozzle that sucks and holds the component at an opening at the tip by supplying negative pressure air, and the shape and size of the holding location are the opening shape and size of the opening of the suction nozzle.

6. The inspection image display system of claim 2, wherein the mounting information includes angle information representing the relative rotation angle relationship between the component mounting tool and the component, and the image display unit rotates and displays the symbol within the inspection image based on the angle information.

7. An inspection image display system as claimed in any one of claims 1 to 6, wherein the image acquisition unit captures an image of the board on which a plurality of the components are mounted to acquire the inspection image, the inspection image display system comprises an image inspection unit that performs image processing on the inspection image to determine whether the mounting state of each of the plurality of components is good or bad, and the image display unit selects the mounting time information to display based on the determination result of the image inspection unit.

8. The inspection image display system of claim 7, wherein the image display unit displays only the mounting time information regarding the component determined to be defective by the image inspection unit and surrounding components located within a predetermined distance from the component determined to be defective.

9. An inspection image display system as described in any one of claims 1 to 6, wherein the information acquisition unit acquires mounting order information indicating the mounting order of the multiple components to be mounted on the board, the image acquisition unit images the board on which the multiple components are mounted to acquire the inspection image, and the image display unit displays the mounting order of the corresponding components in a position adjacent to each of the multiple component images in the inspection image based on the mounting order information.

10. The inspection image display system according to any one of claims 1 to 6, wherein the information acquisition unit acquires a plurality of pieces of mounting position information indicating the mounting position of each of the plurality of components, a plurality of pieces of component outer shape information indicating the size and shape of each of the plurality of components, and mounting fixture outer shape information included in the mounting time information, the mounting fixture outer shape information indicating the shape and size of a holding portion of the component mounting fixture that holds the components; the inspection image display system comprises an interference determination unit that determines whether or not there is a possibility that the mounting operation of the component mounting fixture that mounts a second component on the board will interfere with a first component already mounted on the board, based on the plurality of pieces of mounting position information, the plurality of pieces of component outer shape information, and the mounting fixture outer shape information; and the image display unit displays the mounting time information regarding the first component and the second component when it is determined by the interference determination unit that there is a possibility of interference, and does not display the mounting time information regarding the first component and the second component when it is determined that there is no possibility of interference.

11. An inspection image display system according to any one of claims 1 to 6, wherein the information acquisition unit includes a camera that captures an image of the component mounting fixture 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.

12. An inspection image display system according to any one of claims 1 to 6, wherein the information acquisition unit is provided in a component mounting machine having the component mounting fixture, and the image acquisition unit and the image display unit are provided in a board inspection machine arranged downstream of the component mounting machine.

13. An inspection image display method comprising: an information acquisition step of acquiring mounting time information including position information representing the relative positional relationship between a component mounting tool that performs a mounting operation to mount a component at a predetermined mounting position set on a board and the component held by the component mounting tool, said position information being used to correct the position of the component mounting tool when performing the mounting operation; an image acquisition step of capturing an image of the board on which the component is mounted to acquire an inspection image; and an image display step of graphically displaying the mounting time information while superimposing it on the inspection image.

Images