CN101501444A - Soldering inspection method, soldering method, and soldering apparatus - Google Patents
Soldering inspection method, soldering method, and soldering apparatus Download PDFInfo
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- CN101501444A CN101501444A CNA2007800298983A CN200780029898A CN101501444A CN 101501444 A CN101501444 A CN 101501444A CN A2007800298983 A CNA2007800298983 A CN A2007800298983A CN 200780029898 A CN200780029898 A CN 200780029898A CN 101501444 A CN101501444 A CN 101501444A
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- scolding tin
- fusion
- welder
- welding
- image data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/04—Heating appliances
- B23K3/047—Heating appliances electric
- B23K3/0478—Heating appliances electric comprising means for controlling or selecting the temperature or power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/06—Solder feeding devices; Solder melting pans
- B23K3/0607—Solder feeding devices
- B23K3/063—Solder feeding devices for wire feeding
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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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/32—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits
- H05K3/34—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
- H05K3/3447—Lead-in-hole components
-
- 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
- H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
- H05K2201/20—Details of printed circuits not provided for in H05K2201/01 - H05K2201/10
- H05K2201/2054—Light-reflecting surface, e.g. conductors, substrates, coatings, dielectrics
-
- 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
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/16—Inspection; Monitoring; Aligning
- H05K2203/163—Monitoring a manufacturing process
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Electric Connection Of Electric Components To Printed Circuits (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A soldering inspection method which is performed while accurately detecting solder melted by a solder melting means such as a soldering iron. A soldering method and a soldering apparatus are also provided. In a soldering method and a soldering apparatus for performing soldering by supplying solder to a solder melting means such as a soldering iron disposed in a soldering region, solder melted by the solder melting means is photographed sequentially by means of a camera in predetermined timing, image data by light, which is reflected from the solder and has a wavelength longer than that of red, is generated, differential image data is generated sequentially by taking the difference of at least two image data taken in different photography timing, compound image data is generated by compounding the differential image data by superposing sequentially, the area of solder in the soldering region of the compound image data is detected, and then the amount of solder supplied to the solder melting means is detected based on the area of solder.
Description
Technical field
The present invention relates to a kind of welding inspection method, welding method and welder, relate in particular to a kind of scolding tin fusion mechanisms such as soldering iron scolding tin is provided automatically, realize welding inspection method, welding method and the welder of welding automatically for fusion scolding tin.
Background technology
Recently, when on installation base plate, electronic component being installed, generally be to smear paste scolding tin in advance at the assigned position of substrate, by this paste scolding tin desired electronic component is fixed on assigned position, by reflow treatment installation base plate is implemented heating, with temperature be heated to make the scolding tin fusion more than the scolding tin melt temperature after, electronic component is implemented welding to installation base plate.
But, the material (for example with battery electrode electrodes in contact body) or the following power electronics part that uses of high power state that will always be in if desired under the stress state join on the installation base plate, for the stress that utilizes scolding tin relaxes performance, need to use more scolding tin to engage, and scolding tin need be processed into thread, while supplying the scolding tin fusion, make scolding tin form shape protuberance back, mound and implement welding, rather than adopt reflow treatment.
Make scolding tin form mound shape protuberance like this, technology is had higher requirement, therefore still use the situation of soldering iron enforcement handwork in the majority up to date by the operating personnel.But thread scolding tin discharges increasing of precision, and scolding tin is supplied with can smooth and easyly carry out, so automatic soldering device is developed, and adopts the solder technology instead of manual welding of automatic soldering device, has improved productivity.
And when using automatic soldering device to weld, need the monitoring weld job whether correctly to implement, therefore proposed a kind of Temperature Distribution situation, monitored the supervising device (for example can refer to Patent Document 1) of welded condition in real time by infrared ray sensor mensuration welding region.
When adopting infrared ray sensor to monitor welded condition in real time like this, with adopt with the silicon photo diode array as the CCD camera of capturing element (below, abbreviation CCD camera) situation of monitoring welded condition is compared, can improve the accuracy of detection of scolding tin, but price is comparatively expensive, therefore need a kind of can the low-cost CCD camera of introducing.
When using CCD phase machine monitoring welded condition, by being set, the official hour difference takes welded condition, at least generate the 1st view data and the 2nd view data, obtain the difference of the 1st view data and the 2nd view data and generate the differential image data, can detect thus that the 1st view data generates constantly and the 2nd view data generate constantly between by the soldering tin amount of soldering iron fusion, can monitor welded condition according to this detected soldering tin amount.
And in the differential image data generating procedure, generally be among at least one of the 1st view data and the 2nd view data, select one before soldering iron fusion scolding tin process begins back or beginning, to take the view data of generation as basic image data, select to take successively the view data of generation as another view data, the difference of obtaining itself and basic image data generates the differential image data, sometimes the view data more than 3 that also can select to suit is obtained difference, generates variance data.
Patent documentation 1: Japanese patent laid-open 07-270239 communique
Summary of the invention
The problem that invention institute desire solves
Yet, the scolding tin of scolding tin fusion mechanism fusions such as soldering iron, general owing to its surface tension greatly forms spherical, therefore when using the CCD camera to take the scolding tin of fusion, can form the state of almost plane over against the fusion weld tin surfaces of CCD camera, even scolding tin continues fusion, the variation on its surface is also extremely small.
Therefore, substrate portion beyond the part of this almost plane and the welding region is the same do not present through the time change, so in the difference that generates the differential image data is handled, can't be extracted sometimes, cause the selected scolding tin of differential image data can't represent all scolding tin of institute of scolding tin fusion mechanism fusion.
That is, the CCD camera can't correctly detect the scolding tin of scolding tin fusion mechanism fusion, thereby the problem that exists welded condition to monitor fully.
And the flue dust that welding produces can be taken in the CCD image of camera, also exists because of flue dust to disturb the problem that can't monitor welded condition.Particularly the Pb-free solder that uses in the welding recently can produce more substantial flue dust, so the correct scolding tin of taking welding region of CCD camera is all had any problem.
The present inventor is in view of this present situation, also can correctly monitor welded condition when using Pb-free solder and implements to be welded as purpose and research and develop, and finish the present invention.
The means of dealing with problems
Welding inspection method of the present invention, be that a kind of scolding tin fusion mechanism with fusion scolding tin is disposed at the welding region that welds, the welding inspection method of scolding tin is provided to scolding tin fusion mechanism, comprise following steps: use camera successively the scolding tin of scolding tin fusion mechanism fusion to be taken with numerical time, according to the infrared light of scolding tin reflection, generate the step of view data successively; In view data, obtain the difference of taking at least 2 different view data of sequential, generate the step of differential image data successively; It is synthetic that the differential image data are overlapped successively, generates the step of composograph data; Detect the step of the solder area of welding region in the composograph data; And, judge the step whether welding is correctly implemented according to solder area.
In addition, welding method of the present invention, be that a kind of scolding tin fusion mechanism with fusion scolding tin is disposed at the welding region that welds, the welding method of scolding tin is provided to scolding tin fusion mechanism, comprise following steps: use camera successively the scolding tin of scolding tin fusion mechanism fusion to be taken with numerical time, according to the infrared light of scolding tin reflection, generate the step of view data successively; In view data, obtain the difference of taking at least 2 different view data of sequential, generate the step of differential image data successively; It is synthetic that the differential image data are overlapped successively, generates the step of composograph data; Detect the step of the solder area of welding region in the composograph data; And, detect the step of the scolding tin quantity delivered that provides to scolding tin fusion mechanism according to solder area.
In addition, welder of the present invention is a kind of scolding tin fusion mechanism fusion scolding tin that uses fusion scolding tin, implements the welder of part welding thus at the assigned position of substrate, possesses: the scolding tin feeder, and mechanism provides scolding tin to the scolding tin fusion; Camera generates view data by the infrared light that scolding tin was reflected of scolding tin fusion mechanism fusion successively with numerical time; Control part, in view data, obtain the difference of taking at least 2 different view data of sequential, generate the differential image data successively, and overlap the differential image data that generate synthetic successively, generate the composograph data, go out the area of the scolding tin of scolding tin fusion mechanism fusion again by this composograph Data Detection.
Tin soldering equipment of the present invention also has following feature, that is:
(1) wavelength coverage of infrared light is within 670～1100nm.
(2) possesses the chopping mechanism that stops the light of wavelength outside 670～1100nm at least.
(3) chopping mechanism is mounted in the filter on the camera.
(4) chopping mechanism is the shade body that shelters from substrate and camera at least.
(5) be provided with light source, to the scolding tin projection infrared light of described scolding tin fusion mechanism fusion.
(6) light source is near camera configuration.
(7) scolding tin fusion mechanism is a soldering iron.
(8) scolding tin fusion mechanism is the laser spots behind the optically focused.
(9) laser spots is that output light by laser diode forms.
(10) light source is laser diode or light emitting diode.
(11), make the light wavelength of light source projects longer than this output light wavelength with the output light time of scolding tin fusion mechanism as laser diode.
(12), make the light wavelength of light source projects shorter than this output light wavelength with the output light time of scolding tin fusion mechanism as laser diode.
The invention effect
Among the present invention, use camera to take successively in the welding region by the scolding tin of scolding tin fusion mechanism fusion with numerical time, generate view data, obtain the difference of taking at least 2 different described view data of sequential, generate the differential image data successively, overlap the differential image data that generate synthetic successively, generate the composograph data, by composograph Data Detection scolding tin, so just, the scolding tin that produces in the time of can remedying the generation of differential image data with other differential image data is detection case not, accurately detects the solder area in the described composograph data.
And by generating the view data by the infrared light that scolding tin reflected of scolding tin fusion mechanism fusion, camera can be avoided the flue dust that welding produces is taken into image, correctly takes the scolding tin of scolding tin fusion mechanism fusion, generates view data.
Therefore, also can correctly detect the soldering tin amount of welding region when using camera, whether an amount of a kind of scolding tin welding inspection method when checking welding can be provided.In addition, can provide a kind of welding method and welder that can weld with an amount of scolding tin.
Description of drawings
Fig. 1 is the detection method key diagram of solder area.
Fig. 2 is the diagrammatic illustration figure of the 1st example welder.
Fig. 3 is the welding sequence process flow diagram that adopts the 1st example welder.
Fig. 4 is the diagrammatic illustration figure of the 2nd example welder.
Label declaration
The A1 welder
The A2 welder
The F filter
10 base stations
11 mounting portions
12 shade bodies
13 cameras
14 illuminating lamps
15 soldering irons
16 thread scolding tin
17 scolding tin feeders
18 control parts
20 installation base plates
21 electronic components
Embodiment
In welding inspection method of the present invention, welding method and the welder, do not adopt expensive infrared ray sensor, and be to use comparatively cheap filming apparatus such as CCD camera that the scolding tin of welding portion is implemented monitoring, whether scolding tin is an amount of in the time of can confirming to weld, and can detect finishing or the generation of abnormal welding of welding.Below employings such as CCD camera or CM0S camera are included the semiconductor capturing element of silicon photo diode filming apparatus abbreviate " camera " as.
Particularly camera needs to detect the light of infrared spectral range, and generates the view data by the infrared light that scolding tin reflected of scolding tin fusion mechanism fusions such as soldering iron or laser spots.
Adopted infrared light like this, the influence of flue dust in the time of just can reducing welding, monitoring welded condition.
That is to say, get rid of the performance of the dust-collecting filter on the pipeline, can infer that the flue dust that produces when welding comprises near the particle of particle diameter center of distribution 300nm according to being arranged on flue dust.Da Xiao particle is the reason that causes the light scattering that is called as the Mie scattering in the visible wavelength range like this, follows scattering to present white flue dust state.
Therefore, when using camera to take in visible domain, the flue dust that welding takes place also can be photographed.As there being flue dust, scolding tin can be blocked and can not clearly take by flue dust between the scolding tin of welding fusion mechanism fusion and the camera.
But studies show that in wavelength was longer than the near infrared region of visible light, the light scattering that the soldering flue dust causes was based on rayleigh scattering.In this kind rayleigh scattering, the intensity of scattering weakens according to biquadratic/one's of wavelength ratio, so scattering is easy to control, can prevent the interference of flue dust when camera is taken, the monitoring welded condition.
So, by view data that infrared light generates, produce the influence of flue dust in the time of can lowering welding, accurately monitor the state of welding region scolding tin with camera, confirm whether weld with an amount of scolding tin, make the judgement that welding finishes, and can detect that the scolding tin of ormal weight does not still have abnormality such as fusion after stipulated time for example.
Because experiment is discovery first: when the scolding tin fusion produced flue dust, wavelength was positioned near the infrared light the 670nm, and the intensity of its rayleigh scattering is less than the reflected light of scolding tin, and therefore preferred employing wavelength is greater than the light of 670nm.
Experiment is also found first: even adopt the camera of in-built CCD capturing element in the past, use reaches several microns wavelength and carries out Flame Image Process, also may utilize the wavelength in the sensitivity zone of the CCD capturing element that comprises the silicon photo diode array to generate view data fully, so can confirm at least in the sensitivity range of wavelength 1100nm of the silicon photo diode of band gap 1.17eV, can to use.
Therefore, infrared light preferably at least wavelength be 670nm～1100nm, the cost of welder is significantly reduced, and the high sensitivity realization high precision int that can take with fusion scolding tin.
On the other hand, in welding, owing to use the surface tension of the scolding tin of scolding tin fusion mechanism fusion, the scolding tin of fusion has the trend of spheroidizing, so take the two dimensional image of the scolding tin of the scolding tin fusion mechanism fusion that obtains according to camera, can infer the amount of scolding tin, therefore in welder, as long as use the scolding tin of phase machine monitoring scolding tin fusion mechanism fusion.
But, the amount of the scolding tin of scolding tin fusion mechanism fusion for the image detection of taking by camera, need take with camera scolding tin fusion mechanism is begun to supply with the state before the scolding tin and generates the 1st view data, shooting begins to supply with the molten condition of ormal weight scolding tin behind the scolding tin and generates the 2nd view data, the difference that obtains the 1st view data and the 2nd view data generates the differential image data, utilize this differential image Data Detection to go out soldering tin amount, but at this moment might be subjected in the 1st view data as the influence of the soldering iron of scolding tin fusion mechanism or soldered lead-in wire etc. and produce error.
Therefore, when needing accurately to detect the soldering tin amount of scolding tin fusion mechanism fusion, adopting the status image data that scolding tin fusion mechanism is begun to supply with before the scolding tin is inappropriate as the 1st view data.
In this case, handle in the parsing in general difference, extract object of observation variation variation in addition in order to reduce, need at least 2 in the short as far as possible time interval, to take the view data that obtains continuously, but when the object of observation is scolding tin, as previously mentioned, in the difference of scolding tin region is handled, the little zone of variable quantity can occur, thereby the zone that scolding tin can't correctly extract occur.
That is to say, when the object of observation is scolding tin, the fusion weld tin surfaces of straight-on camera can present the state of almost plane, even scolding tin continues fusion, the variation on its surface is also extremely small, can not surpass threshold value when carrying out the binaryzation in the difference processing, with shown in Fig. 1 (d), middle body has produced the not surveyed area L that can't detect scolding tin as Fig. 1 (c).
So the present inventor is when welding, generate view data successively with camera, and in the view data that generates, obtain at least 2 differences of taking the different view data of sequential, generate differential image data Pa, Pb, Pc, Pd shown in Fig. 1 (a)～(d) successively, it is synthetic that these differential image data Pa, Pb, Pc, Pd are overlapped successively, generates the composograph data Pe shown in Fig. 1 (e).
By synthetic differential image data Pa, Pb, Pc, Pd, generate view data Pe like this, just can eliminate not surveyed area L with other differential image data, and by using composograph data Pe correctly to detect the soldering tin amount of scolding tin fusion mechanism fusion.
According to diagram, describe performance of the present invention in detail below.Fig. 2 is the summary mode chart of the 1st example welder A1.In addition, though the following description with common soldering iron as scolding tin fusion mechanism, but adopted the scolding tin fusion mechanism of LASER Light Source such as laser diode also to be known recently by people, can replace soldering iron with the scolding tin fusion mechanism that possesses LASER Light Source, or any can be with the scolding tin that the provides scolding tin fusion mechanism of fusion successively.
In welder A1, have: base station 10, it is provided with mounting portion 11, has carried the installation base plate 20 of the required electronic component 21 of interim installation in this mounting portion 11; Camera 13 is taken the soldered welding region of installation base plate 20; Illuminating lamp 14, the illumination welding region; Soldering iron 15 promptly is configured in the welding fusion mechanism of welding region; Scolding tin feeder 17 promptly provides the scolding tin feed mechanism of thread scolding tin 16 to this soldering iron 15; Control part 18 is controlled this scolding tin feeder 17, and resolves the output signal of camera 13.Among Fig. 2, the 19th, to the guide body of the thread scolding tin 16 of soldering iron 15 guiding.
Though diagram is not provided with transfer device among the welder A1, this transfer device is sent to mounting portion 11 with installation base plate 20, and the installation base plate 20 that will finish soldering is transferred to subsequent handling.Specifically, but be arranged on the rectangle lifting body (not having diagram) that moves also oscilaltion on the transfer direction on the transfer device, this lifting body is provided with most advanced and sophisticated many supporting pillars from below and installation base plate 20 butts (not having diagram).Then, when installation base plate 20 is transferred to mounting portion 11, supporting pillar is mentioned and installation base plate 20 butts, move lifting body with this state along continuous straight runs thereby rise lifting body, installation base plate 20 is transferred to mounting portion 11, falls lifting body installation base plate 20 is positioned over mounting portion 11.Use same transfer device, the installation base plate in the mounting portion 11 20 can be transferred to subsequent handling.
In this example, mounting portion 11 comprises several cylinder 11a of the upper surface that withstands on base station 10, and this cylinder 11a places according to the rules at interval, can make installation base plate 20 remain on horizontality.
And then, also be equipped with the filter F that only can see through infrared light in the camera 13.As long as filter F can block the light of wavelength outside 670nm～1100nm, and see through wavelength and get final product, preferably adopt the filter that high permeability is arranged in 800～900nm region of ultra-red at the light of 670nm～1100nm.F can suppress the capturing element that visible light is incident to camera 13 by this filter, prevents to photograph the flue dust of welding.
Illuminating lamp 14 is used to increase catoptrical light quantity, has adopted the equipment that can shine infrared light, and this reflected light comprises the emitted infrared light of scolding tin of soldering iron 15 fusions.Particularly, illuminating lamp 14 preferably can shine the light greater than the 600nm wavelength, preferably can illumination wavelength at the light of 800～900nm.In addition, even illuminating lamp 14 does not shine, infrared light also enough greatly the time, can not be provided with illuminating lamp 14 from the reflection light quantity of scolding tin reflection.
In addition, according to circumstances can adopt the illuminating lamp of special light sources, can utilize for example tungsten illuminating lamp and halogen illuminating lamp, perhaps continuous spectrum light such as sunshine, the light quantity that only increases infrared composition gets final product.Especially use under the situations such as tungsten illuminating lamp and halogen illuminating lamp, under rated current, can increase infrared components in proportions, can replace illuminating lamp 14.
In addition, when scolding tin fusion mechanism was the employing LASER Light Source, the light that the laser spots of fusion scolding tin and illuminating lamp 14 irradiate can produce halation, might make camera 13 be difficult to generate correct view data.
Therefore, adopt when for example the laser diode of GaInP class throws the red laser of 670nm as LASER Light Source, the illuminating lamp 14 preferred light that adopt the laser diode projection 780nm of GaAlAs class, or the light of the LED diode irradiation 800～900nm of employing GaAs class.
Perhaps, as LASER Light Source, when adopting the laser of GaAlAs class or GaAs class laser diode irradiation 780nm or 800nm, the illuminating lamp 14 preferred light that adopt light emitting diode irradiation 850～1100nm such as GaAs class or GaInAs class.
That is to say,,, can prevent the generation of halation by the different light of output light wavelength of projection with scolding tin fusion mechanism LASER Light Source as the illuminating lamp 14 of light source.In addition, illuminating lamp 14 irradiation light wavelengths both can be longer than and also can be shorter than LASER Light Source output light wavelength, and preferred the employing with LASER Light Source exported the light wavelength different laser of trying one's best.
In addition, when the output of LASER Light Source is very big, can block as far as possible or intact block the light of wavelength outside 670～1100nm scope, can between camera 13 and subject scolding tin, shades such as suitable filter or Polarizer be set.
In addition, in this example, illuminating lamp 14 is installed on the camera 13 and tries one's best near camera 13.Thereby illuminating lamp 14 disposes easily, and camera 13 catches the strong reflection light that scolding tin sends easily, carries out accurately scolding tin and takes.
But soldering iron 15 is installed on the jacking gear that diagram do not mark and free lifting, and installation base plate 20 mountings are fallen after mounting portion 11, the wire scolding tin that melting provides.And needing many places when welding when 1 installation base plate 20, the travel mechanism that the X-Y direction can be set in jacking gear moves to suitable position with soldering iron 15, or uses suitable mobile installation base plate 20 such as X-Y worktable.
Scolding tin feeder 17 can be in accordance with regulations sequential, amount discharges and is processed as thread thread scolding tin 16 in accordance with regulations.The thread scolding tin 16 that scolding tin feeder 17 discharges is directed body 19 and guides, and delivers to the soldering iron 15 of junction.
Based on the process flow diagram of Fig. 3, the welding sequence of welder A1 is described below.
At first, in welder A1, installation base plate 20 moved and mounting in mounting portion 11 (step S1), use illuminating lamp 14 as light source, to the welding region irradiation infrared light (step S2) of installation base plate 20.
Secondly, in welder A1, scolding tin feeder 17 begins to provide thread scolding tin 16 (step S3), and camera 13 begins to take welding region (step S4).At this moment, follow welding process can produce flue dust, but owing to adopt infrared light to take, the interference of flue dust is under control in the captured image of camera 13, can obtain distinct image.
Because the 1st view data is different with the shooting sequential of the 2nd view data, so has only the shape difference of scolding tin in the welding region, in the differential image data, the difference of this scolding tin change of shape will be extracted.In the differential image data of this example, the difference of the 1st view data and the 2nd view data is made as " 0 " less than the zone of defined threshold, the above zone of threshold value is made as " 1 ".
Then, control part 18 reads the preservation view data (step S6) of storage from the image data memory that is provided with for temporarily storing image data.The preservation view data is the composograph data that a plurality of differential image data overlapped the generation of synthetic back as described later.And in image data memory, acquiescence is preserved the view data of All Ranges for " 0 ".
After the composograph data generated, control part 18 detected the solder area (step S8) of soldering iron 15 fusions in the welding region from the composograph data.Specifically, be that the zone of " 1 " in the synthetic differential image is counted.
Then, control part 18 synthesizes the preservation view data (composograph data) that is stored in the image data memory that these differential image data and step S6 read, generate new composograph data (step S7), carry out the detection (step S8) of solder area according to these composograph data.
So, control part 18 generates the differential image data successively, and the differential image that generates synthesized successively, generate the composograph data, just can correctly detect in the welding region by the solder area of soldering iron 15 fusions, in step S9, if this area value greater than predefined end of a period condition threshold value (step S9:YES), is then exported the control signal (step S11) that stops 17 actions of scolding tin feeder.
Afterwards, in welder A1, take off installation base plate 20, be transferred to subsequent handling (step S12) from mounting portion 11.
Among the welder A1 under this example, use is equipped with the camera 13 of the filter F that only sees through infrared light and takes the scolding tin of soldering iron 15 fusions, can reduce the influence of weld fumes, state to scolding tin is monitored, and go out solder area, but high Precision Detection scolding tin according to overlapping the composograph Data Detection that the differential image data generate.
Therefore, utilize the welder A1 under this example, can implement to weld by the scolding tin of minimum limit, shortened the weld job time with necessity.
And, use the welder A1 under this example, realized the high Precision Detection of scolding tin, so it is unusual to detect scolding tin, but therefore double as testing fixture omits the inspection operation of welding back welding portion, shortens manufacturing process, reduces manufacturing cost.
Abnormal welding during the welding here detects, and can be according to the detected shape anomaly of camera 13 photographic images, also can measure the time that scolding tin feeder 17 disengages thread scolding tin 16, then is judged as at the appointed time unusually as this time.In the present invention, similar unusual state not taking place is the correct state of implementing of welding.
Fig. 4 is the summary mode chart of the 2nd example welder A2.In the 2nd example welder A2, be not that filter F is installed on camera 13 as the 1st example welder A1, but be provided with shade body 12, block the installation base plate 20 of mounting in mounting portion 11.Replace the filter F except shade body 12 is set, its structure is identical with the 1st example welder A1, and these identical parts adopt identical symbol, detailed.
The size of shade body 12 not only can be blocked the installation base plate 20 of mounting in mounting portion 11, also can shelter from camera 13, according to different situations, also can shelter from scolding tin feeder 17 or control part 18.
So, sheltering from installation base plate 20 and camera 13 by shade body 12, can will see through light that shade body 12 injects shade body 12 inside as infrared light, also is infrared light from the reflected light of the scolding tin reflection of soldering iron 15 fusions.When therefore camera 13 is taken scolding tin, can reduce the flue dust interference that welding process produces, accurately take scolding tin.
In addition, in this example, 14 pairs of shade bodies of illuminating lamp, 12 internal irradiation infrared lights are set, when the light quantity of injecting shade body 12 inside through shade body 12 is insufficient, use the light of these illuminating lamp 14 irradiations, guarantee that the scolding tin of camera 13 is taken and can accurately be carried out.Illuminating lamp 14 preferred illumination wavelength are preferably shone the light about 800～900nm greater than the product of the light of 600nm.
In addition, when in shade body 12 inside illuminating lamp 14 being set like this, shade body 12 need not to make infrared light to see through, and the equipment such as shadow shield that can adopt complete shading are as shade body 12.
In addition, when scolding tin fusion mechanism is not a soldering iron 15, but during the laser spots that the output light of laser diode forms, preferred installation filters out the filter of the light of wavelength in 670～1100nm scope at least in the camera 13, and occulters such as Polarizer preferably are installed in case of necessity.
In this example, shade body 12 carries out free lifting by the jacking gear of not shown mark, when installation base plate 20 is transferred to mounting portion 11, shade body 12 is fallen back on the top and carries out the handover of installation base plate 20, fall shade body 12 during welding and cover installation base plate 20.
In addition, when jacking gear being set for shade body 12 without limits, can be provided with and send into opening (not having diagram) so that installation base plate 20 is guided to shade body 12 inside along a part of wall of shade body 12, and be provided with and send opening (not having diagram), realize the turnover of installation base plate 20 in shade body 12 so that will weld the outside that the installation base plate 20 that finishes is transferred to shade body 12.
In addition, the preferred vent fan exhaust apparatus such as (not having diagram) of installing on shade body 12, the flue dust that prevents to weld generation is full of the inside of shade body 12.
By shade body 12 lining welding regions, can get rid of the influence of visible light, like this so can easily get rid of the influence of weld fumes.But in this case, the operating personnel can't the Visual Confirmation welding region, therefore when requiring the Visual Confirmation welding region, preferably as the 1st example welder A1 adopt filter F.
Perhaps, can adopt filter F and shade body 12 simultaneously, in shade body 12, guarantee visibility to a certain degree, and when suppressing unnecessary light and enter welding region, utilize filter F to make the light of region of ultra-red inject the capturing element of camera 13, promote shaded effect with filter F.
Industrial practicality
Welding inspection method of the present invention, welding method and welder need not to use the infrared of costliness Line sensor can accurately be monitored the scolding tin of welding region, provide a kind of cheaply welding inspection method, Welding method and welder.
Claims (15)
1. welding inspection method is configured in the welding region that welding is implemented with the scolding tin fusion mechanism of fusion scolding tin, provides scolding tin to described scolding tin fusion mechanism, it is characterized in that comprising:
Use camera in accordance with regulations sequential take the scolding tin of described scolding tin fusion mechanism fusion successively, generate step successively by the view data of the infrared light of described scolding tin reflection;
In described view data, obtain the difference of taking at least 2 different view data of sequential, generate the step of differential image data successively;
Described differential image data are overlapped successively and synthesize, generate the step of composograph data;
From described composograph data, detect the step of the solder area in the described welding region; And
According to the area of described scolding tin, judge the step whether welding is correctly carried out.
2. welding method is configured in the welding region of implementing welding with the scolding tin fusion mechanism of fusion scolding tin, provides scolding tin to described scolding tin fusion mechanism, it is characterized in that comprising:
Use camera in accordance with regulations sequential take the scolding tin of described scolding tin fusion mechanism fusion successively, generate step successively by the view data of the infrared light of described scolding tin reflection;
In described view data, obtain the difference of taking at least 2 different view data of sequential, generate the step of differential image data successively;
Described differential image data are overlapped successively and synthesize, generate the step of composograph data;
From described composograph data, detect the step of the area of the scolding tin in the described welding region;
According to the area of described scolding tin, detect the step of the quantity delivered of the scolding tin that offers described scolding tin fusion mechanism.
3. welder uses the scolding tin fusion mechanism fusion scolding tin of fusion scolding tin, and part is soldered to the assigned position of substrate, it is characterized in that comprising:
The scolding tin feeder provides scolding tin to described scolding tin fusion mechanism;
Camera, sequential generates the view data by the infrared light of the scolding tin reflection of described scolding tin fusion mechanism fusion successively in accordance with regulations;
Control part, in described view data, obtain the difference that generates at least 2 different view data of sequential, generate the differential image data successively, and successively the differential image data that generate are overlapped and synthesize, generate the composograph data, from these composograph data, detect the area of the scolding tin of described scolding tin fusion mechanism fusion.
4. welder as claimed in claim 3 is characterized in that, described infrared light wavelength is in the scope of 670～1100nm.
5. welder as claimed in claim 4 is characterized in that having chopping mechanism, and it blocks the light of wavelength outside 670～1100nm at least.
6. welder as claimed in claim 5 is characterized in that described chopping mechanism is mounted in the filter on the described camera.
7. welder as claimed in claim 5 is characterized in that, described chopping mechanism is the shade body, and it covers described substrate and described camera at least.
8. as claim 6 or 7 described welders, it is characterized in that, be provided with light source, to the scolding tin projection infrared light of described scolding tin fusion mechanism fusion.
9. welder as claimed in claim 8 is characterized in that, described light source is configured in the position near described camera.
10. welder as claimed in claim 5 is characterized in that, described scolding tin fusion mechanism is a soldering iron.
11. welder as claimed in claim 5 is characterized in that, described scolding tin fusion mechanism is the laser spots through optically focused.
12. welder as claimed in claim 11 is characterized in that, described laser spots is formed by the output light of laser diode.
13. welder as claimed in claim 8 is characterized in that, described light source is laser diode or light emitting diode.
14. welder as claimed in claim 13 is characterized in that, described scolding tin fusion mechanism is the output light time of laser diode, makes the light wavelength of described light source projects be longer than this output light wavelength.
15. welder as claimed in claim 13 is characterized in that, described scolding tin fusion mechanism is the output light time of laser diode, makes the light wavelength of described light source projects be shorter than this output light wavelength.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006220723A JP3962782B1 (en) | 2006-08-11 | 2006-08-11 | Soldering inspection method, solder bonding method, and solder bonding apparatus |
| JP220723/2006 | 2006-08-11 | ||
| PCT/JP2007/065580 WO2008018526A1 (en) | 2006-08-11 | 2007-08-09 | Soldering inspection method, soldering method, and soldering apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101501444A true CN101501444A (en) | 2009-08-05 |
| CN101501444B CN101501444B (en) | 2010-12-15 |
Family
ID=38498628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007800298983A Expired - Fee Related CN101501444B (en) | 2006-08-11 | 2007-08-09 | Soldering inspection method, soldering method, and soldering apparatus |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3962782B1 (en) |
| CN (1) | CN101501444B (en) |
| WO (1) | WO2008018526A1 (en) |
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| CN103231382A (en) * | 2013-04-15 | 2013-08-07 | 苏州工业园区职业技术学院 | Image processing based servo control system for single-degree-of-freedom (SDOF) medium-speed full-automatic soldering robot |
| CN103376263A (en) * | 2012-04-17 | 2013-10-30 | 欧姆龙株式会社 | Soldering tin wetting formation inspection method, automatic appearance inspection apparatus and baseplate inspection system |
| CN105328292A (en) * | 2014-08-04 | 2016-02-17 | 特拉华资本构造公司 | Soldering iron with automatic soldering connection validation |
| CN107076678A (en) * | 2014-10-02 | 2017-08-18 | 日本特殊陶业株式会社 | The manufacture method of decision method, laser aid and sensor |
| CN107764822A (en) * | 2016-08-23 | 2018-03-06 | 泰科电子(上海)有限公司 | Welding quality test platform |
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| JPS62259668A (en) * | 1986-04-24 | 1987-11-12 | Tokyo Keiki Co Ltd | Soldering device |
| JPH07270239A (en) * | 1994-03-28 | 1995-10-20 | Matsushita Electric Ind Co Ltd | Soldering monitor device and soldering monitor system using it |
| CN1546995A (en) * | 2003-12-12 | 2004-11-17 | 上海交通大学 | Active infrared CCD weld seam detecting method |
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- 2007-08-09 CN CN2007800298983A patent/CN101501444B/en not_active Expired - Fee Related
- 2007-08-09 WO PCT/JP2007/065580 patent/WO2008018526A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2008045956A (en) | 2008-02-28 |
| WO2008018526A1 (en) | 2008-02-14 |
| CN101501444B (en) | 2010-12-15 |
| JP3962782B1 (en) | 2007-08-22 |
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