JP2003218591A - Component mounting equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide component mounting equipment having an imaging apparatus section that can check the alignment of loading and a loading state or capture an image with less deterioration to carry out the confirmation of the presence of a board or the like in the component loading equipment where a component such as an electronic component, cream solder, or a bonding resin is loaded onto a board or a component on the board. <P>SOLUTION: A diaphragm actuator (or a shutter speed actuator) is provided in an imaging apparatus. The diaphragm actuator is controlled by a control signal. Luminance is detected in the image data of an object by a luminance detection means to generate the control signal based on the detected luminance. More specifically, the control signal is generated for narrowing the diaphragm of the imaging apparatus when the detected luminance is larger than a specific range. Contrarily, when the detected luminance is smaller than the specific range, the control signal is generated for widening the diaphragm of the imaging apparatus. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a member mounting apparatus for mounting a member such as an electronic component, cream solder, or an adhesive resin on a substrate or a component on the substrate, and more particularly to alignment of mounting and mounting. The present invention relates to a member mounting device including an imaging device unit that captures an image for confirmation of a mounting state, confirmation of the presence of a substrate, or the like.

[0002]

2. Description of the Related Art A surface mounter for mounting electronic components on a substrate, a screen printer for printing cream solder or the like on a substrate in a predetermined pattern, a dispenser for adhering an adhesive resin for bonding the mounted components on the substrate. There are cases where various member mounting devices are provided with an image pickup device section for performing positioning of mounting, confirmation of the mounting state, confirmation of the presence of the substrate, and the like.

For such a sensor device of the image pickup device section, an area sensor or a line sensor formed by integrating minute photoelectric conversion elements can be used. In addition, an illumination device may be installed side by side in the imaging device section in order to give appropriate illuminance to the imaging target.

[0004]

The recognition of an image pickup object taken in from the image pickup device section is required to have higher precision with the recent miniaturization and miniaturization of electronic components and mounting patterns. For highly accurate recognition, it is necessary, for example, to appropriately maintain the illuminance of the imaged object, and thereby distribute the imaged output evenly within the dynamic range of the output of the sensor device. This is because if it is biased to the black side, noise is relatively increased and the captured image deteriorates, and if it is biased to the white side, it is crushed and some image information is lost.

Therefore, in order to maintain the illuminance of the object to be imaged, it is necessary to make the luminous intensity of the illuminating device constant, but in general, the illuminating device has a change in luminous intensity over time. For example, while an LED (light emitting diode) lamp has many advantages such as small size, power saving, and low cost, it has a temperature characteristic peculiar to a semiconductor and its luminous intensity changes with time due to self-heating. Therefore, if no measures are taken, the illuminance of the imaged object varies due to the change in luminous intensity, which deteriorates the image quality captured from the imaging device section.

The present invention has been made in consideration of the above circumstances, and is mounted on a member mounting apparatus for mounting a member such as an electronic component, cream solder, or adhesive resin on a substrate or a component on the substrate. An object of the present invention is to provide a member mounting device having an image pickup device unit capable of capturing an image without deterioration more than ever before for the purpose of positioning of the mounting, confirmation of the mounting state, or confirmation of the presence of the substrate. .

[0007]

In order to solve the above problems, the present invention provides a substrate support device capable of supporting a substrate in a substantially horizontal posture, and a device provided above the substrate support device and movable at least in the horizontal direction. And a mounting device that mounts a member on the supported substrate, and an imaging device that is provided above the substrate supporting device and that captures an image of the substrate from above. A brightness detection unit that is connected to the imaging device and detects brightness from imaging data obtained by the imaging device; and a brightness detection unit that is connected to the imaging device, and the diaphragm of the imaging device can be changed by a control signal. A stop actuator, and control means for generating the control signal for controlling the stop of the image pickup apparatus by using the detected brightness, wherein the control means controls the detected brightness to fall within a predetermined range. Generating the control signal in the direction of closing the diaphragm of the image pickup device when larger than the predetermined value, and generating the control signal in the direction of opening the diaphragm of the image pickup device when the detected brightness is smaller than the predetermined range. Characterize.

Typical examples of the member mounting apparatus of the present invention include a surface mounting machine (mounter), a screen printing machine,
Examples include dispensers. As "members" in these, therefore, electronic components such as resistors, capacitors, transistors, and ICs (integrated circuits) in surface mounting machines, paste-like compositions such as cream solder and resistance pastes in screen printing machines, and dispensers ,
A coating agent such as an adhesive resin or a surfactant can be used.

In the surface mounter, the mounting apparatus corresponds to what is generally called a head unit, and includes, for example, a plurality of suction heads for mounting electronic components. For example, this head unit is configured to be movable in the X-axis (left and right) and Y-axis (front-back) directions as a whole, and each suction head is moved in the Z-axis (up and down) direction and the R-axis (vertical axis) direction. It can be raised and lowered or rotated. As a result, the electronic component is sucked from the component feeder and placed at a predetermined position on the substrate.

Further, the mounting device corresponds to what is generally called a squeegee unit in a screen printing machine, and is equipped with a squeegee for printing and adhering the paste composition onto the substrate through the through holes (pits) of the screen mask. To do. The squeegee is, for example, while pressing the screen mask linearly in the front-rear direction (Y direction) while it is in the left-right direction (X direction).
Move in one direction (or both directions). This allows
The paste composition existing on the screen mask is guided to the substrate side through the through holes.

In addition, the mounting device corresponds to what is generally called a dispenser head in a dispenser,
For example, a plurality of nozzles for ejecting the coating material is provided. For example, the dispenser head is configured to be movable in the X axis (left and right) and Y axis (front and back) directions as a whole, and each nozzle is configured to be lifted and lowered in the Z axis (up and down) direction. As a result, a predetermined coating agent is applied and adhered to a predetermined position on the substrate.

An image pickup apparatus for picking up an image of a substrate from above, for example, confirms the presence of the substrate by recognizing a mark (fiducial mark) on the substrate, detects an accurate support position of the substrate, or mounts a member on the substrate. It is provided to confirm the mounted state of the member on the substrate.

The image pickup device is provided with a diaphragm actuator, and the diaphragm actuator can be controlled by a control signal. The brightness of the control signal is detected by the brightness detection means from the imaged data of the imaging target, and the control signal is generated based on the detected brightness. That is, when the detected brightness is higher than the predetermined range, a control signal is generated in the direction to close the diaphragm of the imaging device, and when the detected brightness is smaller than the predetermined range, the control signal is controlled to open the diaphragm of the imaging device. Generate a signal.

Therefore, the diaphragm of the image pickup device is changed in accordance with the illuminance of the image pickup object, and an appropriate amount of light is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

The illuminance usually refers to a psychophysical quantity based on visual sensitivity, but is not limited to this, and includes an amount based on wavelength sensitivity of the image pickup device. Therefore, for example, when the imaging device is an infrared camera, the amount can be based on the amount of infrared rays. This also applies to the following.

Further, according to the present invention, a substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a member provided on the substrate supporting device and moved at least in the horizontal direction to mount a member on the supported substrate. A member mounting device having a mounting device to be mounted, and an image pickup device provided above the substrate support device for picking up an image of the substrate from above, the image pickup device being provided in connection with the image pickup device. Luminance detection means for detecting luminance from image pickup data obtained by the device, a shutter speed actuator which is provided in connection with the image pickup device and is capable of changing the shutter speed of the image pickup device by a control signal, and the detected luminance And a control means for generating the control signal for controlling the shutter speed of the image pickup apparatus, wherein the detected brightness is within a predetermined range. When the threshold is high, the control signal is generated in a direction to increase the shutter speed of the imaging device, and when the detected brightness is smaller than the predetermined range, the control signal is generated in a direction to decrease the shutter speed of the imaging device. It is characterized by doing.

In this case, the image pickup device is provided with a shutter speed actuator, and the shutter speed actuator can be controlled by the control signal. The brightness of the control signal is detected by the brightness detection means from the imaged data of the imaging target, and the control signal is generated based on the detected brightness. That is, when the detected brightness is higher than the predetermined range, a control signal is generated in a direction to increase the shutter speed of the image pickup device, and when the detected brightness is lower than the predetermined range, the shutter speed of the image pickup device is decreased. The control signal is generated in the direction to do.

Therefore, the shutter speed of the image pickup device is changed in accordance with the brightness of the object to be imaged, and an appropriate amount of light is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

Further, according to the present invention, a substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a member provided on the substrate supporting device and moved at least in the horizontal direction to mount a member on the supported substrate. A member mounting device having a mounting device to be mounted and an image pickup device for picking up an image of the mounting device from below, wherein the image pickup data obtained by the image pickup device is provided by being connected to the image pickup device. A brightness detection unit that detects brightness, a diaphragm actuator that is provided in connection with the imaging device and that can change the diaphragm of the imaging device by a control signal, and controls the diaphragm of the imaging device using the detected brightness. And a control unit for generating the control signal for generating the control signal, the control unit generating the control signal in a direction of closing an aperture of the image pickup device when the detected brightness is larger than a predetermined range. And, the detected luminance and generates the control signal in the direction of opening the aperture of the imaging device is smaller than the predetermined range.

In this case, an image pickup device for picking up an image of the mounting device from below is provided. In the case of a surface mounter, this image pickup device is provided, for example, to accurately detect the position and orientation of an electronic component when the suction head is sucking the electronic component. This detection result can be used, for example, to improve the mounting position accuracy on the substrate.

Also in this case, the diaphragm actuator is provided in the image pickup apparatus, and the diaphragm actuator can be controlled by the control signal. The brightness of the control signal is detected by the brightness detection means from the imaged data of the imaging target, and the control signal is generated based on the detected brightness. That is, when the detected brightness is higher than the predetermined range, a control signal is generated in the direction to close the diaphragm of the imaging device, and when the detected brightness is smaller than the predetermined range, the control signal is controlled to open the diaphragm of the imaging device. Generate a signal.

Therefore, the diaphragm of the image pickup device is changed in accordance with the illuminance of the image pickup object, and an appropriate amount of light is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

Further, according to the present invention, a substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a member provided on the substrate supporting device and moved at least in the horizontal direction to mount a member on the supported substrate. A member mounting device having a mounting device to be mounted and an image pickup device for picking up an image of the mounting device from below, wherein the image pickup data obtained by the image pickup device is provided by being connected to the image pickup device. A brightness detection unit that detects brightness, a shutter speed actuator that is connected to the imaging device and that can change a shutter speed of the imaging device by a control signal, and a shutter of the imaging device using the detected brightness. A control means for generating the control signal for controlling the speed, wherein the control means controls the shutter of the imaging device when the detected brightness is higher than a predetermined range. It generates the control signal in a direction to increase the coater speed, wherein the detected brightness to generate the control signal in a direction to decrease the shutter speed of the imaging device is smaller than the predetermined range.

In this case, a shutter speed actuator is provided instead of the diaphragm actuator described above, and substantially the same actions and effects are obtained.

Further, according to the present invention, a brightness contrast detecting means, which is provided to be connected to the image pickup device and detects a brightness contrast in image pickup data obtained by the image pickup device, is provided in place of the brightness detecting means. A second control unit that generates the control signal for controlling the diaphragm of the image pickup apparatus by using the detected brightness contrast is provided in place of the control unit, and the second control unit detects the detected signal. When the brightness contrast is smaller than the first predetermined value and the value on the low brightness side is larger than the second predetermined value, the control signal is generated in the direction to close the diaphragm of the imaging device, and the detected brightness contrast is When the value smaller than the third predetermined value and the value on the high brightness side is smaller than the fourth predetermined value, the control signal is generated in a direction of opening the diaphragm of the image pickup apparatus. It can also be.

That is, the diaphragm of the image pickup device is controlled by detecting the brightness contrast instead of the brightness detection, because the illuminance of the image pickup object can be equivalently detected by detecting the brightness contrast. is there. More specifically, when the detected brightness is larger than the predetermined range, the image data is biased to the white side. This is because the brightness contrast is crushed to the white side and the contrast decreases. It corresponds to the state of being. Therefore, when the decrease in contrast is detected and the low-luminance side of the contrast is larger than the predetermined value, it is determined that the illuminance of the imaging target is large. Based on this determination, a control signal is generated in the direction of closing the diaphragm of the image pickup apparatus.

Further, when the detected brightness is smaller than the predetermined range, the image pickup data is biased to the black side, which is a state where the brightness is lowered to the black side and the contrast is lowered. Equivalent to. Therefore, when the decrease in contrast is detected and the high-luminance side of the contrast is smaller than the predetermined value, it is determined that the illuminance of the imaging target is small. Based on this determination, a control signal is generated in the direction of opening the diaphragm of the image pickup apparatus.

Therefore, the diaphragm of the image pickup device is equivalently changed in accordance with the illuminance of the image pickup object, and an appropriate amount of light is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

In the present invention, a brightness contrast detecting means, which is provided in connection with the image pickup device and detects the brightness contrast in image pickup data obtained by the image pickup device, is provided in place of the brightness detecting means. In place of the control means, a second control means for generating the control signal for controlling the shutter speed of the image pickup apparatus using the detected brightness contrast is provided, and the second control means includes the detection means. When the generated brightness contrast is smaller than the first predetermined value and the value on the low brightness side is larger than the second predetermined value, the control signal is generated in the direction of increasing the shutter speed of the imaging device, and the detected The brightness contrast is smaller than the third predetermined value and the value on the high brightness side is the fourth.
It is also possible to generate the control signal in the direction of slowing the shutter speed of the image pickup device when the value is smaller than the predetermined value.

In this case, a shutter speed actuator is provided instead of the diaphragm actuator described above, and substantially the same action and effect are obtained.

Further, as an embodiment, the present invention further comprises a light-reflecting object which is provided as an accessory to the above-mentioned mounting device and serves as one of the objects to be imaged by the imaging device, and the control means comprises: The predetermined range is defined in advance using the illuminance of the light reflective object obtained by imaging the light reflective object.

That is, the light-reflecting object is imaged under a certain imaging condition in advance, and this imaging data is used as a reference later. A predetermined range is set with this image data as a standard, and when the brightness of the image data deviates from the predetermined range thereafter, the diaphragm actuator or the shutter speed actuator of the image pickup device is changed.

Thus, it is possible to follow the change in the illuminance of the image pickup object and always input the appropriate light amount as the image pickup apparatus. Therefore, for example, it is possible to capture an image which is not deteriorated and is not biased to the black side or the white side regardless of the change with time of illumination. Further, since the light reflective object having a constant reflectance is imaged under a certain imaging condition, the predetermined range can be determined by an appropriate reference.

[0034]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are diagrams showing the configuration of a surface mounter to which the present invention can be applied. 1 is a plan view and FIG. 2 is a front view.

As shown in FIGS. 1 and 2, the surface mounter includes a base 1, a conveyor 2, a component supply unit 3, a tape feeder 4, a head unit 5, a head unit support member 6, and a Y-axis fixed rail 7. , X-axis guide member 8, Y-axis servo motor 9, Y-axis ball screw 10, X-axis servo motor 1
1, an X-axis ball screw 12, a fixed camera 15, and a moving camera 16. The head unit 5 has a plurality of suction heads 13, a plurality of suction nozzles 14, and a reference reflector 17.

A conveyor 2 for conveying a printed circuit board is arranged on the base 1, and the printed circuit board P is conveyed on the conveyor 2 and stopped at a predetermined mounting work position by a clamp mechanism (not shown). Has become. The component supply units 3 are arranged outside the conveyor 2 in the Y direction. A large number of tape feeders 4 for supplying various components are arranged in the component supply section 3, and the tape feeders 4 are fixed in a state where they are adjacent to each other and are positioned.

Each tape feeder 4 has an IC,
Tape that contains and holds small pieces of electronic components such as transistors and capacitors at specified intervals is a reel (not shown)
The tape is intermittently sent out as the components are picked up by the suction head 13.

A head unit 5 is installed above the base 1, and the head unit 5 is configured to be movable in the X-axis direction and the Y-axis direction as described below.

That is, the head unit 5 is mounted on the base 1.
The support member 6 is movably arranged on the fixed rail 7 in the Y-axis direction, and the head unit 6 is movably supported on the support member 6 along the guide member 8 in the X-axis direction. Then, the Y-axis servomotor 9 moves the support member 6 in the Y-axis direction via the ball screw 10, and the X-axis servomotor 11 moves the head unit 5 in the X-axis direction via the ball screw 12. It is like this.

The head unit 5 is provided with a plurality of suction heads 13 for mounting components, and in this example, six suction heads 13 are arranged in a line in the X-axis direction. The suction head 13 is capable of moving in the Z-axis direction and rotating about the R-axis (the central axis of the suction nozzle 14) with respect to the frame of the head unit 5, and can be moved up and down and rotated by a servo motor (not shown). Done. A suction nozzle 14 is provided at the lower end of the Z-axis of each suction head 13, and a negative pressure is supplied to each suction nozzle 14 from a negative pressure supply means (not shown) during component suction. As a result, the component is sucked by the suction nozzle 14 by the suction force.

The head unit 5 is further provided with a moving camera 16 having a CCD area sensor as an image pickup device. The moving camera 16 captures an image of a mark (fiducial mark) printed on the board after the printed board P is stopped at the working position, thereby confirming the existence of the board and detecting a deviation from the proper position. Is to do.
The detected deviation from the normal position is used to correct the position of the suction head 13 when the component is mounted on the substrate P by the suction head 13 (this correction value will be described later but will be referred to as δ1). .).

Further, in the head unit 5, a reference reflector 17 is arranged outside the array of the suction heads 13. In the reference reflector 17, the surface facing the base 1 has a certain area, and this surface has a diffuse reflection surface having a substantially uniform reflectance. The reference reflector 17 is for acquiring data that is reference data when the suction camera 13 picks up an image of a component picked up by the fixed camera 15 described later.

Fixed cameras 15 each having a line sensor as an image pickup element are provided at two locations within the movable area of the head unit 5 near the component supply unit 3 on the base 1 and line-symmetrically with respect to the conveyor 2. Is provided. Fixed camera 1
Reference numeral 5 is for picking up an image of the suction head 13 from below after picking up a component, detecting from the imaged data whether or not the component has been accurately picked up by each nozzle 14, and further detecting a suction position shift. The detected suction position shift is used to correct the position of the suction head 13 when the suction head 13 mounts a component on the substrate P (this correction value is described as δ2, which will be described later).

The moving camera 16 or the fixed camera 1
Therefore, a dedicated illumination unit for illuminating the object to be imaged may be provided near these cameras 16 and 15.

Next, the control unit of the above surface mounter will be described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the control system of the surface mounter which is an embodiment of the present invention. In the figure, the same components as those already described are given the same numbers. In the configuration of the control system shown in the figure, there are some places where the less important parts are omitted as an embodiment of the invention (for example, control of the conveyor 2).

As shown in FIG. 3, the control device 30 includes a central control unit 35, a storage unit 37 for the control unit 35, an image processing unit 33,
It has a storage unit 34 for that purpose, an interface 31 to the actuator of the moving camera 16, an interface 36 to the actuator of the fixed camera 15, and an interface 32 to a servo device such as an X-axis servo device.

The moving camera 16 has an image pickup section 16a for picking up an image, a diaphragm actuator 16b, and a shutter speed actuator 16c, which are connected to each section of the control device 30 as shown in the drawing. Further, the fixed camera 15 has an image pickup section 15a for picking up an image, a diaphragm actuator 15b, and a shutter speed actuator 16c, which are connected to each section of the control device 30 as shown. The fixed cameras 15 are provided at two positions of the surface mounter in the above example, but the other one is also connected to the control device 30 in the same manner.

The interface 32, as shown,
It has connections with the X-axis servo device 43, the Y-axis servo device 44, and the head unit servo device 40 (Z-axis servo device 41, ..., R-axis servo device 42, ...). The X-axis servo device 43 is configured to include the X-axis servo motor 11 in FIGS. 1 and 2, and the Y-axis servo device 44 is configured to include the Y-axis servo motor 9 in FIG.

The integrated control unit 35 includes an X-axis servo device 43,
Y-axis servo device 44, head unit servo device 4
0, the diaphragm actuator 16b of the moving camera 16, the shutter speed actuator 16c, the diaphragm actuator 15b of the fixed camera 15, and the shutter speed actuator 16c are collectively controlled to perform operations. Substantially, it can be configured by hardware such as a microprocessor and software such as a control program.

The storage unit 37 stores information necessary for the processing performed by the central control unit 35. If necessary,
Information is taken in and out from the integrated control unit 35.

The image processing section 33 processes the image pickup data obtained by the moving camera 16 and the fixed camera 15, recognizes the information contained in the image pickup data, and supplies it to the overall control section 35. The information to be recognized will be described later. Note that the image processing unit 33 can also be substantially configured by hardware such as a microprocessor and software such as a control program.

The storage unit 34 stores information necessary for the processing performed by the image processing unit 33. If necessary,
Information is taken in and out from the image processing unit 33.

The interface 31 is the integrated control unit 35.
Is an interface for outputting a control signal generated by processing by the camera to the diaphragm actuator 16b or the shutter speed actuator 16c of the moving camera 16. Although only the control signal to the diaphragm actuator 16b or the shutter speed actuator 16c is shown in the drawing, the detection signal such as the actuate position may be returned to the control device 30 side from the diaphragm actuator 16b or the shutter speed actuator 16c side. That is, the actuate may be configured as a servo mechanism. In that case, the interface 31 becomes an input / output bidirectional interface. This is the same for the following interface 36.

The interface 36 is the integrated control unit 35.
Is an interface for outputting the control signal generated by the processing of (1) to the aperture actuator 15b or the shutter speed actuator 15c of the fixed camera 15.

The interface 32 is a central control unit 35.
Process the servo control signal generated by
It is an interface for outputting to the axis servo device 43, the Y-axis servo device 44, and the head unit servo device 40, and for inputting sensor outputs from these servo devices 43, 44, and 40.

Aperture actuator 16 of moving camera 16
In b, the diaphragm of the moving camera 16 is adjusted by a control signal. When the diaphragm is opened, the amount of light incident on the imaging unit 16a increases, and when the diaphragm is closed, the amount of light decreases. The shutter speed actuator 16c adjusts the shutter speed of the moving camera 16 according to a control signal. When the shutter speed is increased, the cumulative light amount decreases in time integration, and when the shutter speed is decreased, the cumulative light amount increases in time integration.

Incidentally, as a method of adjusting the shutter speed, generally, there are a mechanical (mechanical) method and an electronic method by adjusting the light accumulation time of the photoelectric conversion element. In this embodiment, the case of a mechanical method is described, but an electronic method may be adopted. This is the same for the adjustment of the shutter speed in the fixed camera 15 described below.

Aperture actuator 15 of fixed camera 15
In b, the diaphragm of the fixed camera 15 is adjusted by the control signal. When the diaphragm is opened, the amount of light incident on the imaging unit 15a increases, and when the diaphragm is closed, the amount of light decreases. The shutter speed actuator 15c adjusts the shutter speed of the fixed camera 15 according to a control signal. When the shutter speed is increased, the cumulative light amount decreases in time integration, and when the shutter speed is decreased, the cumulative light amount increases in time integration.

Next, according to the control system shown in FIG.
The operation of the surface mounter shown in FIG. 2 will be described with reference to FIG. FIG. 4 is a flowchart showing an operation flow of the surface mounter shown in FIGS. 1 and 2 by the control system shown in FIG.

First, the printed circuit board P on which all the components are already mounted by the surface mounter is carried out by the conveyor 2,
The printed board P on which no components are mounted is newly carried in by the conveyor 2 and clamped at a predetermined position (step 51).
Then, the mounted list is initialized (step 5).
2). The loaded list is stored / held in the storage unit 37.

Next, the moving camera 16 is moved onto the substrate by the X-axis servo device 43 and the Y-axis servo device 44 (step 53). Then, if necessary, the actuators 16b and 16c of the moving camera 16 are adjusted or not adjusted, and the mark on the substrate is imaged (step 54). The imaged image is referred to as imaged data 1. Note that step 54
Details of will be described later.

Next, the image pickup data 1 is processed by the image processing unit 33 to recognize the substrate mark, and thereby the displacement of the substrate (X direction, Y direction, θ around the axis perpendicular to the XY plane).
Direction), and the mounting position correction value δ1 of each component is obtained from the detected positional deviation. The correction value δ1 is passed to the central control unit 35 and stored / stored in the storage unit 37 (step 55).

Next, the integrated control section 35 examines the mounted list to determine whether or not there is unmounted data (step 56). When there is no unmounted data, all the components have been mounted, and the processing is completed for this board.
If there is unloaded data, the integrated control unit 35
The data is searched to determine the work procedure such as the mounting order (step 57).

Next, according to the determined work procedure, the X-axis servo device 43 and the Y-axis servo device 44 are controlled to move the suction head 13 to the component suction position to suck the component (step 58). This component suction is repeated so that the components are sucked by all the predetermined nozzles 14 (step 59). The suction head 13 in this suction operation
The suction position control is performed by taking the positional deviation of the suction head 13 detected by the image pickup of the fixed camera 15 described later into consideration so as to reduce the positional deviation of the suction head 13 with respect to the component. Good.

Next, the X-axis servo device 43 and the Y-axis servo device 44 are controlled to fix the head unit 6 to the fixed camera 15.
Move up. In this example, the fixed camera 15 is a line camera, and a direction (X direction) orthogonal to the line direction.
The head unit 5 is moved to scan (step 60). Then, if necessary, each actuator 15b, 15c of the fixed camera 15 is adjusted or not adjusted,
An image of the suction head 13 on which the component is sucked is picked up. The imaged image is corrected by the imaged data of the reference reflector 17, and the corrected image is set as the imaged data 2 (step 61). For details of step 61,
It will be described later.

Next, the image pickup data 2 is processed by the image processing unit 33 to recognize the picked-up parts, thereby detecting the positional deviation of the picked-up parts, and correcting the mounting position of each picked-up part from the detected positional deviation. The value δ2 is determined (step 6)
2). The correction value δ2 is passed to the overall control unit 35 and stored / stored in the storage unit 37. The correction value δ1 and the correction value δ2 obtained and held by the central control unit 35 are then set.
Therefore, δ (= δ1 + δ) is the final mounting position correction value.
2) is calculated and stored / held in the storage unit 27 (step 63).

Next, the X-axis servo device 43 and the Y-axis servo device 44 are controlled to move the suction head 13 to the corrected mounting position and mount the component (step 64). This component mounting is repeated for all predetermined nozzles 14 (step 65). When the mounting of all the predetermined nozzles 14 is completed, the process returns to step 56 and the same operation / process is performed for the unmounted data.

Here, the details of "the step of imaging the mark on the substrate without adjusting or adjusting each actuator 16b, 16c of the moving camera 16" (step 54) will be described with reference to FIG. . FIG. 5 is a flowchart showing an example of detailed processing of step 54 in FIG.

First, the overall control unit 35 determines whether or not the conditions for adjusting the actuators 16b and 16c of the moving camera 16 are satisfied (step 54).
1). This condition can be set in advance and stored in the storage unit 37. For example, every n printed circuit boards,
Each time the set time elapses, the set number of components is mounted, the surface mounter is started, the voltage supplied to the lighting unit is detected, and the detected voltage changes more than a certain amount.
The condition can be set every time the lamp is replaced. If these conditions are not established, the process proceeds to step 546 described later.

If the condition is satisfied, the following processing is performed to adjust the actuators 16b and 16c. First, the substrate is temporarily imaged while the actuators 16b and 16c are left as they are to obtain imaged data. This imaged data is processed by the image processing unit 33, and the brightness of the data is detected (step 542). The brightness can be obtained as a simple method by obtaining an average value in the screen.

Next, it is judged whether or not the detected brightness is within a predetermined range (step 543). If it is within the predetermined range, the actuators 16b and 16c are not readjusted and the process directly proceeds to step 546 described later.

If it is larger than the predetermined range, the control signal is output from the central control unit 35 to the diaphragm actuator 16b through the interface 31 so as to make the diaphragm smaller (to close the diaphragm) (step 544). Note that, equivalently, a control signal may be output to the shutter speed actuator 16c so as to increase the shutter speed. The output of these control signals may be performed in a feedforward manner (open loop manner) or in a feedback manner (closed loop manner).

If it is smaller than the predetermined range, the diaphragm actuator 1 is operated to enlarge the diaphragm (in the direction to open the diaphragm) from the central control unit 35 via the interface 31.
A control signal is output to 6b (step 545). In addition,
Equivalently, a control signal may be output to the shutter speed actuator 16c so as to reduce the shutter speed. The output of these control signals may be performed in a feedforward manner (open loop manner) or a feedback manner (closed loop manner).

By varying the aperture or shutter speed of the moving camera 16 as described above, the amount of light incident on the moving camera 16 is appropriately adjusted, and image data with little deterioration can be obtained.

After the process of adjusting the actuators 16b and 16c of the moving camera 16 is performed as described above, the board mark is then imaged (step 546).
In this imaging, the moving camera 16 for imaging the substrate is in a state suitable for the illuminance of the substrate. Therefore, even if the illuminance changes with time, the mark can be recognized from the imaged data 1 with high accuracy.

Next, another example is referred to FIG. 6 for the details of the step of "imaging the mark on the substrate without adjusting or adjusting each actuator 16b, 16c of the moving camera 16" (step 54). And explain. FIG. 6 is a flowchart showing another example of the detailed processing of step 54 in FIG. In FIG. 6, steps similar to those described with reference to FIG. 5 are designated by the same reference numerals, and the description thereof will be omitted.

In this example, the brightness contrast is used instead of the brightness in order to judge an appropriate image pickup state. This is because the illuminance of the imaging target can be equivalently detected by detecting the brightness contrast, as described above.

If the condition for adjusting the actuator of the moving camera 16 is satisfied, the substrate is tentatively imaged and the image processing section 33 detects the brightness contrast from the obtained imaged data (step 591). The brightness contrast is
Simply, it can be detected by the difference between the value near the white peak on the screen and the value near the blackest side.

When it is judged that the detected brightness contrast is smaller than the first predetermined value and the value on the low brightness side is larger than the second predetermined value (step 592), the illuminance of the substrate is large. The processing of step 544, which has already been described as being overkill, is performed. This is because when the brightness contrast is smaller than the first predetermined value, it is judged that the image is deteriorated and that the deterioration is biased to the white side, so the value on the low brightness side is compared with the second predetermined value. To do. For the first predetermined value and the second predetermined value, the moving camera 16
It can be determined experimentally in consideration of the characteristics of

The detected brightness contrast is the third
When it is determined that the value on the high brightness side is smaller than the fourth predetermined value (step 593),
The processing of step 545, which has already been described as the illuminance of the substrate being too low, is performed. It is judged that the image is deteriorated when the brightness contrast is smaller than the third predetermined value,
The value on the high luminance side is compared with the fourth predetermined value in order to determine that the deterioration is concentrated on the black side. The third predetermined value and the fourth predetermined value can be experimentally determined in consideration of the characteristics of the mobile camera 16. Third
The predetermined value of can be the same as the above first predetermined value.

Even with the above-described processing, similarly to the processing shown in FIG. 5, the substrate mark is imaged in the state of the moving camera 16 that matches the illuminance of the substrate. Therefore, even if the illuminance changes with time, the mark can be recognized from the imaged data 1 with high accuracy.

Next, the details of "the step of picking up the image of the state where the component is sucked and adjusting the picked-up image data without adjusting each actuator 15b, 15c of the fixed camera 15" (step 61) Will be described with reference to FIG. 7. FIG. 7 is a flowchart showing an example of detailed processing of step 61 in FIG. In FIG. 7, the same steps as those already described are designated by the same reference numerals, and the description thereof will be omitted.

First, the central control unit 35 determines whether or not the conditions for updating the reference data are satisfied (step 611). This condition can be set in advance and stored in the storage unit 37. For example, the condition may be such that a predetermined time has passed since the surface mounter was turned on. If this condition is not established, the process proceeds to step 613 described later.

If the condition is satisfied, the process proceeds to step 612 described below. First, while moving the head unit 5, the reference reflector 17 is fixed to the fixed camera 15.
The image is picked up at to obtain the imaged data d (x, y) of the reference reflector 17. Here, when the length of the reference reflector 17 in the Y direction is short, the head unit 5 is step-fed in the Y direction to move the head unit 5 in the X direction a plurality of times to image the reference reflector 17. It is possible to obtain the reference imaging data d (x, y) having a sufficient Y direction length.

The reference reflector 17 has, for example, a uniform diffuse reflectance (that is, a gray color as a color) that provides an appropriate output of the fixed camera 15 when the fixed camera 15 takes an image in a standard state. )have. Therefore, the average value Bav of the imaged data d (x, y) of the reference reflector 17 serves as a reference for determining the quality of the image subsequently captured by the fixed camera 15.

In addition to the acquisition of the average value Bav, the correction coefficient W (x, y) (= Bav / d (x, y)) for correcting the image pickup data is obtained for each coordinate (x, y).
This correction coefficient corrects the image captured by the fixed camera 15 thereafter for each coordinate (x, y). The above processing is step 612.

Next, the central control unit 35 determines whether or not the conditions for adjusting the actuators 15b and 15c of the fixed camera 15 are satisfied (step 61).
3). This condition can be set in advance and stored in the storage unit 37. For example, every n printed circuit boards,
The lamp of the lighting unit is replaced every time the set time elapses, when the set number of components are mounted, when the surface mounter is started, when the voltage supplied to the lighting unit is detected and the detected voltage changes more than a certain amount. Conditions, etc.
If these conditions are not satisfied, the process proceeds to step 616 described later.

If the conditions are satisfied, the following processing is performed to adjust the actuators 15b and 15c. First, the suction head 13 is temporarily imaged while the actuators 15b and 15c are left as they are to obtain image data.
This imaged data is processed by the image processing unit 33, and the average brightness Avd of the data is detected (step 6).
14).

Next, it is judged whether or not the detected average brightness Avd is within a predetermined range, based on the above Bav (step 615). If it is within the predetermined range, the actuators 15b and 15c are not readjusted and the process directly proceeds to step 616 described later.

If it is larger than the predetermined range, the process of step 544, which has already been explained as the illuminance of the suction head 13 is too large, is performed. If it is smaller than the predetermined range, the process of step 545 which has already been explained as the illuminance of the suction head 13 is too small is performed.

By varying the aperture or shutter speed of the fixed camera 15 as described above, the amount of light incident on the fixed camera 15 can be appropriately adjusted, and image data with little deterioration can be obtained.

After the processing for adjusting the actuators 15b and 15c of the fixed camera 15 is performed as described above, next, the suction head 13 on which the component is sucked is imaged from below (step 616). In this image pickup, the state of the fixed camera 15 for picking up the image of the suction head 13 is adapted to the illuminance of the suction head 13. Therefore, even if the illuminance changes with time, the suction state can be recognized with high accuracy from the imaged data.

Finally, the image pickup data of the suction head 13 is corrected by the correction coefficient W (x, y) for each coordinate (step 617). Due to this correction, uneven lighting and fixed camera 1
It is possible to obtain image pickup data (image pickup data 2) of the suction head 13 in which variation in sensitivity of the photoelectric conversion element 5 is excluded. Therefore, the suction state can be recognized more accurately.

Next, the details of the "step of correcting the image pickup data by picking up an image of the state in which the component is sucked and adjusting the actuators 15b and 15c of the fixed camera 15 or without adjusting the same" (step 61) Another example will be described with reference to FIG. FIG. 8 shows step 6 in FIG.
6 is a flowchart showing another example of detailed processing of No. 1; In FIG. 8, steps that are the same as the steps already described are assigned the same reference numerals and explanations thereof are omitted.

In this example, the brightness contrast is used instead of the brightness in order to judge an appropriate image pickup state. This is because the illuminance of the imaging target can be equivalently detected by detecting the brightness contrast, as described above.

In the processing shown in FIG. 8, step 61 in FIG.
Instead of step 2, step 661 is performed, and instead of step 614 of FIG. 7, step 662 and step 615 are replaced with step 592 and step 593.

Step 661 is substantially the same as step 612. The difference is whether the average value Bav is held or not because it is used for the subsequent processing.

In step 662, the luminance contrast is obtained instead of the average luminance, and the essential method is the same as that already described in step 591 of FIG. Further, step 592 and step 593 are the same as those already described in FIG.

Similar to the process shown in FIG. 7, the process shown in FIG. 8 corresponds to the case where the illuminance changes with time.
The suction state can be recognized with high accuracy from the imaged data.

As described above, in the surface mounter according to the embodiment of the present invention, the diaphragm or shutter speed of the image pickup device (moving camera 16, fixed camera 15) is changed in accordance with the illuminance of the image pickup object. As a result, an appropriate amount of light is always input as the imaging device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

In the above description, the fixed camera 15 has an aperture or shutter speed adjustment system having the reference reflector 17, and the moving camera 16 has an aperture or shutter speed adjustment system having no reference reflector. Although each has been described, any of them may be used as the present invention. That is, an adjustment system having no reference reflector 17 may be applied to the fixed camera 15,
The moving camera 16 may be used as an aperture or shutter speed adjusting system using the reference reflector by providing the reference reflector near the substrate.

Further, although the case where the present invention is applied to the surface mounting machine has been described above, the present invention can also be applied to the screen printing machine. This will be described below with reference to FIG.
FIG. 9 is a front view showing the configuration of a screen printing machine to which the present invention can be applied.

As shown in FIG. 9, the screen printing machine 70 includes a squeegee unit 71 and a frame support member 7.
7, squeegee unit moving mechanism 78, fixed camera 79,
The mask holding mechanisms 80a and 80b, the printing stage 83, the lifting / lowering rotation unit 84, and the table 85 are provided. The squeegee unit 71 has a forward squeegee 72, a backward squeegee 73, a frame 74, and air cylinders 75 and 76.

A screen mask 81 may be stretched on the mask holding mechanisms 80a and 80b. Further, the substrate 82 can be placed and held on the printing stage 83.

To explain the above structure, the squeegee unit 71 is connected to the frame supporting member 77 as a whole and is supported by the squeegee unit moving mechanism 78 so as to be movable in the X direction. Frame 74 of squeegee unit 71
A squeegee 72 for forward movement and a squeegee 73 for backward movement are attached to the squeegees 72, 73.
Each has a linear lower end in the Y direction, and
The air cylinders 75 and 76 can move up and down.

When the paste composition is printed on the substrate 82 by the squeegee 72 or 73 through the screen mask 81, the forward movement (right direction in the figure) or the backward movement (left direction in the figure).
Accordingly, one of the air cylinders 75 or 76 presses the squeegee 72 or 73 against the screen mask 81. The squeegee unit 71 as a whole moves in the X direction while maintaining this pressed state. As a result, the paste composition can be printed on the substrate 82.

The mask holding mechanisms 80a and 80b hold the both ends of the screen mask 81 in the X direction.
A substrate 82 is provided under the sandwiched screen mask 81.
The printing stage 83 on which is mounted and held moves to move X,
It may be fixed at predetermined positions in Y, Z, and θ (around an axis perpendicular to the XY plane).

That is, the printing stage 83 can be moved up and down (Z direction) and rotated (θ direction) by the elevating and rotating unit 84, and can be moved in the X and Y directions together with the elevating and rotating unit 84 by the table 85. is there.

The movement operation of the lifting / lowering rotation unit 84 and the printing stage 83 will be described. First, the substrate 82 is carried out and carried in at the position shown by the one-dot chain line on the right side of the drawing. The carry-out is the substrate 82 for which printing has already been completed, and the carry-in is the substrate 82 for which printing is to be performed.

Next, the printing stage 83 and the lifting / lowering rotation unit 84 on which the substrate 82 is placed and held are moved on the table 85 to the position indicated by the solid line on the left side. Then, the elevating and rotating unit 84 moves the printing stage 83 to a predetermined rotation position and Z-direction position (dashed line position on the left side of the drawing). This results in a printable substrate position. The printed substrate 82, the printing stage 83, and the like move to the one-dot chain line position on the right side of the drawing by the movement opposite to the above, and the substrate 82 is unloaded.

In the screen printing machine 70 having the above-described structure, the fixed camera 79 is provided above the substrate carry-in / carry-out position. The function of the fixed camera 79 is to confirm the existence of the board and the printing state. For example, the presence of the board can be confirmed by imaging and recognizing the mark printed on the board with the fixed camera 70 as in the surface mounter. Further, the print state can be confirmed by imaging and recognizing the printed paste composition.

In this embodiment, the aperture or shutter speed of the fixed camera 79 is adjusted by the configuration described with reference to FIG. Therefore, also in the screen printing machine, the aperture or shutter speed of the image pickup device (fixed camera 79) changes in accordance with the illuminance of the image pickup object, and thus an appropriate amount of light is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

Next, a case where the present invention is applied to a dispenser will be described with reference to FIG. FIG. 10 is a front view showing the configuration of a dispenser to which the present invention can be applied.

As shown in FIG. 10, this dispenser includes a base 91, a conveyor 92, a head unit 95, and an X unit.
Axis guide member 98, Y-axis servo motor 99, X-axis servo motor 101, X-axis ball screw 102, moving camera 10
6 is provided. The head unit 95 includes a plurality of dispenser heads 93a, 93b, a plurality of nozzles 104a, 1
04b.

A conveyor 92 for carrying a printed circuit board is arranged on the base 91, and the printed circuit board is carried on the conveyor 92 and stopped at a predetermined adhesion work position by a clamp mechanism (not shown). ing.

A head unit 95 is mounted above the base 91, and the head unit 95 is configured to be movable in the X-axis direction and the Y-axis direction as follows. That is, on the base 91, a supporting member (not shown) of the head unit 95 is movably arranged on a fixed rail (not shown) in the Y-axis direction, and the head unit 9 is placed on the supporting member.
5 is movably supported along the guide member 98 in the X-axis direction. Then, the Y-axis servo motor 99 moves the supporting member in the Y-axis direction via a ball screw (not shown), and the X-axis servo motor 101 moves the head unit 95 in the X-axis direction via the ball screw 102. It is supposed to be moved.

The head unit 95 is provided with a plurality of dispenser heads 93a and 93b for applying the coating agent. In this example, two dispenser heads 93a and 93b are provided.
3b are arranged in a line in the X-axis direction. The dispenser heads 93a and 93b can be moved in the Z-axis direction with respect to the frame of the head unit 95, and are moved up and down by a servo motor (not shown). Nozzles 104a and 104b are provided at the Z-axis lower ends of the dispenser heads 93a and 93b.

The head unit 95 is further provided with a moving camera 106 having a CCD area sensor as an image pickup device. The moving camera 106 captures an image of a mark printed on the board after the printed board stops at the work position.
Thereby, the existence of the substrate is confirmed, the deviation from the proper position is detected, or the dispensed state is confirmed. Regarding the detected deviation from the regular position, the dispenser head 93a and 93b can be used to apply the coating agent onto the substrate.
It can be used to correct the positions of a and 93b.

Since the moving camera 106 is used, a dedicated illumination unit for illuminating the object to be imaged may be provided near the camera 106.

In this embodiment, the aperture or shutter speed of the moving camera 106 is adjusted by the configuration described with reference to FIG. Therefore, even in such a dispenser, the aperture or shutter speed of the image pickup apparatus (moving camera 106) changes in accordance with the illuminance of the image pickup target, and thus an appropriate light amount is always input as the image pickup apparatus. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

[0121]

As described above in detail, according to the member mounting apparatus of the present invention, the image pickup device is provided with the diaphragm actuator or the shutter speed actuator, and these actuators are provided with the detected luminance or It can be controlled as desired by a control signal generated from the brightness contrast. Therefore, the aperture or shutter speed of the image pickup device is changed in accordance with the illuminance of the image pickup object, and an appropriate light amount is always input as the image pickup device. Therefore, it is possible to capture an image with no deviation on the black side or the white side and without deterioration.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing the configuration of a surface mounter to which the present invention can be applied.

FIG. 2 is a schematic front view showing the configuration of a surface mounter to which the present invention can be applied.

FIG. 3 is a block diagram showing a configuration of a control system of a surface mounter which is an embodiment of the present invention.

4 is a flow chart showing an operation flow of the surface mounter shown in FIGS. 1 and 2 by the control system shown in FIG.

5 is a flowchart showing an example of detailed processing of step 54 in FIG.

FIG. 6 is a flowchart showing another example of detailed processing of step 54 in FIG.

7 is a flowchart showing an example of detailed processing of step 61 in FIG.

FIG. 8 is a flowchart showing another example of detailed processing of step 61 in FIG.

FIG. 9 is a schematic front view showing the configuration of a screen printing machine to which the present invention can be applied.

FIG. 10 is a schematic front view showing the configuration of a dispenser to which the present invention can be applied.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Base 2 ... Conveyor 3 ... Component supply part 4 ... Tape feeder 5 ... Head unit 6 ... Head unit support member 7 ... Y-axis fixed rail 8 ... X-axis guide member 9
... Y-axis servo motor 10 ... Y-axis ball screw 11 ... X
Axis servo motor 12 ... X-axis ball screw, 13 ... Suction head 14 ... Suction nozzle 15 ... Fixed camera, 15a ... Imaging unit 15b ... Aperture actuator 15c ... Shutter speed actuator 16 ... Moving camera, 16a ... Imaging unit 16b ... Aperture actuator 16c ... Shutter speed actuator, 17 ... Reference reflector 31 ... Interface 32 ... Interface 33 ... Image processing unit 34 ... Storage unit 35 ... General control unit 36 ... Interface 37 ... Storage unit 40 ... Head unit servo device 41 ... Z-axis servo device 42 ... R-axis servo device 43 ... X-axis servo device 44 ... Y-axis servo device 7
0 ... Screen printing machine 71 ... Squeegee unit 72
… Forward squeegee 73… Forward squeegee 74…
Frames 75, 76 ... Air cylinder 77 ... Frame support member 78 ... Squeegee unit moving mechanism 79 ... Fixed camera 80a, 80b ... Mask holding member 81 ... Screen mask 82 ... Substrate 83 ... Printing stage 84
... Lifting / rotating unit 85 ... Table 91 ... Base 9
2 ... Conveyor 93a, 93b ... Dispenser head
95 ... Head unit 98 ... X-axis guide member 99 ...
Y-axis servo motor 101 ... X-axis servo motor 102 ...
X-axis ball screw 104a, 104b ... Nozzle 106
… Moving camera

Claims (7)

[Claims] 1. A substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a mounting device provided above the substrate supporting device and moving at least in a horizontal direction to mount a member on the supported substrate. A member mounting device having an apparatus and an image pickup device provided above the substrate support device for picking up an image of the substrate from above, which is provided by being connected to the image pickup device and obtained by the image pickup device. Brightness detecting means for detecting brightness from the captured image data, a diaphragm actuator connected to the image capturing apparatus and capable of changing the diaphragm of the image capturing apparatus by a control signal, and the image capturing apparatus using the detected brightness Control means for generating the control signal for controlling the aperture of the image pickup device, the control means closing the aperture of the imaging device when the detected brightness is larger than a predetermined range. Member NoSo device, characterized in that to generate the control signal, the detected intensity to generate said control signal in a direction of opening the aperture of the imaging device is smaller than the predetermined range. 2. A substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a mounting device provided above the substrate supporting device and moving at least in a horizontal direction to mount a member on the supported substrate. A member mounting device having an apparatus and an image pickup device provided above the substrate support device for picking up an image of the substrate from above, which is provided by being connected to the image pickup device and obtained by the image pickup device. Brightness detecting means for detecting the brightness from the imaged data, a shutter speed actuator which is provided to be connected to the imaging device and which can change the shutter speed of the imaging device by a control signal, and which uses the detected brightness to detect the brightness. A control unit for generating the control signal for controlling the shutter speed of the image pickup apparatus, wherein the control unit is provided when the detected brightness is larger than a predetermined range. Generating the control signal in a direction to increase the shutter speed of the imaging device, and generating the control signal in a direction to decrease the shutter speed of the imaging device when the detected brightness is smaller than the predetermined range. Characterized member mounting equipment. 3. A substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a mounting device provided above the substrate supporting device and moving at least in the horizontal direction to mount a member on the supported substrate. A member mounting device having a device and an image pickup device for picking up an image of the mounting device from below, the luminance being detected from image pickup data obtained by the image pickup device, the luminance being detected from the image pickup device. Luminance detection means, a diaphragm actuator that is provided to be connected to the image pickup apparatus and is capable of changing the diaphragm of the image pickup apparatus according to a control signal, and the above-mentioned for controlling the diaphragm of the image pickup apparatus using the detected luminance. A control means for generating a control signal, wherein the control means generates the control signal in a direction of closing an aperture of the imaging device when the detected brightness is larger than a predetermined range, and detects the detection signal. Member NoSo device, characterized in that luminance to generate the control signal in the direction of opening the aperture of the imaging device is smaller than the predetermined range. 4. A substrate supporting device capable of supporting a substrate in a substantially horizontal posture, and a mounting device provided above the substrate supporting device and moving at least in the horizontal direction to mount a member on the supported substrate. A member mounting device having an image pickup device and an image pickup device for picking up an image of the mounting device from below, the device mounting device being connected to the image pickup device and detecting luminance from image pickup data obtained by the image pickup device. Luminance detection means, a shutter speed actuator that is provided in connection with the imaging device and that can change the shutter speed of the imaging device by a control signal, and controls the shutter speed of the imaging device using the detected brightness. For controlling the shutter speed of the imaging device when the detected brightness is higher than a predetermined range. The member mounting device characterized in that the control signal is generated in a direction of increasing the brightness, and the control signal is generated in a direction of decreasing the shutter speed of the imaging device when the detected brightness is smaller than the predetermined range. . 5. A brightness contrast detection unit, which is provided in connection with the image pickup device and detects a brightness contrast in image pickup data obtained by the image pickup device, is provided in place of the brightness detection unit, and the detected luminance A second control unit that generates the control signal for controlling the aperture of the image pickup apparatus by using contrast is provided in place of the control unit, and the second control unit is configured so that the detected brightness contrast is When the value smaller than the first predetermined value and the value on the low brightness side is larger than the second predetermined value, the control signal is generated in the direction of closing the diaphragm of the image pickup device, and the detected brightness contrast is the third predetermined value. The control signal is generated in a direction in which an aperture of the image pickup device is opened when the value is smaller than the value and the value on the high brightness side is smaller than a fourth predetermined value. Member NoSo device 3 according. 6. A brightness contrast detection unit, which is provided in connection with the image pickup apparatus and detects a brightness contrast in image pickup data obtained by the image pickup apparatus, is provided in place of the brightness detection section, and the detected luminance A second control means for generating the control signal for controlling the shutter speed of the image pickup apparatus by using contrast is provided in place of the control means, and the second control means includes the detected brightness contrast. Is smaller than the first predetermined value and the value on the low brightness side is larger than the second predetermined value, the control signal is generated in a direction to increase the shutter speed of the imaging device, and the detected brightness contrast is 3 is smaller than the predetermined value and the value on the high-luminance side is smaller than the fourth predetermined value, the control signal is directed to slow the shutter speed of the imaging device. Claim 2 or 4 members NoSo device according to, characterized in that generated. 7. The light-reflecting object, which is one of the objects to be imaged by the image-acquisition device, is attached to the mounting device, and the control means images the light-reflective object in advance. The member mounting device according to claim 3 or 4, wherein the predetermined range is defined using the illuminance of the light-reflecting object obtained by performing the above.