JP7358294B2 - Component mounter and component storage status determination method - Google Patents

Description

The present invention relates to a technique for transporting a tray stored in a storage position of a component storage part to a supply position and mounting components stored in the tray on a board.

A component mounting machine that mounts components on a board may use a component supply device that supplies tray-shaped components, as shown in Patent Documents 1 to 3. Such a component supply device pulls out a tray stored in a storage position of a tray storage section to a supply position, and mounts the component taken out from the tray onto a board using a mounting head. Then, the tray from which the components have been removed is returned from the supply position to the storage position of the tray storage section.

Japanese Patent Application Publication No. 2018-107205 JP2013-243273A Japanese Patent Application Publication No. 2000-277985

By the way, for example, if the mounting head fails to take out a component from the tray and the component falls from the mounting head onto the tray, the components may be scattered on the tray or the number of components accommodated in the tray may deviate from the original number. Abnormalities may occur. If the former error occurs, there is a risk that parts may get caught between the tray and the tray storage unit when the tray is stored in the tray storage unit, and if the latter error occurs, it may be difficult to manage the remaining number of parts stored in the tray. There is a risk that it will not be possible to perform the operations properly.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technology that makes it possible to determine the storage state of components in a tray when returning the tray containing components to the storage position of the tray storage section. do.

The component mounting machine according to the present invention includes a tray storage section that stores a tray containing components in a storage position, a tray transport section that transports the tray between the storage position and a supply position, and a tray transport section that transports the tray from the storage position to the storage position. A mounting head that takes out components from a tray transported to a supply position and mounts them on a board, an imaging device that takes an image of the tray, and a control unit that determines the accommodation state of the components in the tray based on the image taken by the imaging device. After the mounting head finishes taking out the components from the tray located at the supply position, the imaging device images the tray, and the tray transport unit transports the tray from the supply position to the storage position.

A method for determining a component storage state according to the present invention includes a step in which a mounting head takes out a component stored in a tray located at a supply position and mounts it on a board, and a step in which the mounting head takes out a component from a tray located in a supply position. After the mounting head finishes taking out the components from the tray located at the supply position, the step of transporting the tray from the supply position to the storage position in the tray storage section; and determining the accommodation state of the components in the tray based on the image captured by the imaging device.

In the present invention (component mounting machine, component accommodation state determination method) configured as described above, after the mounting head finishes taking out components from the tray located at the supply position, the tray is imaged by the imaging device, and the tray is imaged by the imaging device. The tray is transported from the supply position to the storage position in the tray storage section. Then, based on the image captured by the imaging device, the accommodation state of the components in the tray is determined. In this way, when returning the tray containing the components to the storage position of the tray storage section, it is possible to determine the storage state of the components in the tray.

In addition, when the control unit determines that the storage state of the components in the tray is abnormal based on the image, the control unit stops the tray storage transport in which the tray is transported toward the tray storage unit and stored in the tray storage unit. A component mounting machine may also be configured. This can prevent tray storage and transportation from being carried out while an abnormality has occurred.

In addition, the tray storage section is capable of moving the tray up and down, and if the control section determines that the storage state of components in the tray is abnormal based on the image, it moves the tray toward the tray storage section. The component mounter may be configured to carry out tray storage and transportation for transporting and storing the tray in the tray storage section, while prohibiting vertical movement of the tray after the tray storage and transportation. This can prevent the tray from being moved up and down after the tray is stored and transported while an abnormality has occurred.

The control unit further includes a notification unit that notifies the operator, and when the control unit determines that the accommodation state of the components in the tray is abnormal based on the image, the control unit causes the notification unit to notify the occurrence of the abnormality. A component mounting machine may also be configured. This allows the operator to understand the occurrence of an abnormality.

The imaging device has an imaging range provided between the supply position and the storage position, and is configured to image the tray passing through the imaging range from the supply position to the storage position by being transported by the tray transport unit. A component mounting machine may also be configured. With this configuration, it is possible to efficiently capture an image of the tray in parallel with storing the tray in the tray storage section.

Note that the imaging device may be a line sensor or an area sensor. In the former case, the imaging device further includes an encoder that outputs information regarding the position of the tray conveyed by the tray conveyance unit, and the imaging device images the tray conveyed by the tray conveyance unit in synchronization with the output of the encoder. A component mounting machine may also be configured.

Further, various arrangements of the imaging device are assumed. For example, the imaging device may be arranged closer to the supply position than the tray storage section in plan view, or the imaging device may be arranged inside the tray storage section.

Further, the component mounter may be configured such that the imaging device moves along with the mounting head, or the component mounter may be configured such that the mounting head moves independently of the imaging device. good. In the latter case, since the operation of the mounting head is not restricted due to imaging of the tray, the mounting head can efficiently mount components.

As described above, according to the present invention, it is possible to determine the accommodation state of the components in the tray when returning the tray containing the components to the storage position of the tray storage section.

FIG. 1 is a plan view schematically showing an example of a component mounting machine according to the present invention. FIG. 2 is a side view schematically showing the configuration of a tray component supply mechanism included in the component mounting machine of FIG. 1; FIG. 2 is a block diagram showing the electrical configuration of the component mounting machine of FIG. 1. FIG. 2 is a flowchart showing an example of component mounting performed by the component mounting machine of FIG. 1; 5 is a flowchart showing an example of a tray supply operation executed in the component mounting of FIG. 4. FIG. FIG. 6 is a diagram schematically showing a tray supply operation performed according to the flowchart of FIG. 5; 5 is a flowchart illustrating an example of a tray storage operation performed during component mounting in FIG. 4. FIG. 8 is a diagram schematically showing a tray storage operation performed according to the flowchart of FIG. 7. FIG. FIG. 7 is a side view schematically showing an example of a change in the arrangement of the tray camera.

FIG. 1 is a plan view schematically showing an example of a component mounting machine according to the present invention. In this figure and the following figures, the X direction, which is a horizontal direction, the Y direction, which is a horizontal direction orthogonal to the X direction, and the Z direction, which is a vertical direction, are shown as appropriate. The component mounting machine 4 includes a transport section 41 that transports the board B in the X direction (board transport direction). This transport section 41 has a pair of conveyors 411 arranged in parallel in the X direction, and the conveyors 411 transport the substrate B in the X direction. The interval between these conveyors 411 can be changed in the Y direction (width direction) orthogonal to the X direction, and the conveyance unit 41 adjusts the interval between the conveyors 411 according to the width of the substrate B to be conveyed. This transport unit 41 transports the board B from the upstream side in the X direction, which is the board transport direction, to a predetermined work position (the position of the board B in FIG. 1), and also transports the board B on which the component E is mounted from the work position. Export to the downstream side in the X direction.

Two component supply sections 42 are lined up in the X direction on one side of the transport section 41 in the Y direction (arrow side in the Y direction), and in each component supply section 42, a plurality of tape feeders 421 are lined up in the X direction. The component supply section 42 is provided with a plurality of component supply locations 422 arranged in the X direction, and a tape feeder 421 that supplies components E to be supplied to each component supply location 422 is associated with each component supply location 422. It is attached removably. That is, for each tape feeder 421, a component supply reel is arranged, around which a carrier tape containing small pieces of components E such as integrated circuits, transistors, and capacitors are housed at predetermined intervals. 421 supplies the component E to the component supply location 422 at the tip of the carrier tape by intermittently feeding out the carrier tape pulled out from the component supply reel.

In addition, the component mounting machine 4 is provided with a pair of Y-axis rails 43 extending in the Y direction, a Y-axis ball screw 44 extending in the Y-direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 44. 45 is fixed to a nut of a Y-axis ball screw 44 while being supported by a pair of Y-axis rails 43 so as to be movable in the Y direction. An X-axis ball screw 46 that extends in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 46 are attached to the X-axis rail 45, and the head unit 47 can move on the X-axis rail 45 in the X direction. It is fixed to the nut of the X-axis ball screw 46 while being supported by the X-axis ball screw 46. Therefore, the Y-axis motor My can rotate the Y-axis ball screw 44 to move the head unit 47 in the Y direction, and the X-axis motor Mx can rotate the X-axis ball screw 46 to move the head unit 47 in the X direction. It can be moved.

The head unit 47 has a plurality of mounting heads 48 arranged linearly in the X direction. A Z-axis motor Mz and an R-axis motor Mr (FIG. 3) are attached to each mounting head 48. The Z-axis motor Mz moves the mounting head 48 up and down in the Z direction, and the R-axis motor Mr rotates the mounting head around a rotation axis parallel to the Z direction.

The mounting head 48 is lowered toward the component E by driving the Z-axis motor Mz, so that the nozzle attached to the lower end of the mounting head 48 comes into contact with the component E. In this state, the mounting head 48 generates negative pressure in the nozzle to attract the component E. Furthermore, the mounting head 48 takes out the component E by being raised by the drive of the Z-axis motor Mz. Then, when the mounting head 48 is moved by the drive of the X-axis motor Mx and the Y-axis motor My and faces the mounting location of the board B from above, the mounting head 48 is rotated by the drive of the R-axis motor Mr. Adjust the rotation angle of part E to . Furthermore, the mounting head 48 is driven by the Z-axis motor Mz to move downward toward the mounting location, thereby bringing the component E, which is attracted to the nozzle, into contact with the mounting location. In this state, the mounting head 48 releases the negative pressure of the nozzle and mounts the component E on the mounting location of the board B.

Further, a board camera Cb is attached to the head unit 47. This board camera Cb images the fiducial mark provided on the board B from above by moving integrally with the head unit 47. When the mounting head 48 mounts the component E on the board B, the component E held by the mounting head 48 and the board B are aligned based on the result of imaging the fiducial mark.

The component mounter 4 also includes two tray component supply mechanisms 5 on the other side of the transport section 41 in the Y direction (opposite side of the arrow in the Y direction). The two tray component supply mechanisms 5 are arranged side by side in the X direction and have a common configuration.

FIG. 2 is a side view schematically showing the configuration of a tray component supply mechanism included in the component mounter of FIG. 1. FIG. The tray component supply mechanism 5 supplies components E (tray components) to the mounting head 48 using a tray T that accommodates a plurality of components E. In this tray T, a plurality of component accommodating portions Tc are formed side by side in the horizontal direction. For example, the plurality of component accommodating portions Tc are lined up in a grid pattern, and a component E is accommodated in each component accommodating portion Tc. As a result, on this tray T, the plurality of parts E are two-dimensionally aligned in the X direction and the Y direction. However, the specific configuration of the tray T is not limited to the example described here. The tray component supply mechanism 5 includes a tray storage section 51 that stores a plurality of trays T side by side in the Z direction. The tray storage section 51 includes a housing 511 and an elevating magazine 512 that is disposed inside the housing 511 and moves up and down in the Z direction. In the elevating magazine 512, a plurality of slots 513 are lined up in the Z direction, and a tray T is stored in each slot 513. Specifically, the tray T is housed in the slot 513 while being placed on a pallet P, and the pallet P holds the tray T in a predetermined position using, for example, magnetic force.

Further, the tray component supply mechanism 5 includes a tray conveyance unit 53 that inserts and removes the pallet P into and from a target slot 513 located at an insertion/removal height H among the plurality of slots 513. This tray conveyance unit 53 conveys the tray T in the Y direction between the storage position Lb in the target slot 513 and the supply position La on the conveyance unit 41 side from the storage position Lb. Specifically, the tray transport unit 53 has a belt conveyor 531, and transports the pallet P taken out from the target slot 513 toward the supply position La, thereby moving the tray T on the pallet P from the storage position Lb to the supply position. Transport to La. Furthermore, the trays T on the pallet P are transported from the supply position La to the storage position Lb by transporting the pallet P that is stopped at the supply position La and holds the trays T toward the storage position Lb.

The tray component supply mechanism 5 also includes a tray camera Ct that images the tray T conveyed in the Y direction by the belt conveyor 531 from above. The tray camera Ct is a line sensor that images a linear imaging range Rc extending in the X direction. In a plan view, the tray camera Ct is disposed outside the tray storage section 51, in other words, closer to the supply position La than the tray storage section 51, and the imaging range Rc of the tray camera Ct is between the supply position La and the tray storage section 51 in a plan view. It is located between the storage position Lb and the storage position Lb. Then, the tray camera Ct images the tray T passing through the imaging range Rc in the Y direction by being conveyed by the belt conveyor 531.

FIG. 3 is a block diagram showing the electrical configuration of the component mounter of FIG. 1. As shown in FIG. 3, the component mounter 4 includes a control section 61 that controls the entire component mounter 4 in an integrated manner. The control unit 61 includes a calculation unit 611 configured with a processor or the like, and a storage unit 612 configured with an HDD (Hard Disk Drive) or the like. The control unit 61 controls the mounting head 48 by controlling the driving of the mounting head 48 by the head drive mechanism Mh composed of the above-mentioned X-axis motor Mx, Y-axis motor My, Z-axis motor Mz, and R-axis motor Mr. mounts the component E onto the board B. Note that the control unit 61 may be configured by, for example, an FPGA (Field-Programmable Gate Array).

Further, the control unit 61 controls the imaging of the fiducial mark on the board B by the board camera Cb, and also controls the head drive mechanism Mh based on the imaging result of the fiducial mark, thereby controlling the board B and the parts described above. Execute alignment with E.

Furthermore, the above-mentioned tray conveyance section 53 includes a conveyor motor Mc that drives the belt conveyor 531, and an encoder Ec that outputs the rotational position of the conveyor motor Mc. The control unit 61 then controls the position of the tray T conveyed by the conveyor motor Mc by controlling the conveyor motor Mc based on the output of the encoder Ec.

In particular, the control unit 61 controls imaging of the tray T by the tray camera Ct based on the output of the encoder Ec. Specifically, the encoder Ec outputs when the tray T is conveyed in the Y direction by the width of one line of the line sensor of the tray camera Ct. Based on the output of the encoder Ec, the control unit 61 confirms that the tray T has been conveyed in the Y direction by one line of the line sensor of the tray camera Ct, and controls the tray camera to take an image of the tray T passing through the imaging range Rc. Let Ct execute it. Thereby, the tray camera Ct images the tray T conveyed by the belt conveyor 531 in synchronization with the output of the encoder Ec, and images the tray images It for multiple lines. In this way, the tray image It captured by the tray camera Ct is stored in the storage unit 612.

The component mounter 4 also includes a notification section 63 that notifies the operator. This notification section 63 has a display and displays notification contents on the display. Note that the method of notifying the worker is not limited to the display on the display as in this example, and may be performed by voice using a speaker, for example.

FIG. 4 is a flowchart showing an example of component mounting performed by the component mounting machine of FIG. 1, FIG. 5 is a flowchart showing an example of a tray supply operation performed in the component mounting of FIG. 5 is a diagram schematically showing a tray feeding operation executed according to the flowchart of FIG. 5, FIG. 7 is a flowchart showing an example of a tray storage operation executed in the component mounting of FIG. FIG. 6 is a diagram schematically showing a tray storage operation to be performed. The flowcharts in FIGS. 4, 5, and 7 are executed under the control of the control unit 61.

In step S101 of component mounting in FIG. 4, a tray supply operation (FIG. 5) is executed. In step S201, the tray T in the tray storage section 51, which is the target of the tray supply operation, is located at the insertion/removal height H. Then, transport of the tray T from the storage position Lb to the supply position La is started (step S202). The column "Step S202" in FIG. 6 shows the state immediately before the start of transport. Then, in accordance with the timing when the tray T reaches the imaging range Rc, the tray camera Ct starts imaging the tray T, and the tray T passing through the imaging range Rc is imaged by the tray camera Ct (step S203). In the column "Step S203" in FIG. 6, a state in which the tray T is passing through the imaging range Rc is shown. Then, when the tray T reaches the supply position La, the conveyance by the belt conveyor 531 is stopped, and the tray T stops at the supply position La (step S204). As a result, as shown in the "Step S204" column of FIG. 6, the tray T is supplied to the supply position La.

In step S205, the calculation unit 611 performs image processing on the tray image It captured in step S203 and stored in the storage unit 612, and obtains the storage state of the component E in the tray T. In step S206, the calculation unit 611 determines whether this accommodation state is normal. Specifically, the storage unit 612 stores the number of parts E remaining on the tray T. The remaining number of components E is calculated by subtracting the number of components E taken out from the tray T during component mounting from the number of components E initially accommodated in the tray T (initial number). Then, the calculation unit 611 determines whether the number of parts E on the tray T indicated by the tray image It matches the remaining number of parts E stored in the storage unit 612. If the former is less than the latter, for example, the component E may have spilled from the tray T during transport, so the calculation unit 611 determines that the accommodation state is abnormal ("NO" in step SS206). I judge that. Alternatively, if the tray image It indicates that the posture of the component E is shifted on the tray T, the component E is tilted diagonally upward, or the front and back of the component E are upside down, the calculation The unit 611 determines that the accommodation state is abnormal ("NO" in step SS206).

If the calculation unit 611 determines that one of these abnormalities has occurred and that the accommodation state of the component E in the tray T is not normal (“NO” in step S206), the calculation unit 611 stops the operation of the head drive mechanism Mh. , prohibits component mounting by the mounting head 48 (step S207). Furthermore, the calculation unit 611 causes the notification unit 63 to notify that an abnormality has occurred (step S208).

On the other hand, when the calculation unit 611 determines that none of these abnormalities have occurred and that the accommodation state of the parts E in the tray T is normal ("YES" in step S206), the process returns to the flowchart of FIG. Note that the order of execution of step S204, steps S205, and S206 is not limited to the example shown in FIG. 5, and may be performed in the reverse order. The same applies to the execution order of step S207 and step S208.

In step S102, the mounting head 48 executes component mounting in which the component E is mounted on the board B. Further, in this component mounting, the mounting head 48 takes out the component E from the tray T at the supply position La and mounts it on the board B. In step S103, it is determined whether the mounting head 48 finishes taking out the component E from the tray T at the supply position La. If the process does not end ("NO" in step S103), the process proceeds to step S105, while if it ends ("YES" in step S103), a tray storage operation (step S104) is executed. Specifically, when the tray T at the supply position La is replaced, or when the remaining number of parts E on the tray T at the supply position La becomes zero, it is determined that the removal of the parts E is finished (step ("YES" in S103), the tray storage operation (FIG. 7) is executed (step S104).

In step S301, transport of the tray T from the supply position La to the storage position Lb is started. The column "Step S301" in FIG. 8 shows the state immediately before the start of transport. Then, in accordance with the timing when the tray T reaches the imaging range Rc, the tray camera Ct starts imaging the tray T, and the tray T passing through the imaging range Rc is imaged by the tray camera Ct (step S302). In the column "Step S302" in FIG. 8, a state in which the tray T is passing through the imaging range Rc is shown. When the tray T reaches the storage position Lb, conveyance by the belt conveyor 531 is stopped, and the tray T stops at the storage position Lb (step S303). As a result, as shown in the "Step S303" column of FIG. 8, the tray T is stored in the storage position Lb.

In step S304, the calculation unit 611 performs image processing on the tray image It captured in step S302 and stored in the storage unit 612, and obtains the accommodation state of the component E in the tray T. In step S305, the calculation unit 611 determines whether this accommodation state is normal. The judgment criteria in step S305 are the same as the judgment criteria in step S206 described above.

If the calculation unit 611 determines that one of the above abnormalities has occurred and the storage state of the component E in the tray T is not normal (“NO” in step S305), the calculation unit 611 prohibits the operation of the tray storage unit 51 ( Step S306). Specifically, in step S306, the tray is prohibited from moving up and down after carrying out the tray storing and transporting operation in which the tray T is transported from the supply position La to the storing position Lb. This tray vertical movement is an operation to move the tray T up and down, in other words, an operation to raise and lower the elevating magazine 512. Furthermore, the calculation unit 611 causes the notification unit 63 to notify that an abnormality has occurred (step S307).

On the other hand, when the calculation unit 611 determines that none of the above-mentioned abnormalities has occurred and that the accommodation state of the parts E in the tray T is normal ("YES" in step S305), the process returns to the flowchart of FIG. 4. Note that the order of execution of step S303, steps S304, and S305 is not limited to the example shown in FIG. 7, and may be performed in the reverse order. The same applies to the execution order of step S306 and step S307.

In step S105, it is determined whether component mounting has been completed. Steps S101 to S104 are then repeated until component mounting is completed (until "YES" is returned in step S105).

In the embodiment described above, after the mounting head 48 finishes taking out the component E from the tray T located at the supply position La (step S103), the tray T is imaged by the tray camera Ct (imaging device) and (Step S302), the tray T is transported from the supply position La to the storage position Lb in the tray storage section 51. Then, the accommodation state of the component E in the tray T is determined based on the tray image It (image) captured by the tray camera Ct (steps S304 and S305). In this way, when returning the tray T that accommodates the component E to the storage position Lb of the tray storage section 51, it is possible to determine the storage state of the component E in the tray T.

Further, the tray storage section 51 is capable of vertically moving the tray T. On the other hand, if the control unit 61 determines that the storage state of the component E in the tray T is abnormal based on the tray image It, the control unit 61 transports the tray T toward the tray storage unit 51 and stores it in the tray storage unit 51. While storing and transporting the tray to be stored, vertical movement of the tray after storing and transporting the tray is prohibited. This can prevent the tray from being moved up and down after the tray is stored and transported while an abnormality has occurred.

Furthermore, a notification unit 63 is provided to notify the operator, and when the control unit 61 determines that the accommodation state of the parts E in the tray T is abnormal based on the tray image It, the control unit 61 determines that the state of accommodation of the parts E in the tray T is abnormal (in step S305, “ NO''), the notification unit 63 is made to notify the occurrence of an abnormality (step S307). This allows the operator to understand the occurrence of an abnormality.

Further, the tray camera Ct has an imaging range Rc provided between the supply position La and the storage position Lb, and passes through the imaging range Rc from the supply position La toward the storage position Lb by the tray transport unit 53. An image of the tray T is taken. Therefore, imaging of the tray T (step S302) can be efficiently performed in parallel with storing the tray T in the tray storage section 51 (steps S301, S303).

Further, a tray camera Ct is provided separately from the board camera Cb attached to the head unit 47 that holds the mounting head 48, and the mounting head 48 can move independently from the tray camera Ct. Therefore, since the operation of the mounting head 48 is not restricted to take an image of the tray T, the mounting head 48 can efficiently mount the component E.

As explained above, in this embodiment, the component mounter 4 corresponds to an example of the "component mounter" of the present invention, the mounting head 48 corresponds to an example of the "mounter head" of the present invention, and the tray storage The section 51 corresponds to an example of the "tray storage section" of the present invention, the tray conveyance section 53 corresponds to an example of the "tray conveyance section" of the present invention, and the control section 61 corresponds to an example of the "control section" of the present invention. The notifying unit 63 corresponds to an example of the “notifying unit” of the present invention, the board B corresponds to an example of the “substrate” of the present invention, and the tray camera Ct corresponds to an example of the “imaging device” of the present invention. However, the component E corresponds to an example of the "component" of the present invention, the encoder Ec corresponds to an example of the "encoder" of the present invention, the tray image It corresponds to an example of the "image" of the present invention, and the supply position La corresponds to an example of the "supply position" of the present invention, storage position Lb corresponds to an example of the "storage position" of the invention, imaging range Rc corresponds to an example of the "imaging range" of the invention, and the tray T corresponds to an example of the "tray" of the present invention.

Note that the present invention is not limited to the embodiments described above, and various changes other than those described above can be made without departing from the spirit thereof. For example, the tray storage operation shown in FIG. 7 may be modified as follows. In this modification, if the control unit 61 determines that the accommodation state of the component E in the tray T is abnormal based on the tray image It before the tray T reaches the accommodation position Lb during tray accommodation transportation, the control unit 61 executes Stops storage and transportation of the tray inside. This makes it possible to prevent tray storage and transportation from continuing even when an abnormality occurs.

Further, the arrangement of the tray camera Ct may be changed. FIG. 9 is a side view schematically showing an example of changing the arrangement of the tray camera. In the example of FIG. 9, the tray camera Ct is arranged inside the housing 511 of the tray storage section 51, and the imaging range Rc of the tray camera Ct is also located inside the housing 511 in plan view.

Further, the sensor used by the tray camera Ct to image the tray T is not limited to a line sensor, but may be an area sensor. Furthermore, as the tray camera Ct, a two-dimensional camera that captures a two-dimensional image of the tray T or a three-dimensional camera that captures a three-dimensional image of the tray T can be used. Three-dimensional cameras include cameras that use multiple sensors to image a three-dimensional shape based on the parallax of each sensor, cameras that use a one-dimensional laser displacement meter to image a three-dimensional shape, and cameras that emit a linear light pattern. A camera that images a three-dimensional shape using optical cutting or a camera that images a three-dimensional shape using a phase shift method can be used.

Alternatively, the board camera Cb may be used to image the tray T. In such a case, the board camera Cb moves together with the head unit 47 that holds the mounting head 48. Therefore, by driving the head unit 47 by the head drive mechanism Mh, the substrate camera Cb is caused to face the tray T conveyed between the supply position La and the storage position Lb from above, and the tray T is can be imaged.

Further, the timing of imaging the tray T may be after the mounting head 48 has finished taking out the component E from the tray T located at the supply position La. For example, the timing of imaging the tray T located at the supply position La may be Alternatively, the tray T located at the storage position Lb may be imaged.

The present invention can be applied to all techniques in which a tray stored in a storage position of a component storage section is transported to a supply position and components stored in the tray are mounted on a board.

4... Component mounting machine 48... Mounting head 51... Tray storage section 53... Tray transport section 61... Control section 63... Notification section B... Board Ct... Tray camera (imaging device)
E...Parts Ec...Encoder It...Tray image (image)
La...supply position Lb...storage position Rc...imaging range T...tray

Claims (11)

a tray storage section that stores a tray that stores components in a storage position;
a tray transport unit that transports the tray between the storage position and the supply position;
a mounting head that takes out components from the tray transported from the storage position to the supply position by the tray transport unit and mounts them on a board;
an imaging device that images the tray;
a control unit that determines the accommodation state of components in the tray based on the image captured by the imaging device;
After the mounting head finishes taking out the components from the tray located at the supply position, the imaging device images the tray, and the tray transport unit transports the tray from the supply position to the storage position. ,
When the control unit determines that the storage state of the components in the tray is abnormal based on the image, the control unit stops tray storage and transportation in which the tray is transported toward the tray storage section and stored in the tray storage section. Component mounting machine. It further includes a notification unit that notifies the worker,
2. The component mounting machine according to claim 1, wherein when the control section determines that the accommodation state of the components in the tray is abnormal based on the image, the control section causes the notification section to notify the occurrence of the abnormality. a tray storage section that stores a tray that stores components in a storage position;
a tray transport unit that transports the tray between the storage position and the supply position;
a mounting head that takes out components from the tray transported from the storage position to the supply position by the tray transport unit and mounts them on a board;
an imaging device that images the tray;
a control unit that determines the accommodation state of components in the tray based on the image captured by the imaging device;
After the mounting head finishes taking out the components from the tray located at the supply position, the imaging device images the tray, and the tray transport unit transports the tray from the supply position to the storage position. ,
The imaging device has an imaging range provided between the supply position and the storage position, and the tray passes through the imaging range from the supply position to the storage position by being transported by the tray transport unit. A component mounting machine that captures images . further comprising an encoder that outputs information regarding the position of the tray conveyed by the tray conveyance unit,
4. The component mounting machine according to claim 1 , wherein the imaging device is a line sensor, and images the tray transported by the tray transport section in synchronization with the output of the encoder. The component mounting machine according to any one of claims 1 to 4, wherein the imaging device is an area sensor. The component mounting machine according to any one of claims 1 to 5, wherein the imaging device is arranged closer to the supply position than the tray storage section in plan view. The component mounting machine according to any one of claims 1 to 5, wherein the imaging device is arranged within the tray storage section. 8. The component mounting machine according to claim 1 , wherein the imaging device moves along with the mounting head. The component mounting machine according to any one of claims 1 to 7 , wherein the mounting head moves independently from the imaging device. a step of taking out components housed in a tray located at a supply position using a mounting head and mounting them on a board;
After the mounting head finishes taking out components from the tray located at the supply position, imaging the tray with an imaging device;
After the mounting head finishes taking out components from the tray located at the supply position, transporting the tray from the supply position to a storage position in a tray storage section;
a step of determining a state of accommodation of components in the tray based on an image captured by the imaging device ;
If the control unit determines that the storage state of the components in the tray is abnormal based on the image, the tray storage and transportation of transporting the tray toward the tray storage section and storing it in the tray storage section is stopped. and
A method for determining a parts accommodation state, comprising: a step of taking out components housed in a tray located at a supply position using a mounting head and mounting them on a board;
After the mounting head finishes taking out components from the tray located at the supply position, imaging the tray with an imaging device;
After the mounting head finishes taking out components from the tray located at the supply position, transporting the tray from the supply position to a storage position in a tray storage section;
a step of determining the accommodation state of the components in the tray based on the image captured by the imaging device ,
The imaging device has an imaging range provided between the supply position and the storage position, and the tray passes through the imaging range from the supply position to the storage position by being transported by a tray transport unit. A method for determining the accommodation state of parts to be imaged .

Images